Mary Boas Solution 7.3.8

MATHEMATICAL METHODS IN THE PHYSICAL SCIENCES Third Edition

MARY L. BOAS DePaul University

MATHEMATICAL METHODS IN THE PHYSICAL SCIENCES

MATHEMATICAL METHODS IN THE PHYSICAL SCIENCES Third Edition

MARY L. BOAS DePaul University

PUBLISHER SENIOR ACQUISITIONS Editor PRODUCTION MANAGER PRODUCTION EDITOR MARKETING MANAGER SENIOR DESIGNER EDITORIAL ASSISTANT PRODUCTION MANAGER

Kaye Pace Stuart Johnson Pam Kennedy Sarah Wolfman-Robichaud Amanda Wygal Dawn Stanley Krista Jarmas/Alyson Rentrop Jan Fisher/Publication Services

This book was set in 10/12 Computer Modern by Publication Services and printed and bound by R.R. Donnelley-Willard. The cover was printed by Lehigh Press. This book is printed on acid free paper. Copyright  2006 John Wiley & Sons, Inc. All rights reserved. No part of this publication may be reproduced, stored in a retrieval system or transmitted in any form or by any means, electronic, mechanical, photocopying, recording, scanning, or otherwise, except as permitted under Sections 107 or 108 of the 1976 United States Copyright Act, without either the prior written permission of the Publisher, or authorization through payment of the appropriate per-copy fee to the Copyright Clearance Center, Inc., 222 Rosewood Drive, Danvers, MA 01923, (978)750-8400, fax (978)750-4470 or on the web at www.copyright.com. Requests to the Publisher for permission should be addressed to the Permissions Department, John Wiley & Sons, Inc., 111 River Street, Hoboken, NJ 07030-5774, (201)748-6011, fax (201)748-6008, or online at http://www.wiley.com/go/permissions. To order books or for customer service please, call 1-800-CALL WILEY (225-5945). ISBN 0-471-19826-9 ISBN-13 978-0-471-19826-0 ISBN-WIE 0-471-36580-7 ISBN-WIE-13 978-0-471-36580-8 Printed in the United States of America 10 9 8 7 6 5 4 3 2 1

To the memory of RPB

PREFACE

This book is particularly intended for the student with a year (or a year and a half) of calculus who wants to develop, in a short time, a basic competence in each of the many areas of mathematics needed in junior to senior-graduate courses in physics, chemistry, and engineering. Thus it is intended to be accessible to sophomores (or freshmen with AP calculus from high school). It may also be used eﬀectively by a more advanced student to review half-forgotten topics or learn new ones, either by independent study or in a class. Although the book was written especially for students of the physical sciences, students in any ﬁeld (say mathematics or mathematics for teaching) may ﬁnd it useful to survey many topics or to obtain some knowledge of areas they do not have time to study in depth. Since theorems are stated carefully, such students should not need to unlearn anything in their later work. The question of proper mathematical training for students in the physical sciences is of concern to both mathematicians and those who use mathematics in applications. Some instructors may feel that if students are going to study mathematics at all, they should study it in careful and thorough detail. For the undergraduate physics, chemistry, or engineering student, this means either (1) learning more mathematics than a mathematics major or (2) learning a few areas of mathematics thoroughly and the others only from snatches in science courses. The second alternative is often advocated; let me say why I think it is unsatisfactory. It is certainly true that motivation is increased by the immediate application of a mathematical technique, but there are a number of disadvantages: 1. The discussion of the mathematics is apt to be sketchy since that is not the primary concern. 2. Students are faced simultaneously with learning a new mathematical method and applying it to an area of science that is also new to them. Frequently the vii

viii

Preface

diﬃculty in comprehending the new scientiﬁc area lies more in the distraction caused by poorly understood mathematics than it does in the new scientiﬁc ideas. 3. Students may meet what is actually the same mathematical principle in two diﬀerent science courses without recognizing the connection, or even learn apparently contradictory theorems in the two courses! For example, in thermodynamics students learn that the integral of an exact diﬀerential around a closed 2π path is always zero. In electricity or hydrodynamics, they run into 0 dθ, which is certainly the integral of an exact diﬀerential around a closed path but is not equal to zero! Now it would be ﬁne if every science student could take the separate mathematics courses in diﬀerential equations (ordinary and partial), advanced calculus, linear algebra, vector and tensor analysis, complex variables, Fourier series, probability, calculus of variations, special functions, and so on. However, most science students have neither the time nor the inclination to study that much mathematics, yet they are constantly hampered in their science courses for lack of the basic techniques of these subjects. It is the intent of this book to give these students enough background in each of the needed areas so that they can cope successfully with junior, senior, and beginning graduate courses in the physical sciences. I hope, also, that some students will be suﬃciently intrigued by one or more of the ﬁelds of mathematics to pursue it futher. It is clear that something must be omitted if so many topics are to be compressed into one course. I believe that two things can be left out without serious harm at this stage of a student's work: generality, and detailed proofs. Stating and proving a theorem in its most general form is important to the mathematician and to the advanced student, but it is often unnecessary and may be confusing to the more elementary student. This is not in the least to say that science students have no use for careful mathematics. Scientists, even more than pure mathematicians, need careful statements of the limits of applicability of mathematical processes so that they can use them with conﬁdence without having to supply proof of their validity. Consequently I have endeavored to give accurate statements of the needed theorems, although often for special cases or without proof. Interested students can easily ﬁnd more detail in textbooks in the special ﬁelds. Mathematical physics texts at the senior-graduate level are able to assume a degree of mathematical sophistication and knowledge of advanced physics not yet attained by students at the sophomore level. Yet such students, if given simple and clear explanations, can readily master the techniques we cover in this text. (They not only can, but will have to in one way or another, if they are going to pass their junior and senior physics courses!) These students are not ready for detailed applications—these they will get in their science courses—but they do need and want to be given some idea of the use of the methods they are studying, and some simple applications. This I have tried to do for each new topic. For those of you familiar with the second edition, let me outline the changes for the third: 1. Prompted by several requests for matrix diagonalization in Chapter 3, I have moved the ﬁrst part of Chapter 10 to Chapter 3 and then have ampliﬁed the treatment of tensors in Chapter 10. I have also changed Chapter 3 to include more detail about linear vector spaces and then have continued the discussion of basis functions in Chapter 7 (Fourier series), Chapter 8 (Diﬀerential equations),

Preface

Chapter 12 (Series solutions) and Chapter 13 (Partial diﬀerential equations). 2. Again, prompted by several requests, I have moved Fourier integrals back to the Fourier series Chapter 7. Since this breaks up the integral transforms chapter (old Chapter 15), I decided to abandon that chapter and move the Laplace transform and Dirac delta function material back to the ordinary diﬀerential equations Chapter 8. I have also ampliﬁed the treatment of the delta function. 3. The Probability chapter (old Chapter 16) now becomes Chapter 15. Here I have changed the title to Probability and Statistics, and have revised the latter part of the chapter to emphasize its purpose, namely to clarify for students the theory behind the rules they learn for handling experimental data. 4. The very rapid development of technological aids to computation poses a steady question for instructors as to their best use. Without selecting any particular Computer Algebra System, I have simply tried for each topic to point out to students both the usefulness and the pitfalls of computer use. (Please see my comments at the end of "To the Student" just ahead.) The material in the text is so arranged that students who study the chapters in order will have the necessary background at each stage. However, it is not always either necessary or desirable to follow the text order. Let me suggest some rearrangements I have found useful. If students have previously studied the material in any of chapters 1, 3, 4, 5, 6, or 8 (in such courses as second-year calculus, diﬀerential equations, linear algebra), then the corresponding chapter(s) could be omitted, used for reference, or, preferably, be reviewed brieﬂy with emphasis on problem solving. Students may know Taylor's theorem, for example, but have little skill in using series approximations; they may know the theory of multiple integrals, but ﬁnd it diﬃcult to set up a double integral for the moment of inertia of a spherical shell; they may know existence theorems for diﬀerential equations, but have little skill in solving, say, y + y = x sin x. Problem solving is the essential core of a course on Mathematical Methods. After Chapters 7 (Fourier Series) and 8 (Ordinary Diﬀerential Equations) I like to cover the ﬁrst four sections of Chapter 13 (Partial Diﬀerential Equations). This gives students an introduction to Partial Diﬀerential Equations but requires only the use of Fourier series expansions. Later on, after studying Chapter 12, students can return to complete Chapter 13. Chapter 15 (Probability and Statistics) is almost independent of the rest of the text; I have covered this material anywhere from the beginning to the end of a one-year course. It has been gratifying to hear the enthusiastic responses to the ﬁrst two editions, and I hope that this third edition will prove even more useful. I want to thank many readers for helpful suggestions and I will appreciate any further comments. If you ﬁnd misprints, please send them to me at [email protected] I also want to thank the University of Washington physics students who were my LATEX typists: Toshiko Asai, Jeﬀ Sherman, and Jeﬀrey Frasca. And I especially want to thank my son, Harold P. Boas, both for mathematical consultations, and for his expert help with LATEX problems. Instructors who have adopted the book for a class should consult the publisher about an Instructor's Answer Book, and about a list correlating 2nd and 3rd edition problem numbers for problems which appear in both editions. Mary L. Boas

TO THE STUDENT

As you start each topic in this book, you will no doubt wonder and ask "Just why should I study this subject and what use does it have in applications?" There is a story about a young mathematics instructor who asked an older professor "What do you say when students ask about the practical applications of some mathematical topic?" The experienced professor said "I tell them!" This text tries to follow that advice. However, you must on your part be reasonable in your request. It is not possible in one book or course to cover both the mathematical methods and very many detailed applications of them. You will have to be content with some information as to the areas of application of each topic and some of the simpler applications. In your later courses, you will then use these techniques in more advanced applications. At that point you can concentrate on the physical application instead of being distracted by learning new mathematical methods. One point about your study of this material cannot be emphasized too strongly: To use mathematics eﬀectively in applications, you need not just knowledge but skill. Skill can be obtained only through practice. You can obtain a certain superﬁcial knowledge of mathematics by listening to lectures, but you cannot obtain skill this way. How many students have I heard say "It looks so easy when you do it," or "I understand it but I can't do the problems!" Such statements show lack of practice and consequent lack of skill. The only way to develop the skill necessary to use this material in your later courses is to practice by solving many problems. Always study with pencil and paper at hand. Don't just read through a solved problem—try to do it yourself! Then solve some similar ones from the problem set for that section, xi

xii

To the Student

trying to choose the most appropriate method from the solved examples. See the Answers to Selected Problems and check your answers to any problems listed there. If you meet an unfamiliar term, look for it in the Index (or in a dictionary if it is nontechnical). My students tell me that one of my most frequent comments to them is "You're working too hard." There is no merit in spending hours producing a solution to a problem that can be done by a better method in a few minutes. Please ignore anyone who disparages problem-solving techniques as "tricks" or "shortcuts." You will ﬁnd that the more able you are to choose eﬀective methods of solving problems in your science courses, the easier it will be for you to master new material. But this means practice, practice, practice! The only way to learn to solve problems is to solve problems. In this text, you will ﬁnd both drill problems and harder, more challenging problems. You should not feel satisﬁed with your study of a chapter until you can solve a reasonable number of these problems. You may be thinking "I don't really need to study this—my computer will solve all these problems for me." Now Computer Algebra Systems are wonderful—as you know, they save you a lot of laborious calculation and quickly plot graphs which clarify a problem. But a computer is a tool; you are the one in charge. A very perceptive student recently said to me (about the use of a computer for a special project): "First you learn how to do it; then you see what the computer can do to make it easier." Quite so! A very eﬀective way to study a new technique is to do some simple problems by hand in order to understand the process, and compare your results with a computer solution. You will then be better able to use the method to set up and solve similar more complicated applied problems in your advanced courses. So, in one problem set after another, I will remind you that the point of solving some simple problems is not to get an answer (which a computer will easily supply) but rather to learn the ideas and techniques which will be so useful in your later courses. M. L. B.

CONTENTS

INFINITE SERIES, POWER SERIES 1. 2. 3. 4. 5. 6.

7. 8. 9. 10. 11. 12. 13.

The Geometric Series 1 Deﬁnitions and Notation 4 Applications of Series 6 Convergent and Divergent Series 6 Testing Series for Convergence; the Preliminary Test 9 Convergence Tests for Series of Positive Terms: Absolute Convergence A. The Comparison Test 10 B. The Integral Test 11 C. The Ratio Test 13 D. A Special Comparison Test 15 Alternating Series 17 Conditionally Convergent Series 18 Useful Facts About Series 19 Power Series; Interval of Convergence 20 Theorems About Power Series 23 Expanding Functions in Power Series 23 Techniques for Obtaining Power Series Expansions 25 A. Multiplying a Series by a Polynomial or by Another Series 26 B. Division of Two Series or of a Series by a Polynomial 27

xiii

xiv

14. 15. 16.

Contents

C. Binomial Series 28 D. Substitution of a Polynomial or a Series for the Variable in Another Series 29 E. Combination of Methods 30 F. Taylor Series Using the Basic Maclaurin Series 30 G. Using a Computer 31 Accuracy of Series Approximations 33 Some Uses of Series 36 Miscellaneous Problems 44

COMPLEX NUMBERS 1. 2. 3. 4. 5.

6. 7. 8. 9. 10. 11. 12. 13. 14. 15. 16. 17.

3 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. 12.

Introduction 46 Real and Imaginary Parts of a Complex Number 47 The Complex Plane 47 Terminology and Notation 49 Complex Algebra 51 A. Simplifying to x +iy form 51 B. Complex Conjugate of a Complex Expression 52 C. Finding the Absolute Value of z 53 D. Complex Equations 54 E. Graphs 54 F. Physical Applications 55 Complex Inﬁnite Series 56 Complex Power Series; Disk of Convergence 58 Elementary Functions of Complex Numbers 60 Euler's Formula 61 Powers and Roots of Complex Numbers 64 The Exponential and Trigonometric Functions 67 Hyperbolic Functions 70 Logarithms 72 Complex Roots and Powers 73 Inverse Trigonometric and Hyperbolic Functions 74 Some Applications 76 Miscellaneous Problems 80

LINEAR ALGEBRA Introduction 82 Matrices; Row Reduction 83 Determinants; Cramer's Rule 89 Vectors 96 Lines and Planes 106 Matrix Operations 114 Linear Combinations, Linear Functions, Linear Operators 124 Linear Dependence and Independence 132 Special Matrices and Formulas 137 Linear Vector Spaces 142 Eigenvalues and Eigenvectors; Diagonalizing Matrices 148 Applications of Diagonalization 162

Contents

13. 14. 15.

A Brief Introduction to Groups General Vector Spaces 179 Miscellaneous Problems 184

172

PARTIAL DIFFERENTIATION 1. 2. 3. 4. 5. 6. 7. 8.

9. 10. 11. 12. 13.

188

Introduction and Notation 188 Power Series in Two Variables 191 Total Diﬀerentials 193 Approximations using Diﬀerentials 196 Chain Rule or Diﬀerentiating a Function of a Function 199 Implicit Diﬀerentiation 202 More Chain Rule 203 Application of Partial Diﬀerentiation to Maximum and Minimum Problems 211 Maximum and Minimum Problems with Constraints; Lagrange Multipliers Endpoint or Boundary Point Problems 223 Change of Variables 228 Diﬀerentiation of Integrals; Leibniz' Rule 233 Miscellaneous problems 238

MULTIPLE INTEGRALS 1. 2. 3. 4. 5. 6.

Introduction 276 Applications of Vector Multiplication 276 Triple Products 278 Diﬀerentiation of Vectors 285 Fields 289 Directional Derivative; Gradient 290 Some Other Expressions Involving ∇ 296 Line Integrals 299 Green's Theorem in the Plane 309 The Divergence and the Divergence Theorem The Curl and Stokes' Theorem 324 Miscellaneous Problems 336

249

276

314

FOURIER SERIES AND TRANSFORMS 1. 2. 3. 4.

214

241

Introduction 241 Double and Triple Integrals 242 Applications of Integration; Single and Multiple Integrals Change of Variables in Integrals; Jacobians 258 Surface Integrals 270 Miscellaneous Problems 273

VECTOR ANALYSIS

1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. 12.

Introduction 340 Simple Harmonic Motion and Wave Motion; Periodic Functions Applications of Fourier Series 345 Average Value of a Function 347

340 340

xvi 5. 6. 7. 8. 9. 10. 11. 12. 13.

Contents

Fourier Coeﬃcients 350 Dirichlet Conditions 355 Complex Form of Fourier Series Other Intervals 360 Even and Odd Functions 364 An Application to Sound 372 Parseval's Theorem 375 Fourier Transforms 378 Miscellaneous Problems 386

358

ORDINARY DIFFERENTIAL EQUATIONS 1. 2. 3. 4. 5. 6.

7. 8. 9. 10. 11. 12. 13.

390

Introduction 390 Separable Equations 395 Linear First-Order Equations 401 Other Methods for First-Order Equations 404 Second-Order Linear Equations with Constant Coeﬃcients and Zero Right-Hand Side 408 Second-Order Linear Equations with Constant Coeﬃcients and Right-Hand Side Not Zero 417 Other Second-Order Equations 430 The Laplace Transform 437 Solution of Diﬀerential Equations by Laplace Transforms 440 Convolution 444 The Dirac Delta Function 449 A Brief Introduction to Green Functions 461 Miscellaneous Problems 466

CALCULUS OF VARIATIONS 1. 2. 3. 4. 5. 6. 7. 8.

10 1. 2. 3. 4. 5. 6. 7. 8. 9.

Introduction 472 The Euler Equation 474 Using the Euler Equation 478 The Brachistochrone Problem; Cycloids 482 Several Dependent Variables; Lagrange's Equations Isoperimetric Problems 491 Variational Notation 493 Miscellaneous Problems 494

472

485

TENSOR ANALYSIS Introduction 496 Cartesian Tensors 498 Tensor Notation and Operations 502 Inertia Tensor 505 Kronecker Delta and Levi-Civita Symbol 508 Pseudovectors and Pseudotensors 514 More About Applications 518 Curvilinear Coordinates 521 Vector Operators in Orthogonal Curvilinear Coordinates

496

525

Contents

10. 11.

11 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. 12. 13.

1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. 12. 13. 14. 15. 16. 17. 18. 19. 20. 21. 22. 23.

Non-Cartesian Tensors Miscellaneous Problems

xvii

529 535

SPECIAL FUNCTIONS Introduction 537 The Factorial Function 538 Deﬁnition of the Gamma Function; Recursion Relation The Gamma Function of Negative Numbers 540 Some Important Formulas Involving Gamma Functions Beta Functions 542 Beta Functions in Terms of Gamma Functions 543 The Simple Pendulum 545 The Error Function 547 Asymptotic Series 549 Stirling's Formula 552 Elliptic Integrals and Functions 554 Miscellaneous Problems 560

537

538 541

SERIES SOLUTIONS OF DIFFERENTIAL EQUATIONS; LEGENDRE, BESSEL, HERMITE, AND LAGUERRE FUNCTIONS Introduction 562 Legendre's Equation 564 Leibniz' Rule for Diﬀerentiating Products 567 Rodrigues' Formula 568 Generating Function for Legendre Polynomials 569 Complete Sets of Orthogonal Functions 575 Orthogonality of the Legendre Polynomials 577 Normalization of the Legendre Polynomials 578 Legendre Series 580 The Associated Legendre Functions 583 Generalized Power Series or the Method of Frobenius 585 Bessel's Equation 587 The Second Solution of Bessel's Equation 590 Graphs and Zeros of Bessel Functions 591 Recursion Relations 592 Diﬀerential Equations with Bessel Function Solutions 593 Other Kinds of Bessel Functions 595 The Lengthening Pendulum 598 Orthogonality of Bessel Functions 601 Approximate Formulas for Bessel Functions 604 Series Solutions; Fuchs's Theorem 605 Hermite Functions; Laguerre Functions; Ladder Operators 607 Miscellaneous Problems 615

562

xviii 13 1. 2. 3. 4. 5. 6. 7. 8. 9. 10.

14 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11.

15 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11.

Contents

PARTIAL DIFFERENTIAL EQUATIONS

619

Introduction 619 Laplace's Equation; Steady-State Temperature in a Rectangular Plate The Diﬀusion or Heat Flow Equation; the Schr¨ odinger Equation 628 The Wave Equation; the Vibrating String 633 Steady-state Temperature in a Cylinder 638 Vibration of a Circular Membrane 644 Steady-state Temperature in a Sphere 647 Poisson's Equation 652 Integral Transform Solutions of Partial Diﬀerential Equations 659 Miscellaneous Problems 663

FUNCTIONS OF A COMPLEX VARIABLE Introduction 666 Analytic Functions 667 Contour Integrals 674 Laurent Series 678 The Residue Theorem 682 Methods of Finding Residues 683 Evaluation of Deﬁnite Integrals by Use of the Residue Theorem The Point at Inﬁnity; Residues at Inﬁnity 702 Mapping 705 Some Applications of Conformal Mapping 710 Miscellaneous Problems 718

PROBABILITY AND STATISTICS

621

666

687

722

Introduction 722 Sample Space 724 Probability Theorems 729 Methods of Counting 736 Random Variables 744 Continuous Distributions 750 Binomial Distribution 756 The Normal or Gaussian Distribution 761 The Poisson Distribution 767 Statistics and Experimental Measurements 770 Miscellaneous Problems 776

REFERENCES

779

ANSWERS TO SELECTED PROBLEMS

781

INDEX

811

CHAPTER

Inﬁnite Series, Power Series 1. THE GEOMETRIC SERIES As a simple example of many of the ideas involved in series, we are going to consider the geometric series. You may recall that in a geometric progression we multiply each term by some ﬁxed number to get the next term. For example, the sequences (1.1a)

2, 4, 8, 16, 32, . . . ,

(1.1b)

(1.1c)

a, ar, ar , ar , . . . ,

2 4 8 16 3 , 9 , 27 , 81 , . . . , 2 3

are geometric progressions. It is easy to think of examples of such progressions. Suppose the number of bacteria in a culture doubles every hour. Then the terms of (1.1a) represent the number by which the bacteria population has been multiplied after 1 hr, 2 hr, and so on. Or suppose a bouncing ball rises each time to 23 of the height of the previous bounce. Then (1.1b) would represent the heights of the successive bounces in yards if the ball is originally dropped from a height of 1 yd. In our ﬁrst example it is clear that the bacteria population would increase without limit as time went on (mathematically, anyway; that is, assuming that nothing like lack of food prevented the assumed doubling each hour). In the second example, however, the height of bounce of the ball decreases with successive bounces, and we might ask for the total distance the ball goes. The ball falls a distance 1 yd, rises a distance 23 yd and falls a distance 23 yd, rises a distance 49 yd and falls a distance 4 9 yd, and so on. Thus it seems reasonable to write the following expression for the total distance the ball goes: (1.2)

1+2·

2 3

+2·

4 9

+2·

8 27

+ ··· = 1 + 2

2 3

4 9

8 27

+ ··· ,

where the three dots mean that the terms continue as they have started (each one being 23 the preceding one), and there is never a last term. Let us consider the expression in parentheses in (1.2), namely (1.3)

2 4 8 + + + ··· . 3 9 27 1

Inﬁnite Series, Power Series

Chapter 1

This expression is an example of an inﬁnite series, and we are asked to ﬁnd its sum. Not all inﬁnite series have sums; you can see that the series formed by adding the terms in (1.1a) does not have a ﬁnite sum. However, even when an inﬁnite series does have a ﬁnite sum, we cannot ﬁnd it by adding the terms because no matter how many we add there are always more. Thus we must ﬁnd another method. (It is actually deeper than this; what we really have to do is to deﬁne what we mean by the sum of the series.) Let us ﬁrst ﬁnd the sum of n terms in (1.3). The formula (Problem 2) for the sum of n terms of the geometric progression (1.1c) is

Sn =

(1.4)

a(1 − rn ) . 1−r

Using (1.4) in (1.3), we ﬁnd (1.5)

Sn =

2 4 + + ··· + 3 9

n 2 = 3

n − ( 23 )n ] 2 . = 2 1 − 3 1 − 23

2 3 [1

As n increases, ( 23 )n decreases and approaches zero. Then the sum of n terms approaches 2 as n increases, and we say that the sum of the series is 2. (This is really a deﬁnition: The sum of an inﬁnite series is the limit of the sum of n terms as n → ∞.) Then from (1.2), the total distance traveled by the ball is 1 + 2 · 2 = 5. This is an answer to a mathematical problem. A physicist might well object that a bounce the size of an atom is nonsense! However, after a number of bounces, the remaining inﬁnite number of small terms contribute very little to the ﬁnal answer (see Problem 1). Thus it makes little diﬀerence (in our answer for the total distance) whether we insist that the ball rolls after a certain number of bounces or whether we include the entire series, and it is easier to ﬁnd the sum of the series than to ﬁnd the sum of, say, twenty terms. Series such as (1.3) whose terms form a geometric progression are called geometric series. We can write a geometric series in the form (1.6)

a + ar + ar2 + · · · + arn−1 + · · · .

The sum of the geometric series (if it has one) is by deﬁnition

(1.7)

S = lim Sn , n→∞

where Sn is the sum of n terms of the series. By following the method of the example above, you can show (Problem 2) that a geometric series has a sum if and only if |r| < 1, and in this case the sum is

(1.8)

a . 1−r

Section 1

The Geometric Series

The series is then called convergent. 3 3 Here is an interesting use of (1.8). We can write 0.3333 · · · = 10 + 100 + 3/10 3 1 + · · · = = by (1.8). Now of course you knew that, but how about 1000 1−1/10 3 0.785714285714 · · · ? We can write this as 0.5 + 0.285714285714 · · · = 12 + 0.285714 1−10−6 = 1 285714 1 2 11 + = + = . (Note that any repeating decimal is equivalent to a frac2 999999 2 7 14 tion which can be found by this method.) If you want to use a computer to do the arithmetic, be sure to tell it to give you an exact answer or it may hand you back the decimal you started with! You can also use a computer to sum the series, but using (1.8) may be simpler. (Also see Problem 14.)

PROBLEMS, SECTION 1 1.

In the bouncing ball example above, ﬁnd the height of the tenth rebound, and the distance traveled by the ball after it touches the ground the tenth time. Compare this distance with the total distance traveled.

Derive the formula (1.4) for the sum Sn of the geometric progression Sn = a + ar + ar 2 + · · · + ar n−1 . Hint: Multiply Sn by r and subtract the result from Sn ; then solve for Sn . Show that the geometric series (1.6) converges if and only if |r| < 1; also show that if |r| < 1, the sum is given by equation (1.8).

Use equation (1.8) to ﬁnd the fractions that are equivalent to the following repeating decimals: 3.

0.55555 · · ·

0.818181 · · ·

0.583333 · · ·

0.61111 · · ·

0.185185 · · ·

0.694444 · · ·

0.857142857142 · · ·

10.

0.576923076923076923 · · ·

11.

0.678571428571428571 · · ·

12.

In a water puriﬁcation process, one-nth of the impurity is removed in the ﬁrst stage. In each succeeding stage, the amount of impurity removed is one-nth of that removed in the preceding stage. Show that if n = 2, the water can be made as pure as you like, but that if n = 3, at least one-half of the impurity will remain no matter how many stages are used.

13.

If you invest a dollar at "6% interest compounded monthly," it amounts to (1.005)n dollars after n months. If you invest $10 at the beginning of each month for 10 years (120 months), how much will you have at the end of the 10 years? P n A computer program gives the result 1/6 for the sum of the series ∞ n=0 (−5) . Show that this series is divergent. Do you see what happened? Warning hint: Always consider whether an answer is reasonable, whether it's a computer answer or your work by hand.

14.

15.

Connect the midpoints of the sides of an equilateral triangle to form 4 smaller equilateral triangles. Leave the middle small triangle blank, but for each of the other 3 small triangles, draw lines connecting the midpoints of the sides to create 4 tiny triangles. Again leave each middle tiny triangle blank and draw the lines to divide the others into 4 parts. Find the inﬁnite series for the total area left blank if this process is continued indeﬁnitely. (Suggestion: Let the area of the original triangle be 1; then the area of the ﬁrst blank triangle is 1/4.) Sum the series to ﬁnd the total area left blank. Is the answer what you expect? Hint: What is the "area" of a straight line? (Comment: You have constructed a fractal called the Sierpi´ nski gasket. A fractal has the property that a magniﬁed view of a small part of it looks very much like the original.)

4 16.

Inﬁnite Series, Power Series

Chapter 1

Suppose a large number of particles are bouncing back and forth between x = 0 and x = 1, except that at each endpoint some escape. Let r be the fraction reﬂected each time; then (1 − r) is the fraction escaping. Suppose the particles start at x = 0 heading toward x = 1; eventually all particles will escape. Write an inﬁnite series for the fraction which escape at x = 1 and similarly for the fraction which escape at x = 0. Sum both the series. What is the largest fraction of the particles which can escape at x = 0? (Remember that r must be between 0 and 1.)

2. DEFINITIONS AND NOTATION There are many other inﬁnite series besides geometric series. Here are some examples: 12 + 22 + 32 + 42 + · · · , 1 2 3 4 + 2 + 3 + 4 + ··· , 2 2 2 2 x3 x4 x2 + − + ··· . x− 2 3 4

(2.1a) (2.1b) (2.1c)

In general, an inﬁnite series means an expression of the form (2.2)

a1 + a 2 + a 3 + · · · + a n + · · · ,

where the an 's (one for each positive integer n) are numbers or functions given by some formula or rule. The three dots in each case mean that the series never ends. The terms continue according to the law of formation, which is supposed to be evident to you by the time you reach the three dots. If there is apt to be doubt about how the terms are formed, a general or nth term is written like this: (2.3a)

1 2 + 2 2 + 3 2 + · · · + n2 + · · · ,

(2.3b)

x − x2 +

(−1)n−1 xn x3 + ···+ + ··· . 2 (n − 1)!

(The quantity n!, read n factorial, means, for integral n, the product of all integers from 1 to n; for example, 5! = 5 · 4 · 3 · 2 · 1 = 120. The quantity 0! is deﬁned to be 1.) In (2.3a), it is easy to see without the general term that each term is just the square of the number of the term, that is, n2 . However, in (2.3b), if the formula for the general term were missing, you could probably make several reasonable guesses for the next term. To be sure of the law of formation, we must either know a good many more terms or have the formula for the general term. You should verify that the fourth term in (2.3b) is −x4 /6. We can also write series in a shorter abbreviated form using a summation sign followed by the formula for the nth term. For example, (2.3a) would be written (2.4)

1 + 2 + 3 + 4 + ··· =

∞

n=1

(read "the sum of n2 from n = 1 to ∞"). The series (2.3b) would be written ∞ x4 x3 (−1)n−1 xn − + ··· = x−x + 2 6 (n − 1)! n=1 2

Section 2

Deﬁnitions and Notation

∞ For printing convenience, sums like (2.4) are often written n=1 n2 . In Section 1, we have mentioned both sequences and series. The lists in (1.1) are sequences; a sequence is simply a set of quantities, one for each n. A series is an indicated sum of such quantities, as in (1.3) or (1.6). We will be interested in various sequences related to a series: for example, the sequence an of terms of the series, the sequence Sn of partial sums [see (1.5) and (4.5)], the sequence Rn [see (4.7)], and the sequence ρn [see (6.2)]. In all these examples, we want to ﬁnd the limit of a sequence as n → ∞ (if the sequence has a limit). Although limits can be found by computer, many simple limits can be done faster by hand. Example 1. Find the limit as n → ∞ of the sequence √ (2n − 1)4 + 1 + 9n8 . 1 − n3 − 7n4 We divide numerator and denominator by n4 and take the limit as n → ∞. Then all terms go to zero except √ 24 + 9 19 =− . −7 7 Example 2. Find limn→∞

ln n n .

By L'Hˆopital's rule (see Section 15) lim

n→∞

ln n 1/n = lim = 0. n→∞ 1 n

Comment: Strictly speaking, we can't diﬀerentiate a function of n if n is an integer, but we can consider f (x) = (ln x)/x, and the limit of the sequence is the same as the limit of f (x). Example 3. Find limn→∞

1 1/n n

. We ﬁrst ﬁnd 1/n 1 1 = − ln n. ln n n

Then by Example 2, the limit of (ln n)/n is 0, so the original limit is e0 = 1.

PROBLEMS, SECTION 2 In the following problems, ﬁnd the limit of the given sequence as n → ∞. √ (n + 1)2 n2 + 5n3 (−1)n n + 1 √ 2. √ 1. 3. 2n3 + 3 4 + n6 3 + 5n2 + 4n4 n 4.

2n n2

10n n!

nn n!

(1 + n2 )1/ ln n

(n!)2 (2n)!

n sin(1/n)

Inﬁnite Series, Power Series

Chapter 1

3. APPLICATIONS OF SERIES In the example of the bouncing ball in Section 1, we saw that it is possible for the sum of an inﬁnite series to be nearly the same as the sum of a fairly small number of terms at the beginning of the series (also see Problem 1.1). Many applied problems cannot be solved exactly, but we may be able to ﬁnd an answer in terms of an inﬁnite series, and then use only as many terms as necessary to obtain the needed accuracy. We shall see many examples of this both in this chapter and in later chapters. Diﬀerential equations (see Chapters 8 and 12) and partial diﬀerential equations (see Chapter 13) are frequently solved by using series. We will learn how to ﬁnd series that represent functions; often a complicated function can be approximated by a few terms of its series (see Section 15). But there is more to the subject of inﬁnite series than making approximations. We will see (Chapter 2, Section 8) how we can use power series (that is, series whose terms are powers of x) to give meaning to functions of complex numbers, and (Chapter 3, Section 6) how to deﬁne a function of a matrix using the power series of the function. Also power series are just a ﬁrst example of inﬁnite series. In Chapter 7 we will learn about Fourier series (whose terms are sines and cosines). In Chapter 12, we will use power series to solve diﬀerential equations, and in Chapters 12 and 13, we will discuss other series such as Legendre and Bessel. Finally, in Chapter 14, we will discover how a study of power series clariﬁes our understanding of the mathematical functions we use in applications.

4. CONVERGENT AND DIVERGENT SERIES We have been talking about series which have a ﬁnite sum. We have also seen that there are series which do not have ﬁnite sums, for example (2.1a). If a series has a ﬁnite sum, it is called convergent. Otherwise it is called divergent. It is important to know whether a series is convergent or divergent. Some weird things can happen if you try to apply ordinary algebra to a divergent series. Suppose we try it with the following series: (4.1)

S = 1 + 2 + 4 + 8 + 16 + · · · .

Then, 2S = 2 + 4 + 8 + 16 + · · · = S − 1, S = −1. This is obvious nonsense, and you may laugh at the idea of trying to operate with such a violently divergent series as (4.1). But the same sort of thing can happen in more concealed fashion, and has happened and given wrong answers to people who were not careful enough about the way they used inﬁnite series. At this point you probably would not recognize that the series (4.2)

1 1 1 1 + + + + ··· 2 3 4 5

is divergent, but it is; and the series (4.3)

1−

1 1 1 1 + − + − ··· 2 3 4 5

Section 4

Convergent and Divergent Series

is convergent as it stands, but can be made to have any sum you like by combining the terms in a diﬀerent order! (See Section 8.) You can see from these examples how essential it is to know whether a series converges, and also to know how to apply algebra to series correctly. There are even cases in which some divergent series can be used (see Chapter 11), but in this chapter we shall be concerned with convergent series. Before we consider some tests for convergence, let us repeat the deﬁnition of convergence more carefully. Let us call the terms of the series an so that the series is (4.4)

a1 + a2 + a3 + a4 + · · · + an + · · · .

Remember that the three dots mean that there is never a last term; the series goes on without end. Now consider the sums Sn that we obtain by adding more and more terms of the series. We deﬁne S1 = a 1 , S 2 = a 1 + a2 , S 3 = a 1 + a2 + a3 ,

(4.5)

··· S n = a 1 + a2 + a3 + · · · + an . Each Sn is called a partial sum; it is the sum of the ﬁrst n terms of the series. We had an example of this for a geometric progression in (1.4). The letter n can be any integer; for each n, Sn stops with the nth term. (Since Sn is not an inﬁnite series, there is no question of convergence for it.) As n increases, the partial sums may increase without any limit as in the series (2.1a). They may oscillate as in the series 1 − 2 + 3 − 4 + 5 − · · · (which has partial sums 1, −1, 2, −2, 3, · · · ) or they may have some more complicated behavior. One possibility is that the Sn 's may, after a while, not change very much any more; the an 's may become very small, and the Sn 's come closer and closer to some value S. We are particularly interested in this case in which the Sn 's approach a limiting value, say lim Sn = S.

(4.6)

n→∞

(It is understood that S is a ﬁnite number.) If this happens, we make the following deﬁnitions. a. If the partial sums Sn of an inﬁnite series tend to a limit S, the series is called convergent. Otherwise it is called divergent. b. The limiting value S is called the sum of the series. c. The diﬀerence Rn = S − Sn is called the remainder (or the remainder after n terms). From (4.6), we see that (4.7)

lim Rn = lim (S − Sn ) = S − S = 0.

n→∞

Inﬁnite Series, Power Series

Chapter 1

Example 1. We have already (Section 1) found Sn and S for a geometric series. From (1.8) ar n and (1.4), we have for a geometric series, Rn = 1−r which → 0 as n → ∞ if |r| < 1. 1 1 Example 2. By partial fractions, we can write n22−1 = n−1 − n+1 . Let's write out a number of terms of the series ∞ ∞ ∞ 2 1 1 1 1 = − = − n2 − 1 n−1 n+1 n n+2 2 2 1

1 1 1 1 1 1 1 1 1 1 1 + − + − + − + − + − + ··· 3 2 4 3 5 4 6 5 7 6 8 1 1 1 1 1 1 + − + − + − + ··· . n−2 n n−1 n+1 n n+2

=1−

Note the cancellation of terms; this kind of series is called a telescoping series. 1 Satisfy yourself that when we have added the nth term ( n1 − n+2 ), the only terms 1 −1 −1 which have not cancelled are 1, 2 , n+1 , and n+2 , so we have Sn =

1 1 3 − − , 2 n+1 n+2

3 , 2

Rn =

1 1 + . n+1 n+2

Example 3. Another interesting series is ∞

n n+1

∞

[ln n − ln(n + 1)]

= ln 1 − ln 2 + ln 2 − ln 3 + ln 3 − ln 4 + · · · + ln n − ln(n + 1) · · · . Then Sn = − ln(n + 1) which → −∞ as n → ∞, so the series diverges. However, n note that an = ln n+1 → ln 1 = 0 as n → ∞, so we see that even if the terms tend to zero, a series may diverge.

PROBLEMS, SECTION 4 For the following series, write formulas for the sequences an , Sn , and Rn , and ﬁnd the limits of the sequences as n → ∞ (if the limits exist). ∞ ∞ X X 1 1 1. 2. n n 2 5 1 0 3. 4.

1− ∞ X

1 1 1 1 + − + ··· 2 4 8 16 e−n ln 3

Hint: What is e− ln 3 ?

∞ X

e2n ln sin(π/3)

Hint: Simplify this.

∞ X 1

1 n(n + 1)

Hint:

1 1 1 = − . n(n + 1) n n+1

5 7 9 3 − + − +··· 1·2 2·3 3·4 4·5

Section 5

Testing Series for Convergence; The Preliminary Test

5. TESTING SERIES FOR CONVERGENCE; THE PRELIMINARY TEST It is not in general possible to write a simple formula for Sn and ﬁnd its limit as n → ∞ (as we have done for a few special series), so we need some other way to ﬁnd out whether a given series converges. Here we shall consider a few simple tests for convergence. These tests will illustrate some of the ideas involved in testing series for convergence and will work for a good many, but not all, cases. There are more complicated tests which you can ﬁnd in other books. In some cases it may be quite a diﬃcult mathematical problem to investigate the convergence of a complicated series. However, for our purposes the simple tests we give here will be suﬃcient. First we discuss a useful preliminary test. In most cases you should apply this to a series before you use other tests. Preliminary test. If the terms of an inﬁnite series do not tend to zero (that is, if limn→∞ an = 0), the series diverges. If limn→∞ an = 0, we must test further. This is not a test for convergence; what it does is to weed out some very badly divergent series which you then do not have to spend time testing by more complicated methods. Note carefully: The preliminary test can never tell you that a series converges. It does not say that series converge if an → 0 and, in fact, often they do not. A simple example is the harmonic series (4.2); ∞ the nth term certainly tends to zero, but we shall soon show that the series n=1 1/n is divergent. On the other hand, in the series 1 2 3 4 + + + + ··· 2 3 4 5 the terms are tending to 1, so by the preliminary test, this series diverges and no further testing is needed.

PROBLEMS, SECTION 5 Use the preliminary test to decide whether the following series are divergent or require further testing. Careful: Do not say that a series is convergent; the preliminary test cannot decide this. √ √ √ √ √ 1 4 9 16 25 36 3 4 5 6 1. − + − + − + ··· 2+ + + + + ··· 2. 2 5 10 17 26 37 2 3 4 5 ∞ ∞ X X n+3 (−1)n n2 3. 4. 2 n + 10n (n + 1)2 n=1 n=1 5.

∞ X n=1

7. 9.

∞ X (−1)n n √ n3 + 1 n=1 ∞ X n=1

11.

n! n! + 1

3n n 2 + 3n

∞ X n=1

8. 10.

n! (n + 1)!

∞ X ln n n n=1 ∞ „ X

n=2

1 1− 2 n

Using (4.6), give a proof of the preliminary test. Hint: Sn − Sn−1 = an .

Inﬁnite Series, Power Series

Chapter 1

6. CONVERGENCE TESTS FOR SERIES OF POSITIVE TERMS; ABSOLUTE CONVERGENCE We are now going to consider four useful tests for series whose terms are all positive. If some of the terms of a series are negative, we may still want to consider the related series which we get by making all the terms positive; that is, we may consider the series whose terms are the absolute values of the terms of our original series. If this new series converges, we call the original series absolutely convergent. It can be proved that if a series converges absolutely, then it converges (Problem 7.9). This means that if the series of absolute values converges, the series is still convergent when you put back the original minus signs. (The sum is diﬀerent, of course.) The following four tests may be used, then, either for testing series of positive terms, or for testing any series for absolute convergence.

The Comparison Test

This test has two parts, (a) and (b). (a) Let m 1 + m2 + m3 + m4 + · · · be a series of positive terms which you know converges. Then the series you are testing, namely a1 + a 2 + a 3 + a 4 + · · · is absolutely convergent if |an | ≤ mn (that is, if the absolute value of each term of the a series is no larger than the corresponding term of the m series) for all n from some point on, say after the third term (or the millionth term). See the example and discussion below. (b) Let d1 + d2 + d3 + d4 + · · · be a series of positive terms which you know diverges. Then the series |a1 | + |a2 | + |a3 | + |a4 | + · · · diverges if |an | ≥ dn for all n from some point on. Warning: Note carefully that neither |an | ≥ mn nor |an | ≤ dn tells us anything. That is, if a series has terms larger than those of a convergent series, it may still converge or it may diverge—we must test it further. Similarly, if a series has terms smaller than those of a divergent series, it may still diverge, or it may converge. ∞ 1 1 1 1 =1+ + + + · · · for convergence. n! 2 6 24 n=1 As a comparison series, we choose the geometric series

Example. Test

∞ 1 1 1 1 1 + ··· . = + + + n 2 2 4 8 16 n=1

Notice that we do not care about the ﬁrst few terms (or, in fact, any ﬁnite number of terms) in a series, because they can aﬀect the sum of the series but not whether

Section 6

Convergence Tests for Series of Positive Terms; Absolute Convergence

it converges. When we ask whether a series converges or not, we are asking what happens as we add more and more terms for larger and larger n. Does the sum increase indeﬁnitely, or does it approach a limit? What the ﬁrst ﬁve or hundred or million terms are has no eﬀect on whether the sum eventually increases indeﬁnitely or approaches a limit. Consequently we frequently ignore some of the early terms in testing series for convergence. ∞ In ourexample, the terms of n=1 1/n! are smaller than the corresponding ∞ terms of n=1 1/2n for all n > 3 (Problem 1). We know that the geometric series ∞ converges because its ratio is 12 . Therefore n=1 1/n! converges also.

PROBLEMS, SECTION 6 1. 2.

Show that n! > 2n for all n > 3. Hint: Write out a few terms; then consider what you multiply by to go from, say, 5! to 6! and from 25 to 26 . P∞ Prove that the harmonic series n=1 1/n is divergent by comparing it with the series « „ « „ « „ 1 1 1 1 1 1 1 1 + + 8 terms each equal to +··· , 1+ + + + + + 2 4 4 8 8 8 8 16 1 1 1 1 which is 1 + + + + + · · · . 2 2 2 2 P 2 Prove the convergence of ∞ n=1 1/n by grouping terms somewhat as in Problem 2.

Use the comparison test to prove the convergence of the following series: ∞ ∞ X X 1 1 (b) (a) n + 3n 2 n 2n n=1 n=1

Test the following series for convergence using the comparison test. ∞ ∞ X X √ 1 1 √ (b) (a) Hint: Which is larger, n or n ? ln n n n=1 n=2

There are 9 one-digit numbers (1 to 9), 90 two-digit numbers (10 to 99). How many three-digit, four-digit, etc., numbers are there? The ﬁrst 9 terms of the harmonic 1 series 1 + 12 + 13 + · · · + 19 are all greater than 10 ; similarly consider the next 90 terms, and so on. Thus prove the divergence of the harmonic series by comparison with the series ˜ ˆ ˜ ˆ1 1 1 1 + 10 + · · · (9 terms each = 10 ) + 90 terms each = 100 + ··· 10 9 90 9 9 = 10 + 100 + · · · = 10 + 10 + · · · .

The comparison test is really the basic test from which other tests are derived. It is probably the most useful test of all for the experienced mathematician but it is often hard to think of a satisfactory m series until you have had a good deal of experience with series. Consequently, you will probably not use it as often as the next three tests.

The Integral Test

We can use this test when the terms of the series are positive and not increasing, that is, when an+1 ≤ an . (Again remember that we can ignore any ﬁnite number of terms of the series; thus the test can still be used even if the condition an+1 ≤ an does not hold for a ﬁnite number of terms.) To apply the test we think of an as a

Inﬁnite Series, Power Series

Chapter 1

function of the variable n, and, forgetting our previous meaning of n, we allow it to take all values, not just integral ones. The test states that: ∞ ∞ If 0 < an+1 ≤ an for n > N , then an converges if an dn is ﬁnite and diverges if the integral is inﬁnite. (The integral is to be evaluated only at the upper limit; no lower limit is needed.) To understand this test, imagine a graph ∞sketched of an as a function of n. For example, in testing the harmonic series n=1 1/n, we consider the graph of the function y = 1/n (similar to Figures 6.1 and 6.2) letting n have all values, not just integral ones. Then the values of y on the graph at n = 1, 2, 3, · · · , are the terms of the series. In Figures 6.1 and 6.2, the areas of the rectangles are just the terms of the series. Notice that in Figure 6.1 the top edge of each rectangle is above the curve, so that the area of the rectangles is greater than the corresponding area under the curve. On the other hand, in Figure 6.2 the rectangles lie below the curve, so their area is less than the corresponding area under the curve. Now the areas of the rectangles are just the terms of the series, and the area under the curve is an integral of y dn or an dn. The upper limit on the integrals is ∞ and the lower limit could be made to correspond to any term of the series we wanted to start ∞ with. For example (see Figure 6.1), 3 an dn is less than the sum of the series from a3 on, but (see Figure 6.2) greater than the sum of the series from a4 on. If the integral is ﬁnite, then the sum of the series from a4 on is ﬁnite, that is, the series converges. Note again that the terms at the beginning of a series have nothing to do with convergence. On the other hand, if the integral is inﬁnite, then the sum of the series from a3 on is inﬁnite and the series diverges. Since the beginning terms ∞ are of no interest, you should simply evaluate an dn. (Also see Problem 16.)

Figure 6.1

Figure 6.2

Example. Test for convergence the harmonic series (6.1)

1 1 1 + + + ··· . 2 3 4

Using the integral test, we evaluate

∞ ∞ 1 dn = ln n = ∞. n (We use the symbol ln to mean a natural logarithm, that is, a logarithm to the base e.) Since the integral is inﬁnite, the series diverges.

Section 6

Convergence Tests for Series of Positive Terms; Absolute Convergence

PROBLEMS, SECTION 6 Use the integral test to ﬁnd whether the following series converge or diverge. Hint and warning: Do not use lower limits on your integrals (see Problem 16). 7.

∞ X n=2

10.

∞ X n=1

13.

∞ X 1

15.

16.

17.

1 n ln n en 2n e +9 2

n n3 + 1

∞ X n=1

11.

∞ X 1

14.

∞ X 1

n n2 + 4 1 n(1 + ln n)3/2 √

∞ X n=3

12.

∞ X 1

1 n2 − 4 n (n2 + 1)2

1 n2 + 9

Use the integral test to prove the following so-called p-series test. The series ( ∞ X convergent if p > 1, 1 is p n divergent if p ≤ 1. n=1 Caution: Do p = 1 separately. R∞ P In testing 1/n2 for convergence, a student evaluates 0 n−2 dn = −n−1 |∞ 0 = 0 + ∞ = ∞ and concludes (erroneously) that the series diverges. What is wrong? Hint: Consider the area under the curve in a diagram such as Figure 6.1 or 6.2. This example shows the danger of using a lower limit in the integral test. P −n2 converges. Hint: Although you cannot Use the integral test to show that ∞ n=0 e evaluate the integral, Ryou can show that it is ﬁnite (which is all that is necessary) ∞ −n by comparing it with e dn.

The Ratio Test

The integral test depends on your being able to integrate an dn; this is not always easy! We consider another test which will handle many cases in which we cannot evaluate the integral. Recall that in the geometric series each term could be obtained by multiplying the one before it by the ratio r, that is, an+1 = ran or an+1 /an = r. For other series the ratio an+1 /an is not constant but depends on n; let us call the absolute value of this ratio ρn . Let us also ﬁnd the limit (if there is one) of the sequence ρn as n → ∞ and call this limit ρ. Thus we deﬁne ρn and ρ by the equations

(6.2)

an+1 , ρn = an ρ = lim ρn . n→∞

If you recall that a geometric series converges if |r| < 1, it may seem plausible that a series with ρ < 1 should converge and this is true. This statement can be proved (Problem 30) by comparing the series to be tested with a geometric series. Like a geometric series with |r| > 1, a series with ρ > 1 also diverges (Problem 30). However, if ρ = 1, the ratio test does not tell us anything; some series with ρ = 1 converge

Inﬁnite Series, Power Series

Chapter 1

and some diverge, so we must ﬁnd another test (say one of the two preceding tests). To summarize the ratio test:

(6.3)

  ρ < 1, the series converges; If ρ = 1, use a diﬀerent test;   ρ > 1, the series diverges.

Example 1. Test for convergence the series 1+

1 1 1 + + ···+ + ··· . 2! 3! n!

Using (6.2), we have 1 1 ρn = ÷ (n + 1)! n! n! n(n − 1) · · · 3 · 2 · 1 1 = = = , (n + 1)! (n + 1)(n)(n − 1) · · · 3 · 2 · 1 n+1 1 = 0. ρ = lim ρn = lim n→∞ n→∞ n + 1 Since ρ < 1, the series converges. Example 2. Test for convergence the harmonic series 1+ We ﬁnd

1 1 1 + + ··· + + ··· . 2 3 n

1 1 n ÷ = , ρn = n+1 n n+1 n 1 ρ = lim = lim n→∞ n + 1 n→∞ 1 +

1 n

= 1.

Here the test tells us nothing and we must use some diﬀerent test. A word of warning from this example: Notice that ρn = n/(n + 1) is always less than 1. Be careful not to confuse this ratio with ρ and conclude incorrectly that this series converges. (It is actually divergent as we proved by the integral test.) Remember that ρ is not the same as the ratio ρn = |an+1 /an |, but is the limit of this ratio as n → ∞.

PROBLEMS, SECTION 6 Use the ratio test to ﬁnd whether the following series converge or diverge: 18.

∞ X 2n n2 n=1

19.

∞ X 3n 22n n=0

20.

∞ X n! (2n)! n=0

Section 6

Convergence Tests for Series of Positive Terms; Absolute Convergence

21.

∞ X 5n (n!)2 (2n)! n=0

22.

∞ X 10n 2 (n!) n=1

23.

∞ X n! n 100 n=1

24.

∞ X 32n 23n n=0

25.

∞ X en √ n! n=0

26.

∞ X (n!)3 e3n (3n)! n=0

27.

∞ X 100n n200 n=0

28.

∞ X n!(2n)! (3n)! n=0

29.

30.

∞ X n=0

(2n)! n!

Prove the ratio test. Hint: If |an+1 /an | → ρ < 1, take σ so that ρ < σ < 1. Then |an+1 /an | < σ if n is large, say n ≥ N . This means that we have |aN+1 | < σ|aN |, |aN+2 | < σ|aN+1 | < σ 2 |aN |, and so on. Compare with the geometric series ∞ X

σ n |aN |.

n=1

Also prove that a series with ρ > 1 diverges. Hint: Take ρ > σ > 1, and use the preliminary test.

A Special Comparison Test

This test has two parts: (a) a convergence test, and (b) a divergence test. (See Problem 37.) ∞ (a) If n=1 bn is a convergent series of positive terms and an ≥ 0 and an /bn tends to a (ﬁnite) limit, then ∞ n=1 an converges. ∞ (b) If n=1 dn is a divergent series of positive terms an ≥ 0 and an /dn and ∞ tends to a limit greater than 0 (or tends to +∞), then n=1 an diverges. There are really two steps in using either of these tests, namely, to decide on a comparison series, and then to compute the required limit. The ﬁrst part is the most important; given a good comparison series it is a routine process to ﬁnd the needed limit. The method of ﬁnding the comparison series is best shown by examples. Example 1. Test for convergence √ 2n2 − 5n + 1 . 4n3 − 7n2 + 2 n=3 ∞

Remember that whether a series converges or diverges depends on what the terms are as n becomes larger and larger. We are interested in the nth term as n → ∞. Think of n = 1010 or 10100 , say; a little calculation should convince you that as n increases, 2n2 − 5n + 1 is 2n2 to quite high accuracy. Similarly, the denominator in √ our example is nearly 4n3 for large n. By Section 9, fact 1, we see that the factor 2/4 in every term does not aﬀect convergence. So we consider as a comparison series just ∞ √ 2 ∞ n 1 = 3 2 n n n=3 n=3

Inﬁnite Series, Power Series

Chapter 1

which we recognize (say by integral test) as a convergent series. Hence we use test (a) to try to show that the given series converges. We have: √ 2n2 − 5n + 1 1 ÷ 2 4n3 − 7n2 + 2 n √ 2 n 2n2 − 5n + 1 = lim n→∞ 4n3 − 7n2 + 2 √ 2 − n5 + n12 2 . = lim = n→∞ 4 − 7 + 23 4 n n

an lim = lim n→∞ bn n→∞

Since this is a ﬁnite limit, the given series converges. (With practice, you won't need to do all this algebra! You should be able to look at the original problem and see that, for large n, the terms are essentially 1/n2 , so the series converges.) Example 2. Test for convergence ∞ 3 n − n3 . n5 − 5n2 n=2

Here we must ﬁrst decide which is the important term as n → ∞; is it 3n or n ? We can ﬁnd out by comparing their logarithms since ln N and N increase or decrease together. We have ln 3n = n ln 3, and ln n3 = 3 ln n. Now ln n is much smaller than n, so for large n we have n ln 3 > 3 ln n, and 3n > n3 . (You might like to compute 1003 = 106 , and 3100 > 5 × 1047 .) The denominator of the given series ∞ is approximately n5 . Thus the comparison series is n=2 3n /n5 . It is easy to prove this divergent by the ratio test. Now by test (b) 3

lim

n→∞

3 n − n3 3n ÷ 5 5 2 n − 5n n

1− n→∞ 1 −

= lim

n3 3n 5 n3

which is greater than zero, so the given series diverges.

PROBLEMS, SECTION 6 Use the special comparison test to ﬁnd whether the following series converge or diverge. 31.

33.

∞ X (2n + 1)(3n − 5) √ n2 − 73 n=9 ∞ X n=5

35.

∞ X n=3

37.

1 2n − n2 (n − ln n)2 5n4 − 3n2 + 1

32.

∞ X n=0

34.

∞ X n=1

36.

∞ X n=1

n(n + 1) (n + 2)2 (n + 3) n2 + 3n + 4 n4 + 7n3 + 6n − 3 √

n3 + 5n − 1 n2 − sin n3

Prove the special comparison test. If an /bn → L and M > L, then P Hint (part a): P∞ an < M bn for large n. Compare ∞ n=1 an with n=1 M bn .

Section 7

Alternating Series

7. ALTERNATING SERIES So far we have been talking about series of positive terms (including series of absolute values). Now we want to consider one important case of a series whose terms have mixed signs. An alternating series is a series whose terms are alternately plus and minus; for example, 1 1 1 1 (−1)n+1 + − + − ···+ + ··· 2 3 4 5 n is an alternating series. We ask two questions about an alternating series. Does it converge? Does it converge absolutely (that is, when we make all signs positive)? Let us consider the second question ﬁrst. In this example the series of absolute values 1 1 1 1 1 + + + + ··· + + ··· 2 3 4 n is the harmonic series (6.1), which diverges. We say that the series (7.1) is not absolutely convergent. Next we must ask whether (7.1) converges as it stands. If it had turned out to be absolutely convergent, we would not have to ask this question since an absolutely convergent series is also convergent (Problem 9). However, a series which is not absolutely convergent may converge or it may diverge; we must test it further. For alternating series the test is very simple: 1−

(7.1)

Test for alternating series. An alternating series converges if the absolute value of the terms decreases steadily to zero, that is, if |an+1 | ≤ |an | and limn→∞ an = 0. In our example

1 1 1 < , and lim = 0, so (7.1) converges. n→∞ n+1 n n

PROBLEMS, SECTION 7 Test the following series for convergence. 1.

∞ X (−1)n √ n n=1

∞ X (−2)n n2 n=1

∞ X (−1)n n2 n=1

∞ X (−3)n n! n=1

∞ X (−1)n ln n n=2

∞ X (−1)n n n+5 n=1

7. 9. 10.

√ ∞ X (−1)n 10n n+2 n=1 P Prove that an absolutely convergent series ∞ n=1 an is convergent. Hint: Put bn = an + |an |. Then the bn are nonnegative; we have |bn | ≤ 2|an | and an = bn − |an |. ∞ X (−1)n n 1 + n2 n=0

The following alternating series are divergent (but you are not asked to prove this). Show that an → 0. Why doesn't the alternating series test prove (incorrectly) that these series converge? 1 2 1 2 1 2 1 (a) 2 − + − + − + − · · · 2 3 4 5 6 7 8 (b)

1 1 1 1 1 1 1 1 √ − + √ − + √ − + √ − ··· 2 3 4 5 2 3 4 5

Inﬁnite Series, Power Series

Chapter 1

8. CONDITIONALLY CONVERGENT SERIES A series like (7.1) which converges, but does not converge absolutely, is called conditionally convergent. You have to use special care in handling conditionally convergent series because the positive terms alone form a divergent series and so do the negative terms alone. If you rearrange the terms, you will probably change the sum of the series, and you may even make it diverge! It is possible to rearrange the terms to make the sum any number you wish. Let us do this with the alternating harmonic series 1 − 12 + 13 − 14 + · · · . Suppose we want to make the sum equal to 1.5. First we take enough positive terms to add to just over 1.5. The ﬁrst three positive terms do this: 1 1 8 1+ + = 1 > 1.5. 3 5 15 Then we take enough negative terms to bring the partial sum back under 1.5; the one term − 12 does this. Again we add positive terms until we have a little more than 1.5, and so on. Since the terms of the series are decreasing in absolute value, we are able (as we continue this process) to get partial sums just a little more or a little less than 1.5 but always nearer and nearer to 1.5. But this is what convergence of the series to the sum 1.5 means: that the partial sums should approach 1.5. You should see that we could pick in advance any sum that we want, and rearrange the terms of this series to get it. Thus, we must not rearrange the terms of a conditionally convergent series since its convergence and its sum depend on the fact that the terms are added in a particular order. Here is a physical example of such a series which emphasizes the care needed in applying mathematical approximations in physical problems. Coulomb's law in electricity says that the force between two charges is equal to the product of the charges divided by the square of the distance between them (in electrostatic units; to use other units, say SI, we need only multiply constant). √ √by a√numerical √ Suppose there are unit positive charges at x = 0, 2, 4, 6, 8, · · · , and unit √ √ √ negative charges at x = 1, 3, 5, 7, · · · . We want to know the total force acting on the unit positive charge at x = 0 due to all the other charges. The negative charges attract the charge at x = 0 and try to pull it to the right; we call the forces exerted by them positive, since they are in the direction of the positive x axis. The forces due to the positive charges are in the negative x direction, and √ we call them negative. For example, the force due to the positive charge at x = 2 is √ 2 − (1 · 1) / 2 = −1/2. The total force on the charge at x = 0 is, then, (8.1)

F =1−

1 1 1 1 1 + − + − + ··· . 2 3 4 5 6

Now we know that this series converges as it stands (Section 7). But we have also seen that its sum (even the fact that it converges) can be changed by rearranging the terms. Physically this means that the force on the charge at the origin depends not only on the size and position of the charges, but also on the order in which we place them in their positions! This may very well go strongly against your physical intuition. You feel that a physical problem like this should have a deﬁnite answer. Think of it this way. Suppose there are two crews of workers, one crew placing the positive charges and one placing the negative. If one crew works faster than the other, it is clear that the force at any stage may be far from the F of equation (8.1) because there are many extra charges of one sign. The crews can never place all the

Section 9

Useful Facts About Series

charges because there are an inﬁnite number of them. At any stage the forces which would arise from the positive charges that are not yet in place, form a divergent series; similarly, the forces due to the unplaced negative charges form a divergent series of the opposite sign. We cannot then stop at some point and say that the rest of the series is negligible as we could in the bouncing ball problem in Section 1. But if we specify the order in which the charges are to be placed, then the sum S of the series is determined (S is probably diﬀerent from F in (8.1) unless the charges are placed alternately). Physically this means that the value of the force as the crews proceed comes closer and closer to S, and we can use the sum of the (properly arranged) inﬁnite series as a good approximation to the force.

9. USEFUL FACTS ABOUT SERIES We state the following facts for reference: 1. The convergence or divergence of a series is not aﬀected by multiplying every term of the series by the same nonzero constant. Neither is it aﬀected by changing a ﬁnite number of terms (for example, omitting the ﬁrst few terms). ∞ ∞ 2. Two convergent series n=1 an and n=1 bn may be added (or subtracted) term by term. (Adding "term by term" means that the nth term of the sum is an + bn .) The resulting series is convergent, and its sum is obtained by adding (subtracting) the sums of the two given series. 3. The terms of an absolutely convergent series may be rearranged in any order without aﬀecting either the convergence or the sum. This is not true of conditionally convergent series as we have seen in Section 8.

PROBLEMS, SECTION 9 Test the following series for convergence or divergence. Decide for yourself which test is easiest to use, but don't forget the preliminary test. Use the facts stated above when they apply. 1.

∞ X n=1

∞ X

n=0

10.

n−1 (n + 2)(n + 3) n n3 + 4

∞ X (2n)! n (n!)2 3 n=0 ∞ X

13.

∞ X n=0

16.

(n2

5. 8.

11.

n + 4)3/2

∞ X 2 + (−1)n n2 + 7 n=0

∞ X n2 − 1 n2 + 1 n=1 ∞ X n=1

n n−1

(−1)n

n=2

n n3 − 4

∞ X n5 5n n=1 ∞ X

∞ X n=1

1 nln 3

∞ X (n!)2 (2n)! n=0

∞ X nn n! n=1 ∞ X

2n n2 − 9

12.

14.

∞ X (−1)n n2 − n n=2

15.

∞ X (−1)n n! 10n n=1

17.

∞ X (n!)3 (3n)! n=1

18.

∞ X (−1)n 2ln n n=1

n=4

n=2

1 n2 − n

Inﬁnite Series, Power Series

19.

1 1 1 1 1 1 − 2 + 3 − 3 + 4 − 4 + ··· 22 3 2 3 2 3 1 1 1 1 1 1 1 1 + 2 − − 2 + + 2 − − 2 + ··· 2 2 3 3 4 4 5 5 ∞ X n an if an+1 = an 2n +3 n=1

20. 21. 22.

(a)

∞ X n=1

Chapter 1

(b)

3ln n

∞ X n=1

1 kln n

1 2ln n

convergent?

10. POWER SERIES; INTERVAL OF CONVERGENCE We have been discussing series whose terms were constants. Even more important and useful are series whose terms are functions of x. There are many such series, but in this chapter we shall consider series in which the nth term is a constant times xn or a constant times (x − a)n where a is a constant. These are called power series, because the terms are multiples of powers of x or of (x − a). In later chapters we shall consider Fourier series whose terms involve sines and cosines, and other series (Legendre, Bessel, etc.) in which the terms may be polynomials or other functions. By deﬁnition, a power series is of the form ∞

(10.1)

∞

an xn = a0 + a1 x + a2 x2 + a3 x3 + · · ·

n=0

an (x − a)n = a0 + a1 (x − a) + a2 (x − a)2 + a3 (x − a)3 + · · · ,

n=0

where the coeﬃcients an are constants. Here are some examples: x3 (−x)n x x2 + − + ···+ + ··· , 2 4 8 2n x3 x4 (−1)n+1 xn x2 (10.2b) + − + ··· + + ··· , x− 2 3 4 n x5 x7 (−1)n+1 x2n−1 x3 (10.2c) + − + ··· + + ··· , x− 3! 5! 7! (2n − 1)! (x + 2)n (x + 2) (x + 2)2 (10.2d) + ··· . + √ + ···+ √ 1+ √ n+1 2 3 Whether a power series converges or not depends on the value of x we are considering. We often use the ratio test to ﬁnd the values of x for which a series converges. We illustrate this by testing each of the four series (10.2). Recall that in the ratio test we divide term n + 1 by term n and take the absolute value of this ratio to get ρn , and then take the limit of ρn as n → ∞ to get ρ. (10.2a)

1−

Example 1. For (10.2a), we have

(−x)n+1 (−x)n x = , ρn = n+1 ÷ 2 2n 2 x ρ = . 2

Section 10

Power Series; Interval of Convergence

The series converges for ρ < 1, that is, for |x/2| < 1 or |x| < 2, and it diverges for |x| > 2 (see Problem 6.30). Graphically we consider the interval on the x axis between x = −2 and x = 2; for any x in this interval the series (10.2a) converges. The endpoints of the interval, x = 2 and x = −2, must be considered separately. When x = 2, (10.2a) is 1 − 1 + 1 − 1 + ··· , which is divergent; when x = −2, (10.2a) is 1 + 1 + 1 + 1 + · · · , which is divergent. Then the interval of convergence of (10.2a) is stated as −2 < x < 2. Example 2. For (10.2b) we ﬁnd

n+1 x xn nx ÷ = , ρn = n+1 n n + 1 nx = |x|. ρ = lim n→∞ n + 1

The series converges for |x| < 1. Again we must consider the endpoints of the interval of convergence, x = 1 and x = −1. For x = 1, the series (10.2b) is 1 − 12 + 13 − 14 + · · · ; this is the alternating harmonic series and is convergent. For x = −1, (10.2b) is −1 − 12 − 13 − 14 − · · · ; this is the harmonic series (times −1) and is divergent. Then we state the interval of convergence of (10.2b) as −1 < x ≤ 1. Notice carefully how this diﬀers from our result for (10.2a). Series (10.2a) did not converge at either endpoint and we used only < signs in stating its interval of convergence. Series (10.2b) converges at x = 1, so we use the sign ≤ to include x = 1. You must always test a series at its endpoints and include the results in your statement of the interval of convergence. A series may converge at neither, either one, or both of the endpoints. Example 3. In (10.2c), the absolute value of the nth term is |x2n−1 /(2n − 1)!|. To get term n + 1 we replace n by n + 1; then 2n − 1 is replaced by 2(n + 1) − 1 = 2n + 1, and the absolute value of term n + 1 is 2n+1 x (2n + 1)! . Thus we get

2n+1 x x2 x2n−1 , ÷ = ρn = (2n + 1)! (2n − 1)! (2n + 1)(2n) x2 = 0. ρ = lim n→∞ (2n + 1)(2n)

Since ρ < 1 for all values of x, this series converges for all x. Example 4. In (10.2d), we ﬁnd

(x + 2)n+1 (x + 2)n ÷ √ , ρn = √ n+2 n+1 √ n + 1 = |x + 2|. ρ = lim (x + 2) √ n→∞ n + 2

Inﬁnite Series, Power Series

Chapter 1

The series converges for |x + 2| < 1; that is, for −1 < x + 2 < 1, or −3 < x < −1. If x = −3, (10.2d) is 1 1 1 1 − √ + √ − √ + ··· 2 3 4 which is convergent by the alternating series test. For x = −1, the series is ∞ 1 1 1 √ √ √ + + ··· = 1+ n +1 2 3 n=0

which is divergent by the integral test. Thus, the series converges for −3 ≤ x < 1.

PROBLEMS, SECTION 10 Find the interval of convergence of each of the following power series; be sure to investigate the endpoints of the interval in each case.

∞ X

(−1)n xn

∞ X (2x)n 3n n=0

∞ X (−1)n xn n(n + 1) n=1 ∞ X (−1)n xn (2n)! n=1

n=0

∞ X x2n 2n n2 n=1

∞ X xn (n!)2 n=1

∞ X x3n n n=1

∞ X (−1)n xn √ n n=1

10.

∞ X n=1

13.

16.

n 2n

(−1) x (2n)3/2

11.

∞ X n=1

∞ X n(−x)n n2 + 1 n=1

14.

∞ X (x − 1)n 2n n=1

17.

∞ X n=1

∞ X

(−1)n n3 xn

n=1

1 " x "n n 5

12.

n " x "n n+1 3

15.

∞ X (x − 2)n 3n n=1

18.

∞ X (−2)n (2x + 1)n n2 n=1

∞ X

n(−2x)n

n=1

∞ X (−1)n (x + 1)n n n=1

The following series are not power series, but you can transform each one into a power series by a change of variable and so ﬁnd out where it converges. P P∞ −n 2 −n n (x − 1)n Method: Let y = x2 − 1. The power series ∞ y converges 19. 0 8 0 8 2 for |y| < 8, so the original series converges for |x − 1| < 8, which means |x| < 3.

20.

∞ X

(−1)n

22.

∞ X 0

24.

n!(−1)n xn

∞ "p X 0

2n 2 (x + 1)2n n!

x2 + 1

2n 3n + n3

21.

∞ X (−1)n xn/2 n ln n 2

23.

∞ X 3n (n + 1) (x + 1)n 0

25.

∞ X 0

(sin x)n (−1)n 2n

Section 12

Expanding Functions in Power Series

11. THEOREMS ABOUT POWER SERIES ∞ We have seen that a power series n=0 an xn converges in some interval with center at the origin. For each value of x (in the interval of convergence) the series has a ﬁnite sum whose value depends, on the value of x. Thus we can write the of course, n sum of the series as S(x) = ∞ n=0 an x . We see then that a power series (within its interval of convergence) deﬁnes a function of x, namely S(x). In describing the relation of the series and the function S(x), we may say that the series converges to the function S(x), or that the function S(x) is represented by the series, or that the series is the power series of the function. Here we have thought of obtaining the function from a given series. We shall also (Section 12) be interested in ﬁnding a power series that converges to a given function. When we are working with power series and the functions they represent, it is useful to know the following theorems (which we state without proof; see advanced calculus texts). Power series are very useful and convenient because within their interval of convergence they can be handled much like polynomials. 1. A power series may be diﬀerentiated or integrated term by term; the resulting series converges to the derivative or integral of the function represented by the original series within the same interval of convergence as the original series (that is, not necessarily at the endpoints of the interval). 2. Two power series may be added, subtracted, or multiplied; the resultant series converges at least in the common interval of convergence. You may divide two series if the denominator series is not zero at x = 0, or if it is and the zero is canceled by the numerator [as, for example, in (sin x)/x; see (13.1)]. The resulting series will have some interval of convergence (which can be found by the ratio test or more simply by complex variable theory—see Chapter 2, Section 7). 3. One series may be substituted in another provided that the values of the substituted series are in the interval of convergence of the other series. 4. The power series is unique, that is, there is just one power series of a function n of the form ∞ a x which converges to a given function. n n=0

12. EXPANDING FUNCTIONS IN POWER SERIES Very often in applied work, it is useful to ﬁnd power series that represent given functions. We illustrate one method of obtaining such series by ﬁnding the series for sin x. In this method we assume that there is such a series (see Section 14 for discussion of this point) and set out to ﬁnd what the coeﬃcients in the series must be. Thus we write (12.1)

sin x = a0 + a1 x + a2 x2 + · · · + an xn + · · ·

and try to ﬁnd numerical values of the coeﬃcients an to make (12.1) an identity (within the interval of convergence of the series). Since the interval of convergence of a power series contains the origin, (12.1) must hold when x = 0. If we substitute x = 0 into (12.1), we get 0 = a0 since sin 0 = 0 and all the terms except a0 on the

Inﬁnite Series, Power Series

Chapter 1

right-hand side of the equation contain the factor x. Then to make (12.1) valid at x = 0, we must have a0 = 0. Next we diﬀerentiate (12.1) term by term to get (12.2)

cos x = a1 + 2a2 x + 3a3 x2 + · · · .

(This is justiﬁed by Theorem 1 of Section 11.) Again putting x = 0, we get 1 = a1 . We diﬀerentiate again, and put x = 0 to get (12.3)

− sin x = 2a2 + 3 · 2a3 x + 4 · 3a4 x2 + · · · , 0 = 2a2 .

Continuing the process of taking successive derivatives of (12.1) and putting x = 0, we get

(12.4)

− cos x = 3 · 2a3 + 4 · 3 · 2a4 x + · · · , 1 a3 = − ; −1 = 3! a3 , 3! sin x = 4 · 3 · 2 · a4 + 5 · 4 · 3 · 2a5 x + · · · , 0 = a4 ; cos x = 5 · 4 · 3 · 2a5 + · · · , 1 = 5! a5 , · · · .

We substitute these values back into (12.1) and get (12.5)

sin x = x −

x5 x3 + − ··· . 3! 5!

You can probably see how to write more terms of this series without further computation. The sin x series converges for all x; see Example 3, Section 10. Series obtained in this way are called Maclaurin series or Taylor series about the origin. A Taylor series in general means a series of powers of (x − a), where a is some constant. It is found by writing (x − a) instead of x on the right-hand side of an equation like (12.1), diﬀerentiating just as we have done, but substituting x = a instead of x = 0 at each step. Let us carry out this process in general for a function f (x). As above, we assume that there is a Taylor series for f (x), and write (12.6)

f (x) = a0 + a1 (x − a) + a2 (x − a)2 + a3 (x − a)3 + a4 (x − a)4 + · · · + an (x − a)n + · · · , f (x) = a1 + 2a2 (x − a) + 3a3 (x − a)2 + 4a4 (x − a)3 + · · · + nan (x − a)n−1 + · · · , f (x) = 2a2 + 3 · 2a3 (x − a) + 4 · 3a4 (x − a)2 + · · · + n(n − 1)an (x − a)n−2 + · · · , f (x) = 3! a3 + 4 · 3 · 2a4 (x − a) + · · · + n(n − 1)(n − 2)an (x − a)n−3 + · · · , .. . f (n) (x) = n(n − 1)(n − 2) · · · 1 · an + terms containing powers of (x − a).

Section 13

Techniques for Obtaining Power Series Expansions

[The symbol f (n) (x) means the nth derivative of f (x).] We now put x = a in each equation of (12.6) and obtain f (a) = a0 ,

(12.7)

f (a) = a1 ,

f (a) = 2a2 ,

f (a) = 3! a3 , · · · , f (n) (a) = n! an .

[Remember that f (a) means to diﬀerentiate f (x) and then put x = a; f (a) means to ﬁnd f (x) and then put x = a, and so on.] We can then write the Taylor series for f (x) about x = a: (12.8) f (x) = f (a) + (x − a)f (a) +

1 1 (x − a)2 f (a) + · · · + (x − a)n f (n) (a) + · · · . 2! n!

The Maclaurin series for f (x) is the Taylor series about the origin. Putting a = 0 in (12.8), we obtain the Maclaurin series for f (x):

(12.9)

f (x) = f (0) + xf (0) +

x2 x3 xn (n) f (0) + f (0) + · · · + f (0) + · · · . 2! 3! n!

We have written this in general because it is sometimes convenient to have the formulas for the coeﬃcients. However, ﬁnding the higher order derivatives in (12.9) for any but the simplest functions is unnecessarily complicated (try it for, say, etan x ). In Section 13, we shall discuss much easier ways of getting Maclaurin and Taylor series by combining a few basic series. Meanwhile, you should verify (Problem 1, below) the basic series (13.1) to (13.5) and memorize them.

PROBLEMS, SECTION 12 1.

By the method used to obtain (12.5) [which is the series (13.1) below], verify each of the other series (13.2) to (13.5) below.

13. TECHNIQUES FOR OBTAINING POWER SERIES EXPANSIONS There are often simpler ways for ﬁnding the power series of a function than the successive diﬀerentiation process in Section 12. Theorem 4 in Section 11 tells us that for a given function there is just one power series, that is, just one series of the ∞ form n=0 an xn . Therefore we can obtain it by any correct method and be sure that it is the same Maclaurin series we would get by using the method of Section 12. We shall illustrate a variety of methods for obtaining power series. First of all, it is a great timesaver for you to verify (Problem 12.1) and then memorize the basic series (13.1) to (13.5). We shall use these series without further derivation when we need them.

Inﬁnite Series, Power Series

Chapter 1

convergent for ∞

(−1)n x2n+1 x3 x5 x7 =x− + − + ··· , (2n + 1)! 3! 5! 7! n=0

(13.1)

sin x =

(13.2)

∞ (−1)n x2n x2 x4 x6 cos x = =1− + − + ··· , (2n)! 2! 4! 6! n=0

(13.3)

ex =

all x; all x;

∞ xn x2 x3 x4 =1+x+ + + + ··· , n! 2! 3! 4! n=0

all x;

(13.4)

∞ (−1)n+1 xn x2 x3 x4 =x− + − + ··· , n 2 3 4 n=1 ∞ p n p(p − 1) 2 p x x = 1 + px + (13.5) (1 + x) = 2! n n=0

ln(1 + x) =

p(p − 1)(p − 2) 3 x + ··· , 3!

(binomial series; p is any real number, positive or negative and binomial coeﬃcient—see method C below.)

−1 < x ≤ 1;

|x| < 1, p n

is called a

When we use a series to approximate a function, we may want only the ﬁrst few terms, but in derivations, we may want the formula for the general term so that we can write the series in summation form. Let's look at some methods of obtaining either or both of these results.

Multiplying a Series by a Polynomial or by Another Series

Example 1. To ﬁnd the series for (x + 1) sin x, we multiply (x + 1) times the series (13.1) and collect terms: x3 x5 (x + 1) sin x = (x + 1) x − + − ··· 3! 5! x4 x3 − + ··· . = x + x2 − 3! 3! You can see that this is easier to do than taking the successive derivatives of the product (x + 1) sin x, and Theorem 4 assures us that the results are the same.

Section 13

Techniques for Obtaining Power Series Expansions

Example 2. To ﬁnd the series for ex cos x, we multiply (13.2) by (13.3):

ex cos x = (1 + x + =1 + x + −

x3 x4 x2 + + + ··· 2! 3! 4!

x2 x4 1− + − ··· 2! 4!

x2 x3 x4 + + ··· 2! 3! 4! x2 x3 x4 − − ··· 2! 2! 2! 2! +

=1 + x + 0x2 −

x4 ··· 4!

x4 x3 x4 x3 − ··· = 1 + x − − ··· . 3 6 3 6

There are two points to note here. First, as you multiply, line up the terms involving each power of x in a column; this makes it easier to combine them. Second, be careful to include all the terms in the product out to the power you intend to stop with, but don't include any higher powers. In the above example, note that we did not include the x3 · x2 terms; if we wanted the x5 term in the answer, we would have to include all products giving x5 (namely, x · x4 , x3 · x2 , and x5 · 1). Also see Chapter 2, Problem 17.30, for a simple way of getting the general term of this series.

Division of Two Series or of a Series by a Polynomial

Example 1. To ﬁnd the series for (1/x) ln(1 + x), we divide (13.4) by x. You should be able to do this in your head and just write down the answer. x x2 x3 1 ln(1 + x) = 1 − + − + ··· . x 2 3 4 To obtain the summation form, we again just divide (13.4) by x. We can simplify the result by changing the limits to start at n = 0, that is, replace n by n + 1. ∞ ∞ 1 (−1)n+1 xn−1 (−1)n xn ln(1 + x) = = . x n n+1 n=1 n=0

Inﬁnite Series, Power Series

Chapter 1

Example 2. To ﬁnd the series for tan x, we divide the series for sin x by the series for cos x by long division: x+

x3 2 + x5 · · · 3 15

x4 x3 x5 x2 + ··· x − + ··· 1− 2! 4! 3! 5! x−

x3 x5 + ··· 2! 4! x3 x5 − ··· 3 30 x3 x5 − ··· 3 6 2x5 · · · , etc. 15

Binomial Series

If you recall the binomial theorem, you may see that (13.5) looks just like the beginning of the binomial theorem for the expansion of (a + b)n if we put a = 1, b = x, and n = p. The diﬀerence here is that we allow p to be negative or fractional, and in these cases the expansion is an inﬁnite series. The series converges for |x| < 1 as you can verify by the ratio test. (See Problem 1.) From (13.5), we see that the binomial coeﬃcients are:

(13.6)

p = 1, 0 p = p, 1 p p(p − 1) = , 2 2! p(p − 1)(p − 2) p = ,··· , 3 3! p p(p − 1)(p − 2) · · · (p − n + 1) . = n! n

Example 1. To ﬁnd the series for 1/(1 + x), we use the binomial series (13.5) to write (−1)(−2) 2 (−1)(−2)(−3) 3 1 = (1 + x)−1 = 1 − x + x + x + ··· 1+x 2! 3! ∞ = 1 − x + x2 − x3 + · · · = (−x)n . n=0

Section 13

Techniques for Obtaining Power Series Expansions

Example 2. The series for √

√ 1 + x is (13.5) with p = 1/2. 1/2

1 + x = (1 + x)

1 =1+ x+ 2 1 =1+ x− 2

∞ 1/2 n x = n n=0 1 1 2 (− 2 ) 2

x +

1 1 3 2 (− 2 )(− 2 ) 3

x +

1 1 3 5 2 (− 2 )(− 2 )(− 2 ) 4

x + ···

1 2 1 5 4 x + x3 − x ··· . 8 16 128

From (13.6) we can see that the binomial coeﬃcients when n = 0 and n = 1 are 1/2 = 1 and 1/2 = 1/2. For n ≥ 2, we can write 0 1 1 2

( 12 )(− 12 )(− 32 ) · · · ( 12 − n + 1) (−1)n−1 3 · 5 · 7 · · · (2n − 3) = n! n! 2n (−1)n−1 (2n − 3)!! = (2n)!!

where the double factorial of an odd number means the product of that number times all smaller odd numbers, and a similar deﬁnition for even numbers. For example, 7!! = 7 · 5 · 3, and 8!! = 8 · 6 · 4 · 2.

PROBLEMS, SECTION 13 1. 2. 3.

Use the ratio test to show that a binomial series converges for |x| < 1. ` ´ = (−1)n . Show that the binomial coeﬃcients −1 n ` ´ P `p´ n x Show that if p is a positive integer, then np = 0 when n > p, so (1 + x)p = n 2 is just a sum of p + 1 terms, from n = 0 to n = p. For example, (1 + x) has 3 terms, (1 + x)3 has 4 terms, etc. This is just the familiar binomial theorem. √ P form using the binomial coeﬃcient Write the Maclaurin series for 1/ 1 + x in notation. Then ﬁnd a formula for the binomial coeﬃcients in terms of n as we did in Example 2 above.

Substitution of a Polynomial or a Series for the Variable in Another Series 2

Example 1. Find the series for e−x . Since we know the series (13.3) for ex , we simply replace the x there by −x2 to get 2

(−x2 )3 (−x2 )2 + + ··· 2! 3! (x4 ) x6 − + ··· . = 1 − x2 + 2! 3!

e−x = 1 − x2 +

Example 2. Find the series for etan x . Here we must replace the x in (13.3) by the series of Example 2 in method B. Let us agree in advance to keep terms only as far as x4 ; we then write only terms which can give rise to powers of x up to 4, and neglect

Inﬁnite Series, Power Series

Chapter 1

any higher powers: e

tan x

2 1 x3 x3 + ··· + x+ + ··· =1+ x+ 3 2! 3 3 x3 1 1 x+ + ··· + + (x + · · · )4 + · · · 3! 3 4! x3 + ··· =1+x + 3 2x4 x2 + + ··· + 2! 3 · 2! x4 x3 + + ··· + 3! 4!

=1+x+

x3 3 x2 + + x4 + · · · . 2 2 8

Combination of Methods

Example. Find the series for arc tan x. Since x

x dt = arc tan x, = arc tan t 2 0 1+t 0 we ﬁrst write out (as a binomial series) (1 + t2 )−1 and then integrate term by term: (1 + t2 )−1 = 1 − t2 + t4 − t6 + · · · ; x

x dt t5 t7 t3 . + − + · · · = t − 2 3 5 7 0 1+t 0 Thus, we have x5 x7 x3 + − + ··· . 3 5 7 Compare this simple way of getting the series with the method in Section 12 of ﬁnding successive derivatives of arc tan x. (13.7)

arc tan x = x −

Taylor Series Using the Basic Maclaurin Series

In many simple cases it is possible to obtain a Taylor series using the basic memorized Maclaurin series instead of the formulas or method of Section 12. Example 1. Find the ﬁrst few terms of the Taylor series for ln x about x = 1. [This means a series of powers of (x − 1) rather than powers of x.] We write ln x = ln[1 + (x − 1)] and use (13.4) with x replaced by (x − 1): 1 1 1 ln x = ln[1 + (x − 1)] = (x − 1) − (x − 1)2 + (x − 1)3 − (x − 1)4 · · · . 2 3 4

Section 13

Techniques for Obtaining Power Series Expansions

Example 2. Expand cos x about x = 3π/2. We write 3π 3π 3π + x− = sin x − cos x = cos 2 2 2 3 5 3π 1 3π 3π 1 = x− − x− x− + ··· 2 3! 2 5! 2 using (13.1) with x replaced by (x − 3π/2).

Using a Computer

You can also do problems like these using a computer. This is a good method for complicated functions where it saves you a lot of algebra. However, you're not saving time if it takes longer to type a problem into the computer than to do it in your head! For example, you should be able to just write down the ﬁrst few terms of (sin x)/x or (1 − cos x)/x2 . A good method of study is to practice doing problems by hand and also check your results using the computer. This will turn up errors you are making by hand, and also let you discover what the computer will do and what it won't do! It is very illuminating to computer plot the function you are expanding, along with several partial sums of the series, in order to see how accurately the partial sums represent the function—see the following example. 2.5 2

1.5

1.5 1

0.5

0.5 –2 –1.5 –1 –0.5 –0.5 –1

0.5

1 1.5

–2 –1.5 –1 –0.5

1 1.5

1.5

1.5 1

0.5

0.5 –2 –1.5 –1 –0.5

0.5

–0.5

0.5

1 1.5

–2 –1.5 –1 –0.5

–0.5

0.5

1 1.5

–0.5

–1

Figure 13.1 Example. Plot the function ex cos x together with several partial sums of its Maclaurin series. Using Example 2 in 13A or a computer, we have ex cos x = 1 + x −

x4 x5 x3 − − ··· . 3 6 30

Figure 13.1 shows plots of the function along with each of the partial sums S1 = 1+x, 3 3 4 3 4 5 S3 = 1 + x − x3 , S4 = 1 + x − x3 − x6 , S5 = 1 + x − x3 − x6 − x30 . We can see from the graphs the values of x for which an approximation is fairly good. Also see Section 14.

Inﬁnite Series, Power Series

Chapter 1

PROBLEMS, SECTION 13 Using the methods of this section: (a) Find the ﬁrst few terms of the Maclaurin series for each of the following functions. (b) Find the general term and write the series in summation form. (c) Check your results in (a) by computer. (d) Use a computer to plot the function and several approximating partial sums of the series. 5.

x2 ln(1 − x)

1 9. 1 − x2 √ sin x 12. √ , x>0 x r Z x 1+x dt ln = 2 1−x 0 1−t

11. 14. 16. 18.

√

√ x 1+x 1+x 1−x Z x cos t2 dt

sin x2 Z x 2 e−t dt

10. 13.

ex + e−x cosh x = 2 Z x sin t dt t 0

1 sin x x

√

dt 1 − t2

15.

arc sin x =

17.

1+x 1−x Z p ln(x + 1 + x2 ) =

19.

√

dt 1 + t2

Find the ﬁrst few terms of the Maclaurin series for each of the following functions and check your results by computer. 20.

ex sin x

21.

tan2 x

23.

1 1 + x + x2 1 √ cos x

24.

sec x =

27.

esin x r 1−x 1+x

26. 29.

30.

1 + ln(1 + x)

22. 1 cos x

25.

1 − sin x 1−x Z u sin x dx √ 1 − x2 0

ex 1−x 2x e2x − 1

28.

sin[ln(1 + x)]

31.

cos(ex − 1)

34.

ln(2 − e−x )

32.

ln(1 + xex )

33.

35.

x sin x

36.

37.

ln cos x Hints: Method 1: Write cos x = 1 + (cos x − 1) = 1 + u; use the series you know for ln(1 R x+ u); replace u by the Maclaurin series for (cos x − 1). Method 2: ln cos x = − 0 tan u du. Use the series of Example 2 in method B.

38.

ecos x

Hint: ecos x = e · ecos x−1 .

Using method F above, ﬁnd the ﬁrst few terms of the Taylor series for the following functions about the given points. 39.

f (x) = sin x,

41.

f (x) = ex ,

43.

f (x) = cot x,

a = π/2 a=3 a = π/2

40. 42. 44.

1 , a=1 x f (x) = cos x, a = π √ f (x) = x a = 25 f (x) =

Section 14

Accuracy of Series Approximations

14. ACCURACY OF SERIES APPROXIMATIONS The thoughtful student might well be disturbed about the mathematical manipulations we have been doing. How do we know whether these processes we have shown really give us series that approximate the functions being expanded? Certainly some functions cannot be expanded in a power series; since a power series becomes just a0 when x = 0, it cannot be equal to any function (like 1/x or ln x) which is inﬁnite at the origin. So we might ask whether there are other functions (besides those that become inﬁnite at the origin) which cannot be expanded in a power series. All we have done so far is to show methods of ﬁnding the power series for a function if it has one. Now is there a chance that there might be some functions which do not have series expansions, but for which our formal methods would give us a spurious series? Unfortunately, the answer is "Yes"; fortunately, this is not a very common diﬃculty in practice. However, you should know of the possibility and what to do about it. You may ﬁrst think of the fact that, say, the equation 1 = 1 − x + x2 − x3 + · · · 1+x is not valid for |x| ≥ 1. This is a fairly easy restriction to determine; from the beginning we recognized that we could use our series expansions only when they converged. But there is another diﬃculty which can arise. It is possible for a series found by the above methods to converge and still not represent the function 2 being expanded! A simple example of this is e−(1/x ) for which the formal series is 2 0 + 0 + 0 + · · · because e−(1/x ) and all its derivatives are zero at the origin (Problem 2 15.26). It is clear that e−(1/x ) is not zero for x2 > 0, so the series is certainly not correct. You can startle your friends with the following physical interpretation of this. Suppose that at t = 0 a car is at rest (zero velocity), and has zero acceleration, zero rate of change of acceleration, etc. (all derivatives of distance with respect to time are zero at t = 0). Then according to Newton's second law (force equals mass times acceleration), the instantaneous force acting on the car is also zero (and, in fact, so are all the derivatives of the force). Now we ask "Is it possible for the car to be moving immediately after t = 0?" The answer is "Yes"! For example, let its 2 distance from the origin as a function of time be e−(1/t ) . This strange behavior is really the fault of the function itself and not of our method of ﬁnding series. The most satisfactory way of avoiding the diﬃculty is to recognize, by complex variable theory, when functions can or cannot have power series. We shall consider this in Chapter 14, Section 2. Meanwhile, let us consider two important questions: (1) Does the Taylor or Maclaurin series in (12.8) or (12.9) actually converge to the function being expanded? (2) In a computation problem, if we know that a series converges to a given function, how rapidly does it converge? That is, how many terms must we use to get the accuracy we require? We take up these questions in order. The remainder Rn (x) in a Taylor series is the diﬀerence between the value of the function and the sum of n + 1 terms of the series: 1 (14.1) Rn (x) = f (x) − f (a) + (x − a)f (a) + (x − a)2 f (a) 2! 1 + · · · + (x − a)n f (n) (a) . n!

Inﬁnite Series, Power Series

Chapter 1

Saying that the series converges to the function means that limn→∞ |Rn (x)| = 0. There are many diﬀerent formulas for Rn (x) which are useful for special purposes; you can ﬁnd these in calculus books. One such formula is Rn (x) =

(14.2)

(x − a)n+1 f (n+1) (c) (n + 1)!

where c is some point between a and x. You can use this formula in some simple cases to prove that the Taylor or Maclaurin series for a function does converge to the function (Problems 11 to 13). Error in Series Approximations Now suppose that we know in advance that the power series of a function does converge to the function (within the interval of convergence), and we want to use a series approximation for the function. We would like to estimate the error caused by using only a few terms of the series. There is an easy way to estimate this error when the series is alternating and meets the alternating series test for convergence (Section 7). In this case the error is (in absolute value) less than the absolute value of the ﬁrst neglected term (see Problem 1).

If S = (14.3)

∞

an is an alternating series with |an+1 | < |an |,

n=1

and lim an = 0, then |S − (a1 + a2 + · · · + an )| ≤ |an+1 |. n→∞

Example 1. Consider the series 1−

1 1 1 1 1 1 + − + − + ··· . 2 4 8 16 32 64

The sum of this series [see (1.8), a = 1, r = − 12 ] is S = 23 = 0.666 · · · . The sum of 1 the terms through − 32 is 0.656+, which diﬀers from S by about 0.01. This is less 1 than the next term = 64 = 0.015+. Estimating the error by the ﬁrst neglected term may be quite misleading for convergent series that are not alternating. ∞ Example 2. Suppose we approximate n=1 1/n2 by the sum of the ﬁrst ﬁve terms; the error is then about 0.18 [see problem 2(a)]. But the ﬁrst neglected term is 1/62 = 0.028 which is much less than the error. However, note that we are ﬁnding the sum ∞ of the power series n=1 xn /n2 when x = 1, which is the largest x for which the series converges. If, instead, we ask for the sum of the series when x = 1/2, we ﬁnd [see Problem 2(b)]: n ∞ 1 1 S= = 0.5822 + . n2 2 n=1 The sum of the ﬁrst ﬁve terms of the series is 0.5815+, so the error is about 0.0007. The next term is ( 16 )2 /62 = 0.0004, which is less than the error but still of the

Section 14

Accuracy of Series Approximations

same order of magnitude. We can state the following theorem [Problem 2(c)] which covers many practical problems.

If S =

∞

an xn converges for |x| < 1, and if

n=0

(14.4)

|an+1 | < |an | for n > N, then N n an x < |aN +1 xN +1 | ÷ (1 − |x|). S − n=0

That is, as in (14.3), the error may be estimated by the ﬁrst neglected term, but here the error may be a few times as large as the ﬁrst neglected term instead of smaller. In the example of xn /n2 with x = 12 , we have 1 − x = 12 , so (14.4) says that the error is less than two times the next term. We observe that the error 0.0007 is less than 2(0.0004) as (14.4) says. For values of |x| much less than 1, 1 − |x| is about 1, so the next term gives a good error estimate in this case. If the interval of convergence is not |x| < 1, but, for example, |x| < 2 as in ∞ 1 x n , n2 2 n=1 we can easily let x/2 = y, and apply the theorem in terms of y.

PROBLEMS, SECTION 14 1.

Prove theorem (14.3). Hint: Group the terms in the error as (an+1 +an+2 )+(an+3 + an+4 ) + · · · to show that the error has the same sign as an+1 . Then group them as an+1 + (an+2 + an+3 ) + (an+4 + an+5 ) + · · · to show that the error has magnitude less than |an+1 |. P 2 (a) Using computer or tables (or see Chapter 7, Section 11), verify that ∞ n=1 1/n = 2 π /6 = 1.6449+, and also verify that the error in approximating the sum of the series by the ﬁrst ﬁve terms is approximately 0.1813. P 2 n 2 2 (b) By computer or tables verify that ∞ n=1 (1/n )(1/2) = π /12 − (1/2)(ln 2) = 0.5822+, and that the sum of the ﬁrst ﬁve terms is 0.5815+. P n (c) Prove theorem (14.4). Hint: The error is | ∞ N+1 an x |. Use the fact that the absolute value of a sum is less than or equal to the sum of the absolute values. Then use the fact that |an+1 | ≤ |an | to replace all an by aN+1 , and write the appropriate inequality. Sum the geometric series to get the result.

In Problems 3 to 7, assume that the Maclaurin series converges to the function. √ 3. If 0 < x < 12 , show [using theorem (14.3)] that 1 + x = 1 + 12 x with an error less than 0.032. Hint: Note that the series is alternating after the ﬁrst term. 4.

Show that sin x = x with an error less than 0.021 for 0 < x < 12 , and with an error less than 0.0002 for 0 < x < 0.1. Hint: Use theorem (14.3) and note that the "next" term is the x3 term.

Show that 1 − cos x = x2 /2 with an error less than 0.003 for |x| < 12 .

36 6. 7. 8. 9.

10.

Inﬁnite Series, Power Series

Chapter 1

Show that ln(1 − x) = −x with an error less than 0.0056 for |x| < 0.1. Hint: Use theorem (14.4). √ 1 Show that 2/ 4 − x = 1 + 18 x with an error less than 32 for 0 < x < 1. Hint: Let x = 4y, and use theorem (14.4). P n 3 Estimate the error if ∞ n=1 x /n is approximated by the sum of its ﬁrst three terms 1 for |x| < 2 . Consider the series in Problem 4.6 and show that the remainder after n terms is Rn = 1/(n + 1). Compare the value of term n + 1 with Rn for n = 3, n = 10, n = 100, n = 500 to see that the ﬁrst neglected term is not a useful estimate of the error. P n 2 Show that the interval of convergence of the series ∞ n=1 x /(n + n) is |x| ≤ 1. (For x = 1, this is the series of Problem 9.) Using theorem (14.4), show that for x = 12 , four terms will give two decimal place accuracy.

11.

Show that the Maclaurin series for sin x converges to sin x. Hint: If f (x) = sin x, f (n+1) (x) = ± sin x or ± cos x, and so |f (n+1) (x)| ≤ 1 for all x and all n. Let n → ∞ in (14.2).

12.

Show as in Problem 11 that the Maclaurin series for ex converges to ex .

13.

Show that the Maclaurin series for (1 + x)p converges to (1 + x)p when 0 < x < 1.

15. SOME USES OF SERIES In this chapter we are going to consider a few rather straightforward uses of series. In later chapters there will also be many other cases where we need them. Numerical Computation With computers and calculators so available, you may wonder why we would ever want to use series for numerical computation. Here is an example to warn you of the pitfalls of blind computation. Example 1. Evaluate f (x) = ln

(1 + x)/(1 − x) − tan x at x = 0.0015.

Here are answers from several calculators and computers: −9 × 10−16 , 3 × 10 , 6.06 × 10−16 , 5.5 × 10−16 . All of these are wrong! Let's use series to see what's going on. By Section 13 methods we ﬁnd, for x = 0.0015: −10

x3 + (1 + x)/(1 − x) = x + 3 x3 + tan x = x + 3 5 4x7 x + f (x) = 15 45

x5 x7 + ··· 5 7 2x5 17x7 + ··· 15 315 ···

= 0.001500001125001518752441, = 0.001500001125001012500922, = 5.0625 × 10−16

with an error of the order of x7 or 10−21 . Now we see that the answer is the diﬀerence of two numbers which are identical until the 16th decimal place, so any computer carrying fewer digits will lose all accuracy in the subtraction. It may also be necessary to tell your computer that the value of x is an exact number and not a 4 decimal place approximation. The moral here is that a computer is a tool—a very useful tool, yes—but you need to be constantly aware of whether an answer is reasonable when you are doing problems either by hand or by computer. A ﬁnal point is that in an applied problem you may want, not a numerical value, but a simple approximation for a complicated function. Here we might approximate f (x) by x5 /15 for small x.

