IB Mathematical Methods I Part 2 of 4 (Cambridge), astronomy, astrophysics, cosmology, general relativity, quantum mechanics, physics, university degree, lecture notes, physical sciences
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1B Methods 28
.
1B METHODS
LECTURE NOTES
Richard Jozsa, DAMTP Cambridge
rj310@cam.ac.uk
October 2011
PART II:
PDEs on bounded domains:
Separation of variables
1B Methods 29
Introduction
Here we begin our study of some of the most important partial diﬀerential equations
of physics and applied mathematics viz. the wave equation, the diﬀusion equation and
the Laplace equation. We will introduce the method of separation of variables w

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IB Mathematical Methods I Part 2 of 4 (Cambridge), astronomy, astrophysics, cosmology, general relativity, quantum mechanics, physics, university degree, lecture notes, physical sciences
astronomy, astrophysics, cosmology, general relativity, quantum mechanics, physics, university degree, lecture notes, physical sciences
1B Methods 28
.
1B METHODS
LECTURE NOTES
Richard Jozsa, DAMTP Cambridge
rj310@cam.ac.uk
October 2011
PART II:
PDEs on bounded domains:
Separation of variables
1B Methods 29
Introduction
Here we begin our study of some of the most important partial diﬀerential equations
of physics and applied mathematics viz. the wave equation, the diﬀusion equation and
the Laplace equation. We will introduce the method of separation of variables w

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.

1B METHODS

LECTURE NOTES

Richard Jozsa, DAMTP Cambridge

rj310@cam.ac.uk

October 2011

PART II:

PDEs on bounded domains:

Separation of variables

1B Methods 29

Introduction

Here we begin our study of some of the most important partial dierential equations

of physics and applied mathematics viz. the wave equation, the diusion equation and

the Laplace equation. We will introduce the method of separation of variables which

provides a simple but extremely useful means of solution in a wide variety of practical

situations. The method involves reducing the PDEs to a set of Sturm-Liouville ODEs.

Later in Part IV we will develop a further method of solution (developing associated

Greens functions) that can be applied in further contexts, such as in the presence of

inhomogeneous (forcing) terms.

3 THE WAVE EQUATION

3.1 Physical signicance

Waves are extremely common in the physical world. Examples include surface distur-

bance of a body of uid, vibration of string instruments and pressure perturbations in air

that convey sound. In all these cases, if the amplitude of the disturbance is suciently

small, the perturbation variable (x, t) characterising the disturbance will satisfy the

wave equation:

t

2

= c

2

wave form. In these examples, extra non-linear terms will need to be introduced if the

disturbance becomes large, and the wave equation is only a kind of lowest order approxi-

mation. This is entirely analogous to the behaviour of a point particle in mechanics, that

is trapped in a local minimum of some potential function and performing small motions:

regardless of the overall form of the potential, to lowest order approximation (e.g. in

Taylor series expansion) any (suitably dierentiable) function appears quadratic around

a local minimum, and the particle will thus execute simple harmonic motion if the am-

plitude is small. But the wave equation also has genuinely fundamental signicance in

other areas: for example in electromagnetic theory, Maxwells equations imply the the

electromagnetic potentials must satisfy the wave equation in regions free of sources, and

this lead to the understanding of (classical) light as an electromagnetic phenomenon a

truly awesome discovery at the time.

To illustrate the physical origin of the wave equation consider small transverse (1 dimen-

sional) vibrations of an elastic string with ends xed at x = 0 and x = L. We make the

following (physically sensible) assumptions:

the string is uniform (mass per unit length is constant);

the string is perfectly elastic and oers no resistance to bending;

the string performs small transverse motions so the deection and slope remain small

in absolute value (we will retain terms only to rst order in these quantities);

we will include gravity (taking the x-axis to be horizontal).

Let y(x, t) denote the vertical deection of the point at x. Consider a small element s

1B Methods 30

of string between x (point A) and x +x (point B) having mass x. Let

A

,

B

be the

angles at the ends and let T

A

, T

B

be the outward pointing tangential tension forces acting

on s. Since the motion is vertical, the total horizontal force is zero. Also by Newtons

law, x

2

y/t

2

is the total vertical force. Thus we get respectively:

T

A

cos

A

= T

B

cos

B

= T = constant (1)

x

2

y

t

2

= T

B

sin

B

T

A

sin

A

xg. (2)

Dividing through by the quantities in eq. (1) we get

x

T

2

y

t

2

=

T

B

sin

B

T

B

cos

B

T

A

sin

A

T

A

cos

A

gx

T

. (3)

Now

T

B

sin

B

T

B

cos

B

T

A

sin

A

T

A

cos

A

= tan

B

tan

A

=

y

x

y

x

2

y

x

2

x

and eq. (3) becomes (after dividing through by x/T):

2

y

t

2

= c

2

2

y

x

2

g where c

2

= T/

i.e. a forced wave equation. Neglecting gravity (setting g = 0) gives the standard wave

equation. c (having units of a velocity) is called the phase speed. Note that from the

role of Newtons law in the above derivation, for a unique solution (in addition to the

BCs of xed endpoints y(0, t) = y(L, t) = 0 for all t) we would expect to have to provide

the initial position y(x, 0) and the initial velocity y/t(x, 0) for 0 < x < L of all points

along the string.

3.2 The method of separation of variables

illustrated by waves on a nite string

Consider the following problem:

2

y

t

2

= c

2

2

y

x

2

BCs : y(0, t) = y(L, t) = 0 for all t;

ICs : y(x, 0) = (x) y/t(x, 0) = (x) for 0 < x < L.

where and are specied functions on (0, L). It may be shown that this problem,

with the given initial and boundary conditions, is well-posed i.e. has a unique solution,

as expected from our physical considerations above.

To nd this solution, the method of separation of variables begins by considering a

solution of the following form

y(x, t) = X(x)T(t)

1B Methods 31

in which the variables have been separated, as a product of two single-variable func-

tions. Substituting into the wave equation (and denoting xderivatives with a prime,

and tderivatives with a dot) gives

c

2

X

T = X

T i.e.

1

c

2

T

T

=

X

X

Now the key observation is that the LHS (resp. RHS) is a function only of t (resp. only

of x) so the only way that they can be equal is for both sides to be equal to the same

constant which we call :

1

c

2

T

T

=

X

X

=

so

X

+ X = 0 (4)

T + c

2

T = 0 (5)

and we get two SL eigenvalue equations with related eigenvalues.

Solving eq. (4), if =

2

is non-positive we get

X = cosh x + sinh x

and the BCs X(0) = X(L) = 0 give = = 0. Hence must be positive and writing

=

2

(with > 0), we get

X = cos x + sin x.

Using the BCs we get = 0 (from X(0) = 0) and then X(L) = 0 gives sin L = 0 i.e.

= n/L so

n

=

n

2

2

L

2

n = 1, 2, 3, . . .

Note that these are the eigenvalues of the SL system

(X

= X

having p(x) = 1, q(x) = 0 and weight function w(x) = 1. The associated eigenfunctions

X

n

(x) = sin

nx

L

are called the normal modes, corresponding to n half-wavelengths tting spatially into

the domain. The lowest mode n = 1 is called the fundamental mode and for n > 1

they are called harmonics or overtones.

Knowing X

n

and

n

we can return to the time equation eq. (5) and derive the associated

time functions T

n

(t):

T

n

+

n

2

2

c

2

L

2

T

n

= 0

1B Methods 32

so

T

n

(t) =

n

cos

nct

L

+

n

sin

nct

L

,

and our specic solution so far is

y

n

= X

n

(x)T

n

(t) = sin

nx

L

A

n

cos

nct

L

+ B

n

sin

nct

L

.

