Solutions Manual© to Accompany

Differential Equations for Engineers and Scientists

By
Y. Cengel and W. Palm III

Solutions to Problems in Chapter Eight

Problems 8-99 Through 8-162

Solutions prepared by:

Tahsin Engin, University of Sakarya

And
William Palm III, University of Rhode Island

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8-9 Solving Differential Equations by Laplace Transform

8-99C The solution of differential equations with constant coefficients by Laplace transform
involves three basic steps:

a) Apply the Laplace transform to the differential equation resulting in an algebraic

equation in ( ), which is the Laplace transform of the unknown function ( ).
b) Solve the resulting algebraic equation for ( ).
c) Determine the unknown function ( ) by taking the inverse Laplace transform of ( ).

8-100C All initial conditions are incorporated into the solution while we are transforming a
differential equation with constant coefficients by Laplace transform into an algebraic equation.
Therefore we no longer need to deal with the unknown integration constants and apply initial
conditions to determine these constants. It should be, however, noted that the transformed
equation involves specified values of the unknown function and its derivatives at the point .
This limits the application of the Laplace transform to the initial-value problems only.

In Problems 8-101 through 8-119, we are to solve the initial-value problem using the Laplace
transform method.

8-101 Given: ( )
Solution: Taking the Laplace transform of the differential equation and incorporating the initial
condition,
{ } { } { }

[ ( ) ( )] ( )

( ) ( )

Solving for ( ),

( )
( )( )
The denominator consists of an irreducible quadratic factor and a linear factor, so the expansion
has the form

( )( )
Multiplying the expansion equation by the denominator of the given rational function and
collecting the coefficients of the like terms leaves us with two identical polynomials such that

( ) ( )

Equating the coefficients of like powers of s on both sides

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Solving this system gives and . Hence,

( )( )

Then the inverse Laplace transform of the given function is obtained to be

{ ( )} { } { } { }

or

( ) ( )

which is the desired solution.

Maple solution

> restart;
> with(inttrans);
> a := 0; b := 0; c := 1; d := 3; R := cos(t);
> ode := a*(diff(y(t), t, t, t))+b*(diff(y(t), t, t))+c*(diff(y(t), t))+d*y(t) = R;

> Laplace1 := laplace(ode, t, s);

> y(0) := -1;

> Laplace2 := subs(laplace(y(t), t, s) = Y, Laplace1);

> Laplace3 := collect(Laplace2, Y);

> Y := sort(solve(Laplace3, Y));

> Denominator := factor(denom(Y));

> Y1 := (A*s+B)/(s^2+1)+C/(s+3);

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> Eq1 := Y = Y1;

> Eq2 := sort(simplify(Eq1*Denominator));

> Eq3 := collect(Eq2, s);

> Eq4 := [coeffs(rhs(Eq3), s)];

> SystemOfEquations := {Eq4[1] = -1, Eq4[2] = 1, Eq4[3] = -1};

> Constants := solve(SystemOfEquations, {A, B, C});

> PartialFractionedY := subs(Constants, Y1);

> SolIVP := invlaplace(PartialFractionedY, s, t);

>
> PartialFract := convert(Y, parfrac, s);

>
> InvLap := invlaplace(Y, s, t);

8-102 Given: ( )
Solution: Taking the Laplace transform of the differential equation and incorporating the initial
condition,
{ } { } { }

[ ( ) ( )] ( )

( ) ( )

Solving for ( ),

( )
( )( )
The denominator consists of an irreducible quadratic factor and a linear factor, so the expansion
has the form

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 ( )( )
Multiplying the expansion equation by the denominator of the given rational function and
collecting the coefficients of the like terms leaves us with two identical polynomials such that

( ) ( )

Equating the coefficients of like powers of s on both sides

Solving this system gives and . Hence,

( )( )

Then the inverse Laplace transform of the given function is obtained to be

{ ( )} { } { } { }

or

( ) ( )

which is the desired solution.

8-103 Given: ( )
Solution: Taking the Laplace transform of the differential equation and incorporating the initial
condition,
{ } { } { }

[ ( ) ( )] ( )

( ) ( )

Solving for ( ),

( )
( )( )
( )( )
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The denominator consists of two simple linear factors, so the expansion has the form

( )( ) ( ) ( )

Multiplying the expansion equation by the denominator of the given rational function and
collecting the coefficients of the like terms leaves us with two identical polynomials such that

( )

Equating the coefficients of like powers of s on both sides

Solving this system gives and . Hence,

( )( ) ( ) ( )

Then the inverse Laplace transform of the given function is obtained to be

{ ( )} { } { }
( ) ( )

or

( ) ( )

which is the desired solution.

8-104 Given: ( )
Solution: Taking the Laplace transform of the differential equation and incorporating the initial
condition,

{ } { } { }

[ ( ) ( )] ( )

( ) ( )

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Solving for ( ),
( )
( )
( )
The denominator consists of two linear factors, so the expansion has the form

( )
Multiplying the expansion equation by the denominator of the given rational function and
collecting the coefficients of the like terms leaves us with two identical polynomials such that

( )

Equating the coefficients of like powers of s on both sides

Solving this system gives and . Hence,

( )
( )

Then the inverse Laplace transform of the given function is obtained to be

{ ( )} { } { }

or

( )

which is the desired solution.

Maple solution

> restart;
> with(inttrans);
> a := 0;b := 0;c := 1;d := 1/50;R := 30;

> ode := a*(diff(y(t), t, t, t))+b*(diff(y(t), t, t))+c*(diff(y(t), t))+d*y(t) = R;

> Laplace1 := laplace(ode, t, s);

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> y(0) := 80;

> Laplace2 := subs(laplace(y(t), t, s) = Y, Laplace1);

> Laplace3 := collect(Laplace2, Y);

> Y := sort(solve(Laplace3, Y));

>
> Denominator := factor(denom(Y));

> Y1 := A/(50*s+1)+B/s;

> Eq1 := Y = Y1;

> Eq2 := sort(simplify(Eq1*Denominator));

> Eq3 := collect(Eq2, s);

> Eq4 := [coeffs(rhs(Eq3), s)];

> SystemOfEquations := {Eq4[1] = 1500, Eq4[2] = 4000};

> Constants := solve(SystemOfEquations, {A, B});

> PartialFractionedY := subs(Constants, Y1);

>
> SolIVP := invlaplace(PartialFractionedY, s, t);

>
>
>
> PartialFract := convert(Y, parfrac, s);

>
> InvLap := invlaplace(Y, s, t);

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8-105 Given: ( ) ( )
Solution: Taking the Laplace transform of the differential equation and incorporating the initial
conditions,
{ } { } { } { }
[ ( ) ( ) ( )] [ ( ) ( )] ( )
( ) ( )
Solving for ( ),

( )
√
( ) ( )

Then the inverse Laplace transform of the given function is obtained to be

√
{ ( )}
√ √ √
( ) ( ) ( )
{ } { }

√
√
or

√
( ) √

which is the desired solution.

