4 The Laplace Transform

EXERCISES 4.1
Definition of the Laplace Transform

  1 ∞
1 ∞
1 1  1 
3. {f (t)} = te−st dt + − te−st − 2 e−st  − e−st 
e−st dt =
0 1 s s 0 s 1
   
1 −s 1 −s 1 1 1
= − e − 2e − 0 − 2 − (0 − e−s ) = 2 (1 − e−s ), s > 0
s s s s s

∞   ∞
s 1 
6. {f (t)} = −st
(cos t)e dt = − 2 e−st
cos t + 2 e−st
sin t 
π/2 s + 1 s + 1 π/2
 
1 1
=0− 0+ 2 e−πs/2 = − 2 e−πs/2 , s > 0
s +1 s +1

1 − t, 0 < t < 1
9. The function is f (t) = so
0, t>1

1
∞
1   1
1 1 
{f (t)} = (1 − t)e−st dt + 0e−st dt = (1 − t)e−st dt = − (1 − t)e−st + 2 e−st 
0 1 0 s s 0
1 −s 1 1
= 2e + − 2, s>0
s s s

∞
∞ ∞
−2t−5 −st −5 −(s+2)t e−5 −(s+2)t  e−5
12. {f (t)} = e e dt = e e dt = − e  = , s > −2
0 0 s+2 0 s+2

∞
∞
−t −st
15. {f (t)} = e (sin t)e dt = (sin t)e−(s+1)t dt
0 0
  ∞
−(s + 1) −(s+1)t 1 
= 2
e sin t − 2
e−(s+1)t
cos t 
(s + 1) + 1 (s + 1) + 1 0
1 1
= = 2 , s > −1
(s + 1)2 + 1 s + 2s + 2

∞
18. {f (t)} = t(sin t)e−st dt
0
    ∞
t 2s −st st s2 − 1 −st
= − 2 − (cos t)e − + (sin t)e
s + 1 (s + 1)2
2 s2 + 1 (s2 + 1)2
0
2s
= 2 , s>0
(s2 + 1)
4 10
21. {4t − 10} = 2 −
s s
2 16 9
24. {−4t2 + 16t + 9} = −4 3
+ 2 +
s s s

57
4.1 Definition of the Laplace Transform

1 1
27. {1 + e4t } = +
s s−4
−2t 1 2 1
30. {e − 2 + e } =
2t
− +
s−2 s s+2
1 1 1 1 k
33. {sinh kt} = {ekt − e−kt } = − = 2
2 2 s−k s+k s − k2
 t −t

−t −t e + e 1 1 −2t 1 1
36. {e cosh t} = e = + e = +
2 2 2 2s 2(s + 2)
39. From the addition formula for the sine function, sin(4t + 5) = sin 4t cos 5 + cos 4t sin 5 so
4 s 4 cos 5 + (sin 5)s
{sin(4t + 5)} = (cos 5) {sin 4t} + (sin 5) {cos 4t} = (cos 5) + (sin 5) 2 = .
s2 + 16 s + 16 s2 + 16
√ √
−1/2 Γ(1/2) π Γ(3/2) π Γ(5/2) 3 π
42. (a) {t } = 1/2 = (b) {t 1/2
} = 3/2 = 3/2 (c) {t 3/2
} = 5/2 = 5/2
s s s 2s s 4s

EXERCISES 4.2 The Inverse Transform and

Transforms of Derivatives

 
1 48 1 48 4!
3. − 5 = − · = t − 2t4
s2 s s2 24 s5
 
(s + 2)2 1 1 2
6. = +4· 2 +2· 3 = 1 + 4t + 2t2
s3 s s s
 
1 1 1 1 −t/4
9. = = e
4s + 1 4 s + 1/4 4

10s
12. = 10 cos 4t
s2 + 16
 
2s − 6 s 3
15. = 2· −2· 2 = 2 cos 3t − 2 sin 3t
s2 + 9 s2 +9 s +9
 
s+1 1 1 5 1 1 5
18. = − · + · = − + e4t
s2 − 4s 4 s 4 s−4 4 4
 
0.9s 1 1
21. = (0.3) · + (0.6) · = 0.3e0.1t + 0.6e−0.2t
(s − 0.1)(s + 0.2) s − 0.1 s + 0.2
 
s2 + 1 1 1 1 1 1 5 1
24. = · − − · + ·
s(s − 1)(s + 1)(s − 2) 2 s s−1 3 s+1 6 s−2
1 1 5
= − et − e−t + e2t
2 3 6
  
2s − 4 2s − 4 4 3 s 3
27. 2 2
= 2
= − + + 2 + 2
(s + s)(s + 1) s(s + 1)(s + 1) s s+1 s +1 s +1

