1

Chapter 2: Wave Equation

1. Derivation:
We begin by studying the one-dimensional wave equation, which describe
the transverse vibrations of a string. Consider the small vibrations of a string
that is fastened at each end (see, Fig. 6.1). We now make the following
assumptions:
• The string is made of a homogeneous material (i.e., the mass/unit length
of the string is constant).
• There is no effect of gravity and external forces.
• The vibration takes place in a plane. The mathematical model equation
under these assumptions describe small vibrations of the string. Let the
forces acting on a small portion P Q of the string. Since the string

Figure 6.1: Vibrations of a string problem

does not offer resistance to bending, the tension is tangential to the curve
of the string at each point. Let T1 and T2, respectively, be the tensions at
the endpoints P and Q. Since there is no motion in horizontal direction,
the horizontal components of the tension must be constant. From the Fig.
6.1, we obtain
T 1 cos θ 1=T 2 cos θ 2=T =constant … … … … … (1 ) .
Let −T 1 sin θ1∧T 2 sinθ 2 be two components of T 1∧T 2
respectively in the vertical direction. The minus sign indicates that
component at P is directed downward. By Newton’s second law, the
resultant of these two forces is equal to the mass ρ∆x of the portion times
the acceleration utt evaluated at some point between
x and x + ∆x. If ρ is the mass of the undeflected string per unit length
and ∆x is length of the portion of then we have
T 2 sin θ2 −T 1 sin θ1=ρ ∆ x utt
In view of (1), we obtain
T 2 sin θ2 T 1 sin θ1 ρ
− =tan θ2−tanθ 1= ∆ x utt … … ..(2)
T 2 cos θ2 T 1 cos θ1 T

Note that tanθ 1∧tan θ 2 are the slopes of the curve of the string at x and x
+ ∆x, i,e.,
tanθ 1=( u x )P ∧tan θ2= ( ux )Q
 2

Here, partial derivatives are used because u also depends on t and x .

Dividing (2) by ∆x, we have
ux ( x+ ∆ x , t )−u x ( x ,t ) ρ
= u tt
∆x T
Letting ∆x → 0, we obtain
2 2 T
utt =c u xx where c = … … … (3)
ρ
NOTE: The notation c2 (instead of c) for the physical constant T /ρ has
been chosen to indicate that this constant is positive. The constant c 2
depends on the density and tension of the string.

2. Solution: To solve the 1 -dimensional wave equation utt −c 2 u xx=0

Here A=1 , B=0 ,C=−c2∧B2 −4 AC =4 c2 >0 So it is hyperbolic everywhere.
Hence characteristics equations are

( )
2
dx 2 dx
−c =0∨ =± c . Therefore characteristics are
dt dt

x + ct = ξ = constant, x − ct = η = constant
To find the canonical form
u x =uξ ξ x +u η ηx =u ξ +uη , ut =c ( uξ −uη ) ,

u xx =uξξ ξ x +u ηξ η x +u ξη ξ x +u ηη η x

¿ uξξ + uηξ +u ξη+u ηη ¿ uξξ + 2u ξη+u ηη

2
utt =c ( u ξξ ξ t +uηξ η t−u ξη ξ t −uηη ηt ) =c ( u ξξ−u ηξ−u ξη+ uηη )
2
¿ c (uξξ −2 uξη +uηη ) . Hence given equation become
2 2
c ( uξξ −2u ξη+ uηη )=c ( uξξ +2 uξη +u ηη )
2
Or −4 c u ξη=0 ⇒ uξη =0 as c ≠ 0

Integrating with respect to ξ we get uη=ψ 1 (η)=an arbitrary function of η .