8-106 Given: [ ( )] ( ) ( )
Solution: Taking the Laplace transform of the differential equation and incorporating the initial
conditions,
{ } { } { } { ( ) }

[ ( ) ( ) ( )] ( )

( ) ( )

Solving for ( ),

( )
( ) ( )
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By partial fractioning we have

( ) ( )

Then the inverse Laplace transform of the partial fractioned function is obtained to be

{ ( )} { } { } { } { }
( ) ( )

( )( ( ) )

or

( ) ( ) ( )( ( ) )

which is the desired solution. Note that

{ } ( )
( )

8-107 Given: ( ) ( )
Solution: Taking the Laplace transform of the differential equation and incorporating the initial
conditions,
{ } { } { } { }

[ ( ) ( ) ( )] [ ( ) ( )]
( )

[ ( ) ] [ ( )]
( )
Solving for ( ),

( )
( )( )
The denominator consists of two linear factors and an irreducible quadratic factor, so the
expansion has the form

( )( )
Multiplying the expansion equation by the denominator of the given rational function and
collecting the coefficients of the like terms leaves us with two identical polynomials such that

( ) ( ) ( )

Equating the coefficients of like powers of s on both sides

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courses for which the textbook has been adopted. Any other use without publisher's
consent is unlawful.
Solving this system gives , , and . Hence,

( )
( )( ) ( ) ( )

Then the inverse Laplace transform of this function is obtained to be

( )
{ ( )} { } { } { } { }
( ) ( )

or

( ) ( )

which is the desired solution.

8-108 Given: [ ( ) ( )] ( ) ( )
Solution: Taking the Laplace transform of the differential equation and incorporating the initial
conditions,
{ } { } {[ ( ) ( )]}

[ ( ) ( ) ( )] ( )

( ) ( )

Solving for ( ),

( )
( ) ( )
By partial fractioning we have

( ) ( )
( ) ( √ )

Then the inverse Laplace transform of the partial fractioned function is obtained to be

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 √
{ ( )} { } { } { }
√ ( √ ) ( √ )

{ } { }
( √ )

√ ( ) ( ) [ √ ( )]
√

( ) ( ) [ √ ( )]

or

( ) √ ( )( [ √ ( )]) ( )( [ √ ( )])
√

which is the desired solution.

8-109 Given: ( ) ( ) ( ) ( )
Solution: Taking the Laplace transform of the differential equation and incorporating the initial
conditions,
{ } { } { } { ( )} { ( )}

[ ( ) ( ) ( )] [ ( ) ( )] ( )

( ) ( )

Solving for ( ),

( )
( )
By partial fractioning we have

( )
( )

√
( )
( ) (√ ) √ ( ) (√ )

Then the inverse Laplace transform of ( ) is obtained to be

√
{ ( )} { }
√ ( ) (√ )

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 ( ) √
{ }
( ) (√ ) √ ( ) (√ )

( )
√ ( ) ( ) [√ ( )]
√

( )
( ) [√ ( )]
√
or

( ) √ ( )
√

( )
( ) ( [√ ( )] [√ ( )])
√

which is the desired solution.

8-110 Given: ( ) ( ) ( ) ( )
Solution: Taking the Laplace transform of the differential equation and incorporating the initial
conditions,
{ } { } { } { ( )} { ( )}

[ ( ) ( ) ( )] [ ( ) ( )] ( )

( ) ( )

Solving for ( ),

( )
( )
By partial fractioning we have

√
( ) ( )
( ) ( ) ( ) (√ ) √ ( ) (√ )

Then the inverse Laplace transform of ( ) is obtained to be

( ) √
{ ( )} { } { }
( ) (√ ) √ ( ) (√ )

( ) ( ) √
{ } { }
( ) (√ ) ( ) (√ ) √ ( ) (√ )

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 √
{ } { } { }
( ) (√ ) √ ( ) (√ )

( ) √
{ } { }
( ) (√ ) √ ( ) (√ )

( )
√ √ ( ) ( ) [√ ( )]
√

( ) ( )
[√ ( )]
√
or

( ) ( √ √ ) ( )
√

( )
( ) ( [√ ( )] [√ ( )])
√

which is the desired solution.

Maple solution

> restart;
> with(inttrans);with(DEtools);
> a4 := 0;a := 0;b := 1;c := 2;d := 3;R := 3*Dirac(t)+Heaviside(t-2);
> ode := a4*(diff(y(t), t, t, t, t))+a*(diff(y(t), t, t, t))+b*(diff(y(t), t, t))+c*(diff(y(t), t))+d*y(t) = R;

> Laplace1 := laplace(ode, t, s);

> y(0) := 2;eval(diff(y(x), x), x = 0) := 0;

> Laplace2 := subs(laplace(y(t), t, s) = Y, Laplace1);

> Laplace3 := collect(Laplace2, Y);

> Y := sort(solve(Laplace3, Y));

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> InvLap := combine(simplify(expand(invlaplace(Y, s, t))));

8-111 Given: ( ) ( )
Solution: Taking the Laplace transform of the differential equation, and setting ( ) we
have,
{ } { } { } { }
[ ( ) ( ) ( )] [ ( ) ( )] ( )
[ ( ) ] [ ( ) ] ( )
( ) ( )
Solving for ( ),
√
( )
( )
√ √ √ √
( ) ( ) ( ) ( ) ( ) ( )

Using the inverse transform we then obtain,

√ √
( )
√
The value of can be determined by introducing the given boundary condition at , e.g.
( ) . Indeed we have

( √ √ )
√

from which we get

√ √ √

so that the desired solution to the given initial-value problem is obtained to be

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 √ √
( )

8-112 Given: ( ) ( )
Solution: Taking the Laplace transform of the differential equation and incorporating the initial
conditions,
{ } { } { }

[ ( ) ( ) ( )] ( )

( ) ( )

Solving for ( ),

( )
( )( ) ( )( )( )( )

The denominator consists of four linear factors and an irreducible quadratic factor, so the
expansion has the form

( )( )( )( )
Multiplying the expansion equation by the denominator of the given rational function and
collecting the coefficients of the like terms leaves us with two identical polynomials such that

( ) ( ) ( )

Equating the coefficients of like powers of s on both sides

Solving this system gives , , and . Hence,

( )( )( )( )

Then the inverse Laplace transform of ( ) is obtained to be

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courses for which the textbook has been adopted. Any other use without publisher's
consent is unlawful.
 { ( )} { } { } { } { }

( )

or

( )

which is the desired solution.