= −4 + 3e−t + cos t + 3 sin t

58
 4.2 The Inverse Transform and Transforms of Derivatives

 
6s + 3 s 1 s 1 2
30. = + 22· −2· 2 − · 2
(s + 1)(s2 + 4)
2 +1 s +1 s2 s +4 2 s +4
1
= 2 cos t + sin t − 2 cos 2t − sin 2t
2
33. The Laplace transform of the initial-value problem is
1
s {y} − y(0) + 6 {y} = .
s−4
Solving for {y} we obtain
1 2 1 1 19 1
{y} = + = · + · .
(s − 4)(s + 6) s + 6 10 s − 4 10 s + 6
Thus
1 4t 19 −6t
y= e + e .
10 10
36. The Laplace transform of the initial-value problem is
6 3
s2 {y} − sy(0) − y  (0) − 4 [s {y} − y(0)] = − .
s−3 s+1
Solving for {y} we obtain
6 3 s−5
{y} = − + 2
(s − 3)(s − 4s) (s + 1)(s − 4s) s − 4s
2 2

5 1 2 3 1 11 1
= · − − · + · .
2 s s − 3 5 s + 1 10 s − 4
Thus
5 3 11
y= − 2e3t − e−t + e4t .
2 5 10
39. The Laplace transform of the initial-value problem is
    1
2 s3 {y} − s2 (0) − sy  (0) − y  (0) + 3 s2 {y} − sy(0) − y  (0) − 3[s {y} − y(0)] − 2 {y} = .
s+1
Solving for {y} we obtain
2s + 3 1 1 5 1 8 1 1 1
{y} = = + − + .
(s + 1)(s − 1)(2s + 1)(s + 2) 2 s + 1 18 s − 1 9 s + 1/2 9 s + 2
Thus
1 −t 5 8 1
y= e + et − e−t/2 + e−2t .
2 18 9 9
42. The Laplace transform of the initial-value problem is

s2 {y} − s · 1 − 3 − 2[s {y} − 1] + 5 {y} = (s2 − 2s + 5) {y} − s − 1 = 0.

Solving for {y} we obtain

s+1 s−1+2 s−1 2
{y} = = = + .
s2 − 2s + 5 (s − 1) + 2
2 2 (s − 1) + 2
2 2 (s − 1)2 + 22
Thus
y = et cos 2t + et sin 2t.

59
4.2 4.3
The Translation
Inverse Transform and Transforms of Derivatives
Theorems

EXERCISES 4.3
Translation Theorems

  3!
3. t3 e−2t =
(s + 2)4
    2 2 1
6. e2t (t − 1)2 = t2 e2t − 2te2t + e2t = − +
(s − 2)3 (s − 2)2 s−2
s s−1 3(s + 4)
9. {(1 − et + 3e−4t ) cos 5t} = {cos 5t − et cos 5t + 3e−4t cos 5t} = − +
s2 + 25 (s − 1) + 25 (s + 4)2 + 25
2
 
1 1 3! 1
12. = = t3 et
(s − 1)4 6 (s − 1)4 6
 
s s+2 1
15. = −2 = e−2t cos t − 2e−2t sin t
s2 + 4s + 5 2
(s + 2) + 12 (s + 2)2 + 12
  
5s 5(s − 2) + 10 5 10
18. = = + = 5e2t + 10te2t
(s − 2)2 (s − 2) 2 s − 2 (s − 2)2
21. The Laplace transform of the differential equation is
1
s {y} − y(0) + 4 {y} = .
s+4
Solving for {y} we obtain
1 2
{y} = + .
(s + 4)2 s+4
Thus
y = te−4t + 2e−4t .

24. The Laplace transform of the differential equation is

6
s2 {y} − sy(0) − y  (0) − 4 [s {y} − y(0)] + 4 {y} = .
(s − 2)4
1 5! 1 5 2t
Solving for {y} we obtain {y} =
. Thus, y = t e .
20 (s − 2)6 20
27. The Laplace transform of the differential equation is

s2 {y} − sy(0) − y  (0) − 6 [s {y} − y(0)] + 13 {y} = 0.

Solving for {y} we obtain

3 3 2
{y} = − =− .
s2 − 6s + 13 2 (s − 3)2 + 22
Thus
3
y = − e3t sin 2t.
2
30. The Laplace transform of the differential equation is
1 1
s2 {y} − sy(0) − y  (0) − 2 [s {y} − y(0)] + 5 {y} = + 2.
s s

