II.

Mathematical Argument

Our approach to the three given sets of problems or conditions will revolve around the given
vibrating system model ODE: y +cy'+ky=δ(t). Here δ(t) is the given input (driving force) applied to the
mechanical system and y(t) is the output (response to the input) to be obtained. The ODE describes the
motion of a mass-spring system and explains how changing the damping and spring stiffness affect the
vibrating system. First, we need to assign initial value conditions to the given vibrating system model,
namely the initial displacement and velocity. It is then necessary to use several mathematical equations
such as Laplace Transform of Derivatives, the Laplace Transform of a Delta Function, and the Second
Shifting Property of Laplace Transform to the model equation to obtain the equation y(s) for it to be
used to solve the given problems and conditions. To obtain the solutions to the given problems, we only
need to plug in the given conditions to the Laplace equation y(s) and then take the its inverse Laplace
transform. After obtaining the following solutions, we can then graph the solutions by using the Desmos
Graphing Calculator to visualize and represent the vibrating motion of the given problems. There are
several cases of damped motion that can help us explain and interpret the given graphic data of the
vibrating system, these cases will be discussed as we solve and arrive at the solutions.

The concepts of the Laplace transform of derivatives, Laplace transform of the delta function, Linearity
of the Laplace Transform, and the Second Shifting Property of Laplace Transform will be used in the
calculations.

Laplace Transform of Derivatives

If f , f ’ … f (n−1) are continuous on [0, infinity) and are of exponential order and if f n(t ) is piecewise
continuous on [0,infinity) then,

L {f (n) ( t ) }=sn F ( s )−s n−1 f ( 0 )−s n−2 f ' ( 0 )−… f (n−1 )(0)

Where: F ( s ) =L { f ( t ) } and n=nth derivative

Laplace Transform of the Delta Function

The Laplace transform of the Dirac delta function is easily found by integration using the definition of the
delta function:
∞
L { δ ( t−c ) } =∫ e
−st −cs
δ ( t−c ) dt=e
0

Unit Step Function (Heaviside Function)

L {¿
Second Shifting Theorem; Time Shifting

L {¿
Linearity of the Laplace Transform
The Laplace transform is a linear operatiom; that is, for any functions f(t) and g(t) whose transforms
exist and any constants a and b the transform of af(t) + bg(t) exists, and

L { af ( t ) +bg ( t ) }=aL { f ( t ) }+ bL{g ( t ) }

First, we need to consider the equation of a vibrating system modeled by:

y +cy'+ky=δ(t)
Where c = damping constant, k = spring constant, t= time, δ (t )=¿ external loads or forces

We then need to impose the initial conditions, in order to set a limiting value in our given system.

y (0)=3; y '( 0)=3

Using the concepts of the Laplace transform of derivatives, and the Laplace transform of the delta
function, we can take the Laplace transforms of both sides of the equation.

y +cy'+ky=δ(t) y(0)=3; y'(0)=

L¿

 L¿
2
¿ s y ( s ) −sy ( 0 ) − y ' (0)
2
¿ s y ( s ) −s ( 3 )−3
2
¿ s y ( s ) −3 s−3

c L { y ' } =s y ( s )−s y ( 0 )
n n−1

¿ sy ( s ) − y ( 0 )
¿ csy ( s )−3 c

 k L { y ' }=ky ( s )

 L { δ( t) }=1
Isolate y(s):

s2 y ( s ) −3 s−3+ csy ( s )−3 c+ ky ( s )=1

s2 y ( s ) + csy ( s )+ ky ( s )=1+3 s+ 3+3 c

( s¿¿ 2+cs +k ) y ( s ) =4 +3 s +3 c ¿
 4+ 3 s+3 c
y ( s )=
(s¿¿ 2+ cs+k ) ¿

1. Consider the case where k constant at 3 and the damping is continuously decreasing to zero

k =3; c=decreasing ¿ zero

We plug in the conditions to y(s) and then solve for y(t) by taking the inverse Laplace transform in order
to obtain the solutions of each condition as c decreases to zero.