Integrating with respect to η we obtain
u ( ξ ,η )=∫ ψ 1 (η) dη+ ϕ ( ξ ) =ϕ ( ξ )+ψ ( η ) where ψ ( η )=∫ ψ 1 (η)dη

Hence general solution becomes u ( ξ ,η )=ϕ ( ξ )+ ψ ( η )

⇒ u ( x ,t )=ϕ ( x +ct ) +ψ ( x −ct ) … … .... ( 4 ) where ϕ , ψ are arbitrary but twice
differentiable functions.
3. Wave equation in an infinite string with the initial condition :
We now consider the following Cauchy problem of an infinite string with the
initial condition
 3

2
utt =c u xx , x ∈ R , t> 0

u ( x , 0 )=f ( x ) , x ∈ R

ut ( x .0 )=g ( x ) , x ∈ R

Putting initial condition in (4) we get

u ( x , 0 )=f ( x )=ϕ ( x ) +ψ ( x ) … … .(5)
' '
¿ ut ( x , 0 )=g ( x )=c ϕ ( x )−c ψ ( x ) … … .(6)
x
1
Integrating (6) we get ϕ ( x )−ψ ( x ) = cx
∫ g ( τ ) dτ+ K
0

Where x 0∧K are arbitrary constant. Adding and subtracting from (5) we get
x
1 1 K
ϕ ( x )= f ( x ) + ∫ g ( τ ) dτ + and
2 2c x 0
2
x
1 1 K
ψ ( x )= f ( x )− ∫ g ( τ ) dτ−
2 2c x 20

Hence solution is given by

{∫ }
x+ct x−ct x+ct
1
u ( x , t )=
2
[ f ( x +ct ) + f ( x−ct ) ]+ 21c g ( τ ) dτ − ∫ g ( τ ) dτ =
1
2
{ f ( x + ct ) + f ( x −ct ) } +
1
2c
∫ g (τ )dτ … …..
x0 x0 x−ct

This is called the celebrated d’Alembert solution of the Cauchy problem for
the one-dimensional wave equation.
4. Uniqueness of the solution:
General solution of wave equation
u ( ξ ,η )=ϕ ( ξ )+ ψ ( η )=ϕ ( x+ ct )+ψ ( x−ct ) then
'
ut =c ϕ ( x +ct )−c ψ ' ( x −ct )

Let the data be given on ξ=0 i . e . u ( 0 ,η )=g ( η )

⇒ g ( η ) =ϕ ( 0 ) +ψ ( η )
'
⇒ u=ϕ ( ξ )+ g ( η )−ϕ ( 0 )∧u t ( 0 , η )=c ϕ (0)−c g ' ( η )

And hence ut can not be prescribed arbitrarily on ξ=0 . Moreover, we do

not have any condition to determine ϕ ( ξ ) which is left arbitrary and thus
solution is not unique.
So characteristics are curves such that if the data is prescribed only on one of
them, solution is not unique.
 4

However, if we prescribe data on both ( ξ=0 )∧( η=0 ) the solution is unique i.e.
u ( 0 , η )=g ( η ) , u ( ξ ,0 )=f ( ξ ) then
g ( η )=ϕ ( 0 )+ ψ ( η )∧f ( ξ )=ϕ ( ξ ) +ψ ( 0 )

Therefore u ( ξ ,η )=ϕ ( ξ )+ ψ ( η )=f ( ξ )−ψ ( 0 )+ g ( η )−ϕ ( 0 )

¿ f ( ξ ) + g ( η ) −f (0) since u ( 0 , 0 )=ϕ ( 0 )+ ψ ( 0 )=f ( 0 )=g(0)
Thus, the solution is uniquely determined if the data is given on both the
characteristics.
5. Well posedness : We will prove that the solution depends continuously
on the initial data, that is, the problem is well posed. In other words, a
small change in either f or g results in a correspondingly small change in
the solution u (x, t). Mathematically, this can be stated as follows:
Theorem: For every ε > 0 and for each time interval 0 ≤ t ≤ t0, there exists a
number δ (ε, t0) such that
|u ( x ,t )−u ¿ ( x , t )|<ε
whenever |f ( x )−f ¿ (x )|< δ ,∨g ( x ) −g ¿ ( x )∨¿ δ Where u ( x , t )∧u¿ (x ,t) are two nearby
D’Alembert solution of wave equation
Proof; We have
Using D’Alembert solution (7) we get
1
|u ( x ,t )−u ¿ ( x , t )|≤ |f ( x +ct )−f ¿ ( x +ct )|+¿
2
x+ct
1
|f ( x−ct )−f ¿ ( x−ct )|+ 1 ∫ ¿
¿ g ( τ )−g ( τ )∨dτ
2 2c x−ct