Maple solution

> restart;
> with(inttrans);with(DEtools);
> a4 := 0;a := 0;b := 1;c := 0;d := -4;R := 2*sinh(3*t);
>
>
> ode := a4*(diff(y(t), t, t, t, t))+a*(diff(y(t), t, t, t))+b*(diff(y(t), t, t))+c*(diff(y(t), t))+d*y(t) = R;

> Laplace1 := laplace(ode, t, s);

> y(0) := 2;eval(diff(y(x), x), x = 0) := 0;

> Laplace2 := subs(laplace(y(t), t, s) = Y, Laplace1);

> Laplace3 := collect(Laplace2, Y);

> Y := sort(solve(Laplace3, Y));

> InvLap := combine(simplify(expand(invlaplace(Y, s, t))));

> Denominator := factor(denom(Y));

> Y1 := A/(s-3)+B/(s+3)+C/(s-2)+E/(s+2);

> Eq1 := Y = Y1;

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> Eq2 := sort(simplify(Eq1*Denominator));

> Eq3 := collect(Eq2, s);

> Eq4 := [coeffs(rhs(Eq3), s)];

> SystemOfEquations := {Eq4[1] = 6, Eq4[2] = -18, Eq4[3] = 2, Eq4[4] = 0};

> Constants := solve(SystemOfEquations, {A, B, C, E});

> PartialFractionedY := subs(Constants, Y1);

> SolIVP := invlaplace(PartialFractionedY, s, t);

> SolIVP := convert(invlaplace(PartialFractionedY, s, t), exp);

8-113 Given: ( ) ( ) ( )
Solution: Taking the Laplace transform of the differential equation and incorporating the initial
conditions,
{ } { } { ( )}
[ ( ) ( ) ( )] ( )
( ) ( )
Solving for ( ),

( )

Then the inverse Laplace transform of ( ) is obtained to be

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consent is unlawful.
 { ( )} { }

or

( )

which is the desired solution.

8-114 Given: ( ) ( ) ( )
Solution: Taking the Laplace transform of the differential equation and incorporating the initial
conditions,
{ } { } { }

[ ( ) ( ) ( ) ( )] ( )

( ) ( )

Solving for ( ),

( )
( )( ) ( )( )( )
The denominator consists of two linear factors and an irreducible quadratic factor, so the
expansion has the form

( )( )( )

Multiplying the expansion equation by the denominator of the given rational function and
collecting the coefficients of the like terms leaves us with two identical polynomials such that

( ) ( ) ( )

Equating the coefficients of like powers of on both sides

Solving this system gives , , and . Hence,

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( )( )( )
√
( ) (√ ) √ ( ) (√ )

Then the inverse Laplace transform of ( ) is obtained to be

{ ( )} { } { } { }
( ) (√ )

√
{ }
√ ( ) (√ )

√ √
√
or

( ) [( ) ( √ √ √ )]

which is the desired solution.

8-115 Given: ( ) ( ) ( )
Solution: Taking the Laplace transform of the differential equation and incorporating the initial
conditions,
{ } { } { } { }

[ ( ) ( ) ( ) ( )] [ ( ) ( )] ( )

( ) ( )

Solving for ( ),

( )
( ) ( )( )
The denominator consists of two linear factors and (three fold), and an irreducible
quadratic factor, so the expansion has the form

( )( )
Multiplying the expansion equation by the denominator of the given rational function and
collecting the coefficients of the like terms leaves us with two identical polynomials such that

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courses for which the textbook has been adopted. Any other use without publisher's
consent is unlawful.
 ( ) ( ) ( )

( ) ( )

Equating the coefficients of like powers of on both sides

Solving this system gives , , , , and .

Hence we have,

( )( )

( )

√
( ) ( )

Or

√
( )
√ √ √
( ) ( ) ( ) ( )

Then the inverse Laplace transform of ( ) is obtained to be

{ ( )} { }
√
( ) ( )
{ }

√
{ } { } { }
√ √
( ) ( )
{ }

√ √
√
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or

√ √
( )
√
which is the desired solution.

8-116 Given: ( )
Solution: Taking the Laplace transform of the differential equation, and setting ( ) we
have,
{ } { } { }

[ ( ) ( )] ( )
( )

( ) ( )
( )
Solving for ( ),

( )
( )
Using the inverse transform we then obtain,

( )
The value of can be determined by introducing the given initial condition at , e.g.
( ) . Indeed we have

from which we get

so that the desired solution to the given initial-value problem is

( ) ( )

( ) ( ) ( ) ( ) ( )
8-117 Given:
Solution: Taking the Laplace transform of the differential equation, and setting ( ) and
( ) we have,
( ) { }
{ }

[ ( ) ( ) ( ) ( ) ( )]

[ ( ) ]
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Solving for ( ) and partial fractioning we get,

( )

Using the inverse transform we then obtain,

{ ( )} { } { } { }

or

( )

and

( )

The constants and can be determined from the boundary conditions:

( )

( )

Solving for and gives

Therefore the solution of the given boundary-value problem is found to be

( )

or

( ) ( )

8-118 Given: ( ) ( )
Solution: First, we notice that the initial conditions are not specified at . The only way that
we can take the Laplace transform of is to have the initial conditions at this point. Setting

we have,
( ) ( ) [ ( )]

Introducing ( ) ( ), and realizing that

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 ( ) ( ) ( )

we get

( ) ( ) ( )

The initial conditions for the new variable can be specified as

( ) ( ) ( )

( ) ( ) ( )

Therefore the given IVP in terms of new variables and initial conditions is

[ ( )] ( ) ( )

So, taking the Laplace transform of this new differential equation and plugging in the initial
conditions yields

{ } { } { [ ( )]}

[ ( ) ( ) ( )] ( )

[ ( ) ] ( )

Solving for ( ),
( )
( )
( )( )
By partial fractioning we have

( )
( )( )

Thus we get

( )

Now, taking the inverse transform will give the solution to the new IVP:

{ ( )} { } { } { } { }

{ } { }

( )

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or simplifying we have

( ) ( ) ( ) ( )

Noticing that ( ) ( ) ( ) ( ) we obtain

( ) ( ) ( ) ( ) ( )

which is the desired solution.