At c=4

4 +3 s +3(4)
y ( s )=
( s ¿ ¿ 2+(4) s+k )¿
16+3 s
y ( s )=
( s¿¿ 2+ 4 s +3)¿

y ( t ) =L { y ( s)} =L ¿
−1 −1

1 −3t 2t
y ( t ) = e (13 e −7)
2

At c=3

4 +3 s +3(3)
y ( s )=
(s ¿ ¿ 2+(3) s+ k)¿
13+3 s
y ( s )=
( s¿¿ 2+3 s+3) ¿

y ( t ) =L { y ( s)} =L ¿
−1 −1

−3
(sin √
2
t 3t
17 e ) −3
y (t)=
2
+3 e 2
t
cos ⁡(
√3 t )
√3 2

At c=2

4 +3 s +3(2)
y ( s )=
( s ¿ ¿ 2+(2) s+k ) ¿
 10+3 s
y ( s )=
(s¿¿ 2+2 s +3)¿

y ( t ) =L { y ( s)} =L ¿
−1 −1

7 e−t (sin √ 2t)

+3 e cos ⁡( √ 2t )
−t
y (t)=
√2

At c=1

4 +3 s +3(1)
y ( s )=
( s ¿ ¿ 2+(1) s +k ) ¿
7+3 s
y ( s )=
(s¿¿ 2+ s+3) ¿

y ( t ) =L−1 { y ( s)} =L−1 ¿

−t −t
y ( t ) =√11 e 2 sin
√11 t +3 e 2 cos √11 t
2 2

At c=0

4 +3 s +3(0)
y ( s )=
( s ¿ ¿ 2+(0)s+ k )¿
4+3 s
y ( s )=
(s¿¿ 2+3)¿

y ( t ) =L−1 { y ( s)} =L−1 ¿

4 sin √ 3t
y (t)= + 3 cos √ 3t
√3
Let us now input the following solutions to a graphing calculator to clearly describe and display the
effect of having a constant spring stiffness and a continuously decreasing the damping to 0.

Figure 1. k =3; c=decreasing ¿ zero(4,3,2,1,0)

2. Consider the case where c is constant at 3 and the spring constant k is continuously increasing
starting from zero.

c=3 ; k =increasing ¿ zero

We plug in the conditions to y(s) and then solve for y(t) by taking the inverse Laplace transform in order
to obtain the solutions of each condition as k increases from zero.

At k =0

4 +3 s +3(3)
y ( s )=
(s ¿ ¿ 2+(3) s+0)¿
13+3 s
y ( s )=
(s¿¿ 2+3 s)¿

y ( t ) =L−1 { y ( s)} =L−1 ¿

−4 e−3 t 13
y (t)= +
3 3

At k =1

4+ 3 s+ 3(3)
y ( s )=
(s ¿ ¿ 2+(3) s+1)¿
13+3 s
y ( s )=
(s¿¿ 2+3 s+1)¿

y ( t ) =L−1 { y ( s)} =L−1 ¿

−1
1 ( 3+ √ 5) t
y (t)= e 2
(( 15+17 √ 5 ) e√ 5 t +15−17 √ 5)
10

At k =2

4 +3 s+ 3(3)
y ( s )=
(s ¿ ¿ 2+(3) s+2)¿
13+3 s
y ( s )=
(s¿¿ 2+3 s+2)¿

y ( t ) =L { y ( s)} =L ¿
−1 −1
 −2 t t
y ( t ) =e (10 e −7)

At k =3

4 +3 s +3(3)
y ( s )=
( s ¿ ¿ 2+(3)s+3) ¿
13+3 s
y ( s )=
( s¿¿ 2+3 s+3) ¿

y ( t ) =L { y ( s)} =L ¿
−1 −1

−3 t
sin ⁡( √ )
2 3t
17 e −3
y (t)=
2 t
√3
+3 e 2 cos ⁡( t)
√3 2

At k =4

4+3 s+3(3)
y ( s )=
(s ¿ ¿ 2+(3) s+ 4)¿
13+3 s
y ( s )=
( s¿¿ 2+3 s+ 4)¿

y ( t ) =L { y ( s)} =L ¿
−1 −1

( √27 t )+3 √ 7 cos ( √27 t ))