The next insight is to note that the wave equation is linear (and the BCs are homogeneous)

so we can superpose solutions to obtain more general solutions of the form

y(x, t) =

n=1

sin

nx

L

A

n

cos

nct

L

+ B

n

sin

nct

L

(6)

Finally now, the initial conditions require

y(x, 0) = (x) =

n=1

A

n

sin

nx

L

and

y

t

(x, 0) = (x) =

n=1

nc

L

B

n

sin

nx

L

n

, B

n

are determined from the initial conditions as the Fourier sine

series coecients of , :

A

n

=

2

L

L

0

(x) sin

nx

L

dx,

B

n

=

2

nc

L

0

(x) sin

nx

L

dx

completing our solution eq. (6).

Summary of the method:

(1) Separate the variables by writing y as a product of single-variable functions;

(2) Determine the allowed form for the eigenvalues (constants of separation) from the

BCs;

(3) Determine the form of all corresponding single-variable eigenfunctions;

(4) Sum over possible separated-variable solutions to form a general series solution;

(5) Determine the coecients in the general series solution from the initial conditions

(using SL orthogonality of the eigenfunctions, to form SL eigenfunction expansions of

the initial-value functions).

Exercise: the plucked string. Determine the full solution for a string initially plucked

at its centre i.e. in the above notation (x) = 0 and

(x) =

2kx/L 0 x L/2

2k(L x)/L L/2 x L

Youll need to check that the Fourier sine series of (x) is

(x) =

8k

1

1

2

sin

x

L

1

3

2

sin

3x

L

+

1

5

2

sin

5x

L

1B Methods 33

3.3 Separation of variables for 2D polar co-ordinates:

Bessels equation, waves on a drum

The previous example lead to very simple SL problems (constant coecients and weight

function w(x) = 1) typical of separation of variables in cartesian (rectangular) co-

ordinates. For problems with circular or cylindrical symmetry, separation of variables

leads to a more interesting equation, known as Bessels equation, having non-constant

weight function and coecient function p(x).

Consider the wave equation with two spatial dimensions and time, on the unit disc:

2

u

t

2

= c

2

2

u x

2

+ y

2

1

Later well specify BCs and ICs. But rst, separating the time from the space variables

u(x, y, t) = V (x, y)T(t) we get

T = c

2

T

2

V = V

where we take to be non-negative, since (as before) this will be required by our BCs

(cf later). Now let us use polar co-ordinates for the space dimensions, and separate these

variables too, writing:

V = R(r)().

Then for

2

V = V the Laplacian in polar co-ordinates

2

V =

2

r

2

V +

1

r

2

2

V +

1

r

r

V

gives (introducing a second constant of separation):

+ = 0,

r

2

R

+ rR

+ (r

2

)R = 0.

The equation gives = a cos

+ b sin

be periodic with period 2 (as and + 2 are the same physical point), which implies

that = m

2

(m an integer) and the radial eigenvalue problem becomes

r

2

R

+ rR

+ (r

2

m

2

)R = 0. (7)

After dividing by r, we get the standard Sturm-Liouville form

d

dr

r

d

dr

R

m

2

r

R = rR r 1, (8)

having p(r) = r, q(r) = m

2

/r and weight function w(r) = r.

(Jumping ahead slightly, note that p(0) = 0 and we will later impose BCs R(1) = 0 and

R(0) bounded, so the LHS of the above equation will be self adjoint.)

Now, substituting z =

r, we get

z

2

d

2

dz

2

R + z

d

dz

R + (z

2

m

2

)R = 0, (9)

1B Methods 34

which is Bessels equation of order m.

When m is an integer eq. (9) has two linearly independent solutions conventionally called:

J

m

(z), the Bessel function of the rst kind of order m, which is regular at the origin

(and zero there for all m > 0);

Y

m

(z), the Bessel function of the second kind of order m, which is singular at the

origin. (It is sometimes also called the Weber function or Neumann function). Dont

confuse the (quite standard) notation Y

m

here with our previous use of this for normalised

eigenfunctions!

Since Y

m

is singular at the origin it will not generally appear in our solutions for problems

on a full disc r a (although it generally does appear in problems on an annulus

0 < b r a having the origin excluded). We will mostly be concerned with J

m

for

m = 0, 1, 2, . . .

There is a huge literature on properties of Bessel functions J

and Y

essarily integer) orders R (dened by eq. (9) with replacing m). We will state

here (without proof) some properties relevant to our purposes (but see exercise sheet

1 No. 8 and sheet 2 No. 10 for some derivations). For a more complete account and

further properties see for example, chapter 12 of M. Boas Mathematical Methods in the

Physical Sciences.

Using the Frobenius method of power series in eq. (9) we can derive the formula

J

p

(z) =

z

2

k=0

(1)

k

k!(p + k)!

z

2

2k

p = 0, 1, 2, . . .

(Remark: this formula actually holds for all p R if we replace factorials by the

Gamma function (p + k)! (p + k + 1).)

We will not give an expression here for Y

p

; but see for example Boas book.

Small z behaviour. As z 0:

J

p

(z) =

1

p!

z

2

p

+ O(z

p+2

) p = 0, 1, 2, . . .

Y

0

(z) = O(ln z) Y

p

(z) = O(

1

z

p

) p = 1, 2, . . .

Large z (asymptotic) behaviour. As z :

J

p

(z) =

2

z

1/2

cos

z

p

2

4

+ O(z

3/2

)

Y

p

(z) =

2

z

1/2

sin

z

p

2

4

+ O(z

3/2

).

Hence we see that J

p

and Y

p

each have an innite number of zeroes and turning

points (characteristic of our eigenvalue problems). The gure shows graphs of the

rst few Bessel funtions of integer order.

1B Methods 35

0 2 4 6 8 10 12 14 16 18 20

0.5

0

0.5

1

1.5

0 2 4 6 8 10 12 14 16 18 20

0.5

0

0.5

1

1.5

Figure 1: Upper panel: Plots of the Bessel functions of the rst kind J

0

(x) (solid);

J

1

(x) (dashed); J

2

(x) (dotted); and J

3

(x) (dot-dashed). Lower panel: Plots of the Bessel

functions of the second kind Y

0

(x) (solid); Y

1

(x) (dashed); Y

2

(x) (dotted); and Y

3

(x)

(dot-dashed).

1B Methods 36

Example: the vibrating drum

Returning to our radial equation eq. (9) we see that a priori, the dilated Bessel functions

J

m

(

mn

r) and Y

m

(

mn

r) are appropriate eigenfunctions with eigenvalues

mn

to be

determined from the BCs. (Here for each order m of Bessel function we have introduced a

second subscript n as we expect a discrete series of eigenvalues). As a concrete example,

consider a vibrating drum: we will demand (i) that u is nite when r = 0 and (ii) that

u = 0 when r = 1 corresponding to the edge of the drum being clamped. Then (i)

excludes Bessel functions Y

m

of the second kind and (ii) requires the eigenvalues to be

square roots of the zeroes of the Bessel functions of the rst kind

J

m

(

mn

) = 0.

For each order m, consider them in increasing order 0 <

m1

<

m2

< . . . and write

j

mn

=

mn

. Then for the spatial component of our solution we have

V

mn

(r, ) = J

m

(j

mn

r) [

mn

cos m +

mn

sin m] .

Note that for m = 0 we have simply V

0n

(r, ) =

0n

J

0

(j

0n

r). From the time equation

T = c

2

T, we see that for each m, n the associated time function is

T(t) =

mn

cos j

mn

ct +

mn

sin j

mn

ct.

Putting all this together (and relabelling products of arbitrary constants) our general

solution incorporating the (homogeneous) BCs takes the form:

u(r, , t) =

n=1

J

0

(j

0n

r) (A

0n

cos j

0n

ct + C

0n

sin j

0n

ct)

+

m=1

n=1

J

m

(j

mn

r) (A

mn

cos m + B

mn

sin m) cos j

mn

ct

+

m=1

n=1

J

m

(j

mn

r) (C

mn

cos m + D

mn

sin m) sin j

mn

ct.