8-119 Given: ( ) ( )
Solution: First, we notice that the initial conditions are not specified at . The only way that
we can take the Laplace transform of is to have the initial conditions at this point. In addition,
the differential equation can be expressed as

( )

since ( ). Setting

we have,
( ) ( )

Introducing ( ) ( ), and realizing that

( ) ( ) ( )

we get

( ) ( ) ( )

The initial conditions for the new variable can be specified as

( ) ( ) ( )

( ) ( ) ( )

Therefore the given IVP in terms of new variables and initial conditions is

( ) ( )

So, taking the Laplace transform of this new differential equation and plugging in the initial
conditions yields

{ } { } { }
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 [ ( ) ( ) ( )] [ ( ) ( )]
( )

[ ( ) ] [ ( ) ]
( )

( ) ( )
( )
Solving for ( ),

( )
( )( ) ( )( )
By partial fractioning we have

( )( )

and

( )( )

Thus we get

( ) ( )

( )
( )

( ) ( )

Now, taking the inverse transform will give the solution to the new IVP:

{ ( )} { } { } { } { } { }
( )

{ }
( )

or

( )

Recalling that that ( ) ( ) ( ) ( ) we obtain

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 ( ) ( ) ( ) ( )
( ) ( ) ( )

After simplification we obtain

( ) ( ) ( )

which is the desired solution.

8-120 Transforming the equation with zero initial conditions gives

( ) ( ) ( )

This gives

( )
( )

8-121 Transforming the equation with zero initial conditions gives

( ) ( ) ( ) ( )

This gives

( )
( )

8-10 Solving System of Linear Differential Equations by Laplace Transform

8-122C The solution of a system of linear initial-value problems by Laplace transform method
involves three basic steps:

a) Apply the Laplace transform to each of the differential equations resulting in a system of
algebraic equations in the transforms of the unknown functions.
b) Solve the linear system of algebraic equations to obtain explicit expressions for each
transform.
c) Determine the unknown functions by taking the inverse Laplace transform of each
transform.

In Problems 8-123 through 8-127, we are to solve the system of initial-value problems using the
Laplace transform method.

8-123 Given: ( ) ( ) ( )
( )
Solution: Taking the Laplace transform of both sides of the differential equations yields,

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 { } { } { } { ( )}
{ } { } { }
or
[ ( ) ( ) ( )] ( ) ( )
[ ( ) ( )] ( )
Introducing the initial conditions, we have
( ) ( ) ( )
( ) ( )
Solving for ( ) and ( ),

( )
( )( )

( )
( )( )

To compute the inverse transform, we first write ( ) and ( ) in the partial fraction form
( )
( )
( )

( ) ( )

( )
( )
( )

( ) ( )

Taking the inverse Laplace transforms, we get

{ ( )} { } { } { }
( ) ( )

( )

and

{ ( )} { } { } { }
( ) ( )

( )

Therefore, the solution of the problem is

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 ( ) ( )

( ) ( )

8-124 Given: ( ) ( )
( ) ( )
Solution: Taking the Laplace transform of both sides of the differential equations yields,
{ } { } { }
{ } { } { }
or

[ ( ) ( ) ( )] [ ( ) ( )]

[ ( ) ( ) ( )] ( )

Introducing the initial conditions, we have

( ) ( )

( ) ( )

Solving for ( ) and ( ),

( )
( )( ) ( )

( )
( )( ) ( )

To compute the inverse transform, we first write ( ) and ( ) in the partial fraction form

( )
( )

( )
√

√ √ √
( ) ( ) ( ) ( )

( )
( )

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 ( )

√ √ √
( ) ( ) ( ) ( )

Taking the inverse Laplace transforms, we get

{ ( )} { } { } { } { }
( )

√ √ √
( ) ( ) ( ) ( )
{ } { }

√ √
( )
√
and

{ ( )} { } { } { } { } { }
( )

√ √ √
( ) ( ) ( ) ( )
{ } { }

√ √
( )
√

Therefore, the solution of the problem is

√ √
( )
√
√ √
( )
√

Maple solution

> restart;
> with(inttrans);

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>
> ode1 := diff(x(t), t, t)+diff(y(t), t) = 5*exp(-t);
> ode2 := diff(y(t), t, t)-x(t) = sin(t);
>
> ode1; ode2;

> Laplace1 := laplace(ode1, t, s);

> Laplace2 := laplace(ode2, t, s);

> x(0) := 1; (D(x))(0) := 0;

> y(0) := -2; (D(y))(0) := 0;
>
> Laplace1a := subs(laplace(x(t), t, s) = X, laplace(y(t), t, s) = Y, Laplace1);

> Laplace2a := subs(laplace(x(t), t, s) = X, laplace(y(t), t, s) = Y, Laplace2);

> XsYs := solve({Laplace1a, Laplace2a}, {X, Y});

> Xs := sort(rhs(XsYs[1])); Ys := sort(rhs(XsYs[2]));

> FactorsDenomXS := factor(denom(Xs));

> FactorsDenomYS := factor(denom(Ys));

> PartialFractionsXs := sort(convert(Xs, parfrac, s));

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> PartialFractionsYs := sort(convert(Ys, parfrac, s));

> x := invlaplace(PartialFractionsXs, s, t); y := invlaplace(PartialFractionsYs, s, t);

> x := combine(simplify(expand(x))); y := combine(simplify(expand(y)));

8-125 Given: ( ) ( )
( ) ( )
Solution: Taking the Laplace transform of both sides of the differential equations yields,
{ } { } { } { }
{ } { } { }
or

[ ( ) ( ) ( )] ( ) [ ( ) ( )]

[ ( ) ( ) ( )] ( )

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Introducing the initial conditions, we have

( ) ( ) ( )

( ) ( )

Solving for ( ) and ( ),

( )
( )( )( )

( )
( )( )( )

To compute the inverse transform, we first write ( ) and ( ) in the partial fraction form

( )
( )
√
( ) ( )

√ √ √
( ) ( ) ( ) ( )

( )
( )
√
( ) ( )

√ √ √
( ) ( ) ( ) ( )

Taking the inverse Laplace transforms, we get

{ ( )} { } { }
√
( ) ( )
{ }

√ √
( ) ( )
{ }

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 √ √
( )
√
and

{ ( )} { } { } { }
√
( ) ( )
{ }

√ √
( ) ( )
{ }

√ √
( )
√

Therefore, the solution of the problem is

√ √
( )
√
√ √
( )
√

8-126 Given: ( )
( )
Solution: Taking the Laplace transform of both sides of the differential equations yields,
{ } { } { } { } { }
{ } { } { } { }
or
[ ( ) ( )] [ ( ) ( )] ( ) ( )

[ ( ) ( )] [ ( ) ( )] ( )

Introducing the initial conditions, we have

( ) ( ) ( ) ( )

( ) ( ) ( )

Solving for ( ) and ( ),

( )
( )( )

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 ( )
( )( )

To compute the inverse transform, we first write ( ) and ( ) in the partial fraction form

( )

( )

Taking the inverse Laplace transforms, we get

{ ( )} { } { } { }

and

{ ( )} { } { } { }

Therefore, the solution of the problem is

( )