60
 4.3 Translation Theorems

Solving for {y} we obtain

4s2 + s + 1 7 1 1 1 −7s/25 + 109/25
{y} = = + +
s2 (s2− 2s + 5) 25 s 5 s2 s2 − 2s + 5
7 1 1 1 7 s−1 51 2
= + − + .
25 s 5 s2 25 (s − 1) + 2
2 2 25 (s − 1)2 + 22
Thus
7 1 7 51
y= + t − et cos 2t + et sin 2t.
25 5 25 25
33. Recall from Section 3.8 that mx = −kx − βx . Now m = W/g = 4/32 = 18 slug, and 4 = 2k so that k = 2 lb/ft.
Thus, the differential equation is x + 7x + 16x = 0. The initial conditions are x(0) = −3/2 and x (0) = 0.
The Laplace transform of the differential equation is
3 21
s2 {x} + s + 7s {x} + + 16 {x} = 0.
2 2
Solving for {x} we obtain
√ √
−3s/2 − 21/2 3 s + 7/2 7 15 15/2
{x} = 2 =− √ − √ .
s + 7s + 16 2 (s + 7/2)2 + ( 15/2)2 10 (s + 7/2)2 + ( 15/2)2
Thus √ √ √
3 15 7 15 −7t/2 15
x = − e−7t/2 cos t− e sin t.
2 2 10 2
36. The differential equation is
dq 1
+ q = E0 e−kt , q(0) = 0.
R
dt C
The Laplace transform of this equation is
1 1
Rs {q} + {q} = E0 .
C s+k
Solving for {q} we obtain
E0 C E0 /R
{q} = = .
(s + k)(RCs + 1) (s + k)(s + 1/RC)
When 1/RC = k we have by partial fractions
   
E0 1/(1/RC − k) 1/(1/RC − k) E0 1 1 1
{q} = − = − .
R s+k s + 1/RC R 1/RC − k s + k s + 1/RC
Thus
E0 C  −kt 
q(t) = e − e−t/RC .
1 − kRC
When 1/RC = k we have
E0 1
{q} = .
R (s + k)2
Thus
E0 −kt E0 −t/RC
q(t) = te = te .
R R
  e−2s 2e−2s
39. t (t − 2) = {(t − 2) (t − 2) + 2 (t − 2)} = 2
+
s s
Alternatively, (16) of this section could be used:
 
1 2
{t (t − 2)} = e−2s {t + 2} = e−2s + .
s2 s

61
4.3 Translation Theorems

  π    π  π  se−πs/2
42. sin t t− = cos t − t− = 2
2 2 2 s +1
Alternatively, (16) of this section in the text could be used:
  π    π  s
sin t t− = e−πs/2 sin t + = e−πs/2 {cos t} = e−πs/2 .
2 2 s2 + 1

e−πs
45. = sin(t − π) (t − π) = − sin t (t − π)
s2 + 1
 
e−2s e−2s e−2s e−2s
48. = − − 2 + =− (t − 2) − (t − 2) (t − 2) + et−2 (t − 2)
s2 (s − 1) s s s−1
51. (f )

54. (d)
       
57. t2 (t − 1) = (t − 1)2 + 2t − 1 (t − 1) = (t − 1)2 + 2(t − 1) − 1 (t − 1)
 
2 2 1 −s
= + 2+ e
s3 s s
Alternatively, by (16) of this section in the text,
 
−s −s 2 2 1
{t 2
(t − 1)} = e {t + 2t + 1} = e
2
3
+ 2+ .
s s s

    1 e−2πs
60. sin t − sin t (t − 2π) = sin t − sin(t − 2π) (t − 2π) = −
s2 + 1 s2 + 1
63. The Laplace transform of the differential equation is
5 −s
s {y} − y(0) + {y} = e .
s
Solving for {y} we obtain
5e−s 1 1
{y} = = 5e−s − .
s(s + 1) s s+1
Thus
y=5 (t − 1) − 5e−(t−1) (t − 1).

66. The Laplace transform of the differential equation is

1 e−s
s2 {y} − sy(0) − y  (0) + 4 {y} = − .
s s
Solving for {y} we obtain
1−s 1 1 1 1 s 1 2 1 1 1 s
{y} = 2
− e−s 2 = − 2
− 2
− e−s − .
s(s + 4) s(s + 4) 4 s 4 s +4 2 s +4 4 s 4 s2 + 4
Thus
1 1 1 1 1
y= − cos 2t − sin 2t − − cos 2(t − 1) (t − 1).
4 4 2 4 4

69. The Laplace transform of the differential equation is

e−πs e−2πs
s2 {y} − sy(0) − y  (0) + {y} = − .
s s

62
 4.3 Translation Theorems

Solving for {y} we obtain

1 s 1 s 1
{y} = e−πs − − e−2πs − + 2 .
s s2 + 1 s s2 + 1 s +1
Thus
y = [1 − cos(t − π)] (t − π) − [1 − cos(t − 2π)] (t − 2π) + sin t.

72. Recall from Section 3.8 that mx = −kx + f (t). Now m = W/g = 32/32 = 1 slug, and 32 = 2k so that
k = 16 lb/ft. Thus, the differential equation is x + 16x = f (t). The initial conditions are x(0) = 0, x (0) = 0.
Also, since 
sin t, 0 ≤ t < 2π
f (t) =
0, t ≥ 2π
and sin t = sin(t − 2π) we can write

f (t) = sin t − sin(t − 2π) (t − 2π).