Section 15

Some Uses of Series

Example 2. Evaluate

d5 dx5

1 sin x2 . x x=0

We can do this by computer, but it's probably faster to use sin x2 = x2 −(x2 )3 /3! · · · , and observe that when we divide this by x and take 5 derivatives, the x2 term is gone. The second term divided by x is an x5 term and the ﬁfth derivative of x5 is 5!. Any further terms will have a power of x which is zero at x = 0. Thus we have d5 1 −(x2 )3 5! · = − = −20. dx5 x 3! 3! x=0 Summing series We have seen a few numerical series which we could sum exactly (see Sections 1 and 4) and we will see some others later (see Chapter 7, Section 11). Here it is interesting to note that if f (x) = an xn , and we let x have a particular value (within the interval of convergence), then we get a numerical series whose sum is the value of the function for that x. For example, if we substitute x = 1 in (13.4), we get 1 1 1 ln(1 + 1) = ln 2 = 1 − + − · · · 2 3 4 so the sum of the alternating harmonic series is ln 2. We can also ﬁnd sums of series from tables or computer, either the exact sum if that is known, or a numerical approximation (see Problems 20 to 22, and also Problems 14.2, 16.1, 16.30, and 16.31). Integrals By Theorem 1 of Section 11, we may integrate a power series term by term. Then we can ﬁnd an approximation for an integral when the indeﬁnite integral cannot be found in terms of elementary functions. As an example, consider the Fresnel integrals (integrals of sin x2 and cos x2 ) which occur in the problem of Fresnel diﬀraction in optics. We ﬁnd

t x10 x6 2 2 + − · · · dx x − sin x dx = 3! 5! 0 0 t3 t7 t11 = − + − ··· 3 7 · 3! 11 · 5! so for t < 1, the integral is approximately this is an alternating series (see (14.3)). Evaluation of Indeterminate Forms

t3 3

−

t7 42

with an error < 0.00076 since

Suppose we want to ﬁnd

1 − ex . x→0 x lim

If we try to substitute x = 0, we get 0/0. Expressions that lead us to such meaningless results when we substitute are called indeterminate forms. You can evaluate these by computer, but simple ones can often be done quickly by series. For example, 1 − ex 1 − (1 + x + (x2 /2!) + · · · ) = lim x→0 x→0 x x x = lim −1 − − · · · = −1. x→0 2! lim

Inﬁnite Series, Power Series

Chapter 1

You may recall L'Hˆopital's rule which says that f (x) f (x) = lim x→a φ(x) x→a φ (x) lim

when f (a) and φ(a) are both zero, and f /φ approaches a limit or tends to inﬁnity (that is, does not oscillate) as x → a. Let's use power series to see why this is true. We consider functions f (x) and φ(x) which are expandable in a Taylor series about x = a, and assume that φ (a) = 0. Using (12.8), we have f (x) f (a) + (x − a)f (a) + (x − a)2 f (a)/2! + · · · = lim . x→a φ(x) x→a φ(a) + (x − a)φ (a) + (x − a)2 φ (a)/2! + · · · lim

If f (a) = 0 and φ(a) = 0, and we cancel one (x − a) factor, this becomes f (a) f (a) + (x − a)f (a)/2! + · · · f (x) = = lim x→a φ (a) + (x − a)φ (a)/2! + · · · φ (a) x→a φ (x) lim

as L'Hˆ opital's rule says. If f (a) = 0 and φ (a) = 0, and φ (a) = 0, then a repetition of the rule gives the limit as f (a)/φ (a), and so on. There are other indeterminate forms besides 0/0, for example, ∞/∞, 0 · ∞, etc. L'Hˆopital's rule holds for the ∞/∞ form as well as the 0/0 form. Series are most useful for the 0/0 form or others which can easily be put into the 0/0 form. For example, the limit limx→0 (1/x) sin x is an ∞ · 0 form, but is easily written as limx→0 (sin x)/x which is a 0/0 form. Also note carefully: Series (of powers of x) are useful mainly in ﬁnding limits as x → 0, because for x = 0 such a series collapses to the constant term; for any other value of x we have an inﬁnite series whose sum we probably do not know (see Problem 25, however). Series Approximations When a problem in, say, diﬀerential equations or physics is too diﬃcult in its exact form, we often can get an approximate answer by replacing one or more of the functions in the problem by a few terms of its inﬁnite series. We shall illustrate this idea by two examples. Example 3. In elementary physics we ﬁnd that the equation of motion of a simple pendulum is (see Chapter 11, Section 8, or a physics textbook): d2 θ g = − sin θ. 2 dt l This diﬀerential equation cannot be solved for θ in terms of elementary functions (see Chapter 11, Section 8), and you may recall that what is usually done is to approximate sin θ by θ. Recall the inﬁnite series (13.1) for sin θ; θ is simply the ﬁrst term of the series for sin θ. (Remember that θ is in radians; see discussion in Chapter 2, end of Section 3.) For small values of θ (say θ < 12 radian or about 30◦ ), this series converges rapidly, and using the ﬁrst term gives a good approximation (see Problem 14.4). The solutions of the diﬀerential equation are then θ = A sin g/l t and θ = B cos g/l t (A and B constants) as you can verify; we say that the pendulum is executing simple harmonic motion (see Chapter 7, Section 2).

Section 15

Some Uses of Series

Example 4. Let us consider a radioactive substance containing N0 atoms at t = 0. It is known that the number of atoms remaining at a later time t is given by the formula (see Chapter 8, Section 3): N = N0 e−λt

(15.1)

where λ is a constant which is characteristic of the radioactive substance. To ﬁnd λ for a given substance, a physicist measures in the laboratory the number of decays ∆N during the time interval ∆t for a succession of ∆t intervals. It is customary to plot each value of ∆N/∆t at the midpoint of the corresponding time interval ∆t. If λ ∆t is small, this graph is a good approximation to the exact dN/dt graph. A better approximation can be obtained by plotting ∆N/∆t a little to the left of the midpoint. Let us show that the midpoint does give a good approximation and also ﬁnd the more accurate t value. (An approximate value of λ, good enough for calculating the correction, is assumed known from a rough preliminary graph.) What we should like to plot is the graph of dN/dt, that is, the graph of the slope of the curve in Figure 15.1. What we measure is the value of ∆N/∆t for each ∆t interval. Consider one such ∆t interval in Figure 15.1, from t1 to t2 . To get an accurate graph we should plot the measured value of the quotient ∆N/∆t at the point between t1 and t2 where ∆N/∆t = dN/dt. Let us write this condition and ﬁnd the t which satisﬁes it. The quantity ∆N is the change in N , that is, N (t2 ) − N (t1 ); the value Figure 15.1 of dN/dt we get from (15.1). Then dN/dt = ∆N/∆t becomes −λN0 e−λt =

(15.2)

N0 e−λt2 − N0 e−λt1 . ∆t

Multiplying this equation by (∆t/N0 )eλ(t1 +t2 )/2 , we get (15.3)

−λ ∆t e−λ[t−(t1 +t2 )/2] = e−λ(t2 −t1 )/2 − eλ(t2 −t1 )/2 = e−λ ∆t/2 − eλ ∆t/2

since t2 − t1 = ∆t. Since we assumed λ ∆t to be small, we can expand the exponentials on the right-hand side of (15.3) in power series; this gives (15.4)

−λ ∆t e

−λ[t−(t1 +t2 )/2]

1 = −λ ∆t − 3

λ ∆t 2

3 ···

or, canceling (−λ ∆t), (15.5)

e−λ[t−(t1 +t2 )/2] = 1 +

1 (λ ∆t)2 · · · . 24

Suppose λ ∆t is small enough so that we can neglect the term

1 2 24 (λ ∆t) .

Then

Inﬁnite Series, Power Series

Chapter 1

(15.5) reduces to e−λ[t−(t1 +t2 )/2] = 1, t1 + t2 = 0, −λ t − 2 t 1 + t2 . t= 2 Thus we have justiﬁed the usual practice of plotting ∆N/∆t at the midpoint of the interval ∆t. Next consider a more accurate approximation. From (15.5) we get t1 + t2 1 2 −λ t − = ln 1 + (λ ∆t) · · · . 2 24 Since

1 2 24 (λ ∆t)

1, we can expand the logarithm by (13.4) to get 1 t1 + t2 = −λ t − (λ ∆t)2 · · · . 2 24

Then we have t=

t1 + t2 1 − (λ ∆t)2 · · · . 2 24λ

Thus the measured ∆N/∆t should be plotted a little to the left of the midpoint of ∆t, as we claimed.

PROBLEMS, SECTION 15 In Problems 1 to 4, use power series to evaluate the function at the given point. Compare with computer results, using the computer to ﬁnd the series, and also to do the problem without series. Resolve any disagreement in results (see Example 1). « „ 1−x at x = 0.0003 1. earc sin x + ln e

1 − cos x2 at x = 0.012 1 + x4 " " p ln x + 1 + x2 − sin x at x = 0.001

esin x − (1/x3 ) ln(1 + x3 ex )

√

at x = 0.00035

Use Maclaurin series to evaluate each of the following. Although you could do them by computer, you can probably do them in your head faster than you can type them into the computer. So use these to practice quick and skillful use of basic series to make simple calculations. 5. 6. 7.

d4 ln(1 + x3 ) at x = 0 dx4 „ 2 x« d3 x e at x = 0 dx3 1 − x d10 8 (x tan2 x) dx10

at x = 0

Section 15

lim

x→0

Some Uses of Series 1 − cos x x2

lim

x→0

sin x − x x3

10.

lim

x→0

1 − ex x3

tan x − x ln(1 − x) sin 2x 12. lim 13. lim x→0 x→0 x3 x x2 Find a two term approximation for each of the following integrals and an error bound for the given Z t Z t t interval. 2 √ −x e−x dx, 0 < t < 0.1 15. x e dx, 0 < t < 0.01 14.

11.

lim

x→0

Find the sum of each of the following series by recognizing it as the Maclaurin series for a function evaluated at a point. ∞ ∞ X X (−1)n " π "2n 2n 16. 17. n! (2n)! 2 n=1 n=0 «n «„ ∞ ∞ „ X X 1 1 −1/2 − 18. 19. n n 2n 2 n=1 n=0 20.

By computer or tables, ﬁnd the exact sum of each of the following series. (a)

∞ X n=1

21.

22.

n (4n2 − 1)2

(b)

∞ X n3 n! n=1

(c)

∞ X n(n + 1) 3n n=1

By computer, ﬁnd a numerical approximation for the sum of each of the following series. ∞ ∞ ∞ X X X n ln n 1 (b) (c) (a) 2 + 1)2 2 n (n n n n=1 n=2 n=1 P s The series ∞ n=1 1/n , s > 1, is called the Riemann Zeta function, ζ(s). (In Problem 14.2(a) you found ζ(2) = π 2 /6. When n is an even integer, these series can be summed exactly in terms of π.) By computer or tables, ﬁnd „ « X ∞ ∞ ∞ X X 1 1 1 3 (a) ζ(4) = (b) ζ(3) = (c) ζ = 4 3 3/2 n n 2 n n=1 n=1 n=1

23.

Find the following limits using Maclaurin series and check your results by computer. Hint: First combine the fractions. Then ﬁnd the ﬁrst term of the denominator series and the ﬁrst term of the numerator series. « « „ „ 1 1 cos x 1 (b) lim − (a) lim − x x→0 x→0 x e −1 x2 sin2 x « „ « „ 1 1 ln(1 + x) (c) lim csc2 x − 2 − (d) lim x→0 x→0 x x2 x

24.

Evaluate the following indeterminate forms by using L'Hˆopital's rule and check your results by computer. (Note that Maclaurin series would not be useful here because x does not tend to zero, or because a function (ln x, for example) is not expandable in a Maclaurin series.) (a) (c) (e)

lim

x sin x x−π

(b)

lim

ln(2 − x) x−1

(d)

x→π

x→1

lim x ln 2x

x→0

lim

x→π/2

ln(2 − sin x) ln(1 + cos x)

ln x lim √ x

x→∞

Inﬁnite Series, Power Series

(f)

lim xn e−x

x→∞

Chapter 1

(n not necessarily integral)

25.

In general, we do not expect Maclaurin series to be useful in evaluating indeterminate forms except when x tends to zero (see Problem 24). Show, however, that Problem 24(f) can be done by writing xn e−x = xn /ex and using the series (13.3) for ex . Hint: Divide numerator and denominator by xn before you take the limit. What is special about the ex series which makes it possible to know what the limit of the inﬁnite series is?

26.

Find the values of several derivatives of e−1/t at t = 0. Hint: Calculate a few derivatives (as functions of t); then make the substitution x = 1/t2 , and use the result of Problem 24(f) or 25.

27.

The velocity v of electrons from a high energy accelerator is very near the velocity c of light. Given the voltage V of the accelerator, we often want to calculate the ratio v/c. The relativistic formula for this calculation is (approximately, for V 1) s „ «2 v 0.511 , V = number of million volts. = 1− c V

Use two terms of the binomial series (13.5) to ﬁnd 1 − v/c in terms of V . Use your result to ﬁnd 1 − v/c for the following values of V . Caution: V = the number of million volts. (a) (b) (c) (d)

V V V V

= 100 million volts = 500 million volts = 25, 000 million volts = 100 gigavolts (100×109 volts = 105 million volts)

28.

The energy of an electron at speed v in special relativity theory is mc2 (1−v 2 /c2 )−1/2 , where m is the electron mass, and c is the speed of light. The factor mc2 is called the rest mass energy (energy when v = 0). Find two terms of the series expansion of (1 − v 2 /c2 )−1/2 , and multiply by mc2 to get the energy at speed v. What is the second term in the energy series? (If v/c is very small, the rest of the series can be neglected; this is true for everyday speeds.)

29.

The ﬁgure shows a heavy weight suspended by a cable and pulled to one side by a force F . We want to know how much force F is required to hold the weight in equilibrium at a given distance x to one side (say to place a cornerstone correctly). From elementary physics, T cos θ = W , and T sin θ = F . (a) (b)

30.

Find F/W as a series of powers of θ. Usually in a problem like this, what we know is not θ, but x and l in the diagram. Find F/W as a series of powers of x/l.

Given a strong chain and a convenient tree, could you pull your car out of a ditch in the following way? Fasten the chain to the car and to the tree. Pull with a force F at the center of the chain as shown in the ﬁgure. From mechanics, we have F = 2T sin θ, or T = F/(2 sin θ), where T is the tension in the chain, that is, the force exerted on the car.

Section 16

31.

Some Uses of Series

(a)

Find T as x−1 times a series of powers of x.

(b)

Find T as θ−1 times a series of powers of θ.

A tall tower of circular cross section is reinforced by horizontal circular disks (like large coins), one meter apart and of negligible thickness. The radius of the disk at height n is 1/(n ln n) (n ≥ 2).

Assuming that the tower is of inﬁnite height: (a)

Will the total area of the disks be ﬁnite or not? Hint: Can you compare the series with a simpler one?

(b)

If the disks are strengthened by wires going around their circumferences like tires, will the total length of wire required be ﬁnite or not?

(c)

Explain why there is not a contradiction between your answers in (a) and (b). That is, how is it possible to start with a set of disks of ﬁnite area, remove a little strip around the circumference of each, and get an inﬁnite total length of these strips? Hint: Think about units—you can't compare area and length. Consider two cases: (1) Make the width of each strip equal to one percent of the radius of the disk from which you cut it. Now the total length is inﬁnite but what about the total area? (2) Try to make the strips all the same width; what happens? Also see Chapter 5, Problem 3.31(b).

32.

Show that the "doubling time" (time for your money to double) is n periods at interest rate i% per period with ni = 69, approximately. Show that the error in the approximation is less than 10% if i% ≤ 20%. (Note that n does not have to be the number of years; it can be the number of months with i = interest rate per month, etc.) Hint: You want (1 + i/100)n = 2; take ln of both sides of this equation and use equation (13.4). Also see theorem (14.3).

33.

If you are at the top of a tower of height h above the surface of the earth, show that the distance you √ can see along the surface of the earth is approximately s = 2Rh, where R is the radius of the earth. Hints: See ﬁgure. Show that h/R = sec θ − 1; ﬁnd two terms of the series for sec θ = 1/ cos θ, and use s = Rθ. p Thus show that the distance in miles is approximately 3h/2 with h in feet.

Inﬁnite Series, Power Series

Chapter 1

16. MISCELLANEOUS PROBLEMS 1.

(a)

Show that it is possible to stack a pile of identical books so that the top book is as far as you like to the right of the bottom book. Start at the top and each time place the pile already completed on top of another book so that the pile is just at the point of tipping. (In practice, of course, you can't let them overhang quite this much without having the stack topple. Try it with

a deck of cards.) Find the distance from the right-hand end of each book to the right-hand end of the one beneath it. To ﬁnd a general formula for this distance, consider the three forces acting on book n, and write the equation for the torque about its right-hand end. Show that the sum of these setbacks is a divergent series (proportional to the harmonic series). [See "Leaning Tower of The Physical Reviews," Am. J. Phys. 27, 121–122 (1959).]

(b)

By computer, ﬁnd the sum of N terms of the harmonic series with N = 25, 100, 200, 1000, 106 , 10100 .

(c)

From the diagram in (a), you can see that with 5 books (count down from the top) the top book is completely to the right of the bottom book, that is, the overhang is slightly over one book. Use your series in (a) to verify this. Then using parts (a) and (b) and a computer as needed, ﬁnd the number of books needed for an overhang of 2 books, 3 books, 10 books, 100 books.

The picture is a mobile constructed of dowels (or soda straws) connected by thin threads. Each thread goes from the left-hand end of a rod to a point on the rod below. Number the rods from the bottom and ﬁnd, for rod n, the distance from its left end to the thread so that all rods of the mobile will be horizontal. Hint: Can you see the relation between this problem and Problem 1? P∞ 3/2 Show that is convergent. What is wrong with the following "proof" n=2 1/n that it diverges? 1 1 1 1 1 1 1 1 √ +√ +√ +√ + ··· > √ + √ + √ + √ + ··· 8 27 64 125 9 36 81 144 „ « 1 1 1 1 1 1 1 1 + + + + ··· = 1 + + + + ··· . 3 6 9 12 3 2 3 4 Since √ the harmonic series diverges, the original series diverges. Hint: Compare 3n and n n. which is

Test for convergence: ∞ X 2n 4. n! n=1 7.

∞ X n=2

1 n ln(n3 )

5. 8.

∞ X (n − 1)2 1 + n2 n=2 ∞ X n=2

2n n4 − 2

∞ X n=2

√

n−1 (n + 1)2 − 1

Section 16

Miscellaneous Problems

Find the interval of convergence, including end-point tests: ∞ ∞ X X xn (n!)2 xn 9. 10. 11. ln(n + 1) (2n)! n=1 n=1 12.

∞ X n=1

xn n2 + 1)

13.

5n (n2

17.

√

18.

1−x2

∞ X (−1)n x2n−1 2n − 1 n=1

∞ X (x + 2)n √ (−3)n n n=1

Find the Maclaurin series for the following functions. „ « sin x 14. cos[ln(1 + x)] 15. ln x 1−

√

16.

arc tan x =

x 0

1 1 + sin x

du 1 + u2

Find the ﬁrst few terms of the Taylor series for the following functions about the given points. √ 3 19. sin x, a = π 21. ex , a = 1 20. x, a = 8 Use series you know to show that: 1 1 1 π 22. 1 − + − + · · · = . Hint: See Problem 18. 3 5 7 4 π4 π6 (ln 3)2 (ln 3)3 π2 − + − ··· = 1 24. ln 3 + + + ··· = 2 23. 3! 5! 7! 2! 3! 25.

opital's rule, Evaluate the limit limx→0 x2 / ln cos x by series (in your head), by L'Hˆ and by computer.

Use Maclaurin 26 to 29 and « „ series to do Problems 1 1 27. 26. lim − x→0 x2 1 − cos2 x « „ 1 1+x − 29. 28. lim x→0 x sin x 30.

31.

check „ your results«by computer. 1 lim − cot2 x x→0 x2 ˛ d6 4 x2 ˛˛ (x e )˛ dx6 x=0

(a)

It is clear that you (or your computer) can't ﬁnd the sum of an inﬁnite series just by adding up the terms one by one. For example, to get ζ(1.1) = P ∞ 1.1 (see Problem 15.22) with error < 0.005 takes about 1033 terms. n=1 1/n To see a simple alternative (for a series of positive decreasing terms) look at Figures 6.1 and 6.2. Show that when youRhave summed N terms, R ∞the sum RN ∞ of the rest of the series is between IN = N an dn and IN+1 = N+1 an dn.

(b)

Find the integrals in (a) for the ζ(1.1) series and verify the claimed number of terms needed for error < 0.005. Hint: Find N suchP that IN = 0.005. R ∞Also ﬁnd 1/n1.1 + N n−1.1 dn upper and lower bounds for ζ(1.1) by computing N n=1 R∞ PN 1.1 and + N+1 n−1.1 dn where N is far less than 1033 . Hint: You n=1 1/n want the diﬀerence between the upper and lower limits to be about 0.005; ﬁnd N so that term aN = 0.005.

As in Problem 30, for each of the following series, ﬁnd the number of terms required to ﬁnd the sum with error < 0.005, and ﬁnd upper and lower bounds for the sum using a much smaller number of terms. (a)

∞ X 1

1 n1.01

(b)

∞ X 1

1 n(1 + ln n)2

(c)

∞ X 3

1 n ln n(ln ln n)2

CHAPTER

Complex Numbers 1. INTRODUCTION You will probably recall using imaginary and complex numbers in algebra. The general solution of the quadratic equation az 2 + bz + c = 0

(1.1)

for the unknown z, is given by the quadratic formula √ −b ± b2 − 4ac . (1.2) z= 2a If the discriminant d = (b2 − 4ac) is negative, we must take the square root of a negative number in order to ﬁnd z. Since only non-negative numbers have real square roots, it is impossible to use (1.2) when d < 0 unless we introduce a new √ kind of number, called an imaginary number. We use the symbol i = −1 with the understanding that i2 = −1. Then √ √ √ −16 = 4i, −3 = i 3, i3 = −i are imaginary numbers, but √ √ √ √ i2 = −1, −2 −8 = i 2 · i 8 = −4,

i4n = 1

are real. In (1.2) we also need combinations of real and imaginary numbers. Example. The solution of

z 2 − 2z + 2 = 0

√ √ 2 ± −4 4−8 = = 1 ± i. 2 2 We use the term complex number to mean any one of the whole set of numbers, √ real, imaginary, or combinations of the two like 1 ± i. Thus, i + 5, 17i, 4, 3 + i 5 are all examples of complex numbers. is

2±

Section 3

The Complex Plane

Once the new kind of number is admitted into our number system, fascinating possibilities open up. Can we attach any meaning to marks like sin i, eiπ , ln(1 + i)? We'll see later that we can and that, in fact, such expressions may turn up in problems in physics, chemistry, and engineering, as well as mathematics. When people ﬁrst considered taking square roots of negative numbers, they felt very uneasy about the problem. They thought that such numbers could not have any meaning or any connection with reality (hence the term "imaginary"). They certainly would not have believed that the new numbers could be of any practical use. Yet complex numbers are of great importance in a variety of applied ﬁelds; for example, the electrical engineer would, to say the least, be severely handicapped without them. The complex notation often simpliﬁes setting up and solving vibration problems in either dynamical or electrical systems, and is useful in solving many diﬀerential equations which arise from problems in various branches of physics. (See Chapters 7 and 8.) In addition, there is a highly developed ﬁeld of mathematics dealing with functions of a complex variable (see Chapter 14) which yields many useful methods for solving problems about ﬂuid ﬂow, elasticity, quantum mechanics, and other applied problems. Almost every ﬁeld of either pure or applied mathematics makes some use of complex numbers.

2. REAL AND IMAGINARY PARTS OF A COMPLEX NUMBER A complex number such as 5 + 3i is the sum of two terms. The real term (not containing i) is called the real part of the complex number. The coeﬃcient of i in the other term is called the imaginary part of the complex number. In 5 + 3i, 5 is the real part and 3 is the imaginary part. Notice carefully that the imaginary part of a complex number is not imaginary! Either the real part or the imaginary part of a complex number may be zero. If the real part is zero, the complex number is called imaginary (or, for emphasis, pure imaginary). The zero real part is usually omitted; thus 0 + 5i is written just 5i. If the imaginary part of the complex number is zero, the number is real. We write 7 + 0i as just 7. Complex numbers then include both real numbers and pure imaginary numbers as special cases. In algebra a complex number is ordinarily written (as we have been doing) as a sum like 5 + 3i. There is another very useful way of thinking of a complex number. As we have said, every complex number has a real part and an imaginary part (either of which may be zero). These are two real numbers, and we could, if we liked, agree to write 5 + 3i as (5, 3). Any complex number could be written this way as a pair of real numbers, the real part ﬁrst and then the imaginary part (which, you must remember, is real). This would not be a very convenient form for computation, but it suggests a very useful geometrical representation of a complex number which we shall now consider.

3. THE COMPLEX PLANE In analytic geometry we plot the point (5, 3) as shown in Figure 3.1. As we have seen, the symbol (5, 3) could also mean the complex number 5 + 3i. The point (5, 3) may then be labeled either (5, 3) or 5 + 3i. Similarly, any complex number x + iy (x and y real) can be represented by a point (x, y) in the (x, y) plane. Also any point (x, y) in the (x, y) plane can be labeled x + iy as well as (x, y). When the (x, y)

Complex Numbers

Chapter 2

plane is used in this way to plot complex numbers, it is called the complex plane. It is also sometimes called an Argand diagram. The x axis is called the real axis, and the y axis is called the imaginary axis (note, however, that you plot y and not iy).

Figure 3.1 When a complex number is written in the form x + iy, we say that it is in rectangular form because x and y are the rectangular coordinates of the point representing the number in the complex plane. In analytic geometry, we can locate a point by giving its polar coordinates (r, θ) instead of its rectangular coordinates (x, y). There is a corresponding way to write any complex number. In Figure 3.2, (3.1)

x = r cos θ, y = r sin θ.

Then we have x + iy = r cos θ + ir sin θ Figure 3.2 = r (cos θ + i sin θ). This last expression is called the polar form of the complex number. As we shall see (Sections 9 to 16), the expression (cos θ + i sin θ) can be written as eiθ , so a convenient way to write the polar form of a complex number is

(3.2)

(3.3)

x + iy = r(cos θ + i sin θ) = reiθ .

The polar form reiθ of a complex number is often simpler to use than the rectangular form. Example. In Figure√3.3 the point A√ could be labeled as (1, 3) or as 1 + i 3. Similarly, using polar coordinates, the point A could be labeled with its (r, θ) values as (2, π/3). Notice that r is always taken positive. Using (3.3) we have √ π π 1 + i 3 = 2 cos + i sin = 2eiπ/3 . 3 3 This gives two more ways to label point A in Figure 3.3. Figure 3.3

Section 4

Terminology and Notation

Radians and Degrees In Figure 3.3, the angle π/3 is in radians. Ever since you studied calculus, you have been expected to measure angles in radians and not degrees. Do you know why? You have learned that (d/dx) sin x = cos x. This formula is not correct—unless x is in radians. (Look up the derivation in your calculus book!) Many of the formulas you now know and use are correct only if you use radian measure; consequently that is what you are usually advised to do. However, it is sometimes convenient to do computations with complex numbers using degrees, so it is important to know when you can and when you cannot use degrees. You can use degrees to measure an angle and to add and subtract angles as long as the ﬁnal step is to ﬁnd the sine, cosine, or tangent of the resulting angle (with your calculator in degree mode). For example, in Figure 3.3, we can, if we like, say that θ = 60◦ instead of θ = π/3. If we want to ﬁnd sin(π/3−π/4) = sin(π/12) = 0.2588 (calculator in radian mode), we can instead ﬁnd sin(60◦ − 45◦ ) = sin 15◦ = 0.2588 (calculator in degree mode). Note carefully that an angle is in radians unless the degree symbol is used; for example, in sin 2, the 2 is 2 radians or about 115◦ . In formulas, however, use radians. For example, in using inﬁnite series, we say that sin θ ∼ = θ for very small θ. Try this on your calculator; you will ﬁnd that it is true in radian mode but not in degree mode. As another example, consider 1 2 dx/(1 + x ) = arc tan 1 = π/4 = 0.785. Here arc tan 1 is not an angle; it is the 0 numerical value of the integral, so the answer 45 (obtained from a calculator in degree mode) is wrong! Do not use degree mode in reading an arc tan (or arc sin or arc cos) unless you are ﬁnding an √ angle [for example, in Figure 3.2, θ = arc tan(y/x), and in Figure 3.3, θ = arc tan 3 = π/3 or 60◦ ].

4. TERMINOLOGY AND NOTATION

√ Both i and j are used to represent −1, j usually in any problem dealing with electricity since i is needed there for current. A physicist should be able to work with ease using either symbol. We shall for consistency use i throughout this book. We often label a point with a single letter (for example, P in Figure 3.2 and A in Figure 3.3) even though it requires two coordinates to locate the point. If you have studied vectors, you will recall that a vector is represented by a single letter, say v, although it has (in two dimensions) two components. It is customary to use a single letter for a complex number even though we realize that it is actually a pair of real numbers. Thus we write

(4.1)

z = x + iy = r(cos θ + i sin θ) = reiθ .

Here z is a complex number; x is the real part of the complex number z, and y is the imaginary part of z. The quantity r is called the modulus or absolute value of z, and θ is called the angle of z (or the phase, or the argument, or the amplitude of z). In symbols:

(4.2)

Re z = x, Im z = y (not iy),

|z| = mod z = r = angle of z = θ.

x2 + y 2 ,

Complex Numbers

Chapter 2

The values of θ should be found from a diagram rather than a formula, although we do sometimes write θ = arc tan(y/x). An example shows this clearly. Example. Write z = −1 − i in polar form. Here we have x = −1, y = −1, r = 4.1). There are an inﬁnite number of values of θ,

√ 2 (Figure

5π + 2nπ, 4 where n is any integer, positive or negative. The value θ = 5π/4 is sometimes called the principal angle of the complex number z = −1 − i. Notice carefully, however, that this is not the same as the principal value π/4 of arc tan 1 as deﬁned in Figure 4.1 calculus. The angle of a complex number must be in the same quadrant as the point representing the number. For our present work, any one of the values in (4.3) will do; here we would probably use either 5π/4 or −3π/4. Then we have in our example √ 5π 5π z = −1 − i = 2 cos + 2nπ + i sin + 2nπ 4 4 √ √ 5π 5π + i sin = 2 e5iπ/4 . = 2 cos 4 4 √ [We could also write z = 2 (cos 225◦ + i sin 225◦ ).]

(4.3)

θ=

The complex number x − iy, obtained by changing the sign of i in z = x + iy, is called the complex conjugate or simply the conjugate of z. We usually write the conjugate of z = x + iy as z¯ = x − iy. Sometimes we use z ∗ instead of z¯ (in ﬁelds such as statistics or quantum mechanics where the bar may be used to mean an average value). Notice carefully that the conjugate of 7i − 5 is −7i − 5; that is, it is the i term whose sign is changed. Complex numbers come in conjugate pairs; for example, the conjugate of 2 + 3i is 2 − 3i and the conjugate of 2−3i is 2+3i. Such a pair of points in the complex plane are mirror images of each other with the x axis as the mirror (Figure 4.2). Then in polar form, z and z¯ have the same r value, but their θ values are negatives of each other. If we Figure 4.2 write z = r(cos θ + i sin θ), then

(4.4)

z¯ = r[cos(−θ) + i sin(−θ)] = r(cos θ − i sin θ) = re−iθ .

PROBLEMS, SECTION 4 For each of the following numbers, ﬁrst visualize where it is in the complex plane. With a little practice you can quickly ﬁnd x, y, r, θ in your head for these simple problems. Then

Section 5

Complex Algebra

plot the number and label it in ﬁve ways as in Figure 3.3. Also plot the complex conjugate of the number. √ 1. 1 + i 2. i − 1 3. 1 − i 3 √ 6. −4i 5. 2i 4. − 3 + i 7. 10. 12. 14. 16.

−1

2 − 2i « „ 2π 2π 4 cos − i sin 3 3 " π" π 2 cos + i sin 4 4 5(cos 0 + i sin 0) iπ/2

18.

20.

7(cos 110◦ − i sin 1100 )

11. 13. 15.

9. 2i − 2 π π" 2 cos + i sin 6 6 3π 3π cos + i sin 2 2 "

17.

cos π − i sin π √ −iπ/4 2e

19.

5(cos 20◦ + i sin 20◦ )

5. COMPLEX ALGEBRA A.

Simplifying to x +iy form

Any complex number can be written in the rectangular form x + iy. To add, subtract, and multiply complex numbers, remember that they follow the ordinary rules of algebra and that i2 = −1. Example 1.

(1 + i)2 = 1 + 2i + i2 = 1 + 2i − 1 = 2i

To divide one complex number by another, ﬁrst write the quotient as a fraction. Then reduce the fraction to rectangular form by multiplying numerator and denominator by the conjugate of the denominator; this makes the denominator real. Example 2.

2+i 2+i 3+i 6 + 5i + i2 1 1 5 + 5i = · = = + i. = 2 3−i 3−i 3+i 9−i 10 2 2 It is sometimes easier to multiply or divide complex numbers in polar form.

Example 3. To ﬁnd (1 + i)2 in polar form, we ﬁrst √ sketch (or picture mentally) the √ point (1, 1). From Figure 5.1, we see that r = 2, and θ = π/4, so (1 + i) = 2 eiπ/4 . Then from Figure 5.2 we ﬁnd the same result as in Example 1. √ (1 + i)2 = ( 2 eiπ/4 )2 = 2 eiπ/2 = 2i.

Figure 5.1

Figure 5.2

Complex Numbers

Chapter 2

Example 4. Write 1/[2(cos 20◦ + i sin 20◦ ] in x + iy form. Since 20◦ = π/9 radians, 2(cos 20◦

1 1 1 = = = 0.5 e−iπ/9 ◦ + i sin 20 ) 2(cos π/9 + i sin π/9) 2 eiπ/9 = 0.5(cos π/9 − i sin π/9) = 0.47 − 0.17i,

by calculator in radian mode. We obtain the same result leaving the angle in degrees and using a calculator in degree mode: 0.5(cos 20◦ − i sin 20◦ ) = 0.47 − 0.17i.

PROBLEMS, SECTION 5 First simplify each of the following numbers to the x + iy form or to the reiθ form. Then plot the number in the complex plane. 1.

1 1+i

i2 + 2i + 1

1 i−1 " √ "2 i+ 3

3+i 2+i

1.6 − 2.7i

25 e2i

Careful! The angle is 2 radians.

10.

3i − 7 i+4

11. 13.

i4 „

1+i 1−i

«2

Careful! Not 3 − 7i

17 − 12i « „ 2π 2π + i sin 5 cos 5 5

12.

3(cos 28◦ + i sin 28◦ )

14.

2.8e−i(1.1)

15.

5 − 2i 5 + 2i

16.

1 0.5(cos 40◦ + i sin 40◦ )

17.

(1.7 − 3.2i)2

18.

(0.64 + 0.77i)4

Find each of the following in rectangular (a + bi) form if z = 2 − 3i; if z = x + iy. 1 z2 1+z 1−z

21.

1 z+1

24.

z/¯ z

19.

z −1

20.

22.

1 z−i

23.

Complex Conjugate of a Complex Expression

It is easy to see that the conjugate of the sum of two complex numbers is the sum of the conjugates of the numbers. If z1 = x1 + iy1

and

z2 = x2 + iy2 ,

then z¯1 + z¯2 = x1 − iy1 + x2 − iy2 = x1 + x2 − i(y1 + y2 ). The conjugate of (z1 + z2 ) is (x1 + x2 ) + i(y1 + y2 ) = (x1 + x2 ) − i(y1 + y2 ).

Section 5

Complex Algebra

Similarly, you can show that the conjugate of the diﬀerence (or product or quotient) of two complex numbers is equal to the diﬀerence (or product or quotient) of the conjugates of the numbers (Problem 25). In other words, you can get the conjugate of an expression containing i's by just changing the signs of all the i terms. We must watch out for hidden i's, however. Example. If

2 + 3i 2 − 3i , then z¯ = . i+4 −i + 4 But if z = f +ig, where f and g are themselves complex, then the complex conjugate of z is z¯ = f¯ − i¯ g (not f − ig). z=

PROBLEMS, SECTION 5 25.

Prove that the conjugate of the quotient of two complex numbers is the quotient of the conjugates. Also prove the corresponding statements for diﬀerence and product. Hint: It is easier to prove the statements about product and quotient using the polar coordinate reiθ form; for the diﬀerence, it is easier to use the rectangular form x + iy.

Finding the Absolute Value of z

Recall that the deﬁnition of |z| is |z| = r = x2 + y 2 (positive square root!). Since z z¯ = (x + iy)(x − iy) = x2 + y√2 , or, in polar coordinates, z z¯ = (reiθ )(re−iθ ) = r2 , we see that |z|2 = z z¯, or |z| = z z¯. Note that z z¯ is always real and ≥ 0, since x, y, and r are real. We have |z| = r =

(5.1)

√ x2 + y 2 = z z¯.

By Problem 25 and (5.1), the absolute value of a quotient of two complex numbers is the quotient of the absolute values (and a similar statement for product). Example.

√ √ 5 + 3i |√5 + 3i| 14 √ = √ = 7. = 1−i |1 − i| 2

PROBLEMS, SECTION 5 Find the absolute value of each of the following using the discussion above. Try to do simple problems like these in your head—it saves time. 26.

2i − 1 i−2

27.

2 + 3i 1−i

28.

29.

(1 + 2i)3

30.

3i √ i− 3

31.

32.

(2 − 3i)4

33.

25 3 + 4i

34.

z z¯ 5 − 2i 5 + 2i «5 „ 1+i 1−i

Complex Numbers

Complex Equations

Chapter 2

In working with equations involving complex quantities, we must always remember that a complex number is actually a pair of real numbers. Two complex numbers are equal if and only if their real parts are equal and their imaginary parts are equal. For example, x + iy = 2 + 3i means x = 2 and y = 3. In other words, any equation involving complex numbers is really two equations involving real numbers. Example. Find x and y if (x + iy)2 = 2i.

(5.2)

Since (x + iy)2 = x2 + 2ixy − y 2 , (5.2) is equivalent to the two real equations x2 − y 2 = 0, 2xy = 2. From the ﬁrst equation y 2 = x2 , we ﬁnd y = x or y = −x. Substituting these into the second equation gives 2x2 = 2

− 2x2 = 2.

Since x is real, x2 cannot be negative. Thus we ﬁnd only x2 = 1

and

y = x,

that is, x=y=1

and

x = y = −1.

PROBLEMS, SECTION 5 Solve for all possible values of the real numbers x and y in the following equations. 35.

x + iy = 3i − 4

36.

2ix + 3 = y − i

37.

x + iy = 0

38.

x + iy = 2i − 7

39.

x + iy = y + ix

40.

x + iy = 3i − ix

41.

(2x − 3y − 5) + i(x + 2y + 1) = 0

42.

(x + 2y + 3) + i(3x − y − 1) = 0

43.

(x + iy) = 2ix

44.

x + iy = (1 − i)2

45.

(x + iy)2 = (x − iy)2

46.

x + iy = −i x − iy

47.

(x + iy)3 = −1

48.

x + iy + 2 + 3i =i+2 2x + 2iy − 3

49.

|1 − (x + iy)| = x + iy

50.

|x + iy| = y − ix

Graphs

Using the graphical representation of the complex number z as the point (x, y) in a plane, we can give geometrical meaning to equations and inequalities involving z.

Section 5

Complex Algebra

Example 1. What is the curve made up of the points in the (x, y) plane satisfying the equation |z| = 3? Since |z| =

x2 + y 2 ,

the given equation is x2 + y 2 = 3

x2 + y 2 = 9.

Thus |z| = 3 is the equation of a circle of radius 3 with center at the origin. Such an equation might describe, for example, the path of an electron or of a satellite. (See Section F below.) Example 2. (a) |z − 1| = 2. This is the circle (x − 1)2 + y 2 = 4. (b) |z − 1| ≤ 2. This is the disk whose boundary is the circle in (a). Note that we use "circle" to mean a curve and "disk" to mean an area. The interior of the disk is given by |z − 1| < 2. Example 3. (Angle of z) = π/4. This is the half-line y = x with x > 0; this might be the path of a light ray starting at the origin. Example 4. Re z > 12 . This is the half-plane x > 12 .

PROBLEMS, SECTION 5 Describe geometrically the set of points in the complex plane satisfying the following equations. 51.

|z| = 2

52.

Re z = 0

53.

|z − 1| = 1

54.

|z − 1| < 1

55.

z − z¯ = 5i

56.

angle of z =

57.

Re (z 2 ) = 4

58.

Re z > 2

59.

|z + 3i| = 4

60.

|z − 1 + i| = 2

61.

Im z < 0

62.

|z + 1| + |z − 1| = 8

63.

z 2 = z¯2

64.

z 2 = −¯ z2

65.

Show that |z1 − z2 | is the distance between the points z1 and z2 in the complex plane. Use this result to identify the graphs in Problems 53, 54, 59, and 60 without computation.

Physical Applications

π 2

Problems in physics as well as geometry may often be simpliﬁed by using one complex equation instead of two real equations. See the following example and also Section 16.

Complex Numbers

Chapter 2

Example. A particle moves in the (x, y) plane so that its position (x, y) as a function of time t is given by i + 2t z = x + iy = . t−i Find the magnitudes of its velocity and its acceleration as functions of t. We could write z in x + iy form and so ﬁnd x and y as functions of t. It is easier to do the problem as follows. We deﬁne the complex velocity and complex acceleration by d2 z d2 x d2 y = 2 +i 2. 2 dt dt dt 2 Then the magnitude v of the velocity is v = (dx/dt) + (dy/dt)2 = |dz/dt|, and similarly the magnitude a of the acceleration is a = |d2 z/dt2 |. Thus we have dz dx dy = +i dt dt dt

and

2(t − i) − (i + 2t) −3i dz = = . 2 dt (t − i) (t − i)2

dz −3i +3i 3 , · = 2 v = = dt (t − i)2 (t + i)2 t +1 d2 z (−3i)(−2) 6i = = , dt2 (t − i)3 (t − i)3 2 d z 6 . a = 2 = 2 dt (t + 1)3/2 Note carefully that all physical quantities (x, y, v, and a) are real; the complex expressions are used just for convenience in calculation.

PROBLEMS, SECTION 5 66.

Find x and y as functions of t for the example above, and verify for this case that v and a are correctly given by the method of the example.

67.

Find v and a if z = (1 − it)/(2t + i).

68.

Find v and a if z = cos 2t + i sin 2t. Can you describe the motion?

6. COMPLEX INFINITE SERIES In Chapter 1 we considered inﬁnite series whose terms were real. We shall be very much interested in series with complex terms; let us reconsider our deﬁnitions and theorems for this case. The partial sums of a series of complex numbers will be complex numbers, say Sn = Xn + iYn , where Xn and Yn are real. Convergence is deﬁned just as for real series: If Sn approaches a limit S = X + iY as n → ∞, we call the series convergent and call S its sum. This means that Xn → X and Yn → Y ; in other words, the real and the imaginary parts of the series are each convergent series. It is useful, just as for real series, to discuss absolute convergence ﬁrst. It can be proved (Problem 1) that an absolutely convergent series converges. Absolute convergence means here, just as for real series, that the series of absolute values of the terms is a convergent series. Remember that |z| = r = x2 + y 2 is a positive number. Thus any of the tests given in Chapter 1 for convergence of series of positive terms may be used here to test a complex series for absolute convergence.

Section 7

Complex Infinite Series

Example 1. Test for convergence (1 + i)3 (1 + i)n 1 + i (1 + i)2 + + + ···+ + ··· . 2 4 8 2n Using the ratio test, we ﬁnd √ (1 + i)n+1 1 + i 1 + i (1 + i)n = 2 < 1. = = lim ÷ ρ = lim n→∞ 2n+1 2n n→∞ 2 2 2 1+

. Since ρ < 1, the series is absolutely convergent and therefore convergent. n √ Example 2. Test for convergence ∞ 1 i / n. Here the ratio test gives 1 so we must try a diﬀerent test. Let's write out a few terms of the series: 1 i 1 i 1 i − √ − √ + √ + √ − √ ··· . 2 3 4 5 6 We see that the real part of the series is ∞

(−1)n 1 1 1 √ , −√ + √ − √ + · · · = 2 4 6 2n 1 and the imaginary part of the series is ∞

(−1)n 1 1 √ . 1 − √ + √ ··· = 2n + 1 3 5 0 Verify that both these series satisfy the alternating series test for convergence. Thus, the original series converges. ∞ ∞ ∞ Example 3. Test for convergence 0 z n = 0 (reiθ )n = 0 rn einθ . This is a geometric series with = z = reiθ ; it converges if and only if |z| < 1. Recall that |z| = r. ∞ ratio n inθ Thus, 0 r e converges if and only if r < 1.

PROBLEMS, SECTION 6 1.

Prove that an absolutely converges. This √ 2 P convergent series of complex numbers P ibn ) converges (an andPbn real) P if an + b2n conmeans to prove that (an +P verges. Hint: an and bn both converge. n +ibn ) means that √ 2 P of (aP P Convergence |bn | with an + b2n , and use Problem 7.9 of Chapter 1. Compare |an | and

Test each of the following series for convergence. X X 1 3. 2. (1 + i)n (1 + i)n « X„ 1 X 1+i i 5. + 6. 2 n n n2 X inπ/6 X in 8. e 9. n X „ 2 + i «2n X (3 + 2i)n 11. 12. 3 − 4i n! 14.

4. 7. 10. 13.

X „ 1 − i «n 1+i X (i − 1)n n X „ 1 + i «n √ 1−i 3 X „ 1 + i «n 2−i

Prove that a series of complex terms diverges if ρ > 1 (ρ = ratio test limit). Hint: The nth term of a convergent series tends to zero.

Complex Numbers

Chapter 2

7. COMPLEX POWER SERIES; DISK OF CONVERGENCE In Chapter 1 we considered series of powers of x, in series of powers of z, (7.1) an z n ,

an xn . We are now interested

where z = x + iy, and the an are complex numbers. [Notice that (7.1) includes real series as a special case since z = x if y = 0.] Here are some examples. (7.2a) (7.2b) (7.2c)

z2 z3 z4 − + + ··· , 2 3 4 (iz)3 z2 iz 3 (iz)2 + + · · · = 1 + iz − − + ··· , 1 + iz + 2! 3! 2! 3! ∞ (z + 1 − i)n . 3 n n2 n=0

1−z+

Let us use the ratio test to ﬁnd for what z these series are absolutely convergent. For (7.2a), we have z·n = |z|. ρ = lim n→∞ n + 1 The series converges if ρ < 1, that is, if |z| < 1, or x2 + y 2 < 1. This is the interior of a disk of radius 1 with center at the origin in the complex plane. This disk is called the disk of convergence of the inﬁnite series and the radius of the disk is called the radius of convergence. The disk of convergence replaces the interval of convergence which we had for real series. In fact (see Figure 7.1), the interval of convergence for the series (−x)n /n is just the interval (−1, 1) Figure 7.1 on the nx axis contained within the disk of convergence of (−z) /n, as it must be since x is the value of z when y = 0. For this reason we sometimes speak of the radius of convergence of a power series even though we are considering only real values of z. (Also see Chapter 14, Equations (2.5) and (2.6) and Figure 2.4.) Next consider series (7.2b); here we have (iz)n+1 iz (iz)n = 0. ρ = lim ÷ = lim n→∞ (n + 1)! n! n→∞ n + 1 This is an example of a series which converges for all values of z. For series (7.2c), we have (z + 1 − i) n2 z + 1 − i . ρ = lim = n→∞ 3 (n + 1)2 3 Thus, this series converges for |z + 1 − i| < 3, or |z − (−1 + i)| < 3. This is the interior of a disk (Figure 7.2) of radius 3 and center at z = −1 + i (see Problem 5.65).

Figure 7.2

Section 7

Complex Power Series; Disk of Convergence

Just as for real series, if ρ > 1, the series diverges (Problem 6.14). For ρ = 1 (that is, on the boundary of the disk of convergence) the series may either converge or diverge. It may be diﬃcult to ﬁnd out which and we shall not in general need to consider the question. The four theorems about power series (Chapter 1, Section 11) are true also for complex series (replace interval by disk of convergence). Also we can now state for Theorem 2 what the disk of convergence is for the quotient of two series of powers of z. Assume to start with that any common factor z has been cancelled. Let r1 and r2 be the radii of convergence of the numerator and denominator series. Find the closest point to the origin in the complex plane where the denominator is zero; call the distance from the origin to this point s. Then the quotient series converges at least inside the smallest of the three disks of radii r1 , r2 , and s, with center at the origin. (See Chapter 14, Section 2.) Example. Find the disk of convergence of the Maclaurin series for (sin z)/[z(1 + z 2 )]. We shall soon see that the series for sin z has the same form as the real series for sin x in Chapter 1. Using this fact we ﬁnd (Problem 17) 7z 2 47z 4 5923z 6 sin z = 1 − + − + ··· . z(1 + z 2 ) 6 40 5040

(7.3)

From (7.3) we can't ﬁnd the radius of convergence, but let's use the theorem above. Let the numerator series be (sin z)/z. By ratio test, the series for (sin z)/z converges for all z (if you like, r1 = ∞). There is no r2 since the denominator is not an inﬁnite series. The denominator 1 + z 2 is zero when z = ±i, so s = 1. Then the series (7.3) converges inside a disk of radius 1 with center at the origin.

PROBLEMS, SECTION 7 Find the disk of convergence for each of the following complex power series. 1.

ez = 1 + z +

z−

∞ X n=1

11.

14.

2 z 2n (2n + 1)!

∞ X (n!)3 z n (3n)! n=0 ∞ X n=0

[equation (8.1)]

z3 z4 z2 + − + · · · 3. 2 3 4

∞ " " X z n n=0

z2 z3 + ··· 2! 3!

n(n + 1)(z − 2i)n

1− ∞ X

z2 z4 + − ··· 3! 5!

n2 (3iz)n

∞ X

n=0

n=1

∞ X (−1)n z 2n (2n)! n=0

∞ X zn √ n n=1

10.

∞ X (iz)n n2 n=1

12.

∞ X (n!)2 z n (2n)! n=0

13.

∞ X (z − i)n n n=1

15.

∞ X (z − 2 + i)n 2n n=0

16.

∞ X n=1

2n (z + i − 3)2n

Complex Numbers

17.

Verify the series in (7.3) by computer. Also show that it can be written in the form

Chapter 2

∞ X

(−1)n z 2n

n=0

n X k=0

1 . (2k + 1)!

Use this form to show by ratio test that the series converges in the disk |z| < 1.

8. ELEMENTARY FUNCTIONS OF COMPLEX NUMBERS The so-called elementary functions are powers and roots, trigonometric and inverse trigonometric functions, logarithmic and exponential functions, and combinations of these. All these you can compute or ﬁnd in tables, as long as you want them as functions of real numbers. Now we want to ﬁnd things like ii , sin(1+i), or ln i. These are not just curiosities for the amusement of the mathematically inclined, but may turn up to be evaluated in applied problems. To be sure, the values of experimental measurements are not imaginary. But the values of Re z, Im z, |z|, angle of z, are real, and these are the quantities which have experimental meaning. Meanwhile, mathematical solutions of problems may involve manipulations of complex numbers before we arrive ﬁnally at a real answer to compare with experiment. Polynomials and rational functions (quotients of polynomials) of z are easily evaluated. Example. If f (z) = (z 2 + 1)/(z − 3), we ﬁnd f (i − 2) by substituting z = i − 2 : f (i − 2) =

−4i + 4 −i − 5 8i − 12 (i − 2)2 + 1 = · = . i−2−3 i−5 −i − 5 13

Next we want to investigate the possible meaning of other functions of complex numbers. We should like to deﬁne expressions like ez or sin z so that they will obey the familiar laws we know for the corresponding real expressions [for example, sin 2x = 2 sin x cos x, or (d/dx)ex = ex ]. We must, for consistency, deﬁne functions of complex numbers so that any equations involving them reduce to correct real equations when z = x + iy becomes z = x, that is, when y = 0. These requirements will be met if we deﬁne ez by the power series (8.1)

ez =

∞ zn 0

=1+z+

z2 z3 + + ··· . 2! 3!

This series converges for all values of the complex number z (Problem 7.1) and therefore gives us the value of ez for any z. If we put z = x (x real), we get the familiar series for ex . It is easy to show, by multiplying the series (Problem 1), that

(8.2)

ez1 · ez2 = ez1 +z2 .

In Chapter 14 we shall consider in detail the meaning of derivatives with respect to a complex z. However, it is worth while for you to know that (d/dz)z n = nz n−1 , and that, in fact, the other diﬀerentiation and integration formulas which you know

Section 9

Euler's Formula

from elementary calculus hold also with x replaced by z. You can verify that (d/dz)ez = ez when ez is deﬁned by (8.1) by diﬀerentiating (8.1) term by term (Problem 2). It can be shown that (8.1) is the only deﬁnition of ez which preserves these familiar formulas. We now want to consider the consequences of this deﬁnition.

PROBLEMS, SECTION 8 Show from the power series (8.1) that 1.

ez1 · ez2 = ez1 +z2

d z e = ez dz

Find the power series for ex cos x and for ex sin x from the series for ez in the following way: Write the series for ez ; put z = x + iy. Show that ez = ex (cos y + i sin y); take real and imaginary parts of the equation, and put y = x.

9. EULER'S FORMULA For real θ, we know from Chapter 1 the power series for sin θ and cos θ: θ5 θ3 + − ··· , 3! 5! 2 4 θ θ + − ··· . cos θ = 1 − 2! 4! sin θ = θ −

(9.1)

From our deﬁnition (8.1), we can write the series for e to any power, real or imaginary. We write the series for eiθ , where θ is real: (9.2)

(iθ)3 (iθ)4 (iθ)5 (iθ)2 + + + + ··· 2! 3! 4! 5! θ3 θ4 θ5 θ2 −i + + i ··· = 1 + iθ − 2! 3! 4! 5! θ4 θ3 θ5 θ2 + + ···+ i θ − + ··· . =1− 2! 4! 3! 5!

eiθ = 1 + iθ +

(The rearrangement of terms is justiﬁed because the series is absolutely convergent.) Now compare (9.1) and (9.2); the last line in (9.2) is just cos θ + i sin θ. We then have the very useful result we introduced in Section 3, known as Euler's formula:

(9.3)

eiθ = cos θ + i sin θ.

Thus we have justiﬁed writing any complex number as we did in (4.1), namely

(9.4)

z = x + iy = r(cos θ + i sin θ) = reiθ .

Complex Numbers

Chapter 2

Here are some examples of the use of (9.3) and (9.4). These problems can be done very quickly graphically or just by picturing them in your mind. Examples. Find the values of 2 eiπ/6 , eiπ , 3 e−iπ/2 , e2nπi . 2√ eiπ/6 is reiθ with r √ = 2, θ = π/6. From√Figure 9.1, x = 3, y = 1, x + iy = 3 + i, so 2 eiπ/6 = 3 + i.

Figure 9.1 eiπ is reiθ with r = 1, θ = π. From Figure 9.2, x = −1, y = 0, x + iy = −1 + 0i, so eiπ = −1. Note that r = 1 and θ = −π, ±3π, ±5π, · · · , give the same point, so e−iπ = −1, e3πi = −1, and so on.

Figure 9.2 3e−iπ/2 is reiθ with r = 3, θ = −π/2. From Figure 9.3, x = 0, y = −3, so 3e−iπ/2 = x + iy = 0 − 3i = −3i.

Figure 9.3 e2nπi is reiθ with r = 1 and θ = 2nπ = n(2π); that is, θ is an integral multiple of 2π. From Figure 9.4, x = 1, y = 0, so e2nπi = 1 + 0i = 1.

Figure 9.4 It is often convenient to use Euler's formula when we want to multiply or divide complex numbers. From (8.2) we obtain two familiar looking laws of exponents which are now valid for imaginary exponents:

(9.5)

eiθ1 · eiθ2 = ei(θ1 +θ2 ) , eiθ1 ÷ eiθ2 = ei(θ1 −θ2 ) .

Remembering that any complex number can be written in the form reiθ by (9.4), we get

Section 9

Euler's Formula

z1 · z2 = r1 eiθ1 · r2 eiθ2 = r1 r2 ei(θ1 +θ2 ) , r1 i(θ1 −θ2 ) e . z1 ÷ z2 = r2

(9.6)

In words, to multiply two complex numbers, we multiply their absolute values and add their angles. To divide two complex numbers, we divide the absolute values and subtract the angles.

Example. Evaluate (1 + i)2 /(1 − i). From Figure 5.1 we have √ iπ/4 1+√ i = 2e . We plot 1 − i in Figure √ 9.5 and ﬁnd r = 2, θ = −π/4 (or +7π/4), so 1 − i = 2 e−iπ/4 . Then √ √ ( 2 eiπ/4 )2 2 eiπ/2 (1 + i)2 = √ =√ = 2 e3iπ/4 . 1−i 2 e−iπ/4 2 e−iπ/4

Figure 9.5 From Figure 9.6, we ﬁnd x = −1, y = 1, so (1 + i)2 = x + iy = −1 + i. 1−i We could use degrees in this problem. By (9.6), we ﬁnd that the angle of (1 + i)2 /(1 − i) is 2(45◦ ) − (−45◦) = 135◦ as in Figure 9.6.

Figure 9.6

PROBLEMS, SECTION 9 Express the following complex numbers in the x + iy form. Try to visualize each complex number, using sketches as in the examples if necessary. The ﬁrst twelve problems you should be able to do in your head (and maybe some of the others—try it!) Doing a problem quickly in your head saves time over using a computer. Remember that the point in doing problems like this is to gain skill in manipulating complex expressions, so a good study method is to do the problems by hand and use a computer to check your answers. 1.

e−iπ/4

eiπ/2

9 e3πi/2

e(1/3)(3+4πi)

e5πi

e−2πi − e−4πi + e−6πi

3 e2(1+iπ)

2 e5πi/6 √ 5iπ/4 2e " √ "6 1+i 3

2 e−iπ/2

12.

4 e−8iπ/3

15.

(1 + i)2 + (1 + i)4

16.

eiπ + e−iπ √ ´3 ` i− 3 1−i " √ "" √ " i− 3 1+i 3

19.

(1 − i)8

10. 13.

11. 14. 17. 20.

1 (1 + i)3 „ √ «10 2 i−1

„ 18. „ 21.

1+i 1−i 1−i √ 2

«4 «40

Complex Numbers

Chapter 2

«42 1−i √ 2 „ √ «12 i 2 1+i „

22. 25.

(1 + i)48 ´25 `√ 3−i «19 „ 2i √ i+ 3

23.

26.

24.

√ ´21 ` 1−i 3 (i − 1)38

27.

Show that for any real y, |eiy | = 1. Hence show that |ez | = ex for every complex z.

28.

Show that the absolute value of a product of two complex numbers is equal to the product of the absolute values. Also show that the absolute value of the quotient of two complex numbers is the quotient of the absolute values. Hint: Write the numbers in the reiθ form.

Use Problems 27 and 28 to ﬁnd the following absolute values. If you understand Problems 27 and 28 and equation (5.1), you should be able to do these in your head. √

29.

|eiπ/2 |

30.

33.

|2 e3+iπ | ˛ ˛ ˛1 + i˛ ˛ ˛ ˛1 − i˛

34.

|4 e2i−1 | ˛ iπ ˛ ˛ e ˛ ˛ ˛ ˛1 + i˛

37.

38.

3−i

31.

|5 e2πi/3 |

32.

|3e2+4i |

35.

|3 e5i · 7 e−2i |

36.

|2 eiπ/6 |2

10. POWERS AND ROOTS OF COMPLEX NUMBERS Using the rules (9.6) for multiplication and division of complex numbers, we have z n = (reiθ )n = rn einθ

(10.1)

for any integral n. In words, to obtain the nth power of a complex number, we take the nth power of the modulus and multiply the angle by n. The case r = 1 is of particular interest. Then (10.1) becomes DeMoivre's theorem: (eiθ )n = (cos θ + i sin θ)n = cos nθ + i sin nθ.

(10.2)

You can use this equation to ﬁnd the formulas for sin 2θ, cos 2θ, sin 3θ, etc. (Problems 27 and 28). The nth root of z, z 1/n , means a complex number whose nth power is z. From (10.1) you can see that this is

(10.3)

1/n

iθ 1/n

= (re )

1/n iθ/n

√ θ θ n . = r cos + i sin n n

This formula must be used with care (see Examples 2 to 4 below). Some examples will show how useful these formulas are. Example 1.

[cos(π/10) + i sin(π/10)]25 = (eiπ/10 )25 = e2πi eiπ/2 = 1 · i = i.

Section 10

Powers and Roots of Complex Numbers

Example 2. Find the cube roots of 8. We know that 2 is a cube root of 8, but there are also two complex cube roots of 8; let us see why. Plot the complex number 8 (that is, x = 8, y = 0) in the complex plane; the polar coordinates of the point are r = 8, and θ = 0, or 360◦ , 720◦ , 1080◦, etc. (We can use either degrees or radians here; read the end of Section 3.) Now by equation (10.3), z 1/3 = r1/3 eiθ/3 ; that is, to ﬁnd the polar coordinates of the cube root of a number reiθ , we √ ﬁnd the cube root of r and divide the angle by 3. Then the polar coordinates of 3 8 are (10.4)

r = 2,

θ = 0◦ , = 0◦ ,

360◦/3, 720◦ /3, 1080◦/3 · · · 120◦, 240◦ , 360◦ · · · .

We plot these points in Figure 10.1. Observe that the point (2, 0◦ ) and the point (2, 360◦ ) are the same. The points in (10.4) are all on a circle of radius 2 and are equally spaced 360◦ /3 = 120◦ apart. Starting with θ = 0, if we add 120◦ repeatedly, we just repeat the three angles shown. Thus, there are exactly three cube roots for any number z, always on a circle of radius 3 |z| and spaced 120◦ apart. √ Now to ﬁnd the values of 3 8 in rectangular form, we can read them from Figure 10.1, or we can calculate them from z = r(cos θ + i sin θ) with r = 2 and θ = 0, 120◦ = 2π/3, 240◦ = 4π/3. We can also use a computer to solve the equation z 3 = 8. By any of these methods we ﬁnd √ √ √ 3 8 = {2, −1 + i 3, −1 − i 3}.

Figure 10.1 √ Example 3. Find and plot all values of 4 −64. From Figure 10.2 (or by visualizing a plot of −64), we see that the polar coordinates of −64 are r = 64, θ = π + 2kπ

Figure 10.2 Figure 10.3 √ (where k = 0, 1, 2, · · · ). Then since z 1/4 = r1/4 eiθ/4 , the polar coordinates of 4 −64 are √ √ 4 r = 64 = 2 2, π 3π 5π 7π π π + 2π π + 4π π + 6π , , ,··· = , , , . θ= , 4 4 4 4 4 4 4 4 We plot √ these points in Figure 10.3. Observe that they are all on a circle of radius 2 2, equally spaced 2π/4 = π/2 apart. Starting with θ = π/4, we add π/2

Complex Numbers

Chapter 2

repeatedly, and ﬁnd exactly 4 fourth roots. We can read the values of rectangular form from Figure 10.3: √ 4 −64 = ±2 ± 2i (all four combinations of ± signs)

√ 4 −64 in

or we can calculate them as in Example 2, or we can solve the equation z 4 = −64 by computer. √ Example 4. Find and plot all values of 6 −8i. The polar coordinates√of −8i are r = 8, θ = 270◦ + 360◦ k = 3π/2 + 2πk. Then the polar coordinates of 6 −8i are √ 2,

270◦ + 360◦k = 45◦ + 60◦ k 6 √ In Figure 10.4, we sketch a circle of radius 2. On it we plot the point at 45◦ and then plot the rest of the 6 equally spaced points 60◦ apart. To ﬁnd the roots in rectangular coordinates, we need to ﬁnd all the values of r(cos θ + i sin θ) with r and θ given by (10.5). We can do this one root at a time or more simply by using a computer to solve the equation z 6 = −8i. We ﬁnd (see Problem 33)

√ √ √ √ 3+1 3−1 3−1 3+1 − i, − i = ± 1 + i, 2 2 2 2 (10.5)

θ=

± {1 + i, 1.366 − 0.366i, 0.366 − 1.366i}.

θ=

π π + k. 4 3

Figure 10.4

Summary In each of the preceding examples, our steps in ﬁnding

√ n reiθ were:

(a) Find the polar coordinates of the roots: Take the nth root of r and divide θ + 2kπ by n. √ (b) Make a sketch: Draw a circle of radius n r, plot the root with angle θ/n, and then plot the rest of the n roots around the circle equally spaced 2π/n apart. Note that we have now essentially solved the problem. From the sketch you can see the approximate rectangular coordinates of the roots and check your answers in (c). Since this sketch is quick and easy to do, it is worthwhile even if you use a computer to do part (c). (c) Find the x + iy coordinates of the roots by one of the methods in the examples. If you are using a computer, you may want to make a computer plot of the roots which should be a perfected copy of your sketch in (b).

PROBLEMS, SECTION 10 Follow steps (a), (b), (c) above to ﬁnd all the values of the indicated roots. √ √ √ 3 3 4 1 2. 27 3. 1 1. √ √ √ 4 6 6 16 5. 1 6. 64 4. √ √ √ 8 8 5 16 8. 1 9. 1 7. √ √ √ 5 3 3 −8 12. −1 11. 10. 32

Section 11

13. 16. 19. 22. 25.

√ 4 √ 6 √ 3 √ 3 √ 5

The Exponential and Trigonometric Functions

−4

14.

−1

17.

20.

2i − 2

23.

−1 − i

26.

√ 4 √ 5 √ 3

−1

15.

−1

18.

−8i

21.

q 4

√ 5

√ 8i 3 − 8

24.

√ 6 √

−64

i q √ 2 + 2i 3 s √ 8 −1 − i 3 2

27.

Using the fact that a complex equation is really two real equations, ﬁnd the double angle formulas (for sin 2θ, cos 2θ) by using equation (10.2).

28.

As in Problem 27, ﬁnd the formulas for sin 3θ and cos 3θ.

29.

Show that the center of mass of three identical particles situated at the points z1 , z2 , z3 is (z1 + z2 + z3 )/3.

30.

Show that the sum of the three cube roots of 8 is zero.

31.

Show that the sum of the n nth roots of any complex number is zero.

32.

The three cube roots of +1 are often called 1, ω, and ω 2 . Show that this is reasonable, that is, show that the cube roots of +1 are +1 and two other numbers, each of which is the square of the other.

33.

Verify the results √ given for the roots in Example 4. You can ﬁnd the exact values in terms of 3 by using trigonometric addition formulas or more easily by using a computer to solve z 6 = −8i. (You still may have to do a little work by hand to put the computer's solution into the given form.)

11. THE EXPONENTIAL AND TRIGONOMETRIC FUNCTIONS Although we have already deﬁned ez by a power series (8.1), it is worth while to write it in another form. By (8.2) we can write

(11.1)

ez = ex+iy = ex eiy = ex (cos y + i sin y).

This is more convenient to use than the inﬁnite series if we want values of ez for given z. For example, e2−iπ = e2 e−iπ = e2 · (−1) = −e2 from Figure 9.2. We have already seen that there is a close relationship [Euler's formula (9.3)] between complex exponentials and trigonometric functions of real angles. It is useful to write this relation in another form. We write Euler's formula (9.3) as it

Complex Numbers

Chapter 2

is, and also write it with θ replaced by −θ. Remember that cos(−θ) = cos θ and sin(−θ) = − sin θ. Then we have eiθ = cos θ + i sin θ,

(11.2)

e−iθ = cos θ − i sin θ.

These two equations can be solved for sin θ and cos θ. We get (Problem 2) eiθ − e−iθ , 2i eiθ + e−iθ . cos θ = 2 sin θ =

(11.3)

These formulas are useful in evaluating integrals since products of exponentials are easier to integrate than products of sines and cosines. (See Problems 11 to 16, and Chapter 7, Section 5.) So far we have discussed only trigonometric functions of real angles. We could deﬁne sin z and cos z for complex z by their power series as we did for ez . We could then compare these series with the series for eiz and derive Euler's formula and (11.3) with θ replaced by z. However, it is simpler to use the complex equations corresponding to (11.3) as our deﬁnitions for sin z and cos z. We deﬁne eiz − e−iz , 2i eiz + e−iz . cos z = 2 sin z =

(11.4)

The rest of the trigonometric functions of z are deﬁned in the usual way in terms of these; for example, tan z = sin z/ cos z. e−1 + e ei·i + e−i·i = = 1.543 · · ·. (We will see in Section 15 that 2 2 this expression is called the hyperbolic cosine of 1.)

Example 1. cos i =

Example 2. sin

ei(π/2+i ln 2) − e−i(π/2+i ln 2) + i ln 2 = 2 2i eiπ/2 e− ln 2 − e−iπ/2 eln 2 by (8.2). = 2i

From Figures 5.2 and 9.3, eiπ/2 = i, and e−iπ/2 = −i. By the deﬁnition of ln x [or see equations (13.1) and (13.2)], eln 2 = 2, so e− ln 2 = 1/eln 2 = 1/2. Then sin

(i)(1/2) − (−i)(2) 5 + i ln 2 = = . 2 2i 4

Section 12

The Exponential and Trigonometric Functions

Notice from both these examples that sines and cosines of complex numbers may be greater than 1. As we shall see (Section 15), although | sin x| ≤ 1 and | cos x| ≤ 1 for real x, when z is a complex number, sin z and cos z can have any value we like. Using the deﬁnitions (11.4) of sin z and cos z, you can show that the familiar trigonometric identities and calculus formulas hold when θ is replaced by z. Example 3. Prove that sin2 z + cos2 z = 1. 2 iz e − e−iz e2iz − 2 + e−2iz 2 , = sin z = 2i −4 2 iz e2iz + 2 + e−2iz e + e−iz cos2 z = , = 2 4 2 2 sin2 z + cos2 z = + = 1. 4 4 Example 4. Using the deﬁnitions (11.4), verify that (d/dz) sin z = cos z. eiz − e−iz , 2i 1 d eiz + e−iz sin z = (ieiz + ie−iz ) = = cos z. dz 2i 2 sin z =

PROBLEMS, SECTION 11 1.

Deﬁne sin z and cos z by their power series. Write the power series for eiz . By comparing these series obtain the deﬁnition (11.4) of sin z and cos z.

Solve the equations eiθ = cos θ + i sin θ, e−iθ = cos θ − i sin θ, for cos θ and sin θ and so obtain equations (11.3).

Find each of the following in rectangular form x + iy and check your results by computer. Remember to save time by doing as much as you can in your head. 3. 6.

e−(iπ/4)+ln 3 cos(i ln 5)

sin(π − i ln 3)

4. 7.

e3 ln 2−iπ tan(i ln 2)

10.

sin(i ln i)

5. 8.

e(iπ/4)+(ln 2)/2 cos(π − 2i ln 3)

In the following integrals express the sines and cosines in exponential form and then integrate to show that: Z π Z π 11. cos 2x cos 3x dx = 0 12. cos2 3x dx = π Z 13. Z 15.

−π

π −π

sin 2x sin 3x dx = 0

π −π

14.

sin 2x cos 3x dx = 0

16.

−π

2π 0

sin2 4x dx = π

π −π

sin 3x cos 4x dx = 0

R Evaluate e(a+ib)x dx and take real and imaginary parts to show that: Z eax (a cos bx + b sin bx) 17. eax cos bx dx = a 2 + b2 Z ax e (a sin bx − b cos bx) 18. eax sin bx dx = a 2 + b2

Complex Numbers

Chapter 2

12. HYPERBOLIC FUNCTIONS Let us look at sin z and cos z for pure imaginary z, that is, z = iy: ey − e−y e−y − ey =i , 2i 2 ey + e−y e−y + ey = . cos iy = 2 2 sin iy =

(12.1)

The real functions on the right have special names because these particular combinations of exponentials arise frequently in problems. They are called the hyperbolic sine (abbreviated sinh) and the hyperbolic cosine (abbreviated cosh). Their deﬁnitions for all z are ez − e−z , 2 z −z e +e . cosh z = 2 sinh z =

(12.2)

The other hyperbolic functions are named and deﬁned in a similar way to parallel the trigonometric functions: sinh z , cosh z 1 sech z = , cosh z

tanh z = (12.3)

1 , tanh z 1 csch z = . sinh z coth z =

(See Problem 38 for the reason behind the term "hyperbolic" functions.) We can write (12.1) as sin iy = i sinh y,

(12.4)

cos iy = cosh y.

Then we see that the hyperbolic functions of y are (except for one i factor) the trigonometric functions of iy. From (12.2) we can show that (12.4) holds with y replaced by z. Because of this relation between hyperbolic and trigonometric functions, the formulas for hyperbolic functions look very much like the corresponding trigonometric identities and calculus formulas. They are not identical, however. Example. You can prove the following formulas (see Problems 9, 10, 11 and 38). cosh2 z − sinh2 z = 1 d cosh z = sinh z dz

(compare sin2 z + cos2 z = 1), d (compare cos z = − sin z). dz

PROBLEMS, SECTION 12 Verify each of the following by using equations (11.4), (12.2), and (12.3). 1.

sin z = sin(x + iy) = sin x cosh y + i cos x sinh y

Section 12

Hyperbolic Functions

cos z = cos x cosh y − i sin x sinh y

sinh z = sinh x cos y + i cosh x sin y

cosh z = cosh x cos y + i sinh x sin y

sin 2z = 2 sin z cos z

cos 2z = cos2 z − sin2 z

sinh 2z = 2 sinh z cosh z

cosh 2z = cosh2 z + sinh2 z

d cos z = − sin z dz

10.

d cosh z = sinh z dz

12.

cos4 z + sin4 z = 1 −

14.

11.

cosh2 z − sinh2 z = 1

13.

cos 3z = 4 cos3 z − 3 cos z

sin iz = i sinh z

15.

sinh iz = i sin z

16.

tan iz = i tanh z

17.

tanh iz = i tan z

18.

tan z = tan(x + iy) =

19.

tanh z =

20.

Show that enz = (cosh z + sinh z)n = cosh nz + sinh nz. Use this and a similar equation for e−nz to ﬁnd formulas for cosh 3z and sinh 3z in terms of sinh z and cosh z.

21.

Use a computer to plot graphs of sinh x, cosh x, and tanh x.

22.

Using (12.2) and (8.1), ﬁnd, in summation form, the power series for sinh x and cosh x. Check the ﬁrst few terms of your series by computer.

1 sin2 2z 2

tan x + i tanh y 1 − i tan x tanh y

tanh x + i tan y 1 + i tanh x tan y

Find the real part, the imaginary part, and the absolute value of 23.

cosh(ix)

24.

cos(ix)

25.

sin(x − iy)

26.

cosh(2 − 3i)

27.

sin(4 + 3i)

28.

tanh(1 − iπ)

Find each of the following in the x + iy form and check your answers by computer. „ « iπ 3πi 31. sinh ln 2 + 30. tanh 29. cosh 2π i 3 4 „ 32.

cosh

« iπ − ln 3 2

iπ 2

33.

tan i

34.

sin

36.

« „ iπ sinh 1 + 2

37.

cos(iπ)

35.

cosh(iπ + 2)

38.

The functions sin t, cos t, · · · , are called "circular functions" and the functions sinh t, cosh t, · · · , are called "hyperbolic functions". To see a reason for this, show that x = cos t, y = sin t, satisfy the equation of a circle x2 + y 2 = 1, while x = cosh t, y = sinh t, satisfy the equation of a hyperbola x2 − y 2 = 1.

Complex Numbers

Chapter 2

13. LOGARITHMS In elementary mathematics you learned to ﬁnd logarithms of positive numbers only; in fact, you may have been told that there were no logarithms of negative numbers. This is true if you use only real numbers, but it is not true when we allow complex numbers as answers. We shall now see how to ﬁnd the logarithm of any complex number z = 0 (including negative real numbers as a special case). If z = ew ,

(13.1) then by deﬁnition (13.2)

w = ln z.

(We use ln for natural logarithms to avoid the cumbersome loge and to avoid confusion with logarithms to the base 10.) We can write the law of exponents (8.2), using the letters of (13.1), as (13.3)

z1 z2 = ew1 · ew2 = ew1 +w2 .

Taking logarithms of this equation, that is, using (13.1) and (13.2), we get (13.4)

ln z1 z2 = w1 + w2 = ln z1 + ln z2 .

This is the familiar law for the logarithm of a product, justiﬁed now for complex numbers. We can then ﬁnd the real and imaginary parts of the logarithm of a complex number from the equation

(13.5)

w = ln z = ln(reiθ ) = Ln r + ln eiθ = Ln r + iθ,

where Ln r means the ordinary real logarithm to the base e of the real positive number r. Since θ has an inﬁnite number of values (all diﬀering by multiples of 2π), a complex number has inﬁnitely many logarithms, diﬀering from each other by multiples of 2πi. The principal value of ln z (often written as Ln z) is the one using the principal value of θ, that is 0 ≤ θ < 2π. (Some references use −π < θ ≤ π.) Example 1. Find ln(−1). From Figure 9.2, we see that the polar coordinates of the point z = −1 are r = 1 and θ = π, −π, 3π, · · · . Then, ln(−1) = Ln(1) + i(π ± 2nπ) = iπ, −iπ, 3πi, · · · . √ Example 2. Find ln(1 + i). From Figure 5.1, for z = 1 + i, we ﬁnd r = 2, and θ = π/4 ± 2nπ. Then π π √ ± 2nπ = 0.347 · · · + i ± 2nπ . ln(1 + i) = Ln 2 + i 4 4 Even a positive real number now has inﬁnitely many logarithms, since its angle can be taken as 0, 2π, −2π, etc. Only one of these logarithms is real, namely the principal value Ln r using the angle θ = 0.

Section 14

Complex Roots and Powers

14. COMPLEX ROOTS AND POWERS For real positive numbers, the equation ln ab = b ln a is equivalent to ab = eb ln a . We deﬁne complex powers by the same formula with complex a and b. By deﬁnition, for complex a and b (a = e), ab = eb ln a .

(14.1)

[The case a = e is excluded because we have already deﬁned powers of e by (8.1).] Since ln a is multiple valued (because of the inﬁnite number of values of θ), powers ab are usually multiple valued, and unless you want just the principal value of ln z or of ab you must use all values of θ. In the following examples we ﬁnd all values of each complex power and write the answers in the x + iy form. Example 1. Find all values of i−2i . From Figure 5.2, and equation (13.5) we ﬁnd ln i = Ln 1 + i(π/2 ± 2nπ) = i(π/2 ± 2nπ) since Ln 1 = 0. Then, by equation (14.1), i−2i = e−2i ln i = e−2i·i(π/2±2nπ) = eπ±4nπ = eπ , e5π , e−3π , · · · , where eπ = 23.14 · · · . Note the inﬁnite set of values of i−2i , all real! Also read the end of Section 3, and note that here the ﬁnal step is not to ﬁnd sine or cosine of π ± 4nπ; thus, in ﬁnding ln i = iθ, we must not write θ in degrees. Example 2. Find all values of i1/2 . Using ln i from Example 1 we have i1/2 = e(1/2) ln i = ei(π/4+nπ) = eiπ/4 einπ . Now einπ = +1 when n is even (Fig. 9.4), and einπ = −1 when n is odd (Fig. 9.2). Thus, 1+i i1/2 = ± eiπ/4 = ± √ 2 using Figure 5.1. Notice that although ln i has an inﬁnite set of values, we ﬁnd just two values for i1/2 as we should for a square root. (Compare the method of Section 10 which is easier for this problem.) Example 3. Find all values of (1 + i)1−i . Using (14.1) and the value of ln(1 + i) from Example 2, Section 13, we have (1 + i)1−i = e(1−i) ln(1+i) = e(1−i)[Ln √

√ 2+i(π/4±2nπ)]

√

= eLn 2 e−i Ln 2 eiπ/4 e±2nπi eπ/4 e±2nπ √ √ = 2 ei(π/4−Ln 2 ) eπ/4 e±2nπ (since e±2nπi = 1) √ π/4 ±2nπ √ √ = 2e e [cos(π/4 − Ln 2 ) + i sin(π/4 − Ln 2 )] ∼ = e± 2nπ (2.808 + 1.318i). Now you may be wondering why not just do these problems by computer. The most important point is that it is useful for advanced work to have skill in manipulating complex expressions. A second point is that there may be several forms for an answer (see Section 15, Example 2) or there may be many answers (see examples

Complex Numbers

Chapter 2

above), and your computer may not give you the one you want (see Problem 25). So to obtain needed skills, a good study method is to do problems by hand and compare with computer solutions.

PROBLEMS, SECTION 14 Evaluate each of the following in x + iy form, and compare with a computer solution. √ 1. ln(−e) 2. ln(−i) 3. ln(i + 3) « „ √ √ 1−i √ 6. ln 4. ln(i − 1) 5. ln(− 2 − i 2) 2 « „ 1+i 7. ln 9. (−1)i 8. i 2/3 1−i 10.

i ln i

11.

12.

i 3+i

13.

i 2i/π

14.

(2i)1+i

15.

(−1)sin i

17.

(i − 1)i+1

18.

cos(2i ln i)

21.

cos[i ln(−1)]

„ 16.

√ «i 1+i 3 2

„

19.

20.

cos(π + i ln 2) „√

3+i 2

1−i sin i ln 1+i

«–

√ "i √ 2i . Hint: Find 2i ﬁrst.

22.

sin i ln

24.

Show that (ab )c can have more values than abc . As examples compare (a) (b)

25.

23.

[(−i)2+i ]2−i i i

(i )

and

and −1

1−

(−i)(2+i)(2−i) = (−i)5 ;

Use a computer to ﬁnd the three solutions of the equation x3 −3x−1 = 0. Find a way to show that the solutions can be written as 2 cos(π/9), −2 cos(2π/9), −2 cos(4π/9).

15. INVERSE TRIGONOMETRIC AND HYPERBOLIC FUNCTIONS We have already deﬁned the trigonometric and hyperbolic functions of a complex number z. For example, (15.1)

w = cos z =

eiz + e−iz 2

deﬁnes w = cos z; that is, for each complex number z, (15.1) gives us the complex number w. We now deﬁne the inverse cosine or arc cos w by (15.2)

z = arc cos w

w = cos z.

The other inverse trigonometric and hyperbolic functions are deﬁned similarly. In dealing with real numbers, you know that sin x and cos x are never greater than 1. This is no longer true for sin z and cos z with z complex. To illustrate the method of ﬁnding inverse trigonometric (or inverse hyperbolic) functions, let's ﬁnd arc cos 2.

Section 15

Inverse Trigonometric and Hyperbolic Functions

Example 1. We want z, where z = arc cos 2

cos z = 2.

Then we have

eiz + e−iz = 2. 2 To simplify the algebra, let u = eiz . Then e−iz = u−1 , and the equation becomes u + u−1 = 2. 2 Multiply by 2 and by u to get u2 + 1 = 4u or u2 − 4u + 1 = 0. Solve this equation by the quadratic formula to ﬁnd √ √ √ 4 ± 16 − 4 u= = 2 ± 3, or eiz = u = 2 ± 3. 2 Take logarithms of both sides of this equation, and solve for z: √ √ iz = ln(2 ± 3) = Ln(2 ± 3) + 2nπi, √ √ arc cos 2 = z = 2nπ − i Ln(2 ± 3 ) = 2nπ ± i Ln(2 + 3 ) √ √ since Ln(2 − 3) = − Ln(2 + 3). It is instructive now to ﬁnd cos z and see that it is 2. For iz = ln(2 ± have √ √ eiz = eln(2± 3) = 2 ± 3, √ √ 2∓ 3 1 1 √ = = 2 ∓ 3. e−iz = iz = e 4−3 2± 3 Then

2± eiz + e−iz = cos z = 2

√ 3), we

√ √ 3+2∓ 3 4 = = 2, 2 2

as claimed. By the same method, we can ﬁnd all the inverse trigonometric and hyperbolic functions in terms of logarithms. (See Problems, Section 17.) Here is one more example. Example 2. In integral tables or from your computer you may ﬁnd for the indeﬁnite integral dx √ (15.3) 2 x + a2 either (15.4)

sinh−1

x2 + a2 ).

x a

ln(x +

x a

x ez − e−z = sinh z = . a 2

How are these related? Put (15.5)

z = sinh−1

Complex Numbers

Chapter 2

We solve for z as in the previous example. Let ez = u, e−z = 1/u. Then 2x 1 = , u a au2 − 2xu − a = 0, √ √ x ± x2 + a2 2x ± 4x2 + 4a2 z = . e =u= 2a a u−

(15.6)

For real integrals, that is, for real z, ez > 0, so we must use the positive sign. Then, taking the logarithm of (15.6) we have (15.7) z = ln(x + x2 + a2 ) − ln a. Comparing (15.5) and (15.7) we see that the two answers in (15.4) diﬀer only by the constant ln a, which is a constant of integration.

PROBLEMS, SECTION 15 Find each of the following in the x + iy form and compare a computer solution. 1.

arc sin 2

arc tan 2i

sinh−1 (i/2)

cosh−1 (1/2) "√ " arc cos i 8

tanh−1 (−i)

"√ " arc tan i 2

arc sin(5/3)

"√ " tanh−1 i 3

10.

arc cos(5/4)

11.

" √ " sinh−1 i/ 2

12.

cosh−1

13.

cosh−1 (−1)

14.

arc sin(3i/4)

15.

arc tan(2 + i)

16.

tanh−1 (1 − 2i)

17.

Show that tan z never takes the values ±i. Hint: Try to solve the equation tan z = i and ﬁnd that it leads to a contradiction.

18.

Show that tanh z never takes the values ±1.

"√

" 3/2

16. SOME APPLICATIONS Motion of a Particle We have already seen (end of Section 5) that the path of a particle in the (x, y) plane is given by z = z(t). As another example of this, suppose z = 1 + 3e2it . We see that (16.1)

|z − 1| = |3 e2it | = 3.

Recall that |z − 1| is the distance between the points z and 1; (16.1) says that this distance is 3. Thus the particle traverses a circle of radius 3, with center at (1, 0). The magnitude of its velocity is |dz/dt| = |6i e2it | = 6, so it moves around the circle at constant speed. (Also see Problem 2).

Section 16

Some Applications

PROBLEMS, SECTION 16 1.

Show that if the line through the origin and the point z is rotated 90◦ about the origin, it becomes the line through the origin and the point iz. This fact is sometimes expressed by saying that multiplying a complex number by i rotates it through 90◦ . Use this idea in the following problem. Let z = a eiωt be the displacement of a particle from the origin at time t. Show that the particle travels in a circle of radius a at velocity v = aω and with acceleration of magnitude v 2 /a directed toward the center of the circle.

In each of the following problems, z represents the displacement of a particle from the origin. Find (as functions of t) its speed and the magnitude of its acceleration, and describe the motion. 2.

z = 5eiωt , ω = const.

Hint: See Problem 1.

z = (1 + i)e .

z = (1 + i)t − (2 + i)(1 − t). Hint: Show that the particle moves along a straight line through the points (1 + i) and (−2 − i).

z = z1 t + z2 (1 − t). points z1 and z2 .

Hint: See Problem 4; the straight line here is through the

Electricity In the theory of electric circuits, it is shown that if VR is the voltage across a resistance R, and I is the current ﬂowing through the resistor, then (16.2)

VR = IR

(Ohm's law).

It is also known that the current and voltage across an inductance L are related by VL = L

(16.3)

dI dt

and the current and voltage across a capacitor are related by I dVC = , dt C where C is the capacitance. Suppose the current I and voltage V in the circuit of Figure 16.1 vary with time so that I is given by (16.4)

(16.5)

I = I0 sin ωt.

You can verify that the following voltages across R, L, and C are consistent with (16.2), (16.3), and (16.4): (16.6) (16.7) (16.8)

VR = RI0 sin ωt, VL = ωLI0 cos ωt, 1 I0 cos ωt. VC = − ωC

The total voltage (16.9)

V = VR + VL + VC

Figure 16.1

Complex Numbers

Chapter 2

is then a complicated function. A simpler method of discussing a-c circuits uses complex quantities as follows. Instead of (16.5) we write I = I0 eiωt ,

(16.10)

where it is understood that the actual physical current is given by the imaginary part of I in (16.10), that is, by (16.5). Note, by comparing (16.5) and (16.10), that the maximum value of I, namely I0 , is given in (16.10) by |I|. Now equations (16.6) to (16.9) become (16.11)

VR = RI0 eiωt = RI,

(16.12)

VL = iωLI0 eiωt = iωLI, 1 1 I0 eiωt = I, VC = iωC iωC

(16.13) (16.14)

V = VR + VL + VC = R + i ωL −

1 ωC

The complex quantity Z deﬁned by

1 Z = R + i ωL − ωC

(16.15)

is called the (complex) impedance. Using it we can write (16.14) as (16.16)

V = ZI

which looks much like Ohm's law. In fact, Z for an a-c circuit corresponds to R for a d-c circuit. The more complicated a-c circuit equations now take the same simple form as the d-c equations except that all quantities are complex. For example, the rules for combining resistances in series and in parallel hold for combining complex impedances (see Problems below).

PROBLEMS, SECTION 16 In electricity we learn that the resistance of two resistors in series is R1 + R2 and the resistance of two resistors in parallel is (R1−1 + R2−1 )−1 . Corresponding formulas hold for complex impedances. Find the impedance of Z1 and Z2 in series, and in parallel, given: √ 6. (a) Z1 = 2 + 3i, Z2 = 1 − 5i (b) Z1 = 2 3 eiπ/6 , Z2 = 2 e2iπ/3 (b) |Z1 | = 3.16, θ1 = 18.4◦ ; |Z2 | = 4.47, θ2 = 63.4◦

(a) Z1 = 1 − i, Z2 = 3i

Find the impedance of the circuit in Figure 16.2 (R and L in series, and then C in parallel with them). A circuit is said to be in resonance if Z is real; ﬁnd ω in terms of R, L, and C at resonance.

For the circuit in Figure 16.1:

10.

(a)

Find ω in terms of R, L, and C if the angle of Z is 45◦ .

(b)

Find the resonant frequency ω (see Problem 8).

Figure 16.2

Repeat Problem 9 for a circuit consisting of R, L, and C, all in parallel.

Section 16

Some Applications

Optics In optics we frequently need to combine a number of light waves (which can be represented by sine functions). Often each wave is "out of phase" with the preceding one by a ﬁxed amount; this means that the waves can be written as sin t, sin(t + δ), sin(t + 2δ), and so on. Suppose we want to add all these sine functions together. An easy way to do it is to see that each sine is the imaginary part of a complex number, so what we want is the imaginary part of the series eit + ei(t+δ) + ei(t+2δ) + · · · .

(16.17)

This is a geometric progression with ﬁrst term eit and ratio eiδ . If there are n waves to be combined, we want the sum of n terms of this progression, which is eit (1 − einδ ) . 1 − eiδ

(16.18)

We can simplify this expression by writing (16.19)

1 − eiδ = eiδ/2 (e−iδ/2 − eiδ/2 ) = −eiδ/2 · 2i sin

δ 2

by (11.3). Substituting (16.19) and a similar formula for (1 − einδ ) into (16.18), we get (16.20)

eit einδ/2 sin(nδ/2) sin(nδ/2) = ei{t+[(n−1)/2]δ} . sin(δ/2) sin(δ/2) eiδ/2

The imaginary part of the series (16.17) which we wanted is then the imaginary part of (16.20), namely n−1 δ nδ sin t + sin . δ sin 2 2 2

PROBLEMS, SECTION 16 11.

Prove that sin 2nθ , 2 sin θ sin2 nθ sin θ + sin 3θ + sin 5θ + · · · + sin(2n − 1)θ = . sin θ

cos θ + cos 3θ + cos 5θ + · · · + cos(2n − 1)θ =

Hint: Use Euler's formula and the geometric progression formula. 12.

In optics, the following expression needs to be evaluated in calculating the intensity of light transmitted through a ﬁlm after multiple reﬂections at the surfaces of the ﬁlm: !2 !2 ∞ ∞ X X 2n 2n r cos nθ + r sin nθ . n=0

P∞

n=0 2n inθ 2

Show that this is equal to | n=0 r e | and so evaluate it assuming |r| < 1 (r is the fraction of light reﬂected each time).

Complex Numbers

Chapter 2

Simple Harmonic Motion It is very convenient to use complex notation even for motion along a straight line. Think of a mass m attached to a spring and oscillating up and down (see Figure 16.3). Let y be the vertical displacement of the mass from its equilibrium position (the point at which it would hang at rest). Recall that the force on m due to the stretched or compressed spring is then −ky, where k is the spring constant, and the minus sign indicates that the force and displacement are in opposite directions. Then Newton's second law (force = mass times acceleration) gives (16.21)

d2 y = −ky dt2

d2 y k = − y = −ω 2 y 2 dt m

Figure 16.3

ω2 =

k . m

Now we want a function y(t) with the property that diﬀerentiating it twice just multiplies it by a constant. You can easily verify that this is true for exponentials, sines, and cosines (see problem 13). Just as in discussing electric circuits (see (16.10)), we may write a solution of (16.21) as y = y0 eiωt

(16.22)

with the understanding that the actual physical displacement is either the real or the imaginary part of (16.22). The constant ω = k/m is called the angular frequency (see Chapter 7, Section 2). We will use this notation in Chapter 3, Section 12.

PROBLEMS, SECTION 16 13.

Verify that eiωt , e−iωt , cos ωt, and sin ωt satisfy equation (16.21).

17. MISCELLANEOUS PROBLEMS Find one or more values of each of the following complex expressions and compare with a computer solution. √ «50 «2718 „ „ √ 1+i 1+i 3 5 1. √ √ 2. 3. −4 − 4i 1−i 2+i 2 4. 7.

sinh(1 + iπ/2) (−i)

5. 8.

√

−1

(−e)iπ

"„ √ «12 # 3+i √ arc sin 3−i

ei arc sin i

10.

e2i arc tan(i

13.

Find real x and y for which |z + 3| = 1 − iz, where z = x + iy. P Find the disk of convergence of the series (z − 2i)n /n. P ln n For what z is the series z absolutely convergent? Hints: Use equation (14.1). Also see Chapter 1, Problem 6.15.

14. 15. 16.

tanh(iπ/4) » – 1−i cos 2i ln 1+i

11.

e2 tanh

12.

Describe the set of points z for which Re(eiπ/2 z) > 2.

Section 17

Miscellaneous Problems

Verify the formulas in Problems 17 to 24. p 17. arc sin z = −i ln(iz ± 1 − z 2 ) p 18. arc cos z = i ln(z ± z 2 − 1)

21.

1 1 + iz ln 2i 1 − iz p sinh−1 z = ln(z ± z 2 + 1) p p cosh−1 z = ln(z ± z 2 − 1) = ± ln(z + z 2 − 1)

22.

tanh−1 z =

23.

cos iz = cosh z

24.

cosh iz = cos z

25.

(a)

Show that cos z = cos z¯.

(b)

Is sin z = sin z¯?

(c)

If f (z) = 1 + iz, is f (z) = f (¯ z )?

(d)

If f (z) is expanded in a power series with real coeﬃcients, show that f (z) = f (¯ z ).

19. 20.

arc tan z =

1 1+z ln 2 1−z

Using part (d), verify, without computing its value, that i[sinh(1 + i) − sinh(1 − i)] is real. ˛ iθ ˛ ˛ 2e − i ˛ ˛. Hint: See equation (5.1). Find ˛˛ iθ ie + 2 ˛

(e) 26. 27.

(a)

Show that Re z = 12 (z + z¯) and that Im z = (1/2i)(z − z¯).

(b)

Show that |ez |2 = e2 Re z .

(c)

Use (b) to evaluate |e(1+ix)

(1−it)−|1+it|2 2

| which occurs in quantum mechanics.

28.

Evaluate the following absolute square of a complex number (which arises in a problem in quantum mechanics). Assume a and b are real. Express your answer in terms of a hyperbolic function. ˛ ˛ ˛ (a + bi)2 eb − (a − bi)2 e−b ˛2 ˛ ˛ ˛ ˛ 4abie−ia

29.

If z =

30.

Write the series for ex(1+i) . Write 1 + i in the reiθ form and so obtain (easily) the powers of (1 + i). Thus show, for example, that the ex cos x series has no x2 term, no x6 term, etc., and a similar result for the ex sin x series. Find (easily) a formula for the general term for each series.

31.

Show that if a sequence of complex numbers tends to zero, then the sequence of absolute values tends to zero too, and vice versa. Hint: an + ibn → 0 means an → 0 and bn → 0.

32.

Use a series you know to show that

a 1 1 1 and = + , ﬁnd z. b a+b a b

∞ X (1 + iπ)n = −e. n! n=0

CHAPTER

Linear Algebra 1. INTRODUCTION In this chapter, we are going to discuss a combination of algebra and geometry which is important in many applications. As you know, problems in various ﬁelds of science and mathematics involve the solution of sets of linear equations. This sounds like algebra, but it has a useful geometric interpretation. Suppose you have solved two simultaneous linear equations and have found x = 2 and y = −3. We can think of x = 2, y = −3 as the point (2, −3) in the (x, y) plane. Since two linear equations represent two straight lines, the solution is then the point of intersection of the lines. The geometry helps us to understand that sometimes there is no solution (parallel lines) and sometimes there are inﬁnitely many solutions (both equations represent the same line). The language of vectors is very useful in studying sets of simultaneous equations. You are familiar with quantities such as the velocity of an object, the force acting on it, or the magnetic ﬁeld at a point, which have both magnitude and direction. Such quantities are called vectors; contrast them with such quantities as mass, time, or temperature, which have magnitude only and are called scalars. A vector can be represented by an arrow and labeled by a boldface letter (A in Figure 1.1; also see Section 4). The length of the arrow tells us the magnitude of the vector and the direction of the arrow tells us the direction of the vector. It is not necessary to use coordinate axes as in Figure 1.1; we can, for example, point a ﬁnger to tell someone which way it is to town without knowing the direction of north. This is the geometric method of discussing vectors (see Section 4). However, if we do use a coordinate system as in Figure 1.1, we can specify the vector by giving its components Ax and Ay which are the projections of the vector on the x axis and the y axis. Thus we have two distinct methods of deﬁning and working with vectors. A vector may be a geometric entity (arrow), or it may be a set of numbers (components relative to a coordinate system) which we use algebraically. As we shall see, this double interpretation of everything we do makes Figure 1.1 the use of vectors a very powerful tool in applications. One of the great advantages of vector formulas is that they are independent of 82

Section 2

Matrices; Row Reduction

the choice of coordinate system. For example, suppose we are discussing the motion of a mass m sliding down an inclined plane. Newton's second law F = ma is then a correct equation no matter how we choose our axes. We might, say, take the x axis horizontal and the y axis vertical, or alternatively we might take the x axis along the inclined plane and the y axis perpendicular to the plane. Fx would, of course, be diﬀerent in the two cases, but for either case it would be true that Fx = max and Fy = may , that is, the vector equation F = ma would be true. As we have just seen, a vector equation in two dimensions is equivalent to two component equations. In three dimensions, a vector equation is equivalent to three component equations. We will ﬁnd it useful to generalize this to n dimensions and think of a set of n equations in n unknowns as the component equations for a vector equation in an n dimensional space (Section 10). We shall also be interested in sets of linear equations which you can think of as changes of variable, say (1.1)

x = ax + by, y = cx + dy,

where a, b, c, d, are constants. Alternatively, we can think of (1.1) geometrically as telling us to move each point (x, y) to another point (x , y ), an operation we will refer to as a transformation of the plane. Or if we think of (x, y) and (x , y ) as being components of vectors from the origin to the given points, then (1.1) tells us how to change each vector in the plane to another vector. Equations (1.1) could also correspond to a change of axes (say a rotation of axes around the origin) where (x, y) and (x , y ) are the coordinates of the same point relative to diﬀerent axes. We will learn (Sections 11 and 12) how to choose the best coordinate system or set of variables to use in solving various problems. The same methods and tools (such as matrices and determinants) which can be used to solve sets of numerical equations are what we need to work with transformations and changes of coordinate system. After we have considered 2- and 3-dimensional space, we will extend these ideas to n-dimensional space and ﬁnally to a space in which the "vectors" are functions. This generalization is of great importance in applications.

2. MATRICES; ROW REDUCTION A matrix (plural: matrices) is just a rectangular array of quantities, usually inclosed in large parentheses, such as 1 5 −2 . −3 0 6

(2.1)

We will ordinarily indicate a matrix by a roman letter such as A (or B, C, M, r, etc.), but the letter does not have a numerical value; it simply stands for the array. To indicate a number in the array, we will write Aij where i is the row number and j is the column number. For example, in (2.1), A11 = 1, A12 = 5, A13 = −2, A21 = −3, A22 = 0, A23 = 6. We will call a matrix with m rows and n columns an m by n matrix. Thus the matrix in (2.1) is a 2 by 3 matrix, and the matrix in (2.2) below is a 3 by 2 matrix.

Linear Algebra

Transpose of a Matrix

Chapter 3

We write 

 1 −3 0 , AT =  5 −2 6

(2.2)

and call AT the transpose of the matrix A in (2.1). To transpose a matrix, we simply write the rows as columns, that is, we interchange rows and columns. Note that, using index notation, we have (AT )ij = Aji . You will ﬁnd a summary of matrix notation in Section 9. Sets of Linear Equations Historically linear algebra grew out of eﬀorts to ﬁnd eﬃcient methods for solving sets of linear equations. As we have said, the subject has developed far beyond the solution of sets of numerical equations (which are easily solved by computer), but the ideas and methods developed for that purpose are needed in later work. A simple way to learn these techniques is to use them to solve some numerical problems by hand. In this section and the next we will develop methods of working with sets of linear equations, and introduce deﬁnitions and notation which will be useful later. Also, as you will see, we will discover how to tell whether a given set of equations has a solution or not. Example 1. Consider the set of equations  − z = 2,  2x 6x + 5y + 3z = 7, (2.3)  2x − y = 4. Let's agree always to write sets of equations in this standard form with the x terms lined up in a column (and similarly for the other variables), and with the constants on the right hand sides of the equations. Then there are several matrices of interest connected with these equations. First is the matrix of the coeﬃcients which we will call M:   2 0 −1 5 3 . (2.4) M = 6 2 −1 0 Then there are two 3 by 1 matrices which we will call r and k:     x 2 (2.5) r = y  , k = 7  . z 4 If we use index notation and replace x, y, z, by x1 , x2 , x3 , and call the constants k1 , k2 , k3 , then we could write the equations (2.3) in the form (Problem 1) (2.6)

Mij xj = ki ,

i = 1, 2, 3.

j=1

It is interesting to note that, as we will see in Section 6, this is exactly how matrices are multiplied, so we will learn to write sets of equations like (2.3) as Mr = k.