−3 t
2
e (17 si n
y (t)=
√7
At k =5

4 +3 s +3(3)
y ( s )=
( s ¿ ¿ 2+(3)s+5) ¿
13+3 s
y ( s )=
(s¿¿ 2+3 s+5) ¿

y ( t ) =L−1 { y ( s)} =L−1 ¿

( √ 11t
2 )
+3 √ 7 cos ( √
2 )
−3 t
2 11t
e (17 si n )
y (t)=
√11
Let us now input the following solutions to a graphing calculator to clearly describe and display the
effect of having a constant damping and a continuously increasing spring stiffness starting from 0.

Figure 2. c=3 ; k =increasing ¿ zero (0,1,2,3,4,5)

3. Consider a system with two δ – function on the right side of the equation at different time.

Using the concepts of the Laplace transform of derivatives, Second Shifting Theorem, Laplace transform
of the delta function, we can take the Laplace transforms of both sides of the equation.

y +cy'+ky=δ(t)+δ(t-4) y(0)=3; y'(0)=

L¿

L¿

2
¿ s y ( s ) −sy ( 0 ) − y ' (0)
2
¿ s y ( s ) −s ( 3 )−3
¿ s2 y ( s ) −3 s−3

 c L { y ' } =s n y ( s )−s n−1 y ( 0 )

¿ sy ( s ) − y ( 0 )
¿ csy ( s )−3 c

 k L { y ' }=ky ( s )

 L { δ( t) }=e0 =1

L { δ( t−4)} =e
−4 s


Isolate y(s):
2 −4 s
s y ( s ) −3 s−3+ csy ( s )−3 c+ ky ( s )=1+e
2 −4 s
s y ( s ) + csy ( s )+ ky ( s )=1+e +3 s+3+ 3 c

e−4 s +3 s+3 c + 4
y ( s )= 2
s +cs+ k

3a. Consider the case where k is constant at 3 and the damping is continuously decreasing to zero.

k =3 ; c=decreasing ¿ zero

We plug in the conditions to y(s) and then solve for y(t) by taking the inverse Laplace transform in order
to obtain the solutions of each condition as c decreases to zero.
 At c=4
−4 s
e +3 s+3 (4)+ 4
y ( s )= 2
s +(4)s +(3)
−4 s
e +3 s+16
y ( s )= 2
s + 4 s +3

{ }
−4 s
e +3 s+16
y ( t ) =L { y (s)} =L
−1 −1
2
s +4 s +3
1
y ( t ) = e−3t ( e 4 ( e 2t −e 8 ) θ ( t−4 ) +13 e2 t −7 )
2

At c=3

e−4 s +3 s+3 (3)+ 4

y ( s )=
s2 +(3)s +(3)

e−4 s +3 s+13
y ( s )=
s 2+ 3 s+3

{ }
−4 s
e +3 s+13
y ( t ) =L { y ( s)} =L
−1 −1
2
s +3 s+3

1
( (1
y ( t ) = e−(3 t )/ 2 2 √3 e 6 θ ( t−4 ) sin √ 3 ( t−4 ) + 17 √ 3 sin
3 2 ) ( √23 t )+ 9 cos( √23 t ))
At c=2

e−4 s +3 s+3 (2)+ 4

y ( s )=
s2 +(2)s +(3)
−4 s
e +3 s+10
y ( s )= 2
s + 2 s+3

{ }
−4 s
e +3 s+10
y ( t ) =L { y ( s)} =L
−1 −1
2
s +2 s+3
1 −t
y ( t ) = e ( √ 2 e θ ( t−4 ) sin ( √ 2 ( t−4 ) ) +7 √2 sin ( √ 2t ) +6 cos ( √2 t ) )
4
2
 At c=1
−4 s
e +3 s+3 (1)+ 4
y ( s )= 2
s +(1)s+(3)
−4 s
e +3 s+7
y ( s )= 2
s + s+ 3