To complete the formulation of the problem we need to specify the initial displacement

and initial velocity of the drum surface:

u(r, , 0) = (r, )

u

t

(r, , 0) = (r, ).

The constants in the general solution above are then xed by expanding and as

Fourier series in , and in terms of a series of Bessel functions J

k

(j

kn

r) for the radial

co-ordinate. For the latter we use the fact that these (SL eigen-)functions (for each xed

k, and varying n) are orthogonal with respect to the weight function w(r) = r. Explicitly

we have (cf example sheet 1 No. 8 and sheet 2 No. 10 for derivations):

1

0

J

k

(j

kn

r) J

k

(j

km

r) r dr =

1

2

[J

k

(j

kn

)]

2

mn

=

1

2

[J

k+1

(j

kn

)]

2

mn

. (10)

1B Methods 37

Indeed from our SL theory we know that the LHS above must be proportional to

mn

,

and the particular form of the proportionality factors above can be derived from the

power series formulas for the Bessel functions.

Example. To illustrate the above orthogonality formula in action, consider the simple

case where the drum is initially at rest so (r, ) = 0 and is hit by a drumstick at the

centre so that

u

t

(r, , 0) = (r)

is a function of r only. The solution is then also independent of and all constants are

zero except for C

0n

. (The A

0n

s are all zero since (r, ) = 0 at t = 0). Using eq. (10)

we get (as you can check):

u(r, , t) =

n=1

J

0

(j

0n

r)C

0n

sin[j

0n

ct],

C

0m

=

2

cj

0m

1

0

(r)rJ

0

(j

0m

r)dr

[J

0

(j

0m

)]

2

.

Interestingly, the fundamental frequency for a drum of general diameter d is 2j

01

c/d

4.8c/d (where we have rescaled our expression above to make r

max

= d/2), which is higher

than that of a string of length d (which is c/d). Also, the fundamental response of the

drum is just a Bessel function, showing that we actually experience these functions rather

frequently.

Exercise in orthogonality. Going back to the case of general initial conditions, use the

orthogonality relations eq. (10) and the Fourier orthogonality relations for sine and cosine

functions to write down integral expressions for A

mn

, B

mn

in terms of and C

mn

, D

mn

in

terms of . Note that the Fourier orthogonality relations ensure that the Bessel function

orthogonality integrals that arise along the way, involve two Bessel functions always of

the same order.

3.4 Energetics for the wave equation

Consider again small transverse vibrations of an elastic string with endpoints xed at

x = 0, L, with mass density per unit length and tension T (both constant). Write

c

2

= T/. We have:

2

y

t

2

= c

2

2

y

x

2

, y(0, t) = y(L, t) = 0, y(x, 0) = (x),

y

t

(x, 0) = (x),

y(x, t) =

n=1

a

n

cos

nct

L

+ b

n

sin

nct

L

sin

nx

L

, (11)

a

n

=

2

L

L

0

(x) sin

nx

L

dx,

b

n

=

2

nc

L

0

(x) sin

nx

L

dx.

1B Methods 38

Now, we can consider the total kinetic energy K of the string, dened as

K =

L

0

1

2

y

t

2

dx, (12)

To get an expression for potential energy consider a small element s of the string:

PE = T extension = T(s x),

= T

1 +

y

x

2

1

x.

Integrating along the whole string, the potential energy is

V = T

L

0

1 +

y

x

1/2

1

dx,

T

2

L

0

y

x

2

dx, (13)

using a Taylor series expansion, since y/x is small.

Therefore, the total energy is

E = K + V =

2

L

0

y

t

2

+ c

2

y

x

dx.

Substituting the form of the solution (11) into the expression for K yields (using Fourier

trig function orthogonality):

K =

2

L

0

n=1

m=1

sin

nx

L

sin

mx

L

nc

L

b

n

cos

nct

L

a

n

sin

nct

L

mc

L

b

m

cos

mct

L

a

m

sin

mct

L

dx,

=

L

4

n=1

n

2

2

c

2

L

2

a

2

n

sin

2

nct

L

+ b

2

n

cos

2

nct

L

2a

n

b

n

cos

nct

L

sin

nct

L

.

A similar calculation can be done for the potential energy and combining the two, all trig

terms drop out (e.g. using sin

2

+cos

2

= 1), and we get the simple total energy expression

E =

c

2

2

4L

n=1

n

2

(a

2

n

+ b

2

n

),

1B Methods 39

which is independent of time i.e. just like an oscillating mass attached to an elastic spring,

PE and KE are continuously inter-converted during the motion while conserving the total

energy. Finally, recall that the period of oscillation (i.e. period of the fundamental mode)

is

T =

2

= 2

L

c

=

2L

c

.

and we can average over a period to get

K =

c

2L

2L

c

0

Kdt = V =

c

2L

2L

c

0

V dt =

E

2

,

i.e. there is an equipartition of energy between average potential and kinetic energies.

3.5 Wave reection and transmission

If the medium through which the wave is propagating has spatially varying properties,

then the properties of the wave will change too, for example with the possibility of partial

reection at an interface.

Suppose we have an (innite) string with density =

+

for

x > 0 and consider small transverse deections. Resolving forces horizontally (as before)

we see that the tension must remain constant (even with density variations) and so

the wave speed c

propagating to the right from x = . The most general form is (using subscript I to

denote incident):

W

I

= A

I

cos[w(t x/c

) +

I

] (14)

with amplitude A

I

and phase

I

. It is convenient to represent such waves in terms of a

complex exponential

W

I

= 1(I exp [i (t x/c

)]) (15)

where I = I

r

+ iI

i

is a complex number and 1 denotes the real part.

Remark on notation: in I = I

r

+ iI

i

the capital I stands for incident and subscripts

r and i denote real and imaginary parts. In a moment well also have complex numbers

R and T for reected and transmitted with similar subscripts r and i denoting real

and imaginary parts.

To see the equivalence of eq. (14) and eq. (15) it is convenient to consider I in polar

form I = [I[e

i

. Then

1

I exp

t

x

c

= [I[1

exp

t

x

c

so A

I

= [I[ and

I

= i.e. the amplitude and phase of the wave are just the modulus

and argument of the complex number I.

On arrival at x = 0 some of the incident wave will be transmitted and so continue to

propagate to the right into x > 0 while some will be reected and so propagate back

1B Methods 40

to the left. Both of these waves may have dierent amplitudes and phases than those of

the incident wave. Using subscripts T for transmitted and R for reected we write

W

T

= 1

T exp

t

x

c

+

W

R

= 1

Rexp

t +

x

c

with T = T

r

+ iT

i

R = R

r

+ iR

i

.

The latter quantities dene the new amplitudes and phases via their moduli and argu-

ments. These coecients T and R are determined by physical matching conditions at

x = 0.

(a) we assume the string does not break so the displacement at x = 0 must be continuous

for all time i.e.

W

I

[

x=0

+ W

R

[

x=0

= W

T

[

x=0

+

so (using the fact that if 1Ae

iwt

= 1Be

iwt

for all t then A = B as complex numbers) we

get

I + R = T. (16)

(b) the point x = 0 has no inertia (but see a dierent situation on example sheet 2!...)

and thus the total vertical force at x = 0 must vanish:

y

x

x=0

=

y

x

x=0

+

i.e.

R

c

I

c

=

T

c

+

. (17)

The two equations eqs. (16,17) then suce to x the two complex numbers R and T in

terms of I and solving we get

R =

c

+

c

c

+

+ c

I,

T =

2c

+

c

+

+ c

I.

This has several interesting properties: (i) we see that R

i

/R

r

= T

i

/T

r

= I

i

/I

r

so there is

a simple relationship between the phases of the waves; (ii) if

+

=

then c

+

= c

and

so R = 0 and T = I as expected. If the string to the right is very much heavier

+

,

then c

+

<c

so T 0 and almost all the wave is reected with the reected wave having

phase shift (R I). On the other hand if the string to the right x > 0 is very much

lighter

+

<

, then c

+

c

and we get a large amplitude of disturbance to the right. However most of the energy is

still reected (as the mass is very low on the right) so in both the asymmetrical limiting

cases, most of the energy is reected.