Section 2

Matrices; Row Reduction

For right now we are interested in the fact that we can display all the essential numbers in equations (2.3) as a matrix known as the augmented matrix which we call A. Note that the ﬁrst three columns of A are just the columns of M, and the fourth column is the column of constants on the right hand sides of the equations.   2 0 −1 2 5 3 7 . (2.7) A = 6 2 −1 0 4 Instead of working with a set of equations and writing all the variables, we can just work with the matrix (2.7). The process which we are going to show is called row reduction and is essentially the way your computer solves a set of linear equations. Row reduction is just a systematic way of taking linear combinations of the given equations to produce a simpler but equivalent set of equations. We will show the process, writing side-by-side the equations and the matrix corresponding to them. (a) The ﬁrst step is to use the ﬁrst equation in (2.3) to eliminate the x terms in the other two equations. The corresponding matrix operation on (2.7) is to subtract 3 times the ﬁrst row from the second row and subtract the ﬁrst row from the third row. This gives:    2 0 −1 2 − z = 2,  2x 0 5 6 1 5y + 6z = 1,  0 −1 1 2 − y + z = 2. (b) Now it is convenient to interchange the second and third equations to get:    − z = 2, 2 0 −1 2  2x 0 −1 − y + z = 2, 1 2  5y + 6z = 1. 0 5 6 1 (c) Next we use the second equation to eliminate the y terms from the other equations:    2 0 −1 2 − z = 2,  2x 0 −1 1 2 − y + z = 2,  0 0 11 11 11z = 11. (d) Finally, we divide the third equation by 11 and then use z terms from the other equations:   2 0 = 3,  2x 0 −1 − y = 1,  0 0 z = 1.

it to eliminate the  0 3 0 1 1 1

It is customary to divide each equation by the leading coeﬃcient so that the equations read x = 3/2, y = −1, z = 1. The row reduced matrix is then:   1 0 0 3/2 0 1 0 −1  . 0 0 1 1 The important thing to understand here is that in ﬁnding a row reduced matrix we have just taken linear combinations of the original equations. This process is

Linear Algebra

Chapter 3

reversible, so the ﬁnal simple equations are equivalent to the original ones. Let's summarize the allowed operations in row reducing a matrix (called elementary row operations).

(2.8)

i. Interchange two rows [see step (b)]; ii. Multiply (or divide) a row by a (nonzero) constant [see step (d)]; iii. Add a multiple of one row to another; this includes subtracting, that is, using a negative multiple [see steps (a) and (c)].

Example 2. Write and row reduce the augmented matrix for the equations:   x − y + 4z = 5, 2x − 3y + 8z = 4, (2.9)  x − 2y + 4z = 9. This time we won't write the equations, just the augmented matrix. Remember the routine: Use the ﬁrst row to clear the rest of the ﬁrst column; use the new second row to clear the rest of the second column; etc. Also, since matrices are equal only if they are identical, we will not use equal signs between them. Let's use arrows.       1 0 4 11 1 −1 4 5 1 −1 4 5 2 −3 8 4 → 0 −1 0 −6 → 0 −1 0 −6  0 0 0 −20 0 −1 0 4 1 −2 4 9 We don't need to go any farther! The last row says 0 · z = −20 which isn't true for any ﬁnite value of z. Now you see why your computer doesn't give an answer—there isn't any. We say that the equations are inconsistent. If this happens for a set of equations you have written for a physics problem, you know to look for a mistake. Rank of a Matrix There is another way to discuss Example 2 using the following deﬁnition: The number of nonzero rows remaining when a matrix has been row reduced is called the rank of the matrix. (It is a theorem that the rank of AT is the same as the rank of A.) Now look at the reduced augmented matrix for Example 2; it has 3 nonzero rows so its rank is 3. But the matrix M (matrix of the coeﬃcients = ﬁrst three columns of A) has only 2 nonzero rows so its rank is 2. Note that (rank of M) < (rank of A) and the equations are inconsistent. Example 3. Consider the equations   x + 2y − z = 4, 2x − z = 1, (2.10)  x − 2y = −3. Either by hand or by computer we row reduce    1 1 2 −1 4 2 0 −1 1  → 0 0 1 −2 0 −3

the augmented matrix to get:  0 −1/2 1/2 1 −1/4 7/4 . 0 0 0

Section 2

Matrices; Row Reduction

The last row of zeros tells us that there are inﬁnitely many solutions. For any z we ﬁnd from the ﬁrst two rows that x = (z + 1)/2 and y = (z + 7)/4. Here we see that the rank of M and the rank of A are both 2 but the number of unknowns is 3, and we are able to ﬁnd two unknowns in terms of the third. To make this all very clear, let's look at some simple examples where the results are obvious. We write three sets of equations together with the row reduced matrices: (2.11) (2.12) (2.13)

x + y = 2, x + y = 5. x + y = 2, 2x + 2y = 4. x + y = 2, x − y = 4.

1 0 1 0 1 0

1 2 0 3 1 2 0 0

0 3 1 −1

In (2.11), since x + y can't be equal to both 2 and 5, it is clear that there is no solution; the equations are inconsistent. Note that the last row of the reduced matrix is all zeros except for the last entry and so (rank M) < (rank A). In (2.12), the second equation is just twice the ﬁrst so they are really the same equation; we say that the equations are dependent. There is an inﬁnite set of solutions, namely all points on the line y = 2 − x. Note that the last line of the matrix is all zeros; this indicates linear dependence. We have (rank A) = (rank M) = 1, and we can solve for one unknown in terms of the other. Finally in (2.13) we have a set of equations with one solution, x = 3, y = −1, and we see that the row reduced matrix gives this result. Note that (rank A) = (rank M) = number of unknowns = 2. Now let's consider the general problem of solving m equations in n unknowns. Then M has m rows (corresponding to m equations) and n columns (corresponding to n unknowns) and A has one more column (the constants). The following summary outlines the possible cases.

a. If (rank M) < (rank A), the equations are inconsistent and there is no solution. (2.14)

b. If (rank M) = (rank A) = n (number of unknowns), there is one solution. c. If (rank M) = (rank A) = R < n, then R unknowns can be found in terms of the remaining n − R unknowns.

Example 4. Here is a set of equations and the row reduced matrix:   1 0 −2 x + y − z = 7,    0 1 1 2x − y − 5z = 2,  (2.15) 0 0 −5x + 4y + 14z = 1, 0    3x − y − 7z = 5. 0 0 0

 3 4  0 0

Linear Algebra

Chapter 3

From the reduced matrix, the solution is x = 3 + 2z, y = 4 − z. We see that this is an example of (2.14c) with m = 4 (number of equations), n = 3 (number of unknowns), (rank M) = (rank A) = R = 2 < n = 3. Then by (2.14c), we solve for R = 2 unknowns (x and y) in terms of the n − R = 1 unknown (z).

PROBLEMS, SECTION 2 1.

The ﬁrst equation in (2.6) written out in detail is M11 x1 + M12 x2 + M13 x3 = k1 . Write out the other two equations in the same way and then substitute x1 , x2 , x3 = x, y, z and the values of Mij and ki from (2.4) and (2.5) to verify that (2.6) is really (2.3).

As in Problem 1, write out in detail in terms of Mij , xj , and ki , equations like (2.6) for two equations in four unknowns; for four equations in two unknowns.

For each of the following problems write and row reduce the augmented matrix to ﬁnd out whether the given set of equations has exactly one solution, no solutions, or an inﬁnite set of solutions. Check your results by computer. Warning hint: Be sure your equations are written in standard form. Comment: Remember that the point of doing these problems is not just to get an answer (which your computer will give you), but to become familiar with the terminology, ideas, and notation we are using.   2x + y − z = 2 x − 2y + 13 = 0 3. 4. 4x + y − 2z = 3 y − 4x = 17   2x + y − z = 2 x + y − z = 1 5. 6. 4x + 2y − 2z = 3 3x + 2y − 2z = 3 8 8 < −x + y − z = 4 < 2x + 3y = 1 x − y + 2z = 3 x + 2y = 2 8. 7. : : 2x − 2y + 4z = 6 x + 3y = 5 8 8 < x + 2y − z = 1 < x − y + 2z = 5 2x + 3y − 2z = −1 2x + 3y − z = 4 10. 9. : : 2x − 2y + 4z = 6 3x + 4y − 3z = −4 8 8 = 4 < x − 2y < 2x + 5y + z = 2 11. 5x + z = 7 12. x + y + 2z = 1 : : x + 2y − z = 3 x + 5z = 3 8 8 7 < 4x + 6y − 12z = < 2x + 3y − z = −2 x + 2y − z = 4 5x − 2y + 4z = −15 14. 13. : : 4x + 7y − 3z = 11 3x + 4y − 8z = 4 Find the rank 0 1 1 15. @2 4 3 2 0 1 1 B3 1 17. B @4 2 2 0

of each of the following matrices. 1 2 6A 16. 5 1 4 3 10 7 C C 18. 14 10A 6 4

0 2 @4 3 0

1 B−1 B @ 2 2

−3 −1 −2 0 −2 2 4

5 1 3

1 3 1A 4 1 −1 5 8

1 0 0C C 3A 6

Section 3

Determinants; Cramer's Rule

3. DETERMINANTS; CRAMER'S RULE We have said that a matrix is simply a display of a set of numbers; it does not have a numerical value. For a square matrix, however, there is a useful number called the determinant of the matrix. Although a computer will quickly give the value of a determinant, we need to know what this value means in order to use it in applications. [See, for example, equations (4.19), (6.24) and (8.5).] We also need to know how to work with determinants. An easy way to learn these things is to solve some numerical problems by hand. We shall outline some of the facts about determinants without proofs (for more details, see linear algebra texts). Evaluating Determinants To indicate that we mean the determinant of a square matrix A (written det A), we replace the large parentheses inclosing A by single bars. The value of det A if A is a 1 by 1 matrix is just the value of the single element. For a 2 by 2 matrix, a b a b = ad − bc. (3.1) A= , det A = c d c d Equation (3.1) gives the value of a second order determinant. We shall describe how to evaluate determinants of higher order. First we need some notation and deﬁnitions. It is convenient to write an nth order determinant like this: a11 a12 a13 · · · a1n a21 a22 a23 · · · a2n a31 a32 a33 · · · a3n (3.2) . .. .. .. . . . an1 an2 an3 · · · ann Notice that a23 is the element in the second row and the third column; that is, the ﬁrst subscript is the number of the row and the second subscript is the number of the column in which the element is. Thus the element aij is in row i and column j. As an abbreviation for the determinant in (3.2), we sometimes write simply |aij |, that is, the determinant whose elements are aij . In this form it looks exactly like the absolute value of the element aij and you have to tell from the context which of these meanings is intended. If we remove one row and one column from a determinant of order n, we have a determinant of order n − 1. Let us remove the row and column containing the element aij and call the remaining determinant Mij . The determinant Mij is called the minor of aij . For example, in the determinant 1 −5 2 7 3 4 , (3.3) 2 1 5 the minor of the element a23 = 4 is 1 −5 , M23 = 2 1

Linear Algebra

Chapter 3

obtained by crossing oﬀ the row and column containing 4. The signed minor (−1)i+j Mij is called the cofactor of aij . In (3.3), the element 4 is in the second row (i = 2) and third column (j = 3), so i + j = 5, and the cofactor of 4 is (−1)5 M23 = −11. It is very convenient to get the proper sign (plus or minus) for the factor (−1)i+j by thinking of a checkerboard of plus and minus signs like this:

(3.4)

+ − − + + − − + etc.

+ − + −

− + − +

etc. ..

. + − − +

Then the sign (−1)i+j to be attached to Mij is just the checkerboard sign in the same position as aij . For the element a23 , you can see that the checkerboard sign is minus.

Now we can easily say how to ﬁnd the value of a determinant: Multiply each element of one row (or one column) by its cofactor and add the results. It can be shown that we get the same answer whichever row or column we use.

Example 1. Let us evaluate the determinant in (3.3) using elements of the third column. We get 1 −5 2 = 2 7 7 3 4 2 2 1 5

1 3 − 4 2 1

1 −5 + 5 7 1

−5 3

= 2 · 1 − 4 · 11 + 5 · 38 = 148. As a check, using elements of the ﬁrst row, we get 7 7 4 3 4 + 2 +5 1 2 2 5 1 5

3 = 11 + 135 + 2 = 148. 1

The method of evaluating a determinant which we have described here is one form of Laplace's development of a determinant. If the determinant is of fourth order (or higher), using the Laplace development once gives us a set of determinants of order one less than we started with; then we use the Laplace development all over again to evaluate each of these, and so on until we get determinants of second order which we know how to evaluate. This is obviously a lot of work! We will see below how to simplify the calculation. A word of warning to anyone who has learned a special method of evaluating a third-order determinant by recopying columns to the right and multiplying along diagonals: this method does not work for fourth order (and higher).

Section 3

Determinants; Cramer's Rule

Useful Facts About Determinants algebra books for proofs.)

We state these facts without proof. (See

1. If each element of one row (or one column) of a determinant is multiplied by a number k, the value of the determinant is multiplied by k. 2. The value of a determinant is zero if (a) all elements of one row (or column) are zero; or if (b) two rows (or two columns) are identical; or if (c) two rows (or two columns) are proportional. 3. If two rows (or two columns) of a determinant are interchanged, the value of the determinant changes sign. 4. The value of a determinant is unchanged if (a) rows are written as columns and columns as rows; or if (b) we add to each element of one row, k times the corresponding element of another row, where k is any number (and a similar statement for columns).

Let us look at a few examples of the use of these facts. Example 2. Find the equation of a plane through the three given points (0, 0, 0), (1, 2, 5), and (2, −1, 0). We shall verify that the answer in determinant form is x y z 1 0 0 0 1 = 0. 1 2 5 1 2 −1 0 1 By a Laplace development using elements of the ﬁrst row, we would ﬁnd that this is a linear equation in x, y, z; thus it represents a plane. We need now to show that the three points are in the plane. Suppose (x, y, z) = (0, 0, 0); then the ﬁrst two rows of the determinant are identical and by Fact 2b the determinant is zero. Similarly if the point (x, y, z) is either of the other given points, two rows of the determinant are identical and the determinant is zero. Thus all three points lie in the plane. Example 3. Evaluate the determinant 0 D = −a b

a 0 −c

−b c . 0

Linear Algebra

Chapter 3

If we interchange rows and columns in D, then by Facts 4a and 1 we have 0 −a 0 b a −b 0 −c = (−1)3 −a 0 c , D = a −b b −c c 0 0 where in the last step we have factored −1 out of each column by Fact 1. Thus we have D = −D, so D = 0. We can use Facts 1 to 4 to simplify ﬁnding the value of a determinant. First we check Facts 2a, 2b, 2c, in case the determinant is trivially equal to zero. Then we try to get as many zeros as possible in some row or column in order to have fewer terms in the Laplace development. We look for rows (or columns) which can be combined (using Fact 4b) to give zeros. Although this is something like row reduction, we can operate with columns as well as rows. However, we can't just cancel a number from a row (or column); by Fact 1 we must keep it as a factor in our answer. And we must keep track of any row (or column) interchanges since by Fact 3 each interchange multiplies the determinant by (−1). Example 4. Evaluate the determinant

4 9 D = 4 3

3 7 0 −1

0 2 2 4

1 3 . 1 0

Subtract 4 times the fourth column from the ﬁrst column, and subtract 2 times the fourth column from the third column to get: 0 3 −2 1 −3 7 −4 3 . D = 0 0 1 0 3 −1 4 0 Do a Laplace development using the third row: 0 3 −2 7 −4 . (3.5) D = (−1) −3 3 −1 4 Add the second row to the third row:

0 D = (−1) −3 0

3 −2 7 −4 . 6 0

Do a Laplace development using the ﬁrst column: 3 −2 = (−3)[0 − 6(−2)] = −36. D = (−1)(−1)(−3) 6 0 This is the answer but you might like to look for some shorter solutions. For example, consider the determinant (3.5) above. If we immediately do another Laplace development using the ﬁrst row, the minor of 3 in the ﬁrst row, second column is −3 −4 . 3 4

Section 3

Determinants; Cramer's Rule

Without even evaluating it, we should recognize by Fact 2c that it is zero. Then proceeding with the Laplace development of (3.5) using the ﬁrst row gives just −3 7 = 2(3 − 21) = −36 as above. D = (−1)(−2) 3 −1 Now you may be wondering why you should learn about this when your computer will do it for you. Suppose you have a determinant with elements which are algebraic expressions, and you want to write it in a diﬀerent form. Then you need to know what manipulations you can do without changing its value. Also, if you know the rules, you may see that a determinant is zero without evaluating it. An easy way to learn these things is to evaluate some simple numerical determinants by hand. Cramer's Rule This is a formula in terms of determinants for the solution of n linear equations in n unknowns when there is exactly one solution. As we said for row reduction and for evaluating determinants, your computer will quickly give you the solution of a set of linear equations when there is one. However, for theoretical purposes, we need the Cramer's rule formula, and a simple way to learn about it is to use it to solve sets of linear equations with numerical coeﬃcients. Let us ﬁrst show the use of Cramer's rule to solve two equations in two unknowns. Then we will generalize it to n equations in n unknowns. Consider the set of equations a1 x + b 1 y = c 1 , (3.6) a2 x + b 2 y = c 2 . If we multiply the ﬁrst equation by b2 , the second by b1 , and then subtract the results and solve for x, we get (if a1 b2 − a2 b1 = 0) (3.7a)

c1 b2 − c2 b1 . a 1 b 2 − a2 b 1

Solving for y in a similar way, we get (3.7b)

a 1 c2 − a2 c1 . a 1 b 2 − a2 b 1

Using the deﬁnition (3.1) of a second order determinant, we can write the solutions (3.7) of (3.6) in the form c1 b 1 a1 c1 c2 b 2 a2 c2 , . (3.8) x = y = a1 b 1 a1 b 1 a2 b 2 a2 b 2 It is helpful in remembering (3.8) to say in words how we ﬁnd the correct determinants. First, the equations must be written in standard form as for row reduction (Section 2). Then if we simply write the array of coeﬃcients on the left-hand side of (3.6), these form the denominator determinant in (3.8). This determinant (which we shall denote by D) is called the determinant of the coeﬃcients. To ﬁnd the numerator determinant for x, start with D, erase the x coeﬃcients a1 and a2 , and replace them by the constants c1 and c2 from the right-hand sides of the equations. Similarly, we replace the y coeﬃcients in D by the constant terms to ﬁnd the numerator determinant in y.

Linear Algebra

Chapter 3

Example 5. Use (3.8) to solve the set of equations 2x + 3y = 3, x − 2y = 5. We ﬁnd

2 3 = −4 − 3 = −7, D= 1 −2 1 3 3 −6 − 15 x= = = 3, D 5 −2 −7 1 2 3 10 − 3 = = −1. y= D 1 5 −7

This method of solution of a set of linear equations is called Cramer's rule. It may be used to solve n equations in n unknowns if D = 0; the solution then consists of one value for each unknown. The denominator determinant D is the n by n determinant of the coeﬃcients when the equations are arranged in standard form. The numerator determinant for each unknown is the determinant obtained by replacing the column of coeﬃcients of that unknown in D by the constant terms from the right-hand sides of the equations. Then to ﬁnd the unknowns, we must evaluate each of the determinants and divide.

Rank of a Matrix Here is another way to ﬁnd the rank of a matrix (Section 2). A submatrix means a matrix remaining if we remove some rows and/or remove some columns from the original matrix. To ﬁnd the rank of a matrix, we look at all the square submatrices and ﬁnd their determinants. The order of the largest nonzero determinant is the rank of the matrix. Example 6. Find the rank of the matrix   1 −1 2 3 −2 2 −1 0 . 4 −4 5 6 We need to look at the four 3 by 3 determinants containing columns 1,2,3 or 1,2,4 or 1,3,4 or 2,3,4. We note that the ﬁrst two columns are negatives of each other, so by Fact 2c the ﬁrst two of these determinants are both zero. The last two determinants diﬀer only in the sign of their ﬁrst column, so we just have to look at one of them, say:   1 2 3 −2 −1 0 . 4 5 6 If we now subtract twice the ﬁrst row from the third row, we have   1 2 3 −2 −1 0 , 2 1 0

Section 3

Determinants; Cramer's Rule

and we see by Fact 2c that the determinant is zero. So the rank of the matrix is less than 3. To show that it is 2, we just have to ﬁnd one 2 by 2 submatrix with nonzero determinant. There are several of them; ﬁnd one. Thus the rank of the matrix is 2. (If we had needed to show that the rank was 1, we would have had to show that all the 2 by 2 submatrices had determinants equal to zero.)

PROBLEMS, SECTION 3 Evaluate the determinants in Problems 1 to 6 by the methods shown in Example 4. Remember that the reason for doing this is not just to get the answer (your computer can give you that) but to learn how to manipulate determinants correctly. Check your answers by computer. ˛ ˛ ˛ ˛ ˛ 5 17 ˛−2 3 3˛˛ 4˛˛ ˛ ˛ 4 −3˛˛ 2. ˛˛ 2 1. ˛˛ 3 4 −2˛˛ ˛11 0 ˛ 5 6 −3˛ 2˛ ˛ ˛ ˛ ˛ ˛−2 ˛1 1 1 4 7 3˛˛ 1 ˛˛ ˛ ˛ ˛ 8 ˛1 2 3 2 −9 5˛˛ 4 ˛˛ 4. ˛˛ 3. ˛˛ ˛ −4 6 8 4˛˛ 1 3 6 10 ˛ ˛ ˛ ˛ 2 −9 ˛1 4 10 20˛ 3 8˛ ˛ ˛ ˛ ˛ ˛0 1 1 1 1 ˛ ˛7 0 1 −3 5˛˛ ˛ ˛ ˛ ˛1 0 1 1 1 ˛ ˛2 −1 0 1 4˛˛ ˛ ˛ ˛ 2 −1 4˛˛ 6. ˛˛1 1 0 1 1˛˛ 5. ˛˛7 −3 ˛1 1 1 0 1 ˛ ˛8 6 −2 −7 4˛˛ ˛ ˛ ˛ ˛1 1 1 1 0 ˛ ˛ ˛1 3 −5 7 5 7.

Prove the following by appropriate manipulations using Facts 1 to 4; do not just evaluate the determinants. ˛ ˛ ˛ ˛ ˛ ˛ ˛1 a bc ˛ ˛1 a a2 ˛ ˛1 a a2 ˛˛ ˛ ˛ ˛ ˛ ˛ 2 ˛1 b ac˛ = ˛1 b b ˛ = (c − a)(b − a)(c − b) ˛0 1 b + a˛ ˛ ˛ ˛ ˛ ˛ ˛ ˛1 c ab˛ ˛1 c c2 ˛ ˛0 0 1 ˛ = (c − a)(b − a)(c − b).

Show that if, in using the Laplace development, you accidentally multiply the elements of one row by the cofactors of another row, you get zero. Hint: Consider Fact 2b.

Show without computation that the following determinant is equal to zero. Hint: Consider the eﬀect of interchanging rows and columns. ˛ ˛ ˛ 0 2 −3˛˛ ˛ ˛−2 0 4˛˛ ˛ ˛ 3 −4 0˛

10.

A determinant or a square matrix is called skew-symmetric if aij = −aji . (The determinant in Problem 9 is an example of a skew-symmetric determinant.) Show that a skew-symmetric determinant of odd order is zero.

In Problems 11 and 12 evaluate the determinants. ˛ ˛ ˛ ˛ 0 5 −3 −4 1˛˛ ˛ 0 ˛ ˛ ˛ ˛−5 0 2 6 −2˛ ˛−1 ˛ 12. ˛˛ 0 −3 7˛˛ 11. ˛˛ 3 −2 ˛−2 ˛ 4 −6 3 0 −3˛˛ ˛ 1 ˛ ˛ ˛−1 2 −7 3 0

1 0 3 0

2 −3 0 −1

˛ −1˛˛ 0˛˛ 1˛˛ 0˛

Linear Algebra

13.

Show that

14.

Show that the n-rowed determinant ˛ ˛cos θ 1 0 0 ˛ ˛ 1 2 cos θ 1 0 ˛ ˛ 0 1 2 cos θ 1 ˛ ˛ 0 0 1 2 cos θ ˛ ˛ .. ˛ . ˛ ˛ .. ˛ ˛ . ˛ ˛ 0 0 0 0

Chapter 3

˛ ˛cos θ ˛ ˛ 1 ˛ ˛ 0

1 2 cos θ 1

˛ 0 ˛˛ 1 ˛˛ = cos 3θ. 2 cos θ˛

···

2 cos θ 1

˛ ˛ ˛ ˛ ˛ ˛ ˛ ˛ ˛ ˛ = cos nθ. ˛ ˛ ˛ ˛ 1 ˛˛ 2 cos θ˛ 0 0 0 0 .. .

Hint: Expand using elements of the last row or column. Use mathematical induction and the trigonometric addition formulas. 15.

Use Cramer's rule to solve Problems 2.3 and 2.11.

16.

In the following set of equations (from a quantum mechanics problem), A and B are √ the unknowns, k and K are given, and i = −1. Use Cramer's rule to ﬁnd A and show that |A|2 = 1.  A − B = −1 ikA − KB = ik

17.

Use Cramer's rule to solve for x and t the Lorentz equations of special relativity:  x = γ(x − vt) where γ 2 (1 − v 2 /c2 ) = 1 t = γ(t − vx/c2 ) Caution: Arrange the equations in standard form.

18.

Find z by Cramer's rule: 8 3b2 z = 3ab < (a − b)x − (a − b)y + (a + 2b)x − (a + 2b)y − (3ab + 3b2 )z = 3b2 : bx + ay − (2b2 + a2 )z = 0

4. VECTORS Notation We shall indicate a vector by a boldface letter (for example, A) and a component of a vector by a subscript (for example Ax is the x component of A), as in Figure 4.1. Since it is not easy to handwrite boldface letters, you should write a vec It is very important tor with an arrow over it (for example, A). to indicate clearly whether a letter represents a vector, since, as we shall see below, the same letter in italics (not boldface) is often used with a diﬀerent meaning.

Figure 4.1

Magnitude of a Vector The length of the arrow representing a vector A is called the length or the magnitude of A (written |A| or A) or (see Section 10) the norm of A (written ||A||). Note the use of A to mean the magnitude of A; for this reason it is important to make it clear whether you mean a vector or its magnitude (which is a scalar). By the Pythagorean theorem, we ﬁnd

Section 4

Vectors

A2x + A2y in two dimensions, or A = |A| = A2x + A2y + A2z in three dimensions.

A = |A| = (4.1)

Example 1. In Figure 4.2 the force F has an x component of 4 lb and a y component of 3 lb. Then we write Fx = 4 lb, Fy = 3 lb, |F| = 5 lb, θ = arc tan 34 .

Figure 4.2

Addition of Vectors There are two ways to get the sum of two vectors. One is by the parallelogram law: To ﬁnd A + B, place the tail of B at the head of A and draw the vector from the tail of A to the head of B as shown in Figures 4.3 and 4.4.

Figure 4.3

Figure 4.4

The second way of ﬁnding A + B is to add components: A + B has components Ax + Bx and Ay + By . You should satisfy yourself from Figure 4.3 that these two methods of ﬁnding A + B are equivalent. From Figure 4.4 and either deﬁnition of vector addition, it follows that A+B= B+A (commutative law for addition); (A + B) + C = A + (B + C) (associative law for addition). In other words, vectors may be added together by the usual laws of algebra. It seems reasonable to use the symbol 3A for the vector A + A + A. By the methods of vector addition above, we can say that the vector A + A + A is a vector three times as long as A and in the same direction as A and that each component of 3A is three times the corresponding component of A. As a natural extension of these facts we deﬁne the vector cA (where c is any real positive number) to be a vector c times as long as A and in the same direction as A; each component of cA is then c times the corresponding component of A (Figure 4.5). The negative of a vector is deﬁned as a vector of the same magnitude but in the opposite direction. Then (Figure 4.6) each component of −B is the negative of the corresponding component of B. We can now deﬁne subtraction of vectors by

Linear Algebra

Figure 4.5

Chapter 3

Figure 4.6

saying that A − B means the sum of the vectors A and −B. Each component of A − B is then obtained by subtracting the corresponding components of A and B, that is, (A − B)x = Ax − Bx , etc. Like addition, subtraction of vectors can be done geometrically (by the parallelogram law) or algebraically by subtracting the components (Figure 4.6). The zero vector (which might arise as A = B− B = 0, or as A = cB with c = 0) is a vector of zero magnitude; its components are all zero and it does not have a direction. A vector of length or magnitude 1 is called a unit vector. Then for any A = 0, the vector A/|A| is a unit vector. In Example 1, F/5 is a unit vector. We have just seen that there are two ways to combine vectors: geometric (head to tail addition), and algebraic (using components). Let us look ﬁrst at an example of the geometric method; then we shall consider the algebraic method. Example 2 below illustrates the geometric method. By similar proofs, many of the facts of elementary geometry can be easily proved using vectors, with no reference to components or a coordinate system. (See Problems 3 to 8.) Example 2. Prove that the medians of a triangle intersect at a point two-thirds of the way from any vertex to the midpoint of the opposite side. To prove this, we call two of the sides of the triangle A and B. The third side of the triangle is then A + B by the parallelogram law, with the directions of A, B, and A + B as indicated in Figure 4.7. If we add the vector 12 B to the vector A (head to tail as in Figure 4.7b), we have a vector from point O to the midpoint of the opposite side of the triangle, that is, we have the median to side B. Next, take two-thirds of this vector; we now have the vector 23 (A + 12 B) = 23 A + 13 B extending from O to P in Figure 4.7b. We want to show that P is the intersection point of the three medians and also the " 23 point" for each. We prove this by showing that P is the " 23 point" on the median to side A; then since A and B represent any two sides of the triangle, the proof holds for all three medians. The vector from R to Q (Figure 4.7c) is 12 A + B; this is the median to A. The " 23 point" on this median is the point P (Figure 4.7d); the vector from R to P is equal to 13 ( 12 A + B). Then the vector from O to P is 12 A + 13 ( 12 A + B) = 23 A + 13 B. Thus P and P are the same point and all three medians have their " 23 points" there. Note that we have made no reference to a coordinate system or to components in this proof.

Section 4

Vectors

Figure 4.7

PROBLEMS, SECTION 4 1.

Draw diagrams and prove (4.1).

Given the vectors making the given angles θ with the positive x axis: A of magnitude 5, θ = 45◦ , B of magnitude 3, θ = −30◦ , C of magnitude 7, θ = 120◦ , (a)

Draw diagrams representing 2A, A − 2B, C − B,

(b)

Draw diagrams to show that A+B=B+A (A + B) + C = (A + C) + B, (B − C)x = Bx − Cx .

2 A 5

− 17 C.

A − (B − C) = (A − B) + C, (A + B)x = Ax + Bx ,

Use vectors to prove the following theorems from geometry: 3.

The diagonals of a parallelogram bisect each other.

The line segment joining the midpoints of two sides of any triangle is parallel to the third side and half its length.

In a parallelogram, the two lines from one corner to the midpoints of the two opposite sides trisect the diagonal they cross.

100

Linear Algebra

Chapter 3

In any quadrilateral (four-sided ﬁgure with sides of various lengths and—in general— four diﬀerent angles), the lines joining the midpoints of opposite sides bisect each other. Hint: Label three sides A, B, C; what is the vector along the fourth side?

A line through the midpoint of one side of a triangle and parallel to a second side bisects the third side. Hint: Call parallel vectors A and cA.

The median of a trapezoid (four-sided ﬁgure with just two parallel sides) means the line joining the midpoints of the two nonparallel sides. Prove that the median bisects both diagonals; that the median is parallel to the two parallel bases and equal to half the sum of their lengths.

We have discussed in some detail the geometric method of adding vectors (parallelogram law or head to tail addition) and its importance in stating and proving geometric and physical facts without the intrusion of a special coordinate system. There are, however, many cases in which algebraic methods (using components relative to a particular coordinate system) are better. We shall discuss this next. Vectors in Terms of Components We consider a set of rectangular axes as in Figure 4.8. Let the vector i be a unit vector in the positive x direction (out of the paper toward you), and let j and k be unit vectors in the positive y and z directions. If Ax and Ay are the scalar components of a vector in the (x, y) plane, then iAx and jAy are its vector components, and their sum is the vector A (Figure 4.9). A = iAx + jAy .

Figure 4.8

Figure 4.9

Similarly, in three dimensions A = iAx + jAy + kAz . It is easy to add (or subtract) vectors in this form: If A and B are vectors in two dimensions, then A + B = (iAx + jAy ) + (iBx + jBy ) = i(Ax + Bx ) + j(Ay + By ). This is just the familiar result of adding components; the unit vectors i and j serve to keep track of the separate components and allow us to write A as a single algebraic expression. The vectors i, j, k are called unit basis vectors. Multiplication of Vectors There are two kinds of product of two vectors. One, called the scalar product (or dot product or inner product ), gives a result which is a scalar; the other, called the vector product (or cross product ), gives a vector answer.

Section 4

Vectors

101

Scalar Product By deﬁnition, the scalar product of A and B (written A · B) is a scalar equal to the magnitude of A times the magnitude of B times the cosine of the angle θ between A and B:

A · B = |A| |B| cos θ.

(4.2)

You should observe from (4.2) that the commutative law (4.3) holds for scalar multiplication: A · B = B · A.

(4.3)

A useful interpretation of the dot product is shown in Figure 4.10. |B| = 8, |A| = 6. Projection of B on A = 4; A · B = 6 · 4 = 24. Or, projection of A on B = 3; B · A = 3 · 8 = 24. Figure 4.10 Since |B| cos θ is the projection of B on A, we can write (4.4)

A · B = |A| times (projection of B on A),

or, alternatively, A · B = |B| times (projection of A on B). Also we ﬁnd from (4.2) that (4.5)

A · A = |A|2 cos 0◦ = |A|2 = A2 .

Sometimes A2 is written instead of |A|2 or A2 ; you should understand that the square of a vector always means the square of its magnitude or its dot product with itself.

Figure 4.11

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Linear Algebra

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From Figure 4.11 we can see that the projection of B + C on A is equal to the projection of B on A plus the projection of C on A. Then by (4.4) (4.6)

A · (B + C) = |A| times (projection of (B + C) on A) = |A| times (projection of B on A + projection of C on A) = A · B + A · C.

This is the distributive law for scalar multiplication. By (4.3) we get also (4.7)

(B + C) · A = B · A + C · A = A · B + A · C.

The component form of A · B is very useful. We write (4.8)

A · B = (iAx + jAy + kAz ) · (iBx + jBy + kBz ).

By the distributive law we can multiply this out getting nine terms such as Ax Bx i·i, Ax By i · j, and so on. Using the deﬁnition of the scalar product, we ﬁnd (4.9)

i · i = |i| · |i| cos 0◦ = 1 · 1 · 1 = 1, and similarly, j · j = 1, k · k = 1; i · j = |i| · |j| cos 90◦ = 1 · 1 · 0 = 0, and similarly, i · k = 0, j · k = 0.

Using (4.9) in (4.8), we get

(4.10)

A · B = Ax Bx + Ay By + Az Bz .

Equation (4.10) is an important formula which you should memorize. There are several immediate uses of this formula and of the dot product. Angle Between Two Vectors Given the vectors, we can ﬁnd the angle between them by using both (4.2) and (4.10) and solving for cos θ. Example 3. Find the angle between the vectors A = 3i + 6j + 9k and B = −2i + 3j + k. By (4.2) and (4.10) we get

(4.11)

A · B = |A| |B| cos θ = 3 · (−2) + 6 · 3 + 9 · 1 = 21, √ √ |A| = 32 + 62 + 92 = 3 14, |B| = 22 + 32 + 12 = 14, √ √ 1 3 14 14 cos θ = 21, cos θ = , θ = 60◦ . 2

Perpendicular and Parallel Vectors cos θ = 0; thus (4.12) Ax Bx + Ay By + Az Bz = 0

If two vectors are perpendicular, then

A and B are perpendicular vectors.

If two vectors are parallel, their components are proportional; thus (when no components are zero)

Section 4

(4.13)

Vectors

Ax Ay Az = = Bx By Bz

103

A and B are parallel vectors.

(Of course, if Bx = 0, then Ax = 0, etc.) Vector Product The vector or cross product of A and B is written A × B. By deﬁnition, A × B is a vector whose magnitude and direction are given as follows: The magnitude of A × B is (4.14)

|A × B| = |A| |B| sin θ,

where θ is the positive angle (≤ 180◦) between A and B. The direction of A × B is perpendicular to the plane of A and B and in the sense C of advance of a right-handed screw rotated from A to B as in Figure 4.12. Figure 4.12 It is convenient to ﬁnd the direction of C = A × B by the following right-hand rule. Think of grasping the line C (or a screwdriver driving a right-handed screw in the direction C) with the right hand. The ﬁngers then curl in the direction of rotation of A into B (arrow in Figure 4.12) and the thumb points along C = A × B. Perhaps the most startling result of the vector product deﬁnition is that A × B and B × A are not equal; in fact, A × B = −B × A. In mathematical language, vector multiplication is not commutative. We ﬁnd from (4.14) that the cross product of any two parallel (or antiparallel) vectors has magnitude |A × B| = AB sin 0◦ = 0 (or AB sin 180◦ = 0). Thus

(4.15)

A × B = 0 if A and B are parallel or antiparallel, A × A = 0 for any A.

Then we have the useful results i × i = j × j = k × k = 0.

(4.16)

Also from (4.14) we ﬁnd |i × j| = |i| |j| sin 90◦ = 1 · 1 · 1 = 1, and similarly for the magnitude of the cross product of any two diﬀerent unit vectors i, j, k. From the right-hand rule and Figure 4.13, we see that the direction of i × j is k, and since its magnitude is 1, we have i × j = k; however, j × i = −k. Similarly evaluating the other cross products, we ﬁnd

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i×j =k

(4.17)

j×k = i

k × i = j.

j × i = −k k × j = −i i × k = −j.

A good way to remember these is to write them cyclically (around a circle as indicated in Figure 4.14). Reading around the circle counterclockwise (positive θ direction), we get the positive products (for example, i × j = k); reading the other way we get the negative products (for example, i × k = −j).

Figure 4.14 Figure 4.13 It is well to note here that the results (4.17) depend upon the way we have labeled the axes in Figure 4.13. We have arranged the (x, y, z) axes so that a rotation of the x into the y axis (through 90◦ ) corresponds to the rotation of a right-handed screw advancing in the positive z direction. Such a coordinate system is called a righthanded system. If we used a left-handed system (say exchanging x and y), then all the equations in (4.17) would have their signs changed. This would be confusing; consequently, we practically always use right-handed coordinate systems, and we must be careful about this in drawing diagrams. (See Chapter 10, Section 6.) To write A × B in component form we need the distributive law, namely A × (B + C) = A × B + A × C.

(4.18) (see Problem 7.18). Then we ﬁnd (4.19)

A × B = (iAx + jAy + kAz ) × (iBx + jBy + kBz ) = i(Ay Bz − Az By ) + j(Az Bx − Ax Bz ) + k(Ax By − Ay Bx ) i j k = Ax Ay Az . Bx By Bz

The second line in (4.19) is obtained by multiplying out the ﬁrst line (getting nine products) and using (4.16) and (4.17). The determinant in (4.19) is the most convenient way to remember the component form of the vector product. You should verify that multiplying out the determinant using the elements of the ﬁrst row gives the result in the line above it.

Section 4

Vectors

105

Since A × B is a vector perpendicular to A and to B, we can use (4.19) to ﬁnd a vector perpendicular to two given vectors. Example 4. Find a vector perpendicular to both A = 2i + j − k and B = i + 3j − 2k. i j k A × B = 2 1 −1 = i(−2 + 3) − j(−4 + 1) + k(6 − 1) 1 3 −2 = i + 3j + 5k.

PROBLEMS, SECTION 4 9.

Let A = 2i + 3j and B = 4i − 4j. Show graphically, and ﬁnd algebraically, the vectors −A, 3B, A − B, B + 2A, 12 (A + B).

10.

If A + B = 4j − i and A − B = i + 3j, ﬁnd A and B algebraically. Show by a diagram how to ﬁnd A and B geometrically.

11.

Let 3i − j + 4k, 7j − 2k, i − 3j + k be three vectors with tails at the origin. Then their heads determine three points A, B, C in space which form a triangle. Find vectors representing the sides AB, BC, CA in that order and direction (for example, A to B, not B to A) and show that the sum of these vectors is zero.

12.

Find the angle between the vectors A = −2i + j − 2k and B = 2i − 2j.

13.

If A = 4i − 3k and B = −2i + 2j − k, ﬁnd the scalar projection of A on B, the scalar projection of B on A, and the cosine of the angle between A and B.

14.

Find the angles between (a) the space diagonals of a cube; (b) a space diagonal and an edge; (c) a space diagonal and a diagonal of a face.

15.

Let A = 2i − j + 2k. (a) Find a unit vector in the same direction as A. Hint: Divide A by |A|. (b) Find a vector in the same direction as A but of magnitude 12. (c) Find a vector perpendicular to A. Hint: There are many such vectors; you are to ﬁnd one of them. (d) Find a unit vector perpendicular to A. See hint in (a).

16.

Find a unit vector in the same direction as the vector A = 4i − 2j + 4k, and another unit vector in the same direction as B = −4i + 3k. Show that the vector sum of these unit vectors bisects the angle between A and B. Hint: Sketch the rhombus having the two unit vectors as adjacent sides.

17.

Find three vectors (none of them parallel to a coordinate axis) which have lengths and directions such that they could be made into a right triangle.

18.

Show that 2i − j + 4k and 5i + 2j − 2k are orthogonal (perpendicular). Find a third vector perpendicular to both.

19.

Find a vector perpendicular to both i − 3j + 2k and 5i − j − 4k.

20.

Find a vector perpendicular to both i + j and i − 2k.

21.

Show that B|A| + A|B| and A|B| − B|A| are orthogonal.

22.

Square (A + B); interpret your result geometrically. Hint: Your answer is a law which you learned in trigonometry.

23.

If A = 2i − 3j + k and A · B = 0, does it follow that B = 0? (Either prove that it does or give a speciﬁc example to show that it doesn't.) Answer the same question if A × B = 0. And again answer the same question if A · B = 0 and A × B = 0.

106 24.

Linear Algebra

Chapter 3

What is the value of (A × B)2 + (A · B)2 ? Comment: This is a special case of Lagrange's identity. (See Chapter 6, Problem 3.12b, page 284.)

Use vectors as in Problems 3 to 8, and also the dot and cross product, to prove the following theorems from geometry. 25.

The sum of the squares of the diagonals of a parallelogram is equal to twice the sum of the squares of two adjacent sides of the parallelogram.

26.

The median to the base of an isosceles triangle is perpendicular to the base.

27.

In a kite (four-sided ﬁgure made up of two pairs of equal adjacent sides), the diagonals are perpendicular.

28.

The diagonals of a rhombus (four-sided ﬁgure with all sides of equal length) are perpendicular and bisect each other.

5. LINES AND PLANES A great deal of analytic geometry can be simpliﬁed by the use of vector notation. Such things as equations of lines and planes, and distances between points or between lines and planes often occur in physics and it is very useful to be able to ﬁnd them quickly. We shall talk about three-dimensional space most of the time although the ideas apply also to two dimensions. In analytic geometry a point is a set of three coordinates (x, y, z); we shall think of this point as the head of a vector r = ix + jy + kz with tail at the origin. Most of the time the vector will be in the background of our minds and we shall not draw it; we shall just plot the point (x, y, z) which is the head of the vector. In other words, the point (x, y, z) and the vector r will be synonymous. We shall also use vectors joining two points. In Figure 5.1 the vector A from (1, 2, 3) to (x, y, z) is A = r − C = (x, y, z) − (1, 2, 3) = (x − 1, y − 2, z − 3) or A = ix + jy + kz − (i + 2j + 3k) = i(x − 1) + j(y − 2) + k(z − 3).

Figure 5.1 Thus we have two ways of writing vector equations; we may choose the one we prefer. Note the possible advantage of writing (1, 0, −2) for i−2k; since the zero is explicitly written, there is less chance of accidentally confusing i − 2k with i − 2j = (1, −2, 0). On the other hand, 5j is simpler than (0, 5, 0). In two dimensions, we write the equation of a straight line through (x0 , y0 ) with slope m as y − y0 (5.1) = m. x − x0

Section 5

Lines and Planes

107

Figure 5.2 Suppose, instead of the slope, we are given a vector in the direction of the line, say A = ia+jb (Figure 5.2). Then the line through (x0 , y0 ) and in the direction A is determined and we should be able to write its equation. The directed line segment from (x0 , y0 ) to any point (x, y) on the line is the vector r − r0 with components x − x0 and y − y0 : (5.2)

r − r0 = i(x − x0 ) + j(y − y0 ).

This vector is parallel to A = ia + jb. Now if two vectors are parallel, their components are proportional. Thus we can write (for a, b = 0) (5.3)

y − y0 x − x0 = a b

y − y0 b = . x − x0 a

This is the equation of the given straight line. As a check we see that the slope of the line is m = b/a, so (5.3) is the same as (5.1). Another way to write this equation is to say that if r − r0 and A are parallel vectors, one is some scalar multiple of the other, that is, (5.4)

r − r0 = At,

or r = r0 + At,

where t is the scalar multiple. We can think of t as a parameter; the component form of (5.4) is a set of parametric equations of the line, namely (5.5)

x − x0 = at, or y − y0 = bt,

x = x0 + at, y = y0 + bt.

Eliminating t yields the equation of the line in (5.3). In three dimensions, the same ideas can be used. We want the equations of a straight line through a given point (x0 , y0 , z0 ) and parallel to a given vector A = ai + bj + ck. If (x, y, z) is any point on the line, the vector joining (x0 , y0 , z0 ) and (x, y, z) is parallel to A. Then its components x − x0 , y − y0 , z − z0 are proportional to the components a, b, c of A and we have

(5.6)

y − y0 z − z0 x − x0 = = a b c

(symmetric equations of a straight line, a, b, c = 0).

If c, for instance, happens to be zero, we would have to write (5.6) in the form

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Linear Algebra

(5.7)

Chapter 3

y − y0 x − x0 = , a b

z = z0

(symmetric equations of a straight line when c = 0).

As in the two-dimensional case, equations (5.6) and (5.7) could be written

(5.8)

r = r0 + At,

   x = x0 + at, y = y0 + bt, or   z = z0 + ct,

(parametric equations of a straight line).

The parametric equations (5.8) have a particularly useful interpretation when the parameter t means time. Consider a particle m (electron, billiard ball, or star) moving along the straight line L in Figure 5.3. Position yourself at the origin and watch m move from P0 to P along L. Your line of sight is the vector r; it swings from r0 at t = 0 to r = r0 + At at time t. Note that the velocity of m is dr/dt = A; A is a vector Figure 5.3 along the line of motion. Going back to two dimensions, suppose we want the equation of a straight line L through the point (x0 , y0 ) and perpendicular to a given vector N = ai+bj. As above, the vector r − r0 = (x − x0 )i + (y − y0 )j lies along the line. This time we want this vector perpendicular to N; recall that two vectors are perpendicular if their dot product is zero. Setting the dot product of N and r − r0 equal to zero gives (5.9)

a(x − x0 ) + b(y − y0 ) = 0 or

y − y0 a =− . x − x0 b

This is the desired equation of the straight line L perpendicular to N. As a check, note from Figure 5.4 that the slope of the line L is tan θ = − cot φ = −a/b.

Figure 5.4

Figure 5.5

In three dimensions, we use this method to write the equation of a plane. If (x0 , y0 , z0 ) is a given point in the plane and (x, y, z) is any other point in the plane,

Section 5

Lines and Planes

109

the vector (Figure 5.5) r − r0 = (x − x0 )i + (y − y0 )j + (z − z0 )k is in the plane. If N = ai + bj + ck is normal (perpendicular) to the plane, then N and r − r0 are perpendicular, so the equation of the plane is N · (r − r0 ) = 0, or

(5.10)

a(x − x0 ) + b(y − y0 ) + c(z − z0 ) = 0, or ax + by + cz = d,

(equation of a plane)

where d = ax0 + by0 + cz0 . If we are given equations like the ones above, we can read backwards to ﬁnd A or N. Thus we can say that the equations (5.6), (5.7), and (5.8) are the equations of a straight line which is parallel to the vector A = ai + bj+ ck, and either equation in (5.10) is the equation of a plane perpendicular to the vector N = ai + bj + ck. Example 1. Find the equation of the plane through the three points A(−1, 1, 1), B(2, 3, 0), C(0, 1, −2). A vector joining any pair of the given points lies in the plane. Two such vectors −− → −→ are AB = (2, 3, 0) − (−1, 1, 1) = (3, 2, −1) and AC = (1, 0, −3). The cross product of these two vectors is perpendicular to the plane. This is i j k −− → −→ N = (AB) × (AC) = 3 2 −1 = −6i + 8j − 2k. 1 0 −3 Now we write the equation of the plane with normal direction N through one of the given points, say B, using (5.10): −6(x − 2) + 8(y − 3) − 2z = 0 or 3x − 4y + z + 6 = 0. (Note that we could have divided N by −2 to save arithmetic.) Example 2. Find the equations of a line through (1, 0, −2) and perpendicular to the plane of Example 1. The vector 3i − 4j + k is perpendicular to the plane of Example 1 and so parallel to the desired line. Thus by (5.6) the symmetric equations of the line are y (z + 2) (x − 1) = = . 3 −4 1 By (5.8) the parametric equations of the line are r = i − 2k + (3i − 4j + k)t or, if you like, r = (1, 0, −2) + (3, −4, 1)t. Vectors give us a very convenient way of ﬁnding distances between points and lines or planes. Suppose we want to ﬁnd the (perpendicular) distance from a point P

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Linear Algebra

Chapter 3

Figure 5.6 to the plane (5.10). (See Figure 5.6.) We pick any point Q we like in the plane (just by looking at the equation of the plane and thinking of some simple numbers x, y, z that satisfy it). The distance P R is what we want. Since P R and RQ are perpendicular (because P R is perpendicular to the plane), we have from Figure 5.6 (5.11)

P R = P Q cos θ.

From the equation of the plane, we can ﬁnd a vector N normal to the plane. If we divide N by its magnitude, we have a unit vector normal to the plane; we denote −−→ this unit vector by n. Then |P Q · n| = (P Q) cos θ, which is what we need in (5.11) −−→ to ﬁnd P R. (We have put in absolute value signs because P Q · n might be negative, whereas (P Q) cos θ, with θ acute as in Figure 5.6, is positive.) Example 3. Find the distance from the point P (1, −2, 3) to the plane 3x − 2y + z + 1 = 0. One point in the plane is (1, 2, 0); call this point Q. Then the vector from P to Q is −−→ P Q = (1, 2, 0) − (1, −2, 3) = (0, 4, −3) = 4j − 3k. From the equation of the plane we get the normal vector N = 3i − 2j + k. √ We get n by dividing N by |N| = 14. Then we have −− √ → |P R| = P Q · n = (4j − 3k) · (3i − 2j + k)/ 14 √ √ = (−8 − 3)/ 14 = 11/ 14. We can ﬁnd the distance from a point P to a line in a similar way. In Figure 5.7 we want the perpendicular distance P R. We select any point on the line [that is, we pick any (x, y, z) satisfying the equations of the line]; call this point Q. Then (see Figure 5.7) P R = P Q sin θ. Let A be a vector along the line and u a unit vector along the line (obtained by dividing A by its magnitude). Then −− → P Q × u = |P Q| sin θ, so we get

−− → |P R| = P Q × u .

Figure 5.7

Section 5

Lines and Planes

111

Example 4. Find the distance from P (1, 2, −1) to the line joining P1 (0, 0, 0) and P2 (−1, 0, 2). −−−→ Let A = P1 P2 = −i +√ 2k; this is a vector along the line. Then a unit vector along the line is u = (1/ 5)(−i + 2k). Let us take Q to be P1 (0, 0, 0). Then −− → P Q = −i − 2j + k, so we get for the distance |P R|: 1 1 |P R| = √ |(−i − 2j + k) × (−i + 2k)| = √ | − 4i + j − 2k| = 21/5. 5 5 It is also straightforward to ﬁnd the distance between two skew lines (and if you really want to appreciate vectors, just look up this calculation in an analytic geometry book that doesn't use vectors!). Pick two points P and Q, one on each −− → line (Figure 5.8). Then |P Q · n|, where n is a unit vector perpendicular to both lines, is the distance we want. Now if A and B are vectors along the two lines, then A × B is perpendicular to both, and n is just A × B divided by |A × B|.

Figure 5.8 Example 5. Find the distance between the lines r = i−2j+(i−k)t and r = 2j−k+(j−i)t. If we write the ﬁrst line as r = r0 + At, then (the head of) r0 is a simple choice for P , so we have P = (1, −2, 0) and A = i − k. Similarly, from the second line we ﬁnd Q = (0, 2, −1) and B = j − i. √ Then A × B = i + j + k and n = 1/ 3 (i + j + k). Also −−→ P Q = (0, 2, −1) − (1, −2, 0) = (−1, 4, −1) = −i + 4j − k. Thus we get for the distance between the lines −− √ √ √ → P Q · n = (−i + 4j − k) · (i + j + k)/ 3 = |−1 + 4 − 1| / 3 = 2/ 3 . Example 6. Find the direction of the line of intersection of the planes x − 2y + 3z = 4 and 2x + y − z = 5. The desired line lies in both planes, and so is perpendicular to the two normal vectors to the planes, namely i − 2j + 3k and 2i + j − k. Then the direction of the line is that of the cross product of these normal vectors; this is −i + 7j + 5k.

112

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Chapter 3

Example 7. Find the cosine of the angle between the planes of Example 6. The angle between the planes is the same as the angle between the normals to the planes. Thus our problem is to ﬁnd the angle between the vectors √ √A = i−2j+3k and B = 2i + j − k. Since A · B = |A| |B| cos θ, we have −3 = 14 6 cos θ, and so cos θ = − 3/28. This gives theobtuse angle between the planes; the corresponding acute angle is π − θ, or arc cos 3/28.

PROBLEMS, SECTION 5 In Problems 1 to 5, all lines are in the (x, y) plane. 1.

Write the equation of the straight line through (2, −3) with slope 3/4, in the parametric form r = r0 + At.

Find the slope of the line whose parametric equation is r = (i − j) + (2i + 3j)t.

Write, in parametric form [as in Problem 1], the equation of the straight line that joins (1, −2) and (3, 0).

Write, in parametric form, the equation of the straight line that is perpendicular to r = (2i + 4j) + (i − 2j)t and goes through (1, 0).

Write, in parametric form, the equation of the y axis.

Find the symmetric equations (5.6) or (5.7) and the parametric equations (5.8) of a line, and/or the equation (5.10) of the plane satisfying the following given conditions. 6.

Line through (1, −1, −5) and (2, −3, −3).

Line through (2, 3, 4) and (5, 1, −2).

Line through (0, −2, 4) and (3, −2, −1).

Line through (−1, 3, 7) and (−1, −2, 7).

10.

Line through (3, 4, −1) and parallel to 2i − 3j + 6k.

11.

Line through (4, −1, 3) and parallel to i − 2k.

12.

Line through (5, −4, 2) and parallel to the line r = i − j + (5i − 2j + k)t.

13.

Line through (3, 0, −5) and parallel to the line r = (2, 1, −5) + (0, −3, 1)t.

14.

Plane containing the triangle ABC of Problem 4.11.

15.

Plane through the origin and the points in Problem 8.

16.

Plane through the point and perpendicular to the line in Problem 12.

17.

Plane through the point and perpendicular to the line in Problem 13.

18.

Plane containing the two parallel lines in Problem 12.

19.

Plane containing the two parallel lines in Problem 13.

20.

Plane containing the three points (0, 1, 1), (2, 1, 3), and (4, 2, 1).

In Problems 21 to 23, ﬁnd the angle between the given planes. 21.

2x + 6y − 3z = 10 and 5x + 2y − z = 12.

22.

2x − y − z = 4 and 3x − 2y − 6z = 7.

23.

2x + y − 2z = 3 and 3x − 6y − 2z = 4.

Section 5

Lines and Planes

113

24.

Find a point on both the planes (that is, on their line of intersection) in Problem 21. Find a vector parallel to the line of intersection. Write the equations of the line of intersection of the planes. Find the distance from the origin to the line.

25.

As in Problem 24, ﬁnd the equations of the line of intersection of the planes in Problem 22. Find the distance from the point (2, 1, −1) to the line.

26.

As in Problem 24, ﬁnd the equations of the line of intersection of the planes in Problem 23. Find the distance from the point (1, 0, 0) to the line.

27.

Find the equation of the plane through (2, 3, −2) and perpendicular to both planes in Problem 21.

28.

Find the equation of the plane through (−4, −1, 2) and perpendicular to both planes in Problem 22.

29.

Find a point on the plane 2x − y − z = 13. Find the distance from (7, 1, −2) to the plane.

30.

Find the distance from the origin to the plane 3x − 2y − 6z = 7.

31.

Find the distance from (−2, 4, 5) to the plane 2x + 6y − 3z = 10.

32.

Find the distance from (3, −1, 2) to the plane 5x − y − z = 4.

33.

Find the perpendicular distance between the two parallel lines in Problem 12.

34.

Find the distance (perpendicular is understood) between the two parallel lines in Problem 13.

35.

Find the distance from (2, 5, 1) to the line in Problem 10.

36.

Find the distance from (3, 2, 5) to the line in Problem 11.

37.

Determine whether the lines x−1 y+3 z−4 = = 2 1 −3

and

x+3 y+4 8−z = = 4 1 4

intersect. Two suggestions: (1) Can you ﬁnd the intersection point, if any? (2) Consider the distance between the lines. 38.

Find the angle between the lines in Problem 37.

In Problems 39 and 40, show that the given lines intersect and ﬁnd the acute angle between them. 39.

r = 2j + k + (3i − k)t1

40.

r = (5, −2, 0) + (1, −1, −1)t1

and

r = 7i + 2k + (2i − j + k)t2 . and

r = (4, −4, −1) + (0, 3, 2)t2 .

In Problems 41 to 44, ﬁnd the distance between the two given lines. 41.

r = (4, 3, −1) + (1, 1, 1)t

42.

The line that joins (0, 0, 0) to (1, 2, −1), and the line that joins (1, 1, 1) to (2, 3, 4).

43. 44. 45.

and

r = (4, −1, 1) + (1, −2, −1)t.

y+2 2z − 1 x+2 2−y x−1 = = and = , 2 3 4 −1 2 The x axis and r = j − k + (2i − 3j + k)t.

1 . 2

A particle is traveling along the line (x − 3)/2 = (y + 1)/(−2) = z − 1. Write the equation of its path in the form r = r0 + At. Find the distance of closest approach of the particle to the origin (that is, the distance from the origin to the line). If t represents time, show that the time of closest approach is t = −(r0 · A)/|A|2 . Use this value to check your answer for the distance of closest approach. Hint: See Figure 5.3. If P is the point of closest approach, what is A · r?

114

Linear Algebra

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6. MATRIX OPERATIONS In Section 2 we used matrices simply as arrays of numbers. Now we want to go farther into the subject and discuss the meaning and use of multiplying a matrix by a number and of combining matrices by addition, subtraction, multiplication, and even (in a sense) division. We will see that we may be able to ﬁnd functions of matrices such as eM . These are, of course, all questions of deﬁnition, but we shall show some applications which might suggest reasonable deﬁnitions; or alternatively, given the deﬁnitions, we shall see what applications we can make of the matrix operations. Matrix Equations Let us ﬁrst emphasize again that two matrices are equal only if they are identical. Thus the matrix equation 2 1 −5 x r u = 3 −7i 1 − i y s v is really the set of six equations x = 2,

y = 3,

r = 1,

s = −7i,

u = −5,

v = 1 − i.

(Recall similar situations we have met before: The equation z = x + iy = 2 − 3i is equivalent to the two real equations x = 2, y = −3; a vector equation in three dimensions is equivalent to three component equations.) In complicated problems involving many numbers or variables, it is often possible to save a great deal of writing by using a single matrix equation to replace a whole set of ordinary equations. Any time it is possible to so abbreviate the writing of a mathematical equation (like using a single letter for a complicated parenthesis) it not only saves time but often enables us to think more clearly. Multiplication of a Matrix by a Number A convenient way to display the components of the vector A = 2i + 3j is to write them as elements of a matrix, either 2 A= called a column matrix or column vector, 3 or AT = 2 3 called a row matrix or row vector. The row matrix AT is the transpose of the column matrix A. Observe the notation we are using here: We will often use the same letter for a vector and its column matrix, but we will usually write the letter representing the matrix as A (roman, not boldface), the vector as boldface A, and the length of the vector as italic A. Now suppose we want a vector of twice the length of A and in the same direction; we would write this as 2A = 4i + 6j. Then we would like to write its matrix representation as 4 2 , 2AT = 2(2 3) = (4 6). = 2A = 2 6 3 This is, in fact, exactly how a matrix is multiplied by a number: every element of the matrix is multiplied by the number. Thus ka kc ke a c e = k kb kd kf b d f

Section 6

and

Matrix Operations

− 21

3 4

−1

− 85

=−

1 8

4 −6 8 5

115

Note carefully a diﬀerence between determinants and matrices: multiplying a matrix by a number k means multiplying every element by k, but multiplying just one row of a determinant by k multiplies the determinant by k. Thus det(kA) = k 2 det A for a 2 by 2 matrix, det(kA) = k 3 det A for a 3 by 3 matrix, and so on.

Addition of Matrices When we add vectors algebraically, we add them by components. Matrices are added in the same way, by adding corresponding elements. For example, 1 + 2 3 − 1 −2 + 4 2 −1 4 1 3 −2 (6.1) = + 4+3 7−7 1−2 3 −7 −2 4 7 1 3 2 2 = . 7 0 −1 Note that if we add A + A we would get 2A in accord with our deﬁnition of twice a matrix above. Suppose we have 2 −1 1 3 −2 . and B= A= 3 5 4 7 1 In this case we cannot add A and B; we say that the sum is undeﬁned or meaningless. In applications, then, matrices are useful in representing things which are added by components. Suppose, for example, that, in (6.1), the columns represent displacements of three particles. The ﬁrst particle is displaced by i + 4j (ﬁrst column of the ﬁrst matrix) and later by 2i + 3j (ﬁrst column of the second matrix). The total displacement is then 3i + 7j (ﬁrst column of the sum of the matrices). Similarly the second and third columns represent displacements of the second and third particles. Multiplication of Matrices Let us start by deﬁning the product of two matrices and then see what use we can make of the process. Here is a simple example to show what is meant by the product AB = C of two matrices A and B: e f ae + bg af + bh a b = = C. (6.2a) AB = c d g h ce + dg cf + dh Observe that in the product matrix C, the element in the ﬁrst row and ﬁrst column is obtained by multiplying each element of the ﬁrst row in A times the corresponding element in the ﬁrst column of B and adding the results. This is referred to as "row times column" multiplication; when we compute ae + bg, we say that we have "multiplied the ﬁrst row of A times the ﬁrst column of B." Next examine the element af + bh in the ﬁrst row and second column of C; it is the "ﬁrst row of A times the second column of B." Similarly, ce+dg in the second row and ﬁrst column of C is the "second row of A times the ﬁrst column of B," and cf + dh in the second

116

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row and second column of C is the "second row of A times the second column of B." Thus all the elements of C may be obtained by using the following simple rule:

(6.2b)

The element in row i and column j of the product matrix AB is equal to row i of A times column j of B. In index notation (AB)ij = Aik Bkj . k

Here is another useful way of saying this: Think of the elements in a row (or a column) of a matrix as the components of a vector. Then row times column multiplication for the matrix product AB corresponds to ﬁnding the dot product of a row vector of A and a column vector of B. It is not necessary for matrices to be square in order for us to multiply them. Consider the following example. Example 1. Find the product of A and B if A=

4 2 , −3 1

1 5 2 7

3 . −4

Following the rule we have stated, we get 1 5 3 4 2 AB = 2 7 −4 −3 1 4·1+2·2 4·5+2·7 = −3 · 1 + 1 · 2 −3 · 5 + 1 · 7 8 34 4 . = −1 −8 −13

4 · 3 + 2(−4) −3 · 3 + 1(−4)

Notice that the third column in B caused us no diﬃculty in following our rule; we simply multiplied each row of A times the third column of B to obtain the elements in the third column of AB. But suppose we tried to ﬁnd the product BA. In B a row contains 3 elements, while in A a column contains only two; thus we are not able to apply the "row times column" method. Whenever this happens, we say that B is not conformable with respect to A, and the product BA is not deﬁned (that is, it is meaningless and we do not use it).

The product AB (in that order) can be found if and only if the number of elements in a row of A equals the number of elements in a column of B; the matrices A, B in that order are then called conformable. (Observe that the number of rows in A and of columns in B have nothing to do with the question of whether we can ﬁnd AB or not.)

Section 6

Matrix Operations

117

Example 2. Find AB and BA, given A=

3 −1 , −4 2

5 2 . −7 3

Note that here the matrices are conformable in both orders, so we can ﬁnd both AB and BA. 5 2 3 −1 AB = −7 3 −4 2 3 · 5 − 1(−7) 3·2−1·3 22 3 . = = −34 −2 −4 · 5 + 2(−7) −4 · 2 + 2 · 3 3 −1 5 2 BA = −4 2 −7 3 5 · 3 + 2(−4) 5(−1) + 2 · 2 7 −1 . = = −33 13 −7 · 3 + 3(−4) −7(−1) + 3 · 2

Observe that AB is not the same as BA. We say that matrix multiplication is not commutative, or that, in general, matrices do not commute under multiplication. (Of course, two particular matrices may happen to commute.) We deﬁne the commutator of the matrices A and B by

(6.3)

[A, B] = AB − BA = commutator of A and B.

(Commutators are of interest in classical and quantum mechanics.) Since matrices do not in general commute, be careful not to change the order of factors in a product of matrices unless you know they commute. For example (A − B)(A + B) = A2 + AB − BA − B2 = A2 − B2 + [A, B]. This is not equal to A2 − B2 when A and B don't commute. Also see the discussion just after (6.17). On the other hand, the associative law is valid, that is, A(BC) = (AB)C, so we can write either as simply ABC. Also the distributive law holds: A(B + C) = AB + AC and (A + B)C = AC + BC as we have been assuming above. (See Section 9.) Zero Matrix The zero or null matrix means one with all its elements equal to zero. It is often abbreviated by 0, but we must be careful about this. For example: (6.4)

2 −4 , M= 1 −2

then

0 M = 0 2

0 0

so we have M2 = 0, but M = 0. Also see Problems 9 and 10.

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Linear Algebra

Chapter 3

Identity Matrix or Unit Matrix This is a square matrix with every element of the main diagonal (upper left to lower right) equal to 1 and all other elements equal to zero. For example   1 0 0 0 1 0 (6.5) 0 0 1 is a unit or identity matrix of order 3 (that is, three rows and three columns). An identity or unit matrix is called 1 or I or U or E in various references. You should satisfy yourself that in multiplication, a unit matrix acts like the number 1, that is, if A is any matrix and I is the unit matrix conformable with A in the order in which we multiply, then IA = AI = A (Problem 11). Operations with Determinants We do not deﬁne addition for determinants. However, multiplication is useful; we multiply determinants the same way we multiply matrices. It can be shown that if A and B are square matrices of the same order, then (6.6)

det AB = det BA = (det A) · (det B).

Look at Example 2 above to see that (6.6) is true even when matrices AB and BA are not equal, that is, when A and B do not commute. Applications of Matrix Multiplication We can now write sets of simultaneous linear equations in a very simple form using matrices. Consider the matrix equation      5 1 0 −1 x −2 3 0 y  =  1  . (6.7) −10 z 1 −3 2 If we multiply the ﬁrst two matrices, we have     x−z 5  −2x + 3y  =  1  . (6.8) x − 3y + 2z −10 Now recall that two matrices are equal only if set of three equations  − z  x −2x + 3y (6.9)  x − 3y + 2z

they are identical. Thus (6.8) is the = 5 = 1 . = −10

Consequently (6.7) is the matrix form for the set of equations (6.9). In this way we can write any set of linear equations in matrix form. If we use letters to represent the matrices in (6.7),       1 0 −1 x 5 3 0 , r = y  , k =  1  , (6.10) M = −2 −10 1 −3 2 z

Section 6

Matrix Operations

119

then we can write (6.7) or (6.9) as

(6.11)

Mr = k.

Or, in index notation, we can write j Mij xj = ki . [Review Section 2, equations (2.3) to (2.6).] Note that (6.11) could represent any number of equations or unknowns (say 100 equations in 100 unknowns!). Thus we have a great simpliﬁcation in notation which may help us to think more clearly about a problem. For example, if (6.11) were an ordinary algebraic equation, we would solve it for r to get r = M−1 k.

(6.12)

Since M is a matrix, (6.12) only makes sense if we can give a meaning to M−1 such that (6.12) gives the solution of (6.7) or (6.9). Let's try to do this.

Inverse of a Matrix The reciprocal or inverse of a number x is x−1 such that the product xx−1 = 1. We deﬁne the inverse of a matrix M (if it has one) as the matrix M−1 such that MM−1 and M−1 M are both equal to a unit matrix I. Note that only square matrices can have inverses (otherwise we could not multiply both MM−1 and M−1 M). Actually, some square matrices do not have inverses either. You can see from (6.6) that if M−1 M = I, then (det M−1 )(det M) = det I = 1. If two numbers have product = 1, then neither of them is zero; thus det M = 0 is a requirement for M to have an inverse. If a matrix has an inverse we say that it is invertible; if it doesn't have an inverse, it is called singular. For simple numerical matrices your computer will easily produce the inverse of an invertible matrix. However, for theoretical purposes, we need a formula for the inverse; let's discuss this. The cofactor of an element in a square matrix M means exactly the same thing as the cofactor of that element in det M [see (3.3) and (3.4)]. Thus, the cofactor Cij of the element mij in row i and column j is a number equal to (−1)i+j times the value of the determinant remaining when we cross oﬀ row i and column j. Then to ﬁnd M−1 : Find the cofactors Cij of all elements, write the matrix C whose elements are Cij , transpose it (interchange rows and columns), and divide by det M. (See Problem 23.)

(6.13)

M−1 =

1 CT det M

where Cij = cofactor of mij

Although (6.13) is particularly useful in theoretical work, you should practice using it (as we said for Cramer's rule) on simple numerical problems in order to learn what the formula means.

120

Linear Algebra

Chapter 3

Example 3. For the matrix M of the coeﬃcients in equations (6.7) or (6.9), ﬁnd M−1 .   1 0 −1 3 0 . M = −2 1 −3 2 We ﬁnd det M = 3. The cofactors of the elements are: −2 0 3 0 = 6, − 1st row : 1 2 = 4, −3 2 1 −1 0 −1 = 3, = 3, 2nd row : − 1 2 −3 2 1 −1 0 −1 = 2, = 3, 3rd row : − −2 3 0 0 Then



6 4 C = 3 3 3 2

 3 3 3

so M−1

−2 3 1 −3 = 3. 1 0 = 3. − 1 −3 1 0 −2 3 = 3.

 6 3 1 1 CT =  4 3 = det M 3 3 3

 3 2 . 3

Now we can use M−1 to solve equations (6.9). By (6.12), the solution is given by the column matrix r = M−1 k, so we have        1 5 6 3 3 x y  = 1 4 3 2  1  =  1 , 3 −4 −10 3 3 3 z or x = 1, y = 1, z = −4. (See Problem 12.) Rotation Matrices As another example of matrix multiplication, let's consider a case where we know the answer, just to see that our deﬁnition of matrix multiplication works the way we want it to. You probably know the rotation equations [for reference, see the next section, equation (7.12) and Figure 7.4]. Equation (7.12) gives the matrix which rotates the vector r = ix + jy through angle θ to become the vector R = iX + jY . Suppose we further rotate R through angle φ to become R = iX + jY . We could write the matrix equations for the rotations in the form R = Mr and R = M R where M and M are the rotation matrices (7.12) for rotation through angles θ and φ. Then, solving for R in terms of r, we get R = M Mr. We expect the matrix product M M to give us the matrix for a rotation through the angle θ + φ, that is we expect to ﬁnd cos(θ + φ) − sin(θ + φ) cos θ − sin θ cos φ − sin φ . = (6.14) sin(θ + φ) cos(θ + φ) sin θ cos θ sin φ cos φ It is straightforward to multiply the two matrices (Problem 25) and verify (by using trigonometric identities) that (6.14) is correct. Also note that these two rotation matrices commute (that is, rotation through angle θ and then through angle φ gives the same result as rotation through φ followed by rotation through θ). This is true in this problem in two dimensions. As we will see in Section 7, rotation matrices in three dimensions do not in general commute if the two rotation axes are diﬀerent. (See Problems 7.30 and 7.31.) But all rotations in the (x, y) plane are rotations about the z axis and so they commute.

Section 6

Matrix Operations

121

Functions of Matrices Since we now know how to multiply matrices and how to add them, we can evaluate any power of a matrix A and so evaluate a polynomial in A. The constant term c or cA0 in a polynomial is deﬁned to mean c times the unit matrix I [see (6.16) below]. Example 4. (6.15)

1 √ − 2

√ 2 , −1

then A2 =

A3 = −A, A4 = I,

−1 0 = −I, 0 −1

and so on.

(Verify these powers and the fact that higher powers simply repeat these four results: A, −I, −A, I, over and over.) Then we can ﬁnd (Problem 28) (6.16)

f (A) = 3 − 2A2 − A3 − 5A4 + A6 = 3I + 2I + A − 5I − I = A − I =

0 √ − 2

√ 2 . −2

We can extend this to other functions by expanding a given f (x) in a power series if all the series we need to use happen to converge. For example, the series for ez converges for all z, so we can ﬁnd ekA when A is a given matrix and k is any number, real or complex. Let A be the matrix in (6.15). Then (Problem 28), we ﬁnd (6.17)

k 3 A3 k 4 A4 k 5 A5 k 2 A2 + + + + ··· 2! 3! 4! 5! k4 k3 k5 k2 + + · · · )I + (k − + )A = (1 − 2! 4! 3! 5! √ 2 sin k cos√ k + sin k . = (cos k)I + (sin k)A = cos k − sin k − 2 sin k

ekA = 1 + kA +

A word of warning about functions of two matrices when A and B don't commute: Familiar formulas may mislead you; see (6.3) and the discussion following it. Be sure to write (A + B)2 = A2 + AB + BA + B2 ; don't write 2AB. Similarly, you can show that eA+B is not the same as eA eB when A and B don't commute (see Problem 29 and Problem 15.34).

PROBLEMS, SECTION 6 In Problems 1 to 3, ﬁnd AB, BA, A + B, A − B, A2 , B2 , 5A, 3B. Observe that AB = BA. Show that (A − B)(A + B) = (A + B)(A − B) = A2 − B2 . Show that det AB = det BA = (det A)(det B), but that det(A + B) = det A + det B. Show that det(5A) = 5 det A, and ﬁnd n so that det(5A) = 5n det A. Find similar results for det(3B). Remember that the point of doing these simple problems by hand is to learn how to manipulate determinants and matrices correctly. Check your answers by computer. « „ « „ −2 2 3 1 . 1. A = , B= 1 4 2 5 „ « „ « 2 −5 −1 4 2. A = , B= . −1 3 0 2

122

Linear Algebra

Chapter 3

0 1 A = @3 0

Given the matrices

1 2 0A , 1

0 −1 5 „

2 2

3 1

0 1 B = @0 3

1 0 1A . 0

0 2 B = @1 3

« −4 , 5

1 0

1 2 −1

1 4 −1A , −1

2 [email protected] 4 −1

1 −1 0

1 3 −2A , 1

compute or mark as meaningless all products of two of these matrices (AB, BA, A2 , etc.); of three of them (ABC, A2 C, A3 , etc.). 5.

Compute the product of each of the matrices in Problem 4 with its transpose [see (2.2) or (9.1)] in both orders, that is AAT and AT A, etc.

The Pauli spin matrices in quantum mechanics are « „ „ « „ 1 0 −i 0 1 , C= A= , B= 0 i 0 1 0

« 0 . −1

(You will probably ﬁnd these called σx , σy , σz in your quantum mechanics texts.) Show that A2 = B2 = C2 = a unit matrix. Also show that any two of these matrices anticommute, that is, AB = −BA, etc. Show that the commutator of A and B, that is, AB − BA, is 2iC, and similarly for other pairs in cyclic order. 7.

Find the matrix product „ ´ −1 3 2

` 2

«„ « 4 −1 . −1 2

By evaluating this in two ways, verify the associative law for matrix multiplication, that is, A(BC) = (AB)C, which justiﬁes our writing just ABC. 8.

Show, by multiplying the matrices, that the following equation represents an ellipse. „ «„ « ` ´ 5 −7 x x y = 30. 7 3 y

Find AB and BA given „ A=

« 2 , 6

1 3

„ B=

10 −5

« 4 . −2

Observe that AB is the null matrix; if we call it 0, then AB = 0, but neither A nor B is 0. Show that A is singular. 10.

„

Given C=

7 2

« 6 , 3

„ −3 7

« 2 5

and A as in Problem 9, show that AC = AD, but C = D and A = 0. 11.

Show that the unit matrix I has the property that we associate with the number 1, that is, IA = A and AI = A, assuming that the matrices are conformable.

12.

For the matrices in Example 3, verify that MM−1 and M−1 M both equal a unit matrix. Multiply M−1 k to verify the solution of equations (6.9).

In Problems 13 to 16, use (6.13) to ﬁnd the inverse of the given matrix. „ « „ « 6 9 2 1 13. 14. 3 5 0 −3

Section 6

Matrix Operations

15.

0 −1 @ 2 −1

17.

Given the matrices

18.

2 0 −1

1 3 −4A 1

16.

0 1 A = @4 4

−1 0 −2

1 1 −1A , 0

0 −2 @ 1 3

1 1 2A 0

0 −1 1

0 1 B = @2 2

123

0 1 1

1 1 1A . 2

(a)

Find A−1 , B−1 , B−1 AB, and B−1 A−1 B.

(b)

Show that the last two matrices are inverses, that is, that their product is the unit matrix.

Problem 17(b) is a special case of the general theorem that the inverse of a product of matrices is the product of the inverses in reverse order. Prove this. Hint: Multiply ABCD times D−1 C−1 B−1 A−1 to show that you get a unit matrix.

In Problems 19 to 22, solve each set of equations by the method of ﬁnding the inverse of the coeﬃcient matrix. Hint: See Example 3.   x − 2y = 5 2x + 3y = −1 19. 20. 3x + y = 15 5x + 4y = 8 21.

8 + 2z = 8 < x 2x − y = −5 : x + y + z = 4

23.

Verify formula (6.13). Hint: Consider the product of the matrices MCT . Use Problem 3.8.

24.

Use the method of solving simultaneous equations by ﬁnding the inverse of the matrix of coeﬃcients, together with the formula (6.13) for the inverse of a matrix, to obtain Cramer's rule.

25.

Verify (6.14) by multiplying the matrices and using trigonometric addition formulas.

26.

In (6.14), let θ = φ = π/2 and verify the result numerically.

27.

Do Problem 26 if θ = π/2, φ = π/4.

28.

Verify the calculations in (6.15), (6.16), and (6.17).

29.

Show that if A and B are matrices which don't commute, then eA+B = eA eB , but if they do commute then the relation holds. Hint: Write out several terms of the inﬁnite series for eA , eB , and eA+B and do the multiplications carefully assuming that A and B don't commute. Then see what happens if they do commute.

30.

kA For the Pauli spin √ matrix A in Problem 6, ﬁnd the matrices sin kA, cos kA, e , and ikA e where i = −1.

31.

Repeat Problem 30 for the Pauli „ a matrix is diagonal, say D = 0

32.

For the Pauli spin matrix B in Problem 6, ﬁnd eiθB and show that your result is a rotation matrix. Repeat the calculation for e−iθB .

22.

8 < x − y + z = 4 2x + y − z = −1 : 3x + 2y + 2z = 5

spin 6. Hint: Show that if a « matrix C in Problem „ « 0 f (a) 0 , then f (D) = . b 0 f (b)

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Linear Algebra

Chapter 3

7. LINEAR COMBINATIONS, LINEAR FUNCTIONS, LINEAR OPERATORS Given two vectors A and B, the vector 3A − 2B is called a "linear combination" of A and B. In general, a linear combination of A and B means aA + bB where a and b are scalars. Geometrically, if A and B have the same tail and do not lie along a line, then they determine a plane. You should satisfy yourself that all linear combinations of A and B then lie in the plane. It is also true that every vector in the plane can be written as a linear combination of A and B; we shall consider this in Section 8. The vector r = ix + jy + kz with tail at the origin (which we used in writing equations of lines and planes) is a linear combination of the unit basis vectors i, j, k. A function of a vector, say f (r), is called linear if (7.1)

f (r1 + r2 ) = f (r1 ) + f (r2 ),

and f (ar) = af (r),

where a is a scalar. For example, if A = 2i + 3j − k is a given vector, then f (r) = A · r = 2x + 3y − z is a linear function because f (r1 + r2 ) = A · (r1 + r2 ) = A · r1 + A · r2 = f (r1 ) + f (r2 ),

and

f (ar) = A · (ar) = aA · r = af (r). On the other hand, f (r) = |r| is not a linear function, because the length of the sum of two vectors is not in general the sum of their lengths. That is, f (r1 + r2 ) = |r1 + r2 | = |r1 | + |r2 | = f (r1 ) + f (r2 ), as you can see from Figure 7.1. Also note that although we call y = mx + b a linear equation (it is the equation of a straight line), the function f (x) = mx + b is not linear (unless b = 0) because

Figure 7.1

f (x1 + x2 ) = m(x1 + x2 ) + b = (mx1 + b) + (mx2 + b) = f (x1 ) + f (x2 ). We can also consider vector functions of a vector r. The magnetic ﬁeld at each point (x, y, z), that is, at the head of the vector r, is a vector B = iBx + jBy + kBz . The components Bx , By , Bz may vary from point to pint, that is, they are functions of (x, y, z) or r. Then F(r) is a linear vector function if (7.2)

F(r1 + r2 ) = F(r1 ) + F(r2 ) and F(ar) = aF(r),

where a is a scalar. For example, F(r) = br (where b is a scalar) is a linear vector function of r.

Section 7

Linear Combinations, Linear Functions, Linear Operators

125

You know from calculus that d d d [f (x) + g(x)] = f (x) + g(x) and dx dx dx d d [kf (x)] = k f (x), dx dx

(7.3)

where k is a constant. We say that d/dx is a "linear operator" [compare (7.3) with (7.1) and (7.2)]. An "operator" or "operation" simply means a rule or some kind of instruction telling us what to do with whatever follows it. In other words, a linear operator is a linear function. Then

O is a linear operator if O(A + B) = O(A) + O(B)

(7.4)

and O(kA) = kO(A),

where k is a number, and A and B are numbers, functions, vectors, and so on. Many of the errors people make happen because they assume that operators are linear when they are not (see problems). √ Example Is square root a linear operator? We are asking, is A + B the same as √ 1. √ A + B ? The answer is no; taking the square root is not a linear operation.

Example 2. Is taking the complex conjugate a linear operation? We want to know whether ¯ and kA = k A. ¯ The ﬁrst equation is true; the second equation is A + B = A¯ + B true if we restrict k to real numbers. Matrix Operators, Linear Transformations (7.5)

X = ax + by, Y = cx + dy,

a X = c Y

Consider the set of equations

x b , y d

or R = Mr,

where a, b, c, d, are constants. For every point (x, y), these equations give us a point (X, Y ). If we think of each point of the (x, y) plane being moved to some other point (with some points like the origin not being moved), we can call this process a mapping or transformation of the plane into itself. All the information about this transformation is contained in the matrix M. We say that this matrix is an operator which maps the plane into itself. Any matrix can be thought of as an operator on (conformable) column matrices r. Since (7.6)

M(r1 + r2 ) = Mr1 + Mr2

the matrix M is a linear operator.

and M(kr) = k(Mr),

126

Linear Algebra

Chapter 3

Equations (7.5) can be interpreted geometrically in two ways. In Figure 7.2, we have one set of coordinate axes and the vector r has been changed to the vector R by the transformation (7.5). In Figure 7.3, we have two sets of coordinate axes,

Figure 7.2

Figure 7.3

(x, y) and (x , y ), and one vector r = r with coordinates relative to each set of axes. This time the transformation x a b x = ax + by, x , or r = Mr, = (7.7) or y y = cx + dy, c d y tells us how to get the components of the vector r = r relative to axes (x , y ) when we know its components relative to axes (x, y). Orthogonal Transformations We shall be particularly interested in the special case of a linear transformation which preserves the length of a vector. We call (7.7) an orthogonal transformation if 2

x + y = x2 + y 2 ,

(7.8)

and similarly for (7.5). You can see from the ﬁgures that this requirement says that the length of a vector is not changed by an orthogonal transformation. In Figure 7.2, the vector would be rotated (or perhaps reﬂected) with its length held ﬁxed (that is R = r for an orthogonal transformation). In Figure 7.3, the axes are rotated (or reﬂected), while the vector stays ﬁxed. The matrix M of an orthogonal transformation is called an orthogonal matrix. Let's show that the inverse of an orthogonal matrix equals its transpose; in symbols M−1 = MT ,

(7.9)

M orthogonal.

From (7.8) and (7.7) we have 2

x + y = (ax + by)2 + (cx + dy)2 = (a2 + c2 )x2 + 2(ab + cd)xy + (b2 + d2 )y 2 ≡ x2 + y 2 . Thus we must have a2 + c2 = 1, b2 + d2 = 1, ab + cd = 0. Then a b a c (7.10) MT M = c d b d 2 2 a + c ab + cd 1 0 = . ≡ 0 1 ab + cd b2 + d2

Section 7

Linear Combinations, Linear Functions, Linear Operators

127

Since MT M is the unit matrix, M and MT are inverse matrices as we claimed in (7.9). We have deﬁned an orthogonal transformation in two dimensions and we have proved (7.9) for the 2-dimensional case. However, a square matrix of any order is called orthogonal if it satisﬁes (7.9), and you can easily show that the corresponding transformation preserves the lengths of vectors (Problem 9.24). Now if we write (7.9) as MT M = I and use the facts from Section 3 that det(MT M) = (det MT )(det M) and det MT = det M, we have (det M)2 = det(MT M) = det I = 1, so det M = ±1,

(7.11)

M orthogonal.

This is true for M of any order since we have used only the deﬁnition (7.9) of an orthogonal matrix and some properties of determinants. As we shall see, det M = 1 corresponds geometrically to a rotation, and det M = −1 means that a reﬂection is involved. y

(x, y) (x', y')

y' y

(X, Y)

r = r' x'

R ␪

␪

(x, y) ␪ x

Figure 7.4

Figure 7.5

Rotations in 2 Dimensions In Figure 7.4, we have sketched the vector r = (x, y), and the vector R = (X, Y ) which is the vector r rotated by angle θ. We write in matrix form the equations relating the components of r and R (Problem 19). x cos θ − sin θ X , vector rotated. = (7.12) y sin θ cos θ Y In Figure 7.5, we have sketched two sets of axes with the primed axes rotated by angle θ with respect to the unprimed axes. The vector r = (x, y), and the vector r = (x , y ) are the same vector, but with components relative to diﬀerent axes. These components are related by the equations (Problem 20). x x cos θ sin θ , axes rotated. (7.13) = y − sin θ cos θ y Both equations (7.12) and equations (7.13) are referred to as "rotation equations" and the θ matrices are called "rotation matrices". To distinguish them, we refer to the rotation (7.12) as an "active" transformation (vectors rotated), and to (7.13) as a "passive" transformation (vectors not moved but their components changed because the axes are rotated). Equations (7.7) or (7.13) are also referred to as a "change of basis". (Remember that we called i, j, k unit basis vectors; here we have changed from the i, j , k basis to the i , j , k basis. Also see Section 10.) Observe that the matrices in (7.12) and (7.13) are inverses of each other. You can see from the ﬁgures why this must be so. The rotation of a vector in, say, the counterclockwise direction produces the same result as the rotation of the axes in the opposite (clockwise) direction.

128

Linear Algebra

Chapter 3

We note that det M = cos2 θ + sin2 θ = 1 for a rotation matrix. Any 2 by 2 orthogonal matrix with determinant 1 corresponds to a rotation, and any 2 by 2 orthogonal matrix with determinant = −1 corresponds to a reﬂection through a line. Example 3. Find what transformation corresponds to each of the following matrices. √ 1 −1 1 0 3 √ , C = AB, D = BA. , B= (7.14) A= 0 −1 2 − 3 −1 First we can show that all these matrices are orthogonal, and that det A = 1, but the determinants of the other three are −1 (Problem 21). Thus A is a rotation and B, C and D are reﬂections. Let's view these as active transformations (ﬁxed axes, vectors rotated or √ reﬂected). Then by comparing A with (7.12), we have cos θ = −1/2, sin θ = − 21 3, so this is a rotation of 240◦ (or −120◦). Alternatively, we could ask what happens to the vector i. We multiply matrix A times the column matrix ( 10 ) and get √ √ 1 −1 1 1 −1 1 3 √ √ = or − (i + j 3), 0 2 − 3 −1 2 − 3 2 which is i rotated by 240◦ as we had before. Now B operating on ( xy ) leaves x ﬁxed and changes the sign of y (check this); that is, B corresponds to a reﬂection through the x axis. We ﬁnd C = AB and D = BA by multiplying the matrices (Problem 21). √ √ 1 −1 1 −1 − 3 3 √ √ , D = BA = . (7.15) C = AB = 1 3 1 2 − 3 2 We know that these are reﬂections since they have determinant = −1. To ﬁnd the line through which the plane is reﬂected, we realize that the vectors along that line are unchanged by the reﬂection, so we want to ﬁnd x and y, that is vector r, which is mapped to itself by the transformation. For matrix C we write Cr = r. √ 1 −1 − 3 x x √ (7.16) . = y y 1 2 − 3 You can verify (Problem √ 21) that the two equations in (7.16)√are really the same equation, namely y = −x 3. Vectors along this line, say i − j 3, are not changed by the reﬂection [see (7.17)] so this is the reﬂection line. As further √ veriﬁcation we can show [see (7.17)] that a vector perpendicular to this line, say i 3 + j, is changed into its negative, that is, it is reﬂected through the line. √ 1 −1 − 3 1 1 √ √ √ = , − 3 − 3 1 2 − 3 (7.17) √ √ √ 1 −1 − 3 − 3 3 √ = . 1 −1 1 2 − 3 Comment: The solution of the equation Cr = r is an example of an eigenvalue, eigenvector problem. We shall discuss such problems in detail in Section 11. We can analyze the transformation D√in the same way we did C to ﬁnd (Problem 21) that the reﬂection line is y = x 3. Note that matrices A and B do not commute and the transformations C and D are diﬀerent.

Section 7

Linear Combinations, Linear Functions, Linear Operators

129

Rotations and Reﬂections in 3 Dimensions Let's consider 3 by 3 orthogonal matrices as active transformations rotating or reﬂecting vectors r = (x, y, z). A simple form for a rotation matrix is   cos θ − sin θ 0 cos θ 0 . (7.18) A =  sin θ 0 0 1 You should satisfy yourself that this transformation produces a rotation of vectors about the z axis through angle θ. We can then ﬁnd the rotation angle from (7.12) as we did in 2 dimensions. Similarly the matrix   cos θ − sin θ 0 cos θ 0 (7.19) B =  sin θ 0 0 −1 produces a rotation about the z axis of angle θ together with a reﬂection through the (x, y) plane, and again we can ﬁnd the rotation angle as in 2 dimensions. We will show in Section 11 that any 3 by 3 orthogonal matrix with determinant = 1 can be written in the form (7.18) by choosing the z axis as the rotation axis, and any 3 by 3 orthogonal matrix with determinant = −1 can be written in the form (7.19). For now, let's look at a few simple problems we can do just by considering how the matrix maps certain vectors. Example 4. The matrix for a rotation about the  cos θ (7.20) F= 0 − sin θ

y axis is  0 sin θ 1 0 . 0 cos θ

You should satisfy yourself that the entry − sin θ is in the right place for an active transformation. Let θ = 90◦ ; then the matrix F in (7.20) maps the vector i = (1, 0, 0) to the vector −k = (0, 0, −1); this is correct for a 90◦ rotation around the y axis. Check that (0, 0, 1) is mapped to (1, 0, 0). Example 5. Find the mappings produced by the matrices     0 0 1 0 0 1 0 0 . (7.21) G = 0 −1 0 , K = −1 0 −1 0 1 0 0 First we ﬁnd that the determinants are 1 so these are rotations. For G, either by inspection or by solving Gr = r as in (7.16), we ﬁnd that the vector (1, 0, 1) is unchanged and so i + k is the rotation axis. Now G2 is the identity matrix (corresponding to a 360◦ rotation); thus the rotation angle for G is 180◦. Similarly for K, we ﬁnd that the vector (1, −1, 1) is unchanged by the transformation so i − j + k is the rotation axis. Now verify that K maps i to −j, and −j to k, and k to i (or, alternatively that K3 is the identity matrix) so the rotation angle for K3 is ±360◦ . From the geometry we see that the rotation i → −j → k → i is a rotation of −120◦ about i − j + k. (Also see Section 11.)

130

Linear Algebra

Chapter 3

Example 6. Find the mapping produced by the matrix   0 −1 0 0 0 . L = −1 0 0 1 Since det L = −1, this is a reﬂection through some plane. The vector perpendicular to the reﬂection plane is reversed by the reﬂection, so we ask for a vector satisfying Lr = −r. Either by solving these equations or by inspection we ﬁnd r = (1, 1, 0) = i + j. The reﬂecting plane is the plane through the origin perpendicular to this vector, that is, the plane x + y = 0 (see Section 5).

PROBLEMS, SECTION 7 Are the following linear functions? Prove your conclusions by showing that f (r) satisﬁes both of the equations (7.1) or that it does not satisfy at least one of them. 1.

f (r) = A · r + 3, where A is a given vector.

f (r) = A · (r − kz).

r · r.

Are the following linear vector functions? Prove your conclusions using (7.2). 4.

F(r) = r − ix = jy + kz.

F(r) = A × r, where A is a given vector.

F(r) = r + A, where A is a given vector.

Are the following operators linear? 7.

Deﬁnite integral with respect to x from 0 to 1; the objects being operated on are functions of x.

Find the logarithm; operate on positive real numbers.

Find the square; operate on numbers or on functions.

10.

Find the reciprocal; operate on numbers or on functions.

11.

Find the absolute value; operate on complex numbers.

12.

d2 d3 d , D3 = , and so on. Are D, D2 , D3 linear? , D2 for 2 dx dx dx3 Operate on functions of x which can be diﬀerentiated as many times as needed.

13.

(a)

As in Problem 12, is D2 + 2D + 1 linear?

(b)

Is x2 D2 − 2xD + 7 a linear operator?

Let D stand for

14.

Find the maximum; operate on functions of x.

15.

Find the transpose; operate on matrices.

16.

Find the inverse; operate on square matrices.

17.

Find the determinant; operate on square matrices.

Section 7

Linear Combinations, Linear Functions, Linear Operators

131

18.

With the cross product of two vectors deﬁned by (4.14), show that ﬁnding the cross product is a linear operation, that is, show that (4.18) is valid. Warning hint: Don't try to prove it by writing out components: Writing, for example, iAx ×(jBy +kBz ) = iAx × jBy + iAx × kBz would be assuming what you're trying to prove. Further hints: First show that (4.18) is valid if B and C are both perpendicular to A by sketching (in the plane perpendicular to A) the vectors B, C, B + C, and their vector products with A. Then do the general case by ﬁrst showing that A × B and A × B⊥ (where B⊥ is the vector component of B perpendicular to A) have the same magnitude and the same direction.

19.

If we multiply a complex number z = reiφ by eiθ , we get eiθ z = rei(φ+θ) , that is, a complex number with the same r but with its angle increased by θ. We can say that the vector r from the origin to the point z = x + iy has been rotated by angle θ as in Figure 7.4 to become the vector R from the origin to the point Z = X + iY . Then we can write X + iY = eiθ z = eiθ (x + iy). Take real and imaginary parts of this equation to obtain equations (7.12).

20.

Verify equations (7.13) using Figure 7.5. Hints: Write r = r as i x + j y = ix + jy and take the dot product of this equation with i and with j to get x and y . Evaluate the dot products of the unit vectors in terms of θ using Figure 7.5. For example, i · j is the cosine of the angle between the x axis and the y axis.

21.

Do the details of Example 3 as follows: (a)

Verify that the four matrices in (7.14) are all orthogonal and verify the stated values of their determinants.

(b)

Verify the products C = AB and D = BA in (7.15).

(c)

Solve (7.16) to ﬁnd the reﬂection line.

(d)

Analyze the transformation D as we did C.

Let each of the following matrices represent an active transformation of vectors in the (x, y) plane (axes ﬁxed, vectors rotated or reﬂected). As in Example 3, show that each matrix is orthogonal, ﬁnd its determinant, and ﬁnd the rotation angle, or ﬁnd the line of reﬂection. 22.

1 √ 2 „

24.

„

0 −1 „

« 1 1

„ √ − 3 −1

« 1 √ − 3

„

√ « 2 2 1

23.

1 2

« −1 0

25.

1 3

« 4 −3

27.

1 √ 2

1 −1

−1 √ 2 2 „

−1 1

« −1 −1

26.

1 5

28.

Write the matrices which produce a rotation θ about the x axis, or that rotation combined with a reﬂection through the (y, z) plane. [Compare (7.18) and (7.19) for rotation about the z axis.]

29.

Construct the matrix corresponding to a rotation of 90◦ about the y axis together with a reﬂection through the (x, z) plane.

30.

For the matrices G and K in (7.21), ﬁnd the matrices R = GK and S = KG. Note that R = S. (In 3 dimensions, rotations about two diﬀerent axes do not in general commute.) Find what geometric transformations are produced by R and S.

3 4

132 31.

Linear Algebra

Chapter 3

To see a physical example of non-commuting rotations, do the following experiment. Put a book on your desk and imagine a set of rectangular axes with the x and y axes in the plane of the desk with the z axis vertical. Place the book in the ﬁrst quadrant with the x and y axes along the edges of the book. Rotate the book 90◦ about the x axis and then 90◦ about the z axis; note its position. Now repeat the experiment, this time rotating 90◦ about the z axis ﬁrst, and then 90◦ about the x axis; note the diﬀerent result. Write the matrices representing the 90◦ rotations and multiply them in both orders. In each case, ﬁnd the axis and angle of rotation.

For each of the following matrices, ﬁnd its determinant to see whether it produces a rotation or a reﬂection. If a rotation, ﬁnd the axis and angle of rotation. If a reﬂection, ﬁnd the reﬂecting plane and the rotation (if any) about the normal to this plane. 0 32.

0 @ 0 −1

34.

0 1 @0 0

0 −1 0 0 0 −1

1 −1 0A 0 1 0 −1A 0

0 33.

0 @−1 0

35.

0 0 @1 0

0 0 1

1 −1 0A 0

−1 0 0

1 0 0A −1

8. LINEAR DEPENDENCE AND INDEPENDENCE We say that the three vectors A = i + j, B = i + k, and C = 2i + j + k are linearly dependent because A + B − C = 0. The two vectors i and j are linearly independent because there are no numbers a and b (not both zero) such that the linear combination ai + bj is zero. In general, a set of vectors is linearly dependent if some linear combination of them is zero (with not all the coeﬃcients equal to zero). In the simple examples above, it was easy to see by inspection whether the vectors were linearly independent or not. In more complicated cases, we need a method of determining linear dependence. Consider the set of vectors (8.1)

(1, 4, −5), (5, 2, 1), (2, −1, 3), and (3, −6, 11);

We want to know whether they are linearly dependent, and if so, we want to ﬁnd a smaller linearly independent set. Let us row reduce the matrix whose rows are the given vectors (see Section 2):     9 0 7 1 4 −5   5 2 1  → 0 −9 13 .  (8.2)   2 −1 0 0 0 3 0 0 0 3 −6 11 In row reduction, we are forming linear combinations of the rows by elementary row operations [see (2.8)]. All these operations are reversible, so we could, if we liked, reverse our calculations and combine the two vectors (9, 0, 7) and (0, −9, 13) to obtain each of the four original vectors (Problem 1). Thus there are only two independent vectors in (8.1); we refer to these independent vectors as basis vectors since all the original vectors can be written in terms of them (see Section 10). Note that the rank (see Section 2) of the matrix in (8.2) is equal to the number of independent or basis vectors.

Section 8

Linear Dependence and Independence

133

Linear Independence of Functions By a deﬁnition similar to that for vectors, we say that the functions f1 (x), f2 (x), · · · , fn (x) are linearly dependent if some linear combination of them is identically zero, that is, if there are constants k1 , k2 , · · · , kn , not all zero, such that (8.3)

k1 f1 (x) + k2 f2 (x) + · · · + kn fn (x) ≡ 0.

For example, sin2 x and (1 − cos2 x) are linearly dependent since sin2 x − (1 − cos2 x) ≡ 0. But sin x and cos x are linearly independent since there are no numbers k1 and k2 , not both zero, such that (8.4)

k1 sin x + k2 cos x

is zero for all x (Problem 8). We shall be particularly interested in knowing that a given set of functions is linearly independent. For this purpose the following theorem is useful (Problems 8 to 16, and Chapter 8, Section 5). If f1 (x), f2 (x), · · · , fn (x) have derivatives of order n − 1, and if the determinant f1 (x) f2 (x) ··· fn (x) f1 (x) f2 (x) ··· fn (x) f2 (x) ··· fn (x) ≡ 0, (8.5) W = f1 (x) .. .. .. .. . . . . (n−1) (n−1) (n−1) f (x) f2 (x) · · · fn (x) 1 then the functions are linearly independent. (See Problem 16.) The determinant W is called the Wronskian of the functions.

Example 1. Using (8.5), show that the functions 1, x, sin x are linearly independent. We write and evaluate the Wronskian, 1 x sin x cos x = − sin x. W = 0 1 0 0 − sin x Since − sin x is not identically equal to zero, the functions are linearly independent. Example 2. Now let's compute the Wronskian for a case dependent. x sin x sin x 2x − 3 sin x x cos x cos x 2 − 3 cos x = 1 W = 1 0 − sin x 3 sin x 0 − sin x

when the functions are linearly 2x 2 = (sin x)(2x − 2x) ≡ 0, 0

as we expected. However, note that "functions dependent" implies W ≡ 0, but W ≡ 0 does not necessarily imply "functions dependent". (See Problem 16.)