{ }
−4 s
e +3 s+7
y ( t ) =L { y ( s) } =L
−1 −1
2
s + s+3

y (t)=
11
e (
1 −t /2 1
(
2 √11 e 2 θ ( t−4 ) sin √ 11(t−4) +11 √ 11sin
2 ) ( √ 112 t )+33 cos ( √112 t ))
At c=0

e−4 s +3 s+3 (0)+ 4

y ( s )=
s2 +(0) s+(3)

e−4 s +3 s+ 4
y ( s )= 2
s +3

{ }
−4 s
e +3 s+ 4
y ( t ) =L { y ( s) } =L
−1 −1
2
s +3

θ ( t −4 ) sin ( √ 3 (t −4 ) ) 4 sin ( √3 t )
y (t)= + +3 cos ( √ 3 t )
√3 √3

Let us now input the following solutions to a graphing calculator to clearly describe and display the
effect of having a constant spring stiffness and a continuously decreasing the damping to 0.
Figure 3. k =3; c=decreasing ¿ zero(4,3,2,1,0)
3b. Consider the case where c is constant at 3 and the spring constant k is continuously increasing
starting from zero.

c=1 ; k =increasing ¿ zero

We plug in the conditions to y(s) and then solve for y(t) by taking the inverse Laplace transform in order
to obtain the solutions of each condition as k increases from zero.

At k=0
−4 s
e +3 s+3 (1)+ 4
y ( s )=
s 2+(1) s+0

e−4 s +3 s+7
y ( s )= 2
s +s

{ }
−4 s
e +3 s+7
y ( t ) =L { y ( s) } =L
−1 −1
2
s +s

y ( t ) =e−t ( ( et −e 4 ) θ ( t−4 ) +7 e t−4 )

At k=1
−4 s
e +3 s+3 (1)+ 4
y ( s )= 2
s +( 1)s +(1)

e−4 s +3 s+7
y ( s )= 2
s + s +1

{ }
−4 s
e +3 s+7
y ( t ) =L−1 { y ( s) } =L−1 2
s + s+ 1

( ( √23 t )+ 9 cos( √23 t ))

−t
1
3 (1
)
y ( t ) = e 2 2 √ 3 e2 θ ( t−4 ) sin √ 3 ( t−4 ) +11 √ 3 sin
2

At k=2

e−4 s +3 s+3 (1)+ 4

y ( s )= 2
s +( 1)s +(2)
 −4 s
e +3 s+7
y ( s )= 2
s + s +2

{ }
−4 s
e +3 s+7
y ( t ) =L { y ( s) } =L
−1 −1
2
s + s+ 2

1
( (1
y ( t ) = e−t /2 2 √ 7 e 2 θ ( t−4 ) sin √ 7 ( t−4 ) +11 √ 7 sin
7 2 ) ( √27 t )+21 cos ( √27 t ))
At k=3
−4 s
e +3 s+3 (1)+ 4
y ( s )= 2
s +(1)s+(3)
−4 s
e +3 s+7
y ( s )= 2
s + s+ 3

{ }
−4 s
e +3 s+7
y ( t ) =L { y ( s) } =L
−1 −1
2
s + s+3

y (t)=
1 −t /2
11
e
( (1
2 √ 11 e 2 θ ( t−4 ) sin √ 11(t −4) +11 sin
2 ) ( √ 11t
2 )
+33 cos ( √
2 ))
11 t

At k=4

e−4 s +3 s+3 (1)+ 4

y ( s )=
s 2+(1)s+(4)
−4 s
e +3 s+7
y ( s )= 2
s + s+ 4

{ }
−4 s
e +3 s+7
y ( t ) =L { y ( s) } =L
−1 −1
2
s +s +4

y (t)=
15
e (
1 −t /2
(1
2 √ 15 e θ ( t−4 ) sin √15 ( t−4 ) +11 √15 sin
2
2 ) ( √ 152 t )+ 45 cos( √ 152 t ))
Let us now input the following solutions to a graphing calculator to clearly describe and display the
effect of having a constant damping and a continuously increasing spring stiffness starting from 0.
Figure 2. c=1 ; k =increasing ¿ zero (0,1,2,3,4)