1 1 1
¿ δ+ δ+ .2 c t 0 . δ <ε when ε =(1+t 0 )δ
2 2 2c

For any finite time interval 0 , t< t0 a small change in the initial data only
produces a small change in the solution. This shows that the problem is well
posed.
Note:
1. f(x-ct) is a wave travelling with speed c.
2. x-ct=constant and x+ct=constant are characteristics curves of wave
equation.
3. Characteristics are carriers of discontinuities.
 5

4. Characteristics determine the solution uniquely only if the data are

prescribed on both of them.
5. Characteristics determine the domain of dependence and range of
influence.
Initial Boundary-Value Problems: We have just determined the solution of
the initial-value problem for the infinite vibrating string. We will now study the
effect of a boundary on the solution.
6. Semi-infinite String with a Fixed End :
Let us first consider a semi-infinite vibrating string with a fixed end, that is,
2
utt =c u xx ,0< x< ∞ ,t >0

u ( x , 0 )=f ( x ) , 0≤ x <∞
ut ( x .0 )=g ( x ) ,0 ≤ x< ∞

u ( 0 , t ) =0 , 0 ≤t <∞

Solution: For x > ct, the solution is the same as that of the infinite string, and
the displacement is influenced only by the initial data on the interval [x − ct,
x + ct]. But for x < ct, the interval [x − ct, x + ct] extends onto the negative
x-axis where f and g are not prescribed.
But from D’Alembert formula u ( x , t )=ϕ ( x+ ct )+ ψ ( x−ct )
ξ
1 1 K
ϕ ( ξ )= f ( ξ ) + ∫ g ( τ ) dτ+ and
2 2c x 0
2
η
1 1 K
ψ ( η )= f ( η )− ∫ g ( τ ) dτ− , x 0 ≥ 0 may be taken as 0.
2 2c x 0
2

We see that u ( 0 , t ) =ϕ ( ct )+ψ (−ct )=0∨ψ (−ct )=−ϕ ( ct )

If we take α =−ct thenψ ( α )=−ϕ (−α )
Replacing α by x−ct we get
for x <ct ,ψ ( x−ct )=−ϕ ( ct−x )
ct − x
−1 1 K
ψ ( x−ct )=
2
f ( ct−x )−
2c
∫ g ( τ ) dτ−
2
x0

Hence solution become

x+ct
1 1
u ( x , t )= { f ( x + ct ) + f ( x −ct ) } +
2 2c
∫ g ( τ ) dτ for x >ct
x−ct
 6

x+ct
1 1
u(x , t)= { f ( x+ ct ) −f ( ct−x ) } +
2
∫ g(τ)dτ for x< ct ……(8)
2 c ct −x

Alternatively:
We can modify the problem as a problem of infinite string as follows.
2
utt =c u xx ,−∞ < x <∞ , t> 0

u ( x , 0 )=F ( x ) , ∞< x < ∞

ut ( x .0 )=G ( x ) ,−∞ ≤ x <∞

u ( 0 , t ) =0=¿u t ( 0 , t )=0 ,0 ≤ t< ∞

{ f ( x ) if x ≥ 0
Where F ( x )= −f (−x ) if x ≤ 0 ∧G ( x )= −g (−x ) if x ≤ 0 { g ( x ) if x ≥ 0

Observe that F ( x )∧G( x) are defined as odd functions of x to satisfy the

boundary condition. Hence D’Alembert solution (7) becomes
x +ct
1
u ( x , t )= { F ( x +ct ) + F ( x−ct ) }+ 1 ∫ G(τ )dτ … … (9)
2 2c x−ct

ct
1
So u (0 , t)= { F ( ct ) + F (−ct ) } + 1 ∫ G( τ)dτ
2 2 c −ct

1 1
ut ( 0 , t ) =
2
{ c F (ct)−cF ' (−ct ) }+ {G ( ct ) +G (−ct ) } .
'
2

Since F ( x )∧G( x) are odd functions, we get

1
u (0 , t)= { f ( ct )−f ( ct ) }=0
2
c ' 1
ut ( 0 , t ) =
2
{ f (ct)−f ' ( ct ) }+ {G ( ct ) +G (−ct ) }=0
2