134

Linear Algebra

Chapter 3

Homogeneous Equations In Section 2 we considered sets of linear equations. Here we want to consider the special case of such equations when the constants on the right hand sides are all zero; these are called homogeneous equations. We write the homogeneous equations corresponding to (2.12) and (2.13) together with the row reduced matrices: 1 0 0 x +y = 0 (8.6) 0 1 0 x −y = 0 1 1 0 x + y = 0 (8.7) . 0 0 0 2x + 2y = 0 We can draw several conclusions from these examples. Note that in (8.6) the only solution is x = y = 0; the rank of the matrix is 2, the same as the number of unknowns. In (8.7), the rank of the matrix is 1; this is less than the number of unknowns. This reﬂects what we could see in (8.7), that we really have just one equation in two unknowns; all the points on a line satisfy x + y = 0. In (8.8) we summarize the facts for homogeneous equations:

(8.8)

Homogeneous equations are never inconsistent; they always have the solution "all unknowns = 0" (often called the "trivial solution"). If the number of independent equations (that is, the rank of the matrix) is the same as the number of unknowns, this is the only solution. If the rank of the matrix is less than the number of unknowns, there are inﬁnitely many solutions.

A very important special case is a set of n homogeneous equations in n unknowns. By (8.8), these equations have only the trivial solution unless the rank of the matrix is less than n. This means that at least one row of the row reduced n by n matrix of the coeﬃcients is a zero row. But then the determinant D of the coeﬃcients is zero. Thus we have an important result (see Problems 21 to 25; also see Section 11):

(8.9)

A system of n homogeneous equations in n unknowns has solutions other than the trivial solution if and only if the determinant of the coeﬃcients is zero.

Solutions in Vector Form Geometrically, solutions of sets of linear equations may be points or lines or planes. Example 3. In Section 2, Example 4, we solved equations (2.15): (8.10)

x = 3 + 2z,

y = 4 − z.

This solution set consists of all points on the line which is the intersection of these two planes. An interesting way to write the solution is the vector form (8.11)

r = (x, y, z) = (3 + 2z, 4 − z, z) = (3, 4, 0) + (2, −1, 1)z.

Section 8

Linear Dependence and Independence

135

If we put z = t, this is the parametric form of the equations of a straight line, r = r0 + At [see (5.8)]. Now let's consider the homogeneous equations (zero right hand sides) corresponding to equations (2.15). The equations and the row reduced matrix are:       1 0 −2 0 0 1 1 −1   0 1    2 −1 −5 x 1 0 ,   y  = 0 ,  (8.12) 0 0 0 −5 0 0 4 14 z 0 0 0 0 0 3 −1 −7 so the solutions are (8.13)

x = 2z,

y = −z,

or r = (2, −1, 1)z.

Comparing (8.11) and (8.13), we see that the solution of the homogeneous equations Mr = 0 is a straight line through the origin; the solution of the equations Mr = k is a parallel straight line through the point (3, 4, 0). We could say that the solution of Mr = k is the solution of the corresponding homogeneous equations plus the particular solution r = (3, 4, 0). Here is an example of an important use of (8.9). Example 4. For what values of λ does the following set of equations have nontrivial solutions for x and y? For each value of λ ﬁnd the corresponding relation between x and y. This is an example of an eigenvalue problem; we shall discuss such problems in detail in Sections 11 and 12. The values of λ are called eigenvalues and the corresponding vectors (x, y) are called eigenvectors. (1 − λ)x + 2y = 0, (8.14) 2x + (4 − λ)y = 0. By (8.9), we set the determinant M of the coeﬃcients equal to zero. Then we solve for λ, and for each value of λ we solve for x and y. 1 − λ 2 = λ2 − 5λ + 4 − 4 = λ(λ − 5) = 0, λ = 0, 5. 2 4 − λ For λ = 0, we ﬁnd x + 2y = 0. For λ = 5, we ﬁnd 2x − y = 0. In vector notation the eigenvectors are: For λ = 0, r = (2, −1)s, and for λ = 5, r = (1, 2)t, where s and t are parameters in these vector equations of straight lines through the origin.

PROBLEMS, SECTION 8 1.

Write each of the vectors (8.1) as a linear combination of the vectors (9, 0, 7) and (0, −9, 13). Hint: To get the right x component in (1, 4, −5), you have to use (1/9)(9, 0, 7). How do you get the right y component? Is the z component now correct?

In Problems 2 to 4, ﬁnd out whether the given vectors are dependent or independent; if they are dependent, ﬁnd a linearly independent subset. Write each of the given vectors as a linear combination of the independent vectors. 2.

(1, −2, 3), (1, 1, 1), (−2, 1, −4), (3, 0, 5)

136

Linear Algebra

Chapter 3

(0, 1, 1), (−1, 5, 3), (1, 0, 2), (2, −15, 1)

(3, 5, −1), (1, 4, 2), (−1, 0, 5), (6, 14, 5)

Show that any vector V in a plane can be written as a linear combination of two non-parallel vectors A and B in the plane; that is, ﬁnd a and b so that V = aA+bB. Hint: Find the cross products A × V and B × V; what are A × A and B × B? Take components perpendicular to the plane to show that a=

(B × V) · n (B × A) · n

where n is normal to the plane, and a similar formula for b. 6.

Use Problem 5 to write V = 3i + 5j as a linear combination of A = 2i + j and B = 3i − 2j. Show that the formulas in Problem 5, written as a quotient of 2 by 2 determinants, are just the Cramer's rule solution of simultaneous equations for a and b.

As in Problem 6, write V = 4i − 5j in terms of the basis vectors i − 4j and 5i + 2j.

In Problems 8 to 15, use (8.5) to show that the given functions are linearly independent. eix , sin x

sin x, cos x

10.

x, ex , xex

11.

sin x, cos x, x sin x, x cos x

12.

1, x2 , x4 , x6

13.

sin x, sin 2x

14.

eix , e−ix

15.

ex , eix , cosh x

16.

(a)

Prove that if the Wronskian (8.5) is not identically zero, then the functions f1 , f2 , . . . , fn are linearly independent. Note that this is equivalent to proving that if the functions are linearly dependent, then W is identically zero. Hints: Suppose (8.3) were true; you want to ﬁnd the k's. Diﬀerentiate (8.3) repeatedly until you have a set of n equations for the n unknown k's. Then use (8.9).

(b)

In part (a) you proved that if W ≡ 0, then the functions are linearly independent. You might think that if W ≡ 0, the functions would be linearly dependent. This is not necessarily true; if W ≡ 0, the functions might be either dependent or independent. For example, consider the functions x3 and |x3 | on the interval (−1, 1). Show that W ≡ 0, but the functions are not linearly dependent on (−1, 1). (Sketch them.) On the other hand, they are linearly dependent (in fact identical) on (0, 1).

In Problems 17 to 20, solve the sets of homogeneous equations by row reducing the matrix. 8 8 + 3z = 0 < 2x < x − 2y + 3z = 0 4x + 2y + 5z = 0 x + 4y − 6z = 0 18. 17. : : x − y + 2z = 0 2x + 2y − 3z = 0 8 8 2x − 3y + 5z = 0 3x + y + 3z + 6w = 0 > > > > < < x + 2y − z = 0 4x − 7y − 3z + 5w = 0 20. 19. x − 5y + 6z = 0 x + 3y + 4z − 3w = 0 > > > > : : 4x + y + 3z = 0 3x + 2z + 7w = 0 21.

Find a condition for four points in space to lie in a plane. Your answer should be in the form a determinant which must be equal to zero. Hint: The equation of a plane is of the form ax + by + cz = d, where a, b, c, d are constants. The four points (x1 , y1 , z1 ), (x2 , y2 , z2 ), etc., are all to satisfy this equation. When can you ﬁnd a, b, c, d not all zero?

Section 9 22.

Special Matrices and Formulas

137

Find a condition for three lines in a plane to intersect in one point. Hint: See Problem 21. Write the equation of a line as ax + by = c. Assume that no two of the lines are parallel.

Using (8.9), ﬁnd the values of λ such that the following equations have nontrivial solutions, and for each λ, solve the equations. (See Example 4.) ( 23.

25.

(

(4 − λ)x − 2y = 0

24.

−2x + (7 − λ)y = 0

(6 − λ)x + 3y = 0 3x − (2 + λ)y = 0

8 > < −(1 + λ)x + y + 3z = 0, x + (2 − λ)y = 0, > : 3x + (2 − λ)z = 0.

For each of the following, write the solution in vector form [see (8.11) and (8.13)].

26.

8 2x > > < x > x > : 4x

28.

8 < 2x + y − 5z = 7 x − 2y = 1 : 3x − 5y − z = 4

− + − +

3y 2y 5y y

+ − + +

5z z 6z 3z

= 3 = 5 = −2 = 13

27.

8
2, we just need to write down m linearly independent eigenvectors, and then ﬁnd an orthogonal set by the Gram-Schmidt method. Diagonalizing Hermitian Matrices We have seen how to diagonalize symmetric matrices by orthogonal similarity transformations. The complex analogue of a symmetric matrix (ST = S) is a Hermitian matrix (H† = H) and the complex analogue of an orthogonal matrix (OT = O−1 ) is a unitary matrix (U† = U−1 ). So let's discuss diagonalizing Hermitian matrices by unitary similarity transformations. This is of great importance in quantum mechanics. Although Hermitian matrices may have complex oﬀ-diagonal elements, the eigenvalues of a Hermitian matrix are always real. Let's prove this. (Refer to Section 9 for deﬁnitions and theorems as needed.) Let H be a Hermitian matrix, and let r be the column matrix of a non-zero eigenvector of H corresponding to the eigenvalue λ. Then the eigenvector condition is Hr = λr. We want to take the transpose conjugate (dagger) of this equation. Using the complex conjugate of equation (9.10), we get (Hr)† = r† H† = r† H since H† = H for a Hermitian matrix. The transpose conjugate of λr is λ∗ r† (since λ is a number, we just need to take its complex conjugate). Now we have the two equations (11.21)

Hr = λr

and

r† H = λ∗ r† .

154

Linear Algebra

Chapter 3

Multiply the ﬁrst equation in (11.21) on the left [see discussion following (10.9)] by the row matrix r† and the second equation on the right by the column matrix r to get (11.22)

r† Hr = λr† r

and

r† Hr = λ∗ r† r.

Subtracting the two equations we ﬁnd (λ − λ∗ )r† r = 0. Since we assumed r = 0, we have λ∗ = λ, that is, λ is real. We can also show that for a Hermitian matrix the eigenvectors corresponding to two diﬀerent eigenvalues are orthogonal. Start with the two eigenvector conditions, (11.23)

Hr1 = λ1 r1

and

Hr2 = λ2 r2 .

From these we can show (Problem 37) (11.24)

r†1 Hr2 = λ1 r†1 r2 = λ2 r†1 r2 ,

or (λ1 − λ2 )r†1 r2 = 0.

Thus if λ1 = λ2 , then the inner product of r1 and r2 is zero, that is, they are orthogonal [see (10.8)]. We can also prove that if a matrix M has real eigenvalues and can be diagonalized by a unitary similarity transformation, then it is Hermitian. In symbols, we write U−1 MU = D, and ﬁnd the transpose conjugate of this equation to get (Problem 38) (11.25)

(U−1 MU)† = U−1 M† U = D† = D.

Thus U−1 MU = D = U−1 M† U, so M = M† , which says that M is Hermitian. So we have proved that

(11.26)

A matrix has real eigenvalues and can be diagonalized by a unitary similarity transformation if and only if it is Hermitian.

Since a real Hermitian matrix is a symmetric matrix and a real unitary matrix is an orthogonal matrix, the corresponding statement for symmetric matrices is (Problem 39).

(11.27)

A matrix has real eigenvalues and can be diagonalized by an orthogonal similarity transformation if and only if it is symmetric.

Recall from (9.2) and Problem 9.22 that normal matrices include symmetric, Hermitian, orthogonal, and unitary matrices (as well as some others). It may be useful to know the following general theorem which we state without proof [see, for example, Am. J. Phys. 52, 513–515 (1984)].

(11.28)

A matrix can be diagonalized by a unitary similarity transformation if and only if it is normal.

Section 11

Eigenvalues and Eigenvectors; Diagonalizing Matrices

155

Example 2. To illustrate diagonalizing a Hermitian matrix by a unitary similarity transformation, we consider the matrix 2 3−i . (11.29) H= 3 + i −1 (Verify that H is Hermitian.) We follow the same routine we used to ﬁnd the eigenvalues and eigenvectors of a symmetric matrix. The eigenvalues are given by (2 − λ)(−1 − λ) − (3 + i)(3 − i) = 0, λ2 − λ − 12 = 0,

λ = −3, 4.

For λ = −3, an eigenvector satisﬁes the equations x 5 3−i = 0, or y 3+i 2 5x + (3 − i)y = 0,

(3 + i)x + 2y = 0.

These equations √ are satisﬁed by x = 2, y = (−3−i). A choice for the unit eigenvector is (2, −3 − i)/ 14. For λ = 4, we ﬁnd similarly the equations −2x + (3 − i)y = 0,

(3 + i)x − 5y = 0,

√ which are satisﬁed by y = 2, x = 3 − i, so a unit eigenvector is (3 − i, 2)/ 14. We can verify that the two eigenvectors are orthogonal (as we proved above that they must be) by ﬁnding that their inner product [see (10.8)] is (2, −3 − i)∗ · (3 − i, 2) = 2(3 − i) + 2(−3 + i) = 0. As in (11.10) we write the unit eigenvectors as the columns of a matrix U which diagonalizes H by a similarity transformation. 1 1 2 3−i 2 −3 + i † U= √ , U = √ 2 2 14 −3 − i 14 3 + i You can easily verify that U† U = the unit matrix, so U−1 = U† . Then (Problem 40) −3 0 −1 † , (11.30) U HU = U HU = 0 4 that is, H is diagonalized by a unitary similarity transformation. Orthogonal Transformations in 3 Dimensions In Section 7, we considered the active rotation and/or reﬂection of vectors r which was produced by a given 3 by 3 orthogonal matrix. Study Equations (7.18) and (7.19) carefully to see that, acting on a column vector r, they rotate the vector by angle θ around the z axis and/or reﬂect it through the (x, y) plane. We would now like to see how to ﬁnd the eﬀect of more complicated orthogonal matrices. We can do this by using an orthogonal similarity transformation to write a given orthogonal matrix relative to a new coordinate system in which the rotation axis is the z axis, and/or the (x, y) plane is the reﬂecting plane (in vector space language, this is a change of basis). Then a comparison with (7.18) or (7.19) gives the rotation angle. Recall how we construct a C matrix so that C−1 MC describes the same transformation relative to a new set of axes that M described relative to the original axes: The columns of the C matrix are the components of unit vectors along the new axes [see (11.18) and Figure 11.3].

156

Linear Algebra

Example 3. Consider the following matrices. √   2 √1 1 √ 1 (11.31) A = − 2 2 , √0 2 1 − 2 1

Chapter 3

 −2 −1 −2 1 B =  2 −2 −1 3 1 2 −2 

You can verify that A and B are both orthogonal, and that det A = 1, det B = −1 (Problem 45). Thus A is a rotation matrix while B involves a reﬂection (and perhaps also a rotation). For A, a vector along the rotation axis is not aﬀected by the transformation so we ﬁnd the rotation axis by solving the equation Ar = r. We did this in Section 7, but now you should recognize this as an eigenvector equation. We want the eigenvector corresponding to the eigenvalue 1. By hand or by computer (Problem 45) we ﬁnd that the eigenvector of A corresponding to λ = 1 is (1, 0, 1) or i + k; this is the rotation axis. We want the new z axis to lie along this direction, so we take the elements of the √ third column of matrix C to be the components of the unit vector u = (1, 0, 1)/ 2. For the ﬁrst column (new x√ axis) we choose a unit vector perpendicular to the rotation axis, say v = (1, 0, −1)/ 2, and for the second column (new y axis), we use the cross product u × v = (0, 1, 0) (so that the new axes form a right-handed orthogonal triad). This gives (Problem 45)     1 √0 1 0 1 0 1  (11.32) C= √ 0 2 0 , C−1 AC = −1 0 0 . 2 −1 0 1 0 0 1 Comparing this result with (7.18), we see that cos θ = 0 and sin θ = −1, so the rotation is −90◦ around the axis i + k (or, if you prefer, +90◦ around −i − k). Example 4. For the matrix B, a vector perpendicular to the reﬂection plane is reversed in direction by the reﬂection. Thus we want to solve the equation Br = −r, that is, to ﬁnd the eigenvector corresponding to λ = −1. You can verify (Problem 45) that this is the vector (1, −1, 1) or i − j + k. The reﬂection is through the plane x − y + z = 0, and the rotation (if any) is about the vector i − j + k. As we did for matrix A, we construct a matrix C from this vector and two perpendicular vectors, to get (Problem 45)  1 √   1 1  −1 − 3 √ √ √ 0  6 2 3  2   2    −1    √ 1 −1  √ −1 .  √ √ (11.33) C= C BC =  3 , −1  6 0 2 3     2   2  −2 1  √ √ 0 0 0 −1 6 3 √

Compare this with (7.19) to get cos θ = − 12 , sin θ = 23 , so matrix B produces a rotation of 120◦ around i − j + k and a reﬂection through the plane x − y + z = 0. You may have discovered that matrices A and B have two complex eigenvalues (see Problem 46). The corresponding eigenvectors are also complex, and we didn't use them because this would take us into complex vector space (see Section 10, and Problem 47) and our rotation and reﬂection problems are in ordinary real 3-dimensional space. (Note also that we did not diagonalize A and B, but just

Section 11

Eigenvalues and Eigenvectors; Diagonalizing Matrices

157

used similarity transformations to display them relative to rotated axes.) However, when all the eigenvalues of an orthogonal matrix are real (see Problem 48), then this process produces a diagonalized matrix with the eigenvalues down the main diagonal. Example 5. Consider the matrix

(11.34)

 2 1 F = 6 7 3

 6 3 −3 2 . 2 −6

You can verify (Problem 49) that det F = 1, that the rotation axis (eigenvector corresponding to the eigenvalue λ = 1) is 3i + 2j + k, and that the other two eigenvalues are −1, −1. Then the diagonalized F (relative to axes with the new z axis along the rotation axis) is   −1 0 0  0 −1 0 . (11.35) 0 0 1 Comparing this with equation (7.18), we see that cos θ = −1, sin θ = 0, so F produces a rotation of 180◦ about 3i + 2j + k. An even easier way to ﬁnd the rotation angle in this problem is to use the trace of F (Problem 50). From (7.18) and (11.34) we have 2 cos θ + 1 = −1. Thus cos θ = −1, θ = 180◦ as before. This method gives cos θ for any rotation or reﬂection matrix, but unless cos θ = ±1, we also need more information (say the value of sin θ) to determine whether θ is positive or negative. Powers and Functions of Matrices In Section 6 we found functions of some matrices A for which it was easy to ﬁnd the powers because they repeated periodically [see equations (6.15) to (6.17)]. When this doesn't happen, it isn't so easy to ﬁnd powers directly (Problem 58). But it is easy to ﬁnd powers of a diagonal matrix, and you can also show that (Problem 57) (11.36)

Mn = CDn C−1 ,

where C−1 MC = D,

D diagonal.

This result is useful not just for evaluating powers and functions of numerical matrices but also for proving theorems (Problem 60). Example 6. We can show that if, as above, C−1 MC = D, then (11.37)

det eM = eTr(M) .

As in (6.17) we deﬁne eM by its power series. For each term of the series Mn = CDn C−1 by (11.36), so eM = CeD C−1 . By (6.6), the determinant of a product = the product of the determinants, and det CC−1 = 1, so we have det eM = det eD . Now the matrix eD is diagonal and the diagonal elements are eλi where λi are the eigenvalues of M. Thus det eD = eλ1 eλ2 eλ3 · · · = eTr D . But by (9.13), Tr D = Tr(CC−1 M) = Tr M, so we have (11.37).

158

Linear Algebra

Chapter 3

Simultaneous Diagonalization Can we diagonalize two (or more) matrices using the same similarity transformation? Sometimes we can, namely if, and only if, they commute. Let's see why this is true. Recall that the diagonalizing C matrix has columns which are mutually orthogonal unit eigenvectors of the matrix being diagonalized. Suppose we can ﬁnd the same set of eigenvectors for two matrices F and G; then the same C will diagonalize both. So the problem amounts to showing how to ﬁnd a common set of eigenvectors for F and G if they commute. Example 7. Let's start by diagonalizing F. Suppose r (a column matrix) is the eigenvector corresponding to the eigenvalue λ, that is, Fr = λr. Multiply this on the left by G and use GF = FG (matrices commute) to get GFr = λGr,

(11.38)

F(Gr) = λ(Gr).

This says that Gr is an eigenvector of F corresponding to the eigenvalue λ. If λ is not degenerate (that is if there is just one eigenvector corresponding to λ) then Gr must be the same vector as r (except maybe for length), that is, Gr is a multiple of r, or Gr = λ r. This is the eigenvector equation for G; it says that r is an eigenvector of G. If all eigenvalues of F are non-degenerate, then F and G have the same set of eigenvectors, and so can be diagonalized by the same C matrix. Example 8. Now suppose that there are two (or more) linearly independent eigenvectors corresponding to the eigenvalue λ of F. Then every vector in the degenerate eigenspace corresponding to λ is an eigenvector of matrix F (see discussion of degeneracy above). Next consider matrix G. Corresponding to all non-degenerate F eigenvalues we already have the same set of eigenvectors for G as for F. So we just have to ﬁnd the eigenvectors of G in the degenerate eigenspace of F. Since all vectors in this subspace are eigenvectors of F, we are free to choose ones which are eigenvectors of G. Thus we now have the same set of eigenvectors for both matrices, and so we can construct a C matrix which will diagonalize both F and G. For the converse, see Problem 62.

PROBLEMS, SECTION 11 1.

Verify (11.7). Also verify (11.12) and ﬁnd the corresponding diﬀerent C in (11.11). Hint: To ﬁnd C, start with (11.12) instead of (11.7) and follow through the method of getting (11.10) from (11.7).

Verify that the two eigenvectors in (11.8) are perpendicular, and that C in (11.10) satisﬁes the condition (7.9) for an orthogonal matrix.

(a)

If C is orthogonal and M is symmetric, show that C−1 MC is symmetric.

(b)

If C is orthogonal and M antisymmetric, show that C−1 MC is antisymmetric.

Find the inverse of the rotation matrix in (7.13); you should get C in (11.14). Replace θ by −θ in (7.13) to see that the matrix C corresponds to a rotation through −θ.

Show that the C matrix in (11.10) does represent a rotation by ﬁnding the rotation angle. Write equations (7.13) and (11.13) for this rotation.

Show that if C is a matrix whose columns are the components (x1 , y1 ) and (x2 , y2 ) of two perpendicular vectors each of unit length, then C is an orthogonal matrix. Hint: Find CT C.

Section 11

Eigenvalues and Eigenvectors; Diagonalizing Matrices

159

Generalize Problem 6 to three dimensions; to n dimensions.

Show that under the transformation (11.1), all points (x, y) on a given straight line through the origin go into points (X, Y ) on another straight line through the origin. Hint: Solve (11.1) for x and y in terms of X and Y and substitute into the equation y = mx to get an equation Y = kX, where k is a constant. Further hint: If R = Mr, then r = M−1 R.

Show that det(C−1 MC) = det M. Hints: See (6.6). What is the product of det(C−1 ) and det C? Thus show that the product of the eigenvalues of M is equal to det M.

10.

Show that Tr(C−1 MC) = Tr M. Hint: See (9.13). Thus show that the sum of the eigenvalues of M is equal to Tr M.

11.

Find the inverse of the transformation x = 2x − 3y, y = x + y, that is, ﬁnd x, y in terms of x , y . (Hint: Use matrices.) Is the transformation orthogonal?

Find the eigenvalues and eigenvectors of the following matrices. Do some problems by hand to be sure you understand what the process means. Then check your results by computer. « „ « „ « „ 3 −2 1 3 2 2 12. 13. 14. −2 0 2 2 2 −1 15.

0 2 @3 0

18.

0 −1 @ 1 3

21.

0 1 @1 1

1 −1 1

24.

0 3 @2 4

2 0 2

1 0 0A 1

3 2 0 1 2 0

1 3 0A 2 1 1 1A −1 1 4 2A 3

16.

0 2 @0 2

0 2 0

1 2 0A −1

19.

0 1 @2 2

2 3 0

1 2 0A 3

22.

0 −3 @ 2 2 0

25.

1 @ 1 −1

2 1 3

1 2 3A 1

1 1 1

1 −1 1A −1

17.

0 5 @0 2

20.

0 −1 @ 2 1

23.

26.

0 2 @1 1

1 1 0A 3

2 3 0

13 @ 4 −2

1 2 0A 5

0 3 0

4 13 −2

1 −2 −2A 10

1 1 1A 2

1 2 1

Let each of the following matrices M describe a deformation of the (x, y) plane. For each given M ﬁnd: the eigenvalues and eigenvectors of the transformation, the matrix C which diagonalizes M and speciﬁes the rotation to new axes (x , y ) along the eigenvectors, and the matrix D which gives the deformation relative to the new axes. Describe the deformation relative to the new axes. „ « „ « „ « 2 −1 5 2 3 4 27. 28. 29. −1 2 2 2 4 9 „ 30. 33.

3 1

« 1 3

„ 31.

3 2

« 2 3

„ 32.

6 −2

« −2 3

Find the eigenvalues and eigenvectors of the real symmetric matrix « „ A H . M= H B Show that the eigenvalues are real and the eigenvectors are perpendicular.

160 34.

Linear Algebra

Chapter 3

By multiplying out M = CDC−1 where C is the rotation matrix (11.14) and D is the diagonal matrix « „ λ1 0 , 0 λ2 show that if M can be diagonalized by a rotation, then M is symmetric.

35.

The characteristic equation for a second-order matrix M is a quadratic equation. We have considered in detail the case in which M is a real symmetric matrix and the roots of the characteristic equation (eigenvalues) are real, positive, and unequal. Discuss some other possibilities as follows: (a)

M real and symmetric, eigenvalues real, one positive and one negative. Show that the plane is reﬂected in one of the eigenvector lines (as well as stretched or shrunk). Consider as a simple special case „ « 1 0 M= . 0 −1

(b)

M real and symmetric, eigenvalues equal (and therefore real). Show that M must be a multiple of the unit matrix. Thus show that the deformation consists of dilation or shrinkage in the radial direction (the same in all directions) with no rotation (and reﬂection in the origin if the root is negative).

(c)

M real, not symmetric, eigenvalues real and not equal. Show that in this case the eigenvectors are not orthogonal. Hint: Find their dot product.

(d)

M real, not symmetric, eigenvalues complex. Show that all vectors are rotated, that is, there are no (real) eigenvectors which are unchanged in direction by the transformation. Consider the characteristic equation of a rotation matrix as a special case.

36.

Verify the eigenvalues and eigenvectors of matrix M in (11.20). Find some other pairs of orthogonal eigenvectors in the λ = −3 eigenplane.

37.

Starting with (11.23), obtain (11.24). Hints: Take the transpose conjugate (dagger) of the ﬁrst equation in (11.23), (remember that H is Hermitian and the λ's are real) and multiply on the right by r2 . Multiply the second equation in (11.23) on the left by r†1 .

38.

Verify equation (11.25). Hint: Remember from Section 9 that the transpose conjugate (dagger) of a product of matrices is the product of the transpose conjugates in reverse order and that U† = U−1 . Also remember that we have assumed real eigenvalues, so D is a real diagonal matrix.

39.

Write out the detailed proof of (11.27). Hint: Follow the proof of (11.26) in equations (11.21) to (11.25), replacing the Hermitian matrix H by a symmetric matrix M which is real. However, don't assume that the eigenvalues λ are real until you prove it.

40.

Verify the details as indicated in diagonalizing H in (11.29).

Verify that each of the following matrices is Hermitian. Find its eigenvalues and eigenvectors, write a unitary matrix U which diagonalizes H by a similarity transformation, and show that U−1 HU is the diagonal matrix of eigenvalues. « „ « „ 3 1−i 2 i 41. 42. 1+i 2 −i 2 „ 43.

1 −2i

« 2i −2

„ 44.

−2 3 − 4i

3 + 4i −2

Section 11

Eigenvalues and Eigenvectors; Diagonalizing Matrices

161

45.

Verify the details in the discussion of the matrices in (11.31).

46.

We have seen that an orthogonal matrix with determinant 1 has at least one eigenvalue = 1, and an orthogonal matrix with determinant = −1 has at least one eigenvalue = −1. Show that the other two eigenvalues in both cases are eiθ , e−iθ , which, of course, includes the real values 1 (when θ = 0), and −1 (when θ = π). Hint: See Problem 9, and remember that rotations and reﬂections do not change the length of vectors so eigenvalues must have absolute value = 1.

47.

Find a unitary matrix U which diagonalizes A in (11.31) and verify that U−1 AU is diagonal with the eigenvalues down the main diagonal.

48.

Show that an orthogonal matrix M with all real eigenvalues is symmetric. Hints: Method 1. When the eigenvalues are real, so are the eigenvectors, and the unitary matrix which diagonalizes M is orthogonal. Use (11.27). Method 2. From Problem 46, note that the only real eigenvalues of an orthogonal M are ±1. Thus show that M = M−1 . Remember that M is orthogonal to show that M = MT .

49.

Verify the results for F in the discussion of (11.34).

50.

Show that the trace of a rotation matrix equals 2 cos θ + 1 where θ is the rotation angle, and the trace of a reﬂection matrix equals 2 cos θ − 1. Hint: See equations (7.18) and (7.19), and Problem 10.

Show that each of the following matrices is orthogonal and ﬁnd the rotation and/or reﬂection it produces as an operator acting on vectors. If a rotation, ﬁnd the axis and angle; if a reﬂection, ﬁnd the reﬂecting plane and the rotation, if any, about the normal to that plane. √ 1 0 1 0 −1 −1 2 6 9 √2 1 @ 1 @ 1 51. 6 7 −6A 52. 2A 1 √ √ 11 2 9 −6 2 2 − 2 0 √ 1 0 1 0 2 −1 −1 2 2 √ √1 1@ 1 @ 2 2 −1 2A 53. 54. 2A √0 3 2 2 2 −1 1 − 2 −1 √ √ 1 0 0 1 2 2√ 2√ −1 8 4 √ 1@ 1 √ @−√2 1 + √2 1 − √2A −4 −4 7A 55. 56. 9 2 2 − 2 1− 2 1+ 2 −8 1 −4 57.

Show that if D is a diagonal matrix, then Dn is the diagonal matrix with elements equal to the nth power of the elements of D. Also show that if D = C−1 MC, then Dn = C−1 Mn C, so Mn = CDn C−1 . Hint: For n = 2, (C−1 MC)2 = C−1 MCC−1 MC; what is CC−1 ?

58.

Note in Section 6 [see (6.15)] that, for the given matrix A, we found A2 = −I, so it was easy to ﬁnd all the powers of A. It is not usually this easy to ﬁnd high powers of a matrix directly. Try it for the square matrix M in equation (11.1). Then use the method outlined in Problem 57 to ﬁnd M4 , M10 , eM . « „ 3 −1 . Repeat the last part of Problem 58 for the matrix M = −1 3

59. 60.

The Caley-Hamilton theorem states that "A matrix satisﬁes its own characteristic equation." Verify this theorem for the matrix M in equation (11.1). Hint: Substitute the matrix M for λ in the characteristic equation (11.4) and verify that you have a correct matrix equation. Further hint: Don't do all the arithmetic. Use (11.36) to write the left side of your equation as C(D2 − 7D + 6)C−1 and show that the parenthesis = 0. Remember that, by deﬁnition, the eigenvalues satisfy the characteristic equation.

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61.

At the end of Section 9 we proved that if H is a Hermitian matrix, then the matrix eiH is unitary. Give another proof by writing H = CDC−1 , remembering that now C is unitary and the eigenvalues in D are real. Show that eiD is unitary and that eiH is a product of three unitary matrices. See Problem 9.17d.

62.

Show that if matrices F and G can be diagonalized by the same C matrix, then they commute. Hint: Do diagonal matrices commute?

12. APPLICATIONS OF DIAGONALIZATION We next consider some examples of the use of the diagonalization process. A central conic section (ellipse or hyperbola) with center at the origin has the equation Ax2 + 2Hxy + By 2 = K,

(12.1)

where A, B, H and K are constants. In matrix form this can be written A H x x x y x y =K = K or M (12.2) y y H B

if we call

A H

H B

(as you can verify by multiplying out the matrices). We want to choose the principal axes of the conic as our reference axes in order to write the equation in simpler form. Consider Figure 11.2; let the axes (x , y ) be rotated by some angle θ from (x, y). Then the (x, y) and (x , y ) coordinates of a point are related by (11.13) or (11.14): x x x x cos θ − sin θ =C . or (12.3) = y sin θ cos θ y y y By (9.11) the transpose of (12.3) is

(12.4)

x x

y = x y = x

cos θ sin θ or − sin θ cos θ y CT = x y C−1 y

since C is an orthogonal matrix. Substituting (12.3) and (12.4) into (12.2), we get x x y C−1 MC = K. (12.5) y If C is the matrix which diagonalizes M, then (12.5) is the equation of the conic relative to its principal axes. Example 1. Consider the conic (12.6)

5x2 − 4xy + 2y 2 = 30.

In matrix form this can be written x 5 −2 x y = 30. (12.7) y −2 2

Section 12

Applications of Diagonalization

We have here the same matrix,

163

5 −2 , −2 2

whose eigenvalues we found in Section 11. In that section we found a C such that 1 0 −1 . C MC = D = 0 6 Then the equation (12.5) of the conic relative to principal axes is 1 0 x 2 2 x y (12.8) = x + 6y = 30. 0 6 y 2

Observe that changing the order of 1 and 6 in D would give 6x + y = 30 as the new equation of the ellipse instead of (12.8). This amounts simply to interchanging the x and y axes. By comparing the matrix C of the unit eigenvectors in (11.10) with the rotation matrix in (11.14), we see that the rotation angle θ (Figure 11.3) from the original axes (x, y) to the principal axes (x , y ) is 1 θ = arc cos √ . 5 Notice that in writing the conic section equation in matrix form (12.2) and (12.7), we split the xy term evenly between the two nondiagonal elements of the matrix; this made M symmetric. Recall (end of Section 11) that M can be diagonalized by a similarity transformation C−1 MC with C an orthogonal matrix (that is, by a rotation of axes) if and only if M is symmetric. We choose M symmetric (by splitting the xy term in half) to make our process work. Although for simplicity we have been working in two dimensions, the same ideas apply to three (or more) dimensions (that is, three or more variables). As we have said (Section 10), although we can represent only three coordinates in physical space, it is very convenient to use the same geometrical terminology even though the number of variables is greater than three. Thus if we diagonalize a matrix of any order, we still use the terms eigenvalues, eigenvectors, principal axes, rotation to principal axes, etc. (12.9)

Example 2. Rotate to principal axes the quadric surface x2 + 6xy − 2y 2 − 2yz + z 2 = 24. In matrix form this equation is    x 3 0 1 x y z 3 −2 −1 y  = 24. 0 −1 1 z The characteristic equation of this matrix is 1 − λ 3 0 3 −2 − λ −1 = 0 = −λ3 + 13λ − 12 0 −1 1 − λ = −(λ − 1)(λ + 4)(λ − 3).

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The characteristic values are λ = −4,

λ = 1,

λ = 3.

Relative to the principal axes (x , y , z ) the quadric surface equation becomes

1 0 z 0 −4 0 0

   x 0 0 y  = 24 3 z



x − 4y + 3z = 24. From this equation we can identify the quadric surface (hyperboloid of one sheet) and sketch its size and shape using (x , y , z ) axes without ﬁnding their relation to the original (x, y, z) axes. However, if we do want to know the relation between the two sets of axes, we ﬁnd the C matrix in the following way. Recall from Section 11 that C is the matrix whose columns are the components of the unit eigenvectors. One of the eigenvectors can be found by substituting the eigenvalue λ = 1 into the equations      1 3 0 x λx 3 −2 −1 y  = λy  0 −1 1 z λz and solving for x, y, z. Then ix + jy + kz is an eigenvector corresponding to λ = 1, and by dividing it by its magnitude we get a unit eigenvector (Problem 8). Repeating this process for each of the other values of λ, we get the following three unit eigenvectors: 1 3 √ , 0, √ when λ = 1; 10 10 −3 5 1 √ ,√ ,√ when λ = −4; 35 35 35 −3 −2 1 √ ,√ ,√ when λ = 3. 14 14 14 Then the rotation matrix C is  1 √  10    C= 0    3 √ 10

−3 √ 35 5 √ 35 1 √ 35

−3  √ 14   −2  √   14   1  √ 14

The numbers in C are the cosines of the nine angles between the (x, y, z) and (x , y , z ) axes. (Compare Figure 11.3 and the discussion of it.) A useful physical application of this method occurs in discussing vibrations. We illustrate this with a simple problem.

Section 12

Applications of Diagonalization

165

Example 3. Find the characteristic vibration frequencies for the system of masses and springs shown in Figure 12.1.

Figure 12.1 Let x and y be the coordinates of the two masses at time t relative to their equilibrium positions, as shown in Figure 12.1. We want to write the equations of motion (mass times acceleration = force) for the two masses (see Chapter 2, end of Section 16). We can just write the forces by inspection as we did in Chapter 2, but for more complicated problems it is useful to have a systematic method. First write the potential energy; for a spring this is V = 12 ky 2 where y is the compression or extension of the spring from its equilibrium length. Then the force exerted on a mass attached to the spring is −ky = −dV /dy. If V is a function of two (or more) variables, say x and y as in Figure 12.1, then the forces on the two masses are −∂V /∂x and −∂V /∂y (and so on for more variables). For Figure 12.1, the extension or compression of the middle spring is x − y so its potential energy is 1 1 1 2 2 2 2 k(x − y) . For the other two springs, the potential energies are 2 kx and 2 ky so the total potential energy is (12.10)

V =

1 2 1 1 kx + k(x − y)2 + ky 2 = k(x2 − xy + y 2 ). 2 2 2

In writing the equations of motion it is convenient to use a dot to indicate a time derivative (as we often use a prime to mean an x derivative). Thus x˙ = dx/dt, x ¨ = d2 x/dt2 , etc. Then the equations of motion are m¨ x = −∂V /∂x = −2kx + ky, (12.11) m¨ y = −∂V /∂y = kx − 2ky. In a normal or characteristic mode of vibration, the x and y vibrations have the same frequency. As in Chapter 2, equations (16.22), we assume solutions x = x0 eiωt , y = y0 eiωt , with the same frequency ω for both x and y. [Or, if you prefer, we could replace eiωt by sin ωt or cos ωt or sin(ωt + α), etc.] Note that (for any of these solutions), (12.12)

x¨ = −ω 2 x,

and y¨ = −ω 2 y.

Substituting (12.12) into (12.11) we get (Problem 10) −mω 2 x = −2kx + ky, (12.13) −mω 2 y = kx − 2ky. In matrix form these equations are x 2 −1 x = (12.14) λ y −1 2 y

with

λ=

mω 2 . k

Note that this is an eigenvalue problem (see Section 11). To ﬁnd the eigenvalues λ, we write 2 − λ −1 =0 (12.15) −1 2 − λ

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and solve for λ to ﬁnd λ = 1 or λ = 3. Thus [by the deﬁnition of λ in (12.14)] the characteristic frequencies are k 3k and ω2 = . (12.16) ω1 = m m The eigenvectors (not normalized) corresponding to these eigenvalues are: (12.17)

For λ = 1: y = x or r = (1, 1); for λ = 3: y = −x or r = (1, −1).

Thus at frequency ω1 (with y = x), the two masses oscillate back and forth together like this →→ and then like this ←←. At frequency ω2 (with y = −x), they oscillate in opposite directions like this ←→ and then like this →←. These two especially simple ways in which the system can vibrate, each involving just one vibration frequency, are called the characteristic (or normal) modes of vibration; the corresponding frequencies are called the characteristic (or normal) frequencies of the system. The problem we have just done shows an important method which can be used in many diﬀerent applications. There are numerous examples of vibration problems in physics—in acoustics: the vibrations of strings of musical instruments, of drumheads, of the air in organ pipes or in a room; in mechanics and its engineering applications: vibrations of mechanical systems all the way from the simple pendulum to complicated structures like bridges and airplanes; in electricity: the vibrations of radio waves, of electric currents and voltages as in a tuned radio; and so on. In such problems, it is often useful to ﬁnd the characteristic vibration frequencies of the system under consideration and the characteristic modes of vibration. More complicated vibrations can then be discussed as combinations of these simpler normal modes of vibration. Example 4. In Example 3 and Figure 12.1, the two masses were equal and all the spring constants were the same. Changing the spring constants to diﬀerent values doesn't cause any problems but when the masses are diﬀerent, there is a possible diﬃculty which we want to discuss. Consider an array of masses and springs as in Figure 12.1 but with the following masses and spring constants: 2k, 2m, 6k, 3m, 3k. We want to ﬁnd the characteristic frequencies and modes of vibration. Following our work in Example 3, we write the potential energy V , ﬁnd the forces, write the equations of motion, and substitute x ¨ = −ω 2 x, and y¨ = −ω 2 y, in order to ﬁnd the characteristic frequencies. (Do the details: Problem 11.) (12.18) (12.19)

1 1 1 1 V = 2kx2 + 6k(x − y)2 + 3ky 2 = k(8x2 − 12xy + 9y 2 ) 2 2 2 2 2 2m¨ x = −∂V /∂x, −2mω x = −k(8x − 6y), or 3m¨ y = −∂V /∂y, −3mω 2 y = −k(−6x + 9y).

Next divide each equation by its mass and write the equations in matrix form. k x 4 −3 2 x . = (12.20) ω y 3 y m −2 With λ = mω 2 /k, the eigenvalues of the square matrix are λ = 1 and λ = 6. Thus the characteristic frequencies of vibration are k 6k (12.21) ω1 = and ω2 = . m m

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Applications of Diagonalization

167

The corresponding eigenvectors are: (12.22)

For λ = 1: y = x or r = (1, 1); for λ = 6: 3y = −2x or r = (3, −2).

Thus at frequency ω1 the two masses oscillate back and forth together with equal amplitudes like this ←← and then like this →→. At frequency ω2 the two masses oscillate in opposite directions with amplitudes in the ratio 3 to 2 like this ←→ and then like this →←. Now we seem to have solved the problem; where is the diﬃculty? Note that the square matrix in (12.20) is not symmetric [and compare (12.14) where the square matrix was symmetric]. In Section 11 we discussed the fact that (for real matrices) only symmetric matrices have orthogonal eigenvectors and can be diagonalized by an orthogonal transformation. Here note that the eigenvectors in Example 3 were orthogonal [dot product of (1, 1) and (1, −1) is zero] but the eigenvectors for (12.20) are not orthogonal [dot product of (1, 1) and (3, −2) is not zero]. If we want orthogonal eigenvectors, we can make the change of variables (also see Example 6) √ X = x 2,

(12.23)

√ Y = y 3,

where the constants are the square roots of the numerical factors in the masses 2m and 3m. (Note that geometrically this just amounts to diﬀerent changes in scale along the two axes, not to a rotation.) Then (12.20) becomes (12.24)

√ k X 4 − X 6 √ = ω . Y Y 3 m − 6 2

By inspection we see that the characteristic equation for the square matrix in (12.24) is the same as the characteristic equation for (12.20) so the eigenvalues and the characteristic frequencies are the same as before (as they must be by physical reasoning). However the (12.24) matrix is symmetric and so we know that its eigenvectors are orthogonal. By direct substitution of (12.23) into (12.22), [or by solving for the eigenvectors in the (12.24) matrix] we ﬁnd the eigenvectors in the X, Y coordinates: (12.25)

√ √ √ √ For λ = 1: R = (X, Y ) = ( 2, − 3); for λ = 6: R = (3 2, 2 3 ).

As expected, these eigenvectors are orthogonal. Example 5. Let's consider a model of a linear triatomic molecule in which we approximate the forces between the atoms by forces due to springs (Figure 12.2). m x

m z

Figure 12.2 As in Example 3, let x, y, z be the coordinates of the three masses relative to their equilibrium positions. We want to ﬁnd the characteristic vibration frequencies of

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the molecule. Following our work in Examples 3 and 4, we ﬁnd (Problem 12) (12.26)

V = 12 k(x − y)2 + 12 k(y − z)2 = 12 k(x2 + 2y 2 + z 2 − 2xy − 2yz),  x = −∂V /∂x = −k(x − y),  m¨ M y¨ = −∂V /∂y = −k(2y − x − z),  m¨ z = −∂V /∂z = −k(z − y), or   −mω 2 x = −k(x − y), −M ω 2 y = −k(2y − x − z),  −mω 2 z = −k(z − y).

(12.27)

We are going to consider several diﬀerent ways of solving this problem in order to learn some useful techniques. First of all, if we add the three equations we get m¨ x + M y¨ + m¨ z = 0.

(12.28)

Physically (12.28) says that the center of mass is at rest or moving at constant speed (that is, has zero acceleration). Since we are just interested in vibrational motion, let's assume that the center of mass is at rest at the origin. Then we have mx + M y + mz = 0. Solving this equation for y gives y=−

(12.29)

m (x + z). M

Substitute (12.29) into the second set of equations in (12.27) to get the x and z equations m m )x − k z, M M m m −mω 2 z = −k x − k(1 + )z. M M

−mω 2 x = −k(1 + (12.30)

In matrix form equations (12.30) become [compare (12.14)] (12.31)

m 1+ M x = m y M

x m y 1+ M m M

with λ =

mω 2 . k

We solve this eigenvalue problem to ﬁnd (12.32)

ω1 =

k , m

ω2 =

k m

2m 1+ . M

For ω1 we ﬁnd z = −x, and consequently by (12.29), y = 0. For ω2 , we ﬁnd z = x and so y = − 2m M x. Thus at frequency ω1 , the central mass M is at rest and the two masses m vibrate in opposite directions like this ← m M m→ and then like this m→ M ← m. At the higher frequency ω2 , the central mass M moves in one direction while the two masses m move in the opposite direction, ﬁrst like this m→ ←M m→ and then like this ← m M → ← m. Now suppose that we had not thought about eliminating the translational motion and had set this problem up as a 3 variable problem. Let's go back to the second set

Section 12

Applications of Diagonalization

169

of equations in (12.27), and divide the x and z equations by m and the y equation by M . Then in matrix form these equations can be written as      1 −1 0 x x k  −m 2m −m  y  . (12.33) ω 2 y  = M M M m z z 0 −1 1 With λ = mω 2 /k, the eigenvalues of the square matrix are λ = 0, 1, 1 + the corresponding eigenvectors are (check these)

(12.34)

2m M ,

and

For λ = 0, r = (1, 1, 1); for λ = 1, r = (1, 0, −1); 2m 2m , r = (1, − , 1). for λ = 1 + M M

We recognize the λ = 0 solution as corresponding to translation both because ω = 0 (so there is no vibration), and because r = (1, 1, 1) says that any motion is the same for all three masses. The other two modes of vibration are the same ones we had above. We note that the square matrix in (12.33) is not symmetric and so, as expected, the eigenvectors in (12.34) are not an orthogonal set. However, the last two (which correspond to vibrations) are orthogonal so if we are just interested in modes of vibration we can ignore the translation eigenvector. If we want to consider all motion of the molecule along its axis (both translation and vibration), and want an orthogonal set of eigenvectors, we can make the change of variables discussed in Example 4, namely M (12.35) X = x, Y =y , Z = z. m Then the eigenvectors become (12.36) (1, M/m , 1),

(1, 0, −1),

(1, −2 m/M , 1)

which are an orthogonal set. The ﬁrst eigenvector (corresponding to translation) may seem confusing, looking as if the central mass M doesn't move with the others (as it must for pure translation). But remember from Example 4 that changes of variable like (12.23) and (12.35) correspond to changes of scale, so in the XY Z system we are not using the same measuring stick to ﬁnd the position of the central mass as for the other two masses. Their physical displacements are actually all the same. Example 6. Let's consider Example 4 again in order to illustrate a very compact form for the eigenvalue equation. Satisfy yourself (Problem 13) that we can write the potential energy V in (12.18) as 1 T x 8 −6 , rT = x y . (12.37) V = kr Vr where V = , r= y −6 9 2 Similarly the kinetic energy T = 12 (2mx˙ 2 + 3my˙ 2 ) can be written as 1 x˙ 2 0 , r˙ T = x˙ , r˙ = (12.38) T = m˙rT T˙r where T = y˙ 0 3 2

y˙ .

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(Notice that the T matrix is diagonal and is a unit matrix when the masses are equal; otherwise T has the mass factors along the main diagonal and zeros elsewhere.) Now using the matrices T and V, we can write the equations of motion (12.19) as x 8 −6 x 2 0 or =k mω 2 y −6 9 y 0 3 (12.39)

λTr = Vr

where

λ=

mω 2 . k

We can think of (12.39) as the basic eigenvalue equation. If T is a unit matrix, then we just have λr = Vr as in (12.14). If not, then we can multiply (12.39) by T−1 to get x 4 −3 8 −6 1/2 0 r= (12.40) λr = T−1 Vr = y −2 3 −6 9 0 1/3 as in (12.20). However, we see that this matrix is not symmetric and so the eigenvectors will not be orthogonal. If we want the eigenvectors to be orthogonal as in (12.23), we choose new variables so that the T matrix is the unit matrix, that is variables X and Y so that (12.41)

T = 12 (2mx˙ 2 + 3my˙ 2 ) = 12 m(X˙ 2 + Y˙ 2 ).

But this means that we want X 2 = 2x2 and Y 2 = 3y 2 as in (12.23), or in matrix form, √ √ x√2 X x 2 √0 = = T1/2 r or R= = Y y 3 y 3 0 √ X 0√ 1/ 2 (12.42) . r = T−1/2 R = Y 0 1/ 3 Substituting (12.42) into (12.39), we get λTT−1/2 R = VT−1/2 R. Then multiplying on the left by T−1/2 and noting that T−1/2 TT−1/2 = I, we have (12.43)

λR = T−1/2 VT−1/2 R

as the eigenvalue equation in terms of the new variables X and Y . Substituting the numerical T−1/2 from (12.42) into (12.43) gives the result we had in (12.24). We have simply demonstrated that (12.39) and (12.43) give compact forms of the eigenvalue equations for Example 4. However, it is straightforward to show that these equations are just a compact summary of the equations of motion for any similar vibrations problem, in any number of variables, just by writing the potential and kinetic energy matrices and comparing the equations of motion in matrix form. Example 7. Find the characteristic frequencies and the characteristic modes of vibration for the system of masses and springs shown in Figure 12.3, where the motion is along a vertical line. Let's use the simpliﬁed method of Example 6 for this problem. We ﬁrst write the expressions for the kinetic energy and the potential energy as in previous examples.

Section 12

171

Applications of Diagonalization

(Note carefully that we measure x and y from the equilibrium positions of the masses when they are hanging at rest; then the gravitational forces are already balanced and gravitational potential energy does not come into the expression for V .) (12.44)

T = V =

1 ˙ 2 + y˙ 2 ), 2 m(4x 2 2 1 2 k[3x + (x − y) ]

= 12 k(4x2 − 2xy + y 2 ).

The corresponding matrices are [see equations (12.37) and (12.38)]: 4 −1 4 0 . , V= (12.45) T= −1 1 0 1

m y As in equation (12.40), we ﬁnd T−1 V and its eigenvalues and eigenvectors. mω 2 1 3 Figure 12.3 1 −1/4 4 −1 1/4 0 −1 , λ= = = , . T V= −1 1 −1 1 0 1 k 2 2 k 3k For ω = (12.46) , r = (1, 2); for ω = , r = (1, −2). 2m 2m

As expected (since T−1 V is not symmetric), the eigenvectors are not orthogonal. If we want orthogonal eigenvectors, we make the change of variables X = 2x, Y = y, to ﬁnd the eigenvectors R = (1, 1) and R = (1, −1) which are orthogonal. Alternatively, we can ﬁnd the matrix T−1/2 VT−1/2 1 −1/2 1/2 0 4 −1 1/2 0 , = (12.47) −1/2 1 0 1 −1 1 0 1 and ﬁnd its eigenvalues and eigenvectors.

PROBLEMS, SECTION 12 1.

Verify that (12.2) multiplied out is (12.1).

Find the equations of the following conics and quadric surfaces relative to principal axes. 2.

2x2 + 4xy − y 2 = 24

8x2 + 8xy + 2y 2 = 35

3x2 + 8xy − 3y 2 = 8

5x2 + 3y 2 + 2z 2 + 4xz = 14

x2 + y 2 + z 2 + 4xy + 2xz − 2yz = 12

x2 + 3y 2 + 3z 2 + 4xy + 4xz = 60

Carry through the details of Example 2 to ﬁnd the unit eigenvectors. Show that the resulting rotation matrix C is orthogonal. Hint: Find CCT .

For Problems 2 to 7, ﬁnd the rotation matrix C which relates the principal axes and the original axes. See Example 2.

10.

Verify equations (12.13) and (12.14). Solve (12.15) to ﬁnd the eigenvalues and verify (12.16). Find the corresponding eigenvectors as stated in (12.17).

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11.

Verify the details of Example 4, equations (12.18) to (12.25).

12.

Verify the details of Example 5, equations (12.26) to (12.36).

13.

Verify the details of Example 6, equations (12.37) to (12.43).

Find the characteristic frequencies and the characteristic modes of vibration for systems of masses and springs as in Figure 12.1 and Examples 3, 4, and 6 for the following arrays. 14.

k, m, 2k, m, k

15.

5k, m, 2k, m, 2k

16.

4k, m, 2k, m, k

17.

3k, 3m, 2k, 4m, 2k

18.

2k, m, k, 5m, 10k

19.

4k, 2m, k, m, k

20.

Carry through the details of Example 7.

Find the characteristic frequencies and the characteristic modes of vibration as in Example 7 for the following arrays of masses and springs, reading from top to bottom in a diagram like Figure 12.3. 21.

3k, m, 2k, m

22.

4k, 3m, k, m

23.

2k, 4m, k, 2m

13. A BRIEF INTRODUCTION TO GROUPS We will not go very far into group theory—there are whole books on the subject as well as on its applications in physics. But since so many of the ideas we are discussing in this chapter are involved, it is interesting to have a quick look at groups. Example 1. Think about the four numbers ±1, ±i. Notice that no matter what products and powers of them we compute, we never get any numbers besides these four. This property of a set of elements with a law of combination is called closure. Now think about these numbers written in polar form: eiπ/2 , eiπ , e3iπ/2 , e2iπ = 1, or the corresponding rotations of a vector (in the xy plane with tail at the origin), or the set of rotation matrices corresponding to these successive 90◦ rotations of a vector (Problem 1). Note also that these numbers are the four fourth roots of 1, so we could write them as A, A2 , A3 , A4 = 1. All these sets are examples of groups, or more precisely, they are all representations of the same group known as the cyclic group of order 4. We will be particularly interested in groups of matrices, that is, in matrix representations of groups, since this is very important in applications. Now just what is a group? Deﬁnition of a Group A group is a set {A, B, C, · · · } of elements—which may be numbers, matrices, operations (such as the rotations above)—together with a law of combination of two elements (often called the "product" and written as AB—see discussion below) subject to the following four conditions. 1. Closure: The combination of any two elements is an element of the group. 2. Associative law: The law of combination satisﬁes the associative law: (AB)C = A(BC). 3. Unit element: There is a unit element I with the property that IA = AI = A for every element of the group.

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173

4. Inverses: Every element of the group has an inverse in the group; that is, for any element A there is an element B such that AB = BA = I. We can easily verify that these four conditions are satisﬁed for the set ±1, ±i under multiplication. 1. We have already discussed closure. 2. Multiplication of numbers is associative. 3. The unit element is 1. 4. The numbers i and −i are inverses since their product is 1; −1 is its own inverse, and 1 is its own inverse. Thus the set ±1, ±i, under the operation of multiplication, is a group. The order of a ﬁnite group is the number of elements in the group. When the elements of a group of order n are of the form A, A2 , A3 , · · · , An = 1, it is called a cyclic group. Thus the group ±1, ±i, under multiplication, is a cyclic group of order 4 as we claimed above. A subgroup is a subset which is itself a group. The whole group, or the unit element, are called trivial subgroups; any other subgroup is called a proper subgroup. The group ±1, ±i has the proper subgroup ±1. Product, Multiplication Table In the deﬁnition of a group and in the discussion so far, we have used the term "product" and have written AB for the combination of two elements. However, terms like "product" or "multiplication" are used here in a generalized sense to refer to whatever the operation is for combining group elements. In applications, group elements are often matrices and the operation is matrix multiplication. In general mathematical group theory, the operation might be, for example, addition of two elements, and that sounds confusing to say "product" when we mean sum! Look at one of the ﬁrst examples we discussed, namely the rotation of a vector by angles π/2, π, 3π/2, 2π or 0. If the group elements are rotation matrices, then we multiply them, but if the group elements are the angles, then we add them. But the physical problem is exactly the same in both cases. So remember that group multiplication refers to the law of combination for the group rather than just to ordinary multiplication in arithmetic. Multiplication tables for groups are very useful; equations (13.1), (13.2), and (13.4) show some examples. Look at (13.1) for the group ±1, ±i. The ﬁrst column and the top row (set oﬀ by lines) list the group elements. The sixteen possible products of these elements are in the body of the table. Note that each element of the group appears exactly once in each row and in each column (Problem 3). At the intersection of the row starting with i and the column headed by −i, you ﬁnd the product (i)(−i) = 1, and similarly for the other products.

(13.1)

1 i −1 −i

1 i −1 −i 1 i −1 −i i −1 −i 1 −1 −i 1 i −i 1 i −1

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In (13.2) below, note that you add the angles as we discussed above. However, it's not quite just adding—it's really the familiar process of adding angles until you get to 2π and then starting over again at zero. In mathematical language this is called adding (mod 2π) and we write π/2 + 3π/2 ≡ 0 (mod 2π). Hours on an ordinary clock add in a similar way. If it's 10 o'clock and then 4 hours elapse, the clock says it's 2 o'clock. We write 10 + 4 ≡ 2 (mod 12). (See Problems 6 and 7 for more examples.)

(13.2)

0 π/2 π 3π/2

0 π/2 π 3π/2 0 π/2 π 3π/2 π/2 π 3π/2 0 π 3π/2 0 π/2 3π/2 0 π/2 π

Two groups are called isomorphic if their multiplication tables are identical except for the names we attach to the elements [compare (13.1) and (13.2)]. Thus all the 4-element groups we have discussed so far are isomorphic to each other, that is, they are really all the same group. However, there are two diﬀerent groups of order 4, the cyclic group we have discussed, and another group called the 4's group (see Problem 4). y

Symmetry Group of the Equilateral Triangle Consider three identical atoms at the corners of an equilateral H G triangle in the xy plane, with the center of the triangle at the x origin as shown in Figure 13.1. What rotations and reﬂections of vectors in the xy plane (as in Section 7) will produce an identical array of atoms? By considering Figure 13.1, we F see that there are three possible rotations: 0◦ , 120◦ , 240◦, and three possible reﬂections, through the three lines F , G, Figure 13.1 H (lines along the altitudes of the triangle). Think of moving just the triangle (that is, the atoms), leaving the axes and the lines F , G, H ﬁxed in the background. As in Section 7, we can write a 2 by 2 rotation or reﬂection matrix for each of these six transformations and set up a multiplication table to show that they do form a group of order 6. This group is called the symmetry group of the equilateral triangle. We ﬁnd (Problem 8) 1 0 Identity, 0◦ rotation I= 0 1 √ 1 −1 − 3 √ 120◦ rotation A= 3 −1 2 √ 1 −1 3 ◦ √ 240 rotation B= 2 − 3 −1 (13.3) −1 0 Reﬂection through line F (y axis) F = 0 1 √ 1 1 − 3 √ Reﬂection through line G G= 2 − 3 −1 √ 1 1 3 √ Reﬂection through line H H= 3 −1 2

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175

The group multiplication table is:

(13.4)

I A B F G H

I A B F G I A B F G A B I G H B I A H F F H G I B G F H A I H G F B A

H H F G A B I

Note here that GF = A, but FG = B, not surprising since we know that matrices don't always commute. In group theory, if every two group elements commute, the group is called Abelian. Our previous group examples have all been Abelian, but the group in (13.4) is not Abelian. This is just one example of a symmetry group. Group theory is so important in applications because it oﬀers a systematic way of using the symmetry of a physical problem to simplify the solution. As we have seen, groups can be represented by sets of matrices, and this is widely used in applications. Conjugate Elements, Class, Character Two group elements A and B are called conjugate elements if there is a group element C such that C−1 AC = B. By letting C be successively one group element after another, we can ﬁnd all the group elements conjugate to A. This set of conjugate elements is called a class. Recall from Section 11 that if A is a matrix describing a transformation (such as a rotation or some sort of mapping of a space onto itself), then B = C−1 AC describes the same mapping but relative to a diﬀerent set of axes (diﬀerent basis). Thus all the elements of a class really describe the same mapping, just relative to diﬀerent bases. Example 2. Find the classes for the group in (13.3) and (13.4). We ﬁnd the elements conjugate to F as follows [use (13.4) to ﬁnd inverses and products]: I−1 FI = F; A−1 FA = BFA = BH = G; (13.5)

B−1 FB = AFB = AG = H; F−1 FF = F; G−1 FG = GFG = GB = H; H−1 FH = HFH = HA = G.

Thus the elements F, G, and H are conjugate to each other and form one class. You can easily show (Problem 12) that elements A and B are another class, and the unit element I is a class by itself. Now notice what we observed above. The elements F, G, and H all just interchange two atoms, that is, all of them do the same thing, just seen from a diﬀerent viewpoint. The elements A and B rotate the atoms, A by 120◦ and B by 240◦ which is the same as 120◦ looked at upside down. And ﬁnally the unit element I leaves things unchanged so it is a class by itself. Notice that a class is not a group (except for the class consisting of I) since a group must contain the unit element. So a class is a subset of a group, but not a subgroup.

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Recall from (9.13) and Problem 11.10 that the trace of a matrix (sum of diagonal elements) is not changed by a similarity transformation. Thus all the matrices of a class have the same trace. Observe that this is true for the group (13.3): Matrix I has trace = 2, A and B have trace = − 21 − 12 = −1, and F, G, and H have trace = 0. In this connection, the trace of a matrix is called its character, so we see that all matrices of a class have the same character. Also note that we could write the matrices (13.3) in (inﬁnitely) many other ways by rotating the reference axes, that is, by performing similarity transformations. But since similarity transformations do not change the trace, that is, the character, we now have a number attached to each class which is independent of the particular choice of coordinate system (basis). Classes and their associated character are very important in applications of group theory. One more number is important here, and that is the dimension of a representation. In (13.3), we used 2 by 2 matrices (2 dimensions), but it would be possible to work in 3 dimensions. Then, for example, the A matrix would describe a 120◦ rotation around the z axis and would be √   −1/2 − 3/2 0 √ (13.6) A =  3/2 −1/2 0 , 0 0 1 and the other matrices in (13.3) would have a similar form, called block diagonalized. But now the traces of all the matrices are increased by 1. To avoid having any ambiguity about character, we use what are called "irreducible representations" in ﬁnding character; let's discuss this. Irreducible Representations A 2-dimensional representation is called reducible if all the group matrices can be diagonalized by the same unitary similarity transformation (that is, the same change of basis). For example, the matrices in Problem 1 and the matrices in Problem 4 both give 2-dimensional reducible representations of their groups (see Problems 13, 15, and 16). On the other hand, the matrices in (13.3) cannot be simultaneously diagonalized (see Problem 13), so (13.3) is called a 2-dimensional irreducible representation of the equilateral triangle symmetry group. If a group of 3 by 3 matrices can all be either diagonalized or put in the form of (13.6) (block diagonalized) by the same unitary similarity transformation, then the representation is called reducible; if not, it is a 3-dimensional irreducible representation. For still larger matrices, imagine the matrices block diagonalized with blocks along the main diagonal which are the matrices of irreducible representations. Thus we see that any representation is made up of irreducible representations. For each irreducible representation, we ﬁnd the character of each class. Such lists are known as character tables, but their construction is beyond our scope. Inﬁnite Groups Here we survey some examples of inﬁnite groups as well as some sets which are not groups. (13.7) (a) The set of all integers, positive, negative, and zero, under ordinary addition, is a group. Proof : The sum of two integers is an integer. Ordinary addition obeys the associative law. The unit element is 0. The inverse of the integer N is −N since N + (−N) = 0.

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177

(b) The same set under ordinary multiplication is not a group because 0 has no inverse. But even if we omit 0, the inverses of the other integers are fractions which are not in the set. (c) Under ordinary multiplication, the set of all rational numbers except zero, is a group. Proof : The product of two rational numbers is a rational number. Ordinary multiplication is associative. The unit element is 1, and the inverse of a rational number is just its reciprocal. Similarly, you can show that the following sets are groups under ordinary multiplication (Problem 17): All real numbers except zero, all complex numbers except zero, all complex numbers reiθ with r = 1. (d) Ordinary subtraction or division cannot be group operations because they don't satisfy the associative law; for example, x − (y − z) = (x − y) − z. (Problem 18.) (e) The set of all orthogonal 2 by 2 matrices under matrix multiplication is a group called O(2). If the matrices are required to be rotation matrices, that is, have determinant +1, the set is a group called SO(2) (the S stands for special). Similarly, the following sets of matrices are groups under matrix multiplication: The set of all orthogonal 3 by 3 matrices, called O(3); its subgroup SO(3) with determinant = 1; or the corresponding sets of orthogonal matrices of any dimension n, called O(n) and SO(n). (Problem 19.) (f) The set of all unitary n by n matrices, n = 1, 2, 3, · · · , called U(n), is a group under matrix multiplication, and its subgroup SU(n) of unitary matrices with determinant = 1 is also a group. Proof : We have repeatedly noted that matrix multiplication is associative and that the unit matrix is the unit element of a group of matrices. So we just need to check closure and inverses. The product of two unitary matrices is unitary (see Section 9). If two matrices have determinant = 1, their product has determinant = 1 [see equation (6.6)]. The inverse of a unitary matrix is unitary (see Problem 9.25).

PROBLEMS, SECTION 13 1.

Write the four rotation matrices for rotations of vectors in the xy plane through angles 90◦ , 180◦ , 270◦ , 360◦ (or 0◦ ) [see equation (7.12)]. Verify that these 4 matrices under matrix multiplication satisfy the four group requirements and are a matrix representation of the cyclic group of order 4. Write their multiplication table and compare with Equations (13.1) and (13.2).

Following the text discussion of the cyclic group of order 4, and Problem 1, discuss (a)

the cyclic group of order 3 (see Chapter 2, Problem 10.32);

(b)

the cyclic group of order 6.

Show that, in a group multiplication table, each element appears exactly once in each row and in each column. Hint: Suppose that an element appears twice, and show that this leads to a contradiction, namely that two elements assumed diﬀerent are the same element.

Show that the matrices „ « „ 1 0 0 I= , A= 0 1 1

« 1 , 0

„ B=

0 −1

« −1 , 0

„ C=

−1 0

« 0 , −1

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under matrix multiplication, form a group. Write the group multiplication table to see that this group (called the 4's group) is not isomorphic to the cyclic group of order 4 in Problem 1. Show that the 4's group is Abelian but not cyclic. 5.

Consider the group of order 4 with unit element I and other elements A, B, C, where AB = BA = C, and A2 = B 2 = I. Write the group multiplication table and verify that it is a group. There are two groups of order 4 (discussed in Problems 1 and 4). To which is this one isomorphic? Hint: Compare the multiplication tables.

Consider the integers 0, 1, 2, 3 under addition (mod 4). Write the group "multiplication" table and show that you have a group of order 4. Is this group isomorphic to the cyclic group of order 4 or to the 4's group?

Consider the set of numbers 1, 3, 5, 7 with multiplication (mod 8) as the law of combination. Write the multiplication table to show that this is a group. [To multiply two numbers (mod 8), you multiply them and then take the remainder after dividing by 8. For example, 5 × 7 = 35 ≡ 3(mod 8).] Is this group isomorphic to the cyclic group of order 4 or to the 4's group?

Verify (13.3) and (13.4). Hints: For the rotation and reﬂection matrices, see Section 7. In checking the multiplication table, be sure you are multiplying the matrices in the right order. Remember that matrices are operators on the vectors in the plane (Section 7), and matrices may not commute. GFA means apply A, then F, then G.

Show that any cyclic group is Abelian. Hint: Does a matrix commute with itself?

10.

As we did for the equilateral triangle, ﬁnd the symmetry group of the square. Hints: Draw the square with its center at the origin and its sides parallel to the x and y axes. Find a set of eight 2 by 2 matrices (4 rotation and 4 reﬂection) which map the square onto itself, and write the multiplication table to show that you have a group.

11.

Do Problem 10 for a rectangle. Note that now only two rotations and 2 reﬂections leave the rectangle unchanged. So you have a group of order 4. To which is it isomorphic, the cyclic group or the 4's group?

12.

Verify (13.5) and then also show that A, B are the elements of a class, and that I is a class by itself. Show that it will always be true in any group that I is a class by itself. Hint: What is C−1 IC for any element C of a group?

13.

Using the discussion of simultaneous diagonalization at the end of Section 11, show that the 2-dimensional matrices in Problems 1 and 4 are reducible representations of their groups, and the matrices in (13.5) give an irreducible representation of the equilateral triangle symmetry group. Hint: Look at the multiplication tables to see which matrices commute.

14.

Use the multiplication table you found in Problem 10 to ﬁnd the classes in the symmetry group of a square. Show that the 2 by 2 matrices you found are an irreducible representation of the group (see Problem 13), and ﬁnd the character of each class for that representation. Note that it is possible for the character to be the same for two classes, but it is not possible for the character of two elements of the same class to be diﬀerent.

15.

By Problem 13, you know that the matrices in Problem 4 are a reducible representation of the 4's group, that is they can all be diagonalized by the same unitary similarity transformation (in this case orthogonal since the matrices are symmetric). Demonstrate this directly by ﬁnding the matrix C and diagonalizing all 4 matrices.

16.

Do Problem 15 for the group of matrices you found in Problem 1. Be careful here— you are working in a complex vector space and your C matrix will be unitary but

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179

not orthogonal (see Sections 10 and 11). Comment: Not surprisingly, the numbers 1, i, −1, −i give a 1-dimensional representation—note that a single number can be thought of as a 1-dimensional matrix. 17.

Verify that the sets listed in (13.7c) are groups.

18.

Show that division cannot be a group operation. Hint: See (13.7d).

19.

Verify that the sets listed in (13.7e) are groups. Hint: See the proofs in (13.7f).

20.

Is the set of all orthogonal 3-by-3 matrices with determinant = −1 a group? If so, what is the unit element?

21.

Is the group SO(2) Abelian? What about SO(3)? Hint: See the discussion following equation (6.14).

14. GENERAL VECTOR SPACES In this section we are going to introduce a generalization of our picture of vector spaces which is of great importance in applications. This will be merely an introduction because the ideas here will be used in many of the following chapters as you will discover. The basic idea will be to set up an outline of the requirements for 3-dimensional vector spaces (as we listed the requirements for a group), and then show that these familiar 3-dimensional vector space requirements are satisﬁed by sets of things like functions or matrices which we would not ordinarily think of as vectors. Deﬁnition of a Vector Space A vector space is a set of elements {U, V, W, · · · } called vectors, together with two operations: addition of vectors, and multiplication of a vector by a scalar (which for our purposes will be a real or a complex number), and subject to the following requirements: 1. Closure: The sum of any two vectors is a vector in the space. 2. Vector addition is: (a) commutative: U + V = V + U, (b) associative: (U + V) + W = U + (V + W). 3. (a) There is a zero vector 0 such that 0 + V = V + 0 = V for every element V in the space. (b) Every element V has an additive inverse (−V) such that V + (−V) = 0. 4. Multiplication of vectors by scalars has the expected properties: (a) k(U + V) = kU + kV; (b) (k1 + k2 )V = k1 V + k2 V; (c) (k1 k2 )V = k1 (k2 V); (d) 0 · V = 0, and 1 · V = V. You should go over these and satisfy yourself that they are all true for ordinary two and three dimensional vector spaces. Now let's look at some examples of things we don't usually think of as vectors which, nevertheless, satisfy the above requirements.

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Example 1. Consider the set of polynomials of the third degree or less, namely functions of the form f (x) = a0 + a1 x + a2 x2 + a3 x3 . Is this a vector space? If so, ﬁnd a basis. What is the dimension of the space? We go over the requirements listed above: 1. The sum of two polynomials of degree ≤ 3 is a polynomial of degree ≤ 3 and so is a member of the set. 2. Addition of algebraic expressions is commutative and associative. 3. The "zero vector" is the polynomial with all coeﬃcients ai equal to 0, and adding it to any other polynomial just gives that other polynomial. The additive inverse of a function f (x) is just −f (x), and −f (x) + f (x) = 0 as required for a vector space. 4. All the listed familiar rules are just what we do every time we work with algebraic expressions. So we have a vector space! Now let's try to ﬁnd a basis for it. Consider the set of functions: {1, x, x2 , x3 }. They span the space since any polynomial of degree ≤ 3 is a linear combination of them. You can easily show (Problem 1) by computing the Wronskian [equation (8.5)] that they are linearly independent. Therefore they are a basis, and since there are 4 basis vectors, the dimension of the space is 4. Example 2. Consider the set of linear combinations of the functions {eix , e−ix , sin x, cos x, x sin x}. It is straightforward to verify that all our requirements above are met (Problem 1). To ﬁnd a basis, we must ﬁnd a linearly independent set of functions which spans the space. We note that the given functions are not linearly independent since eix and e−ix are linear combinations of sin x and cos x (Chapter 2, Section 4). However, the set {sin x, cos x, x sin x} is a linearly independent set and it spans the space. So this is a possible basis and the dimension of the space is 3. Another possible basis would be {eix , e−ix , x sin x}. You will meet sets of functions like these as solutions of diﬀerential equations (see Chapter 8, Problems 5.13 to 5.18). Example 3. Modify Example 1 to consider the set of polynomials of degree ≤ 3 with f (1) = 1. Is this a vector space? Suppose we add two of the polynomials; then the value of the sum at x = 1 is 2, so it is not an element of the set. Thus requirement 1 is not satisﬁed so this is not a vector space. Note that a subset of the vectors of a vector space is not necessarily a subspace. On the other hand, if we consider polynomials of degree ≤ 3 with f (1) = 0, then the sum of two of them is zero at x = 1; this is a vector space. You can easily verify (Problem 1) that it is a subspace of dimension 3 and a possible basis is {x − 1, x2 − 1, x3 − 1}. Example 4. Consider the set of all polynomials of any degree ≤ N . The sum of two polynomials of degree ≤ N is another such polynomial, and you can easily verify (Problem 1) that the rest of the requirements are met, so this is a vector space. A simple choice of basis is the set of powers of x from x0 = 1 to xN . Thus we see that the dimension of this space is N + 1.

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Example 5. Consider the set of all 2 by 3 matrices with matrix addition as the law of combination, and multiplication by scalars deﬁned as in Section 6. Recall that you add matrices by adding corresponding elements. Thus a sum of two 2 by 3 matrices is another 2 by 3 matrix. For matrix addition and multiplication by scalars, it is straightforward to show that the other requirements listed above are satisﬁed (Problem 1). As a basis, we could use the six matrices: 0 0 1 0 1 0 1 0 0 , , , 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 . , , 0 0 1 0 1 0 1 0 0 Satisfy yourself that these are linearly independent and that they span the space (that is, that you could write any 2 by 3 matrix as a linear combination of these six). Since there are 6 basis vectors, the dimension of this space is 6. Inner Product, Norm, Orthogonality The deﬁnitions of these terms need to be generalized when our "vectors" are functions, that is, we want to generalize equations (10.1) to (10.3). A of a sum an integral, so natural generalization is we might reasonably replace Ai Bi by A(x)B(x) dx, and A2i by [A(x)]2 dx. However, in applications we frequently want to consider complex functions of the real variable x (for example, eix as in Example 2). Thus, given functions A(x) and B(x) on a ≤ x ≤ b, we deﬁne b [Inner Product of A(x) and B(x)] = (14.1) A∗ (x)B(x) dx, a b [Norm of A(x)] = ||A(x)|| = (14.2) A∗ (x)A(x) dx, a

(14.3)

A(x) and B(x) are orthogonal on (a, b)

A∗ (x)B(x) dx = 0.

Let's now generalize our deﬁnition (14.1) of inner product still further. Let A, B, C, · · · be elements of a vector space, and let a, b, c, · · · be scalars. We will use the bracket A|B to mean the inner product of A and B. This vector space is called an inner product space if an inner product is deﬁned subject to the conditions: (14.4a) (14.4b)

A|B ∗ = B|A ; A|A ≥ 0, A|A = 0 if and only if A = 0;

(14.4c)

C|aA + bB = a C|A + b C|B .

(See Problem 11.) It follows from (14.4) that (Problem 12) (14.5a)

aA + bB|C = a∗ A|C + b∗ B|C ,

(14.5b)

aA|bB = a∗ b A|B .

and

You will ﬁnd various other notations for the inner product, such as (A, B) or [A, B] or A, B . The notation A|B is used in quantum mechanics. Most mathematics books put the complex conjugate on the second factor in (14.1) and make the corresponding changes in (14.4) and (14.5). Most physics and mathematical methods

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books handle the complex conjugate as we have. If you are confused by this notation and equations (14.4) and (14.5), keep going back to (14.1) where A|B = A∗ B until you get used to the bracket notation. Also study carefully our use of the bracket notation in the next section and do Problems 11 to 14. Schwarz's Inequality In Section 10 we proved the Schwarz inequality for ndimensional Euclidean space. For an inner product space satisfying (14.4), it becomes [compare (10.9)] | A|B |2 ≤ A|A B|B .

(14.6)

To prove this, we ﬁrst note that it is true if B = 0. For B = 0, let C = A − µB, where µ = B|A / B|B , and ﬁnd C|C which is ≥ 0 by (14.4b). Using (14.4) and (14.5), we write (14.7)

A − µB|A − µB = A|A − µ∗ B|A − µ A|B + µ∗ µ B|B ≥ 0.

Now substitute the values of µ and µ∗ to get (see Problem 13) (14.8)

B|A

A|B B|A

A|B

B|A − A|B + B|B

B|B

B|B B|B

A|B A|B ∗ | A|B |2 = A|A − = A|A − ≥0 B|B

B|B

A|A −

which gives (14.6). For a function space as in (14.1) to (14.3), Schwarz's inequality becomes (see Problem 14): (14.9)

2 A (x)B(x) dx ≤ ∗

A (x)A(x) dx ∗

B (x)B(x) dx . ∗

Orthonormal Basis; Gram-Schmidt Method Two functions are called orthogonal if they satisfy (14.3); a function is normalized if its norm in (14.2) is 1. By a combination of the two words, we call a set of functions orthonormal if they are all mutually orthogonal and they all have norm 1. It is often convenient to write the functions of a vector space in terms of an orthonormal basis (compare writing ordinary vectors in three dimensions in terms of i, j, k). Let's see how the Gram-Schmidt method applies to a vector space of functions with inner product, norm, and orthogonality deﬁned by (14.1) to (14.3). (Compare Section 10, Example 4 and the paragraph before it.) Example 6. In Example 1, we found that the set of all polynomials of degree ≤ 3 is a vector space of dimension 4 with basis 1, x, x2 , x3 . Let's consider these polynomials on the interval −1 ≤ x ≤ 1 and construct an orthonormal basis. To keep track of what we're doing, let f0 , f1 , f2 , f3 = 1, x, x2 , x3 ; let p0 , p1 , p2 , p3 be a corresponding orthogonal basis (which we ﬁnd by the Gram-Schmidt method); and let e0 , e1 , e2 , e3 , be the orthonormal basis (which we get by normalizing the functions pi ). Recall the Gram-Schmidt routine (see Section 10, Example 4): Normalize the ﬁrst function

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183

to get e0 . Then for the rest of the functions, subtract from fi each preceding ej multiplied by the inner product of ej and fi , that is, ﬁnd 1 ej ej |fi = fi − ej ej fi dx. (14.10) pi = f i − j 0, fyy > 0, and fxx fyy > fxy 2 (a, b) is a maximum point if at (a, b), fxx < 0, fyy < 0, and fxx fyy > fxy ; 2 (a, b) is neither a maximum nor a minimum point if fxx fyy < fxy . (Note that this includes fxx fyy < 0, that is, fxx and fyy of opposite sign.)

Hint: Let fxx = A, fxy = B, fyy = C; then the second derivative terms in the Taylor series are Ah2 + 2Bhk + Ck2 ; this can be written A(h + Bk/A)2 + (C − B 2 /A)k2 . Find out when this expression is positive for all small h, k [that is, all (x, y) near (a, b)]; also ﬁnd out when it is negative for all small h, k, and when it has both positive and negative values for small h, k. Use the facts stated in Problem 2 to ﬁnd the maximum and minimum points of the functions in Problems 3 to 6. 3.

x2 + y 2 + 2x − 4y + 10

4 + x + y − x2 − xy −

Given z = (y − x2 )(y − 2x2 ), show that z has neither a maximum nor a minimum at (0, 0), although z has a minimum on every straight line through (0, 0).

A roof gutter is to be made from a long strip of sheet metal, 24 cm wide, by bending up equal amounts at each side through equal angles. Find the angle and the dimensions that will make the carrying capacity of the gutter as large as possible.

An aquarium with rectangular sides and bottom (and no top) is to hold 5 gal. Find its proportions so that it will use the least amount of material.

1 2 y 2

x2 − y 2 + 2x − 4y + 10

x3 − y 3 − 2xy + 2

10.

Repeat Problem 9 if the bottom is to be three times as thick as the sides.

11.

Find the most economical proportions for a tent as in the ﬁgure, with no ﬂoor.

12.

Find the shortest distance from the origin to the surface z = xy + 5.

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13.

Given particles of masses m, 2m, and 3m at the points (0, 1), (1, 0), and (2, 3), ﬁnd the point P about which their total moment of inertia will be least. (Recall that to ﬁnd the moment of inertia of m about P , you multiply m by the square of its distance from P .)

14.

Repeat Problem 13 for masses m1 , m2 , m3 at (x1 , y1 ), (x2 , y2 ), (x3 , y3 ). Show that the point you ﬁnd is the center of mass.

15.

Find the point on the line through (1, 0, 0) and (0, 1, 0) that is closest to the line x = y = z. Also ﬁnd the point on the line x = y = z that is closest to the line through (1, 0, 0) and (0, 1, 0).

16.

To ﬁnd the best straight line ﬁt to a set of data points (xn , yn ) in the "least squares" sense means the following: Assume that the equation of the line is y = mx + b and verify that the vertical deviation of the line from the point (xn , yn ) is yn −(mxn +b). Write S = sum of the squares of the deviations, substitute the given values of xn , yn to give S as a function of m and b, and then ﬁnd m and b to minimize S. Carry through this routine for the set of points: (−1, −2), (0, 0), (1, 3). Check your results by computer, and also computer plot (on the same axes) the given points and the approximating line.

17.

Repeat Problem 16 for each of the following sets of data points. (a)

(1, 0), (2, −1), (3, −8)

(b)

(−2, −6), (−1, −3), (0, 0), (1, 9/2), (2, 7)

(c)

(−2, 4), (−1, 0), (0, −1), (1, −8), (2, −10)

9. MAXIMUM AND MINIMUM PROBLEMS WITH CONSTRAINTS; LAGRANGE MULTIPLIERS Some examples will illustrate these methods. Example 1. A wire is bent to ﬁt the curve y = 1 − x2 (Figure 9.1). A string is stretched from the origin to a point (x, y) on the curve. Find (x, y) to minimize the length of the string.

Figure 9.1 We want to minimize the distance d = x2 + y 2 from the origin to the point (x, y); this is equivalent to minimizing f = d2 = x2 + y 2 . But x and y are not independent; they are related by the equation of the curve. This extra relation between the variables is what we mean by a constraint. Problems involving constraints occur frequently in applications. There are several ways to do a problem like this. We shall discuss the following methods: (a) elimination, (b) implicit diﬀerentiation, (c) Lagrange multipliers.

Section 9

Maximum and Minimum Problems with Constraints; Lagrange Multipliers

215

(a) Elimination The most obvious method is to eliminate y. Then we want to minimize f = x2 + (1 − x2 )2 = x2 + 1 − 2x2 + x4 = x4 − x2 + 1. This is just an ordinary calculus problem: df = 4x3 − 2x = 0, dx

or x = ±

x = 0,

1 . 2

It is not immediately obvious which of these points is a maximum and which is a minimum, so in this simple problem it is worth while to ﬁnd the second derivative: d2 f −2 at x = 0 (relative maximum), 2 = 12x − 2 = 4 at x = ± 1/2 (minimum). dx2 The minimum we wanted then occurs at x = ± 1/2, y = 1/2. (b) Implicit Diﬀerentiation Suppose it had not been possible to solve for y and substitute; we could still do the problem. From f = x2 + y 2 , we ﬁnd (9.1)

df = 2x dx + 2y dy

dy df = 2x + 2y . dx dx

From an equation like y = 1 − x2 relating x and y, we could ﬁnd dy in terms of dx even if the equation were not solvable for y. Here we get dy = −2x dx. Eliminating dy from df , we have df = (2x − 4xy)dx

df = 2x − 4xy. dx

To minimize f , we set df /dx = 0 (or in the diﬀerential notation we set df = 0 for arbitrary dx). This gives 2x − 4xy = 0. This equation must now be solved simultaneously with the equation of the curve y = 1 − x2 . We get 2x − 4x(1 − x2 ) = 0, x = 0 or ± 1/2 as before. To test for maxima or minima we need d 2f/dx2 . Diﬀerentiating df/dx in (9.1) with respect to x, we get 2 d2f dy d2 y = 2 + 2 + 2y 2 . 2 dx dx dx At x = 0, we ﬁnd y = 1, dy/dx = 0, d2 y/dx2 = −2, so d2f = 2 − 4 = −2; dx2 this is a maximum point. At x = ± 1/2, we ﬁnd y=

1 , 2

√ dy = ∓ 2, dx

d2 y = −2, dx2

216

Partial Differentiation

Chapter 4

d2 f = 2 + 4 − 2 = 4; dx2 this point is the required minimum. Notice particularly here that you could do every step of (b) even if the equation of the curve could not be solved for y. We can do problems with several independent variables by methods similar to those we have just used in Example 1. Consider this problem.

Example 2. Find the shortest distance from the origin to the plane x − 2y − 2z = 3. We want to minimize the distance d = x2 + y 2 + z 2 from the origin to a point (x, y, z) on the plane. This is equivalent to minimizing f = d2 = x2 + y 2 + z 2 if x − 2y − 2z = 3. We can eliminate one variable, say x, from f using the equation of the plane. Then we have f = (3 + 2y + 2z)2 + y 2 + z 2 . Here f is a function of the two independent variables y and z, so to minimize f we set ∂f /∂y = 0, ∂f /∂z = 0. ∂f = 2(3 + 2y + 2z) · 2 + 2y = 0, ∂y ∂f = 2(3 + 2y + 2z) · 2 + 2z = 0. ∂z Solving these equations for y and z, we get y = z = −2/3, so from the equation of the plane we get x = 1/3. Then 2 2 2 1 2 2 fmin = + + = 1, dmin = 1. 3 3 3 It is clear from the geometry that there is a minimum distance from the origin to a plane; therefore this is it without a second-derivative test. (Also see Chapter 3, Section 5 for another way to do this problem.) Problems with any number of variables can be done this way, or by method (b) if the equations are implicit. (c) Lagrange Multipliers However, methods (a) and (b) can involve an enormous amount of algebra. We can shortcut this algebra by a process known as the method of Lagrange multipliers or undetermined multipliers. We want to consider a problem like the one we discussed in (a) or (b). In general, we want to ﬁnd the maximum or minimum of a function f (x, y), where x and y are related by an equation φ(x, y) = const. Then f is really a function of one variable (say x). To ﬁnd the maximum or minimum points of f , we set df /dx = 0 or df = 0 as in (9.1). Since φ = const., we get dφ = 0. ∂f dx + ∂x ∂φ dx + dφ = ∂x df =

(9.2)

∂f dy = 0, ∂y ∂φ dy = 0. ∂y

Section 9

Maximum and Minimum Problems with Constraints; Lagrange Multipliers

217

In method (b) we solved the dφ equation for dy in terms of dx and substituted it into df ; this often involves messy algebra. Instead, we shall multiply the dφ equation by λ (this is the undetermined multiplier—we shall ﬁnd its value later) and add it to the df equation; then we have ∂f ∂φ ∂f ∂φ (9.3) +λ dx + +λ dy = 0. ∂x ∂x ∂y ∂y We now pick λ so that (9.4)

∂f ∂φ +λ = 0. ∂y ∂y

[That is, we pick λ = −(∂f /∂y)/(∂φ/∂y), but it isn't necessary to write it in this complicated form! In fact, this is exactly the point of the Lagrange multiplier λ; by using the abbreviation λ for a complicated expression, we avoid some algebra.] Then from (9.3) and (9.4) we have (9.5)

∂f ∂φ +λ = 0. ∂x ∂x

Equations (9.4), (9.5), and φ(x, y) = const. can now be solved for the three unknowns x, y, λ. We don't actually want the value of λ, but often the algebra is simpler if we do ﬁnd it and use it in ﬁnding x and y which we do want. Note that equations (9.4) and (9.5) are exactly the equations we would write if we had a function (9.6)

F (x, y) = f (x, y) + λφ(x, y)

of two independent variables x and y and we wanted to ﬁnd its maximum and minimum values. Actually, of course, x and y are not independent; they are related by the φ equation. However, (9.6) gives us a simple way of stating and remembering how to get equations (9.4) and (9.5). Thus we can state the method of Lagrange multipliers in the following way:

(9.7)

To ﬁnd the maximum or minimum values of f (x, y) when x and y are related by the equation φ(x, y) = const., form the function F (x, y) as in (9.6) and set the two partial derivatives of F equal to zero [equations (9.4) and (9.5)]. Then solve these two equations and the equation φ(x, y) = const. for the three unknowns x, y, and λ.

As a simple illustration of the method we shall do the problem of Example 1 by Lagrange multipliers. Here f (x, y) = x2 + y 2 ,

φ(x, y) = y + x2 = 1,

and we write the equations to minimize F (x, y) = f + λφ = x2 + y 2 + λ(y + x2 ),

218

Partial Differentiation

Chapter 4

namely

(9.8)

∂F = 2x + λ · 2x = 0, ∂x ∂F = 2y + λ = 0. ∂y

We solve these simultaneously with the φ equation y + x2 = 1. From the ﬁrst equation in (9.8), either x = 0 or λ = −1. If x = 0, y = 1 from the φ equation (and λ = −2). If λ = −1, the second equation gives y = 12 , and then the φ equation gives x2 = 12 . These are the same values we had before. The method oﬀers nothing new in testing whether we have found a maximum or a minimum, so we shall not repeat that work; if it is possible to see from the geometry or the physics what we have found, we don't bother to test. Lagrange multipliers simplify the work enormously in more complicated problems. Consider this problem. Example 3. Find the volume of the largest rectangular parallelepiped (that is, box), with edges parallel to the axes, inscribed in the ellipsoid x2 y2 z2 + 2 + 2 = 1. 2 a b c Let the point (x, y, z) be the corner in the ﬁrst octant where the box touches the ellipsoid. Then (x, y, z) satisﬁes the ellipsoid equation and the volume of the box is 8xyz (since there are 8 octants). Our problem is to maximize f (x, y, z) = 8xyz, where x, y, z are related by the ellipsoid equation φ(x, y, z) =

x2 y2 z2 + + = 1. a2 b2 c2

By the method of Lagrange multipliers we write F (x, y, z) = f + λφ = 8xyz + λ

y2 z2 x2 + + a2 b2 c2

and set the three partial derivatives of F equal to 0: 2x ∂F = 8yz + λ · 2 = 0, ∂x a 2y ∂F = 8xz + λ · 2 = 0, ∂y b ∂F 2z = 8xy + λ · 2 = 0. ∂z c We solve these three equations and the equation φ = 1 simultaneously for x, y, z, and λ. (Although we don't have to ﬁnd λ, it may be simpler to ﬁnd it ﬁrst.) Multiply the ﬁrst equation by x, the second by y, and the third by z, and add to get 2 x y2 z2 3 · 8xyz + 2λ = 0. + + a2 b2 c2

Section 9

Maximum and Minimum Problems with Constraints; Lagrange Multipliers

219

Using the equation of the ellipsoid, we can simplify this to 24xyz + 2λ = 0

λ = −12xyz.

Substituting λ into the ∂F/∂x equation, we ﬁnd that 8yz − 12xyz ·

2x = 0. a2

From the geometry it is clear that the corner of the box should not be where y or z is equal to zero, so we divide by yz and solve for x, getting x2 =

1 2 a . 3

The other two equations could be solved in the same way. However, it is pretty clear from symmetry that the solutions will be y 2 = 13 b2 and z 2 = 13 c2 . Then the maximum volume is 8abc 8xyz = √ . 3 3 You might contrast this fairly simple algebra with what would be involved in method (a). There you would have to solve the ellipsoid equation for, say, z, substitute this into the volume formula, and then diﬀerentiate the square root. Even by method (b) you would have to ﬁnd ∂z/∂x or similar expressions from the ellipsoid equation. We should show that the Lagrange multiplier method is justiﬁed for problems involving several independent variables. We want to ﬁnd maximum or minimum values of f (x, y, z) if φ(x, y, z) = const. (You might note at each step that the proof could easily be extended to more variables.) We take diﬀerentials of both the f and the φ equations. Since φ = const., we have dφ = 0. We put df = 0 because we want maximum and minimum values of f . Thus we write ∂f dx + ∂x ∂φ dφ = dx + ∂x df =

(9.9)

∂f dy + ∂y ∂φ dy + ∂y

∂f dz = 0, ∂z ∂φ dz = 0. ∂z

We could ﬁnd dz from the dφ equation and substitute it into the df equation; this corresponds to method (b) and may involve complicated algebra. Instead, we form the sum F = f + λφ and ﬁnd, using (9.9), (9.10)

dF = df + λ dφ ∂f ∂φ ∂f ∂φ ∂f ∂φ = +λ dx + +λ dy + +λ dz. ∂x ∂x ∂y ∂y ∂z ∂z

There are two independent variables in this problem (since x, y, and z are related by φ = const.). Suppose x and y are the independent ones; then z is determined from the φ equation. Similarly, dx and dy may have any values we choose, and dz is determined. Let us select λ so that (9.11)

∂f ∂φ +λ = 0. ∂z ∂z

220

Partial Differentiation

Chapter 4

Then from (9.10), for dy = 0, we get ∂φ ∂f +λ =0 ∂x ∂x

(9.12) and for dx = 0 we get

∂f ∂φ +λ = 0. ∂y ∂y

(9.13)

We can state a rule similar to (9.7) for obtaining equations (9.11), (9.12), and (9.13).

(9.14)

To ﬁnd the maximum and minimum values of f (x, y, z) if φ(x, y, z) = const., we form the function F = f + λφ and set the three partial derivatives of F equal to zero. We solve these equations and the equation φ = const. for x, y, z, and λ. (For a problem with still more variables there are more equations, but no change in method.)

It is interesting to consider the geometric meaning of equations (9.9) to (9.13). Recall that x, y, z are related by the equation φ(x, y, z) = const. We might, for example, think of solving the φ equation for z = z(x, y). Then x and y are independent variables, and z is a function of them. Geometrically, z = z(x, y) is a surface as in Figure 3.2. If we start at the point P of this surface (see Figure 3.2) and increase x by dx, y by dy, and z by dz as given in equation (3.6), we are at a point on the plane tangent to the surface at P. That is, the vector dr = idx + jdy + kdz −−→ (P B in Figure 3.2) lies in the tangent plane of the surface. Now the second equation in (9.9) is a dot product [see Chapter 3, equation (4.10)] of dr with the vector i

∂φ ∂φ ∂φ +j +k ∂x ∂y ∂z

(called the gradient of φ and written grad φ; see Chapter 6, Section 6ﬀ.). We could write the second equation in (9.9) as dφ = (grad φ) · dr = 0. Recall [Chapter 3, equation (4.12)] that if the dot product of two vectors is zero, the vectors are perpendicular. Thus since dr lies anywhere in the plane tangent to the surface φ = const., (9.9) says that grad φ is perpendicular to this plane, or perpendicular to the surface φ = const. at P . The ﬁrst of equations (9.9) says that grad f is also perpendicular to this plane. Thus grad φ and grad f are in the same direction, so their components are proportional; this is what equations (9.11), (9.12), and (9.13) say. We can also say that the surfaces φ = const. and f = const. are tangent to each other at P ; that is, they have the same tangent plane and their normals, grad φ and grad f , are in the same direction. We can also use the method of Lagrange multipliers if there are several conditions (φ equations). Suppose we want to ﬁnd the maximum or minimum of f (x, y, z, w) if φ1 (x, y, z, w) = const. and φ2 (x, y, z, w) = const. There are two independent

Section 9

Maximum and Minimum Problems with Constraints; Lagrange Multipliers

221

variables, say x and y. We write ∂f ∂f ∂f ∂f dx + dy + dz + dw = 0, ∂x ∂y ∂z ∂w ∂φ1 ∂φ1 ∂φ1 ∂φ1 dφ1 = dx + dy + dz + dw = 0, ∂x ∂y ∂z ∂w ∂φ2 ∂φ2 ∂φ2 ∂φ2 dx + dy + dz + dw = 0. dφ2 = ∂x ∂y ∂z ∂w df =

(9.15)

Again we could use the dφ1 and dφ2 equations to eliminate dz and dw from df (method b), but the algebra is forbidding! Instead, by the Lagrange multiplier method we form the function F = f + λ1 φ1 + λ2 φ2 and write, using (9.15), (9.16)

dF = df + λ1 dφ1 + λ2 dφ2 ∂φ1 ∂φ2 ∂φ1 ∂φ2 ∂f ∂f + λ1 + λ2 dx + + λ1 + λ2 dy = ∂x ∂x ∂x ∂y ∂y ∂y ∂f ∂φ1 ∂φ2 ∂φ1 ∂φ2 ∂f + + λ1 + λ2 dz + + λ1 + λ2 dw. ∂z ∂z ∂z ∂w ∂w ∂w

We determine λ1 and λ2 from the two equations ∂φ1 ∂φ2 ∂f + λ1 + λ2 = 0, ∂z ∂z ∂z ∂f ∂φ1 ∂φ2 + λ1 + λ2 = 0. ∂w ∂w ∂w

(9.17)

Then for dy = 0, we have ∂f ∂φ1 ∂φ2 + λ1 + λ2 =0 ∂x ∂x ∂x

(9.18) and for dx = 0, we have (9.19)

∂f ∂φ1 ∂φ2 + λ1 + λ2 = 0. ∂y ∂y ∂y

As before, we can remember the method of ﬁnding (9.17), (9.18), and (9.19) by thinking:

(9.20)

To ﬁnd the maximum or minimum of f subject to the conditions φ1 = const. and φ2 = const., deﬁne F = f + λ1 φ1 + λ2 φ2 and set each of the partial derivatives of F equal to zero. Solve these equations and the φ equations for the variables and the λ's.

Example 4. Find the minimum distance from the origin to the intersection of xy = 6 with 7x + 24z = 0. We are to minimize x2 + y 2 + z 2 subject to the two conditions xy = 6 and 7x + 24z = 0. By the Lagrange multiplier method, we ﬁnd the three partial derivatives of F = x2 + y 2 + z 2 + λ1 (7x + 24z) + λ2 xy

222

Partial Differentiation

Chapter 4

and set each of them equal to zero. We get 2x + 7λ1 + λ2 y = 0, 2y + λ2 x = 0, 2z + 24λ1 = 0.

(9.21)

These equations can be solved with xy = 6 and 7x + 24z = 0 to get (Problem 10) x = ±12/5,

y = ±5/2,

z = ∓7/10.

Then the required minimum distance is (Problem 10) √ d = x2 + y 2 + z 2 = 5/ 2 = 3.54.

PROBLEMS, SECTION 9 1.

What proportions will maximize the area shown in the ﬁgure (rectangle with isosceles triangles at its ends) if the perimeter is given?

What proportions will maximize the volume of a projectile in the form of a circular cylinder with one conical end and one ﬂat end, if the surface area is given?

Find the largest rectangular parallelepiped (box) that can be shipped by parcel post (length plus girth = 108 in).

Find the largest box (with faces parallel to the coordinate axes) that can be inscribed in y2 z2 x2 + + = 1. 4 9 25

Find the point on 2x + 3y + z − 11 = 0 for which 4x2 + y 2 + z 2 is a minimum.

A box has three of its faces in the coordinate planes and one vertex on the plane 2x + 3y + 4z = 6. Find the maximum volume for the box.

Repeat Problem 6 if the plane is ax + by + cz = d.

A point moves in the (x, y) plane on the line 2x + 3y − 4 = 0. Where will it be when the sum of the squares of its distances from (1, 0) and (−1, 0) is smallest?

Find the largest triangle that can be inscribed in the ellipse (x2 /a2 ) + (y 2 /b2 ) = 1 (assume the triangle symmetric about one axis of the ellipse with one side perpendicular to this axis).

10.

Complete Example 4 above.

11.

Find the shortest distance from the origin to the line of intersection of the planes 2x + y − z = 1 and x − y + z = 2.

12.

Find the right triangular prism of given volume and least area if the base is required to be a right triangle.