( )

8-127 Given: ( )
( )
( )
Solution: Taking the Laplace transform of both sides of the differential equations yields,
{ } { } { } { }
{ } { } { } { }
{ } { } { } { }
or

[ ( ) ( )] ( ) ( )

[ ( ) ( )] [ ( ) ( )] ( )

[ ( ) ( )] ( ) ( )

Introducing the initial conditions, we have

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 ( ) ( ) ( )

( ) ( ) ( )

( ) ( ) ( )

Solving for ( ), ( ) and ( ),

( )
( )( )( )( )

( )
( )( )( )

( )
( )( )( )( )

To compute the inverse transform, we first write ( ) ( ) and Z( ) in the partial fraction form

( )

√ √ √
( ) ( ) ( ) ( )

( )

√ √ √
( ) ( ) ( ) ( )

( )

√ √ √
( ) ( ) ( ) ( )

Taking the inverse Laplace transforms, we get

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 √
{ ( )} { }
√ √ √
( ) ( ) ( ) ( )
{ } { }

{ } { }

√ √
( )
√

{ ( )} { } { }
√
( ) ( )
{ }

√
{ }
√ √
( ) ( )
{ }

√ √
( )
√
and

√
{ ( )} { }
√ √ √
( ) ( ) ( ) ( )
{ } { }

{ } { }

√ √
( )
√

Therefore, the solution of the problem is

√ √
( )
√
√ √
( )
√
√ √
( )
√

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Maple solution

> restart;
> with(inttrans);
> ode1 := diff(x(t), t)+y(t)+z(t) = exp(-4*t);
> ode2 := diff(y(t), t)+diff(x(t), t)-x(t) = 0;
> ode3 := diff(z(t), t)-z(t)+y(t) = sin(t);
> ode1; ode2; ode3;

> Laplace1 := laplace(ode1, t, s);

> Laplace2 := laplace(ode2, t, s);

> Laplace3 := laplace(ode3, t, s);

> x(0) := 0; (D(x))(0) := 1;

> y(0) := 0; (D(y))(0) := 0;
> z(0) := 3; (D(z))(0) := 0;
> Laplace1a := subs(laplace(x(t), t, s) = X, laplace(y(t), t, s) = Y, laplace(z(t), t, s) = Z, Laplace1);

> Laplace2a := subs(laplace(x(t), t, s) = X, laplace(y(t), t, s) = Y, laplace(z(t), t, s) = Z, Laplace2);

> Laplace3a := subs(laplace(x(t), t, s) = X, laplace(y(t), t, s) = Y, laplace(z(t), t, s) = Z, Laplace3);

>
> XsYsZs := solve({Laplace1a, Laplace2a, Laplace3a}, {X, Y, Z});

> Xs := sort(rhs(XsYsZs[1])); Ys := sort(rhs(XsYsZs[2])); Zs := sort(rhs(XsYsZs[3]));

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> FactorsDenomXS := factor(denom(Xs)); FactorsDenomYS := factor(denom(Ys)); FactorsDenomZS
:= factor(denom(Zs));

>
> PartialFractionsXs := sort(convert(Xs, parfrac, s)); PartialFractionsYs := sort(convert(Ys, parfrac,
s)); PartialFractionsZs := sort(convert(Zs, parfrac, s));

> x := invlaplace(PartialFractionsXs, s, t); y := invlaplace(PartialFractionsYs, s, t); z :=

invlaplace(PartialFractionsZs, s, t);

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> x := combine(simplify(expand(x))); y := combine(simplify(expand(y))); z :=
combine(simplify(expand(z)));

8-128 Transforming both equations with zero initial conditions gives

( ) ( ) ( ) ( )

( ) ( ) ( )

Solving these equations gives

( ) ( )
( ) ( )

In Problems 8-129 and 8-130, we are to determine ( ) ( ) and ( ) ( ) for the given set of
equations.

8-129 Transforming both equations with zero initial conditions gives

( ) ( ) ( ) ( ) ( ) ( )

( ) ( ) ( ) ( )

First set ( ) and solve for ( ):

( )
( )

Now replace ( ) and set ( ) , and solve for ( ):

( )
( )

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8-130 Transforming the three equations with zero initial conditions gives

( ) ( ) ( ) ( ) ( )

( ) ( ) ( ) ( )

( ) ( ) ( ) ( )

First set ( ) and solve for ( )⁄ ( ):

( )
( )

Now replace ( ) and set ( ) , and solve for ( ):

( )
( )

In Problems 8-131 and 8-133, we are to determine for the given system.

8-131 The transition matrix is found from

( ) [( ) ]

( )

( ) ( )
( )

Taking each element in turn:

( ) ( )
( )

( )

⁄
( )

8-132 The transition matrix is found from

( ) [( ) ]

( )

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 ( ) ( )
( )

Taking each element in turn:

( )

( )
( )

8-133 The transition matrix is found from

( ) [( ) ]

( )

( ) ( )

Taking each element in turn:

( )

( )

( )

( )

8-134 The matrices and vector for this system is

( )
( ) ( ) ( ) ( )
( )

If the desired output is x1 then

( )

Then,

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 ( )

and

( ) ( )
( )( )

From Eq. 8-63,

( ) ( )( )( )

which gives

( ) ( )

This is the transfer function matrix for the output , which is influenced by both inputs. The
two transfer functions are

( ) ( )
( ) ( )

8-135 Let the vector u be ( ). Then B is ( ). Assume the step inputs have different
magnitudes and denote the ( ) vector of the magnitudes by p. The solution is

( ) ( ) ( ) ∫ ( )

Using the property ( ) ( ) ( ), we obtain

( ) ( ) ( ) ( )∫ ( )

From the series expression for ( ),

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 ( )

and

∫ ( ) [ ( )] [ ( )]

if exists. Since , , and thus

( ) ( ) ( ) [ ( ) ]

8-136 A vector of ramp functions starting at t =0 can be written as ( ) , where q is the

( ) vector of the slopes of the ramps. The response is

( ) ( ) ( ) ∫ ( )

Using the property ( ) ( ) ( ), we obtain

( ) ( ) ( ) ( )∫ ( )

From the series expression for ( ),

( )

we obtain

∫ ( )

and thus

( ) ( ) ( ) ( )[ ]

Inserting the series expression for ( ) and multiplying the two series, we can show that

( ) ( ) ( ) [ ( ) ]

8-11 Computer-Aided Laplace Transform Methods

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8-137 Note that
1
U (s) 
s
a)
1
X (s) 
s(3s  21s  30)
2

In MuPAD:

transform::invlaplace(1/(s*(3*s^2+21*s+30)),s,t)