So boundary conditions are satisfied. For initial conditions

At t=0∧x >0
1
u ( x , 0 )= { F ( x ) + F ( x ) }=F ( x )=f ( x ) and
2
1 1
ut ( x , 0 ) =
2
{ c F ( x )−cF ' ( x ) }+ { G ( x )+G ( x ) }=G ( x )=g( x)
'
2

Thus all the initial and boundary conditions are satisfied.

Hence solution (9) become
 7

x+ct
1 1
u ( x , t )= { f ( x + ct ) + f ( x −ct ) } +
2 2c
∫ g ( τ ) dτ for x >ct
x−ct

And for x< ct , taking τ=−t we get

0 0 0 0

∫ G ( τ ) dτ =− ∫ G (−t ) dt= ∫ g ( t ) dt= ∫ g(τ)dτ

x−ct ct −x ct −x ct −x

So for x< ct ,
x+ ct x+ ct 0

∫ G ( τ ) dτ = ∫ G ( τ ) dτ + ∫ G ( τ ) dτ
x−ct 0 x−ct

x+ct 0 x+ct
¿ ∫ g (τ )dτ + ∫ g( τ)dτ = ∫ g(τ) dτ . Hence (9) become
0 ct −x ct −x

x+ct
1 1
u(x , t)= { f ( x+ ct ) −f ( ct−x ) } +
2
∫ g(τ)dτ for x< ct
2 c ct −x
x+ct
1 1
u ( x , t )= { f ( x + ct ) + f ( x −ct ) } +
2 2c
∫ g ( τ ) dτ for x >ct .
x−ct

7. Semi-infinite String with a Free End:

Let us first consider a semi-infinite vibrating string with a free end, that is,
2
utt =c u xx ,0< x< ∞ ,t >0

u ( x , 0 )=f ( x ) , 0≤ x <∞
ut ( x .0 )=g ( x ) ,0 ≤ x< ∞

u x ( 0 , t )=0 , 0 ≤t <∞

Solution: As in the case of the fixed end, for x>ct the solution is the same as
that of the infinite string.
.
From D’Alembert solution (8)
for x <ct ,u ( x ,t )=ϕ ( x +ct ) +ψ ( x −ct )
We have, u x ( x ,t )=ϕ ' ( x+ ct )+ ψ ' ( x−ct )
Thus u x ( 0 , t )=ϕ ' ( ct ) +ψ ' (−ct )=0
Integrating ϕ ( ct )−ψ (−ct )=K ,where K is a constant. Now
If we take α =−ct thenψ ( α )=ϕ (−α )−K
 8

Replacing α by x−ct we get

for x <ct ,ψ ( x−ct )=ϕ ( ct−x ) −K .
ξ
1 1 K
as ϕ ( ξ )= 2 f ( ξ ) + 2 c ∫ g ( τ ) dτ+ 2 taking x 0=0
x 0

ct −x
1 1 K
ψ ( x−ct )= f ( ct−x )+
2 2c
∫ g ( τ ) dτ −
2
0

Hence solution become

x+ct
1 1
u ( x , t )= { f ( x + ct ) + f ( x −ct ) } +
2 2c
∫ g ( τ ) dτ for x >ct
x−ct

¿ for x< ct , u ( x , t )
x+ct ct− x
1
¿ { f ( x +ct ) + f ( ct−x ) }+ 1 { ∫ g ( τ ) dτ + ∫ g ( τ ) dτ }
2 2c 0 0