The Laplace transform of the differential equation is

1 1
s2 {x} + 16 {x} = − e−2πs .
s2 + 1 s2 + 1
Solving for {x} we obtain
1 1
{x} = − 2 e−2πs
(s2 + 16) (s + 1) (s + 16) (s2 + 1)
2

−1/15 1/15 −1/15 1/15

= + − 2 + e−2πs .
s2 + 16 s2 + 1 s + 16 s2 + 1
Thus
1 1 1 1
x(t) = − sin 4t + sin t + sin 4(t − 2π) (t − 2π) − sin(t − 2π) (t − 2π)
60 15 60 15

− 60
1
sin 4t + 1
15 sin t, 0 ≤ t < 2π
=
0, t ≥ 2π.

75. (a) The differential equation is

   
di 3π 3π
+ 10i = sin t + cos t − t− , i(0) = 0.
dt 2 2
The Laplace transform of this equation is
1 se−3πs/2
s {i} + 10 {i} = + 2 .
s2 +1 s +1
Solving for {i} we obtain
1 s
{i} = + 2 e−3πs/2
(s2
+ 1)(s + 10) (s + 1)(s + 10)
   
1 1 s 10 1 −10 10s 1
= − 2 + 2 + + 2 + 2 e−3πs/2 .
101 s + 10 s + 1 s + 1 101 s + 10 s + 1 s + 1
Thus
1  −10t 
i(t) = e − cos t + 10 sin t
101
     
1 3π 3π 3π
+ −10e−10(t−3π/2) + 10 cos t − + sin t − t− .
101 2 2 2

63
4.3 Translation Theorems

(b) i
0.2

t
1 2 3 4 5 6
-0.2
The maximum value of i(t) is approximately 0.1 at t = 1.7, the minimum is approximately −0.1 at 4.7.

78. The differential equation is

d4 y
= w0 [ (x − L/3) − (x − 2L/3)].
EI
dx4
Taking the Laplace transform of both sides and using y(0) = y  (0) = 0 we obtain
w0 1  −Ls/3 
s4 {y} − sy  (0) − y  (0) = e − e−2Ls/3 .
EI s
Letting y  (0) = c1 and y  (0) = c2 we have
c1 c2 w0 1  −Ls/3 
{y} = 3
+ 4+ 5
e − e−2Ls/3
s s EI s
so that  4    4  
1 1 1 w0 L L 2L 2L
y(x) = c1 x2 + c2 x3 + x− x− − x− x− .
2 6 24 EI 3 3 3 3
To find c1 and c2 we compute
 2    2  
1 w0 L L 2L 2L
y  (x) = c1 + c2 x + x− x− − x− x−
2 EI 3 3 3 3
and        
w0 L L 2L 2L
y  (x) = c2 + x− x− − x− x− .
EI 3 3 3 3
Then y  (L) = y  (L) = 0 yields the system
   2
2
1 w0 2L L 1 w0 L2
c1 + c2 L + − = c1 + c2 L + =0
2 EI 3 3 6 EI

w0 2L L 1 w0 L
c2 + − = c2 + = 0.
EI 3 3 3 EI
Solving for c1 and c2 we obtain c1 = 16 w0 L2 /EI and c2 = − 13 w0 L/EI. Thus
  4    4   
w0 1 2 2 1 1 L L 2L 2L
y(x) = L x − Lx + 3
x− x− − x− x− .
EI 12 18 24 3 3 3 3

81. (a) The temperature T of the cake inside the oven is modeled by
dT
= k(T − Tm )
dt
where Tm is the ambient temperature of the oven. For 0 ≤ t ≤ 4, we have
300 − 70
Tm = 70 + t = 70 + 57.5t.
4−0
Hence for t ≥ 0, 
70 + 57.5t, 0 ≤ t < 4
Tm =
300, t ≥ 4.

64
 4.4 Additional Operational Properties

In terms of the unit step function,

Tm = (70 + 57.5t)[1 − (t − 4)] + 300 (t − 4) = 70 + 57.5t + (230 − 57.5t) (t − 4).
The initial-value problem is then
dT
= k[T − 70 − 57.5t − (230 − 57.5t) (t − 4)], T (0) = 70.
dt
(b) Let t(s) = {T (t)}. Transforming the equation, using 230 − 57.5t = −57.5(t − 4) and Theorem 4.7, gives
 
70 57.5 57.5 −4s
st(s) − 70 = k t(s) − − 2 + 2 e
s s s
or
70 70k 57.5k 57.5k
t(s) = − − + e−4s .
s − k s(s − k) s2 (s − k) s2 (s − k)
After using partial functions, the inverse transform is then
   
1 1 1 1
T (t) = 70 + 57.5 + t − ekt − 57.5 + t − 4 − ek(t−4) (t − 4).
k k k k
Of course, the obvious question is: What is k? If the cake is supposed to bake for, say, 20 minutes, then
T (20) = 300. That is,
   
1 1 20k 1 1 16k
300 = 70 + 57.5 + 20 − e − 57.5 + 16 − e .
k k k k
But this equation has no physically meaningful solution. This should be no surprise since the model predicts
the asymptotic behavior T (t) → 300 as t increases. Using T (20) = 299 instead, we find, with the help of a
CAS, that k ≈ −0.3.