1B Methods 41

4 The diusion equation

4.1 Physical signicance

The diusion equation (also known as the heat equation) is (like the wave equation)

one of the most important equations of physics and applied mathematics. It describes

the transport of quantities that diuse as a consequence of spatial gradients in their

concentration. A classic example is heat (characterised in terms of temperature) which

diuses from hot regions to cooler regions and the diusion is driven by temperature

gradients. Other examples include chemical species in solution that diuse in the presence

of concentration gradients.

Let c(x, t) denote the concentration of a species A. Our basic assumption (also known

as Ficks law, or Fouriers law of thermal conduction in the case of heat) is that the ux

of A is proportional to the negative concentration gradient

J = Dc (18)

D is called the diusion coecient which we assume to be constant. The meaning of

the term ux is the following: if n is a unit vector then locally at (x, t) the amount of

A crossing a small area at (x, t) with normal n is J n per unit area per second. Thus

diusion occurs from high to low concentration, as J points opposite to the concentration

gradient.

Consider now a volume V with surface S and suppose that species A is conserved as

it sloshes around by diusion. The total content in V is

V

c dV . By eq. (18) the

amount crossing the surface is

S

Dc ndS where n is the outward pointing normal

to the surface. Then the requirement of conservation can be expressed as follows rate of

decrease of total c in V equals the rate at which c is transported out across the boundary.

Thus we can write

V

c dV =

S

Dc ndS.

Applying the divergence theorem to RHS gives

V

c dV =

V

(Dc) dV

i.e.

V

(c/t D

2

c) dV = 0. Since this holds for all volumes we get

c

t

= D

2

c

which is the diusion equation for c.

Heat diusion. In the case of temperature and heat ow we have the following facts

from thermodynamics: if (x, t) is the temperature distribution then the heat ux is

given by (Fouriers law of conduction)

q = k

1B Methods 42

where k is the thermal conductivity. Also the heat content of a region V is

V

dV

where is the specic heat and is the density, both assumed constant here. Then

conservation of energy via the above argument gives

t

= D

2

where D =

k

.

Random walks and diusion. The diusion equation also arises in the study of

probabilistic processes, especially in the theory of random walks and Brownian motion.

Consider a particle moving in one dimension x viewed at discrete time intervals t. Let

P

N

(x) be its probability density function (PDF) after N steps. We assume the following

probabilistic behaviour: in each step (regardless of the time or position of the particle)

it has PDF p() to move distance in one step. Thus the process is homogeneous

(independent of position) and memoryless (p() does not depend on the previous history

of the particle). We will also assume that p() has mean zero i.e. there is no drift in the

mean position of the particle. By considering all possible ways that the particle can get

to a position x at stage N + 1 from stage N we easily see that

P

N+1

(x) =

p()P

N

(x ) d.

Now suppose the motion in each step is small i.e. p() is concentrated near = 0, and

expand P

N

(x ) as a Taylor series:

P

N+1

(x)

p()P

N

(x) + p()P

N

(x)() + p()P

N

(x)

2

2

d

= P

N

(x) P

N

(x)'` + P

N

(x)

2

.

Here by assumption the mean '` = 0, and '

2

` is the variance of PDF p. Writing P

N

(x)

as P(x, Nt) we get

P(x, (N + 1)t) P(x, NT) =

2

x

2

P(x, Nt)

'

2

`

2

. (19)

Next assume that the variance '

2

` is proportional to t:

'

2

`

2

= Dt. (20)

Then in the limit of small t eq. (19) becomes the diusion equation in one space

dimension

P

t

= D

2

P

x

2

.

The assumed behaviour of the variance eq. (20) occurs commonly in actual physical

processes. For example suppose the particle is a foreign body in a (1-dimensional) back-

ground gas of particles that randomly collide with it, having very many independent

random hits per unit time (even for very small time intervals). The number of hits M

in time t will then be proportional to t. Thus the microscopic origin of p() is the

sum of many independent identical random variables X

1

+ X

2

+ . . . + X

M

with X

i

= X

for all i (characterising a single hit), and by elementary probability theory, the variance

is then proportional to M and so to t. This kind of analysis provides an explanation

of Brownian motion the random jiggling (as seen under a microscope) of tiny pollen

grains that have fallen into a liquid. It was used by Einstein in 1905 to provide compelling

evidence for the existence of atoms, which was still much doubted at that time!

1B Methods 43

4.2 Similarity solutions and the error function erf(z)

Lets consider the one dimensional diusion equation

t

= D

2

x

2

= (x, t). (21)

The dimensionless combination x

2

/Dt (reecting the characteristic linear-time spread of

variance in diusion processes noted above) plays a special role for the equation and we

introduce the so-called similarity variable

=

x

2

Dt

.

We now seek solutions of eq. (21) that depend on x, t only through the combination

i.e. (x, t) = ((x, t)) (without imposing any BCs or ICs). Straightforward chain rule

dierentiation gives

t

=

t

2t

x

=

x

=

1

2

Dt

x

2

=

x

1

2

Dt

=

1

2

Dt

=

1

4Dt

2

and the diusion equation becomes the ODE

d

2

d

2

= 2

d

d

.

Setting X = d/d we get dX/d = 2X so X = C exp

2

and

= c

2

0

e

u

2

du = c erf

x

2

Dt

erf(z) =

2

z

0

e

u

2

du

which is scaled so that erf(0) = 0 and erf(z) 1 as z . The function (x, t) =

erf(x/2

3

, 10

2

, 10

1

, 10

0

.

Note that as t 0 approaches the step function with jump discontinuity from 1 to

1 as x crosses 0.

Although we have not incorporated any BCs this function can be used as an early-time

approximation to diusion problems in a nite domain, near to interior points where the

initial concentration (x, 0) has a jump discontinuity. Intuitively, it takes some time for

the interior solution to feel the inuence of boundaries and BCs there. We will see an

illustration of this in the next example.

1B Methods 44

2 1.5 1 0.5 0 0.5 1 1.5 2

1

0.8

0.6

0.4

0.2

0

0.2

0.4

0.6

0.8

1

Figure 2: Plots (with D = 1) of the error function erf(x/2

3

(solid); t = 10

2

(dashed); t = 10

1

(dotted); and t = 10

0

(dot-dashed).

1B Methods 45

Example. (Heat conduction in a nite bar)

Consider a nite bar L x L of length 2L with initial temperature

(x, 0) = H(x) =

1 0 < x L

0 L x < 0

and boundary conditions for all t 0:

(L, t) = 1 (L, t) = 0. (22)

Subject to these conditions we aim to use the method of separation of variables to solve

the heat equation eq. (21). But there is a hiccup at the start: recall that we proceed by

(a) nding separated (eigenfunction) solutions f

n

(x, t) = X

n

(x)T

n

(t) that satisfy the BCs

and then (b) superposing them to form

n

c

n

X

n

(x)T

n

(t), (c) then choosing coecients

c

n

to match the initial conditions (expanded as innite series in the eigenfunctions).

The problem is with (b) in this example our BCs are not homogeneous so we cannot

superpose solutions that individually satisfy the BCs, to obtain a combination that still

satises the BCs! One way to deal with this is to identify any particular solution

s

of the

diusion equation which satises the given BCs, and then consider solving the problem

for

=

s

which will then have homogeneous BCs (and well correspondingly modied

s ICs to apply to

).

For

s

we will seek a steady state solution

s

(x) that will then physically correspond to

the late-time behaviour of , when all transients have decayed. Thus we seek

s

with

s

t

= 0 = D

s

x

2

so

s

= Ax + B and imposing the BCs we get

s

(x) =

(x + L)

2L

.