Alternatively:
We can modify the problem as it was done in the case of infinite string with
fixed end as follows.
2
utt =c u xx ,−∞ < x <∞ , t> 0

u ( x , 0 )=F ( x ) , ∞< x < ∞

ut ( x .0 )=G ( x ) ,−∞ ≤ x <∞

u x ( 0 , t )=0 , 0 ≤t <∞

{ f ( x ) if x ≥ 0
Where F ( x )= f (−x ) if x ≤ 0 ∧G ( x )= g (−x ) if x ≤ 0 { g ( x ) if x ≥ 0

Observe that F ( x )∧G( x) are defined as even functions of x to satisfy the

boundary condition. Hence D’Alembert solution (7) becomes
x +ct
1
u ( x , t )= { F ( x +ct ) + F ( x−ct ) }+ 1 ∫ G(τ )dτ … … (9)
2 2c x−ct

1 ' 1
So u x ( 0 , t )=
2
{ F ( ct ) + F ' (−ct ) }+ {G ( ct )−G (−ct ) } .
2c

Since F ( x )∧G( x) are even functions, so F ' ( x ) is an odd function we get

1 ' 1
u x ( 0 , t )=
2
{ f (ct)−f ' ( ct ) }+ { G ( ct )−G (−ct ) }=0
2c

So boundary condition is satisfied. For initial conditions

 9

At t=0∧x >0
1
u ( x , 0 )= { F ( x ) + F ( x ) }=F ( x )=f (x) and
2
1 1
ut ( x , 0 ) =
2
{ c F ( x )−cF ' ( x ) }+ { G ( x )+G ( x ) }=G ( x )=g( x)
'
2

Thus, all the initial and boundary conditions are satisfied.

Hence solution (9) become
x+ct
1 1
u ( x , t )= { f ( x + ct ) + f ( x −ct ) } +
2 2c
∫ g ( τ ) dτ for x >ct
x−ct

And for x< ct , taking τ=−t we get

0 0 0 0 ct− x

∫ G ( τ ) dτ =− ∫ G (−t ) dt=− ∫ g ( t ) dt=− ∫ g ( τ ) dτ= ∫ g (τ )dτ

x−ct ct −x ct − x ct −x 0

So for x< ct ,
x+ ct x+ ct 0

∫ G ( τ ) dτ = ∫ G ( τ ) dτ + ∫ G ( τ ) dτ
x−ct 0 x−ct

x+ct ct −x
¿ ∫ g (τ )dτ + ∫ g( τ)dτ .
0 0

Hence (9) become

for x< ct , u ( x ,t )
x+ct ct− x
1 1
¿ { f ( x +ct ) + f ( ct−x ) }+ { ∫ g ( τ ) dτ + ∫ g ( τ ) dτ } and
2 2c 0 0

x+ct
1
u ( x , t )= { f ( x + ct ) + f ( x −ct ) } + 1 ∫ g ( τ ) dτ for x >ct .
2 2c x−ct

8. Finite String with Fixed Ends:

Let us first consider a finite vibrating string with a fixed end, that is,
2
utt =c u xx ,0< x< l, t> 0

u ( x , 0 )=f ( x ) , 0≤ x ≤ l
ut ( x .0 )=g ( x ) ,0 ≤ x ≤ l

u ( 0 , t ) =0 , u (l , t )=0 , t ≥ 0.

From D’Alembert formula u ( x , t )=ϕ ( x+ ct )+ ψ ( x−ct )

 10

u ( x , 0 )=ϕ ( x )+ψ ( x )=f ( x ) , 0 ≤ x ≤l

' '
ut ( x , 0 )=c ϕ ( x )−c ψ ( x )=g ( x ) , 0 ≤ x ≤l
x
1
Integrating ϕ ( x )−ψ ( x ) =
c0
∫ g ( τ ) dτ+ K
Solving we get ¿ is taken)
ξ
1 1 K
ϕ ( ξ )= f ( ξ ) + ∫ g ( τ ) dτ+ , 0≤ ξ ≤l …….(8.1) and
2 2c 0 2
η
1 1 K
ψ ( η )= f ( η )− ∫ g ( τ ) dτ− , 0 ≤ η≤ l … … .(8.2)
2 2c 0 2

Hence
x+ct
1
u ( x , t )= { f ( x + ct ) + f ( x −ct ) } + 1 ∫ g ( τ ) dτ … . (8.3)
2 2c x−ct

for 0 ≤ x−ct ≤ l∧0 ≤ x+ ct ≤ l .