EXERCISES 4.4
Additional Operational Properties

 
d s s2 − 4
3. {t cos 2t} = − = 2
ds s2 + 4 (s2 + 4)
     
d2 s d 1 − s2 2s s2 − 3
6. {t2 cos t} = 2 = = 3
ds s2 + 1 ds (s2 + 1)2 (s2 + 1)

9. The Laplace transform of the differential equation is

2s
s {y} + {y} = .
(s2 + 1)2
Solving for {y} we obtain
2s 1 1 1 1 1 s 1 s
{y} = =− − + + + 2 .
(s + 1)(s2 + 1)2 2 s + 1 2 s2 + 1 2 s2 + 1 (s2 + 1)2 (s + 1)2
Thus
1 1 1 1 1
y(t) = − e−t − sin t + cos t + (sin t − t cos t) + t sin t
2 2 2 2 2
1 1 1 1
= − e−t + cos t − t cos t + t sin t.
2 2 2 2

65
4.4 Additional Operational Properties

12. The Laplace transform of the differential equation is

1
s2 {y} − sy(0) − y  (0) + {y} = .
s2 +1
Solving for {y} we obtain
s3 − s2 + s s 1 1
{y} = 2 2
= 2 − 2 + 2 .
(s + 1) s + 1 s + 1 (s + 1)2
Thus  
1 1 1 1
y = cos t − sin t + sin t − t cos t = cos t − sin t − t cos t.
2 2 2 2

15. y

0.5

t
1 2 3 4 5 6
-0.5

-1

18. From Theorem 4.8 in the text

d d dY
{ty  } = − {y  } = − [sY (s) − y(0)] = −s −Y
ds ds ds
so that the transform of the given second-order differential equation is the linear first-order differential equation
in Y (s):
 
 3 10
Y + − 2s Y = − .
s s
Using the integrating factor s3 e−s , the last equation yields
2

5 c 2
Y (s) = + 3 es .
s3 s
But if Y (s) is the Laplace transform of a piecewise-continuous function of exponential order, we must have, in
view of Theorem 4.5, lims→∞ Y (s) = 0. In order to obtain this condition we require c = 0. Hence

5 5
y(t) = = t2 .
s3 2

  s−1
21. e−t ∗ et cos t =
(s + 1) [(s − 1)2 + 1]

t
1 s 1
24. cos τ dτ = {cos t} = = 2
0 s s(s2 + 1) s +1

t
1
27. τ et−τ dτ = {t} {et } =
0 s2 (s − 1)

t 
t  
d d 1 1 3s + 1
30. t τ e−τ dτ =− τe −τ
dτ =− 2
= 2
0 ds 0 ds s (s + 1) s (s + 1)3
 
t
1 1/s2 (s − 1) 1
33. = = (eτ − τ − 1)dτ = et − t2 − t − 1
s3 (s − 1) s 0 2

66
 4.4 Additional Operational Properties

36. The Laplace transform of the differential equation is y

1 2s
s2 {y} + {y} = 2 + 2 . 50
(s + 1) (s + 1)2
Thus
1 2s t
{y} = + 2 5 10 15
(s2 + 1)2 (s + 1)3
-50
and, using

8k 3 s
= t sin kt − kt2 cos kt
(s2 + k 2 )3

from Problem 35 with k = 1 we have

1 1
y= (sin t − t cos t) + (t sin t − t2 cos t).
2 4

39. The Laplace transform of the given equation is

 
{f } = tet + {t} {f }.

Solving for {f } we obtain

s2 1 1 3 1 1 2 1 1
{f } = = + + − .
(s − 1)3 (s + 1) 8 s − 1 4 (s − 1)2 4 (s − 1)3 8 s+1

Thus
1 t 3 t 1 2 t 1 −t
f (t) = e + te + t e − e
8 4 4 8

42. The Laplace transform of the given equation is

 
{f } = {cos t} + e−t {f }.

Solving for {f } we obtain

s 1
{f } = + 2 .
s2 +1 s +1
Thus
f (t) = cos t + sin t.

45. The Laplace transform of the given equation is

s {y} − y(0) = {1} − {sin t} − {1} {y}.