Section 10

Endpoint or Boundary Point Problems

223

10. ENDPOINT OR BOUNDARY POINT PROBLEMS So far we have been assuming that if there is a maximum or minimum point, calculus will ﬁnd it. Some simple examples (see Figures 10.1 to 10.4) show that this may not be true. Suppose, in a given problem, x can have values only between 0 and 1; this sort of restriction occurs frequently in applications. For example the graph of f (x) = 2 − x2 exists for all real x, but if x = | cos θ|, θ real, the graph has no meaning except for 0 ≤ x ≤ 1. As another example, suppose x is the length of a rectangle whose perimeter is 2; then x < 0 is meaningless in this problem since x is a length, and x > 1 is impossible because the perimeter is 2. Let us ask for the largest and smallest values of each of the functions in Figures 10.1 to 10.4 for 0 ≤ x ≤ 1. In Figure 10.1, calculus will give us the minimum point, but the maximum of f (x) for x between 0 and 1 occurs at x = 1 and cannot be obtained by calculus, since f (x) = 0 there. In Figure 10.2, both the maximum and the minimum of f (x) are at endpoints, the maximum at x = 0 and the minimum at x = 1. In Figure 10.3 a relative maximum at P and a relative minimum at Q are given by calculus, but the absolute minimum between 0 and 1 occurs at x = 0, and the absolute maximum at x = 1. Here is a practical example of this sort of function. It is said that geographers used to give as the highest point in Florida the top of the highest hill; then it was found that the highest point is on the Alabama border! [See H. A. Thurston, American Mathematical Monthly, vol. 68 (1961), pp. 650-652. A later paper, same journal, vol. 98, (1991), pp. 752-3, reports that the high point is actually just south of the Alabama border, but gives another example of a geographic boundary point maximum.] Figure 10.4 illustrates another way in which calculus may fail to give us a desired maximum or minimum point; here the derivative is discontinuous at the maximum point.

Figure 10.1

Figure 10.2

Figure 10.3

Figure 10.4

These are diﬃculties we must watch out for whenever there is any restriction on the values any of the variables may take (or any discontinuity in the functions or their derivatives). These restrictions are not usually stated in so many words;

224

Partial Differentiation

Chapter 4

you have to see them for yourself. For example, if x2 + y 2 = 25, x and y are both between −5 and +5. If y 2 = x2 − 1, then |x| must be greater than or√equal to 1. If x = csc θ, where θ is a ﬁrst-quadrant angle, then x ≥ 1. If y = x, y is discontinuous at the origin. Example 1. A piece of wire 40 cm long is to be used to form the perimeters of a square and a circle in such a way as to make the total area (of square and circle) a maximum. Call the radius of the circle r; then the circumference of the circle is 2πr. A length 40 − 2πr is left for the four sides of the square, so one side is 10 − 12 πr. The total area is A = πr2 + (10 − 12 πr)2 . Then

dA π = 2πr + 2(10 − 12 πr)(− 12 π) = 2πr 1 + − 10π. dr 4 If dA/dr = 0, we get π r 1+ = 5, r = 2.8, A = 56 + . 4 Now we might think that this is the maximum area. But let us apply the second derivative test to see whether we have a maximum. We ﬁnd d 2A π > 0; = 2π 1 + dr2 4 we have found the minimum area! The problem asks for a maximum. One way to ﬁnd it would be to sketch A as a function of r and look at the graph to see where A has its largest value. A simpler way is this. A is a continuous function of r with a continuous derivative. If there were an interior maximum (that is, one between r = 0 and 2πr = 40), calculus would ﬁnd it. Therefore the maximum must be at one end or the other. At At

r = 0, A = 100. 2πr = 40, r = 20/π,

A = 400/π = 127 + .

We see that A takes its largest value at r = 20/π; A = 400/π = 127+ is then the desired maximum. It corresponds to using all the wire to make a circle; the side of the square is zero. A similar diﬃculty can arise in problems with more variables. Example 2. The temperature in a rectangular plate bounded by the lines x = 0, y = 0, x = 3, and y = 5 is T = xy 2 − x2 y + 100. Find the hottest and coldest points of the plate. We ﬁrst set the partial derivatives of T equal to zero to ﬁnd any interior maxima and minima. We get ∂T = y 2 − 2xy = 0, ∂x ∂T = 2xy − x2 = 0. ∂y

Section 10

Endpoint or Boundary Point Problems

225

The only solution of these equations is x = y = 0, for which T = 100. We must next ask whether there are points around the boundary of the plate where T has a value larger or smaller than 100. To see that this might happen, think of a graph of T plotted as a function of x and y; this is a surface above the (x, y) plane. The mathematical surface does not have to stop at x = 3 and y = 5, but it has no meaning for our problem beyond these values. Just as for the curves in Figures 10.1 to 10.4, the graph of the temperature may be increasing or decreasing as we cross a boundary; calculus will not then give us a zero derivative even though the temperature at the boundary may be larger (or smaller) than at other points of the plate. Thus we must consider the complete boundary of the plate (not just the corners!). The lines x = 0, y = 0, x = 3, and y = 5 are the boundaries; we consider each of them in turn. On x = 0 and y = 0 the temperature is 100. On the line x = 3, we have T = 3y 2 − 9y + 100. We can use calculus to see whether T has maxima or minima as a function of y along this line. We have dT = 6y − 9 = 0, dy y = 32 , T = 93 41 . Similarly, along the line y = 5, we ﬁnd T = 25x − 5x2 + 100, dT = 25 − 10x = 0, dx x = 52 , T = 131 41 . Finally, we must ﬁnd T at the corners. At (0, 0), (0, 5), and (3, 0), T = 100. At (3, 5), T = 130. Putting all our results together, we see that the hottest point is ( 52 , 5) with T = 131 41 , and the coldest point is (3, 32 ) with T = 93 41 . Example 3. Find the point or points closest to the origin on the surfaces (10.1a)

x2 − 4yz = 8,

(10.1b)

z 2 − x2 = 1.

We want to minimize f = x2 + y 2 + z 2 subject to a condition [(a) or (b)]. If we eliminate x2 in each case, we have (10.2a)

f = 8 + 4yz + y 2 + z 2 ,

(10.2b)

f = z 2 − 1 + y 2 + z 2 = 2z 2 + y 2 − 1.

In both problems (a) and (b) the mathematical function f (y, z) is deﬁned for all y and z. For our problems, however, this is not true. In (a), since x2 ≥ 0, we have

226

Partial Differentiation

Chapter 4

x2 = 8 + 4yz ≥ 0 so we are interested in minimum values of f (y, z) in (a) only in the region yz ≥ −2. [Compare Example 2 where T (x, y) was of interest only inside a rectangle.] Thus we look for "interior" minima in (a) satisfying yz ≥ −2; then we substitute z = −2/y into (10.2a) and ﬁnd any minima on the boundary of the region of interest. In (b), since x2 = z 2 − 1 ≥ 0, we must have z 2 ≥ 1. Again we try to ﬁnd "interior" minima satisfying z 2 ≥ 1; then we set z 2 = 1 and look for boundary minima. We now carry out these steps. From (10.2a), we ﬁnd ∂f = z + 2y = 0, ∂y

(10.3a)

    

  ∂f  = y + 2z = 0,  ∂z

y = z = 0.

These values satisfy the condition yz > −2 and √ so give points inside the √ region of 2 interest. We ﬁnd from (10.1a), x = 8, x = ±2 2; the points are (±2 2, 0, 0) at √ distance 2 2 from the origin. Next we consider the boundary x = 0, z = −2/y; from (10.2a), 8 df = 2y − 3 = 0, dy y √ 4 y = 4, z = −2/y = ∓ 2. √ √ √ √ Remembering that x = 0, we have the √ points (0, 2, − 2) and (0, − 2, 2) at distance 2 from the origin. Since 2 < 2 2, these boundary points are closest to the origin. √ √ √ √ (10.4a) Answer to (a): (0, 2, − 2), (0, − 2, 2). 4 , y2 √ y = ± 2,

f = 0 + y2 +

From (10.2b) we ﬁnd

(10.3b)

 ∂f  = 2y = 0,    ∂y ∂f = 4z = 0. ∂z

   

y = z = 0.

Since z = 0 does not satisfy z 2 ≥ 1, there is no minimum point inside the region of interest, so we look at the boundary z 2 = 1. From (10.1b), x = 0, and from (10.2b) f = y 2 + 1,

df = 2y = 0, dy

y = 0.

Thus we ﬁnd the points (0, 0, ±1) at distance 1 from the origin. Since the geometry tells us that there must be a point or points closest to the origin, and calculus tells us that these are the only possible minimum points, these must be the desired points. (10.4b)

Answer to (b): (0, 0, ±1).

In both these problems, we could have avoided having to consider the boundary of the region of interest by eliminating z to obtain f as a function of x and y. Since

Section 10

Endpoint or Boundary Point Problems

227

x and y are allowed by (10.1a) or (10.1b) to take any values, there are no boundaries to the region of interest. In (b) this is a satisfactory method; in (a) the algebra is complicated. In both problems, Lagrange multipliers oﬀer a more routine method. For example, in (a) we write F ∂F ∂x ∂F ∂y ∂F ∂z

= x2 + y 2 + z 2 + λ(x2 − 4yz); = 2x(1 + λ) = 0, = 2y − 4λz = 0;

x = 0 or λ = −1; if λ = −1, y = z = 0, x2 = 8;

y z = , y 2 = z 2 = 2. 2z 2y √ √ √ We obtain the√same√ results as above, √ √ namely, the points (±2 2, 0, 0), (0, ± 2, ∓ 2); the points (0, 2, − 2), (0, − 2, 2) are closer to the origin by inspection. Part (b) can be done similarly (Problem 14). = 2z − 4λy = 0;

if x = 0, λ =

We see that using Lagrange multipliers may simplify maximum and minimum problems. However, the Lagrange multiplier method still relies on calculus; consequently, it can work only if the maximum and minimum can be found by calculus using some set of variables (x and y, not y and z, in Example 3). For example, a problem in which the maximum or minimum occurs at endpoints in all variables cannot be done by any method that depends on setting derivatives equal to zero. Example 4. Find the maximum value of y − x for nonnegative x and y if x2 + y 2 = 1. Here we must have both x and y between 0 and 1. Then the values y = 1 and x = 0 give y − x its largest value; these are both endpoint values which cannot be found by calculus.

PROBLEMS, SECTION 10 1.

Find the shortest distance from the origin to x2 − y 2 = 1.

Find the largest and smallest distances from the origin to the conic whose equation is 5x2 − 6xy + 5y 2 − 32 = 0 and hence determine the lengths of the semiaxes of this conic.

Repeat Problem 2 for the conic 6x2 + 4xy + 3y 2 = 28.

Find the shortest distance from the origin to each of the following quadric surfaces. Hint: See Example 3 above. 4.

3x2 + y 2 − 4xz = 4.

2z 2 + 6xy = 3.

4y 2 + 2z 2 + 3xy = 18.

Find the largest z for which 2x + 4y = 5 and x2 + z 2 = 2y.

If the temperature at the point (x, y, z) is T = xyz, ﬁnd the hottest point (or points) on the surface of the sphere x2 + y 2 + z 2 = 12, and ﬁnd the temperature there.

The temperature T of the disk x2 + y 2 ≤ 1 is given by T = 2x2 − 3y 2 − 2x. Find the hottest and coldest points of the disk.

228 10.

Partial Differentiation

Chapter 4

The temperature at a point (x, y, z) in the ball x2 +y 2 +z 2 ≤ 1 is given by T = y 2 +xz. Find the largest and smallest values which T takes (a)

on the circle y = 0, x2 + z 2 = 1,

(b)

on the surface x2 + y 2 + z 2 = 1,

(c)

in the whole ball.

11.

The temperature of a rectangular plate bounded by the lines x = ±1, y = ±1, is given by T = 2x2 − 3y 2 − 2x + 10. Find the hottest and coldest points of the plate.

12.

Find the largest and smallest values of the sum of the acute angles that a line through the origin makes with the three coordinate axes.

13.

Find the largest and smallest values of the sum of the acute angles that a line through the origin makes with the three coordinate planes.

14.

Do Example 3b using Lagrange multipliers.

11. CHANGE OF VARIABLES One important use of partial diﬀerentiation is in making changes of variables (for example, from rectangular to polar coordinates). This may give a simpler expression or a simpler diﬀerential equation or one more suited to the physical problem one is doing. For example, if you are working with the vibration of a circular membrane, or the ﬂow of heat in a circular cylinder, polar coordinates are better; for a problem about sound waves in a room, rectangular coordinates are better. Consider the following problems. Example 1. Make the change of variables r = x + vt, s = x − vt in the wave equation 1 ∂2F ∂2F − 2 2 = 0, 2 ∂x v ∂t

(11.1)

and solve the equation. (Also see Chapter 13, Sections 1, 4, and 6.) We use the equations r = x + vt,

(11.2)

s = x − vt,

and equations like (7.2) to ﬁnd

(11.3)

∂F ∂F ∂r ∂F ∂s ∂F ∂F ∂ ∂ = + = + = + F, ∂x ∂r ∂x ∂s ∂x ∂r ∂s ∂r ∂s ∂F ∂F ∂r ∂F ∂s ∂F ∂F ∂ ∂ = + =v −v =v − F. ∂t ∂r ∂t ∂s ∂t ∂r ∂s ∂r ∂s

It is helpful to say in words what we have written in (11.3): To ﬁnd the partial of a function with respect to x, we ﬁnd its partial with respect to r plus its partial with respect to s; to ﬁnd the partial with respect to t, we ﬁnd the partial with respect to r minus the partial with respect to s and multiply by the constant v. It is useful to write this in operator notation (see Chapter 3, Section 7): ∂ ∂ ∂ ∂ ∂ ∂ (11.4) = + , =v − . ∂x ∂r ∂s ∂t ∂r ∂s

Section 11

Change of Variables

229

Then from (11.3) and (11.4) we ﬁnd (11.5) ∂ 2F = ∂x2 ∂ 2F = ∂t2

∂ ∂F ∂2F ∂2F ∂ ∂F ∂2F ∂ ∂F = + + = + + 2 , ∂x ∂x ∂r ∂s ∂r ∂s ∂r2 ∂r∂s ∂s2 2 ∂ ∂ ∂F ∂F ∂2F ∂ F ∂ ∂F ∂2F =v − v −v = v2 + . − 2 ∂t ∂t ∂r ∂s ∂r ∂s ∂r2 ∂r∂s ∂s2

Substitute (11.5) into (11.1) to get (11.6)

∂2F 1 ∂2F ∂2F = 0. − = 4 ∂x2 v 2 ∂t2 ∂r∂s

We can easily solve (11.6). We have ∂2F ∂ = ∂r∂s ∂r

∂F ∂s

= 0,

that is, the r derivative of ∂F/∂s is zero. Then ∂F/∂s must be independent of r, so ∂F/∂s = some function of s alone. We integrate with respect to s to ﬁnd F = f (s)+"const."; the "constant" is a constant as far as s is concerned, but it may be any function of r, say g(r), since (∂/∂s)g(r) = 0. Thus we ﬁnd that the solution of (11.6) is (11.7)

F = f (s) + g(r).

Then, using (11.2), we ﬁnd the solution of (11.1): (11.8)

F = f (x − vt) + g(x + vt),

where f and g are arbitrary functions. This is known as d'Alembert's solution of the wave equation. Also see Problem 7.23 and Chapter 13, Problem 1.2. Example 2. Write the Laplace equation (11.9)

∂2F ∂2F + =0 ∂x2 ∂y 2

in terms of polar coordinates r, θ, where x = r cos θ,

(11.10)

y = r sin θ.

Note that equations (11.10) give the old variables x and y in terms of the new ones, r and θ, whereas (11.2) gave the new variables r and s in terms of the old ones. In this situation, there are several ways to get equations like (11.3). One way is to write

(11.11)

∂F ∂x ∂F ∂F = + ∂r ∂x ∂r ∂y ∂F ∂F ∂x ∂F = + ∂θ ∂x ∂θ ∂y

∂F ∂F ∂y = cos θ + sin θ , ∂r ∂x ∂y ∂y ∂F ∂F = −r sin θ + r cos θ , ∂θ ∂x ∂y

230

Partial Differentiation

Chapter 4

and then solve (11.11) for ∂F/∂x and ∂F/∂y (Problem 5). Another way is to ﬁnd the needed partial derivatives of r and θ with respect to x and y [for methods and results, see Section 7, Example 6, equation (7.16) and Problem 7.9] and then write as in (11.3), using (7.16),

(11.12)

∂F ∂F ∂r ∂F = + ∂x ∂r ∂x ∂θ ∂F ∂F ∂r ∂F = + ∂y ∂r ∂y ∂θ

∂θ ∂F sin θ ∂F = cos θ − , ∂x ∂r r ∂θ ∂θ ∂F cos θ ∂F = sin θ + . ∂y ∂r r ∂θ

In ﬁnding the second derivatives, it will be convenient to use the abbreviations G = ∂F/∂x and H = ∂F/∂y. Thus, ∂F ∂F sin θ ∂F = cos θ − , ∂x ∂r r ∂θ ∂F ∂F cos θ ∂F H= = sin θ + . ∂y ∂r r ∂θ G=

(11.13)

Then (11.14)

∂G ∂2F , = 2 ∂x ∂x

∂2F ∂H , = 2 ∂y ∂y

∂2F ∂2F ∂G ∂H + . + = 2 2 ∂x ∂y ∂x ∂y

Now equations (11.12) are correct for any function F ; in particular they are correct if we replace F by G or by H. Let us replace F by G in the ﬁrst equation (11.12) and replace F by H in the second equation. Then we have ∂G ∂G sin θ ∂G = cos θ − , ∂x ∂r r ∂θ ∂H cos θ ∂H ∂H = sin θ + . ∂y ∂r r ∂θ

(11.15)

Substituting (11.15) into (11.14), we get (11.16)

∂H 1 ∂2F ∂G ∂2F + sin θ + + = cos θ 2 ∂x ∂y 2 ∂r ∂r r

∂H ∂G cos θ − sin θ . ∂θ ∂θ

We ﬁnd the four partial derivatives of G and H which we need in (11.16), by diﬀerentiating the right-hand sides of equations (11.13).

(11.17)

∂G ∂r ∂H ∂r ∂H ∂θ ∂G ∂θ

∂2F sin θ ∂F sin θ ∂ 2 F + 2 , − ∂r2 r ∂r∂θ r ∂θ 2 2 ∂ F cos θ ∂F cos θ ∂ F = sin θ − 2 , + 2 ∂r r ∂r∂θ r ∂θ ∂2F ∂F cos θ ∂ 2 F sin θ ∂F = sin θ + cos θ + , − ∂θ∂r ∂r r ∂θ2 r ∂θ ∂2F ∂F sin θ ∂ 2 F cos θ ∂F = cos θ − sin θ − . − 2 ∂θ∂r ∂r r ∂θ r ∂θ = cos θ

We combine these to obtain the expressions needed in (11.16): ∂G ∂H + sin θ = ∂r ∂r 1 ∂H ∂G cos θ − sin θ = r ∂θ ∂θ cos θ

(11.18)

∂2F , ∂r2 1 ∂F 1 ∂2F + . r ∂r r ∂θ2

Section 11

Change of Variables

231

Finally, substituting (11.18) into (11.16) gives 1 ∂2F ∂2F ∂2F ∂2F 1 ∂F + 2 + = + 2 2 2 ∂x ∂y ∂r r ∂r r ∂θ2 ∂F 1 ∂2F 1 ∂ r + 2 = . r ∂r ∂r r ∂θ2

(11.19)

We next discuss a simple kind of change of variables which is very useful in thermodynamics and mechanics. This process is sometimes known as a Legendre transformation. Suppose we are given a function f (x, y); then we can write (11.20)

df =

∂f ∂f dx + dy. ∂x ∂y

Let us call ∂f /∂x = p, and ∂f /∂y = q; then we have (11.21)

df = p dx + q dy.

If we now subtract from df the quantity d(qy), we have df − d(qy) = p dx + q dy − q dy − y dq d(f − qy) = p dx − y dq.

(11.22)

If we deﬁne the function g by g = f − qy,

(11.23) then by (11.22) (11.24)

dg = p dx − y dq.

Because dx and dq appear in (11.24), it is convenient to think of g as a function of x and q. The partial derivatives of g are then of simple form, namely, (11.25)

∂g = p, ∂x

∂g = −y. ∂q

Similarly, we could replace the p dx term in df by −x dp by considering the function f − xp. This sort of change of independent variables is called a Legendre transformation. (For applications, see Problems 10 to 13.) For a discussion of Legendre transformations, see Callen, Chapter 5. From the equations above, we can ﬁnd useful relations between partial derivatives. For example, from equations (11.24) and (11.25) we can write ∂2g ∂p ∂y ∂2g (11.26) = =− and . ∂q∂x ∂q x ∂x∂q ∂x q Assuming (11.27)

∂2g ∂2g = (reciprocity relations, see end of Section 1), then we have ∂q∂x ∂x∂q ∂p ∂y =− . ∂q x ∂x q

Many equations like these appear in thermodynamics (see Problems 12 and 13).

232

Partial Differentiation

Chapter 4

PROBLEMS, SECTION 11 1.

In the partial diﬀerential equation ∂2z ∂2z ∂2z − 5 =0 + 6 ∂x2 ∂x∂y ∂y 2 put s = y + 2x, t = y + 3x and show that the equation becomes ∂ 2 z/∂s∂t = 0. Following the method of solving (11.6), solve the equation.

As in Problem 1, solve 2

∂2z ∂2z ∂2z + − 10 2 = 0 2 ∂x ∂x∂y ∂y

by making the change of variables u = 5x − 2y, v = 2x + y. 3.

Suppose that w = f (x, y) satisﬁes ∂2w ∂2w − = 1. 2 ∂x ∂y 2 Put x = u + v, y = u − v, and show that w satisﬁes ∂ 2 w/∂u∂v = 1. Hence solve the equation.

Verify the chain rule formulas ∂F ∂F ∂r ∂F ∂θ = + , ∂x ∂r ∂x ∂θ ∂x and similar formulas for

∂F , ∂y

∂F , ∂r

∂F , ∂θ

using diﬀerentials. For example, write dF =

∂F ∂F dr + dθ ∂r ∂θ

and substitute for dr and dθ: dr =

∂r ∂r dx + dy ∂x ∂y

(and similarly dθ).

Collect coeﬃcients of dx and dy; these are the values of ∂F/∂x and ∂F/∂y. 5.

Solve equations (11.11) to get equations (11.12).

Reduce the equation x2

„

d2 y dx2

„ + 2x

dy dx

« − 5y = 0

to a diﬀerential equation with constant coeﬃcients in d2 y/dz 2 , dy/dz, and y by the change of variable x = ez . (See Chapter 8, Section 7d.) 7.

Change the independent variable from x to θ by x = cos θ and show that the Legendre equation d2 y dy + 2y = 0 (1 − x2 ) 2 − 2x dx dx becomes dy d2 y + cot θ + 2y = 0. dθ2 dθ

Section 12 8.

Differentiation of Integrals; Leibniz' Rule

233

√ Change the independent variable from x to u = 2 x in the Bessel equation dy d2 y +x − (1 − x)y = 0 dx2 dx and show that the equation becomes x2

d2 y dy +u + (u2 − 4)y = 0. du2 du If x = es cos t, y = es sin t, show that „ 2 « ∂2u ∂ u ∂2u ∂2u −2s . + = e + ∂x2 ∂y 2 ∂s2 ∂t2 u2

10.

Given du = T ds − p dv, ﬁnd a Legendre transformation giving (a) (b) (c)

a function f (T, v); a function h(s, p); a function g(T, p).

Hint for (c): Perform a Legendre transformation on both terms in du. 11.

Given L(q, q) ˙ such that dL = p˙ dq + p dq, ˙ ﬁnd H(p, q) so that dH = q˙ dp − p˙ dq. Comments: L and H are functions used in mechanics called the Lagrangian and the Hamiltonian. The quantities q˙ and p˙ are actually time derivatives of p and q, but you make no use of the fact in this problem. Treat p˙ and q˙ as if they were two more variables having nothing to do with p and q. Hint: Use a Legendre transformation. On your ﬁrst try you will probably get −H. Look at the text discussion of Legendre transformations and satisfy yourself that g = qy − f would have been just as satisfactory as g = f − qy in (11.23).

12.

Using 10, and the text method of obtaining (11.27), show that „ «du in „Problem « ∂p ∂T =− . (This is one of the Maxwell relations in thermodynamics.) ∂v s ∂s v As in Problem 12, ﬁnd three more Maxwell relations by using your results in Problem 10, parts (a), (b), (c).

13.

12. DIFFERENTIATION OF INTEGRALS; LEIBNIZ' RULE According to the deﬁnition of an integral as an antiderivative, if (12.1) then

f (x) =

(12.2) a

dF (x) , dx

x f (t) dt = F (t) = F (x) − F (a), a

where a is a constant. If we diﬀerentiate (12.2) with respect to x, we have x dF (x) d d [F (x) − F (a)] = = f (x) f (t) dt = (12.3) dx a dx dx by (12.1). Similarly,

so (12.4)

d dx

f (t) dt = F (a) − F (x),

f (t) dt = −

dF (x) = −f (x). dx

234

Partial Differentiation

d Example 1. Find dx

Chapter 4

π/4

sin t dt.

By (12.3), we ﬁnd immediately that the answer is sin x. We can check this by ﬁnding the integral and then diﬀerentiating. We get x x 1√ sin t dt = − cos t = − cos x + 2 2 π/4 π/4

and the derivative of this is sin x as before. By replacing x in (12.3) by v, and replacing x in (12.4) by u, we can then write v d (12.5) f (t) dt = f (v) dv a and d du

(12.6)

f (t) dt = −f (u).

Suppose u and v are functions of x and we want dI/dx where v I= f (t) dt. u

When the integral is evaluated, the answer depends on the limits u and v. Finding dI/dx is then a partial diﬀerentiation problem; I is a function of u and v, which are functions of x. We can write dI ∂I du ∂I dv (12.7) = + . dx ∂u dx ∂v dx But ∂I/∂v means to diﬀerentiate I with respect to v when u is a constant; this is just (12.5), so ∂I/∂v = f (v). Similarly, ∂I/∂u means that v is constant and we can use (12.6) to get ∂I/∂u = −f (u). Then we have

(12.8)

d dx

u(x)

Example 2. Find dI/dx if I =

v(x)

x1/3 0

f (t) dt = f (v)

du dv − f (u) . dx dx

t2 dt.

By (12.8) we get dI 1 1 d = (x1/3 )2 (x1/3 ) = x2/3 · x−2/3 = . dx dx 3 3 We could also integrate ﬁrst and then diﬀerentiate with respect to x: x1/3 x1/3 dI 1 t3 x 2 = . I= t dt = = , 3 0 3 dx 3 0 This last method seems so simple you may wonder why we need (12.8). Look at another example.

Section 12

Differentiation of Integrals; Leibniz' Rule

Example 3. Find dI/dx if

sin−1 x

235

sin t dt. t

Here the indeﬁnite integral cannot be evaluated in terms of elementary functions; however, we can ﬁnd dI/dx by using (12.8). We get dI sin(sin−1 x) 1 sin x2 √ = − · 2x dx x2 sin−1 x 1 − x2 2 x − sin x2 . = √ −1 2 x 1 − x sin x b Finally, we may want to ﬁnd dI/dx when I = a f (x, t) dt, where a and b are constants. Under not too restrictive conditions, d dx

(12.9)

f (x, t) dt =

b a

∂f (x, t) dt; ∂x

that is, we can diﬀerentiate under the integral sign. [A set of suﬃcient conditions b for this to be correct would be that a f (x, t) dt exists, ∂f /∂x is continuous and b |∂f (x, t)/∂x| ≤ g(t), where a g(t) dt exists. For most practical purposes this means that if both integrals in (12.9) exist, then (12.9) is correct.] Equation (12.9) is often useful in evaluating deﬁnite integrals. Example 4. Find

∞ 0

tn e−kt dt for odd n, k > 0.

First we evaluate the integral ∞ ∞ 1 −kt2 1 −kt2 I= te dt = − e = . 2k 2k 0 0 Now we calculate successive derivatives of I with respect to k. ∞ ∞ 2 1 1 dI 2 −kt2 = −t te dt = − 2 or t3 e−kt dt = 2 . dk 2k 2k 0 0 Repeating the diﬀerentiation with respect to k, we get ∞ ∞ 2 2 2 1 −t2 t3 e−kt dt = − 3 or t5 e−kt dt = 3 . 2k k 0 0 ∞ ∞ 2 2 3 3 −t2 t5 e−kt dt = − 4 or t7 e−kt = 4 . k k 0 0 Continuing in this way (Problem 17), we can ﬁnd the integral of any odd power of 2 t times e−kt : ∞ 2 n! (12.10) t2n+1 e−kt dt = n+1 . 2k 0 Your computer may give you this result in terms of the gamma function (see Chapter 11, Sections 1 to 5). The relation is n! = Γ(n + 1).

236

Partial Differentiation

Chapter 4

Example 5. Evaluate (12.11)

1 a

t −1 dt, ln t

a > −1.

First we diﬀerentiate I with respect to a, and evaluate the resulting integral. dI = da

1 a

t ln t dt = ln t

ta dt =

1 ta+1 1 . = a + 1 0 a+1

Now we integrate dI/da with respect to a to get I back again (plus an integration constant): da (12.12) I= = ln(a + 1) + C. a+1 If a = 0, (12.11) gives I = 0 and (12.12) gives I = C, so C = 0 and we have from (12.12), I = ln(a + 1). It is convenient to collect formulas (12.8) and (12.9) into one formula known as Leibniz' rule: d dx

(12.13)

v(x)

u(x)

du dv − f (x, u) + f (x, t) dt = f (x, v) dx dx

Example 6. Find dI/dx if

∂f dt. ∂x

ext dt. t

By (12.13) we get 2x xt ex·2x ex·x dI te = ·2− ·1+ dt dx 2x x t x xt 2x 2 2 1 e = (e2x − ex ) + x x x 2 2 2 2 2 1 2x2 2 = (e − ex + e2x − ex ) = (e2x − ex ). x x Although you can do problems like this by computer, in many cases you can just write down the answer using (12.13) in less time than it takes to type the problem into the computer.

PROBLEMS, SECTION 12 Z 1.

If y =

If s = zero.

√ x

v u

sin t2 dt, ﬁnd dy/dx.

1 − et dt, ﬁnd ∂s/∂v and ∂s/∂u and also their limits as u and v tend to t

Section 12

Differentiation of Integrals; Leibniz' Rule Z

cos x

sin t dz dt, ﬁnd . t dx

If z =

Use L'Hˆ opital's rule to evaluate lim

If u =

sin x

x→2

6. 7. 8. 9.

10. 11. 12. 13. 14.

15.

1 x−2

x 2

237

sin t dt. t

y−x

sin t ∂u ∂u ∂y dt, ﬁnd , , and at x = π/2, y = π. t ∂x ∂y ∂x Hint: Use diﬀerentials. Z 2x−3y du ∂w ∂w ∂y If w = , ﬁnd , , and at x = 3, y = 1. ln u ∂x ∂y ∂x xy „ « „ « „ « Z v 2 ∂u ∂u ∂y e−t dt = x and uv = y, ﬁnd , , and at u = 2, v = 0. If ∂x ∂y ∂x u y x u Z x 2 dx e−s ds = u, ﬁnd If . du 0 Z π sin xt dt, ﬁnd dy/dx (a) by evaluating the integral and then diﬀerentiIf y = x

ating, (b) by diﬀerentiating ﬁrst and then evaluating the integral. Z 1 xu e −1 du. Find dy/dx explicitly if y = u 0 Z x2 d Find (x − t) dt by evaluating the integral ﬁrst, and by diﬀerentiating ﬁrst. dx 3−x Z x2 d du Find . dx x ln(x + u) Z 2/x sin xt d dt. Find dx 1/x t Z ∞ dx π Given that = , diﬀerentiate with respect to y and so evaluate 2 + x2 y 2y 0 Z ∞ dx . (y 2 + x2 )2 0 Given that

∞ 0

e−ax sin kx dx =

diﬀerentiate with respect to a to show that Z ∞ xe−ax sin kx dx = 0

k , a2 + k 2 2ka (a2 + k2 )2

and diﬀerentiate with respect to k to show that Z ∞ a2 − k 2 xe−ax cos kx dx = 2 . (a + k2 )2 0 16.

17.

Z ∞ 2 In kinetic theory we have to evaluate integrals of the form I = tn e−at dt. Given 0 Z ∞ 2 1p e−at dt = π/a , evaluate I for n = 2, 4, 6, · · · , 2m. that 2 0 Complete Example 4 to obtain (12.10).

238

Partial Differentiation

18.

Show that u(x, y) =

19.

Show that y =

20.

(a)

(b)

x 0

Chapter 4

y π

∞ −∞

f (t) dt satisﬁes uxx + uyy = 0. (x − t)2 + y 2

f (u) sin(x − u) du satisﬁes y + y = f (x).

Show that y =

f (x − t) dt satisﬁes (dy/dx) = f (x). (Hint: It is helpful to

make the change of variable x − t = u in the integral.) Z x (x − u)f (u) du satisﬁes y = f (x). Show that y = 0

(c)

Show that y =

1 (n − 1)!

x 0

(x − u)n−1 f (u) du satisﬁes y (n) = f (x).

13. MISCELLANEOUS PROBLEMS 1.

A function f (x, y, z) is called homogeneous of degree n if f (tx, ty, tz) = tn f (x, y, z). For example, z 2 ln(x/y) is homogeneous of degree 2 since « „ tx x (tz)2 ln = t2 z 2 ln . ty y Euler's theorem on homogeneous functions says that if f is homogeneous of degree n, then ∂f ∂f ∂f +y +z = nf. x ∂x ∂y ∂z Prove this theorem. Hints: Diﬀerentiate f (tx, ty, tz) = tn f (x, y, z) with respect to t, and then let t = 1. It is convenient to call ∂f /∂(tx) = f1 (that is, the partial derivative of f with respect to its ﬁrst variable), f2 = ∂f /∂(ty), and so on. Or, you can at ﬁrst call tx = u, ty = v, tz = w. (Both the deﬁnition and the theorem can be extended to any number of variables.)

(a)

Given the point (2, 1) in the (x, y) plane and the line 3x + 2y = 4, ﬁnd the distance from the point to the line by using the method of Chapter 3, Section 5.

(b)

Solve part (a) by writing a formula for the distance from (2, 1) to (x, y) and minimizing the distance (use Lagrange multipliers).

(c)

Derive the formula

˛ ˛ ˛ ax0 + by0 − c ˛ ˛ ˛ D=˛ √ a 2 + b2 ˛ for the distance from (x0 , y0 ) to ax + by = c by the methods suggested in parts (a) and (b).

In Problems 3 to 6, assume that x, y and r, θ are rectangular and polar coordinates. 3. 5. 6. 7.

Find

∂2y . ∂x∂θ

Find

∂2r . ∂θ∂y

« „ « ∂2z ∂z ∂z , , . ∂x r ∂θ x ∂x∂θ „ « „ « „ « ∂z ∂z ∂2z ∂z 2 2 If z = r − x , ﬁnd , , . , ∂r θ ∂θ r ∂r∂θ ∂x y Given z = y 2 − 2x2 , ﬁnd

„

About how much (in percent) does an error of 1% in x and y aﬀect x3 y 2 ?

Section 13 8.

9. 10. 11. 12. 13.

Miscellaneous problems

239

Assume that the earth is a perfect sphere. Suppose that a rope lies along the equator with its ends fastened so that it ﬁts exactly. Now let the rope be made 2 ft longer, and let it be held up the same distance above the surface of the Earth at all points of the equator. About how high up is it? (For example, could you crawl under? Could a ﬂy?) Answer the same questions for the moon. ( 2x3 + 2y 3 = 3t2 , If z = xy and ﬁnd dz/dt. 3x2 + 3y 2 = 6t, If w = (r cos θ)r sin θ , ﬁnd ∂w/∂θ. d2 y y2 dy x2 and + 2 = 1, ﬁnd by implicit diﬀerentiation. 2 a b dx dx2 Given z = r 2 + s2 + rst, r 4 + s4 + t4 = 2r 2 s2 t2 + 10, ﬁnd (∂z/∂r)t when r = 2, s = t = 1. ( „ « 2t + ex = s − cos y − 2, ∂s at (x, y, s, t) = (0, π/2, −1, −2). Given ﬁnd ∂t y 2s − t = sin y + x − 1, If

14.

If w = f (x, s, t), s = 2x + y, t = 2x − y, ﬁnd (∂w/∂x)y in terms of f and its derivatives.

15.

If w = f (x, x2 + y 2 , 2xy), ﬁnd (∂w/∂x)y (compare Problem 14). ∂z 1 "y" ∂z +y + z = 0. If z = f , prove that x x x ∂x ∂y

16. 17.

Find the shortest distance from the origin to the surface x = yz + 10.

18.

Find the shortest distance from the origin to the line of intersection of the planes 2x − 3y + z = 5, 3x − y − 2z = 11, (a)

using vector methods (see Chapter 3, Section 5);

(b)

using Lagrange multipliers.

19.

Find by the Lagrange multiplier method the largest value of the product of three positive numbers if their sum is 1.

20.

Find the largest and smallest values of y = 4x3 + 9x2 − 12x + 3 if x = cos θ.

21.

Find the hottest and coldest points on a bar of length 5 if T = 4x − x2 , where x is the distance measured from the left end.

22.

Find the hottest and coldest points of the region y 2 ≤ x < 5 if T = x2 − y 2 − 3x. Z t=2/x Z sin t d cosh xt sin−1 x d 24. Find dt. dx. Find dx t=1/x t dt 0 x

23. 25.

Find

d dx

1/x

d dx

ext dt. t Z sin x p

26.

Find

d dx

Z 0

sin xt dt. t

1 − t2 dt = 1.

27.

Show that

28.

In discussing the velocity distribution of molecules of an ideal gas, a function F (x, y, z) = f (x)f (y)f (z) is needed such that d(ln F ) = 0 when φ = x2 + y 2 + z 2 = const. Then by the Lagrange multiplier method d(ln F + λφ) = 0. Use this to show that 2 2 2 F (x, y, z) = Ae−(λ/2)(x +y +z ) .

cos x

240 29.

30.

Partial Differentiation

Chapter 4

The time dependent temperature at a point of a long bar is given by ! Z 8/√t 2 2 e−τ dτ . T (t) = 100◦ 1 − √ π 0 When t = 64, T = 15.73◦ . Use diﬀerentials to estimate how long it will be until T = 17◦ . Z xZ x d2 Evaluate f (s, t) ds dt. dx2 0 0

CHAPTER

Multiple Integrals; Applications of Integration 1. INTRODUCTION In calculus and elementary physics, you have seen a number of uses for integration such as ﬁnding area, volume, mass, moment of inertia, and so on. In this chapter we want to consider these and other applications of both single and multiple integrals. We shall discuss both how to set up integrals to represent physical quantities and methods of evaluating them. In later chapters we will need to use both single and multiple integrals. Computers and integral tables are very useful in evaluating integrals. But to use these tools eﬃciently, you need to understand the notation and meaning of integrals which we will discuss in this chapter. There is another important point here. A computer will give you an answer for a deﬁnite integral, but an indeﬁnite integral has many possible answers (diﬀering from each other by a constant of integration), and your computer or integral tables may not give you the form you need. (See problems below.) If this happens, here are some ideas you can try: (a) Look in other integral tables, or try to induce your computer to change the form. (b) See if some algebra will give the form you want (see Problem 1 below; also see Chapter 2, Section 15, Example 2). (c) A simple substitution may give the desired result (see Problem 2 below). (d) To check a claimed answer, diﬀerentiate it (by hand or computer) to see whether you get the integrand.

PROBLEMS, SECTION 1 Verify each of the following answers for an indeﬁnite integral by one or more of the methods suggested above.

241

242

Multiple Integrals; Applications of Integration Z

2 sin θ cos θ dθ = sin2 θ

− cos2 θ

Chapter 5

− 12 cos 2θ. Hint: Use trig identities.

" " p x dx = sinh−1 or ln x + x2 + a2 . Hint: To ﬁnd the sinh−1 form, 2 a +a make the substitution x = a sinh u. Or see Chapter 2, Sections 15 and 17. √

Z 3.

y dy p = cosh−1 a y 2 − a2

Z p

1 + a2 x2 dx =

" " p ln y + y 2 − a2 .

xp 1 + a2 x 2 + 2 xp 1 + a2 x 2 + 2

Hint: See Problem 2 hints.

1 sinh−1 ax or 2a " " p 1 ln ax + 1 + a2 x2 . 2a

K dr Kr = sin−1 Kr or − cos−1 Kr or tan−1 √ . 2 2 1−K r 1 − K 2 r2 Hints: Sketch a right triangle with acute angles u and v and label the sides so that sin u = Kr. Also note that u + v = π/2; then if u is an indeﬁnite integral, so is −v since they diﬀer by a constant of integration. Z K r K K K dr √ = cos−1 . or sec−1 or − sin−1 or − tan−1 √ r K r r r2 − K 2 r2 − K 2 √

2. DOUBLE AND TRIPLE INTEGRALS

b b Recall from calculus that a y dx = a f (x) dx gives the area "under the curve" in Figure 2.1. Recall also the deﬁnition of the integral as the limit of a sum: We approximate the area by a sum of rectangles as in Figure 2.1; a representative rectangle (shaded) has width ∆x. The geometry indicates that if we increase the number of rectangles and let all the widths Figure 2.1 ∆x → 0, the sum of the areas of the rectanb gles will tend to the area under the curve. We define a f (x) dx as the limit of the sum of the areas of the rectangles; then we evaluate the integral as an antiderivative, b and use a f (x) dx to calculate the area under the curve. We are going to do something very similar in order to ﬁnd the volume of the cylinder in Figure 2.2 under the surface z = f (x, y). We cut the (x, y) plane into little rectangles of area ∆A = (∆x) (∆y) as shown in Figure 2.2; above each ∆x ∆y is a tall slender box reaching up to the surface. We can approximate the desired volume by a sum of these boxes just as we approximated the area in Figure 2.1 by a sum of rectangles. As the number of boxes increases and all ∆x and ∆y → 0, the geometry indicates that the sum of the volumes of the boxes will tend to the desired volume. We define the Figure 2.2

Section 2

Double and Triple Integrals

243

double integral of f (x, y) over the area A in the (x, y) plane (Figure 2.2) as the limit of this sum, and we write it as A f (x, y) dx dy. Before we can use the double integral to compute volumes, however, we need to see how double integrals are evaluated. Even though we may use a computer to do the work, we need to understand the process in order to set up integrals correctly and ﬁnd and correct errors. Doing some hand evaluation is a good way to learn this.

Iterated Integrals double integrals.

We now show by some examples the details of evaluating

Figure 2.3

Figure 2.4

Example 1. Find the volume of the solid (Figure 2.3) below the plane z = 1 + y, bounded by the coordinate planes and the vertical plane 2x + y = 2. From our discussion above, this is A z dx dy = A (1 + y) dx dy, where A is the shaded triangle in the (x, y) plane [A is shown also in Figure 2.4 (a and b)]. We are going to consider two ways of evaluating this double integral. We think of the triangle A cut up into little rectangles ∆A = ∆x ∆y (Figure 2.4) and the whole solid cut into vertical columns of height z and base ∆A (Figure 2.3). We want the (limit of the) sum of the volumes of these columns. First add up the columns (Figure 2.4a) for a ﬁxed value of x producing the volume of a slab (Figure 2.3) of thickness ∆x. This corresponds to integrating with respect to y (holding x constant, Figure 2.4a) from y = 0 to y on the line 2x + y = 2, that is y = 2 − 2x; we ﬁnd

2−2x

(2.1) y=0

z dy =

2−2x

y=0

2−2x y 2 (1 + y) dy = y + 2 0

= (2 − 2x) + (2 − 2x)2 /2 = 4 − 6x + 2x2 . (What we have found is the area of the slab in Figure 2.3; its volume is the area times ∆x.) Now we add up the volumes of the slabs; this corresponds to integrating (2.1) with respect to x from x = 0 to x = 1:

(2.2) x=0

(4 − 6x + 2x2 ) dx =

5 . 3

244

Multiple Integrals; Applications of Integration

Chapter 5

We could summarize (2.1) and (2.2) by writing

2−2x

(2.3) x=0

y=0

(1 + y) dy dx

2−2x

or x=0 1

or x=0

y=0

(1 + y) dy dx 2−2x

y=0

dy (1 + y).

We call (2.3) an iterated (repeated) integral. Multiple integrals are usually evaluated by using iterated integrals. Note that the large parentheses in (2.3) are not really necessary if we are always careful 1 to state the 1 variable in giving the limits on an integral; that is, always write x=0 , not just 0 . Now we could also add up the volume z(∆A) by ﬁrst integrating with respect to x (for ﬁxed y, Figure 2.4b) from x = 0 to x = 1 − y/2 giving the volume of a slab perpendicular to the y axis in Figure 2.3, and then add up the volumes of the slabs by integrating with respect to y from y = 0 to y = 2 (Figure 2.4b). We write

1−y/2

(2.4) y=0

x=0

(1 + y) dx dy =

y=0 2

= y=0 2

= y=0

1−y/2 (1 + y)x dy x=0

(1 + y)(1 − y/2) dy (1 + y/2 − y 2 /2) dy =

5 . 3

As the geometry would indicate, the results in (2.2) and (2.4) are the same; we have two methods of evaluating the double integral by using iterated integrals. Often one of these two methods is more convenient than the other; we choose whichever method is easier. To see how to decide, study the following sketches of areas A over which we want to ﬁnd A f (x, y) dx dy. In each case we think of combining little rectangles dx dy to form strips (as shown) and then combining the strips to cover the whole area. Areas shown in Figure 2.5: Integrate with respect to y ﬁrst. Note that the top and bottom of area A are curves whose equations we know; the boundaries at x = a and x = b are either vertical straight lines or else points.

Figure 2.5 We ﬁnd

f (x, y) dx dy =

(2.5) A

x=a

y2 (x)

y=y1 (x)

f (x, y) dy

dx.

Section 2

Double and Triple Integrals

245

Areas shown in Figure 2.6: Integrate with respect to x ﬁrst. Note that the sides of area A are curves whose equations we know; the boundaries at y = c and y = d are either horizontal straight lines or else points.

Figure 2.6 We ﬁnd

f (x, y) dx dy =

(2.6)

x=x1 (y)

y=c

x2 (y)

f (x, y) dx dy.

Figure 2.7 Areas shown in Figure 2.7: Integrate in either order. Note that these areas all satisfy the requirements for both (2.5) and (2.6). We ﬁnd (2.7)

f (x, y) dx dy =

y=y1 (x)

x=a

y2 (x)

x2 (y)

= x=x1 (y)

y=c

f (x, y) dy dx

f (x, y) dx dy.

An important special case is a double integral over a rectangle (both x and y limits are constants) when f (x, y) is a product, f (x, y) = g(x)h(y). Then (2.8)

f (x, y) dx dy =

x=a

y=c

g(x)h(y) dy dx

g(x) dx

d c

h(y) dy .

When areas are more complicated than those shown, we may break them into two or more simpler areas (Problems 9 and 10). We have seen how to set up and evaluate double integrals to ﬁnd areas and volumes. Recall, however, that we use single integrals for other purposes than ﬁnding areas. Similarly, now that we know how to evaluate a double integral, we can use it to ﬁnd other quantities besides areas and volumes.

246

Multiple Integrals; Applications of Integration

Chapter 5

Example 2. Find the mass of a rectangular plate bounded by x = 0, x = 2, y = 0, y = 1, if its density (mass per unit area) is f (x, y) = xy. The mass of a tiny rectangle ∆A = ∆x ∆y is approximately f (x, y) ∆x ∆y, where f (x, y) is evaluated at some point in ∆A. We want to add up the masses of all the ∆A's; this is what we ﬁnd by evaluating the double integral of dM = xy dx dy. We call dM an element of mass and think of adding up all the dM 's to get M .

(2.9)

xy dx dy = A

= 0

x=0

x dx

y=0

xy dx dy

y dy

=2·

1 = 1. 2

A triple integral of f (x, y, z) over a volume V , written V f (x, y, z) dx dy dz, is also deﬁned as the limit of a sum and is evaluated by an iterated integral. If the integral is over a box, that is, all limits are constants, then we can do the x, y, z integrations in any order. If the volume is complicated, then we have to consider the geometry as we did for double integrals to decide on the best order and ﬁnd the limits. This process can best be learned from examples (below and Section 3) and practice (see problems). Example 3. Find the volume of the solid in Figure 2.3 by using a triple integral. Here we imagine the whole solid cut into tiny boxes of volume ∆x ∆y ∆z; an element of volume is dx dy dz. We ﬁrst add up the volumes of the tiny boxes to get the volume of a column; this means integrating with respect to z from 0 to 1 + y with x and y constant. Then we add up the columns to get a slab and the slabs to get the whole volume just as we did in Example 1. Thus: V = (2.10) dx dy dz

V 1

2−2x 1+y

= x=0 1

y=0 2−2x

= x=0

y=0

z=0

dz dy dx

(1 + y) dy dx =

2−2x

1+y

or x=0

y=0

z=0

dz dy dx

5 , 3

as in (2.1) and (2.2). Or, we could have used (2.4). Example 4. Find the mass of the solid in Figure 2.3 if the density (mass per unit volume) is x + z. An element of mass is dM = (x + z) dx dy dz. We add up elements of mass just as we add up elements of volume; that is, the limits are the same as in Example 3. (2.11)

x=0

2−2x 1+y

y=0

z=0

(x + z) dz dy dx = 2

where we evaluate the integrals as we did (2.1) to (2.4). (Check the result by hand and by computer.)

Section 2

Double and Triple Integrals

247

PROBLEMS, SECTION 2 In the problems of this section, set up and evaluate the integrals by hand and check your results by computer. Z 1 Z 4 Z 1 Z 2 Z 2 Z 4 1. 3x dy dx 2. 8xy dx dy 3. dx dy x=0

Z 4.

4 x=0

y=2

y=−2

x/2

y=0

y dy dx

1 x=0

x=1

y=0

y=x

y dy dx

x=2y

2 y=1

y2 √ x= y

x dx dy

In Problems 7 to 18 evaluate the double integrals over the areas described. To ﬁnd the limits, sketch the area and compare Figures 2.5 to 2.7. RR (2x − 3y) dx dy, where A is the triangle with vertices (0, 0), (2, 1), (2, 0). 7. A RR 8. 6y 2 cos x dx dy, where A is the area inclosed by the curves y = sin x, the x axis, A and the line x = π/2. RR sin x dx dy where A is the area shown in Figure 2.8. 9. A RR y dx dy where A is the area in Figure 2.8. 10. A

11. 12. 13. 14. 15. 16. 17. 18.

Figure 2.8

x dx dy, where A is the area between the parabola y = x2 and the straight line A 2x − y + 8 = 0. RR y dx dy over the triangle with vertices (−1, 0), (0, 2), and (2, 0). RR 2xy dx dy over the triangle with vertices (0, 0), (2, 1), (3, 0). RR 2 x2y x e dx dy over the area bounded by y = x−1 , y = x−2 , and x = ln 4. RR dx dy over the area bounded by y = ln x, y = e + 1 − x, and the x axis. RR (9 + 2y 2 )−1 dx dy over the quadrilateral with vertices (1, 3), (3, 3), (2, 6), (6, 6). RR (x/y) dx dy over the triangle with vertices (0, 0), (1, 1), (1, 2). RR −1/2 dx dy over the area bounded by y = x2 , x + y = 2, and the y axis. y

In Problems 19 to 24, use double integrals to ﬁnd the indicated volumes. 19.

Above the square with vertices at (0, 0), (2, 0), (0, 2), and (2, 2), and under the plane z = 8 − x + y.

20.

Above the rectangle with vertices (0, 0), (0, 1), (2, 0), and (2, 1), and below the surface z 2 = 36x2 (4 − x2 ).

21.

Above the triangle with vertices (0, 0), (2, 0), and (2, 1), and below the paraboloid z = 24 − x2 − y 2 .

22.

Above the triangle with vertices (0, 2), (1, 1), and (2, 2), and under the surface z = xy.

23.

Under the surface z = y(x + 2), and over the area bounded by x + y = 0, y = 1, √ y = x.

24.

Under the surface z = 1/(y +2), and over the area bounded by y = x and y 2 +x = 2.

248

Multiple Integrals; Applications of Integration

Chapter 5

In Problems 25 to 28, sketch the area of integration, observe that it is like the areas in Figure 2.7, and so write an equivalent integral with the integration in the opposite order. Check your work by evaluating the double integral both ways. Also check that your computer gives the same answer for both orders of integration. Z 2 Z 1 Z 1 Z 3−3x 26. (x + y) dx dy 25. dy dx x=0

Z 27.

y=0

x=0

√

y=0

√ y x dy dx

Z 28.

x=y/2

Z √1−y 2

y=0

y dx dy

x=0

In Problems 29 to 32, observe that the inside integral cannot be expressed in terms of elementary functions. As in Problems 25 to 28, change the order of integration and so evaluate the double integral. Also try using your computer to evaluate these for both orders of integration. Z π Z π Z 2 Z 2 2 sin x dx dy 29. e−y /2 dy dx 30. x y=0 x=y x=0 y=x Z 1 Z 1 Z ln 16 Z 4 ex dy dx √ dx dy 32. 31. x y=0 x=y 2 x=0 y=ex/2 ln y 33.

A lamina covering the quarter disk x2 + y 2 ≤ 4, x > 0, y > 0, has (area) density x + y. Find the mass of the lamina.

34.

A dielectric lamina with charge density proportional to y covers the area between the parabola y = 16 − x2 and the x axis. Find the total charge.

35.

A triangular lamina is bounded by the coordinate axes and the line x + y = 6. Find its mass if its density at each point P is proportional to the square of the distance from the origin to P .

36.

A partially silvered mirror covers the square area with vertices at (±1, ±1). The fraction of incident light which it reﬂects at (x, y) is (x − y)2 /4. Assuming a uniform intensity of incident light, ﬁnd the fraction reﬂected.

In Problems 37 to 40, evaluate the triple integrals. Z Z 2 Z 2x Z y−x dz dy dx 38. 37. x=1

Z 39.

3 y=−2

y=x

z=0

2 z=1

2y+z x=y+z

6y dx dz dy

40.

2 z=0 2 x=1

2 x=z

z=x

z y=8x

dy dx dz

1/z y=0

z dy dz dx.

41.

Find the volume between the planes z = 2x + 3y + 6 and z = 2x + 7y + 8, and over the triangle with vertices (0, 0), (3, 0), and (2, 1).

42.

Find the volume between the planes z = 2x + 3y + 6 and z = 2x + 7y + 8, and over the square in the (x, y) plane with vertices (0, 0), (1, 0), (0, 1), (1, 1).

43.

Find the volume between the surfaces z = 2x2 + y 2 + 12 and z = x2 + y 2 + 8, and over the triangle with vertices (0, 0), (1, 0), and (1, 2).

44.

Find the mass of the solid in Problem 42 if the density is proportional to y.

45.

Find the mass of the solid in Problem 43 if the density is proportional to x.

46.

Find the mass of a cube of side 2 if the density is proportional to the square of the distance from the center of the cube.

Section 3

Applications of Integration; Single and Multiple Integrals

249

47.

Find the volume in the ﬁrst octant bounded by the coordinate planes and the plane x + 2y + z = 4.

48.

Find the volume in the ﬁrst octant bounded by the cone z 2 = x2 − y 2 and the plane x = 4.

49.

Find the volume in the ﬁrst octant bounded by the paraboloid z = 1 − x2 − y 2 , the plane x + y = 1, and all three coordinate planes.

50.

Find the mass of the solid in Problem 48 if the density is z.

3. APPLICATIONS OF INTEGRATION; SINGLE AND MULTIPLE INTEGRALS Many diﬀerent physical quantities are given by integrals; let us do some problems to illustrate setting up and evaluating these integrals. The basic idea which we use in setting up the integrals in these problems is that an integral is the "limit of a sum." Thus we imagine the physical object (whose volume, moment of inertia, etc., we are trying to ﬁnd) cut into a large number of small pieces called elements. We write an approximate formula for the volume, moment of inertia, etc., of an element and then sum over all elements of the object. The limit of this sum (as the number of elements tends to inﬁnity and the size of each element tends to zero) is what we ﬁnd by integration and is what we want in the physical problem. Using a computer to evaluate the integrals saves time and we will concentrate mainly on setting up integrals. However, in order to do a skillful job of ﬁnding limits, deciding order of integration, detecting and correcting errors, making useful changes of variables, and understanding the meaning of the symbols used, it is important to learn to evaluate multiple integrals by hand. So a good study method is to do some integrals both by hand and by computer. A computer is also very useful to plot graphs of curves and surfaces to help you ﬁnd the limits in a multiple integral. Example 1. Given the curve y = x2 from x = 0 to x = 1, ﬁnd (a) the area under the curve (that is, the area bounded by the curve, the x axis, and the line x = 1; see Figure 3.1); (b) the mass of a plane sheet of material cut in the shape of this area if its density (mass per unit area) is xy; (c) the arc length of the curve; (d) the centroid of the area; (e) the centroid of the arc; (f) the moments of inertia about the x, y, and z axes of the lamina in (b). (a) The area is A=

1 x=0

y dx =

x2 dx =

1 x3 1 = . 3 0 3

250

Multiple Integrals; Applications of Integration

Chapter 5

We could also ﬁnd the area as a double integral of dA = dy dx (see Figure 3.1). We have then 1 x2 1 A= dy dx = x2 dx x=0

y=0

as before. Although the double integral is entirely unnecessary in ﬁnding the area in this problem, we shall need to use a double integral to ﬁnd the mass in part (b).

Figure 3.1

Figure 3.2

(b) The element of area, as in the double integral method in (a), is dA = dy dx. Since the density is ρ = xy, the element of mass is dM = xy dy dx, and the total mass is 2 x 2 1 5 1 x2 1 x 1 y M= dx = . xy dy dx = x dx = 2 0 12 x=0 y=0 0 0 2 Observe that we could not do this problem as a single integral because the density depends on both x and y. (c) The element of arc length ds is deﬁned as indicated in Figures 3.1 and 3.2. Thus we have

(3.1)

ds2 = dx2 + dy 2 ,

ds = dx2 + dy 2 = 1 + (dy/dx)2 dx = (dx/dy)2 + 1 dy.

If y = f (x) has a continuous ﬁrst derivative dy/ dx (except possibly at a ﬁnite number of points), we can ﬁnd the arc length of the curve y = f (x) between a and b by b calculating a ds. For our example, we have

(3.2)

(see Problem 32).

dy = 2x, ds = 1 + 4x2 dx, dx √ √ 1

2 5 + ln(2 + 5) 2 1 + 4x dx = s= 4 0

Section 3

Applications of Integration; Single and Multiple Integrals

251

(d) Recall from elementary physics that: The center of mass of a body has coordinates x ¯, y¯, z¯ given by the equations (3.3) x ¯ dM = x dM, y¯ dM = y dM, z¯ dM = z dM, where dM is an element of mass and the integrals are over the whole body. Although we have written single integrals in (3.3), they may be single, double, or triple integrals depending on the problem and the method of evaluation. Since x ¯, y¯, and z¯ are constants, we can take them outside the integrals in (3.3) and solve for them. However, you may ﬁnd it easier to remember the deﬁnitions in the form (3.3). For the example we are doing, z¯ = 0 since the body is a sheet of material in the (x, y) plane. The element of mass is dM = ρ dA = ρ dx dy, where ρ is the density (mass per unit area in this problem). For a variable density as in (b), we would substitute the value of ρ into (3.3) and integrate both sides of each equation to ﬁnd the coordinates of the center of mass. However, let us suppose the density is a constant. Then the ﬁrst integral in (3.3) is (3.4) x ¯ρ dA = xρ dA or x ¯ dA = x dA. Similarly, a constant density ρ can be canceled from all the equations in (3.3). The quantities x ¯, y¯, z¯, are then called the coordinates of the centroid of the area (or volume or arc). The centroid of a body is the center of mass when we assume constant density. In our example, we have (3.5)

1 x=0

x=0

y=0

x ¯ dy dx =

y=0

x=0

y¯ dy dx =

x=0

x2 y=0

x dy dx

y dy dx

x2 y=0

1 x4 = 4 0 1 x5 y¯A = = 10 0 x¯A =

1 , 4 1 . 10

(Double integrals are not really necessary for any of these but the last.) Using the 3 value of A from part(a), we ﬁnd x¯ = 34 , y¯ = 10 . (e) The center of mass (¯ x, y¯) of a wire bent in the shape of the curve y = f (x) is given by (3.6) x ¯ρ ds = xρ ds, y¯ρ ds = yρ ds, where ρ is the density (mass per unit length), and the integrals are single integrals with ds given by (3.1). If ρ is constant, (3.6) deﬁnes the coordinates of the centroid.

252

Multiple Integrals; Applications of Integration

In our example we have 1

2 x ¯ 1 + 4x dx = x 1 + 4x2 dx, 0 0 (3.7) 1

2 2 y¯ 1 + 4x dx = y 1 + 4x dx = 0

Chapter 5

1 0

1 + 4x2 dx.

Note carefully here that it is correct to put y = x2 in the last integral of (3.7), but it would not have been correct to do this in the last integral of (3.5); the reason is that over the area, y could take values from zero to x2 , but on the arc, y takes only the value x2 . By calculating the integrals in (3.7) we can ﬁnd x ¯ and y¯. (f) We need the following deﬁnition: The moment of inertia I of a point mass m about an axis is by deﬁnition the product ml2 of m times the square of the distance l from m to the axis. For an extended object we must integrate l2 dM over the whole object, where l is the distance from dM to the axis. In our example with variable density ρ = xy, we have dM = xy dy dx. The distance from dM to the x axis is y (Figure 3.3); similarly, the distance from dM to the y axis is x. The distance from dM to the z axis (the z axis is perpendicular to the paper in Figure 3.3) is x2 + y 2 . Then the three moments of inertia about Figure 3.3 the three coordinate axes are: 1 x2 1 9 x 1 dx = , y 2 xy dy dx = Ix = 40 x=0 y=0 0 4 1 x2 1 7 x 1 2 dx = , Iy = x xy dy dx = 16 x=0 y=0 0 2 1 x2 7 . Iz = (x2 + y 2 )xy dy dx = Ix + Iy = 80 x=0 y=0 The fact that Ix + Iy = Iz for a plane lamina in the (x, y) plane is known as the perpendicular axis theorem. It is customary to write moments of inertia as multiples of the mass; using M = from (b), we write Ix =

3 12 M= M, 40 10

Iy =

3 12 M = M, 16 4

Iz =

1 12

21 7 · 12 M= M. 80 20

Example 2. Rotate the area of Example 1 about the x axis to form a volume and surface of revolution, and ﬁnd (a) the volume;

Section 3

Applications of Integration; Single and Multiple Integrals

253

(b) the moment of inertia about the x axis of a solid of constant density occupying the given volume; (c) the area of the curved surface; (d) the centroid of the curved surface. (a) We want to ﬁnd the given volume. The easiest way to ﬁnd a volume of revolution is to take as volume element a thin slab of the solid as shown in Figure 3.4. The slab has circular cross section of radius y and thickness dx; thus the volume element is πy 2 dx. Then the volume in our example is 1 2 (3.8) V = πy dx = 0

πx4 dx =

π . 5

We have really avoided part of the integration here because we knew the formula for the area of a circle. In ﬁnding volumes of solids which are not solids of revolution, we may have to use double or triple integrals. Even for a solid of revolution we might need multiple integrals to ﬁnd the mass if the density is variable. To illustrate setting up such integrals, let us do the above problem using triple integrals. For this we need the equation of the surface which is (see Problem 16) (3.9)

y 2 + z 2 = x4 ,

Figure 3.4

x > 0.

Figure 3.5

To set up a multiple integral for the volume of a solid, we cut the solid into slabs as in Figure 3.4 (not necessarily circular slabs, although they are in our example) and then as in Figure 3.5 we cut each slab into strips and each strip into tiny boxes of volume dx dy dz. The volume is V = dx dy dz; the only problem is to ﬁnd the limits! To do this, we start by adding up tiny boxes to get a strip; as we have drawn Figure 3.5, this means to integrate with respect to y from one side of the circle y 2 + z 2 = x4 to the other, that is, from

y = − x4 − z 2 to y = + x4 − z 2 .

254

Multiple Integrals; Applications of Integration

Chapter 5

Next we add all the strips in a slab. This means that, in Figure 3.5, we integrate with respect to z from the bottom to the top of the circle y 2 + z 2 = x4 ; thus the z limits are z = ± radius of circle = ±x2 . And ﬁnally we add all the slabs to obtain the solid. This means to integrate in Figure 3.4 from x = 0 to x = 1; this is just what we did in our ﬁrst simple method. The ﬁnal integral is then (3.10)

V =

x=0

z=−x2

√

x4 −z 2

√ y=− x4 −z 2

dy dz dx.

(See Problem 33). Although the triple integral is an unnecessarily complicated way of ﬁnding a volume of revolution, this simple problem illustrates the general method of setting up an integral for any kind of volume. Once we have the volume as a triple integral, it is easy to write the integrals for the mass with a given variable density, for the coordinates of the centroid, for the moments of inertia, and so on. The limits of integration are the same as for the volume; we need only insert the proper expressions (density, etc.) in the integrand to get the mass, centroid, and so on. (b) To ﬁnd the moment of inertia of the solid about the x axis, we must integrate the quantity l2 dM , where l is the distance from dM to the x axis; from Figure 3.5, since the x axis is perpendicular to the paper, l2 = y 2 + z 2 . The limits on the integrals are the same as in (3.10). We are assuming constant density, so the factor ρ can be written outside the integrals. Then we have Ix = ρ

x=0

√ x4 −z 2

z=−x2

(y √ y=− x4 −z 2

+ z 2 ) dy dz dx =

π ρ. 18

Since from (3.8) the mass of the solid is M = ρV =

π ρ 5

we can write Ix (as is customary) as a multiple of M : Ix =

Figure 3.6

5 π 5 M= M. 18 π 18

Figure 3.7

(c) We ﬁnd the area of the surface of revolution by using as element the curved surface of a thin slab as in Figure 3.6. This is a strip of circumference 2πy and width ds. To see this clearly and to understand why we use ds here but dx in the

Section 3

Applications of Integration; Single and Multiple Integrals

255

volume element in (3.8), think of the slab as a thin section of a cone (Figure 3.7) between planes perpendicular to the axis of the cone. If you wanted to ﬁnd the total volume V = 13 πr2 h of the cone, you would use the height h perpendicular to the base, but in ﬁnding the total curved surface area S = 12 · 2πr · s, you would use the slant height s. The same ideas hold in ﬁnding the volume and surface elements. The approximate volume of the thin slab is the area of a face of the slab times its thickness (dh in Figure 3.7, dx in Figure 3.4). But if you think of a narrow strip of paper just covering the curved surface of the thin slab, the width of the strip of paper is ds, and its length is the circumference of the thin slab. The element of surface area (in Figure 3.6) is then (3.11)

dA = 2πy ds.

The total area is [using ds from (3.2)] A=

x=0

2πy ds =

2πx2

1 + 4x2 dx.

(For more general surfaces, there is a way to calculate areas by double integration; we shall take this up in Section 5.) (d) The y and z coordinates of the centroid of the surface area are zero by symmetry. For the x coordinate, we have by (3.4) x ¯ dA = x dA, or, using dA = 2πy ds and the total area A from (c), we have x ¯A =

x=0

x · 2πy ds =

x · 2πx2

1 + 4x2 dx.

PROBLEMS, SECTION 3 The following notation is used in the problems: M = mass, x ¯, y¯, z¯ = coordinates of center of mass (or centroid if the density is constant), I = moment of inertia (about axis stated), Ix , Iy , Iz = moments of inertia about x, y, z axes, Im = moment of inertia (about axis stated) through the center of mass. Note: It is customary to give answers for I, Im , Ix , etc., as multiples of M (for example, I = 13 M l2 ). 1.

Prove the "parallel axis theorem": The moment of inertia I of a body about a given axis is I = Im + M d2 , where M is the mass of the body, Im is the moment of inertia of the body about an axis through the center of mass and parallel to the given axis, and d is the distance between the two axes.

256 2.

Multiple Integrals; Applications of Integration

For a thin rod of length l and uniform density ρ ﬁnd (a)

Chapter 5

(b)

Im about an axis perpendicular to the rod,

(c)

I about an axis perpendicular to the rod and passing through one end (see Problem 1).

A thin rod 10 ft long has a density which varies uniformly from 4 to 24 lb/ft. Find (a)

(b)

x ¯,

(c)

Im about an axis perpendicular to the rod,

(d)

I about an axis perpendicular to the rod passing through the heavy end.

Repeat Problem 3 for a rod of length l with density varying uniformly from 2 to 1.

For a square lamina of uniform density, ﬁnd I about

(a)

a side,

(b)

a diagonal,

(c)

an axis through a corner and perpendicular to the plane of the lamina. Hint: See the perpendicular axis theorem, Example 1f.

A triangular lamina has vertices (0, 0), (0, 6) and (6, 0), and uniform density. Find: (a)

x ¯, y¯,

(b)

Ix ,

(c)

Im about an axis parallel to the x axis. Hint: Use Problem 1 carefully.

A rectangular lamina has vertices (0, 0), (0, 2), (3, 0), (3, 2) and density xy. Find (a)

(b)

x ¯, y¯,

(c)

Ix , Iy ,

(d)

Im about an axis parallel to the z axis. Hint: Use the parallel axis theorem and the perpendicular axis theorem.

For a uniform cube, ﬁnd I about one edge.

For the pyramid inclosed by the coordinate planes and the plane x + y + z = 1: (a)

Find its volume.

(b)

Find the coordinates of its centroid.

(c)

If the density is z, ﬁnd M and z¯.

10.

A uniform chain hangs in the shape of the catenary y = cosh x between x = −1 and x = 1. Find (a) its length, (b) y¯.

11.

A chain in the shape y = x2 between x = −1 and x = 1 has density |x|. Find (a) M , (b) x ¯, y¯.

Prove the following two theorems of Pappus: 12.

The area A inside a closed curve in the (x, y) plane, y ≥ 0, is revolved about the x axis. The volume of the solid generated is equal to A times the circumference of the circle traced by the centroid of A. Hint: Write the integrals for the volume and for the centroid.

Section 3

Applications of Integration; Single and Multiple Integrals

257

13.

An arc in the (x, y) plane, y ≥ 0, is revolved about the x axis. The surface area generated is equal to the length of the arc times the circumference of the circle traced by the centroid of the arc.

14.

Use Problems 12 and 13 to ﬁnd the volume and surface area of a torus (doughnut).

15.

Use Problems 12 and 13 to ﬁnd the centroids of a semicircular area and of a semicircular arc. Hint: Assume the formulas A = 4πr 2 , V = 43 πr 3 for a sphere.

16.

Let a curve y = f (x) be revolved about the x axis, thus forming a surface of revolution. Show that the cross sections of this surface in any plane x = const. [that is, parallel to the (y, z) plane] are circles of radius f (x). Thus write the general equation of a surface of revolution and verify the special case f (x) = x2 in (3.9).

In Problems 17 to 30, for the curve y =

√

x, between x = 0 and x = 2, ﬁnd:

17.

The area under the curve.

18.

The arc length.

19.

The volume of the solid generated when the area is revolved about the x axis.

20.

The curved area of this solid.

21, 22, 23. The centroids of the arc, the volume, and the surface area. 24, 25, 26, 27. The moments of inertia about the x axis of a lamina in the shape of the plane area under the curve; of a wire bent along the arc of the curve; of the solid of revolution; and of a thin shell whose shape is the curved surface of the solid (assuming constant density for all these problems). 28.

The √ mass of a wire bent in the shape of the arc if its density (mass per unit length) is x.

29.

The mass of the solid of revolution if the density (mass per unit volume) is |xyz|.

30.

The moment of inertia about the y axis of the solid of revolution if the density is |xyz|.

31.

(a)

Revolve the curve y = x−1 , from x = 1 to x = ∞, about the x axis to create a surface and a volume. Write integrals for the surface area and the volume. Find the volume, and show that the surface area is inﬁnite. Hint: The surface area integral is not easy to evaluate, but you can easily show that it is greater R∞ than 1 x−1 dx which you can evaluate.

(b)

The following question is a challenge to your ability to ﬁt together your mathematical calculations and physical facts: In (a) you found a ﬁnite volume and an inﬁnite area. Suppose you ﬁll the ﬁnite volume with a ﬁnite amount of paint and then pour oﬀ the excess leaving what sticks to the surface. Apparently you have painted an inﬁnite area with a ﬁnite amount of paint! What is wrong? (Compare Problem 15.31c of Chapter 1.)

32.

Use a computer or tables to evaluate the integral in (3.2) and verify that the answer is equivalent to the text answer. Hint: See Problem 1.4 and also Chapter 2, Sections 15 and 17.

33.

Verify that (3.10) gives the same result as (3.8).

258

Multiple Integrals; Applications of Integration

Chapter 5

4. CHANGE OF VARIABLES IN INTEGRALS; JACOBIANS In many applied problems, it is more convenient to use other coordinate systems instead of the rectangular coordinates we have been using. For example, in the plane we often use polar coordinates, and in three dimensions we often use cylindrical coordinates or spherical coordinates. It is important to know how to set up multiple integrals directly in these coordinate systems which occur so frequently in practice. That is, we need to know what the area, volume, and arc length elements are, what the variables r, θ, etc., mean geometrically, and how they are related to the rectangular coordinates. We are going to discuss ﬁnding elements of area, etc., geometrically for several important coordinate systems. However, if we are given equations like x = r cos θ, y = r sin θ, relating new variables to the rectangular ones, it is useful to know how to ﬁnd the elements of area, etc., algebraically, without having to rely on the geometry. We are going to discuss this and illustrate it by verifying the results which we can get geometrically for several of the familiar coordinate systems. In the plane, the polar coordinates r, θ are related to the rectangular coordinates x, y by the equations

(4.1)

x = r cos θ, y = r sin θ.

Figure 4.1 Recall that we found the area element dy dx by drawing a grid of lines x = const., y = const., which cut the plane into little rectangles dx by dy; the area of one rectangle was then dy dx. We can make a similar construction for polar coordinates by drawing lines θ = const. and circles r = const.; we then obtain the grid shown in Figure 4.1. Observe that the sides of the area element are not dr and dθ, but dr and r dθ, and its area is then

(4.2)

dA = dr · r dθ = r dr dθ.

Section 4

Change of Variables in Integrals; Jacobians

259

Figure 4.2 Similarly, we can see from Figure 4.2 that the arc length element ds is given by ds2 = dr2 + r2 dθ2 , 2 2 dr dθ ds = + r2 dθ = 1 + r2 dr. dθ dr

(4.3)

Example 1. ﬁnd

Given a semicircular sheet of material of radius a and constant density ρ,

(a) the centroid of the semicircular area; (b) the moment of inertia of the sheet of material about the diameter forming the straight side of the semicircle. (a) In Figure 4.3, we see by symmetry that y¯ = 0. We want to ﬁnd x ¯. By (3.4), we have x ¯r dr dθ = xr dr dθ. Changing the x to polar coordinates and putting in the limits, we get a π/2 a π/2 Figure 4.3 x ¯ r drdθ = r cos θ r dr dθ. r=0

θ=−π/2

r=0

θ=−π/2

We calculate the integrals and ﬁnd x ¯: π/2 a3 a2 a3 π= sin θ · 2, x ¯ = 2 3 3 −π/2 x ¯=

4a . 3π

(b) We want the moment of inertia about the y axis in Figure 4.3; by deﬁnition this is x2 dM . In polar coordinates, dM = ρ dA = ρr dr dθ. We are given that the density ρ is constant. Then we have Iy = ρ

x2 r dr dθ = ρ

r=0

π/2

θ=−π/2

r2 cos2 θ r dr dθ = ρ

πa4 . 8

260

Multiple Integrals; Applications of Integration

Chapter 5

The mass of the semicircular object is M =ρ

r dr dθ = ρ

r=0

π/2

θ=−π/2

r dr dθ = ρ

πa2 . 2

We write Iy in terms of M to get Iy =

M a2 2M πa4 = . πa2 8 4

Spherical and Cylindrical Coordinates The two most important coordinate systems (besides rectangular) in three dimensions are the spherical and the cylindrical coordinate systems. Figures 4.4 and 4.5 and equations (4.4) and (4.5) show the geometrical meaning of the variables, their algebraic relation to x, y, z, the appearance of the volume elements, and the formulas for the volume, arc length, and surface area elements. Cylindrical coordinates are just polar coordinates in the (x, y) plane with z for the third variable. Note that the spherical coordinates r and θ in Figure 4.5 are diﬀerent from the cylindrical or polar coordinates r and θ in Figures 4.4 and 4.1. Since we seldom use both systems in the same problem, this should cause no confusion. (If necessary, use ρ or R for one of the r's and use φ instead of θ in cylindrical coordinates.) Watch out, however, for the discrepancy in notation for spherical coordinates in various texts. Most calculus books interchange θ and φ. This can be confusing later since the notation of Figure 4.5 is almost universal in applications to the physical sciences, and is often used in advanced mathematics (partial diﬀerential equations, special functions), in computer programs, and in reference books of formulas and tables. You will need to learn a number of useful formulas involving spherical coordinates [for example, (4.7), (4.19), and (4.20) below; also see Chapter 10, Section 9 and Chapter 13, Section 7]. It is best to learn these formulas in the notation that you will use in applications.

(4.4)

Cylindrical coordinates: x = r cos θ y = r sin θ z=z dV = r dr dθ dz ds2 = dr2 + r2 dθ2 + dz 2 dA = a dθ dz

Figure 4.4

Section 4

Change of Variables in Integrals; Jacobians

261

(4.5) Spherical coordinates: x = r sin θ cos φ y = r sin θ sin φ z = r cos θ dV = r2 sin θ dr dθ dφ ds2 = dr2 + r2 dθ2 + r2 sin2 θ dφ2 dA = a2 sin θ dθ dφ

Figure 4.5 We will need the volume and surface area elements in these two systems [and also the arc length elements—see equations (4.18) and (4.19)]. To ﬁnd the polar coordinate area element in Figure 4.1, we drew a grid of curves r = const., θ = const. In three dimensions we want to draw a grid of surfaces. In cylindrical coordinates these surfaces are the cylinders r = const., the half-planes θ = const. (through the z axis), and the planes z = const. [parallel to the (x, y) plane]. One of the elements formed by this grid of surfaces is sketched in Figure 4.4. From the geometry we see that three edges of the element are dr, r dθ, and dz, giving the volume element

(4.6)

dV = r dr dθ dz

(cylindrical coordinates).

If r is constant, then the surface area element on the cylinder r = a has edges a dθ and dz, so dA = a dθ dz. Similarly for the spherical coordinate case, we draw the spheres r = const., the cones θ = const., and the half-planes φ = const. The volume elements formed by this grid (Figure 4.5) have edges dr, r dθ, and r sin dθ dφ; thus we get

(4.7)

dV = r2 sin θ dr dθ dφ

(spherical coordinates).

If r is constant, then the surface area element on the sphere r = a has edges a dθ and a sin θ dφ, so dA = a2 sin θ dθ dφ. Jacobians. For polar, cylindrical, and spherical coordinates, we have seen how to ﬁnd area and volume elements from the geometry. However, it is convenient to know an algebraic way of ﬁnding them which we can use for unfamiliar coordinate systems

262

Multiple Integrals; Applications of Integration

Chapter 5

(Problems 16 and 17) or for any change of variables in a multiple integral (Problems 19 and 20). Here we state without proof (see Chapter 6, Section 3, Example 2) some theorems which tell us how to do this. First, in two dimensions, suppose x and y are given as functions of two new variables s and t. The Jacobian of x, y, with respect to s, t, is the determinant in (4.8) below; we also show abbreviations used for it.

(4.8)

∂x ∂(x, y) ∂s x, y = = J =J ∂y s, t ∂(s, t) ∂s

∂x ∂t . ∂y ∂t

Then the area element dy dx is replaced in the s, t system by the area element dA = |J| ds dt

(4.9)

where |J| is the absolute value of the Jacobian in (4.8). Let us ﬁnd the Jacobian of x, y with respect to the polar coordinates r, θ, and thus verify that (4.8) and our geometric method give the same result (4.2) for the polar coordinate area element. We have ∂x ∂x cos θ −r sin θ ∂r ∂θ ∂(x, y) = r. (4.10) = = ∂y ∂y ∂(r, θ) sin θ r cos θ ∂r ∂θ Thus by (4.9) the area element is r dr dθ as in (4.2). The use of Jacobians extends to more variables. Also, it is not necessary to start with rectangular coordinates; let us state a more general theorem. Suppose we have a triple integral (4.11) f (u, v, w) du dv dw in some set of variables u, v, w. Let r, s, t be another set of variables, related to u, v, w by given equations u = u(r, s, t),

v = v(r, s, t),

w = w(r, s, t).

Section 4

Change of Variables in Integrals; Jacobians

263

Then if the determinant ∂u ∂r ∂(u, v, w) ∂v = J= ∂(r, s, t) ∂r ∂w ∂r

(4.12)

∂u ∂s ∂v ∂s ∂w ∂s

∂u ∂t ∂v ∂t ∂w ∂t

is the Jacobian of u, v, w with respect to r, s, t, then the triple integral in the new variables is (4.13) f · |J| · dr ds dt, where, of course, f and J must both be expressed in terms of r, s, t, and the limits must be properly adjusted to correspond to the new variables.

We can use (4.12) to verify the volume element (4.6) for cylindrical coordinates (Problem 15) and the volume element (4.7) for spherical coordinates. Let us do the calculation for spherical coordinates. From (4.5), we have

(4.14)

∂x ∂r ∂(x, y, z) ∂y = ∂r ∂(r, θ, φ) ∂z ∂r

∂x ∂φ sin θ cos φ r cos θ cos φ −r sin θ sin φ ∂y ∂y = sin θ sin φ r cos θ sin φ r sin θ cos φ ∂θ ∂φ cos θ −r sin θ 0 ∂z ∂z ∂θ ∂φ = r2 sin θ[− sin2 φ(− sin2 θ − cos2 θ) − cos2 φ(− sin2 θ − cos2 θ)] ∂x ∂θ

= r2 sin θ. Thus the spherical coordinate volume element is dV = r2 sin θ dr dθ dφ as in (4.7).

Example 2. Find the z coordinate of the centroid of a uniform solid cone (part of one nappe) of height h equal to the radius of the base r. Also ﬁnd the moment of inertia of the solid about its axis.

264

Multiple Integrals; Applications of Integration

Chapter 5

If we take the cone as shown in Figure 4.6, its equation in cylindrical coordinates is r = z, since at any height z, the cross section is a circle of radius equal to the height. To ﬁnd the mass we must integrate dM = ρr dr dθ dz, where ρ is the constant density. The limits of integration are θ : 0 to 2π,

r : 0 to z,

Then we have M = ρ dV = ρ

Figure 4.6

z=0

z : 0 to h.

z¯ dV =

r=0

2π

θ=0

r dr dθ dz = ρ · 2π

z dV =

z=0

r=0

2π

θ=0 4

z2 ρπh3 dz = , 2 3

zr dr dθ dz

1 πh z · z 2 dz = , 2 4 0 πh4 πh3 = , z¯ · 3 4 3 z¯ = h. 4 For the moment of inertia about the z axis we have h z 2π h 4 z πh5 I =ρ dz = ρ . r2 r dr dθ dz = ρ · 2π 4 10 z=0 r=0 θ=0 0 = 2π

(4.15)

Using the value of M from (4.15), we write I in the usual form as a multiple of M : I=

3M πh5 3 = M h2 . 3 πh 10 10

In the following examples and problems, note that we use sphere (r = a) to mean surface area, and ball (r ≤ a) to mean volume (just as we use circle to mean circumference and disk to mean area). Example 3. Find the moment of inertia of a solid ball of radius a about a diameter. In spherical coordinates, the equation of the ball is r ≤ a. Then the mass is 2π π a M = ρ dV = ρ (4.16) r2 sin θ dr dθ dφ φ=0

θ=0

r=0

=ρ

4 a · 2 · 2π = πa3 ρ. 3 3

(to no one's surprise!). The moment of inertia about the z axis is 2π π a I = (x2 + y 2 ) dM = ρ (r2 sin2 θ) r2 sin θ dr dθ dφ φ=0

8πa5 ρ a5 4 · · 2π = ; =ρ· 5 3 15

θ=0

r=0

Section 4

Change of Variables in Integrals; Jacobians

265

or, using the value of M , we get

(4.17)

2 M a2 . 5

Example 4. Find the moment of inertia about the z axis of the solid ellipsoid inside y2 z2 x2 + 2 + 2 = 1. 2 a b c We want to evaluate M =ρ dx dy dz

and

I =ρ

(x2 + y 2 ) dx dy dz

where the triple integrals are over the volume of the ellipsoid. Make the change 2 2 2 of variables x = ax , y = by , z = cz ; then x + y + z = 1, so in the primed variables we integrate over the volume of a ball of radius 1. Then M = ρ abc dx dy dz = ρ abc · volume of ball of radius 1. Using (4.16), we have 4 4 M = ρ abc · π · 13 = πρ abc. 3 3 Similarly, we ﬁnd I = ρ abc

(a2 x + b2 y ) dV

where the triple integral is over the volume of a ball of radius 1. Now, by symmetry, 1 2 2 2 2 r dV y dV = z dV = x dV = 3 2

where r = x + y + z , and we are integrating over the volume inside the sphere r = 1. Let us use spherical coordinates in the primed system. Then 2π π 1 2 2 2 r dV = r (r sin θ dr dθ dφ ) φ=0

θ=0

= 4π 0

r=0

r dr =

4π . 5

Thus, 1 4π 2 2 , I = ρ abc a2 x dV + b2 y dV = ρ abc(a2 + b2 ) · 3 5 or, in terms of M , I=

1 M (a2 + b2 ). 5

266

Multiple Integrals; Applications of Integration

Chapter 5

In order to ﬁnd arc lengths using spherical or cylindrical coordinates, we need the arc length element ds. Recall that we found the polar coordinate arc length element ds (Figure 4.2) as the hypotenuse of the right triangle with sides dr and r dθ. From Figure 4.1 you can see that ds can also be thought of as a diagonal of the area element. Similarly, in cylindrical and spherical coordinates (see Figures 4.4 and 4.5), the arc length element ds is a space diagonal of the volume element. In cylindrical coordinates (4.4), the sides of the volume element are dr, r dθ, dz, so the arc length element is given by ds2 = dr2 + r2 dθ2 + dz 2

(4.18)

(cylindrical coordinates).

In spherical coordinates (4.5), the sides of the volume element are dr, r dθ, r sin θ dφ, so the arc length element is given by ds2 = dr2 + r2 dθ2 + r2 sin2 θ dφ2

(4.19)

(spherical coordinates).

It is also convenient to be able to ﬁnd arc lengths algebraically. Let us do this for polar coordinates; the same method can be used in three dimensions. From (4.1) we have dx = cos θ dr − r sin θ dθ, dy = sin θ dr + r cos θ dθ. Squaring and adding these two equations, we get ds2 = dx2 + dy 2 = (cos2 θ + sin2 θ) dr2 + 0 · dr dθ + r2 (sin2 θ + cos2 θ) dθ2 = dr2 + r2 dθ2 as in (4.3). Using the same method for cylindrical and spherical coordinates (Problem 21) you can verify equations (4.18) and (4.19). Example 5. Express the velocity of a moving particle in spherical coordinates. If s represents the distance the particle has moved along some path, then ds/dt is the velocity of the particle. Dividing (4.19) by dt2 , we ﬁnd for the square of the velocity

(4.20) 2

v =

ds dt

dr dt

2 +r

dθ dt

+ r sin θ

dφ dt

2 (spherical coordinates).

We have just seen how to ﬁnd

the arc length element ds in polar coordinates (or other systems) by calculating dx2 + dy 2 . You might be tempted to try to

Section 4

Change of Variables in Integrals; Jacobians

267

ﬁnd the area element by computing dx dy, but you would discover that this does not work—we must use the Jacobian [or geometry as in (4.2)] to get volume or area elements. You can see why by looking at Figure 4.1. The element of area r dr dθ at the point (x, y) is not the same as the element of area dx dy at that point. Then consider Figure 4.2; the element of arc ds is the hypotenuse of the triangle with legs dr and rdθ, and it is also the hypotenuse of the triangle with legs dx and dy. Thus ds is the same element for both x, y and r, θ and this is why we can compute ds in polar coordinates by calculating dx2 + dy 2 . These comments hold

for

other coordinate systems, too. We can always ﬁnd ds by computing dx2 + dy 2 or dx2 + dy 2 + dz 2 , but we cannot compute area or volume elements directly from the rectangular ones—we must use the Jacobian or else geometrical methods.

PROBLEMS, SECTION 4 As needed, use a computer to plot graphs of ﬁgures and to check values of integrals. 1.

For the disk r ≤ a, ﬁnd by integration using polar coordinates: (a)

the area of the disk;

(b)

the centroid of one quadrant of the disk;

(c)

the moment of inertia of the disk about a diameter;

(d)

the circumference of the circle r = a;

(e)

the centroid of a quarter circle arc.

Using polar coordinates: (a)

Show that the equation of the circle sketched is r = 2a cos θ. Hint: Use the right triangle OP Q.

(b)

By integration, ﬁnd the area of the disk r ≤ 2a cos θ.

(c)

Find the centroid of the area of the ﬁrst quadrant half disk.

(d)

Find the moments of inertia of the disk about each of the three coordinate axes, assuming constant area density.

(e)

Find the length and the centroid of the semicircular arc in the ﬁrst quadrant.

(f)

Find the center of mass and the moments of inertia of the disk if the density is r.

(g)

Find the area common to the disk sketched and the disk r ≤ a.

(a)

Find the moment of inertia of a circular disk (uniform density) about an axis through its center and perpendicular to the plane of the disk.

(b)

Find the moment of inertia of a solid right circular cylinder (uniform density) about its axis.

(c)

Do (a) using Problem 1c and the perpendicular axis theorem (Section 3, Example 1f).

For the sphere r = a, ﬁnd by integration: (a)

its surface area;

268

Multiple Integrals; Applications of Integration

Chapter 5

(b)

the centroid of the curved surface area of a hemisphere;

(c)

the moment of inertia of the whole spherical shell (that is, surface area) about a diameter (assuming constant area density);

(d)

the volume of the ball r ≤ a;

(e)

the centroid of a solid half ball.

(a)

Write a triple integral in spherical coordinates for the volume inside the cone z 2 = x2 + y 2 and between the planes z = 1 and z = 2. Evaluate the integral.

(b)

Do (a) in cylindrical coordinates.

Find the mass of the solid in Problem 5 if the density is (x2 + y 2 + z 2 )−1 . Check your work by doing the problem in both spherical and cylindrical coordinates.

(a)

Using spherical coordinates, ﬁnd the volume cut from the ball r ≤ a by the cone θ = α < π/2.

(b)

Show that the z coordinate of the centroid of the volume in (a) is given by the formula z¯ = 3a(1 + cos α)/8.

For the solid in Problem 7, ﬁnd Iz /M if α = π/3 and the density is constant.

Let the solid in Problem 7 have density = cos θ. Show that then Iz =

10.

3 M a2 10

sin2 α.

(a)

Find the volume inside the cone 3z 2 = x2 + y 2 , above the plane z = 2 and inside the sphere x2 + y 2 + z 2 = 36. Hint: Use spherical coordinates.

(b)

Find the centroid of the volume in (a).

11.

Write a triple integral in cylindrical coordinates for the volume inside the cylinder x2 + y 2 = 4 and between z = 2x2 + y 2 and the (x, y) plane. Evaluate the integral.

12.

(a)

Write a triple integral in cylindrical coordinates for the volume of the solid cut from a ball of radius 2 by a cylinder of radius 1, one of whose rulings is a diameter of the ball. Hint: Take the axis of the cylinder parallel to the z axis; a cross section of the cylinder then looks like the ﬁgure in Problem 2.

(b)

Write a triple integral for the moment of inertia about the z axis of a uniform solid occupying this volume.

(c)

Evaluate the integrals in (a) and (b), and ﬁnd I as a multiple of the mass.

(a)

Write a triple integral in cylindrical coordinates for the volume of the part of a ball between two parallel planes which intersect the ball.

(b)

Evaluate the integral in (a). Warning hint: Do the r and θ integrals ﬁrst.

(c)

Find the centroid of this volume.

13.

14.

Express the integral

Z I=

Z √1−x2

1 0

e−x

−y 2

as an integral in polar coordinates (r, θ) and so evaluate it. 15.

Find the cylindrical coordinate volume element by Jacobians.

Find the Jacobians ∂(x, y)/∂(u, v) of the given transformations from variables x, y to variables u, v: 16.

1 2 (u − v 2 ), 2 y = uv, (u and v are called parabolic cylinder coordinates). x=

Section 4 17. 18.

x = a cosh u cos v, y = a sinh u sin v,

Change of Variables in Integrals; Jacobians

269

(u and v are called elliptic cylinder coordinates).

Prove the following theorems about Jacobians. ∂(u, v) ∂(x, y) = 1. ∂(x, y) ∂(u, v) ∂(x, y) ∂(u, v) ∂(x, y) = . ∂(u, v) ∂(s, t) ∂(s, t) Hint: Multiply the determinants (as you would matrices) and show that each element in the product determinant can be written as a single partial derivative. Also see Chapter 4, Section 7.

19.

In the integral

Z I=

∞

∞ 0

x2 + y 2 e−2xy dx dy 1 + (x2 − y 2 )2

make the change of variables u = x2 − y 2 v = 2xy and evaluate I. Hint: Use (4.8) and the accompanying discussion. 20.

In the integral

Z I=

1/2 x=0

1−x

y=x

„

x−y x+y

«2 dy dx,

make the change of variables 1 (r − s), 2 1 y = (r + s), 2

and evaluate I. Hints: See Problem 19. To ﬁnd the r and s limits, sketch the area of integration in the (x, y) plane and sketch the r and s axes. Then show that to cover the same integration area, you may take the r and s limits to be: s from 0 to r, r from 0 to 1. 21.

Verify equations (4.18) and (4.19).

22.

Use equation (4.18) to set up an integral for the length of wire required to wind a coil spirally about a cylinder of radius 1 in., and length 1 ft, if there are three turns per inch.

23.

A loxodrome or rhumb line is a curve on the earth's surface along which a ship sails without changing its course, that is, such that it crosses the meridians at a constant angle α. Show that then tan α = sin θ dφ/dθ (θ and φ are spherical coordinates). Use (4.19) to set up an integral for the distance traveled by a ship along a rhumb line. Show that although a rhumb line winds inﬁnitely many times around either the north or the south pole, its total length is ﬁnite.

24.

Compute the gravitational attraction on a unit mass at the origin due to the mass (of constant density) occupying the volume inside the sphere r = 2a and above the plane z = a. Hint: The magnitude of the gravitational force on the unit mass due to the element of mass dM at (r, θ, φ) is (G/r2 )dM . You want the z component of this since the other components of the total force are zero by symmetry. Use spherical coordinates.

270

Multiple Integrals; Applications of Integration

Chapter 5

25.

The volume inside a sphere of radius r is V = 43 πr 3 . Then dV = 4πr 2 dr = A dr, where A is the area of the sphere. What is the geometrical meaning of the fact that the derivative of the volume is the area? Could you use this fact to ﬁnd the volume formula given the area formula?

26.

Use the parallel axis theorem (Problem 3.1) (a)

and Example 3, to ﬁnd the moment of inertia of a solid ball about a line tangent to it;

(b)

and Problem 3b to ﬁnd the moment of inertia of a solid cylinder about a ruling.

27.

Use the spherical coordinates θ and φ to ﬁnd the area of a zone of a sphere (that is, the spherical surface area between two parallel planes). Hint: See dA in (4.5).

28.

Find the center of mass of a hemispherical shell of constant density (mass per unit area) by using double integrals and the area element dA in (4.5). [Compare your result in Problem 4(b).]

5. SURFACE INTEGRALS In the preceding sections we found surface areas, moments of them, etc., for surfaces of revolution. We now want to consider a way of computing surface integrals in general whether the surface is a surface of revolution or not. Consider a part of a surface as in Figure 5.1 and its projection in the (x, y) plane. We assume that any line parallel to the z axis intersects the surface only once. If this is not true, we must work with part of the surface at a time, or project the surface into a diﬀerent plane. For example, if the surface is closed, we could ﬁnd the areas of the upper and lower parts separately. For a cylinder with axis parallel to the z axis we could project the front and back parts separately into the (y, z) plane.

Figure 5.1 Let dA (Figure 5.1) be an element of surface area which projects onto dx dy in the (x, y) plane and let γ be the acute angle between dA (that is, the tangent plane at dA) and the (x, y) plane. Then we have (5.1)

dx dy = dA cos γ

dA = sec γ dx dy.

Section 5

Surface Integrals

The surface area is then

(5.2)

271

dA =

sec γ dx dy

where the limits on x and y must be such that we integrate over the projected area in the (x, y) plane. Now we must ﬁnd sec γ. The (acute) angle between two planes is the same as the (acute) angle between the normals to the planes. If n is a unit vector normal to the surface at dA (Figure 5.1), then γ is the (acute) angle between n and the z axis, that is, between the vectors n and k, so cos γ = |n · k|. Let the equation of the surface be φ(x, y, z) = const. Recall from Chapter 4 just after equation (9.14) that the vector grad φ = i

(5.3)

∂φ ∂φ ∂φ +j +k ∂x ∂y ∂z

is normal to the surface φ(x, y, z) = const. (Also see Chapter 6, Section 6.) Then n is a unit vector in the direction of grad φ, so n = (grad φ)/| grad φ|.

(5.4)

so (5.5)

sec γ =

| grad φ| = |∂φ/∂z|

∂φ ∂x

2 2 ∂φ ∂φ + ∂y ∂z . |∂φ/∂z|

Often the equation of a surface is given in the form z = f (x, y). In this case φ(x, y, z) = z − f (x, y), so ∂φ/∂z = 1, and (5.5) simpliﬁes to

(5.6)

sec γ =

(∂f /∂x)2 + (∂f /∂y)2 + 1.

We then substitute (5.5) or (5.6) into (5.2) and integrate to ﬁnd the area. To ﬁnd centroids, moments of inertia, etc., we insert the proper factor into (5.2) as we have discussed in Section 3.

272

Multiple Integrals; Applications of Integration

Example 1. Find the area cut from the upper half of the sphere x2 + y 2 + z 2 = 1 by the cylinder x2 + y 2 − y = 0. This is the same as the area on the sphere which projects onto the disk x2 + y 2 − y ≤ 0 in the (x, y) plane. Thus we want to integrate (5.2) over the area of this disk. Figure 5.2 shows the disk of integration (shaded) and the equatorial circle of the sphere (large circle). We compute sec γ from the equation of the sphere; we could use (5.6), but it is easier in this problem to use (5.5):

Chapter 5

Figure 5.2

φ = x2 + y 2 + z 2 ,

sec γ =

1 | grad φ| 1 = (2x)2 + (2y)2 + (2z)2 = =

. |∂φ/∂z| 2z z 1 − x2 − y 2

We ﬁnd the limits of integration from the equation of the shaded disk, x2 +y 2 −y ≤ 0. Because of the symmetry we can integrate over the ﬁrst-quadrant part of the shaded area and double our result. Then the limits are:

x from 0 to y − y 2 , y from 0 to 1. The desired area is (5.7)

A=2

√y−y2

y=0

x=0

dx dy

. 1 − x2 − y 2

This integral is simpler in polar coordinates. The equation of the cylinder is then r = sin θ, so the limits are: r from 0 to sin θ, and θ from 0 to π/2. Thus (5.7) becomes π/2 sin θ r dr dθ √ (5.8) A=2 . 1 − r2 θ=0 r=0 √ This is√still simpler if we make the change of variable z = 1 − r2 . Then dz = −r dr/ 1 − r2 , and the limits r = 0 to sin θ become z = 1 to cos θ. Thus (5.8) becomes π/2 cos θ (5.9) A = −2 dz dθ = π − 2. θ=0

z=1

PROBLEMS, SECTION 5 For these problems, the most important sketch is the projection in the plane of integration, which is easy to do by hand. However, you might like to use your computer to plot the corresponding 3 dimensional picture. 1.

Find the area of the plane x − 2y + 5z = 13 cut out by the cylinder x2 + y 2 = 9.

Find the surface area cut from the cone 2x2 + 2y 2 = 5z 2 , z > 0, by the cylinder x2 + y 2 = 2y.

Find the area of the paraboloid x2 + y 2 = z inside the cylinder x2 + y 2 = 9.

Section 6

Miscellaneous Problems

273

Find the area of the part of √ the cone 2z 2 = x2 + y 2 in the ﬁrst octant cut out by the planes y = 0, and y = x/ 3, and the cylinder x2 + y 2 = 4.

Find the area of the part of the cone z 2 = 3(x2 + y 2 ) which is inside the sphere x2 + y 2 + z 2 = 16.

In Example 1, ﬁnd the area of the cylinder inside the sphere.

Find the area of the part of the cylinder y 2 + z 2 = 4 in the ﬁrst octant, cut out by the planes x = 0 and y = x.

Find the area of the part of the cylinder z = x + y 2 that lies below the secondquadrant area bounded by the x axis, x = −1, and y 2 = −x.

Find the area of the part of the cone x2 +y 2 = z 2 that is over the disk (x−1)2 +y 2 ≤ 1.

10.

Find the area of the part of the sphere of radius a and center √ at the origin√which is above the square in the (x, y) plane bounded by x = ±a/ 2 and y = ±a/ 2. Hint for evaluating the integral : Change to polar coordinates and evaluate the r integral ﬁrst.

11.

The part of the plane x + y + z = 1 which is in the ﬁrst octant is a triangular area (sketch it). Find the area and its centroid by integration. You might like to check your work by geometry.

12.

In Problem 11, let the triangle have a density (mass per unit area) equal to x. Find the total mass and the coordinates of the center of mass.

13.

For the area of Example 1, ﬁnd the z coordinate of the centroid.

14.

For the area in Example 1, let the mass per unit area be equal to |x|. Find the total mass.

15.

For a uniform mass distribution over the area of Example 1, ﬁnd the moment of inertia about the z axis.

16.

Find the centroid of the surface area in Problem 2.