The solution is thus uniquely determined by the initial data in the region
x l−x
0 ≤ t ≤ ∧0 ≤ t ≤
c c

For larger times, the solution depends on the boundary conditions. Applying
the boundary conditions, we obtain
u ( 0 , t ) =ϕ ( ct )+ψ (−ct )=0 ,t ≥0 ……. (8.4)

u ( l ,t )=ϕ ( l+ct ) +ψ (l−ct )=0 , t ≥ 0 ..….(8.5)

If we take α =−ct then ( 8.4 ) becomes

ψ ( α )=−ϕ (−α ) for α ≤ 0 … .(8.6)

And if we set α =l+ct then ( 8.5 ) becomes

ϕ ( α )=−ψ ( 2l−α ) for α ≥ l … …..(8.7)

With ξ=−η ( 8.1 ) gives

−η
1 1 K
ϕ (−η )= f (−η ) + ∫ g ( τ ) dτ + , 0 ≤−η ≤ l … …(8.8)
2 2c 0 2

And (8.6) ψ ( α )=−ϕ (−α ) for α ≤ 0gives

−η
−1 1 K
ψ ( η )=−ϕ (−η )= f (−η )− ∫ g ( τ ) dτ− ,−l≤ η ≤ 0 …(8.9)
2 2c 0 2
 11

Hence the range of ψ ( η ) extended to ,−l≤ η ≤l

Now (8.7) ϕ ( α )=−ψ ( 2l−α ) for α ≥ l gives

ϕ ( ξ )=−ψ ( 2l−ξ ) , ξ ≥l … ..(8.10)

Then by putting η=2l−ξ in (8.2) we get

2l −ξ
1 1 K
ψ ( 2l−ξ )= f ( 2 l−ξ )−
2 2c
∫ g ( τ ) dτ −
2
, 0 ≤2 l−ξ ≤l ..(8.11)
0

(8.10) takes the form

2l−ξ
−1 1 K
ϕ ( ξ )=
2
f ( 2 l−ξ ) +
2c
∫ g ( τ ) dτ +
2
, l ≤ξ ≤2 l … ..(8.12)
0

The range of ϕ ( ξ ) is thus extended to 0 ≤ ξ ≤ 2l continuing in this manner, we

obtain ϕ ( ξ ) for all ξ ≥0 and ψ ( η )for all η ≤ l . Hence, the solution is determined
for all 0 ≤ x ≤ l and t ≥ 0.
Alternative: It can be done using Fourier Series.
Like semi-infinite string it can be deduced from extension of function into an
infinite string. For this we convert
2
utt =c u xx ,0< x< l, t> 0

u ( x , 0 )=f ( x ) , 0≤ x ≤ l

ut ( x .0 )=g ( x ) ,0 ≤ x ≤ l

u ( 0 , t ) =0 , u (l , t )=0 , t ≥ 0.

into

2
utt =c u xx ,−∞ < x <∞ , t> 0

u ( x , 0 )=F ( x ) ,−∞ < x <∞

ut ( x .0 )=G ( x ) ,−∞ ≤ x <∞

u ( 0 , t ) =0 , u (l , t )=0 , t ≥ 0where,

F ( x )=
{ f ( x ) , 0 ≤∧x ≤ l ∧G ( x )=
−f (−x ) ,−l≤∧x ≤ 0 {
g ( x ) , 0≤∧x ≤ l
−g (−x ) ,−l ≤∧x ≤ 0

F ( x +2 rl )=F ( x ) if −l≤ x ≤ l , r=± 1 ,± 2 , …. .