Solving for {f } we obtain

s2 − s + 1 1 1 2s
{y} = = 2 − .
(s2 + 1)2 s + 1 2 (s2 + 1)2

Thus
1
y = sin t − t sin t.
2

67
4.4 Additional Operational Properties

48. The differential equation is i

2
di 1 t  
0.005 + i + i(τ )dτ = 100 t − (t − 1) (t − 1)
dt 0.02 0 1.5
or

di t  
+ 200i + 10,000 i(τ )dτ = 20,000 t − (t − 1) (t − 1) , 1
dt 0
where i(0) = 0. The Laplace transform of the differential equation is 0.5
 
10,000 1 1
s {i} + 200 {i} + {i} = 20,000 2 − 2 e−s . 0.5 1 1.5 2 t
s s s
Solving for {i} we obtain
20,000 2 2 200
{i} = (1 − e−s ) = − − (1 − e−s ).
s(s + 100)2 s s + 100 (s + 100)2
Thus

i(t) = 2 − 2e−100t − 200te−100t − 2 (t − 1) + 2e−100(t−1) (t − 1) + 200(t − 1)e−100(t−1) (t − 1).

51. Using integration by parts,

b  
1 a −st a 1 1
{f (t)} = te dt = − .
1 − e−bs 0 b s bs ebs − 1

π
1 1 1
54. {f (t)} = e−st sin t dt = ·
1 − e−2πs 0 s2 + 1 1 − e−πs

57. The differential equation is x + 2x + 10x = 20f (t), where f (t) is the meander function in Problem 49 with
a = π. Using the initial conditions x(0) = x (0) = 0 and taking the Laplace transform we obtain

20 1
(s2 + 2s + 10) {x(t)} = (1 − e−πs )
s 1 + e−πs
20
= (1 − e−πs )(1 − e−πs + e−2πs − e−3πs + · · ·)
s
20
= (1 − 2e−πs + 2e−2πs − 2e−3πs + · · ·)
s
∞
20 40 
= + (−1)n e−nπs .
s s n=1

Then
∞
20 40
{x(t)} = + (−1)n e−nπs
s(s2 + 2s + 10) s(s2 + 2s + 10) n=1
 ∞
2 2s + 4 4 4s + 8
= − 2 + (−1)n − e−nπs
s s + 2s + 10 n=1 s s2 + 2s + 10
∞
2 2(s + 1) + 2 1 (s + 1) + 1
= − + 4 (−1)n − e−nπs
s (s + 1)2 + 9 n=1
s (s + 1)2+9

68
 4.5 The Dirac Delta Function

and
  ∞
1
x(t) = 2 1 − e−t cos 3t − e−t sin 3t + 4 (−1)n 1 − e−(t−nπ) cos 3(t − nπ)
3 n=1
1
− e−(t−nπ) sin 3(t − nπ) (t − nπ).
3
The graph of x(t) on the interval [0, 2π) is shown below.
x

π t
2π

−3

EXERCISES 4.5
The Dirac Delta Function

3. The Laplace transform of the differential equation yields

1  −2πs

{y} = 1 + e
s2 + 1
so that
y = sin t + sin t (t − 2π).

6. The Laplace transform of the differential equation yields

s 1
{y} = + (e−2πs + e−4πs )
s2 + 1 s2 + 1
so that
y = cos t + sin t[ (t − 2π) + (t − 4π)].

9. The Laplace transform of the differential equation yields

1
{y} = e−2πs
(s + 2)2 + 1
so that
y = e−2(t−2π) sin t (t − 2π).

69
4.5 The Dirac Delta Function

12. The Laplace transform of the differential equation yields

1 e−2s + e−4s
{y} = +
(s − 1)2 (s − 6) (s − 1)(s − 6)
1 1 1 1 1 1 1 1 1 1  −2s 
=− − + + − + e + e−4s
25 s − 1 5 (s − 1)2 25 s − 6 5 s−1 5 s−6
so that
1 t 1 t 1 1 1 1 1
y=− e − te + e6t + − et−2 + e6(t−2) (t − 2) + − et−4 + e6(t−4) (t − 4).
25 5 25 5 5 5 5

EXERCISES 4.6
Systems of Linear Differential Equations

3. Taking the Laplace transform of the system gives

s {x} + 1 = {x} − 2 {y}
s {y} − 2 = 5 {x} − {y}
so that
−s − 5 s 5 3
{x} = 2
=− 2 −
s +9 s + 9 3 s2 + 9
and
5
x = − cos 3t − sin 3t.
3
Then
1 1 7
y= x − x = 2 cos 3t − sin 3t.
2 2 3
6. Taking the Laplace transform of the system gives
(s + 1) {x} − (s − 1) {y} = −1
s {x} + (s + 2) {y} = 1
so that
s + 1/2 s + 1/2
{y} = = √
s2
+s+1 (s + 1/2)2 + ( 3/2)2
and √
−3/2 √ 3/2
{x} = 2 =− 3 √ .
s +s+1 (s + 1/2)2 + ( 3/2)2
Then √ √
−t/2 3 √ 3
y=e cos t and x = − 3 e−t/2 sin t.
2 2
9. Adding the equations and then subtracting them gives
d2 x 1
= t2 + 2t
dt2 2
d2 y 1
2
= t2 − 2t.
dt 2