6. MISCELLANEOUS PROBLEMS As needed, use a computer to plot graphs and to check values of integrals. 1.

Find the volume inside the cone z 2 = x2 + y 2 , above the (x, y) plane, and between the spheres x2 + y 2 + z 2 = 1 and x2 + y 2 + z 2 = 4. Hint: Use spherical coordinates.

Find the z coordinate of the centroid of the volume in Problem 1.

Find the mass of the solid in Problem 1 if the density is equal to z.

Find the moment of inertia of a hoop (wire bent to form a circle of radius R)

(a)

about a diameter;

(b)

about a tangent line.

The rectangle in the ﬁgure has sides 2a and 2b; the curve is an ellipse. If the ﬁgure is rotated about the dotted line it generates three solids of revolution: a cone, an ellipsoid, and a cylinder. Show that the volumes are in the ratio 1 : 2 : 3. (See L.H. Lange, American Mathematical Monthly vol. 88 (1981), p. 339.)

274 6.

Multiple Integrals; Applications of Integration

Chapter 5

(a)

Find the area inside the circle r = 2, with x > 0 and y > 1.

(b)

Find the centroid of the area in (a).

For a lamina of density 1 in the shape of the area of Problem 6, ﬁnd its moment of inertia about the z axis.

For the solid bounded above by the sphere x2 +y 2 +z 2 = 4 and below by a horizontal plane through (0, 0, 1), ﬁnd

9. 10.

11.

(a)

the volume (see Problem 6 and Problem 3.12);

(b)

the z coordinate of the centroid (use cylindrical coordinates).

Find the centroid of the area above y = x2 and below y = c (c > 0). (a)

Find the centroid of the area between the x axis and one arch of y = sin x.

(b)

Find the volume formed if the area in (a) is rotated about the x axis.

(c)

Find Ix of a mass of constant density occupying the volume in (b).

Show that the z coordinate of the centroid of the volume inside the elliptic cone x2 y2 z2 = 2 + 2, 2 h a b

0 < z < h,

z¯ =

3 h. 4

(Note that the result is independent of a and b.) Hint: To evaluate the triple integrals, let z = hz , x = ax , y = by , and then change to cylindrical coordinates in the primed system (see Example 4, Section 4). Compare Example 2, Section 4. 12.

Find the mass of the solid inside the ellipsoid y2 z2 x2 + + =1 a2 b2 c2 if the density is |xyz|. Hint: Evaluate the triple integral as in Example 4, Section 4.

13.

Find the surface area of the part of the cylinder x2 + z 2 = a2 inside the cylinder x2 + y 2 = a2 . Use your computer to graph the two cylinders on the same axes.

14.

Find the volume that is inside both cylinders in Problem 13.

15.

Find Ix and Iy for a mass distribution of constant density occupying the solid in Problem 14. Hint: Do the x integration last.

16.

Find the centroid of the ﬁrst quadrant part of the arc x2/3 + y 2/3 = a2/3 . Hint: Let x = a cos3 θ, y = a sin3 θ.

17.

Find the moment of inertia about a diagonal of a framework consisting of the four sides of a square of side a.

18.

Find the center of mass of the solid right circular cone inside r 2 = z 2 , 0 < z < h, if the density is r 2 = x2 + y 2 . Use cylindrical coordinates.

19.

For the cone in Problem 18, ﬁnd Ix /M , Iy /M , Iz /M . Also ﬁnd I/M about a line through the center of mass parallel to the x axis.

20.

(a)

Find the area of the surface z = 1 + x2 + y 2 inside the cylinder x2 + y 2 = 1.

(b)

Find the volume inside the cylinder between the surface and the (x, y) plane. Use cylindrical coordinates.

21.

Find the gravitational attraction on a unit mass at the origin due to a mass (of constant density) occupying the volume inside the cone z 2 = x2 + y 2 , 0 < z < h. See Problem 4.24.

Section 6

Miscellaneous Problems

275

22.

Find Ix /M , Iy /M , Iz /M , for a lamina in the shape of an ellipse (x2 /a2 )+(y 2 /b2 ) = 1. Hint: See Problem 11.

23.

(a) (b)

24.

Find the centroid of the solid paraboloid inside z = x2 + y 2 , 0 < z < c. p Repeat part (a) if the density is ρ = r = x2 + y 2 .

Repeat Problem 23a for the paraboloid z y2 x2 = 2 + 2. c a b

25.

By changing to polar coordinates, evaluate Z ∞Z ∞ √ 2 2 e− x +y dx dy. 0

26.

Make the change of variables u = x − y, v = x + y, to evaluate the integral Z 1 Z 1−y dy e(x−y)/(x+y) dx. 0

27.

0 < z < c.

Make the change of variables u = y/x, v = x + y, to evaluate the integral Z 1 Z x (x + y)ex+y dx dy. x2 0 0

CHAPTER

Vector Analysis 1. INTRODUCTION In Chapter 3, Sections 4 and 5, we have discussed the basic ideas of vector algebra. The principal topic of this chapter will be vector calculus. First (Sections 2 and 3) we shall consider some applications of vector products. Then (Section 4 ﬀ.) we shall discuss diﬀerentiation and integration of vector functions. You have probably seen Newton's second law F = ma written as F = m d2 r/dt2 . You may have met Gauss's law in electricity which uses a surface integral of the normal component of a vector (Section 10). Derivatives and integrals of vector functions are important in almost every area of applied mathematics. Such diverse ﬁelds as mechanics, quantum mechanics, electrodynamics, theory of heat, hydrodynamics, optics, etc., make use of the vector equations and theorems we shall discuss in this chapter.

2. APPLICATIONS OF VECTOR MULTIPLICATION In Chapter 3, Section 4, we deﬁned the scalar or dot product of vectors A and B, and the vector or cross product of A and B as follows, where θ is the angle (≤ 180◦) between the vectors: (2.1)

A · B = AB cos θ = Ax Bx + Ay By + Az Bz .

(2.2) A×B = C, where |C | = AB sin θ, and the direction of C is perpendicular to the plane of A and B and in the sense of the rotation of A to B through the angle θ (Figure 2.1).

Figure 2.1 276

Section 2

Applications of Vector Multiplication

277

Let us consider some applications of these deﬁnitions. Work In elementary physics you learned that work equals force times displacement. If the force and displacement are not parallel, then the component of the force perpendicular to the displacement does no work.

Figure 2.2

Figure 2.3

The work in this case is the component of the force parallel to the displacement, multiplied by the displacement; that is W = (F cos θ) · d = F d cos θ (Figure 2.2). This can now conveniently be written as W = F d cos θ = F · d.

(2.3)

If the force varies with distance, and perhaps also the direction of motion d changes with time, we can write, for an inﬁnitesimal vector displacement dr (Figure 2.3) dW = F · dr.

(2.4)

We shall see later (Section 8) how to integrate dW in (2.4) to ﬁnd the total work W done on a particle which is pushed along some path by a variable force F.

Figure 2.4

Figure 2.5 Torque In doing a seesaw or lever problem (Figure 2.4), you multiply force times distance; the quantity F d is called the torque or moment ∗ of F, and the distance d ∗ If the force F is due to a weight w = mg, then the torque about O in Figure 2.4 is mg · d = g · (md); the moment of inertia (Chapter 5, Section 3) of m about O is md2 . The quantity md is called the moment (or ﬁrst moment) of m about O, and the quantity md2 is called the moment of inertia (or second moment) of m about O. By extension, we call mgd the moment of mg, or F d the moment of F. For an object which is not a point mass, the quantities md and md2 become integrals (Chapter 5, Section 3).

278

Vector Analysis

Chapter 6

from the fulcrum O to the line of action of F is the lever arm of F. The lever arm is by deﬁnition the perpendicular distance from O to the line of action of F. Then in general (Figure 2.5) the torque (or moment) of a force about O (really about an axis through O perpendicular to the paper) is deﬁned as the magnitude of the force times its lever arm; in Figure 2.5 this is F r sin θ. Now r × F has magnitude rF sin θ, so the magnitude of the torque is |r × F|. We can also use the direction of r × F in describing the torque, in the following way. If you curve the ﬁngers of your right hand in the direction of the rotation produced by applying the torque, then your thumb points in a direction parallel to the rotation axis. It is customary to call this the direction of the torque. By comparing Figures 2.5 and 2.1, we see that this is also the direction of r × F. With this agreement, then, r × F is the torque or moment of F about an axis through O and perpendicular to the plane of the paper in Figure 2.5. Angular Velocity In a similar way, a vector is used to represent the angular velocity of a rotating body. The direction of the vector is along the axis of rotation in the direction of progression of a right-handed screw turned the way the body is rotating. Suppose P in Figure 2.6 represents a point in a rigid body rotating with angular velocity ω. We can show that the linear velocity v of point P is v = ω × r. First of all, v is in the right direction: It is perpendicular to the plane of r and ω and in the right sense. Next we want to show that the magnitude of v is the same as |ω × r| = ωr sin θ. But r sin θ is the radius of the circle in which P is traveling, and ω is the angular velocity; thus (r sin θ)ω is |v|, as we claimed. Figure 2.6

3. TRIPLE PRODUCTS There are two products involving three vectors, one called the triple scalar product (because the answer is a scalar) and the other called the triple vector product (because the answer is a vector).

Figure 3.2

Figure 3.1 Triple Scalar Product This is written A · (B × C). There is a useful geometrical interpretation of the triple scalar product (see Figure 3.1). Construct a parallelepiped using A, B, C as three intersecting edges. Then |B × C| is the area

Section 3

Triple Products

279

of the base (Figure 3.2) because |B × C| = |B| |C| sin θ, which is the area of a parallelogram with sides |B|, |C|, and angle θ. The height of the parallelepiped is |A| cos φ (Figure 3.1). Then the volume of the parallelepiped is |B| |C| sin θ|A| cos φ = |B × C| |A| cos φ = A · (B × C). If φ > 90◦ , this will come out negative, so in general we should say that the volume is |A · (B × C)|. Any side may be used as base, so, for example, B · (C × A) must also be either plus or minus the volume. There are six such triple scalar products, all equal except for sign [or twelve if you count both the type A · (B × C) and the type (B × C) · A)]. To write the triple scalar product in component form we ﬁrst write B × C in determinant form [Chapter 3, equation (4.19)]: i j k (3.1) B × C = Bx By Bz . Cx Cy Cz Now A · (B × C) = Ax (B × C)x + Ay (B × C)y + Az (B × C)z , and this is exactly what we get by expanding, by elements of the ﬁrst row, the determinant in (3.2) below; this determinant is then equal to A · (B × C).

(3.2)

Ax A · (B × C) = Bx Cx

Ay By Cy

Az Bz . Cz

Recalling that an interchange of rows changes the sign of a determinant, we can now easily write out the six (or twelve) products mentioned above with their proper signs. You should convince yourself of, and then remember, the following facts: The order of the factors is all that counts; the dot and cross may be interchanged. If the order of factors is cyclic (one way around the circle in Figure 3.3), all such triple scalar products are equal. If you go the other way, you get another set all equal to each other and the negatives of the ﬁrst set. For example, (3.3)

(A × B) · C = A · (B × C) = C · (A × B) = −(A × C) · B, etc.

Since it doesn't matter where the dot and cross are, the triple scalar product is often written as (ABC), meaning A · (B × C) or (A × B) · C.

Figure 3.3

Triple Vector Product This is written A × (B × C). Before we try to evaluate it, we can make the following observations. B × C is perpendicular to the plane of B and C. A × (B × C) is perpendicular to the plane of A and (B × C); we are particularly interested in the fact that A × (B × C) is perpendicular to (B × C).

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Now (see Figure 3.4) any vector perpendicular to B × C lies in the plane perpendicular to B × C, that is, the plane of B and C. Thus A × (B × C) is some vector in the plane of B and C, and can be written as some combination aB + bC, where a and b are scalars which we want to ﬁnd. (See Chapter 3, Section 8, Problem 5.) One way to ﬁnd a and b is to write out A × (B × C) in component form. We can simplify this work by choosing our coordinate system carefully; recall that a vector equation is true independently of the coordinate system. Given the vectors A, B, C, we take the x axis along B, and the y axis in the plane of B and C; then B × C is in the z direction. The vectors in component form relative to these axes are:

Figure 3.4

B = Bx i, C = Cx i + Cy j,

(3.4)

A = Ax i + Ay j + Az k. Using (3.4) we ﬁnd B × C = Bx i × (Cx i + Cy j) = Bx Cy (i × j) = Bx Cy k, (3.5)

A × (B × C) = Ax Bx Cy (i × k) + Ay Bx Cy (j × k) = Ax Bx Cy (−j) + Ay Bx Cy (i).

We would like to write A × (B × C) in (3.5) as a combination of B and C; we can do this by adding and subtracting Ax Bx Cx i: (3.6)

A × (B × C) = −Ax Bx (Cx i + Cy j) + (Ay Cy + Ax Cx )Bx i.

Each of these expressions is something simple in terms of the vectors in (3.4): (3.7)

Ax Bx = A · B, Cx i + Cy j = C,

Ay Cy + Ax Cx = A · C, Bx i = B.

Using (3.7) in (3.6), we get (3.8)

A × (B × C) = (A · C)B − (A · B)C.

This important formula should be learned, but not memorized in terms of letters, because that is confusing when you want some other combination of the same letters. Learn instead the following three facts:

(3.9)

The value of a triple vector product is a linear combination of the two vectors in the parenthesis [B and C in (3.8)]; the coeﬃcient of each vector is the dot product of the other two; the middle vector in the triple product [B in (3.8)] always has the positive sign.

This method also covers triple vector products with the parenthesis ﬁrst; by (3.9), the value of (B × C) × A is (A · B)C − (A · C)B. This is correct since it is just the negative of what we had above for A × (B × C).

Section 3

Triple Products

281

Applications of the Triple Scalar Product We have shown that the torque of a force F about an axis may be written as r × F in one special case, namely when r and F are in a plane perpendicular to the axis. Now let us consider the general case of ﬁnding the torque produced by a force F about any given line (axis) L in Figure 3.5. Let r be a vector from some (that is, any) point on L to the line of action of F; let O be the tail of r. Then we deﬁne the torque about the point O to be r × F. Note that this cannot contradict our previous discussion of torque because we were considering torque about a line before, and this deﬁnition is of torque about a point. However, we shall show how the two notions are connected. Also notice that r × F is not changed if the head of r is moved along F; for this just adds a multiple Figure 3.5 of F to r, and F × F = 0 (see Problem 10). We shall now show that the torque of F about the line L through O is n · (r × F), where n is a unit vector along L. To simplify the calculation, choose the positive z axis in the direction n; then n = k. Think of a door hinged to rotate about the z

Figure 3.7 Figure 3.6 axis as in Figure 3.6. Let a force F be applied to it at the head of the vector r. We ﬁrst ﬁnd the torque of F about the z axis by elementary methods and deﬁnition. Break F into its components; the z component is parallel to the rotation axis and produces no torque about it (pulling straight up or down on a door handle does not tend to open or close the door!). The x and y components can be seen better if we draw them in the (x, y) plane (Figure 3.7; note that the x and y axes are rotated 90◦ clockwise from their usual position in order to compare this ﬁgure more easily with Figure 3.6). The torque about the z axis produced by Fx and Fy is xFy − yFx by the elementary deﬁnition of torque. We want to show that this is the same as n · (r × F) or here k · (r × F). Using (3.2) we ﬁnd 0 k · (r × F) = x Fx To summarize:

0 y Fy

1 z = xFy − yFx . Fz

282

(3.10)

Vector Analysis

Chapter 6

In Figure 3.5, the torque of F about point O is r × F. The torque of F about the line L through O is n · (r × F) where n is a unit vector along L.

This proof can easily be given without reference to a coordinate system. Let the symbols and ⊥ stand for parallel and perpendicular to the given rotation axis n. Then any vector (F or r, say) can be written as the sum of a vector parallel to the axis and a vector perpendicular to the axis (that is, somewhere in the plane perpendicular to n): r = r⊥ + r ,

F = F⊥ + F .

Then the torque about O produced by F is r × F = (r⊥ + r )×(F⊥ + F ) = r⊥ ×F⊥ + r⊥ ×F + r ×F⊥ + r ×F . The last term is zero (cross product of parallel vectors). Also r and F are parallel to n; therefore their cross products with anything are in the plane perpendicular to n, and the dot product of n with these is zero. Hence we have n · (r × F) = n · (r⊥ ×F⊥ ). Now r⊥ and F⊥ are in a plane perpendicular to n; thus the torque about n produced by F⊥ is (by Section 2) r⊥ ×F⊥ . But since only the component of F perpendicular to n produces a torque about n, r⊥ ×F⊥ is the total torque about n produced by F. The vector torque r⊥ ×F⊥ is in the ±n direction since r⊥ and F⊥ are perpendicular to n; the dot product of this vector torque with the unit vector n gives a scalar torque of the same magnitude; the ± sign indicates whether the torque is in the +n or the −n direction. Example 1. If F = i + 3j − k acts at the point (1, 1, 1), ﬁnd the torque of F about the line r = 3i + 2k + (2i − 2j + k)t. We ﬁrst ﬁnd the vector torque about a point on the line, say the point (3, 0, 2). By (3.10) and Figure 3.5, this is r × F where r is the vector from the point about which we want the torque, to the point at which F acts, that is, from (3, 0, 2) to (1, 1, 1); then r = (1, 1, 1) − (3, 0, 2) = (−2, 1, −1). The vector torque is i j k r × F = −2 1 −1 = 2i − 3j − 7k. 1 3 −1 The torque about the line is n · (r × F) where n is a unit vector along the line, namely n = 13 (2i − 2j + k). Then the torque about the line is n · (r × F) =

1 (2i − 2j + k) · (2i − 3j − 7k) = 1. 3

Section 3

Triple Products

283

Example 2. As another application of the triple scalar product, let's ﬁnd the Jacobian we used in Chapter 5, Section 4 for changing variables in a multiple integral. As you know, in rectangular coordinates the volume element is a rectangular box of volume dx dy dz. In other coordinate systems, the volume element may be approximately a parallelepiped as in Figure 3.1. We want a formula for the volume element in this case. (See, for example, the cylindrical and spherical coordinate volume elements in Chapter 5, Figures 4.4 and 4.5.) Suppose we are given formulas for x, y, z as functions of new variables u, v, w. Then we want to ﬁnd the vectors along the edges of the volume element in the u, v, w system. Suppose vector A in Figure 3.1 is along the direction in which u increases while v and w remain constant. Then if dr = i dx + j dy + k dz is a vector in this direction, we have ∂r ∂x ∂y ∂z A= du = i +j +k du. ∂u ∂u ∂u ∂u Similarly if B is along the increasing v edge of the volume element and C is along the increasing w edge, we have ∂r ∂x ∂y ∂z B= dv = i +j +k dv, ∂v ∂v ∂v ∂v ∂r ∂x ∂y ∂z C= dw = i +j +k dw. ∂w ∂w ∂w ∂w Then by (3.2) ∂x ∂u ∂x A · (B × C) = ∂v ∂x ∂w

∂y ∂u ∂y ∂v ∂y ∂w

∂z ∂u ∂z du dv dw = J du dv dw ∂v ∂z ∂w

where J is the Jacobian of the transformation from x, y, z to u, v, w. Recall from the discussion of (3.2) that the triple scalar product may turn out to be positive or negative. Since we want a volume element to be positive, we use the absolute value of J. Thus the u, v, w volume element is |J| du dv dw as stated in Chapter 5, Section 4. Applications of the Triple Vector Product In Figure 3.8 (compare Figure 2.6), suppose the particle m is at rest on a rotating rigid body (for example, the earth). Then the angular momentum L of m about point O is deﬁned by the equation L = r × (mv) = mr × v. In the discussion of Figure 2.6, we showed that v = ω × r. Thus, L = mr × (ω × r). See Problem 16 and also Chapter 10, Section 4. As another example, it is shown in mechanics that the centripetal acceleration of m in Figure 3.8 is a = ω × (ω × r). See Problem 17.

Figure 3.8

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PROBLEMS, SECTION 3 1.

If A = 2i − j − k, B = 2i − 3j + k, C = j + k, ﬁnd (A · B)C, A(B · C), (A × B) · C, A · (B × C), (A × B) × C, A × (B × C).

For Problems 2 to 6, given A = i + j − 2k, B = 2i − j + 3k, C = j − 5k: 2.

Find the work done by the force B acting on an object which undergoes the displacement C.

Find the total work done by forces A and B if the object undergoes the displacement C. Hint: Can you add the two forces ﬁrst?

Let O be the tail of B and let A be a force acting at the head of B. Find the torque of A about O; about a line through O perpendicular to the plane of A and B; about a line through O parallel to C.

Let A and C be drawn from a common origin and let C rotate about A with an angular velocity of 2 rad/sec. Find the velocity of the head of C.

In Problem 5, draw B with its tail at the head of A. If the ﬁgure is rotating as in Problem 5, ﬁnd the velocity of the head of B. With the same diagram, let B be a force; ﬁnd the torque of B about the head of C, and about the line C.

A force F = 2i − 3j + k acts at the point (1, 5, 2). Find the torque due to F (a)

about the origin;

(b)

about the y axis;

(c)

about the line x/2 = y/1 = z/(−2).

A vector force with components (1, 2, 3) acts at the point (3, 2, 1). Find the vector torque about the origin due to this force and ﬁnd the torque about each of the coordinate axes.

The force F = 2i − j − 5k acts at the point (−5, 2, 1). Find the torque due to F about the origin and about the line 2x = −4y = −z.

10.

In Figure 3.5, let r be another vector from O to the line of F . Show that r × F = r × F. Hint: r − r is a vector along the line of F and so is a scalar multiple of F. (The scalar has physical units of distance divided by force, but this fact is irrelevant for the vector proof.) Show also that moving the tail of r along n does not change n · r × F. Hint: The triple scalar product is not changed by interchanging the dot and the cross.

11.

Write out the twelve triple scalar products involving A, B, and C and verify the facts stated just above (3.3).

12.

(a)

Simplify (A · B)2 − [(A × B) × B] · A by using (3.9).

(b)

Prove Lagrange's identity: (A × B) ·(C × D) = (A ·C)(B · D) − (A ·D)(B ·C).

13.

Prove that the triple scalar product of (A × B), (B × C), and (C × A), is equal to the square of the triple scalar product of A, B, and C. Hint: First let (B × C) = D, and evaluate (A × B) × D. [See Am. J. Phys. 66, 739 (1998).]

14.

Prove the Jacobi identity: A × (B × C) + B × (C × A) + C × (A × B) = 0. Hint: Expand each triple product as in equations (3.8) and (3.9).

Section 4

Differentiation of Vectors

285

15.

In the ﬁgure u1 is a unit vector in the direction of an incident ray of light, and u3 and u2 are unit vectors in the directions of the reﬂected and refracted rays. If u is a unit vector normal to the surface AB, the laws of optics say that θ1 = θ3 and n1 sin θ1 = n2 sin θ2 , where n1 and n2 are constants (indices of refraction). Write these laws in vector form (using dot or cross products).

16.

In the discussion of Figure 3.8, we found for the angular momentum, the formula L = mr × (ω × r). Use (3.9) to expand this triple product. If r is perpendicular to ω, show that you obtain the elementary formula, angular momentum = mvr.

17.

Expand the triple product for a = ω × (ω × r) given in the discussion of Figure 3.8. If r is perpendicular to ω (Problem 16), show that a = −ω 2 r, and so ﬁnd the elementary result that the acceleration is toward the center of the circle and of magnitude v 2 /r.

18.

Two moving charged particles exert forces on each other because each one creates a magnetic ﬁeld in which the other moves (see Problem 4.6). These two forces are proportional to v1 × [v2 × r] and v2 × [v1 × (−r)] where r is the vector joining the particles. By using (3.9), show that these forces are equal and opposite (Newton's third "law") if and only if r × (v1 × v2 ) = 0. Compare Problem 14.

19.

The force F = i + 3j + 2k acts at the point (1, 1, 1).

20.

(a)

Find the torque of the force about the point (2, −1, 5). Careful! The vector r goes from (2, −1, 5) to (1, 1, 1).

(b)

Find the torque of the force about the line r = 2i − j + 5k + (i − j + 2k)t. Note that the line goes through the point (2, −1, 5).

The force F = 2i − 5k acts at the point (3, −1, 0). Find the torque of F about each of the following lines. (a)

r = (2i − k) + (3j − 4k)t.

(b)

r = i + 4j + 2k + (2i + j − 2k)t.

4. DIFFERENTIATION OF VECTORS If A = iAx + jAy + kAz , where i, j, k are ﬁxed unit vectors and Ax , Ay , Az are functions of t, then we deﬁne the derivative dA/dt by the equation

(4.1)

dAx dAy dAz dA =i +j +k . dt dt dt dt

Thus the derivative of a vector A means a vector whose components are the derivatives of the components of A.

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Example 1. Let (x, y, z) be the coordinates of a moving particle at time t; then x, y, z are functions of t. The vector displacement of the particle from the origin at time t is r = ix + jy + kz,

(4.2)

where r is a vector from the origin to the particle at time t. We say that r is the position vector or vector coordinate of the particle. The components of the velocity of the particle at time t are dx/dt, dy/dt, dz/dt so the velocity vector is v=

(4.3)

dr dx dy dz =i +j +k . dt dt dt dt

The acceleration vector is (4.4)

d2 x dv d2 y d2 z =i 2 +j 2 +k 2. dt dt dt dt

The product of a scalar and a vector and the dot and cross products of vectors are diﬀerentiated by the ordinary calculus rules for diﬀerentiating a product, with one word of caution: The order of the factors must be kept in a cross product. You can easily prove equations (4.5) below by writing out components (Problem 1) and using (4.1).

(4.5)

d da dA (aA) = A+a , dt dt dt d dB dA (A · B) = A · + · B, dt dt dt d dB dA (A × B) = A × + × B. dt dt dt

The second term in (d/dt)(A · B) can be written B · dA/dt if you like since A · B = B · A. But the corresponding term in (d/dt)(A × B) must not be turned around unless you put a minus sign in front of it since A × B = −B × A. Example 2. Consider the motion of a particle in a circle at constant speed. We can then write r2 = r · r = const.,

(4.6)

v 2 = v · v = const.

If we diﬀerentiate these two equations using (4.5), we get dr =0 dt dv 2v · =0 dt 2r ·

(4.7)

r · v = 0,

v · a = 0.

Section 4

Differentiation of Vectors

287

Also diﬀerentiating r · v = 0, we get (4.8)

r·a+v·v =0

r · a = −v 2 .

The ﬁrst of equations (4.7) says that r is perpendicular to v; the second says that a is perpendicular to v. Therefore a and r are either parallel or antiparallel (since the motion is in a plane) and the angle θ between a and r is either 0◦ or 180◦ . From (4.8) and the deﬁnition of scalar product, we have r · a = |r| |a| cos θ = −v 2 .

(4.9)

Thus we see that cos θ is negative, so θ = 180◦ . Then from (4.9) we get (4.10)

|r| |a|(−1) = −v 2

v2 . r

We have just given a vector proof that for motion in a circle at constant speed the acceleration is toward the center of the circle and of magnitude v 2 /r. So far we have written vectors only in terms of their rectangular components using the unit basis vectors i, j, k. It is often convenient to use other coordinate systems, for example polar coordinates in two dimensions and spherical or cylindrical coordinates in three dimensions (see Chapter 5, Section 4, and Chapter 10, Sections 8 and 9). We shall consider using vectors in various coordinate systems in detail in Chapter 10, but it will be useful to discuss brieﬂy here the use of plane polar coordinates. In Figure 4.1, think of starting at the point (x, y) or (r, θ) and moving along the line θ = const. in the direction of increasing r. We call this the "r direction"; we draw a unit vector (that is, a vector of length 1) in this direction

Figure 4.1

Figure 4.2

and label it er . Similarly, think of moving along the circle r = const. in the direction of increasing θ. We call this the "θ direction"; we draw a unit vector tangent to the circle and label it eθ . These two vectors er and eθ are the polar coordinate unit basis vectors just as i and j are the rectangular unit basis vectors. We can now write any given vector in terms of its components in the directions er and eθ (by ﬁnding its projections in these directions). There is a complication here, however. In rectangular coordinates, the vectors i and j are constant in magnitude and direction. The polar coordinate unit basis vectors are constant in magnitude but their directions change from point to point (Figure 4.2). Thus in calculating the derivative of a vector written in polar coordinates, we must diﬀerentiate the basis vectors as well as the components [compare (4.1) where we diﬀerentiate the

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components only.] One straightforward way to do this is to express the vectors er and eθ in terms of i and j. From Figure 4.3, we see that the x and y components of er are cos θ and sin θ. Thus we have

Figure 4.3

er = i cos θ + j sin θ.

(4.11)

Similarly (Problem 7) we ﬁnd

eθ = −i sin θ + j cos θ.

(4.12)

Diﬀerentiating er and eθ with respect to t, we get der dθ = −i sin θ + j cos θ dt dt deθ dθ = −i cos θ − j sin θ dt dt

(4.13)

dθ dθ = eθ , dt dt dθ dθ = −er . dt dt

We can now use (4.13) in calculating the derivative of any vector which is written in terms of its polar components. Example 3. Given A = Ar er + Aθ eθ , where Ar and Aθ are functions of t, ﬁnd dA/dt. We get dA dAr der dAθ deθ = er + Ar + eθ + Aθ . dt dt dt dt dt Using (4.13), we ﬁnd dA dAr dθ dAθ dθ = er + eθ Ar + eθ − er Aθ . dt dt dt dt dt We can ﬁnd higher-order derivatives if we like by diﬀerentiating again using (4.13) each time to evaluate the derivatives of er and eθ .

Section 5

Fields

289

PROBLEMS, SECTION 4 1.

Verify equations (4.5) by writing out the components.

Let the position vector (with its tail at the origin) of a moving particle be r = r(t) = t2 i − 2tj + (t2 + 2t)k, where t represents time. (a)

Show that the particle goes through the point (4, −4, 8). At what time does it do this?

(b)

Find the velocity vector and the speed of the particle at time t; at the time when it passes though the point (4, −4, 8).

(c)

Find the equations of the line tangent to the curve described by the particle and the plane normal to this curve, at the point (4, −4, 8).

As in Problem 2, if the position vector of a particle is r = (4 + 3t)i + t3 j − 5tk, at what time does it pass through the point (1, −1, 5)? Find its velocity at this time. Find the equations of the line tangent to its path and the plane normal to the path, at (1, −1, 5).

Let r = r(t) be a vector whose length is always 1 (it may vary in direction). Prove that either r is a constant vector or dr/dt is perpendicular to r. Hint: Diﬀerentiate r · r.

The position of a particle at time t is given by r = i cos t + j sin t + kt. Show that both the speed and the magnitude of the acceleration are constant. Describe the motion.

The force acting on a moving charged particle in a magnetic ﬁeld B is F = q(v × B) where q is the electric charge of the particle, and v is its velocity. Suppose that a particle moves in the (x, y) plane with a uniform B in the z direction. Assuming Newton's second law, m dv/dt = F, show that the force and velocity are perpendicular and that both have constant magnitude. Hint: Find (d/dt)(v · v).

Sketch a ﬁgure and verify equation (4.12).

In polar coordinates, the position vector of a particle is r = rer . Using (4.13), ﬁnd the velocity and acceleration of the particle.

The angular momentum of a particle m is deﬁned by L = mr × (dr/dt) (see end of Section 3). Show that dL d2 r = mr × 2 . dt dt If V(t) is a vector function of t, ﬁnd the indeﬁnite integral « Z „ d2 V V× dt. dt2

10.

5. FIELDS Many physical quantities have diﬀerent values at diﬀerent points in space. For example, the temperature in a room is diﬀerent at diﬀerent points: high near a register, low near an open window, and so on. The electric ﬁeld around a point charge is large near the charge and decreases as we go away from the charge. Similarly, the gravitational force acting on a satellite depends on its distance from the earth. The velocity of ﬂow of water in a stream is large in rapids and in narrow channels and small over ﬂat areas and where the stream is wide. In all these examples there is a particular region of space which is of interest for the problem at hand; at every

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point of this region some physical quantity has a value. The term field is used to mean both the region and the value of the physical quantity in the region (for example, electric ﬁeld, gravitational ﬁeld). If the physical quantity is a scalar (for example, temperature), we speak of a scalar field. If the quantity is a vector (for example, electric ﬁeld, force, or velocity), we speak of a vector field. Note again a point which we discussed in "endpoint problems" in Chapter 4, Section 10: Physical problems are often restricted to certain regions of space, and our mathematics must take account of this.

Figure 5.1 A simple example of a scalar ﬁeld is the gravitational potential energy near the earth; its value is V = mgz at every point of height z above some arbitrary reference level [which we take as the (x, y) plane]. Suppose that on a hill (Figure 5.1) we mark a series of curves each corresponding to some value of z (curves of constant elevation, often called contour lines or level lines). Any curve or surface on which a potential is constant is called an equipotential. Thus these level lines are equipotentials of the gravitational ﬁeld since along any one curve the value of the gravitational potential energy mgz is constant. The horizontal planes which intersect the hill in these curves are equipotential surfaces (or level surfaces) of the gravitational ﬁeld. (See Problems, Section 6 for more examples.) As another example, let us ask for the equipotential surfaces in the ﬁeld of an electric point charge q. The potential is V = 9 ·109 q/r (in SI units) at a point which is a distance r from the charge. The potential V is constant if r is constant; that is, the equipotentials of this electric ﬁeld are spheres with centers at the charge. Similarly we could imagine drawing a set of surfaces (probably very irregular) in a room so that at every point of a single surface the temperature would be constant. These surfaces would be like equipotentials; they are called isothermals when the constant quantity is the temperature.

6. DIRECTIONAL DERIVATIVE; GRADIENT Suppose that we know the temperature T (x, y, z) at every point of a room, say, or of a metal bar. Starting at a given point we could ask for the rate of change of the temperature with distance (in degrees per centimeter) as we move away from the starting point. The chances are that the temperature increases in some directions and decreases in other directions, and that it increases more rapidly in some directions than others. Thus the rate of change of temperature with distance depends upon the direction in which we move; consequently it is called a directional derivative. In symbols, we want to ﬁnd the limiting value of ∆T /∆s where ∆s is an element of distance (arc length) in a given direction, and ∆T is the corresponding

Section 6

Directional Derivative; Gradient

291

change in temperature; we write the directional derivative as dT /ds. We could also ask for the direction in which dT /ds has its largest value; this is physically the direction from which heat ﬂows (that is, heat ﬂows from hot to cold, in the opposite direction from the maximum rate of temperature increase). Before we discuss how to calculate directional derivatives, consider another example. Suppose we are standing at a point on the side of the hill of Figure 5.1 (not at the top), and ask the question "In what direction does the hill slope downward most steeply from this point?" This is the direction in which you would start to slide if you lost your footing; it is the direction most people would probably call "straight" down. We want to make this vague idea more precise. Suppose we move a small distance ∆s on the hill; the vertical distance ∆z which we have gone may be positive (uphill) or negative (downhill) or zero (around the hill). Then ∆z/∆s and its limit dz/ds depend upon the direction in which we go; dz/ds is a directional derivative. The direction of steepest slope is the direction in which dz/ds has its largest absolute value. Notice that since the gravitational potential energy of a mass m is V = mgz, maximizing dz/ds is the same as maximizing dV /ds, where the equipotentials on the hill are V (x, y) = mgz(x, y) = const. Let us now state and solve the general problem of ﬁnding a directional derivative. We are given a scalar ﬁeld, that is, a function φ(x, y, z) [or φ(x, y) in a two-variable problem; the following discussion applies to two-variable problems if we simply drop terms and equations containing z]. We want to ﬁnd dφ/ds, the rate of change of φ with distance, at a given point (x0 , y0 , z0 ) and in a given direction. Let u = ia + jb + kc be a unit vector in the given direction. In Figure 6.1, we start at (x0 , y0 , z0 ) and go a distance s (s ≥ 0) in the direction u to the point (x, y, z); the vector joining these points is us since u is a unit vector. Then, (x, y, z) − (x0 , y0 , z0 ) = us = (ai + bj + ck)s or (6.1)

  x = x0 + as, y = y0 + bs,   z = z0 + cs.

Figure 6.1

Equations (6.1) are the parametric equations of the line through (x0 , y0 , z0 ) in the direction u [see Chapter 3, equation (5.8)] with the distance s (instead of t) as the parameter, and with u (instead of A) as the vector along the line. From (6.1) we see that along the line, x, y, and z are each functions of a single variable, namely s [all the other letters in (6.1) are given constants]. If we substitute x, y, z in (6.1) into φ(x, y, z), then φ becomes a function of just the one variable s. That is, along the straight line (6.1), φ is a function of one variable, namely the distance along the line measured from (x0 , y0 , z0 ). Since φ depends on s alone, we can ﬁnd dφ/ds:

(6.2)

∂φ dx ∂φ dy ∂φ dz dφ = + + ds ∂x ds ∂y ds ∂z ds ∂φ ∂φ ∂φ a+ b+ c. = ∂x ∂y ∂z

This is the dot product of u with the vector i(∂φ/∂x) + j(∂φ/∂y) + k(∂φ/∂z). This vector is called the gradient of φ and is written grad φ or ∇φ (read "del φ"). By deﬁnition

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∇φ = grad φ = i

(6.3)

∂φ ∂φ ∂φ +j +k . ∂x ∂y ∂z

Then we can write (6.2) as dφ = ∇φ · u ds

(6.4)

(directional derivative).

Example 1. Find the directional derivative of φ = x2 y + xz at (1, 2, −1) in the direction A = 2i − 2j + k. Here u is a unit vector obtained by dividing A by |A|. Then we have u=

1 (2i − 2j + k). 3

Using (6.3) we get ∂φ ∂φ ∂φ +j +k = (2xy + z)i + x2 j + xk, ∂x ∂y ∂z ∇φ at the point (1, 2, −1) = 3i + j + k.

∇φ = i

Then from (6.4) we ﬁnd 2 1 5 dφ at (1, 2, −1) = ∇φ · u = 2 − + = . ds 3 3 3 The gradient of a function has useful geometrical and physical meanings which we shall now investigate. From (6.4), using the deﬁnition of a dot product, and the fact that |u| = 1, we have (6.5)

dφ = |∇φ| cos θ, ds

where θ is the angle between u and the vector ∇φ. Thus dφ/ds is the projection of ∇φ on the direction u (Figure 6.2). We ﬁnd the largest value Figure 6.2 of dφ/ds (namely |∇φ|) if we go in the direction of ∇φ (that is, θ = 0 in Figure 6.2). If we go in the opposite direction (that is, θ = 180◦ in Figure 6.2) we ﬁnd the largest rate of decrease of φ, namely dφ/ds = −|∇φ|. Example 2. Suppose that the temperature T at the point (x, y, z) is given by the equation T = x2 − y 2 + xyz + 273. In which direction is the temperature increasing most rapidly at (−1, 2, 3), and at what rate? Here ∇T = (2x+yz)i+(−2y +xz)j+xyk = 4i − 7j − 2k at (−1, 2, 3), and the increase in temperature√is fastest in the √ direction of this vector. The rate of increase is dT /ds = |∇T | = 16 + 49 + 4 = 69. We

Section 6

Directional Derivative; Gradient

293

can also say that the temperature √ is decreasing most rapidly in the direction −∇T ; in this direction, dT /ds = − 69. Heat ﬂows in the direction −∇T (that is, from hot to cold). Next suppose u is tangent to the surface φ = const. at the point P (x0 , y0 , z0 ) (Figure 6.3). We want to show that dφ/ds in the direction u is then equal to zero. Consider ∆φ/∆s for paths P A, P B, P C, etc., approaching the tangent u. Since φ = const. on the surface, and P , A, B, C, etc. are all on the surface, ∆φ = 0, and ∆φ/∆s = 0 for such paths. But dφ/ds in the tangent direction is the limit of ∆φ/∆s as ∆s → 0 (that is, as P A, P B, Figure 6.3 etc., approach u), so dφ/ds in the direction u is zero also. Then for u along the tangent to φ = const., ∇φ · u = 0; this means that ∇φ is perpendicular to u. Since this is true for any u tangent to the surface at the point (x0 , y0 , z0 ), then at that point: The vector ∇φ is perpendicular (normal) to the surface φ =const. Since |∇φ| is the value of the directional derivative in the direction normal (that is, perpendicular) to the surface, it is often called the normal derivative and written |∇φ| = dφ/dn. We now see that the direction of largest rate of change of a given function φ with distance is perpendicular to the equipotentials (or level lines) φ = const. In the temperature problem, the direction of maximum dT /ds is then perpendicular to the isothermals. At any point this is the direction of ∇T and is called the direction of the temperature gradient. In the problem of the hill, the direction of steepest slope at any point is perpendicular to the level lines, that is, along ∇z or ∇V . Example 3. Given the surface x3 y 2 z = 12, ﬁnd the equations of the tangent plane and normal line at (1, −2, 3). This is a level surface of the function w = x3 y 2 z, so the normal direction is the direction of the gradient ∇w = 3x2 y 2 zi + 2x3 yzj + x3 y 2 k = 36i − 12j + 4k

(1, −2, 3).

A simpler vector in the same direction is 9i − 3j + k. Then (see Chapter 3, Section 5) the equation of the tangent plane is 9(x − 1) − 3(y + 2) + (z − 3) = 0, and the equations of the normal line are (6.6)

x−1 y+2 z−3 = = . 9 −3 1

In (6.3) we have written the gradient in terms of its rectangular components. It is useful to write it in cylindrical and spherical coordinates also. (Note that this includes polar coordinates when z = 0). In cylindrical coordinates we want the components of ∇φ in the directions er , eθ , and ez = k. According to (6.4),

294

Vector Analysis

Chapter 6

the component of ∇f in any direction u is the directional derivative df /ds in that direction. (We are changing the function from φ to f since φ is used as an angle in spherical, and sometimes in cylindrical and polar, coordinates.) The element of arc length ds in the r direction is dr so the directional derivative in the r direction is df /dr (θ and z constant) which we write as ∂f /∂r. In the θ direction, the element of arc length is r dθ (Chapter 5, Section 4) so the directional derivative in the θ direction is df /(r dθ) (with r and z constant) which we write as (1/r)∂f /∂θ. Thus we have in cylindrical coordinates (or polar without the z term)

(6.7)

∇f = er

∂f 1 ∂f ∂f + eθ + ez ∂r r ∂θ ∂z

in cylindrical coordinates.

In a similar way we can show (Problem 21) that

(6.8)

∇f = er

∂f 1 ∂f 1 ∂f + eθ + eφ ∂r r ∂θ r sin φ ∂φ

in spherical coordinates.

PROBLEMS, SECTION 6 1.

Find the gradient of w = x2 y 3 z at (1, 2, −1).

Starting from the point (1, 1), in what direction does the function φ = x2 − y 2 + 2xy decrease most rapidly?

Find the derivative of xy 2 + yz at (1, 1, 2) in the direction of the vector 2i − j + 2k.

Find the derivative of zex cos y at (1, 0, π/3) in the direction of the vector i + 2j.

Find the gradient of φ = z sin y − xz at the point (2, π/2, −1). Starting at this point, in what direction is φ decreasing most rapidly? Find the derivative of φ in the direction 2i + 3j.

Find a vector normal to the surface x2 + y 2 − z = 0 at the point (3, 4, 25). Find the equations of the tangent plane and normal line to the surface at that point.

Find the direction of the line normal to the surface x2 y + y 2 z + z 2 x + 1 = 0 at the point (1, 2, −1). Write the equations of the tangent plane and normal line at this point.

(a)

Find the directional derivative of φ = x2 + sin y − xz in the direction i + 2j − 2k at the point (1, π/2, −3).

(b)

Find the equation of the tangent plane and the equations of the normal line to φ = 5 at the point (1, π/2, −3).

(a)

Given φ = x2 − y 2 z, ﬁnd ∇φ at (1, 1, 1).

(b)

Find the directional derivative of φ at (1, 1, 1) in the direction i − 2j + k.

(c)

Find the equations of the normal line to the surface x2 − y 2 z = 0 at (1, 1, 1).

For Problems 10 to 14, use a computer as needed to make plots of the given surfaces and the isothermal or equipotential curves. Try both 3D graphs and contour plots.

Section 6

Directional Derivative; Gradient

295

10.

If the temperature in the (x, y) plane is given by T = xy − x, sketch a few isothermal curves, say for T = 0, 1, 2, −1, −2. Find the direction in which the temperature changes most rapidly with distance from the point (1, 1), and the maximum rate of change. Find the directional derivative of T at (1, 1) in the direction of the vector 3i − 4j. Heat ﬂows in the direction −∇T (perpendicular to the isothermals). Sketch a few curves along which heat would ﬂow.

11.

(a)

(b)

12.

For Problem 11, (a) (b) (c)

13.

Find the magnitude and direction of the electric ﬁeld at (2, 1). Find the direction in which the temperature is decreasing most rapidly at (−3, 2). Find the rate of change of temperature with distance at (1, 2) in the direction 3i − j.

Let φ = ex cos y. Let φ represent either temperature or electrostatic potential. Refer to Problem 11 for deﬁnitions and ﬁnd: (a) (b) (c) (d)

14.

Given φ = x2 − y 2 , sketch on one graph the curves φ = 4, φ = 1, φ = 0, φ = −1, φ = −4. If φ is the electrostatic potential, the curves φ = const. are equipotentials, and the electric ﬁeld is given by E = −∇φ. If φ is temperature, the curves φ =const. are isothermals and ∇φ is the temperature gradient; heat ﬂows in the direction −∇φ. Find and draw on your sketch the vectors −∇φ at the points (x, y) = (±1, ±1), (0, ±2), (±2, 0). Then, remembering that ∇φ is perpendicular to φ = const., sketch, without computation, several curves along which heat would ﬂow [see(a)].

(a)

(b)

The direction in which the temperature is increasing most rapidly at (1, −π/4) and the magnitude of the rate of increase. The √ rate of change of temperature with distance at (0, π/3) in the direction i + j 3. The direction and magnitude of the electric ﬁeld at (0, π). The magnitude of the electric ﬁeld at x = −1, any y. Suppose that a hill (as in Fig. 5.1) has the equation z = 32 − x2 − 4y 2 , where z = height measured from some reference level (in hundreds of feet). Sketch a contour map (that is, draw on one graph a set of curves z = const.); use the contours z = 32, 19, 12, 7, 0. If you start at the point (3, 2) and in the direction i + j, are you going uphill or downhill, and how fast?

15.

Repeat Problem 14b for the following points and directions. (a) (4, −2), i + j (b) (−3, 1), 4i + 3j (c) (2, 2), −3i + j (d) (−4, −1), 4i − 3j

16.

Show by the Lagrange multiplier method that the maximum value of dφ/ds is |∇φ|. That is, maximize dφ/ds given by (6.3) subject to the condition a2 +b2 +c2 = 1. You should get two values (±) for the Lagrange multiplier λ, and two values (maximum and minimum) for dφ/ds. Which is the maximum and which is the minimum? p Find ∇r, where r = x2 + y 2 , using (6.7) and also using (6.3). Show that your results are the same by using (4.11) and (4.12).

17.

As in Problem 17, ﬁnd the following gradients in two ways and show that your answers are equivalent. 19.

∇y

20.

∇(r 2 )

18.

∇x

21.

Verify equation (6.8); that is, ﬁnd ∇f in spherical coordinates as we did for cylindrical coordinates. Hint: What is ds in the φ direction? See Chapter 5, Figure 4.5.

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7. SOME OTHER EXPRESSIONS INVOLVING ∇ If we write ∇φ as [i(∂/∂x) + j(∂/∂y) + k(∂/∂z)]φ, we can then call the bracket ∇. By itself ∇ has no meaning (just as d/dx alone has no meaning; we must put some function after it to be diﬀerentiated). However, it is useful to use ∇ much as we use d/dx to indicate a certain operation. We call ∇ a vector operator and write (7.1)

∇=i

∂ ∂ ∂ +j +k . ∂x ∂y ∂z

It is more complicated than d/dx (which is a scalar operator ) because ∇ has vector properties too. So far we have considered ∇φ where φ is a scalar; we next want to consider whether ∇ can operate on a vector. Suppose V(x, y, z) is a vector function, that is, the three components Vx , Vy , Vz of V are functions of x, y, z: V(x, y, z) = iVx (x, y, z) + jVy (x, y, z) + kVz (x, y, z). (The subscripts mean components, not partial derivatives.) Physically, V represents a vector ﬁeld (for example, the electric ﬁeld about a point charge). At each point of space there is a vector V, but the magnitude and direction of V may vary from point to point. We can form two useful combinations of ∇ and V. We deﬁne the divergence of V, abbreviated div V or ∇ · V, by (7.2):

(7.2)

∇ · V = div V =

∂Vy ∂Vz ∂Vx + + . ∂x ∂y ∂z

We deﬁne the curl of V, written ∇ × V, by (7.3):

(7.3)

∇ × V = curl V ∂Vy ∂Vx ∂Vz ∂Vy ∂Vx ∂Vz − +j − +k − =i ∂y ∂z ∂z ∂x ∂x ∂y i j k ∂ ∂ ∂ = . ∂x ∂y ∂z V Vy Vz x

You should study these expressions to see how we are using ∇ as "almost" a vector. The deﬁnitions of divergence and curl are the partial derivative expressions, of course. However, the similarity of the formulas (7.2) and (7.3) to those for A · B and A × B helps us to remember ∇ · V and ∇ × V. But you must remember to put the partial derivative "components" of ∇ before the components of V in each

Some Other Expressions Involving ∇

Section 7

297

term [for example, in evaluating the determinant in (7.3)]. Note that ∇ · V is a scalar and ∇ × V is a vector (compare A · B and A × B). We shall discuss later the meaning and some of the applications of the divergence and the curl of a vector function. The quantity ∇φ in (6.3) is a vector function; we can then let V = ∇φ in (7.2) and ﬁnd ∇ · ∇φ = div grad φ. This is a very important expression called the Laplacian of φ; it is usually written as ∇2 φ. From (6.3) and (7.2), we have

(7.4)

∇2 φ = ∇ · ∇φ = div grad φ = =

∂2φ ∂2φ ∂2φ + 2 + 2 ∂x2 ∂y ∂z

∂ ∂φ ∂ ∂φ ∂ ∂φ + + ∂x ∂x ∂y ∂y ∂z ∂z

(the Laplacian).

The Laplacian is part of several important equations in mathematical physics: ∇2 φ = 0

Laplace's equation. 2

1 ∂ φ a2 ∂t2 1 ∂φ ∇2 φ = 2 a ∂t ∇2 φ =

wave equation. diﬀusion, heat conduction, Schr¨ odinger equation.

These equations arise in numerous problems in heat, hydrodynamics, electricity and magnetism, aerodynamics, elasticity, optics, etc.; we shall discuss solving such equations in Chapter 13. There are many other more complicated expressions involving ∇ and one or more scalar or vector functions, which arise in various applications of vector analysis. For reference we list a table of such expressions at the end of the chapter (page 339). Notice that these are of two kinds: (1) expressions involving two applications of ∇ such as ∇ · ∇φ = ∇2 φ; (2) combinations of ∇ with two functions (vectors or scalars) such as ∇ × (φV). We can verify these expressions simply by writing out components. However, it is usually simpler to use the same formulas we would use if ∇ were an ordinary vector, being careful to remember that ∇ is also a diﬀerential operator. Example 1. Evaluate ∇ × (∇ × V). We use (3.8) for A × (B × C) being careful to write both ∇'s before the vector function V which they must diﬀerentiate. Then we get ∇ × (∇ × V) = ∇(∇ · V) − (∇ · ∇)V = ∇(∇ · V) − ∇2 V. This is a vector as it should be; the Laplacian of a vector, ∇2 V, simply means a vector whose components are ∇2 Vx , ∇2 Vy , ∇2 Vz . Example 2. Find ∇ · (φV), where φ is a scalar function and V is a vector function. Here we must diﬀerentiate a product, so our result will contain two terms. We could write these as (7.5)

∇ · (φV) = ∇φ · (φV) + ∇V · (φV),

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Vector Analysis

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where the subscripts on ∇ indicate which function is to be diﬀerentiated. Since φ is a scalar, it can be moved past the dot. Then ∇φ · (φV) = (∇φ φ) · V = V · (∇φ), where we have removed the subscript in the last step since V no longer appears after ∇. Actually you may see in books (∇φ) · V meaning that only the φ is to be diﬀerentiated, but it is clearer to write it as V · (∇φ). [Be careful with (∇φ) × V, however; assuming that this means that only φ is to be diﬀerentiated, the clear way to write it is −V × (∇φ); note the minus sign.] In the second term of (7.5), φ is a scalar and is not diﬀerentiated; thus it is just like a constant and we can write this term as φ(∇ · V). Collecting our results, we have ∇ · (φV) = V · ∇φ + φ(∇ · V).

(7.6)

In Chapter 10, Section 9, we will derive the formulas for div V = ∇ · V and ∇2 f in cylindrical and spherical coordinates. However, it is useful to have the results for reference, so we state them here. Actually, these can be done as partial diﬀerentiation problems (see Chapter 4, Section 11), but the algebra is messy. In cylindrical coordinates (or polar by omitting the z term): 1 r 1 2 ∇ f= r

∇·V=

(7.7) (7.8)

∂ 1 ∂ ∂ (rVr ) + Vθ + Vz ∂r r ∂θ 2 ∂z 2 ∂ ∂f 1 ∂ f ∂ f r + 2 + 2. ∂r ∂r r ∂θ2 ∂z

In spherical coordinates: (7.9) (7.10)

1 r2 1 ∇2 f = 2 r

∇·V =

∂ 2 ∂ 1 1 ∂Vφ r Vr + (Vθ sin θ) + ∂r r sin θ ∂θ r sin θ ∂φ ∂ ∂f 1 ∂ ∂f 1 ∂2f 2 r + 2 sin θ + 2 2 . ∂r ∂r r sin θ ∂θ ∂θ r sin θ ∂φ2

PROBLEMS, SECTION 7 The purpose in doing the following simple problems is to become familiar with the formulas we have discussed. So a good study method is to do them by hand and then check your results by computer. Compute the divergence and the curl of each of the following vector ﬁelds. 1.

r = xi + y j + zk

r = xi + y j

V = zi + y j + xk

V = yi + zj + xk

V = x2 i + y 2 j + z 2 k

V = x2 yi + y 2 xj + xyzk

V = x sin y i + cos y j + xyk

V = sinh z i + 2y j + x cosh z k

Section 8

Line Integrals

299

Calculate the Laplacian ∇2 of each of the following scalar ﬁelds. 10.

ln(x2 + y 2 )

11.

x3 − 3xy 2 + y 3 p x2 − y 2

12.

(x + y)−1

13.

xy(x2 + y 2 − 5z 2 )

14.

(x2 + y 2 + z 2 )−1/2

15.

xyz(x2 − 2y 2 + z 2 )

16.

ln(x2 + y 2 + z 2 )

17.

Verify formulas (b), (c), (d), (g), (h), (i), (j), (k) of the table of vector identities at the end of the chapter. Hint for (j): Start by expanding the two triple vector products on the right.

For r = xi + y j + zk, evaluate „ 18.

∇ × (k × r)

19.

∇·

r |r|

„ 20.

∇×

r |r|

8. LINE INTEGRALS In Section 2, we discussed the fact that the work done by a force F on an object which undergoes an inﬁnitesimal vector displacement dr can be written as (8.1)

dW = F · dr.

Suppose the object moves along some path (say A to B in Fig. 8.1), with the force F acting on it varying as it moves. For example, F might be the force on a charged particle in an electric ﬁeld; then F would vary from point to point, that is F would be a function of x, y, z. However, on a curve, x, y, z are related by the equations of the curve. In three dimensions it takes two equations to determine a curve (as an intersection of two surfaces; for example, consider the equations of a straight line in Chapter 3, Section 5). Thus along a curve there is only one independent variable;

Figure 8.1 we can then write F and dr = i dx + j dy + k dz as functions of a single variable. The integral of dW = F · dr along the given curve then becomes an ordinary integral of a function of one variable and we can evaluate it to ﬁnd the total work done by F in moving an object in Figure 8.1 from A to B. Such an integral is called a line integral. A line integral means an integral along a curve (or line), that is, a single integral as contrasted to a double integral over a surface or area, or a triple integral over a volume. The essential point to understand about a line integral is that there is one independent variable, because we are required to remain on a

300

Vector Analysis

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curve. In two dimensions, the equation of a curve might be written y = f (x), where x is the independent variable. In three dimensions, the equations of a curve (for example, a straight line) can be written either like (6.6) (where we could take x as the independent variable and ﬁnd y and z as functions of x), or (6.1) (where s is the independent variable and x, y, z are all functions of s). To evaluate a line integral, then, we must write it as a single integral using one independent variable. Example 1. Given the force F = xy i − y 2 j, ﬁnd the work done by F along the paths indicated in Figure 8.2 from (0, 0) to (2, 1). Since r = x i + y j on the (x, y) plane, we have dr = i dx + j dy, F · dr = xy dx − y 2 dy. We want to evaluate

W =

(8.2)

(xy dx − y 2 dy).

Figure 8.2 First we must write the integrand in terms of one variable. Along path 1 (a straight line), y = 12 x, dy = 12 dx. Substituting these values into (8.2), we obtain an integral in the one variable x. The limits for x (Figure 8.2) are 0 to 2. Thus, we get

2 2

2 2 3 2 1 1 1 x3 W1 = x · dx = x dx = x · x dx − = 1. 2 2 2 8 8 0

We could just as well use y as the independent variable and put x = 2y, dx = 2dy, and integrate from 0 to 1. (You should verify that the answer is the same.) Along path 2 in Figure 8.2 (a parabola), y = 14 x2 , dy = 12 x dx. Then we get 2 1 1 3 1 1 1 x − x5 dx x · x2 dx − x4 · x dx = 4 16 2 4 32 0 0 4 6 2 x x 2 = − = . 16 192 0 3

W2 =

Section 8

Line Integrals

301

Along path 3 (the broken line), we have to use a diﬀerent method. We integrate ﬁrst from (0, 0) to (0, 1) and then from (0, 1) to (2, 1) and add the results. Along (0, 0) to (0, 1), x = 0 and dx = 0 so we must use y as the variable. Then we have

y=0

(0 · y · 0 − y 2 dy) = −

1 y 3 1 =− . 3 0 3

Along (0, 1) to (2, 1), y = 1, dy = 0, so we use x as the variable. We have

x=0

(x · 1 · dx − 1 · 0) =

2 x2 = 2. 2 0

Then the total W3 = − 13 + 2 = 53 . Path 4 illustrates still another technique. Instead of using either x or y as the integration variable, we can use a parameter t. For x = 2t3 , y = t2 , we have dx = 6t2 dt, dy = 2t dt. At the origin, t = 0, and at (2, 1), t = 1. Substituting these values into (8.2), we get

W4 =

(2t3 · t2 · 6t2 dt − t4 · 2t dt) =

Example 2. Find the value of

(12t7 − 2t5 ) dt =

7 12 2 − = . 8 6 6

x dy − y dx x2 + y 2

along each of the two paths indicated in Figure 8.3 from (−1, 0) to (1, 0). [Notice

that we could have written I = F · dr with F = (−iy + xj)/(x2 + y 2 ); however, there are also many other kinds of problems in which line integrals may arise.]

Figure 8.3 Along the circle it is simplest to use polar coordinates; then r = 1 at all points of the circle and θ is the only variable. We then have x = cos θ,

dx = − sin θ dθ,

y = sin θ,

dy = cos θ dθ,

x2 + y 2 = 1,

x dy − y dx cos2 θ dθ − sin θ(− sin θ) dθ = dθ. = 2 2 x +y 1 At (−1, 0), θ = π; at (1, 0), θ = 0. Then we get

I1 =

dθ = −π.

302

Vector Analysis

Chapter 6

Along path 2, we integrate from (−1, 0) to (0, 1) and from (0, 1) to (1, 0) and add the results. The ﬁrst straight line has the equation y = x + 1; then dy = dx, and the integral is

−1

x dx − (x + 1) dx = x2 + (x + 1)2

−dx = 2 −1 2x + 2x + 1 0 = − arc tan(2x + 1)

−1

−2 dx (2x + 1)2 + 1

−1

= − arc tan 1 + arc tan(−1) π π π =− . =− + − 4 4 2 Along the second straight line y = 1 − x, dy = −dx, and the integral is

−

x dx + (1 − x) dx = x2 + (1 − x)2

1 −2 dx = − arc tan(2x − 1) 2 (2x − 1) + 1 0

π =− . 2

Adding the results for the integrals along the two parts of path 2, we get I2 = −π.

Conservative Fields Notice that in Example 1 the answers were diﬀerent for diﬀerent paths, but in Example 2 they are the same. (See Section 11, however.) We can give a physical meaning to these facts if we interpret the integrals in all cases as the work done by a force on an object which moves along the path of integration. Suppose you want to get a heavy box across a sidewalk and up into a truck. Compare the work done in dragging the box across the sidewalk and then lifting it, with the work done in lifting it and then swinging it across in the air. In the ﬁrst case work is done against friction in addition to the work required to lift the box; in the second case the only work done is that required to lift the box. Thus we see that the work done in moving an object from one point to another may depend on the path the object follows; in fact, it usually will when there is friction. Our example 1 was such a case. A force ﬁeld for which W = F · dr depends upon the path as well as the endpoints is called nonconservative; physically this means that energy has been dissipated, say by friction. There are however, conservative ﬁelds for which F · dr is the same between two given points regardless of what path we calculate it along. For example, the work done in raising a mass m to the top of a mountain of height h is W = mgh whether we lift the mass straight up a cliﬀ or carry it up a slope, as long as no friction is involved. Thus the gravitational ﬁeld is conservative. It is useful to be able to recognize conservative and nonconservative ﬁelds before we do the integration. We shall see later (Section 11) that ordinarily curl F = 0 [see (7.3) for the deﬁnition of curl] is a necessary and suﬃcient condition for F · dr to be independent of the path, that is, curl F = 0 for conservative ﬁelds and curl F = 0 for nonconservative ﬁelds. (See Section 11 for a more careful discussion of this.) It is not hard to see why this is usually so. Suppose that for a given F there is a

Section 8

Line Integrals

303

function W (x, y, z) such that ∂W ∂W ∂W +j +k , ∂x ∂y ∂z ∂W ∂W Fy = , Fz = . ∂y ∂z

F = ∇W = i (8.3)

∂W , ∂x

Fx =

Then assuming that ∂ 2 W/∂x∂y = ∂ 2 W/∂y∂x, etc. (see Chapter 4, end of Section 1), we get from (8.3) (8.4)

∂ 2W ∂Fy ∂Fx = = , ∂y ∂y∂x ∂x

and similarly

∂Fy ∂Fz = , ∂z ∂y

∂Fx ∂Fz = . ∂z ∂x

Using the deﬁnition (7.3) of curl F, we see that equations (8.4) say that the three components of curl F are equal to zero. Thus if F = ∇W , then curl F = 0. Conversely (as we shall show later), if curl F = 0, then we can ﬁnd a function W (x, y, z) for which F = ∇W . Now if F = ∇W , we can write F · dr = ∇W · dr = (8.5)

F · dr =

∂W ∂W ∂W dx + dy + dz = dW, ∂x ∂y ∂z

dW = W (B) − W (A),

where W (B) and W (A) mean the values of the function W at the endpoints A and B of the path of integration. Since the value of the integral depends only on the endpoints A and B, it is independent of the path along which we integrate from A to B, that is, F is conservative. Potentials In mechanics, if F = ∇W (that is, if F is conservative), then W is the work done by F. For example, if a mass m falls a distance z under gravity, the work done on it is mgz. If, however, we lift the mass a distance z against gravity, the work done by the force F of gravity is W = −mgz since the direction of motion is opposite to F. The increase in potential energy of m in this case is φ = +mgz, that is, W = −φ, or F = −∇φ. The function φ is called the potential energy or the scalar potential of the force F. (Of course, φ can be changed by adding any constant; this corresponds to a choice of the zero level of the potential energy and has no eﬀect on F.) More generally for any vector V, if curl V = 0, there is a function φ, called the scalar potential of V, such that V = −∇φ. (This is the customary deﬁnition of scalar potential in mechanics and electricity; in hydrodynamics many authors deﬁne the velocity potential so that V = +∇φ.) Now suppose that we are given F or dW = F · dr, and we ﬁnd by calculation that curl F = 0. We then know that there is a function W and we want to know how to ﬁnd it (up to an arbitrary additive constant of integration). To do this we can calculate the line integral in (8.5) from some reference point A to the variable point B along any convenient path; since the integral is independent of the path when curl F = 0, this process gives the value of W at the point B. (There is, of course, an additive constant in W whose value depends on our choice of the reference point A.)

304

Vector Analysis

Chapter 6

Example 3. Show that F = (2xy − z 3 )i + x2 j − (3xz 2 + 1)k

(8.6)

is conservative, and ﬁnd a scalar potential φ such that F = −∇φ. We ﬁnd

(8.7)

i ∂ ∇×F= ∂x 2xy − z 3

so F is conservative. Then

(8.8) W = F · dr = A

∂ = 0, ∂z −3xz 2 − 1

∂ ∂y x2

(2xy − z 3 ) dx + x2 dy − (3xz 2 + 1) dz

is independent of the path. Let us choose the origin as our reference point and integrate (8.8) from the origin to the point (x, y, z). As the path of integration, we choose the broken line from (0, 0, 0) to (x, 0, 0) to (x, y, 0) to (x, y, z). From (0, 0, 0) to (x, 0, 0), we have y = z = 0, dy = dz = 0, so the integral is zero along this part of the path. From (x, 0, 0) to (x, y, 0), we have x = const., z = 0, dx = dz = 0, so the integral is

x2 dy = x2

dy = x2 y.

From (x, y, 0) to (x, y, z) we have x = const., y = const., dx = dy = 0, so the integral is

z − (3xz 2 + 1)dz = −xz 3 − z. 0

Adding the three results, we get (8.9)

W = x2 y − xz 3 − z,

or (8.10)

φ = −W = −x2 y + xz 3 + z.

Example 4. Find the scalar potential for the electric ﬁeld due to a point charge q at the origin. Recall that the electric ﬁeld at a point r = ix + jy + kz means the force on a unit charge at r due to q and is (in Gaussian units) (8.11)

q q q r er = 2 = 3 r. 2 r r r r

(This is Coulomb's law in electricity.) If we take the zero level of the potential energy at inﬁnity, then the scalar potential φ means the negative of the work done

Section 8

Line Integrals

305

by the ﬁeld on the unit charge as the charge moves from inﬁnity to the point r. This is

r · dr (8.12) φ=− E · dr = q . r3 ∞ to r

r to ∞

It is simplest to evaluate the line integral using the spherical coordinate variable r along a radial line. This is justiﬁed by showing that curl E = 0, that is, that E is conservative (Problem 19). Since the diﬀerential of (r · r) can be written as either d(r · r) = 2r · dr or as d(r · r) = d(r2 ) = 2r dr, we have r · dr = r dr and (8.12) gives

∞

∞ r dr dr q ∞ q = q = − (8.13) φ=q = . 3 2 r r r r r r r It is interesting to obtain r · dr = r dr geometrically; in fact, for any vector A, let us see that A · dA = A dA. The vector dA means a change in the vector A; a vector can change in both magnitude and direction (Figure 8.4). The scalar A means |A|; the scalar dA means d|A|. Thus dA is the increase in length of A and is not the same as |dA|. In fact, from Figure 8.4, we see that Figure 8.4 (8.14)

A · dA = |A| |dA| cos α = A dA

since dA = |dA| cos α. For the vector r, we have r = ix + jy + kz,

(8.15)

dr = i dx + j dy + k dz, |dr| = dx2 + dy 2 + dz 2 = ds (see Chapter 5), r = |r| = x2 + y 2 + z 2 , 1 dr = (x2 + y 2 + z 2 )−1/2 (2x dx + 2y dy + 2z dz) 2 1 = (r · dr), r

as above. Exact Diﬀerentials The diﬀerential dW in (8.5) of a function W (x, y, z) is called an exact diﬀerential. We could then say that curl F = 0 is a necessary and suﬃcient condition for F · dr to be an exact diﬀerential (but see Section 11). To make this clear, let us consider some examples in which F·dr is, or is not, an exact diﬀerential. Example 5. Consider the function W in (8.9). Then (8.16)

dW = (2xy − z 3 ) dx + x2 dy − (3xz 2 + 1)dz.

Here dW is an exact diﬀerential by deﬁnition since we got it by diﬀerentiating a function W . We can easily verify that if we write dW = F · dr, then equations (8.4)

306

Vector Analysis

Chapter 6

are true: ∂ 2 ∂ (x ) = 2x = (2xy − z 3 ), ∂x ∂y ∂ ∂ (−3xz 2 − 1) = −3z 2 = (2xy − z 3 ), ∂x ∂z ∂ ∂ 2 (−3xz 2 − 1) = 0 = (x ). ∂y ∂z

(8.17)

You should observe carefully how to get (8.17) from (8.16): the equations (8.17) say that, in (8.16), the partial derivative with respect to x of the coeﬃcient of dy equals the partial derivative with respect to y of the coeﬃcient of dx, and similarly for the other pairs of variables. The equations (8.17) are called the reciprocity relations in thermodynamics; in mechanics they are the components of curl F = 0 [see (8.7)]. In both cases they are true assuming that the mixed second partial derivatives are the same in either order, for example ∂ 2 W/∂x∂y = ∂ 2 W/∂y∂x (see Chapter 4, end of Section 1). We obtained dW in (8.16) by taking the diﬀerential of (8.9); now suppose we start with a given dW = F · dr. Example 6. Let us consider (8.18)

dW = F · dr = (2xy − z 3 ) dx + x2 dy + (3xz 2 + 1) dz.

This is almost the same as (8.16); just the sign of the dz term is changed. Then two of the equations corresponding to (8.17) do not hold, so curl F = 0, and dW is not an exact diﬀerential. We ask whether there is a function W of which (8.18) is the diﬀerential; the answer is "No" because if there were, the mixed second partial derivatives of W would be equal, and so curl F would be zero. Equations like (8.18) often occur in applications. When dW is not exact, then F is a nonconservative force, and F · dr, which is the work done by F, depends not only on the points A and B but also upon the path along which the object moves. As we have said, this happens when there are friction forces.

PROBLEMS, SECTION 8 1.

Evaluate the line integral from (0, 0) to (1, 2). (a)

y = 2x2 .

(b)

x = t2 , y = 2t.

(x2 − y 2 ) dx − 2xy dy along each of the following paths

y = 0 from x = 0 to x = 2; then along the straight line joining (2, 0) to (1, 2). H Evaluate the line integral (x + 2y) dx − 2x dy along each of the following closed paths, taken counterclockwise:

(a)

the circle x2 + y 2 = 1;

(b)

the square with corners at (1, 1), (−1, 1), (−1, −1), (1, −1);

(c)

the square with corners (0, 1), (−1, 0), (0, −1), (1, 0).

Section 8 3.

Line Integrals

R Evaluate the line integral xy dx + x dy from (0, 0) to (1, 2) along the paths shown in the sketch.

Evaluate the line integral (1, 1, 1),

R C

y 2 dx + 2x dy + dz, where C connects (0, 0, 0) with

(a)

along straight lines from (0, 0, 0) to (1, 0, 0) to (1, 0, 1) to (1, 1, 1);

(b)

on the circle x2 + y 2 − 2y = 0 to (1, 1, 0) and then on a vertical line to (1, 1, 1).

Find the work done by the force F = x2 yi − xy 2j along the paths shown from (1, 1) to (4, 2).

Find the work done by the force F = (2xy − 3)i + x2 j in moving an object from (1, 0) to (0, 1) along each of the three paths shown:

307

(a)

straight line,

(b)

circular arc,

(c)

along lines parallel to the axes.

For the force ﬁeld F = (y + z)i − (x + z)j + (x + y)k, ﬁnd the work done in moving a particle around each of the following closed curves: (a)

the circle x2 + y 2 = 1 in the (x, y) plane, taken counterclockwise;

(b)

the circle x2 + z 2 = 1 in the (z, x) plane, taken counterclockwise;

(c)

the curve starting from the origin and going successively along the x axis to (1, 0, 0), parallel to the z axis to (1, 0, 1), parallel to the (y, z) plane to (1, 1, 1), and back to the origin along x = y = z;

(d)

from the origin to (0, 0, 2π) on the curve x = 1 − cos t, y = sin t, z = t, and back to the origin along the z axis.

Verify that each of the following force ﬁelds is conservative. Then ﬁnd, for each, a scalar potential φ such that F = −∇φ. 8.

F = i − zj − yk.

F = (3x2 yz − 3y)i + (x3 z − 3x)j + (x3 y + 2z)k.

10.

F = −kr, r = ix + jy + kz,

k = const.

11.

F = y sin 2x i + sin x j.

12.

F = yi + xj + k.

13.

F = z 2 sinh y j + 2z cosh y k. x y i+ p j. F= p 2 2 1−x y 1 − x2 y 2

14. 15.

F = 2x cos2 y i − (x2 + 1) sin 2y j.

308 16.

17.

Vector Analysis

Chapter 6

Given F1 = 2xi − 2yzj − y 2 k

and F2 = yi − xj,

(a)

Are these forces conservative? Find the potential corresponding to any conservative force.

(b)

For any nonconservative force, ﬁnd the work done if it acts on an object moving from (−1, −1) to (1, 1) along each of the paths shown.

Which, if either, of the two force ﬁelds F1 = −yi + xj + zk,

F2 = yi + xj + zk

is conservative? Calculate for each ﬁeld the work done in moving a particle around the circle x = cos t, y = sin t in the (x, y) plane. 18.

For the force ﬁeld F = −yi + xj + zk, calculate the work done in moving a particle from (1, 0, 0) to (−1, 0, π) (a)

along the helix x = cos t, y = sin t, z = t;

(b)

along the straight line joining the points.

Do you expect your answers to be the same? Why or why not? 19.

Show that the electric ﬁeld E of a point charge [equation (8.11)] is conservative. Write φ in (8.13) in rectangular coordinates, and ﬁnd E = −∇φ using both rectangular coordinates (6.3) and cylindrical coordinates. Verify that your results are equivalent to (8.11).

20.

For motion near the surface of the earth, we usually assume that the gravitational force on a mass m is F = −mgk, but for motion involving an appreciable variation in distance r from the center of the earth, we must use F=−

C C r C er = − 2 = − 3 r, r2 r |r| r

where C is a constant. Show that both these F's are conservative, and ﬁnd the potential for each. 21.

Consider a uniform distribution of total mass m over a spherical shell of radius r . The potential energy φ of a mass m in the gravitational ﬁeld of the spherical shell is 8 const. if m is inside the spherical shell, > > < Cm φ= − if m is outside the spherical shell, where r is the distance > r > : from the center of the sphere to m, and C is a constant. Assuming that the earth is a spherical ball of radius R and constant density, ﬁnd the potential and the force on a mass m outside and inside the earth. Evaluate the constants in terms of the acceleration of gravity g, to get mgR2 er , r2 mgr er , F=− R

F=−

and and

mgR2 , r mg 2 φ= (r − 3R2 ), 2R φ=−

m outside the earth; m inside the earth.

Hint: To ﬁnd the constants, recall that at the surface of the earth the magnitude of the force on m is mg.

Section 9

Green's Theorem in the Plane

309

9. GREEN'S THEOREM IN THE PLANE The fundamental theorem of calculus says that the integral of the derivative of a function is the function, or more precisely:

d f (t) dt = f (b) − f (a). dt

(9.1) a

We are going to consider some useful generalizations of this theorem to two and three dimensions. The divergence theorem and Stokes' theorem (Sections 10 and 11) are very important in electrodynamics and other applications; in this section we will ﬁnd two-dimensional forms of these theorems. First we develop an underlying useful theorem relating an area integral to the line integral around its boundary (see applications in examples and problems and also Chapter 14, Section 3). y

1 A

c 3 x

x a

Figure 9.1 Recall that we know how to evaluate line integrals (Section 8), and that we learned in Chapter 5 to evaluate double integrals over areas in the (x, y) plane. We are going to consider areas (such as those in Figure 9.1 or in Chapter 5, Figure 2.7) for which we can evaluate the double integral over the area either with respect to x ﬁrst or with respect to y ﬁrst. Look at Figure 9.1. We want to ﬁnd a relation between a double integral over the area A and a line integral around the curve C, for simple closed curves C. (A simple curve does not cross itself; for example, it is not a ﬁgure 8.) Now in Figure 9.1, the upper part of C between points 1 and 2 is given by an equation y = yu (x) and the lower part by √ an equation y = yl (x). √ (Think of solving the equation of a circle for yu (x) = 1 − x2 and yl (x) = − 1 − x2 .) Similarly in Figure 9.1, we can ﬁnd xl (y) and xr (y) for the left and right parts of C between points 3 and 4. Let P (x, y) and Q(x, y) be continuous functions with continuous ﬁrst derivatives. We are going to show that the double integral of ∂P (x, y)/∂y over the area A is equal to the line integral of P around C. We write the double integral using Figure 9.1 to integrate ﬁrst with respect to y, and do the y integration by equation (9.1) with t = y to get:

(9.2) A

∂P (x, y) dy dx = ∂y

dx yl

=−

∂P (x, y) dy = ∂y

P (x, yl ) dx −

[P (x, yu ) − P (x, yl )] dx

a b

P (x, yu ) dx.

310

Vector Analysis

Chapter 6

Now we have our answer—we just have to recognize it! Think how you would evaluate the line integral of P (x, y)dx along the lower part of C in Figure 9.1 from point 1 to point 2. You would substitute y = yl (x) into P (x, y) and integrate from x = a to b (see Section 8).

(9.3) a

P (x, yl ) dx = line integral of P dx

along lower part of C from point 1 to point 2. This is one of the terms in (9.2). Similarly, to ﬁnd the line integral of P (x, y) dx along the upper part of C from point 2 to point 1, we substitute y = yu (x) and integrate from b to a.

a (9.4) P (x, yu ) dx = line integral of P dx b

along upper part of C from point 2 to point 1. Combining (9.3) and (9.4) gives us the line integral all the way around C in the counterclockwise direction, that is, so that A is always on our left as we go around C. (The symbol means an integral around a closed curve back to the starting point.) Then, from (9.2), we have

∂P (x, y) (9.5) dx dy. P dx = − ∂y C A

Repeating the calculation but integrating ﬁrst with respect to x, we ﬁnd

(9.6) A

∂Q dx dy = ∂x

∂Q dx = ∂x

d c

[Q(xr , y) − Q(xl , y)]dy

Q dy.

= C

Adding (9.5) and (9.6) and using the notation ∂A to mean the boundary of A (that is, C) we have Green's theorem in the plane:

(9.7) A

∂Q ∂P − ∂x ∂y

dx dy =

(P dx + Q dy) ∂A

The line integral is counterclockwise around the boundary of area A. Using Green's theorem we can evaluate either a line integral around a closed path or a double integral over the area inclosed, whichever is easier to do. If the area is not of the simple type we have assumed, it may be possible to cut it into pieces (see Figure 9.2) so that our proof applies to each piece. Then the line integrals along the dotted cuts in Figure 9.2 are in opposite directions for adjacent pieces, and so

Section 9

Green's Theorem in the Plane

311

cancel. Thus the theorem is valid for this more general area and its inclosing curve. In fact, we can even close up Figure 9.2 creating an area with a hole in the middle.

Figure 9.2 Green's theorem still holds, but now the line integral consists of a counterclockwise integral around the outside plus a clockwise integral around the hole as you can see in Figure 9.2. We say that this area is not "simply connected"—see further discussion of this in Section 11. Example 1. In Example 1, Section 8, we found the line integral (8.2) along several paths (Figure 8.2). Suppose we want the line integral in Figure 8.2 around the closed loop (Figure 9.3) from (0, 0) to (2, 1) and back as shown. From Section 8, Example 1, this is the work done along path 2 minus the work done Figure 9.3 along path 3 (since we are now going in the opposite 2 5 direction); we ﬁnd W2 − W3 = 3 − 3 = −1. Let us evaluate this using Green's theorem. From (8.2) and (9.7) we have

∂ ∂ W = (−y 2 ) − (xy) dx dy xy dx − y 2 dy = ∂x ∂y ∂A

−x dx dy = −

= A

A 1

y=0

√ 2 y

x=0

x dx dy = −1

as before. Example 2. In Section 8, we discussed conservative forces for which work done is independent of the path. By Green's theorem (9.7), the work done by a force F around a closed path in the (x, y) plane is

∂Fx ∂Fy W = − dx dy. (Fx dx + Fy dy) = ∂x ∂y ∂A A

If (∂Fy /∂x) − (∂Fx /∂y) = 0 (note that this is the z component of curl F = 0) then W around any closed path is zero, which means that the work from one point to another is independent of the path (also see Section 11). The functions P (x, y) and Q(x, y) in (9.7) are arbitrary; we may choose them to suit our purposes. Note that a two-dimensional vector function iVx (x, y) + jVy (x, y)

312

Vector Analysis

Chapter 6

contains two functions, Vx and Vy . In the next two examples, we are going to deﬁne P and Q in terms of Vx and Vy in order to obtain two useful results. Example 3. We deﬁne: (9.8)

P = −Vy ,

Q = Vx ,

where V = iVx + jVy .

Then (9.9)

∂Vx ∂Vy ∂Q ∂P − = + = div V ∂x ∂y ∂x ∂y

by (7.2) with Vz = 0. Along the curve bounding an area A (Figure 9.4) the vector

Figure 9.4 dr = i dx + j dy

(9.10)

(tangent)

is a tangent vector, and the vector (9.11) n ds = i dy − j dx (outward normal), where n is a unit vector and ds = dx2 + dy 2 , is a normal vector (perpendicular to the tangent) pointing out of area A. Using (9.11) and (9.8), we can write (9.12)

P dx + Q dy = −Vy dx + Vx dy = (iVx + jVy ) · (i dy − j x) = V · n ds.

Then substitute (9.9) and (9.12) into (9.7) to get

div V dx dy = V · n ds. (9.13) A

∂A

This is the divergence theorem in two dimensions. It can be extended to three dimensions (also see Section 10). Let τ represent a volume; then ∂τ (read boundary of τ ) means the closed surface area of τ . Let dτ mean a volume element and let dσ

Section 9

Green's Theorem in the Plane

313

mean an element of surface area. At each point of the surface, let n be a unit vector perpendicular to the surface and pointing outward. Then the divergence theorem in three dimensions says (also see Section 10)

div V dτ =

(9.14) τ

V · n dσ.

Divergence theorem

∂τ

Example 4. To see another application of (9.7) to vector functions, we let Q = Vy ,

(9.15)

where V = iVx + jVy .

P = Vx ,

Then ∂Q ∂P ∂Vy ∂Vx − = − = (curl V) · k ∂x ∂y ∂x ∂y

(9.16)

by (7.3) with Vz = 0. Equations (9.10) and (9.15) give (9.17)

P dx + Q dy = (iVx + jVy ) · (i dx + j dy) = V · dr.

Substituting (9.16) and (9.17) into (9.7), we get

(9.18) (curl V) · k dx dy =

∂A

V · dr.

This is Stokes' theorem in two dimensions. It can be extended to three dimensions (Section 11). Let σ be an open surface (for example, a hemisphere); then ∂σ means the curve bounding the surface (Figure 9.5). Let n be a unit vector normal to the surface. Then Stokes' theorem in three dimensions is (also see Section 11)

(curl V) · n dσ =

(9.19)

Figure 9.5

∂σ

V · dr. Stokes' theorem.

The direction of integration for the line integral is as shown in Figure 9.5 (see also Section 11).

PROBLEMS, SECTION 9 1.

Write out the equations corresponding to (9.3) and (9.4) for 3 and 4 in Figure 9.2, and add them to get (9.6).

Q dy between points

In Problems 2 to 5 use Green's theorem [formula (9.7)] to evaluate the given integrals. H 2. 2x dy − 3y dx around the square with vertices (0, 2), (2, 0), (−2, 0), and (0, −2).

314 3.

Vector Analysis H C

Chapter 6

xy dx + x2 dy, where C is as sketched.

ex cos y dx − ex sin y dy, where C is the broken line from A = (ln 2, 0) to D = (0, 1) and then from D to B = (− ln 2, 0). Hint: Apply Green's theorem to the integral around the closed curve ADBA. C

(yex −1) dx+ex dy, where C is the semicircle through (0, −10), (10, 0), and (0, 10). (Compare Problem 4.)

For a simple closed curve C in the plane show by Green's theorem that the area inclosed is I 1 A= (x dy − y dx). 2 C

Use Problem 6 to show that the area inside the ellipse x = a cos θ, y = b sin θ, 0 ≤ θ ≤ 2π, is A = πab.

Use Problem 6 to ﬁnd the area inside the curve x2/3 + y 2/3 = 4.

Apply Green's theorem with P = RR 0, Q = 12 x2 to the triangle with vertices (0, 0), (0, 3), (3, 0). You will then have x dx dy over the triangle expressed as a very simple line integral. Use this to locate the centroid of the triangle. (Compare Chapter 5, Section 3.)

Evaluate each of the following integrals in the easiest way you can. H 10. (2y dx − 3x dy) around the square bounded by x = 3, x = 5, y = 1 and y = 3. R 11. (x sin x − y) dx + (x − y 2 ) dy, where C is the triangle in the (x, y) plane with C vertices (0, 0), (1, 1), and (2, 0). √ R 2 12. (y − x2 ) dx + (2xy√+ 3) dy along the x axis from (0, 0) to ( 5, 0) and then along a circular arc from ( 5, 0) to (1, 2).

10. THE DIVERGENCE AND THE DIVERGENCE THEOREM We have deﬁned (in Section 7) the divergence of a vector function V(x, y, z) as (10.1)

div V = ∇ · V =

∂Vy ∂Vz ∂Vx + + . ∂x ∂y ∂z

We now want to investigate the meaning and use of the divergence in physical applications. Consider a region in which water is ﬂowing. We can imagine drawing at every point a vector v equal to the velocity of the water at that point. The vector function v then represents a vector ﬁeld. The curves tangent to v are called stream lines. We could in the same way discuss the ﬂow of a gas, of heat, of electricity, or of particles (say from a radioactive source). We are going to show that if v represents the velocity of ﬂow of any of these things, then div v is related to the amount of the substance which ﬂows out of a given volume. This could be diﬀerent from zero either because of a change in density (more air ﬂows out than in as a room is heated)

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315

or because there is a source or sink in the volume (alpha particles ﬂow out of but not into a box containing an alpha-radioactive source). Exactly the same mathematics applies to the electric and magnetic ﬁelds where v is replaced by E or B and the quantity corresponding to outﬂow of a material substance is called ﬂux.

Figure 10.1 For our example of water ﬂow, let V = vρ, where ρ is the density of the water. Then the amount of water crossing in time t an area A which is perpendicular to the direction of ﬂow, is (see Figure 10.1) the amount of water in a cylinder of cross section A and length vt. This amount of water is (10.2)

(vt)(A )(ρ).

The same amount of water crosses area A (see Figure 10.1) whose normal is inclined at angle θ to v. Since A = A cos θ, (10.3)

vtA ρ = vtρA cos θ.

Then if water is ﬂowing in the direction v making an angle θ with the normal n to a surface, the amount of water crossing unit area of the surface in unit time is (10.4)

vρ cos θ = V cos θ = V · n

if n is a unit vector. Now consider an element of volume dx dy dz in the region through which the water is ﬂowing (Figure 10.2). Water is ﬂowing either in or out of the volume dx dy dz through each of the six surfaces of the volume element; we shall calculate the net outward ﬂow. In Figure 10.2, the rate at which water ﬂows into dx dy dz

Figure 10.2 through surface 1 is [by (10.4)] V · i per unit area, or (V · i) dy dz through the area dy dz of surface 1. Since V · i = Vx , we ﬁnd that the rate at which water ﬂows across surface 1 is Vx dy dz. A similar expression gives the rate at which water ﬂows out through surface 2, except that Vx must be the x component of V at surface 2 instead of at surface 1. We want the diﬀerence of the two Vx values at two points, one on surface 1 and one on surface 2, directly opposite each other, that is, for the

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same y and z. These two values of Vx diﬀer by ∆Vx which can be approximated (as in Chapter 4) by dVx . For constant y and z, dVx = (∂Vx /∂x) dx. Then the net outﬂow through these two surfaces is the outﬂow through surface 2 minus the inﬂow through surface 1, namely, ∂Vx (10.5) [(Vx at surface 2) − (Vx at surface 1)]dy dz = dx dy dz. ∂x We get similar expressions for the net outﬂow through the other two pairs of opposite surfaces: ∂Vy dx dy dz ∂y ∂Vz dx dy dz ∂z

(10.6)

through top and bottom,

and

through the other two sides.

Then the total net rate of loss of water from dx dy dz is ∂Vy ∂Vz ∂Vx + + dx dy dz = div V dx dy dz (10.7) ∂x ∂y ∂z

∇ · V dx dy dz.

If we divide (10.7) by dx dy dz, we have the rate of loss of water per unit volume. This is the physical meaning of a divergence: It is the net rate of outﬂow per unit volume evaluated at a point (let dx dy dz shrink to a point). This is outﬂow of actual substance for liquids, gases, or particles; it is called ﬂux for electric and magnetic ﬁelds. You should note that this is somewhat like a density. Density is mass per unit volume, but it is evaluated at a point and may vary from point to point. Similarly, the divergence is evaluated at each point and may vary from point to point. As we have said, div V may be diﬀerent from zero either because of time variation of the density or because of sources and sinks. Let ψ = source density minus sink density = net mass of ﬂuid being created (or added via something like a minute sprinkler system) per unit time per unit volume; ρ = density of the ﬂuid = mass per unit volume; ∂ρ/∂t = time rate of increase of mass per unit volume. Then: Rate of increase of mass in dx dy dz = rate of creation minus rate of outward ﬂow, or in symbols ∂ρ dx dy dz = ψ dx dy dz − ∇ · V dx dy dz. ∂t Canceling dx dy dz, we have ∂ρ =ψ−∇·V ∂t or (10.8)

∇·V = ψ−

∂ρ . ∂t

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317

If there are no sources or sinks, then ψ = 0; the resulting equation is often called the equation of continuity. (See Problem 15.)

(10.9)

∇·V+

∂ρ = 0. ∂t

Equation of continuity

If ∂ρ/∂t = 0, then (10.10)

∇ · V = ψ.

In the case of the electric ﬁeld, the "sources" and "sinks" are electric charges and the equation corresponding to (10.10) is div D = ψ, where ψ is the charge density and D is the electric displacement. For the magnetic ﬁeld B you would expect the sources to be magnetic poles; however, there are no free magnetic poles, so div B = 0 always. We have shown that the mass of ﬂuid crossing a plane area A per unit time is AV · n, where n is a unit vector normal to A, v and ρ are the velocity and density of the ﬂuid, and V = vρ. Consider any closed surface, and let dσ represent an area element on the surface (Figure 10.3). For example: for a plane, dσ = dx dy; for a spherical surface, dσ = r2 sin θ dθ dφ.

Figure 10.3

Let n be the unit vector normal to dσ and pointing out of the surface (n varies in direction from point to point on the surface). Then the mass of ﬂuid ﬂowing out through dσ is V · n dσ by (10.4) and the total outﬂow from the volume inclosed by the surface is

(10.11) V · n dσ, where the double integral is evaluated over the closed surface. We showed previously [see (10.7)] that for the volume element dτ = dx dy dz: (10.12)

The outﬂow from dτ is ∇ · V dτ.

For simplicity, we proved this for a rectangular coordinate volume element dx dy dz. With extra eﬀort we could prove it more generally, say for volume elements with slanted sides or for spherical coordinate volume elements. From now on we shall assume that dτ includes more general volume element shapes. It is worth noticing here another way [besides (7.2)] of deﬁning the divergence. If we write (10.11) for the surface of a volume element dτ , we have two expressions for the total outﬂow from dτ , and these must be equal. Thus

(10.13) ∇ · V dτ = V · n dσ. surface of dτ

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Vector Analysis

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The value of ∇ · V on the left is, of course, an average value of ∇ · V in dτ , but if we divide (10.13) by dτ and let dτ shrink to a point, we have a deﬁnition of ∇ · V at the point:

1 (10.14) ∇ · V = lim V · n dσ. dτ →0 dτ surface of dτ

If we start with (10.14) as the deﬁnition of ∇ · V, then the discussion leading to (10.7) is a proof that ∇ · V as deﬁned in (10.14) is equal to ∇ · V as deﬁned in (7.2). The Divergence Theorem See (10.17). The divergence theorem is also called Gauss's theorem, but be careful to distinguish this mathematical theorem from Gauss's law which is a law of physics; see (10.23). Consider a large volume τ ; imagine it cut up into volume elements dτi (a cross section of this is shown in Figure 10.4). The outﬂow from each dτi is ∇ · V dτi ; let us add together the outﬂow from all the dτi to get ∇ · V dτi . (10.15) Figure 10.4 i We shall show that (10.15) is the outﬂow from the large volume τ . Consider the ﬂow between the elements marked a and b in Figure 10.4 across their common face. An outﬂow from a to b is an inﬂow (negative outﬂow) from b to a, so that in the sum (10.15) such outﬂows across interior faces cancel. The total sum in (10.15) then equals just the total outﬂow from the large volume. As the size of the volume elements tends to zero, this sum approaches a triple integral over the volume,

(10.16) ∇ · V dτ. We have shown that both (10.11) and (10.16) are equal to the total outﬂow from the large volume; hence they are equal to each other, and we have the divergence theorem as stated in (9.14):

∇ · V dτ =

(10.17) volume τ

V · n dσ.

Divergence theorem

surface inclosing τ

(n points out of the closed surface σ.) Notice that the divergence theorem converts a volume integral into an integral over a closed surface or vice versa; we can then evaluate whichever one is the easier to do. In (10.17) we have carefully written the volume integral with three integral signs and the surface integral with two integral signs. However, it is rather common to write only one integral sign for either case when the volume or area element is indicated by a single diﬀerential (dτ , dV , etc., for volume; dσ, dA, dS, etc., for

Section 10

The Divergence and the Divergence Theorem

319

surface area). Thus we might write dτ or dτ or dx dy dz, all meaning the same thing. When the single integral sign is used to indicate a surface or volume integral, you must see from the notation (τ for volume, σ for area), or the words under the integral, what is really meant. To indicate a surface integral over a closed surface or a line integral

around a closed curve, the symbol is often used. Thus we might write either dσ or dσ for a surface integral over a closed surface. A diﬀerent notation for the integrand V · n dσ is often used. Instead of using a unit vector n and the scalar magnitude dσ, we may write the vector dσ meaning a vector of magnitude dσ in the direction n; thus dσ means exactly the same thing as n dσ, and we may replace V · n dσ by V · dσ in (10.17). Example of the Divergence Theorem Let V = ix + jy + kz and evaluate V · n dσ over the closed surface of the cylinder shown in Figure 10.5.

By the divergence theorem this is equal to ∇ · V dτ over the volume of the cylinder. (Note that we are using single integral signs, but the notation and words make it clear which integral is a volume integral and which a surface integral.) We ﬁnd from the deﬁnition of divergence ∇·V =

Figure 10.5

∂x ∂y ∂z + + = 3. ∂x ∂y ∂z

Then by (10.17)

V · n dσ = surface of cylinder

∇ · V dτ =

3 dτ = 3

dτ

volume of cylinder

= 3 times volume of cylinder = 3πa2 h. It is harder to evaluate V·n dσ directly, but we might do it to show an example of calculating a surface integral and to verify the divergence theorem in a special case. We need the surface normal n. On the top surface (Figure 10.5) n = k, and there V · n = V · k = z = h. Then

V · n dσ = h dσ = h · πa2 . top surface of cylinder

On the bottom surface, n = −k, V ·n = −z = 0; hence the integral over the bottom surface is zero. On the curved surface we might see by inspection that the vector ix + jy is normal to the surface, so for the curved surface we have ix + jy ix + jy n= . = 2 2 a x +y If the vector n is not obvious by inspection, we can easily ﬁnd it; recall (Section 6) that if the equation of a surface is φ(x, y, z) = const., then ∇φ is perpendicular to the surface. In this problem, the equation of the cylinder is x2 + y 2 = a2 ; then

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Vector Analysis

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φ = x2 + y 2 , ∇φ = 2xi + 2yj, and we get the same unit vector n as above. Then for the curved surface we ﬁnd

a2 x2 + y 2 = = a, V·n= a a

V · n dσ = a dσ = a · (area of curved surface) = a · 2πah.

curved surface

The value of V·n dσ over the whole surface of the cylinder is then πa2 h+2πa2h = 3πa2 h as before. Gauss's Law The divergence theorem is very important in electricity. In order to see how it is used, we need a law in electricity known as Gauss's law. Let us derive this law from the more familiar Coulomb's law (8.11). Coulomb's law (written this time in SI units) gives for the electric ﬁeld at r due to a point charge q at the origin (10.18)

q er . 4π0 r2

Coulomb's law

1 = 9 · 109 in SI units.) 4π0 The electric displacement D is deﬁned (in free space) by D = 0 E; then q (10.19) D= er . 4πr2 (0 is a constant called the permittivity of free space and

Figure 10.6 Let σ be a closed surface surrounding the point charge q at the origin; let dσ be an element of area of the surface at the point r, and let n be a unit normal to dσ (Figures 10.3 and 10.6). Also (Figure 10.6) let dA be the projection of dσ onto a sphere of radius r and center at O and let dΩ be the solid angle subtended by dσ (and dA) at O. Then by deﬁnition of solid angle (10.20)

dΩ =

1 dA. r2

From Figure 10.6 and equations (10.19) and (10.20), we get (10.21)

D · n dσ = D cos θ dσ = D dA =

q 1 q dΩ · r2 dΩ = 2 4πr 4π

Section 10

The Divergence and the Divergence Theorem

321

We want to ﬁnd the surface integral of D · n dσ over the closed surface σ; by (10.21) this is

q q (10.22) · 4π = q (q inside σ). D · n dσ = dΩ = 4π 4π closed surface σ

total solid angle

This is a simple case of Gauss's law when we have only one point charge q; for most purposes we shall want Gauss's law in the forms (10.23) or (10.24) below. Before we derive these, we should note carefully that in (10.22) the charge q is inside the closed surface σ. If we repeat the derivation of (10.22) for a point charge q outside the surface (Problem 13), we ﬁnd that in this case D · n dσ = 0. closed σ

Next suppose there are several charges qi inside the closed surface. For each qi and the Di corresponding to it, we could write an equation like (10.22). But the total electric displacement vector D at a point due to all the qi is the vector sum of the vectors Di . Thus we have D · n dσ = Di · n dσ = qi . i

closed surface σ

Therefore for any charge distribution inside a closed surface D · n dσ = total charge inside the closed surface.

(10.23)

Gauss's law

closed surface

If, instead of isolated charges, we have a charge distribution with

charge density ρ (which may vary from point to point), then the total charge is ρ dτ , so

D · n dσ =

(10.24) closed surface σ

ρ dτ.

Gauss's law

volume bounded by σ

Since (by Problem 13) charges outside the closed surface σ do not contribute to the integral, (10.23) and (10.24) are correct if D is the total electric displacement due to all charges inside and outside the surface. The total charge on the right-hand side of these equations is, however, just the charge inside the surface σ. Either (10.23) or (10.24) is called Gauss's law. We now want to see the use of the divergence theorem in connection with Gauss's law. By the divergence theorem, the surface integral on the left-hand side of (10.23) or (10.24) is equal to

∇ · D dτ. volume bounded by σ

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Vector Analysis

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Then (10.24) can be written as

∇ · D dτ =

ρ dτ.

Since this is true for every volume, we must have ∇·D = ρ; this is one of the Maxwell equations in electricity. What we have done is to start by assuming Coulomb's law; we have derived Gauss's law from it, and then by use of the divergence theorem, we have derived the Maxwell equation ∇·D = ρ. From a more sophisticated viewpoint, we might take the Maxwell equation as one of our basic assumptions in electricity. We could then use the divergence theorem to obtain Gauss's law:

(10.25) D · n dσ = ∇ · D dτ = ρ dτ closed surface σ

volume τ inside σ

volume τ

= total charge inclosed by σ. From Gauss's law we could then derive Coulomb's law (Problem 14); more generally we can often use Gauss's law to obtain the electric ﬁeld produced by a given charge distribution as in the following example. Example. Find E just above a very large conducting plate carrying a surface charge of C coulombs per square meter on each surface. The electric ﬁeld inside a conductor is zero when we are considering an electrostatics problem (otherwise current would ﬂow). From the symmetry of the problem (all horizontal directions are equivalent), we can say that E (and D) must be vertical as shown in Figure 10.7. We now ﬁnd D · n dσ over the box whose cross section is shown by the dotted lines. The integral over the bottom surface is zero since D = 0 inside the conductor. The integral over the vertical sides is zero because D is perpendicular to n there. On the top surface D · n = |D| and D · n dσ = |D|· (surface area). By (10.25) this is equal to the charge inclosed by the box, which is C· (surface area). Thus we have |D| · (surface area) = C · (surface area) , or |D| = C and |E| = C/0 .

Figure 10.7

PROBLEMS, SECTION 10 1.

Evaluate both sides of (10.17) if V = r = ix + jy + kz, and τ is the volume x2 + y 2 + z 2 ≤ 1, and so verify the divergence theorem in this case.

Given V = x2 i + y 2 j + z 2 k, integrate V · n dσ over the whole surface of the cube of side 1 with four of its vertices at (0, 0, 0), (0, 0, 1), (0, 1, 0), (1, 0, 0). Evaluate the same integral by means of the divergence theorem.

Section 10

The Divergence and the Divergence Theorem

323

Evaluate each of the integrals in Problems 3 to 8 as either a volume integral or a surface integral, whichever is easier. RR 3. r · n dσ over the whole surface of the cylinder bounded by x2 + y 2 = 1, z = 0, and z = 3; r means ix + jy + kz. RR 4. V · n dσ if V = x cos2 y i + xz j + z sin2 y k over the surface of a sphere with center at the origin and radius 3. RRR 5. (∇ · F) dτ over the region x2 + y 2 + z 2 ≤ 25, where F = (x2 + y 2 + z 2 )(xi + yj + zk). 6.