Thus our problem for

(x, t) = (x, t)

s

(x) becomes

t

= D

2

x

2

BCs:

(L, t) = 0 for all t > 0 (homogeneous now!)

ICs:

(x, 0) = H(x)

(x+L)

2L

for L x L

and we can now straightforwardly apply our standard separation of variables method:

setting

(x, t) = X(x)T(t) gives as usual

T = DT X

= X

for some constant . If < 0 then the BCs allow only X(x) = 0. Thus is positive and

X(x) = Acos

x + Bsin

x.

1B Methods 46

The BCs X(L) = 0 impose

Acos

L = 0 and Bsin

L = 0.

If A = 0 then cos

L = 0 so we get

m

=

m

2L

m = 1, 3, 5, . . .

and so then B = 0 and the corresponding eigenfunctions are

X

m

(x) = A

m

cos

mx

2L

m

=

m

2

2

4L

2

. (23)

On the other hand, if B = 0 then sin

L = 0 so we get

n

=

n

L

n = 1, 2, 3, . . .

so then A = 0 and the eigenfunctions are

X

n

(x) = B

n

sin

nx

L

n

=

n

2

2

L

2

. (24)

Note that the rst set eq. (23) of eigenfunctions are all even and the second set eq. (24)

are all odd functions. Our initial condition

(x, 0) for

is an odd function so we retain

only the second set i.e. we take A

m

= 0 for all m. With

n

from eq. (24) the time

equation gives

T

n

(t) = C

n

exp(

Dn

2

2

L

2

t).

The general solution for

(with odd initial condition

(x, 0)) is thus

(x, t) =

n=1

b

n

sin

nx

L

exp(

Dn

2

2

L

2

t).

Imposing the initial condition xes the b

n

s:

n=1

b

n

sin

nx

L

= H(x)

(x + L)

2L

so

Lb

m

=

L

L

(x, 0) sin

nx

L

dx =

L

0

sin

nx

L

dx

1

2

L

L

sin

nx

L

dx

1

2L

L

L

x sin

nx

L

dx.

After some integration by parts (for the last integral) we get simply

b

m

=

1

m

1B Methods 47

and the transient and full solutions are

n=1

1

n

sin

nx

L

exp

n

2

2

Dt

L

2

,

=

(x + L)

2L

+

n=1

1

n

sin

nx

L

exp

n

2

2

Dt

L

2

. (25)

In the gure we plot the solution (x, t

0

) for times t

0

= 0, 10

3

, 10

2

, 10

1

, 10

0

. For these

t

0

s we also plot the function

i

(x, t

0

) =

1

2

1 + erf

x

2

Dt

. (26)

which represents the error function suitably translated and rescaled to t the initial step

function data for ). We see that

i

is graphically indistinguishable from for all the

plotted times except the latest time t

0

= 10

0

conrming the validity of the similarity

solution as an excellent approximation for early times.

5 The Laplace equation

Our third fundamentally important equation of study is the Laplace equation

2

= 0 (27)

in some domain T. We have no initial conditions (as there is no time co-ordinate) and

we will consider two kinds of boundary conditions on the boundary T of T:

(i) Dirichlet conditions: if is given on the boundary, then there is a unique solution

throughout T;

(ii) Neumann conditions: if the normal derivative n is given on the boundary then

is uniquely dened throughout T up to an additive constant (here n is the outward

pointing unit normal to the boundary).

5.1 Physical and mathematical signicance

The Laplace equation is very important in physics and applied mathematics but even

more, it also plays a fundamental role in some other areas of pure mathematics. The study

of its solutions (in more general contexts of dierentiable manifolds and locally compact

groups) is an area of study in its own right called harmonic analysis solutions of

Laplaces equation are sometimes called harmonic functions.

Applications of Laplaces equation include the following:

(a) Steady state heat conduction (or diusion) in the heat equation we seek solutions

that are independent of time, and then the heat equation becomes the Laplace equation.

1B Methods 48

1 0.8 0.6 0.4 0.2 0 0.2 0.4 0.6 0.8 1

0

0.2

0.4

0.6

0.8

1

Figure 3: Plots (with L = 1 and D = 1) of as dened in eq. (25) for: t = 0 (very

thick line); t = 10

3

(thick solid line); t = 10

2

(thick dashed); t = 10

1

(thick dotted);

t = 10

0

(thick dot-dashed). Also plotted is the error function approximation, as dened

in (26) for: t = 10

3

(thin solid line); t = 10

2

(thin dashed); t = 10

1

(thin dotted);

t = 10

0

(thin dot-dashed). Only the last line is visible.

1B Methods 49

(b) For incompressible uid ow (with velocity eld v(x, t)) in a region with no

sources or sinks. If the ow is irrotational i.e. curl v = 0 (i.e. zero vorticity) then

v can be expressed in terms of a so-called velocity potential : v = . Then the

incompressibility condition v = 0 gives

2

= 0.

(c) Potential theory: in a variety of physical scenarios of particle dynamics involving

motion in space under the action of forces, we have a force eld (i.e. a force dened at

each point in space) that can be expressed as the gradient of a potential: F = .

Such forces are called conservative forces since (as a consequence of Newtons laws)

there is a corresponding conservation of total (kinetic plus potential) energy. Examples

include the gravitational force and the electric eld force. In these cases it is physical

law that the integral of the normal component of force, integrated over a closed surface,

is proportional to the total amount of source inside (viz. mass and electric charge in our

examples). Thus using the divergence theorem we see that the potential must satisfy the

Laplace equation in any region free of sources e.g. the gravitational potential due to any

mass distribution in the region outside the masses.

(d) Complex analysis: any function of a complex variable f : C C may be written via

real and imaginary parts as f(z) = u(x, y) +iv(x, y) where z = x+iy. For a well dened

notion of derivative with respect to z to exist i.e. we want lim

z0

(f(z +z) f(z))/z

to be independent of how z tends to zero in the 2-dimensional complex plane, it can

be shown that it is necessary and sucient that u

x

= v

y

and u

y

= v

x

hold (these are

the so-called Cauchy-Riemann equations, subscripts denoting partial derivatives). Thus

(by taking a further derivative of these equations) we see that both u and v must satisfy

the 2-dimensional Laplace equation. Such functions f are called complex analytic or

holomorphic functions and they have a very rich and beautiful theory (cf Complex

Analysis and Complex Methods courses) with many applications.

We now consider the solution of Laplaces equation by separation of variables in dierent

co-ordinate systems: cartesian, plane polar, cylindrical and spherical polar co-ordinates.

5.2 3D cartesian co-ordinates

We have

xx

+

yy

+

zz

= 0 and substituting (x, y, z) = X(x)Y (y)Z(z) we get

X

X

+

Y

Y

+

Z

Z

= 0.

Each ratio (being a function of a dierent single variable) must thus be constant so we

can write

X

= X Y

= Y Z

= ( + )Z.

Note that the constant in the Z equation is not a third independent constant, as the

three ratios must sum to zero.

Our (by now rather familiar!...) procedure is:

(i) nd eigenvalues

l

,

m

and associated eigenfunctions X

l

(x), Y

m

(y) by applying the

1B Methods 50

x, y-BCs (yet to be specied). Note: here we assume that these BCs are homogeneous.

(ii) then solve for Z

lm

(z) and write the product solution

P

lm

(x, y, z) = X

l

(x)Y

m

(y)Z

lm

(z)

i.e. we treat z like we did the time co-ordinate in the wave and heat equations. The

z-BCs (assumed generally not homogeneous) are not applied yet here see (iv) below.

(iii) next dene a general solution by summing over l, m:

(x, y, z) =

l,m

a

lm

X

l

(x)Y

m

(y)Z

lm

(z)

which still satises the x, y-BCs (because they were homogeneous).

(iv) determine the coecients a

lm

using the z-BCs.