70
 4.6 Systems of Linear Differential Equations

Taking the Laplace transform of the system gives

1 1 4! 1 3!
{x} = 8 + 5
+
s 24 s 3 s4
and
1 4! 1 3!
{y} = −
24 s5 3 s4
so that
1 4 1 3 1 4 1 3
x=8+ t + t and y= t − t .
24 3 24 3

12. Taking the Laplace transform of the system gives

2e−s
(s − 4) {x} + 2 {y} =
s
1 e−s
−3 {x} + (s + 1) {y} = +
2 s
so that
−1/2 1
{x} = + e−s
(s − 1)(s − 2) (s − 1)(s − 2)
1 1 1 1 1 1
= − + e−s − +
2 s−1 2 s−2 s−1 s−2
and
e−s s/4 − 1 −s/2 + 2
{y} = + + e−s
s (s − 1)(s − 2) (s − 1)(s − 2)
3 1 1 1 1 3 1 1
= − + e−s − + .
4 s−1 2 s−2 s 2 s−1 s−2
Then
1 t 1 2t  t−1 
x= e − e + −e + e2(t−1) (t − 1)
2 2
and
3 t 1 2t 3
y= e − e + 1 − et−1 + e2(t−1) (t − 1).
4 2 2

15. (a) By Kirchhoff’s first law we have i1 = i2 + i3 . By Kirchhoff’s second law, on each loop we have
E(t) = Ri1 + L1 i2 and E(t) = Ri1 + L2 i3 or L1 i2 + Ri2 + Ri3 = E(t) and L2 i3 + Ri2 + Ri3 = E(t).
(b) Taking the Laplace transform of the system
0.01i2 + 5i2 + 5i3 = 100
0.0125i3 + 5i2 + 5i3 = 100
gives
10,000
(s + 500) {i2 } + 500 {i3 } =
s
8,000
400 {i2 } + (s + 400) {i3 } =
s
so that
8,000 80 1 80 1
{i3 } = = − .
s2 + 900s 9 s 9 s + 900
Then
80 80 −900t 100 100 −900t
i3 = − e and i2 = 20 − 0.0025i3 − i3 = − e .
9 9 9 9

71
4.6 Systems of Linear Differential Equations

(c) i1 = i2 + i3 = 20 − 20e−900t

18. Taking the Laplace transform of the system

0.5i1 + 50i2 = 60
0.005i2 + i2 − i1 = 0
gives
120
s {i1 } + 100 {i2 } =
s
−200 {i1 } + (s + 200) {i2 } = 0

so that
24,000 6 1 6 s + 100 6 100
{i2 } = = − − .
s(s2 + 200s + 20,000) 5 s 5 (s + 100)2 + 1002 5 (s + 100)2 + 1002
Then
6 6 −100t 6
i2 = − e cos 100t − e−100t sin 100t
5 5 5
and
6 6 −100t
i1 = 0.005i2 + i2 = − e cos 100t.
5 5

CHAPTER 4 REVIEW EXERCISES

3. False; consider f (t) = t−1/2 .

6. False; consider f (t) = 1 and g(t) = 1.

2
9. {sin 2t} =
s2 + 4
2
12. {sin 2t (t − π)} = {sin 2(t − π) (t − π)} = e−πs
s2 + 4
 
1 1 2 1 2 5t
15. = = t e
(s − 5)3 2 (s − 5)3 2

1 −5s
18. e = (t − 5) (t − 5)
s2
 −5t 
21. e exists for s > −5.

t
1 F (s − a)
24. eaτ f (τ ) dτ = {eat f (t)} = , whereas
0 s s

t 
 
t  F (s)  F (s − a)
eat f (τ ) dτ = f (τ ) dτ  = = .
 s  s−a
0 0 s→s−a s→s−a

27. f (t − t0 ) (t − t0 )

72
 CHAPTER 4 REVIEW EXERCISES

30. f (t) = sin t (t − π) − sin t (t − 3π) = − sin(t − π) (t − π) + sin(t − 3π) (t − 3π)