1 1 1
5t
 2t

45e 18e 30

In Maple,

>
>

b)

1
X (s) 
s(5s  20s  65)
2

In MuPAD:

transform::invlaplace(1/(s*(5*s^2+20*s+65)),s,t)

 2sin 3t  
 cos 3t   
1  3 
 2t
65 65e

In Maple,

>
>

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c)

3s  2
X (s) 
s(4s  32s  60)
2

In MuPAD:

transform::invlaplace((3*s+2)/(s*(4*s^2+32*s+60)),s,t)

7 13 1
3t
 5t

24e 40e 30

In Maple,

>
>

d)

3s  2
X ( s) 
s( s  10s 2  31s  30)
3

In MuPAD:

transform::invlaplace((3*s+2)/(s*(s^3+10*s^2+31*s+30)),s,t)

2 7 13 1
2t
 3t  5t

3e 6e 30e 15

In Maple,

>
>

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8-138 Note that
( s )  1

a)
1
X ( s) 
3s  21s  30
2

In MuPAD:

transform::invlaplace(1/(3*s^2+21*s+30),s,t)

1 1
2t
 5t
9e 9e

In Maple,

>
>

b)
1
X ( s) 
5s  20s  65
2

In MuPAD:

transform::invlaplace(1/(5*s^2+20*s+65),s,t)

In Maple,

>
>

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8-139 Note that
5
F (s) 
s2

a)
5
X ( s) 
s (3s  21s  30)
2 2

In MuPAD:

transform::invlaplace(1/(3*s^2+21*s+30),s,t)

1 1
2t
 5t
9e 9e

In Maple,

>
>

b)
5
X ( s) 
s (5s  20s  65)
2 2

In MuPAD:

transform::invlaplace(5/(s^2*(5*s^2+20*s+65)),s,t)

In Maple,

>
>

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c)
15s  10
X ( s) 
s (4s 2  32s  60)
2

In MuPAD:

transform::invlaplace((15*s+10)/(s^2*(4*s^2+32*s+60)),s,t)

In Maple,

>
>

d)
15s  10
X ( s) 
s ( s  10s 2  31s  30)
2 3

In MuPAD:

transform::invlaplace((15*s+10)/(s^2*(s^3+10*s^2+31*s+30)),s,t)

In Maple,

>
>

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8-140 Transforming both sides of the equation gives

( ) ( ) ( ) ( )

Solve for ( ):

( ) ( )
( )
( ) ( )

In MuPAD:

transform::invlaplace(0.75*(1-exp(-5*s))/(s*(s+0.25)),s,t)


0.75heaviside t  5.0  4.0e1.250.25t  4.0   3.0
e0.25t
 3.0

In Maple,

>
>

8-141 a) The transfer function is

X ( s) 1
 2
U ( s) 3s  21s  30
In MATLAB:

>> sys=tf(1,[3,21,30]);
>> step(sys)

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b) The transfer function is

X ( s) 1
 2
U ( s) 5s  20s  65
In MATLAB:

>> sys=tf(1,[5,20,65]);
>> step(sys)

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c) The transfer function is

X (s) 3s  2
 2
U ( s) 4s  32s  60
In MATLAB:

>> sys=tf([3,2],[4,32,60]);
>> step(sys)

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d) The transfer function is

X ( s) 3s  2
 3
U ( s) s  10s 2  31s  30
In MATLAB:

>> sys=tf([3,2],[1,10,31,30]);
>> step(sys)

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8-142 a) The transfer function is
X ( s) 1
 2
( s) 3s  21s  30

In MATLAB:

>> sys=tf(1,[3,21,30]);
>> impulse(sys)

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b) The transfer function is

X ( s) 1
 2
( s) 5s  20s  65

In MATLAB:

>> sys=tf(1,[5,20,65]);
>> impulse(sys)

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8-143 a)

X ( s) 1
 2
F ( s) 3s  21s  30

In MATLAB:

>> sys=tf(1,[3,21,30]);
>> t =[0:1.5/300:1.5];
>> f=5*t;
>> [x]=lsim(sys,f,t);
>> plot(t,x),xlabel('t'),ylabel('x')

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b)

X ( s) 1
 2
F ( s) 5s  20s  65

In MATLAB,

>> sys=tf(1,[5,20,65]);
>> t =[0:1.5/300:1.5];
>> f=5*t;
>> [x]=lsim(sys,f,t);
>> plot(t,x),xlabel('t'),ylabel('x')

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c)

X (s) 3s  2
 2
F ( s) 4s  32s  60

In MATLAB:

>> sys=tf([3,2],[4,32,60]);
>> t =[0:1.5/300:1.5];
>> f=5*t;
>> [x]=lsim(sys,f,t);
>> plot(t,x),xlabel('t'),ylabel('x')

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d)

X ( s) 3s  2
 3
F ( s) s  10s 2  31s  30

In MATLAB:

>> sys=tf([3,2],[1,10,31,30]);
>> t =[0:1.5/300:1.5];
>> f=5*t;
>> [x]=lsim(sys,f,t);
>> plot(t,x),xlabel('t'),ylabel('x')

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8-144 a)

X ( s) 1
 2
F ( s) 3s  21s  30

In MATLAB:

>> sys=tf(1,[3,21,30]);
>> t=[0:6/300:6];
>> f=6*cos(3*t);
>> [x]=lsim(sys,f,t);
>> plot(t,x),xlabel('t'),ylabel('x')

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b)

X ( s) 1
 2
F ( s) 5s  20s  65

In MATLAB:

>> sys=tf(1,[5,20,65]);
>> t=[0:6/300:6];
>> f=6*cos(3*t);
>> [x]=lsim(sys,f,t);
>> plot(t,x),xlabel('t'),ylabel('x')

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c)

X (s) 3s  2
 2
F ( s) 4s  32s  60

In MATLAB:

>> sys=tf([3,2],[4,32,60]);
>> t=[0:6/300:6];
>> f=6*cos(3*t);
>> [x]=lsim(sys,f,t);
>> plot(t,x),xlabel('t'),ylabel('x')

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d)

X ( s) 3s  2
 3
F ( s) s  10s 2  31s  30

In MATLAB:

>> sys=tf([3,2],[1,10,31,30]);
>> t=[0:6/300:6];
>> f=6*cos(3*t);
>> [x]=lsim(sys,f,t);
>> plot(t,x),xlabel('t'),ylabel('x')

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8-145 In MATLAB: a) The script file is

KT = 0.2; Kb = 0.2; c = 5e-4; Ra = 0.8;

La = 4e-3; I = 5e-4;
den = [La*I, Ra*I + c*La, c*Ra + Kb*KT];
% Speed transfer function
sys1 = tf(KT, den)
% Current transfer function
sys2 = tf([I, c], den)