In the above the roles of x, y, z can be interchanged to match the BC homogeneities and

geometry of the given problem. Note that as before, we get rather simple SL problems

from cartesian co-ordinate separations.

Example: steady heat conduction

Consider the problem of steady heat conduction in a semi-innite rod of rectangular

cross-section, heated at one end and having xed temperature zero on its other surfaces.

We assume the rod lies along the z-axis for z 0 with rectangular cross-section 0 x

a, 0 y b. If (x, y, z) denotes the steady temperature eld we then have:

2

= 0

z-BCs: (x, y, 0) = (x, y) 0 as z

x, y-BCs: (0, y, z) = (a, y, z) = (x, 0, z) = (x, b, z) = 0.

Separating variables as above gives = X

l

Y

m

Z

lm

and solving the X equation with

X(0) = X(a) = 0 gives

l

=

l

2

2

a

2

X

l

=

2

a

sin

lx

a

l = 1, 2, 3, . . .

where for convenience we have normalised the eigenfunctions i.e.

a

0

X

2

l

dx = 1.

Similarly solving the Y equation with Y (0) = Y (b) = 0 gives

m

=

m

2

2

b

2

Y

m

=

2

b

sin

lx

b

m = 1, 2, 3, . . .

Using the above (positive) , values, the general solution of the Z equation is

Z = exp

l

2

a

2

+

m

2

b

2

1/2

z

+ exp

l

2

a

2

+

m

2

b

2

1/2

z

.

1B Methods 51

Since remains bounded as z , we have = 0. Thus our general solution is

(x, y, z) = (28)

2

ab

l=1

m=1

a

lm

sin

l

a

x

sin

m

b

y

exp

l

2

a

2

+

m

2

b

2

1/2

z

.

The coecients a

lm

are determined by the boundary condition at z = 0:

(x, y, 0) = (x, y) =

2

ab

l=1

m=1

a

lm

sin

l

a

x

sin

m

b

y

.

Using the orthogonality of the sine functions we easily get

a

pq

=

2

ab

b

0

a

0

(x, y) sin

p

a

x

sin

q

b

y

dxdy (29)

completing the solution.

Note that the sine functions arise because of the homogeneous Dirichlet BCs on x and y.

If instead we had homogeneous Neumann conditions /x = 0 and /y = 0 on the y

and x boundaries respectively (which physically corresponds to insulated boundaries i.e.

no heat ow across the boundary) then we would get cosine eigenfunctions. Furthermore

if the bar were nite of length L, with an extra BC (x, y, L) = f(x, y) then we would

expect both positive and negative exponentials in the Z part of the solution (i.e. both

and now generally non-zero there).

As a specic concrete case consider = 1 i.e. the end of the rod is kept at constant

temperature 1. Then from eq, (29) we get (as you can check)

a

pq

=

ab

pq

if p, q both odd

0 otherwise

so

(x, y, z) = 16

l=1

m=1

sin

(2m1)y

b

sin

(2l1)x

a

2

(2l 1)(2m1)

exp[k

l,m

z],

k

2

l,m

=

(2l 1)

2

a

2

+

(2m1)

2

b

2

.

Thus we see that the rod is hotter in the middle, and for large z the solution is dominated

by lower harmonics i.e. with k

lm

small so l, m small.

5.3 Plane polar co-ordinates

In plane polar coordinates with = (r, ), Laplaces equation becomes

2

= 0 =

1

r

r

r

+

1

r

2

2

.

1B Methods 52

We write = R(r)() and separate variables giving

= (30)

r

R

(rR

= (31)

with separation constant .

For the angular equation: since is an angular co-ordinate we have (by single-

valuedness) ( + 2) = () i.e. must have period 2 and for = 0 eq. (30) gives

the discrete series of eigenvalues and eigenfunctions:

n

= n

2

n

() = a

n

cos n + b

n

sin n n = 1, 2, 3, . . . (32)

For = 0 eq. (30) gives

0

= a + b and periodicity requires that b = 0 so

0

() is

constant (just like in Fourier series) and the formula eq. (32) above actually holds for

n = 0 too.

For the radial equation: we again treat the cases = n

2

> 0 and = 0 separately.

For n = 0 we have

r(rR

n

)

n

2

R

n

= 0.

Let us search for power law solutions, i.e. assume that R

n

r

the radial equation, we get

2

n

2

= 0 i.e. = n and so

R

n

(r) = c

n

r

n

+ d

n

r

n

, n = 1, 2, 3 . . .

and our n

th

separated solution is

n

(r, ) = (a

n

cos n + b

n

sin n)(c

n

r

n

+ d

n

r

n

) n = 1, 2, 3, . . . ,

For n = 0 we have (rR

0

)

= 0 so

R

0

= d

0

log r + c

0

=

0

(r, )

and

0

(r, ) = c

0

+ d

0

log r (as

0

was constant).

Thus our general solution for Laplaces equation in polar coordinates is

(r, ) = c

0

+ d

0

log r +

n=1

(a

n

cos n + b

n

sin n)(c

n

r

n

+ d

n

r

n

). (33)

This general solution contains a rather large number of dierent constants but this num-

ber can often be immediately reduced by the geometry of the region being considered:

If the problem is dened on the interior of a disc r a then for regularity at r = 0 we

immediately have d

0

= d

n

= 0 and we can absorb the c

n

s, introducing

n

= a

n

c

n

and

n

= b

n

c

n

.

Similarly if the problem is dened on an innite domain with r and excludes the

origin e.g. the outside of a nite disc, then a condition that remain bounded asymp-

totically requires d

n

= c

n

= 0 for n > 0 and c

0

= lim

r

(which must be independent

1B Methods 53

of .

Things are more complicated in an annular region a r b where all constants po-

tentially survive.

In all cases the constants are nally determined in the usual way by expanding the

boundary conditions (functions of ) for the r = constant boundaries as Fourier series in

.

Example: Laplaces equation in the unit disc

Consider Laplaces equation in the unit disc r 1with BC (1, ) = f() being a given

function on the boundary. With regularity at the origin, our general solution becomes

(r, ) =

a

0

2

+

n=1

(a

n

cos n + b

n

sin n)r

n

.

and then setting r = 1 we have

f() = (1, ) =

a

0

2

+

n=1

(a

n

cos n + b

n

sin n),

so

a

n

=

1

2

0

f() cos nd and b

n

=

1

2

0

f() sin nd

are just the Fourier coecients of f(). Note that the inuence of the higher harmonics

(i.e. larger n) becomes localized near the edge r = 1 due to the r

n

factor.

5.4 Cylindrical polar coordinates

In this case, Laplaces equation is

2

= 0 =

1

r

r

r

+

1

r

2

2

+

2

z

2

.

We separate variables by writing = R(r)()Z(z) and the Laplace equation separates

as follows (where we have chosen to write the separation constants as and ):

=

Z

= Z

r

d

dr

r

d

dr

R

+ (r

2

)R = 0.

(To see this, rst separate z from (r, ) and then separate the resulting (r, ) equation

after suitably multiplying it through by r

2

).

For the equation: exactly as for plane polar co-ordinates above, we will require that

be non-negative and we get again (cf eq. (32)):

n

= n

2

n

() = a

n

cos n + b

n

sin n n = 0, 1, 2, 3, . . .

1B Methods 54

For the z equation: here (for simplicity) we will treat only the case of non-negative

. (Note that if is negative the corresponding Z functions are sines and cosines that

do not decay for large [z[. Hence negative values will not be relevant for problems

in a semi-innite domain with the solution required to tend to zero asymptotically).

Writing = k

2

we get

= k

2

Z

k

= c

k

e

kz

+ d

k

e

kz

For the r equation: with the above = n

2

and = k

2

, if we substitute z = kr into

the radial equation we get Bessels equation of order n (as you should check) and so

R

nk

=

n

J

n

(kr) +

n

Y

n

(kr).