1 1
{f (t)} = − 2 e−πs + 2 e−3πs
s +1 s +1
 t  1 1
e f (t) = − e−π(s−1) + e−3π(s−1)
(s − 1) + 1
2 (s − 1)2 + 1
33. Taking the Laplace transform of the differential equation we obtain
5 1 2
{y} = +
(s − 1)2 2 (s − 1)3
so that
1
y = 5tet + t2 et .
2
36. Taking the Laplace transform of the differential equation we obtain
s3 + 2 2 + 2s + s2 −s
{y} = − e
s3 (s − 5) s3 (s − 5)
2 1 2 1 1 2 127 1 37 1 12 1 1 2 37 1
=− − − + − − − − + e−s
125 s 25 s2 5 s3 125 s − 5 125 s 25 s2 5 s3 125 s − 5
so that
2 2 1 127 5t 37 12 1 37 5(t−1)
y=− − t − t2 + e − − − (t − 1) − (t − 1)2 + e (t − 1).
125 25 5 125 125 25 5 125

39. Taking the Laplace transform of the system gives

1
s {x} + {y} = +1
s2
4 {x} + s {y} = 2
so that

s2 − 2s + 1 1 1 1 1 9 1
{x} = =− + + .
s(s − 2)(s + 2) 4 s 8 s−2 8 s+2
Then
1 1 9 9 −2t 1 2t
x = − + e2t + e−2t and y = −x + t = e − e + t.
4 8 8 4 4
42. The differential equation is
1 d2 q dq
+ 10 + 100q = 10 − 10 (t − 5).
2 dt2 dt
Taking the Laplace transform we obtain
20  
{q} = 1 − e−5s
s(s2 + 20s + 200)
1 1 1 s + 10 1 10  
= − 2 2
− 2 2
1 − e−5s
10 s 10 (s + 10) + 10 10 (s + 10) + 10
so that
1 1 1
q(t) = − e−10t cos 10t − e−10t sin 10t
10 10 10
1 1 1
− − e−10(t−5) cos 10(t − 5) − e−10(t−5) sin 10(t − 5) (t − 5).
10 10 10

73
CHAPTER 4 REVIEW EXERCISES

45. (a) With ω 2 = g/l and K = k/m the system of differential equations is
θ1 + ω 2 θ1 = −K(θ1 − θ2 )
θ2 + ω 2 θ2 = K(θ1 − θ2 ).
Denoting the Laplace transform of θ(t) by Θ(s) we have that the Laplace transform of the system is
(s2 + ω 2 )Θ1 (s) = −KΘ1 (s) + KΘ2 (s) + sθ0
(s2 + ω 2 )Θ2 (s) = KΘ1 (s) − KΘ2 (s) + sψ0 .
If we add the two equations, we get
s
Θ1 (s) + Θ2 (s) = (θ0 + ψ0 )
s2 + ω2
which implies
θ1 (t) + θ2 (t) = (θ0 + ψ0 ) cos ωt.
This enables us to solve for first, say, θ1 (t) and then find θ2 (t) from

θ2 (t) = −θ1 (t) + (θ0 + ψ0 ) cos ωt.

Now solving
(s2 + ω 2 + K)Θ1 (s) − KΘ2 (s) = sθ0
−kΘ1 (s) + (s2 + ω 2 + K)Θ2 (s) = sψ0
gives
[(s2 + ω 2 + K)2 − K 2 ]Θ1 (s) = s(s2 + ω 2 + K)θ0 + Ksψ0 .
Factoring the difference of two squares and using partial fractions we get
s(s2 + ω 2 + K)θ0 + Ksψ0 θ0 + ψ0 s θ0 − ψ0 s
Θ1 (s) = 2 2 2 2
= 2 2
+ ,
(s + ω )(s + ω + 2K) 2 s +ω 2 s + ω 2 + 2K
2

so
θ0 + ψ0 θ0 − ψ0 
θ1 (t) = cos ωt + cos ω 2 + 2K t.
2 2
Then from θ2 (t) = −θ1 (t) + (θ0 + ψ0 ) cos ωt we get
θ0 + ψ0 θ0 − ψ0 
θ2 (t) = cos ωt − cos ω 2 + 2K t.
2 2
(b) With the initial conditions θ1 (0) = θ0 , θ1 (0) = 0, θ2 (0) = θ0 , θ2 (0) = 0 we have

θ1 (t) = θ0 cos ωt, θ2 (t) = θ0 cos ωt.

Physically this means that both pendulums swing in the same direction as if they were free since the spring
exerts no influence on the motion (θ1 (t) and θ2 (t) are free of K).
With the initial conditions θ1 (0) = θ0 , θ1 (0) = 0, θ2 (0) = −θ0 , θ2 (0) = 0 we have
 
θ1 (t) = θ0 cos ω 2 + 2K t, θ2 (t) = −θ0 cos ω 2 + 2K t.

Physically this means that both pendulums swing in the opposite directions, stretching and compressing
the spring. The amplitude of both displacements is |θ0 |. Moreover, θ1 (t) = θ0 and θ2 (t) = −θ0 at precisely
the same times. At these times the spring is stretched to its maximum.

74