The transfer functions are:

( )
( )

( )
( )

b) The script file is

[om, t1] = step(sys1);

[ia, t2] = step(sys2);
subplot(2,1,1)
plot(t1, 10*om),xlabel(‘t (s)’),ylabel(‘\omega (rad/s)’)

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subplot(2,1,2)
plot(t2, 10*ia),xlabel(‘t (s)’),ylabel(‘i_a (A)’)

The plot is shown in the following figure. The peak current is approximately 8 A. The more
accurate value of 8.06 A can be found with the step(sys2) function by right-clicking on the plot,
selecting characteristics, then peak response, and multiplying the answer by 10.

c) The script file is

KT = 0.2; Kb = 0.2; c = 5e-4; Ra = 0.8; La = 4e-3; I = 5e-4;

den = [La*I, Ra*I + c*La, c*Ra + Kb*KT];
% Speed transfer function: sys1 = tf(KT, den);
% Current transfer function: sys2 = tf([I, c], den);
% Applied voltage
t = [0:0.001:0.05];
va = 10*(1-exp(-100*t));
om = lsim(sys1, va, t);
ia = lsim(sys2, va, t);
subplot(2,1,1)
plot(t, om),xlabel(’t (s)’),ylabel(’\omega (rad/s)’)
subplot(2,1,2)
plot(t, ia),xlabel(’t (s)’),ylabel(’i\verb_a (A)’)

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The plot is shown in the following figure. The peak current is approximately 8 A. The more
accurate value of 8.06 A can be found with the lsim(sys2, va, t) function by right-clicking on the
plot, selecting characteristics, then peak response. Note that the peak current occurs later than
in part (b).

Review Problems

8-146

C 2C C
f (t )  tus (t )  (t  D)us (t  D)  (t  2 D)us (t  2 D)
D D D

From the shifting property of the Laplace transform,

F ( s) 
C
Ds 2
2C C C

 2 e Ds  2 e2 Ds  2 1  2e Ds  e2 Ds
Ds Ds Ds

8-147

C C
f (t )  tus (t )  (t  D)us (t  D)  Cus (t  D)
D D

From the shifting property 6 of the Laplace transform,

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 C C C
F ( s)  2
 2 e Ds  e Ds
Ds Ds s

8-148

f (t )  Mus (t )  2Mus (t  T )  Mus (t  2T )

From the shifting property 6 of the Laplace transform,

M 2M Ts M 2Ts
F ( s)   e  e
s s s

8-149 Let

t 3 2t 5
f (t )  t  
3 15

Then

1 2 16 s 4  2s 2  16
F ( s)    
s2 s4 s6 s6

From the differential equation,

F ( s) s 4  2s 2  16
X ( s)  
s 1 s 6 ( s  1)

or

16 16 18 18 19 19 19
X ( s)       
s6 s5 s 4 s3 s 2 s s  1

Thus

2 5 2 4
x(t )  t  t  3t 3  9t 2  19t  19  19et
15 3

On a plot of this and the solution obtained from the lower-order approximation, the two
solutions are practically indistinguishable.

8-150 The transformed equation is

( ) ( ) ( )

Or

( ) ( )
( )

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This gives the solution

( )

Note that this implies that ( ) , which is different from the given initial condition. This
discontinuity is caused by the impulse input.

8-151 Transforming the equation with zero initial conditions gives

( ) ( )

since ( ) A partial fraction expansion gives

( )

Thus

( ) ( )

Note that, since

( ) ( )

then

( )

which is different from the given initial condition. This discontinuity is caused by the impulse
input.

8-152 From the voltage law we have

( ) ( )

where ( ) represents the input voltage due to the switch and the 12-V supply. We could model
( ) as a rectangular pulse of height 12 V and duration 0.1 s, but the differential equation (1)
is easier to solve if we model ( )as an impulsive input of strength 12(0.1) = 1.2 V· s. This
model can be justified by the fact that the circuit time constant, L/R = 4/20 = 0.2, is greater
than the duration of ( ). Thus we model ( ) as ( ) = 1.2δ(t). The Laplace transform of
Equation (1) with i(0) = 0 gives

( ) ( )
or

( )
( )

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This gives the solution
( )

Note that this solution gives i (0+) = 0.3, whereas i (0) = 0. The difference is due to the
impulsive input.

8-153 For a perfectly elastic collision, the velocity v3 of the mass m after the collision is given in
the problem statement:

Thus the change in the momentum of m is

( ) ∫ ( )

Thus the linear impulse applied to the mass m during the collision is
∫ ( )

From Newton’s law of action and reaction, we see that the linear impulse applied to the 10m
mass is +20mv1/11, and thus its equation of motion is
̈ ( )

We can solve this equation for t > 0 using the initial conditions x(0) = 0 and ̇ ( ). The
Laplace transform gives

( ) ( )

( )
( ) ( )

Thus

( ) √ √

This gives ̇ ( ) .

8-154 Note that 4t  16  4(t  4) . Thus can write the input as

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 v(t )  4tus (t )  8(t  2)us (t  2)  4(t  4)us (t  4)

Use the shifting theorem to write

V ( s) 
4 8 2 s 4 4 s 4
2
s s s s

 2 e  2 e  2 1  2e2 s  e4 s 
Then

Y ( s) 
V ( s)
 2
4
s  5 s ( s  5)
1  2e2 s  e4 s 

and

4 1 1 
y(t )   t   e5t  1  2us (t  2)  us (t  4) 
5 5 5 

Thus

4 1 1 
y (t )   t   e5t  for 0  t  2
5 5 5 

4 1 1  8 1 1 
y(t )   t   e5t   t  2   e5(t 2)  for 2  t  4
5 5 5  5 5 5 

or

y(t ) 
84 4
 t
25 5 25
4

1  2e10 e5t  for 2  t  4

Finally

4 
y(t ) 
84 4
 t
25 5 25
4
 5
 1 1
1  2e10 e5t  t  4   e5(t 4) 
5 5 
for t  4

or

y(t ) 
4
25
 
1  2e10  e20 e5t for t  4

8-155 Given

p(0)  pa  p0  pa  30 103

Thus

p0  30 103 Pa

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Given

p(0.2)  pa  15 103  pa  p0e0.2/

Thus

30 103 e0.2/  15 103

and e0.2/  0.5 . Thus   0.2 / ln0.5  0.289 and

p(t )  pa  30 103 et /0.289

The model is

mx  Ap(t )  kx  Apa  Ap0et /0.289  kx

since the pressure pa acts both on top of and on the bottom of the piston. This gives