All these can then be combined to form a general solution. Assuming (indeed expecting)

that the eigenvalue k for each n will be quantized by the boundary conditions into an

innite discrete set k

n

j

with j = 1, 2, . . ., we nally write our general solution in cylindrical

polar coordinates as

(r, , z) =

n=0

j=1

[

jn

J

n

(k

n

j

r) +

jn

Y

n

(k

n

j

r)]

[a

n

cos n + b

n

sin n][c

j

e

kn

j

z

+ d

j

e

kn

j

z

]. (34)

Example: Heat conduction in an innite wire

Consider the problem of steady heat conduction in a semi-innite rod with circular

cross-section of radius a, kept heated at one end at a uniform constant temperature T

0

,

and maintained with xed temperature zero on its other (curved) surface. In terms of

equations we want to nd the steady temperature eld (r, , z) with:

t

=

2

= 0

(r, , 0) = T

0

and 0 as z

(a, , z) = 0.

Because of the rotational symmetry of the boundary conditions, the (unique) solution

will not depend on , so b

n

= 0 = a

n

for all n > 0 in eq. (34) (but a

0

remains nonzero).

Similarly, all the d

j

must be zero because of the far eld condition, and all the

jn

must

be zero because of the regularity of the solution at r = 0, and so

(r, , z) =

j=1

A

j

J

0

k

j

r

a

e

k

j

z/a

,

T

0

=

j=1

A

j

J

0

k

j

r

a

,

where the k

j

can now be identied as the zeroes of J

0

. The coecients can be calculated

by using the orthogonality relations (with suitable weight function) satised by the Bessel

functions.

1B Methods 55

Exercise (calculation of A

j

s) By using the Bessel function orthogonality relations,

and the recursion relation between J

0

and J

1

(see exercise sheet 2 No. 10), show that

the solution to this problem is

(r, , z) =

j=1

2T

0

k

j

J

1

(k

j

)

J

0

k

j

r

a

e

k

j

z/a

.

5.5 Laplaces equation in spherical polar co-ordinates;

Legendre polynomials

Recall the denition of spherical polar co-ordinates (r, , ) of a point P with position

vector P in 3D space:

r is the distance of P from the origin, so r 0;

is the angle that P makes with the positive z axis. We have 0 ;

for , if we project P into the xy-plane then is the angle of the projection measured

counterclockwise from the positive x axis, so 0 < 2.

Thus r = 1 is the equation of a unit sphere centred at the origin with N and S poles on

the z axis at z = 1, 1 respectively. is the latitude on the sphere (N pole having = 0,

equator having = /2 and S pole having = ) and is the longitude with = 0 in

the xz-plane and = /2 in the yz-plane. Note that the co-ordinate system is singular

at the origin: if r = 0 then (0, , ) is the same point for all , but away from the origin

there is a one-to-one correspondence between (x, y, z) and (r, , ).

From the above we get:

x = r sin cos ;

y = r sin sin ;

z = r cos ;

dV = r

2

sin drdd,

where dV is a volume element. The Laplace equation

2

= 0 becomes:

1

r

2

r

2

r

+

1

r

2

sin

sin

+

1

r

2

sin

2

2

= 0.

In this course we will restrict attention to axisymmetric solutions

i.e. = (r, ) being independent of angle around the z axis.

Thus we can omit the third term in the above form of Laplaces equation.

Separating variables we write (r, ) = R(r)() and substitution into Laplaces equation

(followed by multiplying through by

r

2

R

) gives

1

R

d

dr

r

2

d

dr

R

+

1

sin

d

d

sin

d

d

= 0

i.e.

([sin ]

+ [sin ] = 0, (35)

r

2

R

R = 0, (36)

1B Methods 56

where is the separation constant.

For the equation, eq. (35):

this is an especially interesting equation and will lead to the so-called Legendre poly-

nomials.

To solve eq. (35) we make the substitution x = cos . Since 0 we have

1 x 1 and

d

d

= sin

d

dx

.

So eq. (35) becomes

sin

d

dx

sin

sin

d

dx

+ sin = 0

i.e.

d

dx

(1 x

2

)

d

dx

= . (37)

This equation is in standard Sturm-Liouville form, with p(x) = 1 x

2

, q(x) = 0, and

weight function w(x) = 1. It is known as Legendres equation.

Legendre polynomials

We require a bounded solution of eq. (37) on [1, 1]. Note that the endpoints x = 1

are included here, corresponding to = 0, i.e. points on the z axis in space. Let us

seek a series solution

=

n=0

a

n

x

n

.

Substituting this form into (37), we obtain

(1 x

2

)

d

2

dx

2

2x

d

dx

+ = 0,

(1 x

2

)

n=2

a

n

n(n 1)x

n2

2

n=1

a

n

nx

n

+

n=0

a

n

x

n

= 0.

Considering the coecient of x

n

,

0 = a

n+2

(n + 2)(n + 1) n(n 1)a

n

2na

n

+ a

n

,

a

n+2

=

n(n + 1)

(n + 1)(n + 2)

a

n

. (38)

Since this recurrence relation relates a

n+2

to a

n

, we can generate two linearly independent

solutions

0

and

1

starting from a

0

and a

1

respectively:

= a

0

0

(x) +

1

(x

)

1B Methods 57

with

0

= a

0

1 +

()x

2

2!

+

()(6 )x

4

4!

+

()(6 )(20 )x

6

6!

+ . . .

1

= a

1

x +

(2 )x

3

3!

+

(12 )(2 )x

5

5!

+ . . .

.

Now the recurrence relation eq. (38) implies

a

n+2

a

n

1 as n

so by the ratio test the two innite series will converge for [x[ < 1.

But here comes a subtle and crucially important point: the innite series for

0

and

1

can be shown to generally diverge at x = 1! As an illustrative example consider = 0

so the recurrence relation is a

n+2

=

n

n+2

a

n

. If x = 1 then the

0

series reduces to just

a constant, but the

1

series becomes (1+

1

3

+

1

5

+

1

7

+ ), a so-called harmonic series,

which is known to be divergent. For other generic values the series (generally both)

will diverge in a similar harmonic manner for x = 1. This follows from Gauss test for

convergent series which is applicable to our recurrence relation eq. (38). We will not

elaborate on this test here, but if youre interested you can nd a full exposition in the

book by Arfken and Weber p295-6.

Recall that x = 1 correspond to physically signicant points (i.e. points on the z axis)

so it appears that our method of solution of the Laplace equation has failed! Actually

no we have been a little too hasty: looking again at the recurrence relaton eq.(38) we

see that if takes the form

m

= m(m + 1) m = 0, 1, 2, 3, . . .

then the numerator will be zero when n reaches m and all subsequent a

n

s will be zero

i.e. the series terminates at m terms so it becomes convergent and the corresponding

function is a polynomial of degree m. Thus we get a sequence of polynomials P

m

(x) of

increasing degree m for m = 0, 1, 2, . . . coming alternately from the

0

and

1

series for

even and odd m. The overall scaling of the polynomials (corresponding to choice of a

0

, a

1

values) is conventionally chosen so that P

m

(1) = 1. With this scaling, these polynomials

are called the Legendre polynomials.

The rst ve Legendre polynomials are:

m = 0 = 0 P

0

(x) = 1;

m = 1 = 2 P

1

(x) = x;

m = 2 = 6 P

2

(x) =

3x

2

1

2

;

m = 3 = 12 P

3

(x) =

5x

3

3x

2

;

m = 4 = 20 P

4

(x) =

35x

4

30x

2

+3

8

.

(39)

and they are plotted in the gure.

Legendre polynomials have many tantalising special properties:

When m is an odd (resp. even) integer then P

m

is an odd (resp. even) function;

1B Methods 58

1 0.8 0.6 0.4 0.2 0 0.2 0.4 0.6 0.8 1

1

0.8

0.6

0.4

0.2

0

0.2

0.4

0.6

0.8

1

Figure 4: Legendre polynomials P

0

(x) (thin solid line); P

1

(x) (thick solid); P

2

(x)

(dashed); P

3

(x) (dotted); P

4

(x) (dot-dashed).