RRR

∇ · V dτ over the unit cube in the ﬁrst octant, where V = (x3 − x2 )yi + (y 3 − 2y 2 + y)xj + (z 2 − 1)k.

7. 8. 9.

10. 11.

r · n dσ over the entire surface of the cone with base x2 + y 2 ≤ 16, z = 0, and vertex at (0, 0, 3), where r = ix + jy + kz. p RRR ∇ · V dτ over the volume x2 + y 2 ≤ 4, 0 ≤ z ≤ 5, V = ( x2 + y 2 )(ix + jy). RR If F = xi+yj, calculate F·n dσ over the part of the surface z = 4−x2 −y 2 that is above the (x, y) plane, by applying the divergence theorem to the volume bounded by the surface and the piece that it cuts out of the (x, y) plane. Hint: What is F · n on the (x, y) plane? RR Evaluate V · n dσ over the curved surface of the hemisphere x2 + y 2 + z 2 = 9, z ≥ 0, if V = yi + xzj + (2z − 1)k. Careful: See Problem 9. H Given that B = curl A, use the divergence theorem to show that B · n dσ over any closed surface is zero.

12.

A cylindrical capacitor consists of two long concentric metal cylinders. If there is a charge of k coulombs per meter on the inside cylinder of radius R1 , and −k coulombs per meter on the outside cylinder of radius R2 , ﬁnd the electric ﬁeld E between the cylinders. Hint: Use Gauss's law and the method indicated in Figure 10.7. What is E inside the inner cylinder? Outside the outer cylinder? (Again use Gauss's law.) Find, either by inspection or by direct integration, the potential φ such that E = −∇φ for each of the three regions above. In each case E is not aﬀected by adding an arbitrary constant to φ. Adjust the additive constant to make φ a continuous function for all space.

13.

Draw a ﬁgure similar to Figure 10.6 but with q outside the surface. A vector (like r in the ﬁgure) from q to the surface now intersects it twice, and for each solid angle dΩ there are two dσ's, one where r enters and one where it leaves the surface. Show that D · n dσ is given by (10.21) for the dσ where r leaves the surface and the Hnegative of (10.21) for the dσ where r enters the surface. Hence show that the total D · n dσ over the closed surface is zero.

14.

Obtain Coulomb's law from Gauss's law by considering a spherical surface σ with center at q.

15.

Suppose the density ρ of a ﬂuid varies from point to point as well as with time, that is, ρ = ρ(x, y, z, t). If we follow the ﬂuid along a streamline, then x, y, z are functions of t such that the ﬂuid velocity is v=i

dx dy dz +j +k . dt dt dt

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Vector Analysis

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Show that then dρ/dt = ∂ρ/∂t + v · ∇ρ. Combine this equation with (10.9) to get ρ∇ · v +

dρ = 0. dt

(Physically, dρ/dt is the rate of change of density with time as we follow the ﬂuid along a streamline; ∂ρ/∂t is the corresponding rate at a ﬁxed point.) For a steady state (that is, time-independent), ∂ρ/∂t = 0, but dρ/dt is not necessarily zero. For an incompressible ﬂuid, dρ/dt = 0; show that then ∇ · v = 0. (Note that incompressible does not necessarily mean constant density since dρ/dt = 0 does not imply either time or space independence of ρ; consider, for example, a ﬂow of water mixed with blobs of oil.) 16.

The following equations are variously known as Green's ﬁrst and second identities or formulas or theorems. Derive them, as indicated, from the divergence theorem. Z I (1) (φ∇ 2 ψ + ∇φ · ∇ψ) dτ = (φ∇ψ) · n dσ. volume τ inside σ

closed surface σ

To prove this, let V = φ∇ψ in the divergence theorem. Z (2)

(φ∇ 2 ψ − ψ∇2 φ) dτ =

volume τ inside σ

I (φ∇ψ − ψ∇φ) · n dσ. closed surface σ

To prove this, copy Theorem 1 above as is and also with φ and ψ interchanged; then subtract the two equations.

11. THE CURL AND STOKES' THEOREM We have already deﬁned curl V = ∇ × V [see (7.3)] and have considered one application of the curl, namely, to determine whether or not a line integral between two points is independent of the path of integration (Section 8). Here is another application of the curl. Suppose a rigid body is rotating with constant angular velocity ω; this means that |ω| is the magnitude of the angular velocity and ω is a vector along the axis of rotation (see Figure 2.6). Then we showed in Section 2 that the velocity v of a particle in the rigid body is v = ω × r, where r is a radius vector from a point on the rotation axis to the particle. Let us calculate ∇×v = ∇×(ω×r); we can evaluate this by the method described in Section 7. We use the formula for the triple vector product A × (B × C) = (A · C)B − (A · B)C, being careful to remember that ∇ is not an ordinary vector—it has both vector and diﬀerential-operator properties, and so must be written before variables that it diﬀerentiates. Then (11.1)

∇ × (ω × r) = (∇ · r)ω − (ω · ∇)r.

Since ω is constant, the ﬁrst term of (11.1) means ∂x ∂y ∂z (11.2) ω(∇ · r) = ω + + = 3ω. ∂x ∂y ∂z In the second term of (11.1) we intentionally wrote ω · ∇ instead of ∇ · ω since ω is constant, and ∇ operates only on r; this term means ∂ ∂ ∂ ωx + ωy + ωz (ix + jy + kz) = iωx + jωy + kωz = ω ∂x ∂y ∂z

Section 11

The Curl and Stokes' Theorem

325

since ∂y/∂x = ∂z/∂x = 0, etc. Then (11.3)

∇ × v = ∇ × (ω × r) = 2ω

ω=

1 (∇ × v). 2

This result gives a clue as to the name curl v (or rotation v or rot v as it is sometimes called). For this simple case curl v gave the angular velocity of rotation. In a more complicated case such as ﬂow of ﬂuid, the value of curl v at a point is a measure of the angular velocity of the ﬂuid in the neighborhood of the point. When ∇ × v = 0 everywhere in some region, the velocity ﬁeld v is called irrotational in that region. Notice that this is the same mathematical condition as for a force F to be conservative.

Figure 11.1 Consider a vector ﬁeld V (for example, V = vρ for ﬂow of water, or V = force F). We deﬁne the circulation as the line integral V · dr around a closed plane curve. If V is a force F, then this integral is equal to the work done by the force. For ﬂow of water, we can get a physical picture of the meaning of the circulation in the following way. Think of placing a tiny paddle-wheel probe (Figure 11.1c) in any of the ﬂow patterns pictured in Figure 11.1. If the velocity of the ﬂuid is greater on one side of the wheel than on the other, for example, as in (c), then the wheel will turn. Suppose we calculate the circulation V · dr around the axis of the paddle wheel along a closed curve in a plane perpendicular to the axis (plane of the paper in Figure 11.1). If V = vρ is larger on one side of the wheel than the other, then the circulation is diﬀerent from zero, but if [as in (b)] V is the same on both sides, then the circulation is zero. We shall show that the component of curl V along the

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Vector Analysis

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axis of the paddle wheel equals 1 dσ→0 dσ

(11.4)

lim

V · dr

where dσ is the area inclosed by the curve along which we calculate the circulation. The paddle wheel then acts as a "curl meter" to measure curl V; if it does not rotate, curl V = 0; if it does, then curl V = 0. In (a), curl V = 0 at the center of the vortex. In (b), curl V = 0. In (c), curl V = 0 in spite of the fact that the ﬂow lines are parallel. In (d), it is possible to have curl V = 0 even though the stream lines go around a corner; in fact, for the ﬂow of water around a corner, curl V = 0. What you should realize is that the value of curl V at a point depends upon the circulation in the neighborhood of the point and not on the overall ﬂow pattern. We want to show the relation between the circulation V · dr and curl V for a given vector ﬁeld V. Given a point P and a direction n, let us ﬁnd the component of curl V in the direction n at P . Draw a plane through P perpendicular to n and choose axes so that it is the (x, y) plane with n parallel to k. Find the circulation around an element of area dσ centered on P . (See Figures 9.5 Figure 11.2 and 11.2.) By (9.18) with area A replaced by the element of area dσ, and with n = k

V · dr =

(11.5) around dσ

(curl V) · k dx dy =

dσ

(curl V) · n dσ dσ

Note that, since we proved (9.7) and so (9.18) for non-rectangular areas A (see Section 9), dσ here may be more general than dx dy, say with curved or slanted sides. We assume that the components of V have continuous ﬁrst derivatives; then curl V is continuous. Thus the value of (curl V) · n over dσ is nearly the same as (curl V) · n at P , so the double integral in (11.5) is approximately the value of (curl V) · n at P multiplied by dσ. If we divide (11.5) by dσ and take the limit as dσ → 0, we have an exact equation (11.6)

1 dσ→0 dσ

(∇ × V) · n = lim

V · dr. around dσ

This equation can be used as a deﬁnition of curl V; then the discussion above shows that [see equation (9.16)] the components of curl V are those given in our previous deﬁnition (7.3). In evaluating the line integral we must go around the area element dσ as in Figure 11.2 keeping the area to our left. Another way of saying this is that we go around dσ in the direction indicated by n and the right-hand rule; that is, if the thumb of your right hand points in the direction n, your ﬁngers curve in the direction you must go around the boundary of dσ in evaluating the line integral. (See Figure 11.2 with n = k.)

Section 11

The Curl and Stokes' Theorem

327

Stokes' Theorem This theorem relates an integral over an open surface to the line integral around the curve bounding the surface (Figure 11.3). A butterﬂy net is a good example of what we are talking about; the net is the surface and the supporting rim is the curve bounding the surface. The surfaces we consider here (and which arise in applications) will be surfaces which could be obtained by deforming a hemisphere (or the butterﬂy net of Figure 11.3). In particular, the surfaces we consider must be two-sided. You can easily construct a one-sided surface by taking a long strip of paper, giving it a half twist, and joining the ends (Figure 11.4). A belt of this shape is sometimes used for driving machinery. This surface is called a Moebius strip, and you can verify that it has only one side by tracing your ﬁnger around it or imagining trying to paint one side. Stokes' theorem does not apply to such surfaces because we cannot deﬁne the sense of the normal vector n to such a surface. We require the bounding curve to be simple (that is, it must not cross itself) and closed.

Figure 11.4 Figure 11.3 Consider the kind of surface we have described and imagine it divided into area elements dσ by a network of curves as in Figure 11.5. Draw a unit vector n perpendicular to each area element; n, of course, varies from element to element, but all n's must be on the same side of the two-sided surface. Each area element

Figure 11.5 is approximately an element of the tangent plane to the surface at a point in dσ. Then, as in (11.5), we have

V · dr =

(11.7) around dσ

(∇ × V) · n dσ dσ

for each element. Recall from Section 9 and the comment just after equation (11.5), that dσ includes area elements such as those along the edges in Figure 11.5. Then if we sum the equations in (11.7) for all the area elements of the whole surface area,

328

Vector Analysis

Chapter 6

we get

(11.8)

V · dr =

all dσ

(∇ × V) · n dσ.

surface σ

From Figure 11.5 we see that all the interior line integrals cancel because along a border between two dσ's the two integrals are in opposite directions. Then the left side of (11.8) becomes simply the line integral around the outside curve bounding the surface. Thus we have Stokes' theorem as stated in (9.19):

V · dr =

(11.9) curve bounding σ

(∇ × V) · n dσ.

Stokes' theorem

surface σ

You should have it clearly in mind that this is for an open surface bounded by a simple closed curve. Recall the example of a butterﬂy net. Notice that Stokes' theorem says that the line integral V·dr is equal to the surface integral of (∇×V)·n over any surface of which the curve is a boundary; in other words, you don't change the value of the integral by deforming the butterﬂy net! An easy way to determine the direction of integration for the line integral is to imagine collapsing the surface and its bounding curve into a plane; then the "surface" is just the plane area inside the curve and n is normal to the plane. The direction of integration is then given by the right-hand rule as discussed just after equation (11.6).

Example 1. Given V = 4yi + xj + 2zk, ﬁnd (∇ × V) · n dσ over the hemisphere x2 + y 2 + z 2 = a2 , z ≥ 0. Using (7.3), we ﬁnd that ∇ × V = −3k. There are several ways we could do the problem: (a) integrate the expression as it stands; (b) use Stokes' theorem and evaluate V · dr around the circle x2 + y 2 = a2 in the (x, y) plane; (c) use Stokes' theorem to say that the integral is the same over any surface bounded by this circle, for example, the plane area inside the circle! Since this plane area is in the (x, y) plane, we have n = k, (∇ × V) · n = −3k · k = −3, so the integral is

−3

dσ = −3 · πa2 = −3πa2 .

This is the easiest way to do the problem; however, for this simple case it is not too hard by the other methods. We shall leave (b) for you to do and do (a). Since the surface is a sphere with center at the origin, r is normal to it (but for any surface we could get the normal from the gradient). Then on the surface r r ix + jy + kz = = , |r| a a r z (∇ × V) · n = −3k · = −3 . a a n=

Section 11

The Curl and Stokes' Theorem

329

We want to evaluate −3(z/a) dσ over the hemisphere. In spherical coordinates (see Chapter 5, Section 4) we have z = r cos θ, dσ = r2 sin θ dθ dφ. For our surface r = a. Then the integral is

2π π/2

2π

π/2 a cos θ 2 a sin θ dθ dφ = −3a2 −3 dφ sin θ cos θ dθ a φ=0 θ=0 0 0 1 = −3a2 · 2π · = −3πa2 2 (as before). Amp` ere's Law Stokes' theorem is of interest in electromagnetic theory. (Compare the use of the divergence theorem in connection with Gauss's law in Section 10.) Amp`ere's circuital law (in SI units) says that H · dr = I, C

where H = B/µ0 , B is the magnetic ﬁeld, µ0 is a constant (called the permeability of free space), C is a closed curve, and I is the current "linking" C, that is crossing any surface area bounded by C. The surface area and the curve C are related just as in Stokes' theorem (butterﬂy net and its rim). If we think of a bundle of wires linking a closed curve C (Figure 11.6) and then spreading out, we can see that the same current crosses any surface whose bounding curve is C. Just as Gauss's law (10.23) is useful in computing electric ﬁelds, so Amp`ere's law is useful in computing magnetic ﬁelds. Consider, for example, a long straight wire carrying a current I (Figure 11.7). At a distance r from the wire, H is tangent

Figure 11.6

Figure 11.7

to a circle of radius r in a plane perpendicular to the wire. By symmetry, |H| same at all points of the circle. We can then ﬁnd |H| by Amp`ere's law. Taking C to be the circle of radius r, we have

2π H · dr = |H|r dθ = |H|r · 2π = I C

or |H| =

I . 2πr

330

Vector Analysis

Chapter 6

If, in Figure 11.6, J is the current density (current crossing unit area perpendicular

to J), then J · n dσ is the current across a surface element dσ [compare (10.4)] and σ J · n dσ, over any surface σ bounded by C, is the total current I linking C. Then by Amp`ere's law

By Stokes' theorem

so we have

H · dr =

J · n dσ. σ

H · dr =

(∇ × H) · n dσ, σ

(∇ × H) · n dσ = σ

J · n dσ. σ

Since this is true for any σ, we have ∇ × H = J, which is one of the Maxwell equations. Alternatively, we could start with the Maxwell equation and apply Stokes' theorem to get Amp`ere's law.

Conservative Fields We next want to state carefully, and use Stokes' theorem to prove, under what conditions a given ﬁeld F is conservative (see Section 8). First, recall that in physical problems we are often interested only in a particular region of space, and our formulas (say for F) may very well be correct only in that region. For example, the gravitational pull of the earth on an object is proportional to 1/r2 for r ≥ earths' radius R, but this is not a correct formula for r < R (see ProbFigure 11.8 lem 8.21). The electric ﬁeld in the region between the plates of a cylindrical capacitor is proportional to 1/r (problem 10.12), but only in this region is this formula correct. We must, then, consider the kind of region in which a given ﬁeld F is deﬁned. Consider the shaded regions in Figure 11.8. We say that a region is simply connected if any simple† closed curve in the region can be shrunk to a point without encountering any points not in the region. You can see in Figure 11.8c that the dotted curve surrounds the "hole" and so cannot be shrunk to a point in the region; this region is then not simply connected. The "hole" is sometimes only a single point, but this is enough to make the region not simply connected. In three dimensions the region between cylindrical capacitor plates (inﬁnitely long) is not simply connected since a loop of string around the inner cylinder (see cross section, Figure 11.8c) cannot be drawn up to a knot. Similarly, the interior of an inner tube is not simply connected. The region between two concentric spheres is simply connected, however. You should see this by realizing that you could pull up into a †A

simple curve does not cross itself; for example, a ﬁgure eight is not a simple curve.

Section 11

The Curl and Stokes' Theorem

331

knot, a loop of string placed anywhere in this region. We shall now state and prove our theorem. (11.10) If the components of F and their ﬁrst partial derivatives are continuous in a simply connected region, then any one of the following ﬁve conditions implies all the others. (a) curl F = 0 at every point of the region. (b) F · dr = 0 around every simple closed curve in the region.

B (c) F is conservative, that is A F · dr is independent of the path of integration from A to B. (The path must, of course, lie entirely in the region.) (d) F · dr is an exact diﬀerential of a single valued function. (e) F = grad W , W single-valued.

We shall show that each of these conditions implies the one following it. We can use Stokes' theorem to prove (b) assuming (a). First select any simple closed curve and let it be the bounding curve for the surface in Stokes' theorem. Since the region is simply connected we can think of shrinking the curve to a point in the region; as it shrinks it traces out a surface which we use as the Stokes' theorem surface. Assuming (a), we have curl F = 0 at every point of the region and so also at every point of the surface. Thus the surface integral in Stokes' theorem is zero and therefore the line integral around the closed curve equals zero. This gives (b). To show that (b) implies (c), consider any two paths I and II from A to B (Figure 11.9). From (b) we have

A path I

F · dr +

B path II

F · dr = 0. Figure 11.9

Since an integral from A to B is the negative of an integral from B to A, we have

A path I

F · dr −

A path II

F · dr = 0.

which is (c). To show

that (c) implies (d), select some reference point O in the region and calculate F · dr from the reference point to every other point of the region. For each point P we ﬁnd a single value of the integral no matter what path of integration we choose from O to P . Let this value be the value of the function W at the point P . We then have a single-valued function W such that

F · dr = W (P ). 0 to P

332

Vector Analysis

Chapter 6

Then (since F is continuous), dW = F · dr, that is, F · dr is the diﬀerential of a single-valued function W . Since dW = ∇W · dr = F · dr for arbitrary dr, we have F = ∇W which is (e). Finally, (e) implies (a) as we proved in Section 8. (The continuity of the components of F and their partial derivatives makes the second-order mixed partial derivatives of W equal.) Thus we have shown that any one of the ﬁve conditions (a) to (e) implies the others under the conditions of the theorem. It is worth observing carefully the requirement that F and its partial derivatives must be continuous in a simply connected region. A simple example makes this clear. Look at Example 2 in Section 8; you can easily compute curl F and ﬁnd that it is zero everywhere except at the origin (where it is undeﬁned). You might then be tempted to assume that F · dr = 0 around any closed path. But we found that F · dr = dθ, and the integral of dθ along a circle with center at the origin is 2π. What is wrong? The trouble is that F does not have continuous partial derivatives at the origin, and any simply connected region containing the circle of integration must contain the origin. Then curl F is not zero at every point inside the integration curve. Notice also that F · dr = dθ is an exact diﬀerential, but not of a single-valued function; θ increases by 2π every time we go around the origin. A vector ﬁeld V is called irrotational (or conservative or lamellar ) if curl V = 0; in this case V = grad W , where W (or its negative) is called the scalar potential. If div V = 0, the vector ﬁeld is called solenoidal ; in this case V = curl A, where A is a vector function called the vector potential. It is easy to prove (Problem 7.17d) that if V = ∇ × A, then div V = 0. It is also possible to construct an A (actually an inﬁnite number of A's) so that V = curl A if we know that ∇ · V = 0. Example 2. Given V = i(x2 − yz) − j2yz + k(z 2 − 2zx), ﬁnd A such that V = ∇ × A. We ﬁnd ∂ 2 ∂ ∂ 2 (x − yz) + (−2yz) + (z − 2zx) ∂x ∂y ∂z = 2x − 2z + 2z − 2x = 0.

div V =

Thus V is solenoidal and we proceed to ﬁnd A. We are looking for an A such that

(11.11)

i ∂ V = curl A = ∂x A x

j ∂ ∂y Ay

k ∂ = i(x2 − yz) − j2yz + k(z 2 − 2zx). ∂z Az

There are many A's satisfying this equation; we shall show ﬁrst how to ﬁnd one of them and then a general formula for all. It is possible to ﬁnd an A with one zero component; let us take Ax = 0. Then the y and z components of curl A each involve just one component of A. From (11.11), the y and z components of curl A are (11.12)

−2yz = −

∂Az , ∂x

z 2 − 2zx =

∂Ay . ∂x

Section 11

The Curl and Stokes' Theorem

333

If we integrate (11.12) partially with respect to x (that is, with y and z constant), we ﬁnd Ay and Az except for possible functions of y and z which could be added without changing (11.12): Ay = z 2 x − zx2 + f1 (y, z),

(11.13)

Az = 2xyz + f2 (y, z).

Substituting (11.13) into the x component of (11.11), we get (11.14)

x2 − yz =

∂Ay ∂f2 ∂Az ∂f1 − = 2xz + − 2zx + x2 − . ∂y ∂z ∂y ∂z

We now select f1 and f2 to satisfy (11.14). There is much leeway here and this can easily be done by inspection. We could take f2 = 0, f1 = 12 yz 2 , or f1 = 0, f2 = − 12 y 2 z, and so forth. Using the second choice, we have 1 A = j(z 2 x − zx2 ) + k(2xyz − y 2 z). 2 You may wonder why this process works and what div V = 0 has to do with it. We can answer both these questions by following the above process with a general V rather than a special example. Given that div V = 0, we want an A such that V = curl A. We try to ﬁnd one with Ax = 0. Then the y and z components of V = curl A are (11.15)

Vy = −

(11.16) Then we have (11.17)

∂Az , ∂x

∂Ay . ∂x

Ay =

Vz dx + f (y, z),

The x component of V = curl A is (11.18)

Vz =

∂Ay ∂Az − =− Vx = ∂y ∂z

Since div V = 0, we can put (11.19)

−

Az = −

∂Vy ∂Vz + ∂y ∂z

into (11.18), getting

Vx =

Vy dx + g(y, z).

dx + h(y, z).

∂Vx ∂x

∂Vx dx + h(y, z). ∂x

This is correct with proper choice of h(y, z). When we know one A, for which a given V is equal to curl A, all others are of the form (11.20)

A + ∇u,

where u is any scalar function. For (see Problem 7.17b), ∇ × ∇u = 0, so the addition of ∇u to A does not aﬀect V. Also we can show that all possible A's are

334

Vector Analysis

Chapter 6

of the form (11.20). For if V = curl A1 and V = curl A2 , then curl(A1 − A2 ) = 0, so A1 − A2 is the gradient of some scalar function. A careful statement and proof that div V = 0 is a necessary and suﬃcient condition for V = curl A requires that V have continuous partial derivatives at every point of a region which is simply connected in the sense that every closed surface (rather than closed curve) can be shrunk to a point in the region (for example, the region between two concentric spheres is not simply connected in this sense).

PROBLEMS, SECTION 11 1.

Do case (b) of Example 1 above.

Given the vector A = (x2 − y 2 )i + 2xyj. (a) (b) (c)

Find ∇ × A. RR Evaluate (∇ × A) · dσ over a rectangle in the (x, y) plane bounded by the lines x = 0, x = a, y = 0, y = b. H Evaluate A · dr around the boundary of the rectangle and thus verify Stokes' theorem for this case.

Use either Stokes' theorem or the divergence theorem to evaluate each of the following integrals in the easiest possible way. RR curl(x2 i+z 2 j−y 2 k)·n dσ, where σ is the part of the surface z = 4−x2 −y 2 3. surface σ above the (x, y) plane. RR 4. curl(yi + 2j ) · n dσ, where σ is the surface in the ﬁrst octant made up of part of the plane 2x + 3y + 4z = 12, and triangles in the (x, z) and (y, z) planes, as indicated in the ﬁgure. RR 5. r · n dσ over the surface in Problem 4, where r = ix + jy + kz. Hint: See Problem 10.9. 6.

V · n dσ over the closed surface of the tin can bounded by x2 + y 2 = 9, z = 0, z = 5, if V = 2xyi − y 2 j + (z + xy)k. RR (curl V) · n dσ over any surface whose bounding curve is in the (x, y) plane, where V = (x − x2 z)i + (yz 3 − y 2 )j + (x2 y − xz)k.

curl(x2 yi − xzk) · n dσ over the closed surface of the ellipsoid x2 y2 z2 + + = 1. 4 9 16

Warning: Stokes' theorem applies only to an open surface. Hints: Could you cut the given surface into two halves? Also see (d) in the table of vector identities (page 339). RR V · n dσ over the entire surface of the volume in the ﬁrst octant bounded by x2 + y 2 + z 2 = 16 and the coordinate planes, where V = (x + x2 − y 2 )i + (2xyz − 2xy)j − xz 2 k.

10.

(curl V) · n dσ over the part of the surface z = 9 − x2 − 9y 2 above the (x, y) plane, if V = 2xyi + (x2 − 2x)j − x2 z 2 k.

Section 11 11.

The Curl and Stokes' Theorem

335

V · n dσ over the entire surface of a cube in the ﬁrst octant with edges of length 2 along the coordinate axes, where V = (x2 − y 2 )i + 3yj − 2xzk.

12.

V · dr around the circle (x − 2)2 + (y − 3)2 = 9, z = 0, where V = (x2 + yz 2 )i + (2x − y 3 )j.

13. 14. 15. 16.

(2xi − 2yj + 5k) · n dσ over the surface of a sphere of radius 2 and center at the origin. H (yi − xj + zk) · dr around the circumference of the circle of radius 2, center at the origin, in the (x, y) plane. H y dx + z dy + x dz, where C is the curve of intersection of the surfaces whose c equations are x + y = 2 and x2 + y 2 + z 2 = 2(x + y). What is wrong with the following "proof" that there are no magnetic ﬁelds? By electromagnetic theory, ∇ · B = 0, and B = ∇ × A. (The error is not in these equations.) Using them, we ﬁnd ZZZ ZZ ∇ · B dτ = 0 = B · n dσ (by the divergence theorem) ZZ Z = (∇ × A) · n dσ = A · dr (by Stokes' theorem). R Since A· dr = 0, A is conservative, or A = ∇ψ. Then B = ∇×A = ∇×∇ψ = 0, so B = 0.

17.

Derive the following vector integral theorems. Z I (a) ∇φ dτ = φ n dσ. volume τ

(b)

surface inclosing τ

Hint: In the divergence theorem (10.17),Rsubstitute V =H φC, where C is an arbitrary constant vector, to obtain C · ∇φ dτ = C · φn dσ. Since C is arbitrary, let C = i to show that the x components of the two integrals are equal; similarly, let C = j and C = k to show that the y components are equal and the z components are equal. I Z ∇ × V dτ = n × V dσ. volume τ

(c)

Hint: Replace V in the divergence theorem by V × C, where C is an arbitrary constant vector. Follow the last part of the hint in (a). I Z φ dr = (n × ∇φ)dσ. curve bounding σ

surface σ

dr × V =

(d) curve bounding σ

(e)

surface inclosing τ

(n × ∇) × V dσ. surface σ

Hints for (c) and (d): Use the substitutions suggested in (a) and (b) but in Stokes' theorem (11.9) instead of the divergence theorem. Z I Z φ∇ · V dτ = φV · n dσ − V · ∇φ dτ. volume τ

surface inclosing τ

volume τ

Hint: Integrate (7.6) over volume τ and use the divergence theorem.

336

Vector Analysis

Chapter 6

Z V · (∇ × U) dτ =

(f) volume τ

(g)

I U · (∇ × V) dτ +

volume τ

(U × V) · n dσ. surface inclosing τ

Hint: Integrate (h) in the Table of Vector Identities (page 339) and use the divergence theorem. Z Z I φ(∇ × V) · n dσ = (∇ × ∇φ) · n dσ + φ V · dr. surface of σ

surface of σ

curve bounding σ

Hint: Integrate (g) in the Table of Vector Identities (page 339) and use Stokes' Theorem. Find vector ﬁelds A such that V = curl A for each given V. 18.

V = (x2 − yz + y)i + (x − 2yz)j + (z 2 − 2zx + x + y)k

19.

V = i(x2 − 2xz) + j(y 2 − 2xy) + k(z 2 − 2yz + xy)

20.

V = i(zezy + x sin zx) + jx cos xz − kz sin zx

21.

V = −k

22.

V = (y + z)i + (x − z)j + (x2 + y 2 )k

12. MISCELLANEOUS PROBLEMS 1.

If A and B are unit vectors with an angle θ between them, and C is a unit vector perpendicular to both A and B, evaluate [(A × B) × (B × C)] × (C × A).

If A and B are the diagonals of a parallelogram, ﬁnd a vector formula for the area of the parallelogram.

The force on a charge q moving with velocity v = dr/dt in a magnetic ﬁeld B is F = q(v × B). We can write B as B = ∇ × A where A (called the vector potential) is a vector function of x, y, z, t. If the position vector r = ix + jy + kz of the charge q is a function of time t, show that dA ∂A = + v · ∇A. dt ∂t Thus show that

– » ∂A dA . + F = qv × (∇ × A) = q ∇(v · A) − dt ∂t

Show that ∇ · (U × r) = r · (∇ × U) where U is a vector function of x, y, z, and r = xi + yj + zk.

Use Green's theorem (Section 9) to do Problem 8.2.

Find the torque about the point (1, −2, 1) due to the force F = 2i − j + 3k acting at the point (1, 1, −3).

Let F = 2i − 3j + k act at the point (5, 1, 3). (a)

Find the torque of F about the point (4, 1, 0).

(b)

Find the torque of F about the line r = 4i + j + (2i + j − 2k)t.

The force F = i − 2j − 2k acts at the point (0, 1, 2). Find the torque of F about the line r = (2i − j)t.

Let F = i − 5j + 2k act at the point (2, 1, 0). Find the torque of F about the line r = (3j + 4k) − 2it.

Section 12 10.

11.

12.

13.

14.

15.

Miscellaneous Problems

337

Given u = xy + sin z, ﬁnd (a)

the gradient of u at (1, 2, π/2);

(b)

how fast u is increasing, in the direction 4i + 3j, at (1, 2, π/2);

(c)

the equation of the tangent plane to the surface u = 3 at (1, 2, π/2).

Given φ = z 2 − 3xy, ﬁnd (a)

grad φ;

(b)

the directional derivative of φ at the point (1, 2, 3) in the direction i + j + k;

(c)

the equations of the tangent plane and of the normal line to φ = 3 at the point (1, 2, 3).

Given u = xy + yz + z sin x, ﬁnd (a)

∇u at (0, 1, 2);

(b)

the directional derivative of u at (0, 1, 2) in the direction 2i + 2j − k;

(c)

the equations of the tangent plane and of the normal line to the level surface u = 2 at (0, 1, 2);

(d)

a unit vector in the direction of most rapid increase of u at (0, 1, 2).

Given φ = x2 − yz and the point P (3, 4, 1), ﬁnd (a)

∇φ at P ;

(b)

a unit vector normal to the surface φ = 5 at P ;

(c)

a vector in the direction of most rapid increase of φ at P ;

(d)

the magnitude of the vector in (c);

(e)

the derivative of φ at P in a direction parallel to the line r = i − j + 2k + (6i − j − 4k)t.

If the temperature is T = x2 − xy + z 2 , ﬁnd (a)

the direction of heat ﬂow at (2, 1, −1);

(b)

the rate of change of temperature in the direction j − k at (2, 1, −1).

Show that

F = y 2 z sinh(2xz)i + 2y cosh2 (xz)j + y 2 x sinh(2xz)k

is conservative, and ﬁnd a scalar potential φ such that F = −∇φ. 16.

Given F1 = 2xzi + yj + x2 k and F2 = yi − xj: (a)

Which F, if either, is conservative?

(b)

If one of the given F's is conservative, ﬁnd a function W so that F = ∇W. R If one of the F's is nonconservative, use it to evaluate F·dr along the straight line from (0, 1) to (1, 0).

Do part (c) by applying Green's theorem to the triangle with vertices (0, 0), (0, 1), (1, 0). R Find the value of F · dr along the circle x2 + y 2 = 2 from (1, 1) to (1, −1) if F = (2x − 3y)i − (3x − 2y)j.

18.

Is F = yi + xzj + zk conservative? Evaluate the paths

F · dr from (0, 0, 0) to (1, 1, 1) along

338

19.

Vector Analysis

Chapter 6

(a)

broken line (0, 0, 0) to (1, 0, 0) to (1, 1, 0) to (1, 1, 1),

(b)

straight line connecting the points.

Given F1 = −2yi + (z − 2x)j + (y + z)k, F2 = yi + 2xj: (a)

Is F1 conservative? Is F2 conservative?

(b)

Find the work done by F2 on a particle that moves around the ellipse x = cos θ, y = 2 sin θ from θ = 0 to θ = 2π.

(c)

For any conservative force in this problem ﬁnd a potential function V such that F = −∇V .

(d)

Find the work done by F1 on a particle that moves along the straight line from (0, 1, 0) to (0, 2, 5).

(e)

Use Green's theorem and the result of Problem 9.7 to do Part (b) above.

In Problems 20 to 31, evaluate each integral in the simplest way possible. RR 20. P · n dσ over the upper half of the sphere r = 1 if P = curl(jx − kz). RR 21. (∇ × V) · n dσ over the surface consisting of the four slanting faces of a pyramid whose base is the square in the (x, y) plane with corners at (0, 0), (0, 2), (2, 0), (2, 2) and whose top vertex is at (1, 1, 2), where V = (x2 z − 2)i + (x + y − z)j − xyzk. 22.

V · n dσ over the entire surface of the sphere (x − 2)2 + (y + 3)2 + z 2 = 9, if V = (3x − yz)i + (z 2 − y 2 )j + (2yz + x2 )k.

23. 24. 25. 26.

27. 28. 29. 30. 31.

F · n dσ where F = (y 2 − x2 )i + (2xy − y)j + 3zk and σ is the entire surface of the tin can bounded by the cylinder x2 + y 2 = 16, z = 3, z = −3. RR r · n dσ over the entire surface of the hemisphere x2 + y 2 + z 2 = 9, z ≥ 0, where r = xi + yj + zk. RR V·n dσ over the curved part of the hemisphere in Problem 24, if V = curl(yi−xj). RR (curl V) · n dσ over the entire surface of the cube in the ﬁrst octant with three faces in the three coordinate planes and the other three faces intersecting at (2, 2, 2), where V = (2 − y)i + xzj + xyzk. Problem 26, but integrate over the open surface obtained by leaving out the face of the cube in the (x, y) plane. H F · dr around the circle x2 + y 2 + 2x = 0, where F = yi − xj. H V·dr around the boundary of the square with vertices (1, 0), (0, 1), (−1, 0), (0, −1), if V = x2 i + 5xj. R (x2 − y)dx + (x + y 3)dy, where C is the parallelogram with vertices at (0, 0), (2, 0), C (1, 1), (3, 1). √ R 2 (y − x2 ) dx + (2xy√+ 3)dy along the x axis from (0, 0) to ( 5, 0) and then along a circular arc from ( 5, 0) to (1, 2). Hint: Use Green's theorem.

Vector Identities

339

Table of Vector Identities Involving ∇ Note carefully that φ and ψ are scalar functions; U and V are vector functions. Formulas are given in rectangular coordinates; for other coordinate systems, see Chapter 10, Section 9. (a) ∇ · ∇φ = div grad φ = ∇2 φ = Laplacian φ =

∂2φ ∂2φ ∂2φ + 2 + 2 ∂x2 ∂y ∂z

(b) ∇ × ∇φ = curl grad φ = 0 (c) ∇(∇ · V) = grad div V 2 2 ∂ 2 Vz ∂ Vx ∂ 2 Vy ∂ 2 Vy ∂ 2 Vz ∂ Vx + +j + + + =i ∂x2 ∂x∂y ∂x∂z ∂x∂y ∂y 2 ∂y∂z 2 2 2 ∂ Vy ∂ Vz ∂ Vx + + +k ∂x∂z ∂y∂z ∂z 2 (d) ∇ · (∇ × V) = div curl V = 0 (e) ∇ × (∇ × V) = curl curl V = ∇(∇ · V) − ∇2 V = grad div V − Laplacian V (f) ∇ · (φV) = φ(∇ · V) + V · (∇φ) (g) ∇ × (φV) = φ(∇ × V) − V × (∇φ) (h) ∇ · (U × V) = V · (∇ × U) − U · (∇ × V) (i) ∇ × (U × V) = (V · ∇)U − (U · ∇)V − V(∇ · U) + U(∇ · V) (j) ∇(U · V) = U × (∇ × V) + (U · ∇)V + V × (∇ × U) + (V · ∇)U (k) ∇ · (∇φ × ∇ψ) = 0

CHAPTER

Fourier Series and Transforms 1. INTRODUCTION Problems involving vibrations or oscillations occur frequently in physics and engineering. You can think of examples you have already met: a vibrating tuning fork, a pendulum, a weight attached to a spring, water waves, sound waves, alternating electric currents, etc. In addition, there are many more examples which you will meet as you continue to study physics. Some of them—for example, heat conduction, electric and magnetic ﬁelds, light—do not appear in elementary work to have anything oscillatory about them, but will turn out in your more advanced work to involve the sines and cosines which are used in describing simple harmonic motion and wave motion. In Chapter 1 we discussed the use of power series to approximate complicated functions. In many problems, series called Fourier series, whose terms are sines and cosines, are more useful than power series. In this chapter we shall see how to ﬁnd and use Fourier series. Then, in Chapter 13 (Sections 2 to 4), we shall consider several of the physics problems which Fourier was trying to solve when he invented Fourier series. Since sines and cosines are periodic functions, Fourier series can represent only periodic functions. We will see in Section 12 how to represent a non-periodic function by a Fourier integral (Fourier transform).

2. SIMPLE HARMONIC MOTION AND WAVE MOTION; PERIODIC FUNCTIONS We shall need much of the notation and terminology used in discussing simple harmonic motion and wave motion. Let's discuss these two topics brieﬂy. Let particle P (Figure 2.1) move at constant speed around a circle of radius A. At the same time, let particle Q move up and down along the straight line segment RS in such a way that the y coordinates of P and Q are always equal. If ω is the angular velocity of P in radians per second, and 340

Figure 2.1

Section 2

Simple Harmonic Motion and Wave Motion; Periodic Functions

341

(Figure 2.1) θ = 0 when t = 0, then at a later time t (2.1)

θ = ωt.

The y coordinate of Q (which is equal to the y coordinate of P ) is (2.2)

y = A sin θ = A sin ωt.

The back and forth motion of Q is called simple harmonic motion. By deﬁnition, an object is executing simple harmonic motion if its displacement from equilibrium can be written as A sin ωt [or A cos ωt or A sin(ωt+φ), but these two functions diﬀer from A sin ωt only in choice of origin; such functions are called sinusoidal functions]. You can think of many physical examples of this sort of simple vibration: a pendulum, a tuning fork, a weight bobbing up and down at the end of a spring. The x and y coordinates of particle P in Figure 2.1 are (2.3)

x = A cos ωt,

y = A sin ωt.

If we think of P as the point z = x + iy in the complex plane, we could replace (2.3) by a single equation to describe the motion of P : (2.4)

z = x + iy = A(cos ωt + i sin ωt) = Aeiωt .

It is often worth while to use this complex notation even to describe the motion of Q; we then understand that the actual position of Q is equal to the imaginary part of z (or with diﬀerent starting conditions the real part of z). For example, the velocity of Q is the imaginary part of (2.5)

dz d = (Aeiωt ) = Aiωeiωt = Aiω(cos ωt + i sin ωt). dt dt

[The imaginary part of (2.5) is Aω cos ωt, which is dy/dt from (2.2).]

Figure 2.2 It is useful to draw a graph of x and y in (2.2) and (2.3) as a function of t. Figure 2.2 represents any of the functions sin ωt, cos ωt, sin(ωt + φ) if we choose the origin correctly. The number A is called the amplitude of the vibration or the amplitude of the function. Physically it is the maximum displacement of Q from its equilibrium position. The period of the simple harmonic motion or the period of the function is the time for one complete oscillation, that is, 2π/ω (See Figure 2.2). We could write the velocity of Q from (2.5) as (2.6)

dy = Aω cos ωt = B cos ωt. dt

342

Fourier Series and Transforms

Chapter 7

Here B is the maximum value of the velocity and is called the velocity amplitude. Note that the velocity has the same period as the displacement. If the mass of the particle Q is m, its kinetic energy is: (2.7)

Kinetic energy =

1 m 2

dy dt

2 =

1 mB 2 cos2 ωt. 2

We are considering an idealized harmonic oscillator which does not lose energy. Then the total energy (kinetic plus potential) must be equal to the largest value of the kinetic energy, that is, 12 mB 2 . Thus we have: (2.8)

Total energy =

1 mB 2 . 2

Notice that the energy is proportional to the square of the (velocity) amplitude; we shall be interested in this result later when we discuss sound. Waves are another important example of an oscillatory phenomenon. The mathematical ideas of wave motion are useful in many ﬁelds; for example, we talk about water waves, sound waves, and radio waves. Example 1. Consider water waves in which the shape of the water surface is (unrealistically!) a sine curve. If we take a photograph (at the instant t = 0) of the water surface, the equation of this picture could be written (relative to appropriate axes) (2.9)

y = A sin

2πx , λ

where x represents horizontal distance and λ is the distance between wave crests. Usually λ is called the wavelength, but mathematically it is the same as the period of this function of x. Now suppose we take another photograph when the waves have moved forward a distance vt (v is the velocity of the waves and t is the time between photographs). Figure 2.3 shows the two photographs superimposed. Observe that the value of y at the point x on the graph labeled t, is just the same as the value of y at the point (x − vt) on the graph labeled t = 0. If (2.9) is the equation representing the waves at t = 0, then

Figure 2.3 (2.10)

y = A sin

2π (x − vt) λ

represents the waves at time t. We can interpret (2.10) in another way. Suppose you stand at one point in the water [ﬁxed x in (2.10)] and observe the up and down motion of the water, that is, y in (2.10) as a function of t (for ﬁxed x). This is a simple harmonic motion of amplitude A and period λ/v. You are doing something

Section 2

Simple Harmonic Motion and Wave Motion; Periodic Functions

343

analogous to this when you stand still and listen to a sound (sound waves pass your ear and you observe their frequency) or when you listen to the radio (radio waves pass the receiver and it reacts to their frequency). We see that y in (2.10) is a periodic function either of x (t ﬁxed) or of t (x ﬁxed); both interpretations are useful. It makes no diﬀerence in the basic mathematics, however, what letter we use for the independent variable. To simplify our notation we shall ordinarily use x as the variable, but if the physical problem calls for it, you can replace x by t.

Figure 2.4 Sines and cosines are periodic functions; once you have drawn sin x from x = 0 to x = 2π, the rest of the graph from x = −∞ to x = +∞ is just a repetition over and over of the 0 to 2π graph. The number 2π is the period of sin x. A periodic function need not be a simple sine or cosine, but may be any sort of complicated graph that repeats itself (Figure 2.4). The interval of repetition is the period. Example 2. If we are describing the vibration of a seconds pendulum, the period is 2 sec (time for one complete back-and-forth oscillation). The reciprocal of the period is the frequency, the number of oscillations per second; for the seconds pendulum, the frequency is 12 sec−1 . When radio announcers say, "operating on a frequency of 780 kilohertz," they mean that 780,000 radio waves reach you per second, or that the period of one wave is (1/780,000) sec. By definition, the function f (x) is periodic if f (x + p) = f (x) for every x; the number p is the period. The period of sin x is 2π since sin(x + 2π) = sin x; similarly, the period of sin 2πx is 1 since sin 2π(x + 1) = sin(2πx + 2π) = sin 2πx, and the period of sin(πx/l) is 2l since sin(π/l)(x + 2l) = sin(πx/l). In general, the period of sin 2πx/T is T .

PROBLEMS, SECTION 2 In Problems 1 to 6 ﬁnd the amplitude, period, frequency, and velocity amplitude for the motion of a particle whose distance s from the origin is the given function. 2.

s = 2 sin(4t − 1)

cos(πt − 8)

s = 5 sin(t − π)

s = 2 sin 3t cos 3t

s = 3 sin(2t + π/8) + 3 sin(2t − π/8)

s = 3 cos 5t

1 2

In Problems 7 to 10 you are given a complex function z = f (t). In each case, show that a particle whose coordinate is (a) x = Re z, (b) y = Im z is undergoing simple harmonic motion, and ﬁnd the amplitude, period, frequency, and velocity amplitude of the motion. 7.

z = 5eit

z = 2e−it/2

z = 2eiπt

10.

z = −4ei(2t+3π)

344

Fourier Series and Transforms

Chapter 7

11.

The charge q on a capacitor in a simple a-c circuit varies with time according to the equation q = 3 sin(120πt + π/4). Find the amplitude, period, and frequency of this oscillation. By deﬁnition, the current ﬂowing in the circuit at time t is I = dq/dt. Show that I is also a sinusoidal function of t, and ﬁnd its amplitude, period, and frequency.

12.

Repeat Problem 11: (a) if q = Re 4e30iπt ; (b) if q = Im 4e30iπt .

13.

A simple pendulum consists of a point mass m suspended by a (weightless) cord or rod of length l, as shown, and swinging in a vertical plane under the action of gravity. Show that for small oscillations (small θ), both θ and x are sinusoidal functions of time, that is, the motion is simple harmonic. Hint: Write the diﬀerential equation F = ma for the particle m. Use the approximation sin θ = θ for small θ, and show that θ = A sin ωt is a solution of your equation. What are A and ω?

14.

The displacements x of two simple pendulums (see Problem 13) are 4 sin(πt/3) and 3 sin(πt/4). They start together at x = 0. How long will it be before they are together again at x = 0? Hint: Sketch or computer plot the graphs.

15.

As in Problem 14, the displacements x of two simple pendulums are x = −2 cos(t/2) and 3 sin(t/3). They are not together at t = 0; plot graphs to see when they are ﬁrst together. √ As in Problem 14, let the displacements be y1 = 3 sin(t/ 2) and y2 = sin t. The pendulums start together at t = 0. Make computer plots to estimate when they will be together again and then, by computer, solve the equation y1 = y2 for the root near your estimate.

16.

17.

Show that equation (2.10) for a wave can be written in all these forms: „ « x t 2π (x − vt) = A sin 2π − y = A sin λ λ T „ « "x " " 2πx 2π " x = A sin ω − t = A sin − 2πf t = A sin −t . v λ T v Here λ is the wavelength, f is the frequency, v is the wave velocity, T is the period, and ω = 2πf is called the angular frequency. Hint: Show that v = λf .

In Problems 18 to 20, ﬁnd the amplitude, period, frequency, wave velocity, and wavelength of the given wave. By computer, plot on the same axes, y as a function of x for the given values of t, and label each graph with its value of t. Similarly, plot on the same axes, y as a function of t for the given values of x, and label each curve with its value of x. 18.

y = 2 sin 23 π(x − 3t);

19.

y = cos 2π(x − 14 t);

t = 0, 1, 2, 3;

x = 0,

1 1 3 , , . 4 2 4

20.

y = 3 sin π(x − 12 t);

t = 0, 1, 2, 3;

x = 0,

1 , 2

21.

Write the equation for a sinusoidal wave of wavelength 4, amplitude 20, and velocity 6. (See Problem 17.) Make computer plots of y as a function of t for x = 0, 1, 2, 3, and of y as a function of x for t = 0, 16 , 13 , 12 . If this wave represents the shape of a long rope which is being shaken back and forth at one end, ﬁnd the velocity ∂y/∂t of particles of the rope as a function of x and t. (Note that this velocity has nothing to do with the wave velocity v, which is the rate at which crests of the wave move forward.)

t = 0,

1 1 3 , , ; 4 2 4

x = 0, 1, 2, 3.

3 , 2

Section 3

Applications of Fourier Series

345

22.

Do Problem 21 for a wave of amplitude 4, period 6, and wavelength 3. Make computer plots of y as a function of x when t = 0, 1, 2, 3, and of y as a function of t when x = 12 , 1, 32 , 2.

23.

Write an equation for a sinusoidal sound wave of amplitude 1 and frequency 440 hertz (1 hertz means 1 cycle per second). (Take the velocity of sound to be 350 m/sec.)

24.

The velocity of sound in sea water is about 1530 m/sec. Write an equation for a sinusoidal sound wave in the ocean, of amplitude 1 and frequency 1000 hertz.

25.

Write an equation for a sinusoidal radio wave of amplitude 10 and frequency 600 kilohertz. Hint: The velocity of a radio wave is the velocity of light, c = 3·108 m/sec.

3. APPLICATIONS OF FOURIER SERIES We have said that the vibration of a tuning fork is an example of simple harmonic motion. When we hear the musical note produced, we say that a sound wave has passed through the air from the tuning fork to our ears. As the tuning fork vibrates it pushes against the air molecules, creating alternately regions of high and low

Figure 3.1 pressure (Figure 3.1). If we measure the pressure as a function of x and t from the tuning fork to us, we ﬁnd that the pressure is of the form of (2.10); if we measure the pressure where we are as a function of t as the wave passes, we ﬁnd that the pressure is a periodic function of t. The sound wave is a pure sine wave of a deﬁnite frequency (in the language of music, a pure tone). Now suppose that several pure tones are heard simultaneously. In the resultant sound wave, the pressure will not be a single sine function but a sum of several sine functions. If you strike a piano key you do not get a sound wave of just one frequency. Instead, you get a fundamental accompanied by a number of overtones (harmonics) of frequencies 2, 3, 4, · · · , times the frequency of the fundamental. Higher frequencies mean shorter periods. If sin ωt and cos ωt correspond to the fundamental frequency, then sin nωt and cos nωt correspond to the higher harmonics. The combination of the fundamental and the harmonics is a complicated periodic function with the period of the fundamental (Problem 5). Given the complicated function, we could ask how to write it as a sum of terms corresponding to the various harmonics. In general it might require all the harmonics, that is, an inﬁnite series of terms. This is called a Fourier series. Expanding a function in a Fourier series then amounts to breaking it down into its various harmonics. In fact, this process is sometimes called harmonic analysis.

346

Fourier Series and Transforms

Chapter 7

There are applications to other ﬁelds besides sound. Radio waves, visible light, and x rays are all examples of a kind of wave motion in which the "waves" correspond to varying electric and magnetic ﬁelds. Exactly the same mathematical equations apply as for water waves and sound waves. We could then ask what light frequencies (these correspond to the color) are in a given light beam and in what proportions. To ﬁnd the answer, we would expand the given function describing the wave in a Fourier series. You have probably seen a sine curve used to represent an alternating current (a-c) or voltage in electricity. This is a periodic function, but so are the functions shown in Figure 3.2. Any of these and many others might represent signals (voltages or currents) which are to be applied to an electric circuit. Then we could ask

Figure 3.2 what a-c frequencies (harmonics) make up a given signal and in what proportions. When an electric signal is passed through a network (say a radio), some of the harmonics may be lost. If most of the important ones get through with their relative intensities preserved, we say that the radio possesses "high ﬁdelity." To ﬁnd out which harmonics are the important ones in a given signal, we expand it in a Fourier series. The terms of the series with large coeﬃcients then represent the important harmonics (frequencies). Since sines and cosines are themselves periodic, it seems rather natural to use series of them, rather than power series, to represent periodic functions. There is another important reason. The coeﬃcients of a power series are obtained, you will recall (Chapter 1, Section 12), by ﬁnding successive derivatives of the function being expanded; consequently, only continuous functions with derivatives of all orders can be expanded in power series. Many periodic functions in practice are not continuous or not diﬀerentiable (Figure 3.2). Fortunately, Fourier series (unlike power series) can represent discontinuous functions or functions whose graphs have corners. On the other hand, Fourier series do not usually converge as rapidly as power series and much more care is needed in manipulating them. For example, a power series can be diﬀerentiated term by term (Chapter 1, Section 11), but diﬀerentiating a Fourier series term by term sometimes produces a series which doesn't converge. (See end of Section 9.) Our problem then is to expand a given periodic function in a series of sines and cosines. We shall take this up in Section 5 after doing some preliminary work.

Section 4

Average Value of a Function

347

PROBLEMS, SECTION 3 For each of the following combinations of a fundamental musical tone and some of its overtones, make a computer plot of individual harmonics (all on the same axes) and then a plot of the sum. Note that the sum has the period of the fundamental (Problem 5). 1 9

sin t −

sin πt + sin 2πt +

Using the deﬁnition (end of Section 2) of a periodic function, show that a sum of terms corresponding to a fundamental musical tone and its overtones has the period of the fundamental.

sin 3t 1 3

sin 3πt

2 cos t + cos 2t

cos 2πt + cos 4πt +

1 2

cos 6πt

In Problems 6 and 7, use a trigonometry formula to write the two terms as a single harmonic. Find the period and amplitude. Compare computer plots of your result and the given problem. 6.

sin 2x + sin 2(x + π/3)

cos πx − cos π(x − 1/2)

A periodic modulated (AM) radio signal has the form " x" y = (A + B sin 2πf t) sin 2πfc t − . v The factor sin 2πfc (t − x/v) is called the carrier wave; it has a very high frequency (called radio frequency; fc is of the order of 106 cycles per second). The amplitude of the carrier wave is (A + B sin 2πf t). This amplitude varies with time—hence the term "amplitude modulation"—with the much smaller frequency of the sound being transmitted (called audio frequency; f is of the order of 102 cycles per second). In order to see the general appearance of such a wave, use the following simple but unrealistic data to sketch a graph of y as a function of t for x = 0 over two periods of the amplitude function: A = 3, B = 1, f = 1, fc = 20. Using trigonometric formulas, show that y can be written as a sum of three waves of frequencies fc , fc + f , and fc − f ; the ﬁrst of these is the carrier wave and the other two are called side bands.

4. AVERAGE VALUE OF A FUNCTION The concept of the average value of a function is often useful. You know how to ﬁnd the average of a set of numbers: you add them and divide by the number of numbers.

Figure 4.1

348

Fourier Series and Transforms

Chapter 7

This process suggests that we ought to get an approximation to the average value of a function f (x) on the interval (a, b) by averaging a number of values of f (x) (Figure 4.1): (4.1)

Average of f (x) on (a, b) is approximately equal to f (x1 ) + f (x2 ) + · · · + f (xn ) . n

This should become a better approximation as n increases. Let the points x1 , x2 , · · · be ∆x apart. Multiply the numerator and the denominator of the approximate average by ∆x. Then (4.1) becomes: (4.2)

Average of f (x) on (a, b) is approximately equal to [f (x1 ) + · · · + f (xn )]∆x . n ∆x

Now n ∆x = b − a, the length of the interval over which we are averaging, no matter what n and ∆x are. If we let n → ∞ and ∆x → 0, the numerator approaches b f (x) dx, and we have a b (4.3)

Average of f (x) on (a, b) =

f (x) dx . b−a

In applications, it may happen that the average value of a given function is zero. Example 1. The average of sin x over any number of periods is zero. The average value of the velocity of a simple harmonic oscillator over any number of vibrations is zero. In such cases the average of the square of the function may be of interest. Example 2. If the alternating electric current ﬂowing through a wire is described by a sine function, the square root of the average of the sine squared is known as the root-mean-square or eﬀective value of the current, and is what you would measure with an a-c ammeter. In the example of the simple harmonic oscillator, the average kinetic energy (average of 12 mv 2 ) is 12 m times the average of v 2 .

Figure 4.2 Now you can, of course, ﬁnd the average value of sin2 x over a period (say −π to π) by evaluating the integral in (4.3). There is an easier way. Look at the graphs of cos2 x and sin2 x (Figure 4.2). You can probably convince yourself that the area

Section 4

Average Value of a Function

349

under them is the same for any quarter-period from 0 to π/2, π/2 to π, etc. (Also see Problems 2 and 13.) Then π π 2 (4.4) sin x dx = cos2 x dx. −π

−π

Similarly (for integral n = 0), π 2 (4.5) sin nx dx = −π

−π

cos2 nx dx.

But since sin2 nx + cos2 nx = 1, π (4.6) (sin2 nx + cos2 nx) dx = −π

−π

dx = 2π.

Using (4.5), we get

(4.7) −π

sin2 nx dx =

−π

cos2 nx dx = π.

Then using (4.3) we see that: The average value (over a period) of sin2 nx (4.8)

= the average value (over a period) of cos2 nx π π 1 1 1 π = . = sin2 nx dx = cos2 nx dx = 2π −π 2π −π 2π 2

We can say all this more simply in words. By (4.5), the average value of sin2 nx equals the average value of cos2 nx. The average value of sin2 nx + cos2 nx = 1 is 1. Therefore the average value of sin2 nx or of cos2 nx is 12 . (In each case the average value is taken over one or more periods.)

PROBLEMS, SECTION 4 1.

Show that if f (x) has period R a+pp, the average value of f is the same over any interval of length p. Hint: Write a f (x) dx as the sum of two integrals (a to p, and p to a + p) and make the change of variable x = t + p in the second integral. R π/2 R π/2 (a) Prove that 0 sin2 x dx = 0 cos2 x dx by making the change of variable x = 12 π − t in one of the integrals. (b)

Use the same method to prove that the averages of sin2 (nπx/l) and cos2 (nπx/l) are the same over a period.

In Problems 3 to 12, ﬁnd the average value of the function on the given interval. Use equation (4.8) if it applies. If an average value is zero, you may be able to decide this from a quick sketch which shows you that the areas above and below the x axis are the same. 3.

sin x + 2 sin 2x + 3 sin 3x on (0, 2π)

1 − e−x on (0, 1)

350

Fourier Series and Transforms

Chapter 7

" π" x on 0, 2 2

cos2

x − cos2 6x on

sin2 3x on (0, 4π)

10.

cos x on (0, 3π)

11.

sin x + sin2 x on (0, 2π)

12.

cos2

13.

Using (4.3) and equations similar to (4.5) to (4.7), show that

" 0,

b a

sin x on (0, π)

sin 2x on

„

π" 6

sin2 kx dx =

b a

π 7π , 6 6

7πx on 2

cos2 kx dx =

„ « 8 0, 7

1 (b − a) 2

if k(b − a) is an integral multiple of π, or if kb and ka are both integral multiples of π/2. Use the results of Problem 13 to evaluate the following integrals without calculation. Z 3π/2 „ « Z 4π/3 "x" 3x 14. (a) (b) cos2 dx dx sin2 2 2 −π/2 0 Z 2 Z 11/4 " πx " dx cos2 πx dx (b) sin2 15. (a) 3 −1/4 −1 Z 2 Z 2π/ω 2 16. (a) (b) cos2 2πt dt sin ωt dt 0

5. FOURIER COEFFICIENTS We want to expand a given periodic function in a series of sines and cosines. To simplify our formulas at ﬁrst, we start with functions of period 2π; that is, we shall expand periodic functions of period 2π in terms of the functions sin nx and cos nx. (Later we shall see how we can change the formulas to ﬁt a diﬀerent period—see Section 8.) The functions sin x and cos x have period 2π; so do sin nx and cos nx for any integral n since sin n(x + 2π) = sin(nx + 2nπ) = sin nx. (It is true that sin nx and cos nx also have shorter periods, namely 2π/n, but the fact that they repeat every 2π is what we are interested in here, for this makes them reasonable functions to use in an expansion of a function of period 2π.) Then, given a function f (x) of period 2π, we write

(5.1)

f (x) =

1 a0 + a1 cos x + a2 cos 2x + a3 cos 3x + · · · 2 + b1 sin x + b2 sin 2x + b3 sin 3x + · · · ,

and derive formulas for the coeﬃcients an and bn . (The reason for writing 12 a0 as the constant term will be clear later—it makes the formulas for the coeﬃcients simpler to remember—but you must not forget the 12 in the series!) In ﬁnding formulas for an and bn in (5.1) we need the following integrals:

Section 5

(5.2)

Fourier Coefficients

351

The average value of sin mx cos nx (over a period) π 1 = sin mx cos nx dx = 0. 2π −π The average value of sin mx sin nx (over a period)   π 0, m = n, 1 = sin mx sin nx dx = 12 , m = n = 0,  2π −π  0, m = n = 0. The average value of cos mx cos nx (over a period)   π 0, m = n, 1 = cos mx cos nx dx = 12 , m = n = 0,  2π −π  1, m = n = 0.

We have already shown that the average values of sin2 nx and cos2 nx are 12 . The last integral in (5.2) is the average value of 1 which is 1. To show that the other average values in (5.2) are zero (unless m = n = 0), we could use the trigonometry formulas for products like sin θ cos φ and then integrate. An easier way is to use the formulas for the sines and cosines in terms of complex exponentials. [See (7.1) or Chapter 2, Section 11.] We shall show this method for one integral π π imx e − e−imx einx + e−inx (5.3) · dx. sin mx cos nx dx = 2i 2 −π −π We can see the result without actually multiplying these out. All terms in the product are of the form eikx , where k is an integer = 0 (except for the crossproduct terms when n = m, and these cancel). We can show that the integral of each such term is zero: π π eikx eikπ − e−ikπ (5.4) =0 eikx dx = = ik −π ik −π because eikπ = e−ikπ = cos kπ (since sin kπ = 0). The other integrals in (5.2) may be evaluated similarly (Problem 12). We now show how to ﬁnd an and bn in (5.1). To ﬁnd a0 , we ﬁnd the average value on (−π, π) of each term of (5.1). π π π 1 1 a0 1 f (x) dx = dx + a1 cos x dx 2π −π 2 2π −π 2π −π (5.5) π π 1 1 cos 2x dx + · · · + b1 sin x dx + · · · . + a2 2π −π 2π −π By (5.2), all the integrals on the right-hand side of (5.5) are zero except the ﬁrst, because they are integrals of sin mx cos nx or of cos mx cos nx with n = 0 and m = 0 (that is, m = n). Then we have π π 1 a0 1 a0 f (x) dx = dx = , 2π −π 2 2π −π 2 1 π a0 = (5.6) f (x) dx. π −π

352

Fourier Series and Transforms

Chapter 7

Given f (x) to be expanded in a Fourier series, we can now evaluate a0 by calculating the integral in (5.6). To ﬁnd a1 , multiply both sides of (5.1) by cos x and again ﬁnd the average value of each term: π π π 1 1 a0 1 f (x) cos x dx = cos x dx + a1 cos2 x dx 2π −π 2 2π −π 2π −π π 1 cos 2x cos x dx + · · · + a2 (5.7) 2π −π π 1 sin x cos x dx + · · · . + b1 2π −π This time, by (5.2), all terms on the right are zero except the π π 1 1 f (x) cos x dx = a1 cos2 x dx = 2π −π 2π −π

a1 term and we have 1 a1 . 2

Solving for a1 , we have

1 π f (x) cos x dx. π −π The method should be clear by now, so we shall next ﬁnd a general formula for an . Multiply both sides of (5.1) by cos nx and ﬁnd the average value of each term: π π π 1 1 a0 1 f (x) cos nx dx = cos nx dx + a1 cos x cos nx dx 2π −π 2 2π −π 2π −π π 1 cos 2x cos nx dx + · · · + a2 (5.8) 2π −π π 1 sin x cos nx dx + · · · . + b1 2π −π a1 =

By (5.2), all terms on the right are zero except the an term and we have π π 1 1 1 f (x) cos nx dx = an cos2 nx dx = an . 2π −π 2π −π 2 Solving for an , we have (5.9)

an =

1 π

−π

f (x) cos nx dx.

Notice that this includes the n = 0 formula, but only because we called the constant term 12 a0 . To obtain a formula for bn , we multiply both sides of (5.1) by sin nx and take average values just as we did in deriving (5.9). We ﬁnd (Problem 13)

(5.10)

bn =

1 π

π −π

f (x) sin nx dx.

The formulas (5.9) and (5.10) will be used repeatedly in problems and should be memorized.

Section 5

Fourier Coefficients

353

Example 1. Expand in a Fourier series the function f (x) sketched in Figure 5.1. This function might represent, for example, a periodic voltage pulse. The terms of our Fourier series would then correspond to the diﬀerent a-c frequencies which are combined in this "square wave" voltage, and the magnitude of the Fourier coeﬃcients would indicate the relative importance of the various frequencies.

Figure 5.1 Note that f (x) is a function of period 2π. Often in problems you will be given f (x) for only one period; you should always sketch several periods so that you see clearly the periodic function you are expanding. For example, in this problem, instead of a sketch, you might have been given

(5.11)

f (x) =

0, −π < x < 0, 1, 0 < x < π.

It is then understood that f (x) is to be continued periodically with period 2π outside the interval (−π, π). We use equations (5.9) and (5.10) to ﬁnd an and bn :

π 0 · cos nx dx + 1 · cos nx dx −π −π 0 π  1 1   · sin nx = 0 for n = 0, 1 π π n cos nx dx = 0 =  π 0 1 · π = 1 for n = 0. π

an =

1 π

f (x) cos nx dx =

1 π

Thus a0 = 1, and all other an = 0. 0 π 1 f (x) sin nx dx = 0 · sin nx dx + 1 · sin nx dx π −π −π 0 π π 1 − cos nx 1 1 sin nx dx = = − [(−1)n − 1] = π 0 π n nπ 0   0 for even n, = 2  for odd n. nπ

bn =

1 π

Putting these values for the coeﬃcients into (5.1), we have (5.12)

f (x) =

2 1 + 2 π

sin x sin 3x sin 5x + + + ··· 1 3 5

354

Fourier Series and Transforms

Chapter 7

Example 2. We can now ﬁnd the Fourier series for some other functions without more evaluation of coeﬃcients. For example, consider

−1, −π < x < 0, (5.13) g(x) = 1, 0 < x < π. Sketch this and verify that g(x) = 2f (x)−1, where f (x) is the function in Example 1. Then from (5.12), the Fourier series for g(x) is 4 sin x sin 3x sin 5x (5.14) g(x) = + + + ··· . π 1 3 5 Similarly, verify that h(x) = f (x + π/2) is Fig. 5.1 shifted π/2 to the left (sketch it), and its Fourier series is (replace x in (5.12) by x + π/2) 1 2 cos x cos 3x cos 5x h(x) = + − + + ··· 2 π 1 3 5 since sin(x + π/2) = cos x, sin(x + 3π/2) = − cos 3x, etc.

PROBLEMS, SECTION 5 In each of the following problems you are given a function on the interval −π < x < π. Sketch several periods of the corresponding periodic function of period 2π. Expand the periodic function in a sine-cosine Fourier series. ( 1, −π < x < 0, 1. f (x) = 0, 0 < x < π. In this case the sketch is:

„ « 1 2 sin x sin 3x sin 5x − + + ··· . 2 π 1 3 5 Can you use the ideas of Example 2 to ﬁnd this result without computation? 8 > 0, −π < x < 0, > < π 0 π > :0, < x < π. 2 „ « 1 cos x cos 3x cos 5x 1 − + ··· Answer : f (x) = + 4 π 1 3 5 „ « 2 sin 2x sin 3x sin 5x 1 sin x + + + ··· . + π 1 2 3 5 8 π

< π −1, 0 π > : 1, < x < π. 2 8 0, and f (x) = −1 for every x for which sin(1/x) < 0, this function would have an inﬁnite number of discontinuities. Now most functions in applied work do not behave like these, but will satisfy the Dirichlet conditions. Finally, if y = 1/x, we ﬁnd 1 π π 1 1 = ∞, dx = 2 dx = 2 ln x x −π 0 x 0 so the function 1/x is ruled out by the Dirichlet conditions. On the other hand, if

f (x) = 1/ |x|, then π π √ π √ 1 dx

dx = 2 √ = 4 x = 4 π, x |x| −π 0 0

so the periodic function which is 1/ |x| between −π and π can be expanded in a π Fourier series. In most problems it is not necessary to ﬁnd the value of −π |f (x)| dx; let us see why. If f (x) is bounded (that is, all its values lie between ±M for some positive constant M ), then π π |f (x)|dx ≤ M dx = M · 2π −π

−π

Figure 6.1

Section 6

Dirichlet Conditions

357

and so is ﬁnite. Thus you can simply verify that the function you are considering is bounded (if it is) instead of evaluating the integral. Figure 6.1 is an (exaggerated!) example of a function which satisﬁes the Dirichlet conditions on (−π, π). We see, then, that rather than testing Fourier series for convergence as we did power series, we instead check the given function; if it satisﬁes the Dirichlet conditions we are then sure that the Fourier series, when we get it, will converge to the function at points of continuity and to the midpoint of a jump. For example, consider the function f (x) in Figure 5.1. Between −π and π the given f (x) is single-valued (one value for each x), bounded (between +1 and 0), has a ﬁnite number of maximum and minimum values (one of each), and a ﬁnite number of discontinuities (at −π, 0, and π), and therefore satisﬁes the Dirichlet conditions. Dirichlet's theorem then assures us that the series (5.12) actually converges to the function f (x) in Figure 5.1 at all points except x = nπ where it converges to 1/2. In Chapter 3, Sections 10 and 14, we deﬁned a basis for ordinary 3-dimensional space as a set of linearly independent vectors (like i, j , k) in terms of which we could write every vector in the space. We then extended this idea to an n-dimensional space and to a space in which the basis vectors were functions. By analogy, we say here that the functions sin nx, cos nx are a set of basis functions for the (inﬁnite dimensional) space of all functions (satisfying Dirichlet conditions) deﬁned on (−π, π) or any 2π interval. (Also see "completeness relation" in Section 11. And for more examples of such sets of basis functions, see Chapters 12 and 13.)

Figure 6.2 It is interesting to see a graph of the sum of a large number of terms of a Fourier series. Figure 6.2 shows several diﬀerent partial sums of the series in (5.12) for the function in Figure 5.1. We can see that the sum of many terms of the series closely approximates the function away from the jumps and goes through the midpoint of the jump. The "overshoot" on either side of a jump bears comment. It does not disappear as we add more and more terms of the series. It simply becomes a narrower and narrower spike of height equal to about 9% of the jump. This fact is called the Gibbs phenomenon.

358

Fourier Series and Transforms

Chapter 7

We ought to say here that the converse of Dirichlet's theorem is not true—if a function fails to satisfy the Dirichlet conditions, it still may be expandable in a Fourier series. The periodic function which is sin(1/x) on (−π, π) is an example of such a function. However, such functions are rarely met with in practice. Example. Fourier series can be useful in summing numerical series. Look at Problem 5.2 (sketch it). From Dirichlet's theorem, we see that the Fourier series converges to 1/2 at x = 0. Let x = 0 in the Fourier series to get 1 1 1 1 1 1 = + 1 − + − + ··· 2 4 π 3 5 7 since sin 0 = 0 and cos 0 = 1. Thus 1 1 1 π 1 − + − + ··· = . 3 5 7 4

PROBLEMS, SECTION 6 1 to 11. For each of the periodic functions in Problems 5.1 to 5.11, use Dirichlet's theorem to ﬁnd the value to which the Fourier series converges at x = 0, ±π/2, ±π, ±2π. 12.

Use a computer to produce graphs like Fig. 6.2 showing Fourier series approximations to the functions in Problems 5.1 to 5.3, and 5.7 to 5.11. You might like to set up a computer animation showing the Gibbs phenomenon as the number of terms increases.

13.

Repeat the example using the same Fourier series but at x = π/2. P Use Problem 5.7 to show that odd n 1/n2 = π 2 /8. Try x = 0, and x = π. What do you ﬁnd at x = π/2? 1 1 1 1 + 2 + 2 + ··· = . Use Problem 5.11 to show that 2 2 −1 4 −1 6 −1 2

14. 15.

7. COMPLEX FORM OF FOURIER SERIES Recall that real sines and cosines can be expressed in terms of complex exponentials by the formulas [Chapter 2, (11.3)] (7.1)

sin nx =

einx − e−inx , 2i

cos nx =

einx + e−inx . 2

If we substitute equations (7.1) into a Fourier series like (5.12), we get a series of terms of the forms einx and e−inx . This is the complex form of a Fourier series. We can also ﬁnd the complex form directly; this is often easier than ﬁnding the sinecosine form. We can then, if we like, work back the other way and [using Euler's formula, Chapter 2, (9.3)] get the sine-cosine form from the exponential form. We want to see how to ﬁnd the coeﬃcients in the complex form directly. We assume a series (7.2)

f (x) = c0 + c1 eix + c−1 e−ix + c2 e2ix + c−2 e−2ix + · · · =

n=+∞ n=−∞

cn einx

Section 7

Complex Form of Fourier Series

359

and try to ﬁnd the cn 's. From (5.4) we know that the average value of eikx on (−π, π) is zero when k is an integer not equal to zero. To ﬁnd c0 , we ﬁnd the average values of the terms in (7.2): (7.3)

1 2π

1 f (x) dx = c0 · 2π −π

−π

dx +

average values of terms of the form eikx with k an integer = 0

= c0 + 0,

c0 =

(7.4)

1 2π

−π

f (x) dx.

To ﬁnd cn , we multiply (7.2) by e−inx and again ﬁnd the average value of each term. Note the minus sign in the exponent. In ﬁnding an , the coeﬃcient of cos nx in equation (5.1), we multiplied by cos nx; but here in ﬁnding the coeﬃcient cn of einx , we multiply by the complex conjugate e−inx . π π π 1 1 1 (7.5) f (x)e−inx dx = c0 e−inx dx + c1 e−inx eix dx 2π −π 2π −π 2π −π π 1 + c−1 e−inx e−ix dx + · · · . 2π −π The terms on the right are the average values of exponentials eikx , where the k values are integers. Therefore all these terms are zero except the one where k = 0; this is the term containing cn . We then have π π π 1 1 1 f (x)e−inx dx = cn · e−inx einx dx = cn · dx = cn , 2π −π 2π −π 2π −π

(7.6)

cn =

1 2π

−π

f (x)e−inx dx.

Note that this formula contains the one for c0 (no 12 to worry about here!). Also, since (7.6) is valid for negative as well as positive n, you have only one formula to memorize here! You can easily show that for real f (x), c−n = c¯n (Problem 12). Example. Let us expand the same f (x) we did before, namely (5.11). We have from (7.6) 1 cn = 2π (7.7)

−π

−inx

1 · 0 · dx + 2π

π 1 1 e−inx (e−inπ = = 2π −in 0 −2πin π 1 1 c0 = dx = . 2π 0 2

e−inx · 1 · dx

1 , n odd, − 1) = πin 0, n even = 0,

360

Fourier Series and Transforms

Chapter 7

Then (7.8)

∞

eix e3ix e5ix + + + ··· f (x) = cn e 1 3 5 −∞ 1 e−ix e−3ix e−5ix + + + + ··· . iπ −1 −3 −5 inx

1 1 = + 2 iπ

It is interesting to verify that this is the same as the sine-cosine series we had before. We could use Euler's formula for each exponential, but it is easier to collect terms like this: 1 2 eix − e−ix 1 e3ix − e−3ix f (x) = + (7.9) + + ··· 2 π 2i 3 2i 2 1 1 sin x + sin 3x + · · · = + 2 π 3 which is the same as (5.12).

PROBLEMS, SECTION 7 1 to 11. Expand the same functions as in Problems 5.1 to 5.11 in Fourier series of complex exponentials einx on the interval (−π, π) and verify in each case that the answer is equivalent to the one found in Section 5. 12. 13.

Show that if a real f (x) is expanded in a complex exponential Fourier series P ∞ inx , then c−n = c¯n , where c¯n means the complex conjugate of cn . −∞ cn e P P∞ P∞ inx 1 , use Euler's formula If f (x) = 2 a0 + ∞ 1 an cos nx + 1 bn sin nx = −∞ cn e to find an and bn in terms of cn and c−n , and to find cn and c−n in terms of an and bn .

8. OTHER INTERVALS The functions sin nx and cos nx and einx have period 2π. We have been considering (−π, π) as the basic interval of length 2π. Given f (x) on (−π, π), we have ﬁrst sketched it for this interval, and then repeated our sketch for the intervals (π, 3π), (3π, 5π), (−3π, −π), etc. There are (inﬁnitely) many other intervals of length 2π, any one of which could serve as the basic interval. If we are given f (x) on any interval of length 2π, we can sketch f (x) for that given basic interval and then repeat it periodically with period 2π. We then want to expand the periodic function so obtained, in a Fourier series. Recall that in evaluating the Fourier coeﬃcients, we used average values over a period. The formulas for the coeﬃcients are then unchanged (except for the limits of integration) if we use other basic intervals of length 2π. In practice, the intervals (−π, π) and (0, 2π) are the ones most frequently used. For f (x) deﬁned on (0, 2π) and then repeated periodically, (5.9), (5.10), and (7.6) would read an = (8.1)

1 π

2π

f (x) cos nx dx, cn =

1 2π

2π

bn =

1 π

f (x)e−inx dx,

2π

f (x) sin nx dx,

Section 8

Other Intervals

361

and (5.1) and (7.2) are unchanged.

Figure 8.1 Notice how important it is to sketch a graph to see clearly what function you are talking about. For example, given f (x) = x2 on (−π, π), the extended function of period 2π is shown in Figure 8.1. But given f (x) = x2 on (0, 2π), the extended periodic function is diﬀerent (see Figure 8.2). On the other hand, given f (x) as in our example (5.11), or given f (x) = 1 on (0, π), f (x) = 0 on (π, 2π), you can easily verify by sketching that the graphs of the extended functions are identical. In this case you would get the same answer from either formulas (5.9), (5.10), and (7.6) or formulas (8.1).

Figure 8.2 Physics problems do not always come to us with intervals of length 2π. Fortunately, it is easy now to change to other intervals. Consider intervals of length 2l, say (−l, l) or (0, 2l). The function sin(nπx/l) has period 2l, since sin

nπx nπ nπx (x + 2l) = sin + 2nπ = sin . l l l

Similarly, cos(nπx/l) and einπx/l have period 2l. Equations (5.1) and (7.2) are now replaced by

a0 πx 2πx + a1 cos + a2 cos + ··· 2 l l πx 2πx + b1 sin + b2 sin + ··· l l ∞ a0 nπx nπx = , an cos + + bn sin 2 l l 1

f (x) =

(8.2)

f (x) =

∞ −∞

cn einπx/l .

362

Fourier Series and Transforms

Chapter 7

We have already found the average values over a period of all the functions we need to use to ﬁnd an , bn , and cn here. The period is now of length 2l, say −l to l, so in ﬁnding average values of the terms we replace 1 2π

by −π

1 2l

−l

Recall that the average of the square of either the sine or the cosine over a period is 12 and the average of einπx/l · e−inπx/l = 1 is 1. Then the formulas (5.9), (5.10), and (7.6) for the coeﬃcients become

an =

1 l

1 bn = l

(8.3)

cn =

l −l l −l l

f (x) cos

nπx dx, l

f (x) sin

nπx dx, l

1 2l

−l

f (x)e−inπx/l dx.

For the basic interval (0, 2l) we need only change the integration limits to 0 to 2l. The Dirichlet theorem just needs π replaced by l in order to apply here.

Example. Given f (x) =

0, 0 < x < l, 1, l < x < 2l.

Expand f (x) in an exponential Fourier series of period 2l. [The function is given by the same formulas as (5.11) but on a diﬀerent interval.]

Figure 8.3 First we sketch a graph of f (x) repeated with period 2l (Figure 8.3). By equations (8.3), we ﬁnd cn =

(8.4)

1 2l

0 · dx +

1 2l

1 · e−inπx/l dx

2l 1 1 e−inπx/l (e−2inπ − e−inπ ) = = 2l −inπ/l l −2inπ   0, even n = 0, 1 (1 − einπ ) = = 1 − −2inπ , odd n, inπ 2l 1 1 c0 = dx = . 2l l 2

Section 8

Other Intervals

363

Then, 1 1 1 1 − (eiπx/l − e−iπx/l + e3iπx/l − e−3iπx/l + · · · ) 2 iπ 3 3 1 2 πx 1 3πx = − sin + sin + ··· . 2 π l 3 l

(8.5)

f (x) =

PROBLEMS, SECTION 8 1 to 9. In Problems 5.1 to 5.9, deﬁne each function by the formulas given but on the interval (−l, l). [That is, replace ±π by ±l and ±π/2 by ±l/2.] Expand each function in a sine-cosine Fourier series and in a complex exponential Fourier series. 10.

(a)

Sketch several periods of the function f (x) of period 2π which is equal to x on −π < x < π. Expand f (x) in a sine-cosine Fourier series and in a complex exponential Fourier series. Answer: f (x) = 2(sin x − 12 sin 2x + 13 sin 3x − 14 sin 4x + · · · ).

(b)

Sketch several periods of the function f (x) of period 2π which is equal to x on 0 < x < 2π. Expand f (x) in a sine-cosine Fourier series and in a complex exponential Fourier series. Note that this is not the same function or the same series as (a). ∞ X sin nx Answer: f (x) = π − 2 . n 1

In Problems 11 to 14, parts (a) and (b), you are given in each case one period of a function. Sketch several periods of the function and expand it in a sine-cosine Fourier series, and in a complex exponential Fourier series. 11.

(a) f (x) = x2 , −π < x < π;

(b) f (x) = x2 , 0 < x < 2π.

12.

(a) f (x) = ex , −π < x < π;

(b) f (x) = ex , 0 < x < 2π.

13.

(a) f (x) = 2 − x, −2 < x < 2; − 12

(b) f (x) = 2 − x, 0 < x < 4.

1 ; 2

14.

(a) f (x) = sin πx,

15.

Sketch (or computer plot) each of the following functions on the interval (−1, 1) and expand it in a complex exponential series and in a sine-cosine series. (a)

(b)

(b) f (x) = sin πx, 0 < x < 1.

−1 < x < 1. ∞ sin nπx 2X . Answer: f (x) = (−1)n+1 π 1 n ( 1 + 2x, −1 < x < 0, f (x) = 1 − 2x, 0 < x < 1. f (x) = x,

Answer: f (x) = ( (c)

1. 0 Notice that we have used the fact that the Fourier integral represents the midpoint of the jump in f (x) at |x| = 1. If we let x = 0, we get ∞ sin α π (12.19) dα = . α 2 0

Section 12

Fourier Transforms

383

We could have done this problem by observing that f (x) is an even function and so can be represented by a cosine transform. The ﬁnal results (12.17) to (12.19) would be just the same (Problem 2). In Section 9, we sometimes started with a function deﬁned only for x > 0 and extended it to be even or odd so that we could represent it by a cosine series or by a sine series. Similarly, for Fourier transforms, we can represent a function deﬁned for x > 0 by either a Fourier cosine integral (by deﬁning it for x < 0 so that it is even), or by a Fourier sine integral (by deﬁning it for x < 0 so that it is odd). (See Problem 2 and Problems 27 to 30.) Parseval's Theorem for Fourier Integrals Recall (Section 11) that Parsel ∞ inπx/l val's theorem for a Fourier series f (x) = relates −l |f |2 dx and −∞ cn e ∞ 2 −∞ |cn | . In physical applications (see Section 11), Parseval's theorem says that the total energy (say in a sound wave, or in an electrical signal) is equal to the sum of the energies associated with the various harmonics. Remember that a Fourier integral represents a continuous spectrum ∞corresponds ∞ of frequencies and that g(α) to cn . Then we might expect that −∞ |cn |2 would be replaced by −∞ |g(α)|2 dα (that is, a "sum" over a continuous ∞ rather than a∞discrete spectrum) and that Parseval's theorem would relate −∞ |f |2 dx and −∞ |g|2 dα. Let us try to ﬁnd the relation. We will ﬁrst ﬁnd a generalized form of Parseval's theorem involving two functions f1 (x), f2 (x) and their Fourier transforms g1 (α), g2 (α). Let g¯1 (α) be the complex conjugate of g1 (α); from (12.1), we have ∞ 1 (12.20) g¯1 (α) = f¯1 (x)eiαx dx. 2π −∞ We now multiply (12.20) by g2 (α) and integrate with respect to α: ∞ ∞ ∞ 1 g¯1 (α)g2 (α) dα = f¯1 (x)eiαx dx g2 (α)dα. (12.21) 2π −∞ −∞ −∞ Let us rearrange (12.21) so that we integrate ﬁrst with respect to α. [This is justiﬁed assuming that the absolute values of the functions f1 and f2 are integrable on (−∞, ∞).] ∞ ∞ ∞ 1 1 iαx ¯ (12.22) g2 (α)e dα = f1 (x) dx f¯1 (x)f2 (x) dx 2π −∞ 2π −∞ −∞ by (12.2). Thus (12.23)

∞

1 g¯1 (α)g2 (α) dα = 2π −∞

∞

−∞

f¯1 (x)f2 (x) dx.

(Compare this with the corresponding Fourier series theorem in Problem 11.10.) If we set f1 = f2 = f and g1 = g2 = g, we get Parseval's theorem: ∞ ∞ 1 (12.24) |g(α)|2 dα = |f (x)|2 dx. 2π −∞ −∞

384

Fourier Series and Transforms

Chapter 7

PROBLEMS, SECTION 12 1.

Following a method similar to that used in obtaining equations (12.11) to (12.14), show that if f (x) is even, then g(α) is even too. Show that in this case f (x) and g(α) can be written as Fourier cosine transforms and obtain (12.15).

Do Example 1 above by using a cosine transform (12.15). Obtain (12.17); for x > 0, the 0 to ∞ integral represents the function ( 1, 0 < x < 1, f (x) = 0, x > 1. Represent this function also by a Fourier sine integral (see the paragraph just before Parseval's theorem).

In Problems 3 to 12, ﬁnd the exponential Fourier transform of the given f (x) and write f (x) as a Fourier integral [that is, ﬁnd g(α) in equation (12.2) and substitute your result into the ﬁrst integral in equation (12.2)].

8 >

: 0, (

f (x) =

1, 0,

( 7.

f (x) =

−π < x < 0 0 1. 0

23.

Using Problem 17, show that Z

0 ∞

Z 0

24.

25.

∞

1 − cos πα sin α dα = α 1 − cos πα sin πα dα = α

π , 2 π . 4

(a)

Find the exponential Fourier transform of f (x) = e−|x| and write the inverse transform. You should ﬁnd Z ∞ π cos αx dα = e−|x| . 2 +1 α 2 0

(b)

Obtain the result in (a) by using the Fourier cosine transform equations (12.15).

(c)

Find the Fourier cosine transform of f (x) = 1/(1 + x2 ). Hint: Write your result in (b) with x and α interchanged.

(a)

Represent as an exponential Fourier transform the function ( sin x, 0 < x < π, f (x) = 0, otherwise. Hint: Write sin x in complex exponential form.

(b)

26.

Show that your result can be written as Z 1 ∞ cos αx + cos α(x − π) f (x) = dα. π 0 1 − α2

Using Problem 15, show that Z

∞ 0

1 − cos α π dα = . α2 2

Represent each of the following functions (a) by a Fourier cosine integral; (b) by a Fourier sine integral. Hint: See the discussion just before Parseval's theorem. ( ( 1, 0 < x < π/2 1, 2 < x < 4 27. f (x) = 28. f (x) = 0, x > π/2 0, 0 < x < 2, x > 4

386

29.

Fourier Series and Transforms 8 >

: 0,

Chapter 7 (

0 0. Hint: See Example 3. Problems 17 and 18 are physical problems leading to this diﬀerential equation.

17.

The speed of a particle on the x axis, x ≥ 0, is always numerically equal to the square root of its displacement x. If x = 0 when t = 0, ﬁnd x as a function of t. Show that the given conditions are satisﬁed if the particle remains at the origin for any arbitrary length of time t0 and then moves away; ﬁnd x for t > t0 for this case.

18.

Let the rate of growth dN/dt of a colony of bacteria be proportional to the square root of the number present at any time. If there are no bacteria present at t = 0, how many are there at a later time? Observe here that the routine separation of variables solution gives an unreasonable answer, and the correct answer, N ≡ 0, is not obtainable from the routine solution. (You have to think, not just follow rules!)

Section 2 19.

20.

Separable Equations

399

(a)

Consider a light beam traveling downward into the ocean. As the beam progresses, it is partially absorbed and its intensity decreases. The rate at which the intensity is decreasing with depth at any point is proportional to the intensity at that depth. The proportionality constant µ is called the linear absorption coeﬃcient. Show that if the intensity at the surface is I0 , the intensity at a distance s below the surface is I = I0 e−µs . The linear absorption coeﬃcient for water is of the order of 10−2 ft−1 (the exact value depending on the wavelength of the light and the impurities in the water). For this value of µ, ﬁnd the intensity as a fraction of the surface intensity at a depth of 1 ft, 50 ft, 500 ft, 1 mile. When the intensity of a light beam has been reduced to half its surface intensity (I = 12 I0 ), the distance the light has penetrated into the absorbing substance is called the half-value thickness of the substance. Find the half-value thickness in terms of µ. Find the half-value thickness for water for the value of µ given above.

(b)

Note that the diﬀerential equation and its solution in this problem are mathematically the same as those in Example 1, although the physical problem and the terminology are diﬀerent. In discussing radioactive decay, we call λ the decay constant, and we deﬁne the half-life T of a radioactive substance as the time when N = 12 N0 (compare half-value thickness). Find the relation between λ and T .

Consider the following special cases of the simple series circuit [Figure 1.1 and equation (1.2)]. (a)

RC circuit (that is, L = 0) with V = 0; ﬁnd q as a function of t if q0 is the charge on the capacitor at t = 0.

(b)

RL circuit (that is, no capacitor; this means 1/C = 0) with V = 0; ﬁnd I(t) given I = I0 at t = 0.

(c)

Again note that these are the same diﬀerential equations as in Problem 19 and Example 1. The terminology is again diﬀerent; we deﬁne the time constant τ for a circuit as the time required for the charge (or current) to fall to 1/e times its initial value. Find the time constant for the circuits (a) and (b). If the same equation, say y = y0 e−at , represented either radioactive decay or light absorption or an RC or RL circuit, what would be the relations among the half-life, the half-value thickness, and the time constant?

21.

Suppose the rate at which bacteria in a culture grow is proportional to the number present at any time. Write and solve the diﬀerential equation for the number N of bacteria as a function of time t if there are N0 bacteria when t = 0. Again note that (except for a change of sign) this is the same diﬀerential equation and solution as in the preceding problems.

22.

Solve the equation for the rate of growth of bacteria if the rate of increase is proportional to the number present but the population is being reduced at a constant rate by the removal of bacteria for experimental purposes.

23.

Heat is escaping at a constant rate [dQ/dt in (1.1) is constant] through the walls of a long cylindrical pipe. Find the temperature T at a distance r from the axis of the cylinder if the inside wall has radius r = 1 and temperature T = 100 and the outside wall has r = 2 and T = 0.

24.

Do Problem 23 for a spherical cavity containing a constant source of heat. Use the same radii and temperatures as in Problem 23.

400

Ordinary Differential Equations

Chapter 8

25.

Show that the thickness of the ice on a lake increases with the square root of the time in cold weather, making the following simplifying assumptions. Let the water temperature be a constant 10◦ C, the air temperature a constant −10◦ , and assume that at any given time the ice forms a slab of uniform thickness x. The rate of formation of ice is proportional to the rate at which heat is transferred from the water to the air. Let t = 0 when x = 0.

26.

An object of mass m falls from rest under gravity subject to an air resistance proportional to its speed. Taking the y axis as positive down, show that the diﬀerential equation of motion is m(dv/dt) = mg − kv, where k is a positive constant. Find v as a function of t, and ﬁnd the limiting value of v as t tends to inﬁnity; this limit is called the terminal speed. Can you ﬁnd the terminal speed directly from the differential equation without solving it? Hint: What is dv/dt after v has reached an essentially constant value? Consider the following speciﬁc examples of this problem. (a)

A person drops from an airplane with a parachute. Find a reasonable value of k.

(b)

In the Millikan oil drop experiment to measure the charge of an electron, tiny electrically charged drops of oil fall through air under gravity or rise under the combination of gravity and an electric ﬁeld. Measurements can be made only after they have reached terminal speed. Find a formula for the time required for a drop starting at rest to reach 99% of its terminal speed.

27.

According to Newton's law of cooling, the rate at which the temperature of an object changes is proportional to the diﬀerence between its temperature and that of its surroundings. A cup of coﬀee at 200◦ in a room of temperature 70◦ is stirred continually and reaches 100◦ after 10 min. At what time was it at 120◦ ?

28.

A glass of milk at 38◦ is removed from the refrigerator and left in a room at temperature 70◦ . If the temperature of the milk is 54◦ after 10 min, what will its temperature be in half an hour? (See Problem 27.)

29.

A solution containing 90% by volume of alcohol (in water) runs at 1 gal/min into a 100-gal tank of pure water where it is continually mixed. The mixture is withdrawn at the rate of 1 gal/min. When will it start coming out 50% alcohol?

30.

If P dollars are left in the bank at interest I percent per year compounded continuously, ﬁnd the amount A at time t. Hint: Find dA, the interest on A dollars for time dt.

Find the orthogonal trajectories of each of the following families of curves. In each case, sketch or computer plot several of the given curves and several of their orthogonal trajectories. Be careful to eliminate the constant from y for the original curves; this constant takes diﬀerent values for diﬀerent curves of the original family, and you want an expression for y which is valid for all curves of the family crossed by the orthogonal trajectory you are trying to ﬁnd. See equations (2.10) to (2.12). 31.

x2 + y 2 = const.

32.

y = kx2 .

33.

y = kxn . (Assume that n is a given number; the diﬀerent curves of the family have diﬀerent values of k.)

34.

xy = k.

35.

(y − 1)2 = x2 + k.

Section 3

Linear First-Order Equations

401

3. LINEAR FIRST-ORDER EQUATIONS A ﬁrst-order equation contains y but no higher derivatives. A linear ﬁrst-order equation means one which can be written in the form y + P y = Q,

(3.1)

where P and Q are functions of x. To see how to solve (3.1), let us ﬁrst consider the simpler equation when Q = 0. The equation y + P y = 0

(3.2)

dy = −P y dx

is separable. As in Section 2, we obtain the solution as follows: dy = −P dx, y ln y = − P dx + C,

(3.3)

y = e−

P dx+C

= Ae−

P dx

where A = eC . Let us simplify the notation for future use; we write (3.4) I = P dx. Then dI =P dx

(3.5)

and we can write (3.3) as y = Ae−I or yeI = A.

(3.6)

We can now see how to solve (3.1). If we diﬀerentiate (3.6) with respect to x and use (3.5), we get (3.7)

dI d (yeI ) = y eI + yeI = y eI + yeI P = eI (y + P y), dx dx

which is the left-hand side of (3.1) multiplied by eI . (We call eI an integrating factor—see Section 4.) Thus, we can write (3.1) (times eI ) as d (yeI ) = eI (y + P y) = QeI . dx

(3.8)

Since Q and eI are functions of x only, we can now integrate both sides of (3.8) with respect to x to get I

ye = (3.9)

  or 

Qe dx + c,   y = e−I QeI dx + ce−I ,

where I =

P dx.

402

Ordinary Differential Equations

Chapter 8

This is the general solution of (3.1). Note that it contains one arbitrary constant as expected for a ﬁrst-order linear equation. The term ce−I is a solution of equation (3.2); the ﬁrst term in y is one particular solution of (3.1). Borrowing notation which we shall use in Section 6, let's call the term ce−I = yc and the particular solution = yp. Then yp + yc is a solution of (3.1) for any value of c. Also note that yp eI = QeI dx is an indeﬁnite integral which, as we know (see Chapter 5, Section 1), has inﬁnitely many answers diﬀering from each other by constants of integration. Thus the particular solution obtained by you and by your computer may not be the same (see Example 1 and Problems). Example 1. Solve (1 + x2 )y + 6xy = 2x. In the form of (3.1), this is y +

6x 2x y= . 2 1+x 1 + x2

From (3.9), we get 6x dx = 3 ln(1 + x2 ) I= 1 + x2 2

eI = e3 ln(1+x ) = (1 + x2 )3 2x 2 3 yeI = (1 + x ) dx = 2x(1 + x2 )2 dx = 13 (1 + x2 )3 + c 1 + x2 c . y = 13 + (1 + x2 )3 A computer gives the answer y=

3x2 + 3x4 + x6 A + . 2 3 3(1 + x ) (1 + x2 )3

Let us show that the answers agree (see comments just after (3.9)). If we put A = c + 1/3 in the computer solution above and combine terms, we get y=

3x2 + 3x4 + x6 + 1 c (1 + x2 )3 c + = + , 2 3 2 3 2 3 3(1 + x ) (1 + x ) 3(1 + x ) (1 + x2 )3

which, after cancelling, is our solution above. We see that the computer program chose a more complicated particular solution yp which diﬀered from our yp by a multiple of yc = 1/(1 + x2 )3 . Always be aware of the possibility of simplifying a particular solution by adding a multiple of yc . Example 2. Radium decays to radon which decays to polonium. If at t = 0, a sample is pure radium, how much radon does it contain at time t? Let

N0 = number of radium atoms at t = 0, N1 = number of radium atoms at time t,

N2 = number of radon atoms at time t, λ1 and λ2 = decay constants for Ra and Rn. As in Section 2, we have for radium dN1 = −λ1 N1 , dt

N1 = N0 e−λ1 t .

Section 3

Linear First-Order Equations

403

The rate at which radon is being created is the rate at which radium is decaying, namely λ1 N1 or λ1 N0 e−λ1 t . But the radon is also decaying at the rate λ2 N2 . Hence, we have dN2 = λ1 N1 − λ2 N2 , dt

dN2 + λ2 N2 = λ1 N1 = λ1 N0 e−λ1 t . dt This equation is of the form (3.1), and we solve it as follows: I = λ2 dt = λ2 t, (3.10) N2 eλ2 t = λ1 N0 e−λ1 t eλ2 t dt + c λ1 N0 (λ2 −λ1 )t e + c, = λ1 N0 e(λ2 −λ1 )t dt + c = λ2 − λ1 if λ1 = λ2 . (For the case λ1 = λ2 , see Problem 19.) Since N2 = 0 at t = 0 (we assumed pure Ra at t = 0), we must have 0=

λ1 N0 +c λ2 − λ1

c=−

λ1 N0 . λ2 − λ1

Substituting this value of c into (3.10) and solving for N2 , we get N2 =

λ1 N0 (e−λ1 t − e−λ2 t ). λ2 − λ1

PROBLEMS, SECTION 3 Using (3.9), ﬁnd the general solution of each of the following diﬀerential equations. Compare a computer solution and, if necessary, reconcile it with yours. Hint: See comments just after (3.9), and Example 1. 1.

y + y = ex

x2 y + 3xy = 1

dy + (2xy − xe−x ) dx = 0

2xy + y = 2x5/2

y cos x + y = cos2 x

p p y + y/ x2 + 1 = 1/(x + x2 + 1 )

(1 + ex )y + 2ex y = (1 + ex )ex

(x ln x)y + y = ln x

(1 − x2 )y = xy + 2x

10.

y + y tanh x = 2ex

11.

y + y cos x = sin 2x

12.

dx = cos y − x tan y dy

13.

dx + (x − ey ) dy = 0

14.

dy 3y = 2/3 dx 3y −x

1 − x2

Hint: For Problems 12 to 14, solve for x in terms of y.

404

Ordinary Differential Equations

Chapter 8

15.

Water with a small salt content (5 lb in 1000 gal) is ﬂowing into a very salty lake at the rate of 4 · 105 gal per hr. The salty water is ﬂowing out at the rate of 105 gal per hr. If at some time (say t = 0) the volume of the lake is 109 gal, and its salt content is 107 lb, ﬁnd the salt content at time t. Assume that the salt is mixed uniformly with the water in the lake at all times.

16.

Find the general solution of (1.2) for an RL circuit (1/C = 0) with V = V0 cos ωt (ω = const.).

17.

Find the general solution of (1.3) for an RC circuit (L = 0), with V = V0 cos ωt.

18.

Do Problems 16 and 17 using V = V0 eiωt , and ﬁnd the solutions for 16 and 17 by taking real parts of the complex solutions. R R If λ1 = λ2 = λ in (3.10), then e(λ2 −λ1 )t dt = dt. Find N2 for this case.

19. 20.

Extend the radioactive decay problem (Example 2) one more stage, that is, let λ3 be the decay constant of polonium and ﬁnd how much polonium there is at time t.

21.

Generalize Problem 20 to any number of stages.

22.

Find the orthogonal trajectories of the family of curves x = y + 1 + cey . (See the instructions above Problem 2.31.)

23.

Find the orthogonal trajectories of the family of curves y = −ex erf x + Cex . Hint: See Chapter 11, equation (9.1) for deﬁnition of erf x, and Chapter 4, Section 12, for diﬀerentiation of an integral. Solve for x in terms of y.

4. OTHER METHODS FOR FIRST-ORDER EQUATIONS Separable equations and linear equations are the two types of ﬁrst-order equations you are most apt to meet in elementary applications. However, we shall also mention brieﬂy a few other methods of solving special ﬁrst-order equations. You will ﬁnd more details in the problems and in most diﬀerential equations books. The Bernoulli Equation The diﬀerential equation (4.1)

y + P y = Qy n ,

where P and Q are functions of x, is known as the Bernoulli equation. It is not linear but is easily reduced to a linear equation. We make the change of variable (4.2)

z = y 1−n .

Then (4.3)

z = (1 − n)y −n y .

Next multiply (4.1) by (1 − n)y −n and make the substitutions (4.2) and (4.3) to get (1 − n)y −n y + (1 − n)P y 1−n = (1 − n)Q, = (1 − n)Q. z + (1 − n)P z This is now a ﬁrst-order linear equation which we can solve as we did the linear equations above. (See Section 7 for an example of a physical problem in which we need to solve a Bernoulli equation.)

Section 4

Other Methods for First-Order Equations

405

Exact Equations; Integrating Factors Recall from Chapter 6, Section 8, that the expression P (x, y) dx+ Q(x, y) dy is an exact diﬀerential [that is, the diﬀerential of a function F (x, y)] if ∂P ∂Q = . ∂y ∂x

(4.4)

If (4.4) holds, then there is a function F (x, y) such that (4.5)

P =

∂F , ∂x

∂F , ∂y

P dx + Q dy = dF.