10 x  1000 x  2.4 102 (30 103 )et /0.289  720et /0.289

With zero initial conditions,

72 Cs 10C C3
X ( s)   2 1  2 2 
( s  100)( s  3.46) s  100 s  100 s  3.46
2

Comparison of numerators gives

(C1  C3 )s 2  (3.46C1  10C2 )s  34.6C2  100C3  72

and thus C1  0.643 , C2  0.22225 , and C3  0.643 . Therefore

0.643s 0.2225(10) 0.643

X ( s)    2 
s 2  100 s  100 s  3.46

and

x(t )  0.643cos10t  0.2225sin10t  0.643e3.46t

8-156

mx  kx  ky

But x  z  y and x  z  y . Thus

m( z  y)  k ( z  y)  ky

mz  kz  my  mbt

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and

z  n2 z  bt

With zero initial conditions,

b C C C Cs
Z ( s)   21  2  2 n 3 2  2 4 2
s ( s  n ) s
2 2 2
s s  n s  n

Comparison of numerators gives

(C2  C4 )s3  (C1  nC3 )s 2  n2C2 s  n2C1  b

and thus C1  b / n2 , C2  0 , C3  b / n3 , and C4  0 . Therefore

b b
z (t )   t sinnt

2
n n3

and

x  z  y  bsinnt  bt

8-157

mx  kx  ky

But x  z  y and x  z  y . Thus

m( z  y)  k ( z  y)  ky

mz  kz  my

and

z  n2 z   y  aebt

With zero initial conditions,

a C Cs C
Z ( s)   2 n 12  2 2 2  3
( s  b)( s  n ) s  n s  n s  b
2 2

Comparison of numerators gives

(C2  C3 )s 2  (C1n  bC2 )s  bnC1  n2C3  a

and thus C1  ab / D , C2  an / D , and C3  an / D , where D  b2n  n3 . Therefore

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 x  z  y  n2C1 sin nt  n2C2 cosnt  b2C3ebt  aebt

or

abn an2 ab2 bt

x sin  t  cos t  e  aebt
b  n b  n b  n
2 2 n 2 2 n 2 2

which gives

abn an2 an2 bt

x 2 sin nt  2 cosnt  2 e
b  n2 b  n2 b  n2

Finally

x
a
b  n
2 2 
bn sin nt  n2 cosnt  n2ebt 
8-158

mx  kx  ky

t t v0 t 2
y(t )   v(t ) dt  y(0)   v(t )dt  v0t 
0 0 T 2

So

v0 t 2
mx  kx  ky  kv0t  k
T 2

Let b  kv0 . Then for zero initial conditions,

b b 2 b  Ts  1 
(ms 2  k ) X ( s)     
s 2T s3 T  s3 
2

b Ts  1 b  C1 C2 C3 nC4 Cs 
X ( s)    3 2   2  2 5 2
mT s ( s  n ) mT  s
3 2 2
s s s  n s  n 
2

Comparison of numerators gives

(C3  C5 )s 4  (nC4  C2 )s3  (C1  n2C3 )s 2  n2C2 s  n2C1  Ts  1

Thus

1 T
C1   C2 

2
n n2

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 1 T 1
C3  C4   C5  
 4
n 3
n n4

and

b  t2 
x(t )   C1  C2t  C3  C4 sinnt  C5 cosnt 
mT  2 

b  t2 T 1 T 1 
x(t )    2  2 t  4  3 sinnt  4 cosnt 
mT  2n n n n n 

8-159 For 0  t  T ,

x  n2 x  at  b

where   k / m , a  F0 / mT and b  F0 / m . For zero initial conditions,

2

bs  a C C C Cs
X ( s)   21  2  2 3 n 2  2 4 2
s ( s  n ) s
2 2 2
s s  n s  n

Comparing numerators we obtain

(C2  C4 )s3  (C1  nC3 )s 2  n2C2 s  N2 C1  bs  a

Thus

a b
C1   C2 
 2
n n2

a b
C3  C4  
 3
n n2

and

a b a b
x(t )   t  sinnt  cosnt
2
n 2
n 
3
n n2

Thus

F0 F F F
x(t )   t  0  0 sinnt  0 cosnt
kT k kT n k

8-160 The model is

mx  cx  kx  cy  ky

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Let T  L / v . Then

H H
y(t )  t y
T T

Thus

H H
mx  cx  kx  c k t
T T

Divide by m and use the standard definitions for  and n (and note that   1 .

H H
x  2n x  n2 x  2n  n2 t
T T

Let

2n H
a
T

Then

n2 H n
 a
T 2

Then

an
x  2n x  n2 x  a  t
2

The characteristic roots are repeated: s  n .

For zero initial conditions,

as  0.5an C1 C2 C3 C4
X ( s)   2  
s ( s  n )
2 2
s s ( s  n ) 2
s  n

Comparing numerators, we see that

(C2  C4 )s3  (C1  2nC2  C3  nC4 )s 2  (2nC1  nC2 ) s  n2C1  as  0.5an

Thus

a a
C1  C2  0 C3   C4  0
2n 2n

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and

x(t ) 
2n
a

t 1  ent 
8-161 Let ⁄ . Then the equation becomes

( )

The Laplace transform gives

( ) ( ) ( ) ( ) ( )

We are given that ( ) ( ) , and we do not know the values of ( ) and ( ). Denote
the latter by B and C. Thus

( )

Inverting the transform gives

( ) ( ) ( )

Thus, for ⁄

( )

For ⁄ ,

( ) ( )

and

( ) ( )

( ) ( )

Imposing the conditions ( ) ( ) , we obtain

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These give and ⁄ . Thus, for ⁄ ,

( ) ( ) ( ) ( )

For ⁄ ,

( ) ( ) ( )

8-162 Let

( ) {

Then we can write ( ) as

( ) ( ) ( )

Transform this equation gives

( ) ( ) ( ) ( )( )

Letting ⁄ , the differential equation becomes

( )

The Laplace transform gives

( ) ( ) ( ) ( ) ( ) ( )

We are given that ( ) ( ) , and we do not know the values of ( ) and ( ). Denote
the latter by B and C. Thus

( ) ( )

or

( )
( )

For ⁄ ,

( ) ( )

and the transform of the solution is

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 ( )

Thus for ⁄ , the solution has the form

( )

For ⁄ ( ) , and thus , which has the solution form

( )

Using the boundary conditions: ( ) ( ) , we obtain

( )

( )

These give , and thus for ⁄ , the solution has the form

( )

Thus we have four unknowns: B, C, , and . These can be found the continuity requirement
for ( ) and its derivatives at ⁄ . The resulting algebra can be simplified by defining new
variables z and w as

Thus the deflections equations become

Applying the four continuity conditions gives the results:

And thus the solution is

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©2012 McGraw-Hill. This work is only for non-profit use by instructors in
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