 12

Let us assume that these two functions satisfy Dirichlet’s condition and
hence can be expanded into Fourier series. Hence
l

( ) ( )
∞
mπx 2 mπs
F ( x )= ∑ u m sin where um = ∫ f (s) sin ds ..(8.13)
m =1 l l 0 l
l

( ) ( )
∞
mπx 2 mπs
G ( x )= ∑ v m sin where v m = ∫ g (s )sin ds ..(8.14)
m=1 l l 0 l

Therefore
1
2
[ F ( x +ct ) + F ( X −ct ) ]

{ }
∞
1 mπ ( x +ct ) mπ ( x −ct )
¿ ∑ um {sin l +sin l
2 m=1
∞
mπx mπct
¿ ∑ um sin cos
m=1 l l

[ ]
x+ct ∞ x+ct
1 −l vm mπx
∫
2 c x−ct
G ( s ) ds=
2 cπ
∑ m
cos
l
m=1 x−ct

{ }
∞
l vm mπ ( x+ ct ) mπ ( x−ct )
¿−
2 cπ ∑ m
{cos
l
−cos
l
m=1

∞
l vm mπx mπct
¿ ∑
cπ m =1 m
sin
l
sin
l

Hence D’Alembert solution become

∞ ∞
mπx mπct l vm mπx mπct
u ( x , t )= ∑ u m sin cos + ∑ sin sin
m=1 l l cπ m=1 m l l

… … (8.15) where

l l
um =
2
∫ f ( s)sin mπs
l 0 l
2
( )
ds∧v m= ∫ g(s) sin
l 0
mπs
l
ds ( )
Note that from (8.15) we can find easily
∞
mπx
u ( x , 0 )= ∑ um sin =F ( x )=f ( x ) , 0 ≤ x ≤ l
m=1 l
∞ ∞
mπc mπx mπct mπx mπct
ut ( x , t )=−∑ um sin sin + ∑ v m sin cos
m=1 l l l m=1 l l
 13

∞
mπx
ut ( x , 0 )= ∑ v m sin =G ( x )=g ( x ) , 0≤ x ≤ l
m =1 l

u ( 0 , t ) =0=u ( l , t ) as sin mπ=0 for all m=1 , 2, … ..

Note: In order to u ( x , t ) of (8.15) be a solution of wave equation of finite

length the series in right hand side of (8.15) must converge. In addition, the
series obtained by term by term differentiation twice w.r.t x and t should also
converge. A sufficient condition for this is the function f(x) is twice
continuously differentiable and its third derivative is a piecewise continuous
in (0,l). In addition, g(x)is continuously differentiable and its second
derivative is piecewise continuous.
9. Nonhomogeneous Wave Equations:
We shall consider next the Cauchy problem for the nonhomogeneous
wave equation
2 ¿
utt −c u xx =h ( x , t ) … ..(9.1)
with the initial conditions
¿
u ( x , 0 )=f ( x ) ,u t ( x , 0 ) =g ( x ) … ..(9.2)
By the coordinate transformation y=ct the problem is reduced to
u xx −u yy =h ( x ,t ) ….. (9.3)
u ( x , 0 )=f ( x ) ,u y ( x , 0 )=g ( x ) ….. ( 9.4 )
¿ ¿
−h g
where h ( x , y ) = 2 ∧g ( x )=
c c
Let P0 (x0, y0) be a point of the plane, and let Q0 be the point (x0, 0) on the
initial line y = 0. Then the characteristics, x ± y = constant, of equation
(9.3) are two straight lines drawn through the point P0 with slopes ± 1.
Obviously, they intersect the x-axis at the points
P1 (x0− y0, 0) and P2 (x0 + y0, 0), as shown in Figure 5.7.1. Let the sides
of the triangle P0 P1 P2 be designated by B0 , B1∧B2 and let D be the region
representing the interior of the triangle and its boundaries B.