1B Methods 59

It can be shown that P

m

has m zeroes in [1, 1];

The Legendre polynomials are SL eigenfunctions with weight function w(x) = 1 so

1

1

P

n

(x)P

m

(x) dx = 0 if m = n.

(Note that we have not imposed any boundary conditions and for SL theory, the self-

adjointness of the SL dierential equation here come from p(x) = 1 x

2

being zero at

the endpoints);

Due to the condition that P(1) = 1 the Legendre polynomials are not normalised, but

in fact

1

1

P

2

m

(x) dx =

2

2m + 1

as well derive below (and by a dierent method on exercise sheet 2);

From general SL theory, bounded functions on [1, 1] can be represented as series of

Legendre polynomials:

f(x) =

n=0

a

n

P

n

(x),

a

n

=

(2n + 1)

2

1

1

f(x)P

n

(x) dx;

Optional remark: we have been lead to the Legendre polynomials via a rather tortuous

route of taming a potentially divergent innite series. But they arise in more direct ways.

Recall the Gram-Schmidt process of linear algebra: given a set of vectors v

1

, v

2

, . . . v

n

we

turn them sequentially into an orthonormal set w

1

, w

2

, . . . with the same span (and here

hat denotes normalised vector) viz. w

1

= v

1

, w

2

= v

2

(v

2

w

1

) w

1

, w

3

= v

3

(v

3

w

1

) w

1

(v

3

w

2

) w

2

etc i.e. we successively take the vs and subtract o components parallel to

all already obtained ws (and normalise the result), giving the next vector orthogonal to

all previous ws. Now we can play the same game with vectors v being polynomials f, g

on [1, 1] and inner product (f, g) being

1

1

f(x)g(x) dx. If we start with the sequence

of simple powers 1, x, x

2

, x

3

, . . . for the vs and apply the Gram-Schmidt process we get

precisely (up to scale) the Legendre orthogonal polynomials P

n

(x)! (as you can readily

check for the rst few by direct calculation youll need to suitably un-normalise the

resulting polynomials w to have w(1) = 1, to get the exact Legendre polynomials.)

Optional remark: the Legendre polynomials are just the simplest example of a class of

orthogonal polynomials that can be dened by taking a specic weight function in the

inner product formula i.e. (f, g) =

b

a

w(x)f(x)g(x) dx. For example we have Hermite

polynomials, Laguerre polynomials and Chebyshev polynomials with w(x) being e

x

2

, e

x

and (1 x

2

)

1/2

respectively and on intervals (, ), (0, ) and [1, 1] respectively.

Hermite and Laguerre polynomials arise as eigenfunctions of SL systems occurring in

quantum mechanics, in the solution of the time independent Schrodinger equation for

the harmonic oscillator and hydrogen atom wavefunctions respectively.

Now back to our:

General axisymmetric solution of the Laplace equation

1B Methods 60

So far we have (r, ) = R(r)() and

n

() = P

n

(x) = P

n

(cos ) with = n(n + 1).

The radial equation then becomes

(r

2

R

n

)

n(n + 1)R

n

= 0.

Trying a solution of the form R

n

r

, we get

( + 1) = n(n + 1)

so = n or (n + 1) and our basic separated solution is

n

(r, ) =

a

n

r

n

+ b

n

r

(n+1)

P

n

(cos ).

and nally the general axisymmetric solution is

(r, ) =

n=0

a

n

r

n

+ b

n

r

(n+1)

P

n

(cos ). (40)

The constants a

n

and b

n

are determined by expanding boundary conditions in terms of

the Legendre polynomials. It is important to remember the 2/(2n + 1) normalisation

factor, and also to be careful with the actual argument of the functions viz. cos vs. .

If the problem is dened on the interior of a sphere then b

n

= 0 for the solution to be

regular at the origin. Similarly, if the problem is dened on an innite domain that

excludes the origin (for example outside a sphere) then the typical requirement that

remain bounded as r implies that a

n

= 0, for n > 0 and a

0

is the asymptotic

value. For problems between shells r

1

< r < r

2

, both a

n

and b

n

are in general non-zero,

and the coecients need to be determined by applying the boundary conditions on both

the inner and outer shells.

Example: Laplaces equation inside the unit sphere

Lets nd the solution to Laplaces equation inside the unit sphere, subject to an axisym-

metric boundary condition on r = 1, i.e. (1, ) = f(). In the general solution (40) we

immediately have that b

n

= 0 (for regularity at the origin). Then at r = 1 we have

f() =

n=0

a

n

P

n

(cos ), 0 ,

F(x) =

n=0

a

n

P

n

(x), x = cos , 1 x 1,

a

n

=

(2n + 1)

2

1

1

F(x)P

n

(x)dx,

where F is a function such that F(cos ) = f() i.e. we wish to see the given f() as a

function of cos rather than .

1B Methods 61

Generating function for Legendre polynomials

If f

n

(x) for n = 0, 1, 2, . . . is any sequence of functions then a generating function for

the sequence is a function G(x, r) with an extra variable r such that the f

n

s arise as

coecients in the power series expansion of G w.r.t. r:

G(x, r) =

n=0

f

n

(x)r

n

.

Thus G neatly encapsulates the whole family of fs, which can be reconstructed (by the

usual Taylor series formula, viewing x as a parameter) as

f

n

(x) =

1

n!

d

n

G(x, r)

dr

n

r=0

.

We now derive a generating function for the Legendre polynomials P

n

(x) (scaled so that

P

n

(1) = 1). We will motivate its construction from physics considerations (but this is

not essential). Consider a unit point charge on the z axis at z = 1. Its potential is

axisymmetric (i.e. independent of ) and at any point P with position vector P the

potential is 1/d where d is the distance from P to the charge. If k denotes the unit vector

in the z direction then we have

d

2

= [P k[

2

= P P 2P k + k k = r

2

2r cos + 1

and the potential is

(r, ) =

1

1 2r cos + r

2

.

This function satises Laplaces equation (from electrostatic theory, or just check it

directly!) and it is regular near the origin. Hence using our general form of such axisym-

metric solutions (with b

n

= 0) we must be able to write

1

1 2r cos + r

2

=

n=0

a

n

P

n

(cos )r

n

,

1

1 2rx + r

2

=

n=0

a

n

P

n

(x)r

n

. (41)

Here by denition of the P

n

s, P

n

(1) = 1 but they may be rescaled by the a

n

s. However

putting x = 1 in eq. (41) we get

1

1 r

=

n=0

a

n

r

n

so a

n

= 1 for all n and we have our generating function for Legendre polynomials:

n=0

P

n

(x)r

n

=

1

1 2rx + r

2

, (42)

1

n!

d

n

dr

n

1 2rx + r

2

r=0

= P

n

(x).

1B Methods 62

Eq. (42) can be used to derive the normalisations of the P

n

s (recalling that we have

already imposed to condition P

n

(1) = 1) squaring both sides and integrating from 1

to 1 gives

1

1

dx

1 2rx + r

2

=

m=0

r

m

n=0

r

n

1

1

P

n

(x)P

m

(x) dx =

n=0

r

2n

1

1

P

2

n

(x) dx

where we have used the orthogonality of the P

n

s. On the other hand we can evaluate

the LHS integral (exercise! - start by substituting y = 2rx) to get

1

1

dx

1 2rx + r

2

=

1

r

log

1 + r

1 r

and forming the dierence of the standard powers series for log(1 r) for [r[ < 1, we get

1

r

log

1 + r

1 r

n=0

2

2n + 1

r

2n

=

n=0

r

2n

1

1

P

2

n

(x) dx

giving

1

1

P

2

n

(x) dx =

2

2n + 1

.

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