Integrating both sides of equation (9.3), we obtain

❑ ❑

∬ (u xx−u yy ¿ )dR=∬ h(x , y )dR … … .(9.5) ¿

R R

Now we apply Green’s theorem to obtain

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❑ ❑

∬ (u xx−u yy ¿ )dR=∮ (u x ¿ dy +u y dx )… … …(9.6)¿ ¿

R B
❑ ❑ ❑

= ∮ (u x ¿ dy +u y dx )+∮ (u x ¿ dy +u y dx)+∮ (ux ¿ dy +u y dx )¿ ¿¿

B0 B1 B2

❑ x0 + y 0

∮ (u x ¿ dy +u y dx )= ∫ u y dx ¿
B0 x 0− y 0

❑ ❑

∮ (u x ¿ dy +u y dx )=∫−u x dx−u y dy=u ( x 0 + y 0 , 0 )−u(x 0 , y 0 )¿

B1 B1

❑ ❑

∮ (u x ¿ dy +u y dx )=∫ u x dx+u y dy =u ( x 0− y 0 , 0 )−u (x 0 , y 0 )¿

B2 B1

Hence from (9.5) and (9.6)

❑ ❑

∬ h(x , y) dR=∬ (uxx −u yy ¿ )dR ¿

R R

x 0+ y 0

¿ ∫ u y dx+u ( x 0 + y 0 , 0 ) −2u ( x 0 , y 0 ) +u ( x 0− y 0 , 0 )
x0− y 0

x 0+ y0
1 1
u ( x 0 , y 0 ) = ∫ u y dx + [ u ( x 0 + y 0 , 0 ) +u ( x 0− y 0 , 0 ) ]
2 x −y 0
2 0

❑
−1
∬ h (x , y ) dR
2 R

Since (x 0 , y 0) is arbitrary so replacing ( x 0 , y 0 ) by ( x , y ) we get

x+ y ❑
1 1 1
u ( x . y )= ∫ g ( τ ) d τ + [ f ( x+ y ) +f ( x− y ) ] − ∬ h(x , y)dR
2 x− y 2 2 R

In terms of original variables

x+ct ❑
1 1 1
u ( x . t )= [ f ( x +ct ) +f ( x−ct ) ] +
2
∫
2 c x−ct
g ( τ ) d τ + 2 ∬ h (x ,t )dR … …..(9.7)
¿

2c R
¿

10.Uniqueness of the Solution:

Solution of the following if exists, is unique.
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2
utt −c u xx =F ( x , t ) , 0< x <l ,t >0
with the initial conditions
u ( x , 0 )=f ( x ) , 0≤ x ≤ l
ut ( x , 0 )=g ( x ) ,0 ≤ x ≤ l

u ( 0 , t ) =u ( l, t )=0 t ≥ 0

Proof: let there be two solutions u1∧u 2 of the above problem. Then
taking v=u1−u 2 we see that (how?) it is a solution of
2
v tt =c v xx , 0< x <l , t>0

v ( x , 0 )=0 , 0 ≤ x ≤ l
v t ( x , 0 )=0 , 0≤ x ≤ l

v ( 0 , t )=v ( l ,t )=0 ,t ≥0
l
1
Considering E ( t )= ∫ (c2 ¿ v 2x +v 2t )dx ¿ : it is representing kinetic energy of the
20
string and it is a differentiable function of t as v (x , t) is a twice differentiable
function. Therefore
l l l
dE l
=∫ (c v x ¿v xt + v t v tt )dx=∫ v t v tt dx + [ c v x v t ]0−∫ c v t v xx dx ¿
2 2 2
dt 0 0 0

v ( 0 , t )=0=¿ v t ( 0 , t )=0 ∀ t ≥ 0 v ( l ,t )=0=¿ v t ( l , t ) =0 ∀ t ≥ 0

Therefore
l
dE
=∫ v ( v −¿ c v xx )dx=0=¿ E ( t )=constant ¿
2
dt 0 t tt

Since v ( x , 0 )=0=¿ v x ( x , 0 )=0∧v t ( x , 0 )=0(given)

Therefore E ≡0
Hence v x ( x , t ) =0∧v t ( x ,t )=0 , ∀ t ≥ 0 , 0< x <l
This is possible only if v ( x ,t )=constant ,
since v ( x , 0 ) =0 , so v ≡ 0=¿u 1=u2
Hence solution is unique.
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