In Chapter 6 we considered ways of ﬁnding F when (4.4) holds. The diﬀerential equation (4.6)

P dx + Q dy = 0

or y = −

P Q

is called exact if (4.4) holds. In this case P dx + Q dy = dF = 0, and the solution of (4.6) is then (4.7)

F (x, y) = const.

We ﬁnd F as in Chapter 6, Section 8. An equation which is not exact may often be made exact by multiplying it by an appropriate factor. Example 1. The equation (4.8)

x dy − y dx = 0

is not exact [by (4.4)]. But the equation (4.9)

y y 1 x dy − y dx dy − = 0, = dx = d x2 x x2 x

obtained by dividing (4.8) by x2 , is exact [use (4.4)], and its solution is

(4.10)

y = const. x

We multiplied (4.8) by 1/x2 to make the equation exact; the factor 1/x2 is called an integrating factor. To see another example of an integrating factor, look back at Section 3. The expression eI is an integrating factor for equations (3.1) and (3.2); as you can see in (3.8), multiplying (3.1) by eI makes it an exact equation. The method of ﬁnding an integrating factor and solving the resulting exact equation is useful mainly in simple cases when we can see the result by inspection. It is not usually worth while to spend much time searching for integrating factors.

406

Ordinary Differential Equations

Chapter 8

Homogeneous Equations A homogeneous function of x and y of degree n means a function which can be written as xn f (y/x). For example, x3 −xy 2 = x3 [1−(y/x)2 ] is a homogeneous function of degree 3. (Also see Problem 21.) An equation of the form P (x, y) dx + Q(x, y) dy = 0,

(4.11)

where P and Q are homogeneous functions of the same degree is called homogeneous. (The term homogeneous is also used in another sense; see Section 5.) If we divide two homogeneous functions of the same degree, the xn factors cancel and we have a function of y/x. Thus, from (4.11) we can write y =

(4.12)

y P (x, y) dy =− =f , dx Q(x, y) x

and we can say that a diﬀerential equation is homogeneous if it can be written as y = a function of y/x. This suggests that we solve homogeneous equations by making the change of variables v = y/x, or y = xv.

(4.13)

This substitution does, in fact, give us a separable equation in x and v (see Problem 22). We solve it to ﬁnd a relation between v and x and then put back v = y/x to ﬁnd the solution of (4.11). Also see Problem 23 for another way to solve homogeneous equations. Change of Variables We have solved both Bernoulli equations and homogeneous equations by making changes of variables. Other equations may yield to this method also. If a diﬀerential equation contains some combination of the variables x, y (especially if this combination appears more than once), we try replacing this combination by a new variable. See Problems 11, 15, and 16 for examples.

PROBLEMS, SECTION 4 Use the methods of this section to solve the following diﬀerential equations. Compare computer solutions and reconcile diﬀerences. 1 y = 2x3/2 y 1/2 x

y + y = xy 2/3

y +

3xy 2 y + 3y 3 = 1

(2xe3y + ex ) dx + (3x2 e3y − y 2 ) dy = 0

(x − y) dy + (y + x + 1) dx = 0

(cos x cos y + sin2 x) dx − (sin x sin y + cos2 y) dy = 0

x2 dy + (y 2 − xy) dx = 0

xy dx + (y 2 − x2 ) dy = 0

10.

11.

y = cos(x + y)

12.

y =

y y − tan x x

y dy = (−x +

x2 + y 2 ) dx

(y 2 − xy) dx + (x2 + xy) dy = 0

Hint: Let u = x + y; then u = 1 + y . 13.

yy − 2y 2 cot x = sin x cos x

Section 4 14.

Other Methods for First-Order Equations

(x − 1)y + y − x−2 + 2x−3 = 0

15. 2

xy + y = exy

407

Hint: Let u = xy

16.

Solve the diﬀerential equation yy + 2xy − y = 0 by changing from variables y, x, to r, x, where y 2 = r 2 − x2 ; then yy = rr − x.

17.

If an incompressible ﬂuid ﬂows in a corner bounded by walls meeting at the origin at an angle of 60◦ , the streamlines of the ﬂow satisfy the equation 2xy dx + (x2 − y 2 ) dy = 0. Find the streamlines.

18.

Find the family of orthogonal trajectories of the circles (x − h)2 + y 2 = h2 . (See the instructions above Problem 2.31.)

19.

Find the family of curves satisfying the diﬀerential equation (x+y) dy+(x−y) dx = 0 and also ﬁnd their orthogonal trajectories.

20.

Find the shape of a mirror which has the property that rays from a point O on the axis are reﬂected into a parallel beam. Hint: Take the point O at the origin. Show from the ﬁgure that tan 2θ = y/x. Use the formula for tan 2θ to express this in terms of tan θ = dy/dx and solve the resulting diﬀerential equation. (Hint: See Problem 16.)

21.

As in text just before (4.11), show that (a)

x2 − 5xy + y 3 /x is a homogeneous function of degree 2;

(b) (c)

x−1 (y 4 − x3 y) − xy 2 sin(x/y) is homogeneous of degree 3; p x2 y 3 + x5 ln(y/x) − y 6 / x2 + y 2 is homogeneous of degree 5;

(d)

x2 + y, x + cos y, and y + 1 are not homogeneous.

See Chapter 4, Section 13, Problem 1 for a more general deﬁnition of a homogeneous function of any number of variables. 22.

Show that the change of variables (4.13) in (4.11) or (4.12) gives a separable equation. Hints: Substitute y = xv and dy = x dv + v dx from (4.13) into (4.12) and rearrange terms to get the equation (a)

[f (v) − v] dx = x dv.

Alternatively, suppose P and Q are homogeneous of degree n; that is P (x, y) = xn P (1, y/x) = xn P (1, v) and a similar equation for Q. Substitute these results and dy = x dv + v dx into (4.11), divide by xn , and rearrange terms to get (b)

[P (1, v) + Q(1, v) v] dx + Q(1, v)x dv = 0.

Write both (a) and (b) with variables separated. 23.

Show that (xP + yQ)−1 is an integrating factor for (4.11). Hint: You want to show that (P dx + Q dy)/(xP + yQ) is an exact diﬀerential (see Chapter 6, Section 8). Remember that P and Q are homogeneous of the same degree. Divide numerator and denominator by Q and use P/Q = −f (y/x) from (4.12). Now ﬁnd the needed partial derivatives. Comment: If (x P + y Q) turns out to be very simple, this may be an easier way to solve a homogeneous equation than the v = y/x substitution (see Problem 24).

408

Ordinary Differential Equations

Chapter 8

24.

Solve Problems 9 and 10 by using an integrating factor as discussed in Problem 23.

25.

An equation of the form y = f (x)y 2 + g(x)y + h(x) is called a Riccati equation. If we know one particular solution yp , then the substitution y = yp + 1z gives a linear ﬁrst-order equation for z. We can solve this for z and substitute back to ﬁnd a solution of the y equation containing one arbitrary constant (see Problem 26). Following this method, check the given yp , and then solve (a) (b) (c)

26.

2 1 1 y − 3 , yp = 2 ; x x x 2 1 y = y 2 + y − 2x, yp = x; x x y = e−x y 2 + y − ex , yp = ex . y = xy 2 −

Show that the substitution given in Problem 25 does in general give a solution of the Riccati equation. Hints: First show that the substitution y = yp + u yields the following equation for u: u − (g + 2f yp )u = f u2 . Note by text equation (4.1) that this is a Bernoulli equation with n = 2, so by equation (4.2) we let z = u−1 . Show that the z equation is the linear ﬁrst-order equation z + (g + 2f yp )z = −f . Note that we could have obtained the z equation in one step by substituting y = yp + z −1 in the original equation as claimed in Problem 25.

5. SECOND-ORDER LINEAR EQUATIONS WITH CONSTANT COEFFICIENTS AND ZERO RIGHT-HAND SIDE Because of their importance in applications, we are going to consider carefully the solution of diﬀerential equations of the form (5.1)

d2 y dy + a0 y = 0, + a1 dx2 dx

where a2 , a1 , a0 are constants; also we shall consider (Section 6) the corresponding equation when the right-hand side of (5.1) is a function of x. Equations of the form (5.1) are called homogeneous because every term contains y or a derivative of y. Equations of the form (6.1) are called inhomogeneous because they contain a term which does not depend on y. (Note, however, that this use of the term homogeneous is completely unrelated to its use in Section 4.) Although we shall concentrate on second-order equations, which are the ones that occur most frequently in applications, most of our discussion can be extended immediately to linear equations of higher order with constant coeﬃcients (see Problems 21 to 30). These problems are pretty simple by hand; you may be able to write down answers faster than you can type the problem into a computer! Remember that a computer may not give an answer in the form you need. To use computer solutions eﬀectively, you need to know what to expect, and you can learn this by studying the following methods and doing some problems by hand. Let us consider an equation of the form (5.1). Example 1. Solve the equation (5.2)

y + 5y + 4y = 0.

It is convenient to let D stand for d/dx; then

d2 y d dy dy = y, = 2 = y . D2 y = (5.3) Dy = dx dx dx dx

Section 5

Second-Order Linear Equations (Constant Coefﬁcients, Zero Right-Hand Side)

409

Expressions involving D, such as D + 1 or D2 + 5D + 4, are called diﬀerential operators. (See Problem 31.) In this notation (5.2) becomes (5.4)

D2 y + 5Dy + 4y = 0 or (D2 + 5D + 4)y = 0.

The algebraic expression D2 + 5D + 4 can be factored as (D + 1)(D + 4) or (D + 4)(D + 1). You should satisfy yourself that (5.5)

(D + 1)(D + 4)y = (D + 4)(D + 1)y = (D2 + 5D + 4)y

when D = d/dx, and, in fact, that a similar statement is true for (D − a)(D − b) where a and b are any constants. (This is not necessarily true if a and b are functions of x; see Problem 31.) Then we can write (5.2) or (5.4) as (5.6)

(D + 1)(D + 4)y = 0 or (D + 4)(D + 1)y = 0.

To solve (5.4) [or (5.6) which is the same equation rewritten], we shall ﬁrst solve the simpler equations (5.7)

(D + 4)y = 0 and (D + 1)y = 0.

These are separable equations (Section 2) with solutions y = c1 e−4x , y = c2 e−x .

(5.8) Now if (D + 4)y = 0, then

(D + 1)(D + 4)y = (D + 1) · 0 = 0, so any solution of (D + 4)y = 0 is a solution of the diﬀerential equation (5.6) or (5.4). Similarly, any solution of (D + 1)y = 0 is a solution of (5.6) or (5.4). Since the two solutions (5.8) are linearly independent [Problem 13; also see Chapter 3, equation (8.5)], a linear combination of them contains two arbitrary constants and so is the general solution. Thus (5.9)

y = c1 e−4x + c2 e−x

is the general solution of (5.4). Note that we can think of the two solutions e−4x and e−x as basis vectors of a 2-dimensional linear vector space (see Chapter 3, Section 14). Then the general solution (5.9) gives all the vectors of that space. (See Problem 21.) Now we must investigate whether we can solve all second-order linear equations with constant coeﬃcients (and zero right-hand side) by this method. We ﬁrst wrote the diﬀerential equation using D for d/dx, and then factored the D expression to get (5.5). In this last step, we treated D as if it were an algebraic letter instead of d/dx; this is justiﬁed by checking the result (5.5) when D = d/dx. Recall from algebra that saying that the algebraic expression D2 +5D +4 has the factors (D +4) and (D + 1) is equivalent to saying that the quadratic equation (5.10)

D2 + 5D + 4 = 0

has roots −4 and −1. The equation (5.10) is called the auxiliary (or characteristic) equation for the given diﬀerential equation (5.2). From equations (5.6) to (5.9), we

410

Ordinary Differential Equations

Chapter 8

see that to solve a linear second-order equation with constant coeﬃcients, we should ﬁrst solve the auxiliary equation; if the roots of the auxiliary equation are a and b (a = b), the general solution of the diﬀerential equation is a linear combination of eax and ebx . (5.11) y = c1 eax + c2 ebx is the general solution of (D − a)(D − b)y = 0,

a = b.

(If a = b, we get only one solution this way; we shall consider this case shortly.) Recall from algebra that the roots of a quadratic equation (with real coeﬃcients; see Problem 19) can be real and unequal, real and equal, or a complex conjugate pair. The equation (5.2) which we have solved is an example in which the roots are real and unequal. Let us consider the other two cases. Equal Roots of the Auxiliary Equation If the two roots of the auxiliary equation are equal, then the diﬀerential equation can be written (D − a)(D − a)y = 0,

(5.12)

where a is the value of the two equal roots. From our previous discussion (5.5) to (5.11), we know that one solution of (5.12) is y = c1 eax . But our previous second solution y = c2 ebx in (5.11) is not a second solution here since b = a. To ﬁnd the second solution for this case, we let u = (D − a)y.

(5.13) Then (5.12) becomes

(D − a)u = 0, from which we get (5.14)

u = Aeax .

We substitute (5.14) into (5.13) to get (D − a)y = Aeax or y − ay = Aeax . This is a ﬁrst-order linear equation which we solve as in Section 3: ye−ax = e−ax Aeax dx = A dx = Ax + B. Thus (5.15)

y = (Ax + B)eax is the general solution of (5.12).

This is the general solution of (5.1) for the case of equal roots of the auxiliary equation. The solution eax we already know; what is new here is the fact that xeax is a second (linearly independent; see Problem 14) solution of the diﬀerential equation when a is a double root of the auxiliary equation. Equations (5.11) and (5.15) then give the general solution of (5.1) for both unequal and equal roots of the auxiliary equation.

Section 5

Second-Order Linear Equations (Constant Coefﬁcients, Zero Right-Hand Side)

411

Complex Conjugate Roots of the Auxiliary Equation Suppose the roots of the auxiliary equation are α ± iβ. These are unequal roots, so by (5.11) the general solution of the diﬀerential equation is

(5.16)

y = Ae(α+iβ)x + Be(α−iβ)x = eαx (Aeiβx + Be−iβx ).

There are two other very useful forms of (5.16). If we substitute e±iβx = cos βx ± i sin βx [see Chapter 2, equation (9.3)] into (5.16), then the parenthesis becomes a linear combination of sin βx and cos βx and we can write (5.16) as

(5.17)

y = eαx (c1 sin βx + c2 cos βx),

where c1 and c2 are new arbitrary constants. We can also write (5.17) in the form

(5.18)

y = ceαx sin(βx + γ),

where c and γ are now the arbitrary constants. An easy way to see that this is correct is to expand sin(βx + γ) by the trigonometric addition formula; this gives a linear combination of sin βx and cos βx as in (5.17). Although it is not hard to express any one of the sets of arbitrary constants [A, B in (5.16); c1 , c2 in (5.17); and c, γ in (5.18)] in terms of either of the other sets, there is seldom any need to do this. In solving actual problems we simply write whichever one of the three forms seems best for the problem at hand and then determine the arbitrary constants in that form from the given data. Example 2. Solve the diﬀerential equation (5.19)

y − 6y + 9y = 0.

We can write the equation as (5.20)

(D2 − 6D + 9)y = 0 or (D − 3)(D − 3)y = 0.

Since the roots of the auxiliary equation are equal, we know that the solution is of the form (5.15) and we simply write the result (5.21)

y = (Ax + B)e3x .

412

Ordinary Differential Equations

Chapter 8

Example 3. In Section 16, Chapter 2, we discussed the diﬀerential equation for the motion of a mass m oscillating at the end of a spring, and we solved it by guessing the solution. Now let's solve it by the methods of this chapter. The diﬀerential equation is [see Chapter 2, equation (16.21)] (5.22)

d2 y = −ky dt2

d2 y k = − y = −ω 2 y dt2 m

ω2 =

k . m

We can write this diﬀerential equation as (5.23)

D2 y + ω 2 y = 0 or (D2 + ω 2 )y = 0

where D = d/dt. The roots of the auxiliary equation are D = ±iω; the solution may be written in any of the three forms, (5.16), (5.17), or (5.18):

(5.24)

y = Aeiωt + Be−iωt = c1 sin ωt + c2 cos ωt = c sin(ωt + γ).

An object whose displacement from equilibrium satisﬁes (5.22) or (5.24) is said to be executing simple harmonic motion. (Recall Chapter 7, Section 2.) Equations (5.24) are general solutions of (5.22), each containing two arbitrary constants. Let us ﬁnd a particular solution corresponding to given initial conditions. Example 4. Suppose the mass is held at rest at a distance 10 cm below equilibrium and then suddenly let go. If we agree to call y positive when m is above the equilibrium position, then at t = 0, we have y = −10, and dy/dt = 0. Using the second solution in (5.24), we get dy = c1 ω cos ωt − c2 ω sin ωt, dt so the initial conditions give −10 = c1 · 0 + c2 · 1, 0 = c1 ω · 1 − c2 ω · 0. Thus we ﬁnd c1 = 0,

c2 = −10,

and the particular solution we wanted is (5.25)

y = −10 cos ωt.

You can verify that either of the other solutions in (5.24) gives the same particular solution (5.25) for the same initial conditions (Problem 32). This solution is pretty unrealistic from the practical viewpoint. Equations (5.24) and (5.25) imply that the mass m, once started, will simply oscillate up and down forever! This is certainly not true; what will happen is that the oscillations will gradually die down. The reason for the discrepancy between the physical facts and our mathematical answer is that we have neglected "friction" forces.

Section 5

Second-Order Linear Equations (Constant Coefﬁcients, Zero Right-Hand Side)

413

Example 5. A fairly reasonable assumption for this problem and many other similar ones is that there is a retarding force proportional to the velocity; let us call this force −l(dy/dt) (l > 0). Then (5.22), revised to include this force, becomes m

(5.26)

d2 y dy = −ky − l 2 dt dt

(l > 0)

or with the abbreviations ω2 =

k , m

2b =

l m

(b > 0)

it is d2 y dy + ω 2 y = 0. + 2b dt2 dt

(5.27)

To solve (5.27), we ﬁnd the roots of the auxiliary equation D2 + 2bD + ω 2 = 0,

(5.28) which are (5.29)

−2b ±

√ 4b2 − 4ω 2 = −b ± b2 − ω 2 . 2

There are three possible types of answer here depending on the relative size of b2 and ω 2 , and there are three special names given to the corresponding types of motion. We say that the motion is overdamped if

b2 > ω 2 ,

critically damped if

b2 = ω 2 ,

underdamped or oscillatory if

b2 < ω 2 .

Let us discuss the corresponding general solutions of the diﬀerential equation for the three cases. √ Overdamped Motion Since b2 − ω 2 is real and less than b, both roots of the auxiliary equation are negative, and the general solution is a linear combination of two negative exponentials: √ λ = b + b2 − ω 2 , −λt −µt √ (5.30) y = Ae + Be , where µ = b − b2 − ω 2 . Critically Damped Motion Since b = ω, the auxiliary equation has equal roots and the general solution is (5.31)

y = (A + Bt)e−bt .

In both overdamped and critically damped motion, the mass m is subject to such a large retarding force that it slows down and returns to equilibrium rather than oscillating repeatedly.

414

Ordinary Differential Equations

Chapter 8

√ Underdamped or Oscillatory Motion In this case b2 < ω 2 so b2 − ω 2 is √ √ imaginary. Let β = ω 2 − b2 ; then b2 − ω 2 = iβ and the roots (5.29) of the auxiliary equation are −b ± iβ. The general solution in the form (5.17) is then y = e−bt (A sin βt + B cos βt)

(5.32)

This result is more in accord with what we know actually happens to the mass m; because of the factor e−bt , the oscillations in this case decrease in amplitude as time √ goes on. Also note that the frequency of the damped vibrations, namely β = ω 2 − b2 , is less than the frequency ω of the undamped vibrations. Although we have stated a rather special physical problem, the mathematics we have just discussed applies to a great variety of problems. First, there are many kinds of mechanical vibrations besides a mass attached to a spring. Think of a tuning fork, a pendulum, the needle on the scale of a measuring device, and as more involved examples, the vibrations of complicated structures such as bridges or airplanes, and the vibrations of atoms in a crystal lattice. In such problems, we need to solve diﬀerential equations similar to the ones we have discussed. Diﬀerential equations of the same form arise in electricity. Consider equations (1.2) and (1.3) when V = 0. Remembering that I = dq/dt, we can write (1.2) as L

(5.33)

d2 q 1 dq +R + q =0 2 dt dt C

and (1.3) as L

(5.34)

1 dI d2 I + I = 0. +R dt2 dt C

Both these equations are of the form (5.27) which we have solved. Thus there is an analogy between a series circuit and the motion of a mass m described by (5.26); L corresponds to m, R to the "friction" constant l, and 1/C to the spring constant k.

PROBLEMS, SECTION 5 Solve the following diﬀerential equations by the methods discussed above and compare computer solutions. 1.

y + y − 2y = 0

y − 4y + 4y = 0

y + 9y = 0

y + 2y + 2y = 0

(D2 − 2D + 1)y = 0

(D2 + 16)y = 0

(D2 − 5D + 6)y = 0

D(D + 5)y = 0

9. 11.

(D − 4D + 13)y = 0

10.

y − 2y = 0

4y + 12y + 9 = 0

12.

(2D2 + D − 1)y = 0

Recall from Chapter 3, equation (8.5), that a set of functions is linearly independent if their Wronskian is not identically zero. Calculate the Wronskian of each of the following sets to show that in each case they are linearly independent. For each set, write the diﬀerential equation of which they are solutions. Also note that each set of functions is a set of basis functions for a linear vector space (see Chapter 3, Section 14, Example 2) and that the general solution of the diﬀerential equation gives all vectors of the vector space.

Section 5

Second-Order Linear Equations (Constant Coefﬁcients, Zero Right-Hand Side)

415

13.

e−x , e−4x

14.

eax , ebx , a = b (a, b, real or complex)

15.

eax , xeax

16.

sin βx, cos βx

17.

1, x, x2

18.

eax , xeax , x2 eax

19.

Solve the algebraic equation D2 + (1 + 2i)D + i − 1 = 0 (note the complex coeﬃcients) and observe that the roots are complex but not complex conjugates. Show that the method of solution of (5.6) (case of unequal roots) is correct here, and so ﬁnd the general solution of y + (1 + 2i)y + (i − 1)y = 0.

20.

As in Problem 19, solve y + (1 − i)y − iy = 0. Hint: See Chapter 2, Section 10, for a method of ﬁnding the square root of a complex number.

21.

By the method used in solving (5.4) to get (5.9), show that the solution of the third-order equation (D − a)(D − b)(D − c)y = 0 is

y = c1 eax + c2 ebx + c3 ecx

if a, b, c are all diﬀerent, and ﬁnd the solutions if two or three of the roots of the auxiliary equation are equal. Generalize the result to higher-order equations. State your results in vector space language [see comment following equation (5.9)]. Use the results of Problem 21 to ﬁnd the general solutions of the following equations and compare computer solutions. 22.

(D − 1)(D + 3)(D + 5)y = 0

23.

(D2 + 1)(D2 − 1)y = 0

24.

y + y = 0

25.

(D3 + D2 − 6D)y = 0

26.

y − 3y − 9y − 5y = 0

27.

D2 (D − 1)2 (D + 2)3 y = 0

28.

(D4 + 4)y = 0 2

Hint: D2 + 1 = (D + i)(D − i).

Hint: Find the four 4th roots of −4 (see Chapter 2, Section 10).

29.

(D + 1) (D − 16)y = 0

30.

(D4 − 1)2 y = 0

31.

Let D stand for d/dx, that is, Dy = dy/dx; then „ « dy d2 y d = , D2 y = D(Dy) = dx dx dx2

D3 y =

d3 y , etc. dx3

D (or an expression involving D) is called a diﬀerential operator. Two operators are equal if they give the same results when they operate on y. For example, „ « dy dy d d2 y +x D(D + x)y = + xy = + y = (D2 + xD + 1)y dx dx dx2 dx so we say that In a similar way show that:

D(D + x) = D2 + xD + 1.

416

Ordinary Differential Equations

Chapter 8

(a)

(D − a)(D − b) = (D − b)(D − a) = D2 − (b + a)D + ab for constant a and b.

(b)

D3 + 1 = (D + 1)(D2 − D + 1).

(c)

Dx = xD + 1. (Note that D and x do not commute, that is, Dx = xD.)

(d)

(D − x)(D + x) = D2 − x2 + 1, but (D + x)(D − x) = D2 − x2 − 1.

Comment: The operator equations in (c) and (d) are useful in quantum mechanics; see Chapter 12, Section 22. 32.

In Example 3, we used the second solution in (5.24), and obtained (5.25) as the particular solution satisfying the given initial conditions. Show that the ﬁrst and third solutions in (5.24) also give the particular solution (5.25) satisfying the given initial conditions.

33.

A particle moves along the x axis subject to a force toward the origin proportional to x (say −kx). Show that the particle executes simple harmonic motion (Example 3). Find the kinetic energy 12 mv 2 and the potential energy 12 kx2 as functions of t and show that the total energy is constant. Find the time averages of the potential energy and the kinetic energy and show that these averages are each equal to one-half the total energy (see average values, Chapter 7, Section 4).

34.

Find the equation of motion of a simple pendulum (see Chapter 7, Problem 2.13), that is, the diﬀerential equation for θ as a function of t. Show that, for small θ, this is approximately a simple harmonic motion equation, and ﬁnd θ if θ = θ0 , dθ/dt = 0 when t = 0.

35.

The gravitational force on a particle of mass m inside the earth at a distance r from the center (r < the radius of the earth R) is F = −mgr/R (Chapter 6, Section 8, Problem 21). Show that a particle placed in an evacuated tube through the center of the earth would execute simple harmonic motion. Find the period of this motion.

36.

Find (in terms of L and C) the frequency of electrical oscillations in a series circuit (Figure 1.1) if R = 0 and V = 0, but I = 0. (When you tune a radio, you are adjusting C and/or L to make this frequency equal to that of the radio station.)

37.

A block of wood is ﬂoating in water; it is depressed slightly and then released to oscillate up and down. Assume that the top and bottom of the block are parallel planes which remain horizontal during the oscillations and that the sides of thepblock are vertical. Show that the period of the motion (neglecting friction) is 2π h/g, where h is the vertical height of the part of the block under water when it is ﬂoating at rest. Hint: Recall that the buoyant force is equal to the weight of displaced water.

38.

Solve the RLC circuit equation [(5.33) or (5.34)] with V = 0 as we did (5.27), and write the conditions and solutions for overdamped, critically damped, and underdamped electrical oscillations in terms of the quantities R, L, and C.

39.

(a)

Find numerical values of the constants and computer plot together on the same axes graphs of (5.30), (5.31) and (5.32) in order to compare overdamped, critically damped, and oscillatory motion. Suggested numbers: Let ω = 1, and b = 13/5, 1, 5/13 for the three kinds of motion. Let y(0) = 1 and y (0) = 0.

(b)

Repeat the problem with the same set of ω and b values and with y(0) = 1, but with y (0) = 1.

(c)

Again repeat, with y (0) = −1.

40.

The natural period of an undamped system is 3 sec, but with a damping force proportional to the velocity, the period becomes 5 sec. Find the diﬀerential equation of motion of the system and its solution.

Section 6

Second-Order Linear Equations (Nonzero Right-Hand Side)

417

6. SECOND-ORDER LINEAR EQUATIONS WITH CONSTANT COEFFICIENTS AND RIGHT-HAND SIDE NOT ZERO So far we have considered second-order linear equations with constant coeﬃcients and zero right-hand side (5.1). Such equations describe free vibrations or oscillations of mechanical or electrical systems. But often such systems are not free but are subject to an applied force or emf. The vibrations are then called forced vibrations and the diﬀerential equation describing the system is of the form d2 y dy + a0 y = f (x), or + a1 2 dx dx d2 y a0 a1 dy + y = F (x). + dx2 a2 dx a2

a2 (6.1)

The function f (x) is often called the forcing function; it represents the applied force or emf. We want to ﬁnd the general solution of equations of the form (6.1). Example 1. Consider the equation (6.2)

(D2 + 5D + 4)y = cos 2x.

We already know (from Section 5, Example 1) the general solution of the corresponding equation (5.2) with the right-hand side equal to zero. This solution (5.9) is called the complementary function; it is not a solution of (6.2) but is related to it as we shall see. We shall denote the complementary function by yc . Thus for equation (6.2) the complementary function is (6.3)

yc = Ae−x + Be−4x .

Now suppose we know just any solution of (6.2); we call this solution a particular solution and denote it by yp . You can easily verify that yp =

(6.4)

1 10

sin 2x

is a particular solution of (6.2), and we shall soon consider ways of ﬁnding such solutions. Then we have (6.5)

(D2 + 5D + 4)yp = cos 2x

and from Section 5, Example 1, (6.6)

(D2 + 5D + 4)yc = 0.

Adding (6.5) and (6.6), we ﬁnd (D2 + 5D + 4)(yp + yc ) = cos 2x + 0 = cos 2x. Thus (6.7)

y = yc + yp = Ae−x + Be−4x +

1 10

sin 2x

is a solution of (6.2). In fact, it is the general solution of (6.2) since it contains two independent arbitrary constants (Problem 27).

418

Ordinary Differential Equations

Chapter 8

Thus we see how to solve 6.1): The general solution of an equation of the form (6.1) is (6.8)

y = yc + yp

where the complementary function yc is the general solution of the homogeneous equation (as in Section 5) and yp is a particular solution of (6.1). We shall now discuss some ways of ﬁnding particular solutions. It is worthwhile to know about this even if you are using a computer to ﬁnd the solution. When you know what to expect, you are better able to judge whether a computer solution is in the best form for your purposes, and if not, to ﬁnd a better form. (See problems.) Inspection If there is a very simple particular solution, we may be able to guess and verify it. Example 2. Consider the equation y − 2y + 3y = 5. It is easy to see that yp = 53 is a particular solution of this equation since if y is constant, y and y are zero. Example 3. As a less trivial problem, consider (6.9)

y − 6y + 9y = 8ex .

We might suspect that a multiple of ex is a solution of this equation, and it is easy to verify that y = 2ex is a solution. But trying the same method for the equation (6.10)

y + y − 2y = ex ,

we fail to ﬁnd a particular solution since ex satisﬁes y + y − 2y = 0. The method of inspection is very good in simple cases where it gives us an answer quickly, but usually we need other methods. Successive Integration of Two First-Order Equations This is a straightforward method which can always be used to solve equations of the form (6.1). In practice, however, it often involves more work than various special methods; we shall ﬁnd it particularly useful in deriving the special methods. Example 4. Let's solve (6.10) again. We can write this diﬀerential equation as (6.11)

(D − 1)(D + 2)y = ex .

Let (6.12)

u = (D + 2)y.

Section 6

Second-Order Linear Equations (Nonzero Right-Hand Side)

419

Then the diﬀerential equation (6.11) becomes (6.13)

(D − 1)u = ex

or u − u = ex .

This is a ﬁrst-order linear diﬀerential equation which we solve as in Section 3. I = −dx = −x, (6.14) ue−x = e−x ex dx = x + c1 , u = xex + c1 ex . Then the diﬀerential equation for y becomes (D + 2)y = xex + c1 ex

or y + 2y = xex + c1 ex .

This is again a linear ﬁrst-order equation which we solve as follows: I = 2 dx = 2x, ye2x = e2x (xex + c1 ex ) dx = 13 xe3x − 19 e3x + 13 c1 e3x + c2 (6.15) 1 = xe3x + c1 e3x + c2 , 3 y = 13 xex + c1 ex + c2 e−2x . Notice that here we have obtained the general solution all in one process rather than ﬁnding the complementary function plus a particular solution in two separate processes. However, we could have obtained just the particular solution xex /3 by omitting the arbitrary constant at each integration (these led to the complementary function) and also dropping terms which are already in the complementary function (−ex /9 in this example). Since it is easy to write the complementary function (by Section 5), it saves time to omit those terms when we are ﬁnding a particular solution. You may ﬁnd that your computer gives a more complicated particular solution by including terms of the complementary function in the particular solution. Now that you know to watch for this, you can simplify a computer solution by removing those terms. Exponential Right-Hand Side Let us consider how to ﬁnd a particular solution when the right-hand side of (6.1) is F (x) = kecx where k and c are given constants. Observe that c may be complex; we shall be especially interested in this case later. Let a and b be the roots of the auxiliary equation of (6.1); then (6.1) becomes (6.16)

(D − a)(D − b)y = F (x) = kecx .

Let us ﬁrst suppose that c is not equal to either a or b. Solving (6.16) by successive integration of two ﬁrst-order equations as in the last paragraph is straightforward (Problem 28) and gives the result that the particular solution in this case is simply a multiple of ecx . It is not necessary to remember the formula for the constant factor or to go through this process each time. Now that we know the form of the particular solution, we simply assume a solution of this form and solve for the constant.

420

Ordinary Differential Equations

Chapter 8

Example 5. Solve the equation (D − 1)(D + 5)y = 7e2x .

(6.17)

We observe that c = 2 is not equal to either of the roots of the auxiliary equation. To ﬁnd a particular solution we substitute yp = Ce2x into (6.17) and get yp + 4yp − 5yp = C(4e2x + 8e2x − 5e2x ) = 7e2x . Thus we must have C = 1, and the general solution of (6.17) is y = Aex + Be−5x + e2x . We have already seen in solving (6.11) that if c is equal to either a or b (a = b), the particular solution is of the form Cxecx . By the same method used for (6.11), you can easily discover that if a = b = c, the particular solution is of the form Cx2 ecx (Problem 28c). In practice, then, we ﬁnd a particular solution of (6.16) by assuming a solution of the form:  cx  Ce Cxecx   2 cx Cx e

(6.18)

if c is not equal to either a or b; if c equals a or b, a = b; if c = a = b.

Now that we know this, we would solve (6.10) as follows. Substitute yp = Cxex , yp = C(xex + ex ), yp = C(xex + 2ex ) into (6.10) and get yp + yp − 2yp = C(xex + 2ex + xex + ex − 2xex ) = ex . Thus we ﬁnd C =

1 3

as in (6.15) (but with much less work).

Use of Complex Exponentials In applied problems, the function F (x) on the right-hand side of (6.1) is very often a sine or a cosine representing alternating emf or a periodic force. We could ﬁnd yp for such a problem either by the method of integrating two successive ﬁrst-order equations or by replacing the sine or cosine by its complex exponential form and using the method of the last paragraph. There is a still more eﬃcient variation of the latter method which we shall now show. Example 6. Solve (6.19)

y + y − 2y = 4 sin 2x.

Instead of tackling this problem directly, we are ﬁrst going to solve the equation (6.20)

Y + Y − 2Y = 4e2ix .

Since e2ix = cos 2x + i sin 2x is complex, the solution Y may be complex also. Then if Y = YR + iYI , (6.20) is equivalent to two equations (6.21)

YR + YR − 2YR = Re 4e2ix = 4 cos 2x, YI + YI − 2YI = Im 4e2ix = 4 sin 2x.

Section 6

Second-Order Linear Equations (Nonzero Right-Hand Side)

421

Since the second equation in (6.21) is the same as (6.19), we see that the solution of (6.19) is the imaginary part of Y . Thus to ﬁnd yp for (6.19), we ﬁnd Yp for (6.20) and take its imaginary part. We observe that 2i is not equal to either of the roots of the auxiliary equation in (6.20). Following the method of the last paragraph, we assume a solution of the form Yp = Ce2ix and substitute it into (6.20) to get (−4 + 2i − 2)Ce2ix = 4e2ix , C=

4(−2i − 6) 4 = = − 15 (i + 3), 2i − 6 40 Yp = − 15 (i + 3)e2ix .

Taking the imaginary part of Yp , we ﬁnd yp for (6.19): yp = − 51 cos 2x −

(6.22)

3 5

sin 2x.

We summarize the method of complex exponentials: To ﬁnd a particular solution of (D − a)(D − b)y = (6.23)

k sin αx, k cos αx,

ﬁrst solve

(D − a)(D − b)y = keiαx and then take the real or imaginary part.

Method of Undetermined Coeﬃcients The method we have just discussed of assuming an exponential solution and determining the constant factor C is an example (and in practice the most important case) of the method of undetermined coeﬃcients. In (6.18) we outlined the form of yp to assume for equation (6.16), that is, when the right-hand side of (6.1) is an exponential. It is straightforward but tedious (Problems 29 and 32) to ﬁnd the corresponding result (6.24) when the right-hand side is an exponential times a polynomial. A particular solution yp of (D−a)(D−b)y = ecx Pn (x) where Pn (x) is a polynomial of degree n is  cx  if c is not equal to either a or b, e Qn (x) cx (6.24) yp = xe Qn (x) if c equals a or b, a = b,   2 cx x e Qn (x) if c = a = b, where Qn (x) is a polynomial of the same degree as Pn (x) with undetermined coeﬃcients to be found to satisfy the given diﬀerential equation. Note that sines and cosines are included in ecx by use of complex exponentials as in (6.19) to (6.23). (Also see Problem 29.)

422

Ordinary Differential Equations

Chapter 8

Example 7. To illustrate using (6.24), let's ﬁnd a particular solution of (D − 1)(D + 2)y = y + y − 2y = 18xex .

(6.25)

In the notation of (6.24) we have a = 1, b = −2, c = 1; also Pn (x) = 18x = P1 (x) is a polynomial of degree 1. Then Q1 is a polynomial of degree 1, namely Ax + B. Since c = a = b, we see by (6.24) that the form to assume for a particular solution of (6.25) is yp = xex (Ax + B) = ex (Ax2 + Bx). We substitute this into (6.25) and ﬁnd A and B so that we have an identity. yp = ex (Ax2 + Bx + 2Ax + B), yp = ex (Ax2 + Bx + 4Ax + 2B + 2A) yp + yp − 2yp = ex (6Ax + 3B + 2A) ≡ 18xex To make this an identity, we must have 6A = 18, 3B + 2A = 0,

or A = 3, B = −2,

yp = (3x2 − 2x)ex .

(6.26)

A computer solution may add to this a constant times ex , but this is an unnecessary complication since ex is a term in the complementary function. If the right-hand side of a diﬀerential equation is a polynomial, then c = 0 in (6.24), and we assume for yp a polynomial as indicated in (6.24). Example 8. To solve (6.27)

(D − 1)(D + 2)y = y + y − 2y = x2 − x

we assume yp = Ax2 + Bx + C, and ﬁnd the particular solution (6.28)

yp = − 12 (x2 + 1).

A computer solution gives the same result.

PROBLEMS, SECTION 6 Find the general solution of the following diﬀerential equations (complementary function + particular solution). Find the particular solution by inspection or by (6.18), (6.23), or (6.24). Also ﬁnd a computer solution and reconcile diﬀerences if necessary, noticing especially whether the particular solution is in simplest form [see (6.26) and the discussion after (6.15)]. 1.

y − 4y = 10

(D − 2)2 y = 16

y + y − 2y = e2x

(D + 1)(D − 3)y = 24e−3x

(D2 + 1)y = 2ex

y + 6y + 9y = 12e−x

y − y − 2y = 3e2x

y − 16y = 40e4x

Section 6 9.

Second-Order Linear Equations (Nonzero Right-Hand Side)

(D2 + 2D + 1)y = 2e−x

10.

423

(D − 3)2 y = 6e3x

11.

y + 2y + 10y = 100 cos 4x

Hint: First solve y + 2y + 10y = 100e4ix .

12.

(D2 + 4D + 12)y = 80 sin 2x

13.

(D2 − 2D + 1)y = 2 cos x

14.

y + 8y + 25y = 120 sin 5x

15.

5y + 12y + 20y = 120 sin 2x

16.

(D2 + 9)y = 30 sin 3x

17.

y + 16y = 16 cos 4x

18.

(D2 +2D+17)y = 60e−4x sin 5x

19.

(4D2 + 4D + 5)y = 40e−3x/2 sin 2x

20.

y + 4y + 8y = 30e−x/2 cos 5x/2

21.

5y + 6y + 2y = x2 + 6x

22.

2y + y = 2x

23.

y + y = 2xex

24.

y − 6y + 9y = 12xe3x

25.

(D − 3)(D + 1)y = 16x2 e−x

26.

(D2 + 1)y = 8x sin x

27.

Verify that (6.4) is a particular solution of (6.2). Verify that another particular solution of (6.2) is 1 yp = 10 sin 2x − e−x .

Hint: First solve (D2 +2D+17)y = 60e(−4+5i)x .

Observe that we obtain the same general solution (6.7) whichever particular solution we use [since (A − 1) is just as good an arbitrary constant as A]. Show in general that the diﬀerence between two particular solutions of (a2 D2 + a1 D + a0 )y = f (x) is always a solution of the homogeneous equation (a2 D2 + a1 D + a0 )y = 0, and thus show that the general solution is the same for all choices of a particular solution. 28.

Solve (6.16) by the method used in solving (6.11), for the following three cases, to obtain the result (6.18). (a)

c is not equal to either a or b;

(b)

a = b, c = a;

(c)

a = b = c.

29.

Consider the diﬀerential equation (D − a)(D − b)y = Pn (x), where Pn (x) is a polynomial of degree n. Show that a particular solution of this equation is given by (6.24) with c = 0; that is, yp is 8 > < a polynomial Qn (x) of degree n if a and b are both diﬀerent from zero; xQn (x) if a = 0, but b = 0; > : 2 x Qn (x) if a = b = 0. P Hint: To showPthat Qn (x) = an xn is a solution of the diﬀerential equation for n bn x , you have only to show that the coeﬃcients an can be found a given Pn = so that (D − a)(D − b)Qn (x) ≡ Pn (x). Equate coeﬃcients of xn , xn−1 , · · · , to see that this is always possible if a = b. For b = 0, the diﬀerential equation becomes (D − a)Dy = Pn ; what is Dy if y = xQn ? Similarly, consider D2 y if y = x2 Qn .

30.

(a)

Show that (D − a)ecx = (c − a)ecx ; (D2 + 5D − 3)ecx = (c2 + 5c − 3)ecx ; L(D)ecx = L(c)ecx , where L(D) is any polynomial in D; (D − c)xecx = ecx ; (D − c)2 x2 ecx = 2ecx .

424

Ordinary Differential Equations

(b)

Chapter 8

Deﬁne the expression y = [1/L(D)]u(x) to mean a solution of the diﬀerential equation L(D)y = u. Using part (a), show that 1 ecx D−a 1 ecx D2 + 5D − 3 1 ecx L(D) 1 ecx D−c 1 ecx (D − c)2

(c)

ecx , c = a; c−a cx e = 2 ; c + 5c − 3 cx e = , L(c) = 0; L(c) =

= xecx ; = 12 x2 ecx .

The expressions 1/L(D) in (b) are called inverse operators. They can be used to ﬁnd particular solutions of diﬀerential equations. As an example consider Problem 3. We write (D2 + D − 2)y = e2x , y=

1 e2x e2x e2x = 2 = . +D−2 2 +2−2 4

Using inverse operators, ﬁnd particular solutions of Problems 4 to 20. Be careful to use parts 4 or 5 of (b) if c is a root of the auxiliary equation. For example, 1 ecx 1 1 1 xecx ecx = ecx = = . (D − a)(D − c) D−cD−a D−cc−a c−a 31.

(a)

Show that D(eax y) = eax (D + a)y, D2 (eax y) = eax (D + a)2 y, and so on; that is, for any positive integral n, Dn (eax y) = eax (D + a)n y. Thus show that if L(D) is any polynomial in the operator D, then L(D)(eax y) = eax L(D + a)y. This is called the exponential shift.

(b)

Use (a) to show that (D − 1)3 (ex y) = ex D3 y, (D2 + D − 6)(e−3x y) = e−3x (D2 − 5D)y.

(c)

Replace D by D − a, to obtain eax P (D)y = P (D − a)eax y. This is called the inverse exponential shift.

Section 6

(d)

Second-Order Linear Equations (Nonzero Right-Hand Side)

425

Using (c), we can change a diﬀerential equation whose right-hand side is an exponential times a polynomial, to one whose right-hand side is just a polynomial. For example, consider (D2 − D − 6)y = 10xe3x ; multiplying both sides by e−3x and using (c), we get e−3x (D2 − D − 6)y = [(D + 3)2 − (D + 3) − 6]ye−3x = (D2 + 5D)ye−3x = 10x. Show that a solution of (D2 +5D)u = 10x is u = x2 − 25 x; then ye−3x = x2 − 25 x or y = e3x (x2 − 25 x). Use this method to solve Problems 23 to 26.

32.

Using Problems 29 and 31b, show that equation (6.24) is correct.

Several Terms on the Right-Hand Side: Principle of Superposition So far we have brushed over a question which may have occurred to you: What do we do if there are several terms on the right-hand side of the equation involving diﬀerent exponentials? Example 9. As an artiﬁcial problem to illustrate the ideas, consider the equation (6.29)

y + y − 2y = (D − 1)(D + 2)y = [ex ] + [4 sin 2x] + [x2 − x].

We have already solved diﬀerential equations with the same left-hand sides as (6.29) and with right-hand sides equal in turn to each of the three expressions in brackets in (6.29) [see (6.11) to (6.15), (6.19) to (6.22), (6.27), and (6.28)]. Thus we know that (D − 1)(D + 2)y = ex

has the particular solution yp1 = 13 xex ;

(D − 1)(D + 2)y = 4 sin 2x has the particular solution yp2 = − 51 cos 2x − 2

(D − 1)(D + 2)y = x − x has the particular solution yp3 =

− 21 (x2

3 5

sin 2x;

+ 1).

Adding these three solutions, we see that (6.30)

yp = yp1 + yp2 + yp3 = 13 xex −

1 5

cos 2x −

3 5

sin 2x − 12 (x2 + 1)

is a particular solution of (6.29). This is the easiest way of handling a complicated right-hand side: Solve a separate equation for each diﬀerent exponential and add the solutions. The fact that this is correct for a linear equation is often called the principle of superposition. As we can see from (6.29) and (6.30), this amounts to a fancy name for the fact that the derivative (of any order) of a sum of terms is equal to the sum of the derivatives of the individual terms. Notice that the principle holds only for linear 2 equations; for example, if the equation contained y , the principle would not hold 2 2 since (y1 + y2 )2 is not equal to y1 + y2 . In fact, an operator (such as the D operators we have been using) which satisﬁes the principle of superposition is called a linear operator. [See Chapter 3, equation (7.4) and Problem 7.12.] Linear operators are of particular importance because they obey the principle of superposition; for example, D2 (y1 + y2 ) = y1 + y2 = D2 y1 + D2 y2 , so D2 is a linear operator. We shall make use of this principle shortly in our discussion of the use of Fourier series in ﬁnding particular solutions.

426

Ordinary Differential Equations

Chapter 8

Forced Vibrations Let's return now to the physical problem we considered at the end of Section 5. There we set up and solved the diﬀerential equation which describes the free (zero right-hand side, no forcing function) vibrations of a damped oscillator. We commented that the same mathematics applies to a variety of mechanics problems and also to a simple RLC series electric circuit. As we know from experiment and as we can see from (5.30), (5.31), and (5.32), the free vibrations we considered in Section 5 die out as time passes. Such oscillations are referred to as transients. We next want to consider the vibrations obtained when a periodic force (or emf in the electric case) is applied. This means mathematically that we want to solve (5.27) with a function of t on the right-hand side. The solution will contain the appropriate one of (5.30), (5.31), (5.32); this is the complementary function and it is also the transient since it tends to zero as t tends to inﬁnity. The solution will also contain a particular solution which does not tend to zero as t tends to inﬁnity; this is the steady-state solution which we want to ﬁnd. Example 10. Let us solve d2 y dy + ω 2 y = F sin ω t + 2b 2 dt dt

(6.31)

(F = const.).

By the method of complex exponentials, we solve ﬁrst d2 Y dY + ω 2 Y = F eiω t . + 2b 2 dt dt

(6.32) Substitute

Yp = Ceiω

(6.33)

into (6.32) to get 2

(−ω + 2biω + ω 2 )Ceiω t = F eiω t , 2

(6.34)

[(ω 2 − ω ) − 2biω ]F F = . 2 (ω 2 − ω 2 ) + 2biω ω 2 − ω 2 + 4b2 ω 2

It is convenient to write the complex number C in the reiθ form. We have F 2 2

|C| =

ω2 − ω

(6.35)

+ 4b2 ω 2

angle of C = −φ, where φ is given by Figure 6.1. Thus (6.36)

C =

ω2

−

F 2 2

4b2 ω 2

F 2 2

4b2 ω 2

e−iφ

and from (6.33) (6.37)

Yp =

ω2 − ω

ei(ω t−φ)

Figure 6.1

Section 6

Second-Order Linear Equations (Nonzero Right-Hand Side)

427

To ﬁnd yp we take the imaginary part of Yp : (6.38)

F 2 2

yp =

ω2 − ω

4b2 ω 2

sin(ω t − φ).

This is the steady-state solution, so-called because as t increases, the rest of the solution [given by (5.30), (5.31), or (5.32)] becomes negligible. For example, when you turn on an electric light, the current is given by (5.32) plus (6.38). The transient (5.32) tends to zero rapidly and the steady-state solution (6.38) becomes essentially the whole solution. Resonance We note, by comparing (6.38) and the forcing function in (6.31), that the applied force (or emf) and the solution y (which represents displacement, current, etc.) are out of phase; that is, their maximum values do not occur at the same time because of the phase angle φ. We also see from (6.38) that for a given forcing frequency ω , the largest amplitude of y (also of dy/dt, Problem 40) occurs if the natural (undamped) frequency ω is equal to ω . This situation is often called resonance. In the RLC series circuit problem, y represents the charge q on the capacitor if the forcing function is the emf, and y represents the current I = dq/dt if the forcing function is the time derivative of the emf. For such a circuit, given the frequency ω of the applied emf, the current (or charge) will have the largest amplitude when the natural (undamped) frequency ω is equal to ω . This is almost always called the resonance condition for the electrical case. However, there is another question we could ask here which is of particular interest in mechanics. Given the natural (undamped) frequency ω of the system, what frequency of the forcing function will produce the largest amplitude of y? In (6.38), we want to maximize the coeﬃcient of the sine; we can instead minimize the square of the denominator of the coeﬃcient; that is, we want to ﬁnd the value of ω which 2 2 minimizes (ω 2 − ω )2 + 4b2 ω for given ω. Setting the derivative of this function (with respect to ω ) equal to zero and solving for ω , we get 2

(6.39)

2(ω 2 − ω )(−2ω ) + 8b2 ω = 0, 2

ω = ω 2 − 2b2 .

Note that this value of ω is not equal to either the natural undamped frequency ω or the natural damped frequency β where β 2 = ω 2 − b2 [see (5.32)]. However, if we deﬁne resonance as the situation in which we get the maximum amplitude for y for a given value of ω, then the resonance condition is (6.39). (The maximum amplitude for the velocity—or current in the electrical case—is still obtained for ω = ω; Problem 40.) The resonance condition (6.39) is of particular importance in mechanics where we are apt to be interested in the displacement y of a given system under the action of various forces. For example, consider a bridge; we would want to avoid periodic forces with an ω given by (6.39) since such forces would produce large vibrations. In this case resonance is undesirable. It may in other cases be desirable; for example, when you tune your radio to the frequency of a given station, you are given ω and you adjust the circuit in your radio to make its natural frequency ω equal to the given ω .

428

Ordinary Differential Equations

Chapter 8

Use of Fourier Series in Finding Particular Solutions In simple problems, the forcing function in either the electrical or mechanical case is just a sine or cosine and the problem can be solved as we have just done. In more complicated (and realistic) cases, however, the forcing function may very well be some more complicated function; it is often a periodic function, however, and we shall assume this. Suppose, for example, that the periodic emf applied to a circuit is given by one of the graphs in Figure 3.2 of Chapter 7. We learned in Chapter 7 how to expand such a function in a Fourier series. Let us suppose that this has been done, using for deﬁniteness the complex exponential form of the Fourier series. Then we can write (6.1) as (6.40)

∞ d2 y dy + a + a y = f (x) = cn einx . 1 0 dx2 dx n=−∞

We know how to solve the equation a2

(6.41)

d2 y dy + a0 y = cn einx + a1 dx2 dx

with the right-hand side equal to any one term of the series. If we now add the solutions of all the equations (6.41) for all n, we have a solution of (6.40) (see principle of superposition above). Example 11. Solve d2 y dy + 10y = f (t), +2 2 dt dt

(6.42)

where f (t) is a function of period 2π and 1, 0 ≤ t < π, f (t) = 0, π ≤ t < 2π. The auxiliary equation is D2 + 2D + 10 = 0; its roots are D = −1 ± 3i, so the complementary function is yc = e−t (A cos 3t + B sin 3t). To ﬁnd a particular solution, we ﬁrst expand f (t) in a Fourier series; from Chapter 7, equation (7.8), we have (6.43)

f (t) =

1 1 + [eit − e−it + 13 (e3it − e−3it ) + · · · ]. 2 iπ

We next write and solve a whole set of diﬀerential equations like (6.42) but each having just one term of the series (6.43) on the right-hand side. For the ﬁrst term (namely 12 ) we see by inspection that a particular solution of d2 y 1 dy + 10y = +2 2 dt dt 2

Section 6

Second-Order Linear Equations (Nonzero Right-Hand Side)

429

1 is y = 20 . All the other terms of (6.43) are of the form (1/ikπ)eikt , where k is a positive or negative odd integer. To solve

d2 y 1 ikt dy + 10y = e , +2 dt2 dt ikπ

(6.44) we substitute

y = Ceikt

(6.45) into (6.44) and get

(−k 2 + 2ik + 10)Ceikt =

1 ikt e . ikπ

Then we have (6.46)

1 1 (10 − k 2 ) − 2ik 1 = . ikπ (10 − k 2 ) + 2ik ikπ (10 − k 2 )2 + 4k 2

By letting k = ±1, ±3, · · · , and substituting the values of C thus obtained into (6.45), we obtain the solutions of (6.44) for the various k values corresponding to the terms of the series (6.43). The sum of all the solutions corresponding to all the terms is the desired particular solution of (6.42). Thus 1 9 − 2i it 1 1 9 + 2i −it + e − e 20 iπ 85 iπ 85 1 1 − 6i 3it 1 1 + 6i −3it e − e + + ··· 3iπ 37 3iπ 37

it 2 9 e − e−it 2 2 eit + e−it 1 + − = 20 π 85 2i π 85 2

3it

3it −3it 2 6 e + e−3it 2 1 e −e − + ··· + 3π 37 2i 3π 37 2 1 2 2 = + (9 sin t − 2 cos t) + (sin 3t − 6 cos 3t) + · · · 20 85π 111π

yp =

(6.47)

is a particular solution of (6.42).

PROBLEMS, SECTION 6 In Problem 33 to 38, solve the given diﬀerential equations by using the principle of superposition [see the solution of equation (6.29)]. For example, in Problem 33, solve three diﬀerential equations with right-hand sides equal to the three diﬀerent brackets. Note that terms with the same exponential factor are kept together; thus a polynomial of any degree is kept together in one bracket. 33.

y + y = [x3 − 1] + [2 cos x] + [(2 − 4x)ex ]

34.

y − 5y + 6y = 2ex + 6x − 5

35.

(D2 − 1)y = sinh x

36.

(D2 + 1)y = 2 sin x + 4x cos x

37.

(D − 1)2 y = 4ex + (1 − x)(e2x − 1)

38.

y − 2y = 9xe−x − 6x2 + 4e2x

430

Ordinary Differential Equations

Chapter 8

39.

Find the solutions of (1.2) (put I = dq/dt) and (1.3), if V = V0 sin ω t (ω =const.).

40.

In (6.38), show that for a given forcing frequency ω , the displacement y and the velocity dy/dt have their largest amplitude when ω = ω . For a given ω, we have shown in Section 6 that the maximum amplitude of y does not correspond to ω = ω. Show, however, that the maximum amplitude of dy/dt for a given ω does correspond to ω = ω. State the corresponding results for an electric circuit in terms of L, R, C.

Solve Problems 41 and 42 by use of Fourier series. Assume in each case that the right-hand side is a periodic function whose values are stated for one period. 41. 42. 43.

y + 2y + 2y = |x|, −π < x < π. ( x, 0 < x < 1, y + 9y = 0, −1 < x < 0. Consider an equation for damped forced vibrations (mechanical or electrical) in which the right-hand side is a sum of several forces or emfs of diﬀerent frequencies. For example, in (6.32) let the right-hand side be

F1 eiω1 t + F2 eiω2 t + F3 eiω3 t . Write the solution by the principle of superposition. Suppose, for given ω1 , ω2 , ω3 , that we adjust the system so that ω = ω1 ; show that the principal term in the solution is then the ﬁrst one. Thus the system acts as a "ﬁlter" to select vibrations of one frequency from a given set (for example, a radio tuned to one station selects principally the vibrations of the frequency of that station).

7. OTHER SECOND-ORDER EQUATIONS Although second-order linear equations with constant coeﬃcients are the ones used most frequently in applications, there are a few other kinds of second-order equations and methods of solving them which are also important. We shall discuss several of these here, namely (a) equations with y missing; (b) equations with x missing; (c) equations of the form y + f (y) = 0; (d) Euler-Cauchy equations; (e) reduction of order. For still more methods, see Section 9 (Laplace transforms), Section 12 (Green functions), Problem 12.14b (variation of parameters), and Chapter 12 (special functions, series solutions, ladder operators). You can also ﬁnd computer solutions but, as we have said, they may not always be in the simplest form or the form you need. Comparing hand solutions can show you what to expect and help you make more eﬃcient use of computer solutions. To solve either (a) or (b), we make the substitution (7.1)

y = p.

Case (a): Dependent variable y missing. (7.2)

y = p,

y = p .

After these substitutions, an equation of the type (a) is of the ﬁrst order with p

Section 7

Other Second-Order Equations

431

as the dependent variable and x as the independent variable. First, we solve it for p as a function of x; then we put back p = y and solve the resulting ﬁrst-order equation for y. Case (b): Independent variable x missing. y = p, y =

(7.3)

dp dy dp dp = =p . dx dy dx dy

What we are doing here is to change the independent variable from x to y. Observe that there is one independent variable in an ordinary diﬀerential equation. We were originally thinking of x as the independent variable with y and p dy/dx as functions of x. Now we think of y as the independent variable with p a function of y; (7.3) is just the chain rule (Chapter 4, Section 5) for diﬀerentiating a function p(y) with respect to x if y is a function of x. With the substitutions (7.3), a diﬀerential equation with x missing becomes a ﬁrst-order equation with p as the dependent variable and y as the independent variable. Example 1. In Section 5, we discussed the motion of a mass m subject to a restoring force −ky and a damping force l(dy/dt). Let us now consider a similar problem but with the damping force proportional to the square of the velocity. The diﬀerential equation of motion is then [compare (5.26)]

2 d2 y dy (7.4) m 2 ±l + ky = 0 (l > 0), dt dt where the plus or minus sign must be chosen correctly at each stage of the motion so that the retarding force opposes the motion. Let us solve the following special case of this problem. Discuss the motion of a particle which is released from rest at the point y = 1 when t = 0, and obeys the equation of motion

2 d2 y dy (7.5) 4 2 ±2 + y = 0. dt dt This is an example of case (b) (for "x missing" read "t missing," that is, the independent variable missing). Using (7.3) (with x replaced by t), we have dy = p, dt d2 y dp =p , dt2 dy

(7.6)

so (7.5) becomes (7.7)

dp ± 2p2 + y = 0 dy

dp 1 ± 2 p = − 14 yp−1 . dy

This is a Bernoulli equation [compare (4.1) with y replaced by p, and P and Q functions of y]. We have n = −1, and the substitution (4.2) is (7.8)

z = p2 .

432

Ordinary Differential Equations

Chapter 8

Then dz dp = 2p dy dy and (7.7) becomes dz ± z = − 12 y. dy

(7.9)

This is a ﬁrst-order linear equation; solving it (see Section 3), we get

(7.10)

±y

− 12

ye±y dy = − 12 e±y (±y − 1) + c,

z = − 12 (±y − 1) + ce∓y . Since initially dy/dt = 0 and y > 0, we see from (7.5) that the initial acceleration is in the negative direction; since the particle starts from rest, its velocity for small t is also in the negative direction. Then the damping force must be in the positive direction so we must use the lower sign in (7.10) for the ﬁrst part of the motion. Thus we have z = 12 (y + 1) + cey

(7.11)

(for small t).

We determine c from the initial conditions dy/dt = 0, y = 1, at t = 0; we have z = p2 = (dy/dt)2 = 0 when y = 1; therefore from (7.11) we get 0 = 1 + ce, c = −e−1 . Then we have

(7.12)

dy dt

= 12 (y + 1) − ey−1

(for small t).

This is a valid solution as long as dy/dt < 0 (this is what small t means). Thus the particle initially moves in the negative direction for a while. To continue the problem we would need to ﬁnd whether it stops and if so where. This means solving a transcendental equation which has to be done by some approximation method. It turns out that when it stops, y is negative; at this point the force −y is in the positive direction and the particle, after stopping, moves in the positive direction. The solution for (dy/dt)2 is then given by (7.10) with the upper sign. After another interval of time, the particle again reverses its motion and we again use the solution (7.11) (with a diﬀerent c), and so on, the total motion appearing something like a damped vibration. We shall not continue the details further here since we have already accomplished our purpose of illustrating case (b) and the solution of a Bernoulli equation.

Section 7

Other Second-Order Equations

433

Case (c) appears to be very special and is obviously included by (b); however, it is very important to know the easy way to solve it because it so frequently arises in applications. The trick is simply to multiply the equation by y ; we can then integrate each term.

Case (c): To solve y + f (y) = 0, multiply by y . y y + f (y)y = 0,

or y dy + f (y) dy = 0.

Then integrate to get 1 2 2y

(7.13)

f (y) dy = const.

This equation is separable and so can be solved (except for possible diﬃculty in evaluating the integrals). We say that the problem is reduced to quadratures (indicated integrations); this means that we can write the answer in terms of integrals which may or may not be easy to evaluate!

Example 2. Consider a particle of mass m moving along the x axis under the action of a force F (x). Then the equation of motion is

(7.14)

d2 x = F (x). dt2

If we multiply this equation by v = dx/dt and integrate with respect to t, we get dv dx = F (x) or mv dv = F (x) dx, dt dt 2 1 F (x) dx + const. 2 mv =

mv (7.15)

Recall (Chapter 6, Section 8) that the potential energy of a particle is the negative of the work done by the force. Thus (7.16)

2 1 2 mv

−

F (x) dx

is the kinetic energy plus the potential energy; equation (7.15) expresses the law of conservation of energy for this problem. This energy equation is often of more interest than the equation of motion (x as a function of t) and so it is useful to be able to ﬁnd it directly, as we have done, without solving the diﬀerential equation for x. Equation (7.15) is known as a ﬁrst integral of the diﬀerential equation since we have integrated a second-order equation once to get it.

434

Ordinary Differential Equations

Chapter 8

Case (d): An equation of the form a2 x2

(7.17)

dy d2 y + a1 x + a0 y = f (x) dx2 dx

(called an Euler or Cauchy equation) can be reduced to a linear equation with constant coeﬃcients by changing the independent variable from x to z where x = ez .

(7.18)

For then we have (see Problem 14 and also Chapter 4, Section 11) (7.19)

dy dy = dx dz

and x2

d2 y d2 y dy . = − dx2 dz 2 dz

Substituting (7.18) and (7.19) into (7.17) gives (7.20)

d2 y dy + a0 y = f (ez ). + (a1 − a2 ) dz 2 dz

This is a linear equation with constant coeﬃcients which can be solved by the methods of Sections 5 and 6. It is worth noting that the solutions of (7.17) when f (x) = 0 are often powers of x, so a way to solve this case is to assume y = xk and solve the resulting quadratic equation for k. However, if the values of k turn out to be complex, or equal, or if f (x) = 0, you may ﬁnd it easier to use (7.18) which reduces the problem to a familiar one. (See Problems 15 to 23.) Case (e): Reduction of order. To ﬁnd a second solution of (7.21)

y + f (x)y + g(x)y = 0

given one solution u(x), substitute y = u(x)v(x)

(7.22) into (7.21) and solve for v(x).

You can verify that when you substitute (7.22) into (7.21), the coeﬃcient of v(x) is u + f (x)u + g(x)u. This expression is equal to zero because we assumed that u(x) is a solution of (7.21). Then the equation for v (x) is a separable ﬁrst-order equation (Problem 24). Example 3. Solve x3 y + xy − y = 0, given that u = x is a solution. We let y = uv = xv. Then y = xv + v, y = xv + 2v , and the diﬀerential equation becomes x3 (xv + 2v ) + x(xv + v) − xv = 0 4

x v + (2x + x )v = 0.

Section 7

Other Second-Order Equations

435

Separating variables and integrating, we ﬁnd

1 dv 2 1 + dx, ln v = −2 ln x + + ln K. =− v x x2 x Solving for v , integrating again, and writing y = uv gives v =

K 1/x e , v = −Ke1/x , y = −Kxe1/x . x2

Thus the general solution of the given equation is y = Ax + Bxe1/x .

PROBLEMS, SECTION 7 Solve the following diﬀerential equations by method (a) or (b) above. 1.

y +yy = 0. Find a solution satisfying each of the following sets of initial conditions. If your computer says there is no such solution, don't believe it—do it by hand. (a) y(0) = 5, (c) y(0) = 1,

y (0) = 0 y (0) = −1

(b) y(0) = 2, (d) y(0) = 0,

y (0) = −2 y (0) = 2

y + 2xy = 0 Hint: The solution is y = c1 erf x + c2 ; see Chapter 11, Section 9 for the deﬁnition of erf x.

2yy = y

The diﬀerential equation of a hanging chain supported at its ends is " " 2 2 y = k2 1 + y .

xy = y + y

Solve the equation to ﬁnd the shape of the chain. 6.

The curvature of a curve in the (x, y) plane is " " 2 −3/2 . K = y 1 + y With K = const., solve this diﬀerential equation to show that curves of constant curvature are circles (or straight lines).

Solve y + ω 2 y = 0 by method (c) above and compare with the solution as a linear equation with constant coeﬃcients.

The force of gravitational attraction on a mass m at distance r from the center of the earth (r > radius R of the earth) is mgR2 /r 2 . Then the diﬀerential equation of motion of a mass m projected radially outward from the surface of the earth, with initial velocity v0 , is md2 r/dt2 = −mgR2 /r 2 .

Use method (c) above to ﬁnd v as a function of r if v = v0 initially (that is, when r = R). Find the maximum value of r for a given v0 , that is, the value of r when v = 0. Find the escape velocity, that is, the smallest value of v0 for which r can tend to inﬁnity. R Show that (7.15) is a separable equation. [You may ﬁnd it helpful to write F (x) dx = f (x).] Thus solve (7.14) in terms of quadratures (that is, indicated integrations) as in Problem 2.

436

Ordinary Differential Equations

Chapter 8

In Problems 10 and 11, solve (7.14) to ﬁnd v(x) and then x(t) for the given F (x) and initial conditions. 10.

F (x) = m/x3 , v = 0, x = 1, at t = 0.

11.

F (x) = −2m/x5 , v = −1, x = 1, at t = 0.

12.

In Problem 11, ﬁnd v(x) if v = 0, x = 1, at t = 0. Then write an integral for t(x).

13.

The exact equation of motion of a simple pendulum is d2 θ/dt2 = −ω 2 sin θ where ω 2 = g/l. By method (c) above, integrate this equation once to ﬁnd dθ/dt if dθ/dt = 0 when θ = 90◦ . Write a formula for t(θ) as an integral. See Problem 5.34.

14.

Verify (7.19) and (7.20). Hint: dy/dz = (dy/dx)(dx/dz); write the ﬁrst equation of (7.19) as xDx = Dz , and ﬁnd Dz2 .

15.

If you solve (7.17) when f (x) = 0 by assuming a solution y = xk , show that the quadratic equation for k is the same as the auxiliary equation for the z equation (7.20). Thus show (see Section 5) that if the two values of k are equal, the second solution is not a power of x but is xk ln x. Also show that if k is complex, say k = a ± bi, the solutions are xa cos(b ln x) and xa sin(b ln x) or other equivalent forms [see (5.16) to (5.18)].

16.

Solve the following equations either by method (d) above or by assuming y = xk (or try both methods to compare them). See Problem 15. (a) x2 y + 3xy − 3y = 0

(b) x2 y + xy − 4y = 0

(d) x2 y − xy + 6y = 0

Solve the following equations using method (d) above. 17.

x2 y + xy − 16y = 8x4

18.

x2 y + xy − y = x − x−1

19.

x2 y − 5xy + 9y = 2x3

20.

x2 y − 3xy + 4y = 6x2 ln x

21.

x2 y + y = 3x2

22.

x2 y + xy + y = 2x

23.

Solve the two diﬀerential equations in Problem 5.11 of Chapter 13.

24.

Substitute (7.22) into (7.21) to obtain the equation for v (x). Show that this equation is separable.

For the following problems, verify the given solution and then, by method (e) above, ﬁnd a second solution of the given equation. 25.

x2 (2 − x)y + 2xy − 2y = 0,

26.

(x2 + 1)y − 2xy + 2y = 0,

27.

xy − 2(x + 1)y + (x + 2)y = 0,

28.

3xy − 2(3x − 1)y + (3x − 2)y = 0,

29.

x2 y + (x + 1)y − y = 0,

30.

x(x + 1)y − (x − 1)y + y = 0,

u=x u=x u = ex u = ex

u=x+1 u=x−1

Section 8

The Laplace Transform

437

8. THE LAPLACE TRANSFORM As you will see in Section 9, Laplace transforms are useful in solving diﬀerential equations (for other uses see end of Section 9, page 442). Here we want to deﬁne the Laplace transform and obtain some needed formulas. We deﬁne L(f ), the Laplace transform of f (t) [also written F (p) since it is a function of p ], by the equation L(f ) =

(8.1)

∞

f (t)e−pt dt = F (p).

This is an example of an integral transform (also see Fourier transforms, Chapter 7, Section 12, and Hilbert transforms, Chapter 14, page 698). If we start with a function f (t), multiply by a function of t and p, and ﬁnd a deﬁnite integral with respect to t, we have a function F (p) which is called an integral transform of f (t). There are many named integral transforms which you may discover in tables and computer. Observe the notation for Laplace transforms in (8.1): we shall consistently use a small letter for the function of t, and the corresponding capital letter for the transform which is a function of p, for example f (t) and F (p), or g(t) and G(p), etc. Also note from (8.1) that since we integrate from 0 to ∞, F (p) is the same no matter how f (t) is deﬁned for negative t. However, it is desirable to deﬁne f (t) = 0 for t < 0 (see footnote, page 447; also see Bromwich integral, page 696). It is very convenient to have a table of corresponding f (t) and F (p) when we are using Laplace transforms to solve problems. Let us calculate some of the entries in the table of Laplace transforms at the end of the chapter (pages 469 to 471). Note that numbers preceded by L (L1, L2, · · · , L35) refer to entries in the Laplace transform table. Example 1. To obtain L1 in the table, we substitute f (t) = 1 into (8.1) and ﬁnd (8.2)

∞

F (p) = 0

∞ 1 1 1 · e−pt dt = − e−pt = , p p 0

p > 0.

We have assumed p > 0 to make e−pt zero at the upper limit; if p is complex, as it may be, then the real part of p must be positive (Re p > 0), and this is the restriction we have stated in the table for L1. Example 2. For L2, we have

(8.3)

f (t) = e−at , ∞ F (p) = e−(a+p)t dt = 0

1 , p+a

Re(p + a) > 0.

We could continue in this way to obtain the function F (p) corresponding to each f (t) by using (8.1) and evaluating the integral. However, there are some easier methods which we now illustrate. First observe that the Laplace transform of a sum of two functions is the sum of their Laplace transforms; also the transform of

438

Ordinary Differential Equations

Chapter 8

cf (t) is cL(f ) when c is a constant: ∞ L[f (t) + g(t)] = [f (t) + g(t)]e−pt dt 0 ∞ ∞ (8.4) = f (t)e−pt dt + g(t)e−pt dt = L(f ) + L(g), 0 0 ∞ ∞ L[cf (t)] = cf (t)e−pt dt = c f (t)e−pt dt = cL(f ). 0

In mathematical language, we say that the Laplace transform is linear (or is a linear operator —see Chapter 3, Section 7). Example 3. Now let us verify L3. In (8.3), replace the a by −ia; then we have (8.5)

f (t) = eiat = cos at + i sin at, p + ia 1 = 2 , Re(p − ia) > 0. F (p) = p − ia p + a2

Remembering (8.4), we can write (8.5) as (8.6)

a p +i 2 . p 2 + a2 p + a2

L(cos at + i sin at) = L(cos at) + iL(sin at) =

Similarly, replacing a by ia in (8.3), we get (8.7)

L(cos at − i sin at) =

a p −i 2 , 2 +a p + a2

Re(p + ia) > 0.

Adding (8.6) and (8.7), we get L4; by subtracting, we get L3. Example 4. To verify L11, start with L4, namely ∞ e−pt cos at dt = (8.8) L(cos at) = 0

p . p 2 + a2

Diﬀerentiate (8.8) with respect to the parameter a to get ∞ p(−2a) e−pt (−t sin at) dt = 2 (p + a2 )2 0

∞

e−pt t sin at dt =

2pa (p2 + a2 )2

which is L11. Ways of ﬁnding other entries in the table are outlined in the problems.

PROBLEMS, SECTION 8 1.

For integralRk, verify L5 and L6 in the Laplace transform table. Hint: From L2, you ∞ can write: 0 e−pt e−at dt = 1/(p + a). Diﬀerentiate this equation repeatedly with respect to p. (See Chapter 4, Section 12, Example 4, page 235.) Also note L32. For the Γ function results in L5 and L6, see Chapter 11, Problem 5.7.

By using L2, verify L7 and L8 in the Laplace transform table.

Section 8

The Laplace Transform

439

Using either L2, or L3 and L4, verify L9 and L10.

By diﬀerentiating the appropriate formula with respect to a, verify L12.

By integrating the appropriate formula with respect to a, verify L19.

By replacing a in L2 by a + ib and then by a − ib, and adding and subtracting the results [as in (8.6) and (8.7)], verify L13 and L14.

Verify L15 to L18, by combining appropriate preceding formulas using (8.4).

Find the inverse transforms of the functions F (p) in Problems 8 to 13. 1+p Hint: Use L6 and L18. 8. (p + 2)2 5 − 2p 9. Hint: Use L7 and L8. p2 + p − 2 Hint: You can use L7 and L8 with complex a 2p − 1 10. p2 − 2p + 10 and b, but L13 and L14 are more direct. 3p + 2 3p + 10 6−p 11. 12. 13. 3p2 + 5p − 2 p2 − 25 p2 + 4p + 20 14. Show that a combination of entries L3 to L10, L13, L14 and L18 in the table, will give the inverse transform of any function of the form Ap + B , Cp2 + Ep + F

where A, B, C, E, and F are constants.

15.

Prove L32 for n = 1. Hint: Diﬀerentiate equation (8.1) with respect to p.

16.

Use L32 and L3 to obtain L11.

17.

Use L32 and L11 to obtain L(t2 sin at).

18.

Use L31 to derive L21.

Table entries L28 and L29 are known as translation or shifting theorems. Do Problems 19 to 27 about them. 19.

Prove the general formula L29 using (8.1).

20.

Use L29 to verify L6, L13, L14, and L18.

21.

Use L29 and L11 to obtain L(te−at sin bt) which is not in the table.

22.

Obtain L(te−at cos bt) as in Problem 21.

23.

Use the results which you have obtained in Problems 21 and 22 to ﬁnd the inverse transform of (p2 + 2p − 1)/(p2 + 4p + 5)2 .

24.

Sketch on the same axes graphs of sin t, sin(t − π/2), and sin(t + π/2), and observe which way the graph shifts. Hint: You can, of course, have your calculator or computer plot these for you, but it's simpler and much more useful to do it in your head. Hint: What values of t make the sines equal to zero? For an even simpler example, sketch on the same axes y = t, y = t − π/2, y = t + π/2.

25.

Use L28 to ﬁnd the Laplace transform of  sin(t − π/2), f (t) = 0,

t > π/2, t < π/2.

26.

Use L28 and L4 to ﬁnd the inverse transform of pe−pπ /(p2 + 1).

27.

Find the transform of

 f (t) =

where x and v are constants.

sin(x − vt), 0,

t > x/v, t < x/v,

440

Ordinary Differential Equations

Chapter 8

9. SOLUTION OF DIFFERENTIAL EQUATIONS BY LAPLACE TRANSFORMS We are going to discuss the solution of linear diﬀerential equations with constant coeﬃcients (see Sections 5 and 6). Laplace transforms can reduce such an equation to an algebraic equation and so simplify solving it. Also, since Laplace transforms automatically use given values of initial conditions, we ﬁnd immediately a desired particular solution without the extra step of determining constants to satisfy the initial conditions. Discontinuous forcing functions are messy to deal with by Section 6 methods; the Laplace transform method handles them easily. We are going to take Laplace transforms of the terms in diﬀerential equations; to do this we need to know the transforms of derivatives y = dy/dt, y = d2 y/dt2 , etc. To ﬁnd L(y ), we use the deﬁnition (8.1) and integrate by parts, as follows ∞ ∞ ∞ −pt −pt (9.1) y (t)e dt = e y(t) − (−p) y(t)e−pt dt L(y ) = 0

= −y(0) + pL(y) = pY − y0 where for simplicity we have written L(y) = Y and y(0) = y0 . To ﬁnd L(y ), we think of y as (y ) , and substitute y for y in (9.1) to get L(y ) = pL(y ) − y (0). Using (9.1) again to eliminate L(y ), we ﬁnally have (9.2)

L(y ) = p2 L(y) − py(0) − y (0) = p2 Y − py0 − y0 .

Continuing this process, we obtain the transforms of the higher-order derivatives (Problem 1 and L35). We are now ready to solve diﬀerential equations. We illustrate the method by some examples. Example 1. Solve y + 4y + 4y = t2 e−2t with initial conditions y0 = 0, y0 = 0. We take the Laplace transform of each term in the equation, using L35 and L6 in the table of Laplace transforms. We get p2 Y − py0 − y0 + 4pY − 4y0 + 4Y = L(t2 e−2t ) =

2 . (p + 2)3

But the initial conditions are y0 = y0 = 0. Thus we have (p2 + 4p + 4)Y =

2 (p + 2)3

or Y =

2 . (p + 2)5

Now we want y, which is the inverse Laplace transform of Y . We look in the table for the inverse transform of 2/(p + 2)5 . By L6, we get y=

2t4 e−2t t4 e−2t = . 4! 12

This is much simpler than the general solution; we have obtained just the solution satisfying the given initial conditions.

Section 9

Solution of Differential Equations by Laplace Transforms

441

Example 2. Solve y + 4y = sin 2t, subject to the initial conditions y0 = 10, y0 = 0. Using the table, take the Laplace transform of each term of the equation to get p2 Y − py0 − y0 + 4Y = L(sin 2t) =

2 . p2 + 4

Then we substitute the initial conditions and solve for Y as follows: 2 , p2 + 4 2 10p + Y = 2 . p + 4 (p2 + 4)2

(p2 + 4)Y − 10p =

Finally, taking the inverse transform using L4 and L17, we have the desired solution: y = 10 cos 2t + 18 (sin 2t − 2t cos 2t) = 10 cos 2t +

1 8

sin 2t − 14 t cos 2t.

Example 3. Solve y + 4y + 13y = 20e−t , y0 = 1, y0 = 3. We take the transform of each term and solve for Y as follows: 20 , p2 Y − p − 3 + 4pY − 4 + 13Y = p+1

1 20 p2 + 8p + 27 Y = 2 +p+7 = . p + 4p + 13 p + 1 (p + 1)(p2 + 4p + 13) Since this Y is not in our table, we can either use a larger table, or use partial fractions to split Y into fractions which are in our table (which you can do by computer) or ﬁnd the inverse transform by computer. We ﬁnd: Y =

2 −p + 1 2 3 p+2 + = + − p + 1 p2 + 4p + 13 p + 1 (p + 2)2 + 9 (p + 2)2 + 9

and by L2, L13, and L14, y = 2e−t + e−2t sin 3t − e−2t cos 3t. Sets of simultaneous diﬀerential equations can also be solved by using Laplace transforms. Here is an example. Example 4. Solve the set of equations y − 2y + z = 0, z − y − 2z = 0, subject to the initial conditions y0 = 1, z0 = 0. We shall call L(z) = Z and L(y) = Y as before. We take the Laplace transform of each of the equations to get pY − y0 − 2Y + Z = 0, pZ − z0 − Y − 2Z = 0.

442

Ordinary Differential Equations

Chapter 8

After substituting the initial conditions and collecting terms, we have (p − 2)Y + Z = 1, Y − (p − 2)Z = 0. We solve this set of algebraic equations simultaneously for Y and Z (by any of the methods usually used for a pair of simultaneous equations—elimination, determinants, etc.). For example, we may multiply the ﬁrst equation by (p − 2) and add the second to get [(p − 2)2 + 1]Y = p − 2

or Y =

p−2 . (p − 2)2 + 1

We ﬁnd y by looking up the inverse transform of Y using L14. We get y = e2t cos t. Similarly, solving for Z and looking up the inverse transform, we ﬁnd Z=

1 , (p − 2)2 + 1

z = e2t sin t

. Alternatively, we could ﬁnd z from the ﬁrst diﬀerential equation by substituting the y solution: z = 2y − y = 2e2t cos t + e2t sin t − 2e2t cos t = e2t sin t. Solving linear diﬀerential equations with constant coeﬃcients is not the only use of Laplace transforms. As you will see in Chapter 13, Section 10, we may solve some kinds of partial diﬀerential equations by Laplace transforms. Alsoa table of Laplace ∞ transforms can be used to evaluate deﬁnite integrals of the type 0 e−pt f (t)dt. Example 5. By L15 with a = 3 and p = 2, we have ∞ e−2t (1 − cos 3t) dt = 0

9 32 = . + 32 ) 26

2(22

Actually, there is more to the subject than this. Although we are discussing in this chapter the use of Laplace transforms as a tool, they also can play a more theoretical role in applied problems. It is often possible to ﬁnd desired information about a problem directly from the Laplace transform of the solution without ever ﬁnding the solution. Thus the use of Laplace transforms may lead to a better understanding of a problem or a simpler method of solution. (Compare the use of matrices, for example, or the use of Fourier transforms.)

PROBLEMS, SECTION 9 1.

Continuing the method used in deriving (9.1) and (9.2), verify the Laplace transforms of higher-order derivatives of y given in the table (L35).

By using Laplace transforms, solve the following diﬀerential equations subject to the given initial conditions. 2.

y − y = 2et ,

y0 = 3

Section 9

Solution of Differential Equations by Laplace Transforms

y + 4y + 4y = e−2t ,

y0 = 0, y0 = 4

y + y = sin t,

y0 = 1, y0 = 0

y + y = sin t,

y0 = 0, y0 = − 21

y − 6y + 9y = te3t ,

y0 = 0, y0 = 5

y − 4y + 4y = 4,

y0 = 0, y0 = −2

y + 16y = 8 cos 4t,

y0 = y0 = 0

y + 16y = 8 cos 4t,

y0 = 0, y0 = 8

10.

y − 4y + 4y = 6e2t ,

y0 = y0 = 0

11.

y − 4y = 4e2t ,

y0 = 0, y0 = 1

12.

y − y = e−t − 2te−t ,

y0 = 1, y0 = 2

13.

y + y = 5 sinh 2t,

y0 = 0, y0 = 2

14.

y − 4y = −4te2t ,

y0 = 0, y0 = 1

15.

y + 9y = cos 3t,

y0 = 0, y0 = 6

16.

y + 9y = cos 3t,

y0 = 2, y0 = 0

17.

y + 5y + 6y = 12,

y0 = 2, y0 = 0

18.

y − 4y = 3e−t ,

y0 = 1, y0 = −3

19.

y + y − 5y = e2t ,

y0 = 1, y0 = 2

20.

y − 8y + 16y = 32t,

y0 = 1, y0 = 2

21.

y + 4y + 5y = 26e3t ,

y0 = 1, y0 = 5

22.

y +2y +5y = 10 cos t,

y0 = 2, y0 = 1

23.

y +2y +5y = 10 cos t,

y0 = 0, y0 = 3

24.

y − 2y + y = 2 cos t,

y0 = 5, y0 = −2

25.

y + 4y + 5y = 2e−2t cos t,

y0 = 0, y0 = 3

26.

y + 2y + 10y = −6e−t sin 3t,

y0 = 0, y0 = 1

Solve the following sets of equations by the Laplace transform method. 27.

y + z − 3z = 0 y + z = 0

y0 = y0 = 0 z0 = 43

28.

y + z = 2 cos t z − y = 1

y0 = −1 z0 = 1

29.

y + z − 2y = 1 z − y = t

y0 = z 0 = 1

30.

y + 2z = 1 2y − z = 2t

y0 = 0 z0 = 1

31.

y + z − z = 0 y + z − 2z = 1 − et

y0 = 0, z0 = 1,

32.

z + 2y = 0 y − 2z = 2

y0 = z 0 = 0

y0 = 1 z0 = 1

443

444 33.

Ordinary Differential Equations y − z − y = cos t y + y − 2z = 0

Chapter 8

y0 = −1 z0 = 0

Evaluate each of the following deﬁnite integrals by using the Laplace transform table. Z ∞ 3 34. e−2t sin 3t dt = 13 . Hint: In (8.1), let p = 2, f (t) = sin 3t; use L3 with a = 3. 0

Z 35.

∞ 0

Z 37.

∞ 0

Z 39. Z 41.

∞ 0 ∞ 0

te−t sin 5t dt

36. Z

t5 e−2t dt

38.

e−t − e−2t dt t

40.

∞ 0 ∞ 0

Z Z

√ 1 −2t sin(t 2 ) dt e t

42.

e−t (1 − cos 2t) dt

∞

e−2t − e−2et dt t

∞

1 −t√3 sin 2t cos t dt e t

e−3t sin 2t dt t

10. CONVOLUTION In solving diﬀerential equations by Laplace transforms in Section 9, we found Y and then found the inverse transform y either in a table or by computer. We had no way of writing a formula for y. We now want to consider another way of ﬁnding inverse transforms. (Also see Bromwich integral, Chapter 14, page 696.) Let us ﬁrst see why the method we are going to discuss in this section is useful. Consider diﬀerential equations of the kind discussed in Sections 5 and 6, namely linear second-order equations with constant coeﬃcients. Recall that such equations describe the vibrations or oscillations of either a mechanical or an electrical system. If the right-hand side of the equation is a function of t, called the forcing function, then the diﬀerential equation describes forced vibrations. Example 1. Let us solve the following representative equation by Laplace transforms, assuming that the system is initially at rest and that the force f (t) starts being applied at t = 0. (10.1)

Ay + By + Cy = f (t),

y0 = y0 = 0.

We take the Laplace transform of each term, substitute the initial conditions, and solve for Y as follows: (10.2)

Ap2 Y + BpY + CY = L(f ) = F (p),

Y =

1 F (p). Ap2 + Bp + C

Note that Y is a product of two functions of p. We know the inverse transform of F (p), namely f (t). The factor T (p) = (Ap2 + Bp + C)−1 (called the transfer function) can always be written as T (p) =

1 A(p + a)(p + b)

by factoring the quadratic expression in the denominator. Hence by L7 (or L6 if a = b) we can ﬁnd the inverse transform of T (p) for any problem. Then y

Section 10

Convolution

445

[the inverse transform of Y in (10.2)] is the inverse transform of a product of two functions whose inverse transforms we know. We are going to show how to write y as an integral (that is, we are going to verify L34 in the table). Let G(p) and H(p) be the transforms of g(t) and h(t). We want the inverse transform of the product G(p)H(p). By the deﬁnition (8.1) ∞ ∞ (10.3) G(p)H(p) = e−pt g(t) dt · e−pt h(t) dt. 0

Let us rewrite (10.3) replacing t by diﬀerent dummy variables of integration so that we can write the product of the two integrals as a double integral. We then have ∞ ∞ −pσ (10.4) e g(σ) dσ · e−pτ h(τ ) dτ G(p)H(p) = 0 0 ∞ ∞ = e−p(σ+τ ) g(σ)h(τ ) dσ dτ. 0

Now we make a change of variables; in the σ integral (that is, with τ ﬁxed), let σ + τ = t. Then σ = t − τ , dσ = dt, and the range of integration with respect to t is from t = τ (corresponding to σ = 0) to t = ∞ (corresponding to σ = ∞). Making these substitutions into (10.4), we get ∞ ∞ (10.5) G(p)H(p) = e−pt g(t − τ )h(τ ) dt dτ. τ =0

t=τ

Next we want to change the order of integration. From Figure 10.1, we see that the double integral in (10.5) is over the triangle in the ﬁrst quadrant below the line t = τ . The t integral ranges from the line t = τ to t = ∞ (indicated by a horizontal strip of width dτ from t = τ to ∞) and then the τ integral sums over the horizontal strips from τ = 0 to τ = ∞ covering the whole inﬁnite triangle. Let us integrate with respect to τ ﬁrst; τ then ranges from 0 Figure 10.1 to the line τ = t [indicated by a vertical strip in Figure 10.1] and then the t integral sums over the vertical strips from t = 0 to ∞. Making this change in (10.5), we get

(10.6)

∞

e−pt g(t − τ )h(τ ) dτ dt t −pt e g(t − τ )h(τ ) dτ dt = 0 0 t g(t − τ )h(τ ) dτ . (See L34.) =L

G(p)H(p) =

t=0 ∞

τ =0

The last step follows from the deﬁnition (8.1) of a Laplace transform.

446

Ordinary Differential Equations

Deﬁnition of Convolution

Chapter 8

The integral

(10.7) 0

g(t − τ )h(τ ) dτ = g ∗ h

is called the convolution of g and h (or the resultant or the Faltung). Note the abbreviation g ∗ h for the convolution integral, and do not confuse the symbol ∗, written on the line, with a star used as a superscript meaning complex conjugate. It is easy to show (Problem 1) that g ∗ h = h ∗ g; this result and (10.6) and (10.7) give L34 in the table. Now let's see how to use (10.6) or L34 to solve the kind of problem indicated in (10.1) and (10.2). Example 2. Solve y + 3y + 2y = e−t , y0 = y0 = 0. Taking the Laplace transform of each term, substituting the initial conditions, and solving for Y , we get p2 Y + 3pY + 2Y = L(e−t ), 1 L(e−t ). Y = 2 p + 3p + 2 Since we are intending to use the convolution integral, we do not bother to look up the transform of e−t . We do want, however, the inverse transform of 1/(p2 + 3p+ 2); by L7, this is e−t − e−2t , so we have Y = L(e−t − e−2t )L(e−t ) = G(p)H(p), with g(t) = e−t − e−2t and h(t) = e−t . We now use L34 to ﬁnd y. Observe from L34 that we may use either g(t − τ )h(τ ) or g(τ )h(t − τ ) in the integral. It is well to choose whichever form is easier to integrate; usually it is best to put (t − τ ) in the simpler function [here h(t)]. Then we have

(e−τ − e−2τ )(e−(t−τ ) dτ 0 0 t t −t −τ −t −τ (1 − e ) dτ = e (τ + e ) =e

g(τ )h(t − τ ) dτ =

= e−t (t + e−t − 1) = te−t + e−2t − e−t . It is not always as easy to evaluate the convolution integral as it was in this example. However, let us observe that, at the very worst, we can always write the solution to a forced vibrations problem [equation (10.1)] as an integral (which can, if necessary, be evaluated numerically). This is true because, as we showed just after (10.2), we can always ﬁnd the inverse transform of the transfer function T (p), and so have Y as a product of two functions whose inverse transforms we know. Then y is given by the convolution (10.7) of the forcing function f (t) and the inverse transform of the the transfer function. Also note (Problem 16) that a combination of L6, L7, L8 and L18 will handle any terms arising in a problem with nonzero initial conditions.

Section 10

Convolution

447

Fourier Transform of a Convolution We have shown that the Laplace transform of the convolution of two functions is the product of their Laplace transforms. There is a similar theorem for Fourier transforms; let us see what it says. Let g1 (α) and g2 (α) be the Fourier transforms of f1 (x) and f2 (x). By analogy with equations (10.3), (10.4), (10.5), and (10.6), we might expect the product g1 (α) · g2 (α) to ∞be the Fourier transform of something; let's investigate this idea. Assuming that −∞ |f1 (x)f2 (x)|dx is ﬁnite, then by the deﬁnition of a Fourier transform [Chapter 7, equation (12.2)], we have ∞ ∞ 1 1 g1 (α) · g2 (α) = (10.8) f1 (v)e−iαv dv · f2 (u)e−iαu du 2π −∞ 2π −∞

2 ∞ ∞ 1 = e−iα(v+u) f1 (v)f2 (u) dv du. 2π −∞ −∞ [We have used diﬀerent dummy integration variables as in (10.4).] Next we make the change of variables x = v + u, dx = dv, in the v integral, to get

2 ∞ ∞ 1 g1 (α)g2 (α) = (10.9) e−iαx f1 (x − u)f2 (u) dx du 2π −∞ −∞

2 ∞ ∞ 1 = e−iαx f1 (x − u)f2 (u) du dx. 2π −∞ −∞ If we deﬁne the convolution of f1 (x) and f2 (x) by ∞ f1 (x − u)f2 (u) du, † (10.10) f 1 ∗ f2 = −∞

then (10.9) becomes ∞ 1 1 1 −iαx · Fourier transform of f1 ∗ f2 . f1 ∗ f2 e dx = (10.11) g1 · g2 = 2π 2π −∞ 2π In other words,

(10.12)

g1 · g2 and

1 f1 ∗ f2 are a pair of Fourier transforms. 2π

Because of the symmetry of the f (x) and g(α) integrals, there is a similar result relating f1 · f2 and the convolution of g1 and g2 . We ﬁnd that (Problem 19) (10.13)

g1 ∗ g2 and f1 · f2 are a pair of Fourier transforms.

As discussed in Chapter 7, after (12.2) and after (12.10), various references diﬀer † Note that (10.10) is really the same as (10.7) if we agree that, for Laplace transforms, f (t) = 0 when t < 0 (see the ﬁrst paragraph of Section 8, page 437). For then in (10.7), h(τ ) = 0 for τ < 0 and g(t − τ ) = 0 for τ > t, so the integral would not really be diﬀerent if written with inﬁnite limits (in fact, it is sometimes written that way).

448

Ordinary Differential Equations

Chapter 8

in √ the position of the factor 1/(2π). Some authors include factors of 1/(2π) or 1/ 2π in the convolution deﬁnition (10.10); this deﬁnition as well as Chapter 7, equation (12.2), aﬀects (10.12) and (10.13). Check the notation in any reference you are using.

PROBLEMS, SECTION 10 1.

Show that g ∗ h = h ∗ g as claimed in L34. Hint: Let u = t − τ in (10.7).

Use L34 and L2 to ﬁnd the inverse transform of G(p)H(p) when G(p) = 1/(p + a) and H(p) = 1/(p + b); your result should be L7.

Use the convolution integral to ﬁnd the inverse transforms of: 3.

p 1 p = 2 · (p2 − 1)2 p − 1 p2 − 1

1 (p + a)(p + b)2

p (p + a)(p + b)2

1 (p + a)(p2 − b2 )

p (p + a)(p2 − b2 )

1 (p + a)(p + b)(p + c)

2 p3 (p + 2)

10.

1 p(p2 + a2 )2

p (p2 + a2 )(p2 + b2 )

12.

1 p(p2 + a2 )(p2 + b2 )

11.

Hint: In Problems 11 and 12 use 2 sin θ cos φ = sin(θ + φ) + sin(θ − φ). Rt 13. Use the Laplace transform table to ﬁnd f (t) = 0 e−τ sin(t − τ ) dτ. Hint: In L34, let g(t) = e−t and h(t) = sin t, and ﬁnd G(p)H(p) which is the Laplace transform of the integral you want. Break the result into partial fractions and look up the inverse transforms. Use the convolution integral (see Example 2) to solve the following diﬀerential equations. 14.

y + 5y + 6y = e−2t ,

15.

y + 3y − 4y = e3t ,

16.

Consider solving an equation like (10.1) but with nonzero initial conditions.

17.

y0 = y0 = 0. y0 = y0 = 0.

(a)

Write the corrected form of (10.2), writing the transfer function in factored form as indicated just after (10.2). Consider the extra terms in Y which arise from the initial conditions; show that the inverse transforms of such terms can always be found from L6, L7, L8, and L18.

(b)

Find the explicit form of the inverse transform of the transfer function for a = b (use L7), and so write the general solution of (10.2) with nonzero initial conditions as a convolution integral plus the terms which you found in (a).

Solve the diﬀerential equation y − a2 y = f (t), where  0, t < 0, f (t) = and y0 = y0 = 0. 1, t > 0, Hint: Use the convolution integral as in the example.

Section 11 18.

The Dirac Delta Function

449

A mechanical or electrical system is described by the diﬀerential equation y + ω 2 y = f (t). Find y if  1, 0 < t < a, f (t) = and y0 = y0 = 0. 0, otherwise, Hint: Use the convolution integral carefully. Consider t < a and t > a separately, remembering that f (t) = 0 for t > a. Show that 8 1 > < 2 (1 − cos ωt), t < a, ω y= > : 1 [cos ω(t − a) − cos ωt], t > a. ω2 Sketch the motion if a = 13 T where T is the period for free vibrations of the system; 1 T. if a = 32 T ; if a = 10

19.

Following the method of equations (10.8) to (10.12), show that f1 f2 and g1 ∗ g2 are a pair of Fourier transforms.

11. THE DIRAC DELTA FUNCTION In mechanics we consider the idea of an impulsive force such as a hammer blow which lasts for a very short time. We usually do not know the exact shape of the force function f (t), and so we proceed as follows. Let the impulsive force f (t) lasting from t = t0 till t = t1 be applied to a mass m; then by Newton's second law we have t1 v1 t1 dv (11.1) f (t) dt = m dt = m dv = m(v1 − v0 ). dt t0 t0 v0 This says that the integral of f (t) [called the impulse of f (t)] is equal to the change in the momentum of m, and we note that the result is independent of the shape of f (t) but depends only on the area under the f (t) curve. If this area is 1, we call the impulse a unit impulse. If t1 − t0 is very small, we may simply ignore the motion of m during this small time, Figure 11.1 and say only that the momentum jumped from mv0 to mv1 during the time t1 − t0 . If v0 = 0, the graph of the momentum as a function of time would be as in Figure 11.1, where we have simply omitted the (unknown) part of the graph between t0 and t1 . We note that if t1 − t0 is very small, the graph in Figure 11.1 is almost the unit step function (L24). Let us imagine making t1 − t0 smaller and smaller while keeping the jump in mv always 1. In Figures 11.2, 11.3 and 11.4 we have sketched some possible sequences of functions fn (t) which would do this. We could draw many other similar sets of graphs; the essential requirement is that f (t) should become taller and narrower (that is, that the force should become more intense but act over a shorter time) in such a way that the impulse [area under the f (t) curve] remains 1. We might then consider the limiting case in which Figure 11.1 has a jump of 1 at t0 ; the force f (t) required to produce this result would have to be inﬁnite and act instantaneously. Also from equation (11.1), we see that the function f (t) is the slope of the mv graph; thus we are asking for f (t) to be the derivative of a step function at the jump. We see immediately that no ordinary function has these properties. However, we also note

450

Ordinary Differential Equations

Chapter 8

Figure 11.2 that we are not so much interested in f (t) as in the results it produces. Figure 11.1 with a jump at t0 makes perfectly good sense; for any t > t0 we could choose a suﬃciently tall and narrow fn (t) so that mv would already have its ﬁnal value. We shall see that it is convenient to introduce a symbol δ(t − t0 ) to represent the force which produces a jump of 1 in mv at t0 ; δ(t − t0 ) is called the Dirac delta function although it is not an ordinary function as we have seen. (It may properly be called a generalized function or a distribution, and is one of a whole class of such functions.) Introducing and using this symbol is much like introducing and using the symbol ∞. It is convenient to write equations like 1/∞ = 0, but we must not write ∞/∞ = 1; that is, such symbolic equations must be abbreviations for correct limiting processes. Let us investigate, then, how we can use the δ function correctly. Example 1. Consider the diﬀerential equation (11.2)

y + ω 2 y = f (t),

y0 = y0 = 0.

This equation might describe the oscillations of a mass suspended by a spring, or a simple series electric circuit with negligible resistance. Let us assume that the system is initially at rest (y0 = y0 = 0); then suppose that, at t = t0 the mass is struck a sharp blow, or a sudden short surge of current is sent through the electric circuit. The function f (t) may be one of those shown in Figures 11.2 to 11.4 or another similar function. Let us solve (11.2) with f (t) equal to one of the functions in Figure 11.3, that is, f (t) = ne−n(t−t0 ) , t > t0 . Using Laplace transforms L28

Section 11

The Dirac Delta Function

451

Figure 11.3 and L2 we ﬁnd

(11.3)

e−pt0 , (p2 + ω 2 )Y = L(ne−n(t−t0 ) ) = n · p+n e−pt0 ne−pt0 n 1 p Y =n· = 2 + . − 2 (p + n)(p2 + ω 2 ) (n + ω 2 ) p + n p2 + ω 2 p + ω2

(You can easily verify the partial fractions expansion in the last step.) Then by L28 with a = t0 , L2 with a = n, and L3, L4, with a = ω , we ﬁnd:

−n(t−t0 ) n sin ω(t − t0 ) cos ω(t − t0 ) e − , t > t0 . + (11.4) y=n n2 + ω 2 (n2 + ω 2 )ω n2 + ω 2 (Of course, y = 0 for t < t0 .) By making f (t) suﬃciently narrow and peaked (that is, by making n large enough), we can make the ﬁrst and third terms in y negligible, and the coeﬃcient of sin ω(t − t0 ) approximately equal to 1/ω. Thus the solution is approximately 1 (11.5) y = sin ω(t − t0 ), t > t0 , ω for a unit impulse of very short duration at t = t0 . (We have shown this only for the functions of Figure 11.3; however, the same result would be found for other sets of functions, such as those in Figure 11.4, for example—see Problem 5.)

452

Ordinary Differential Equations

Chapter 8

Figure 11.4 Now we would like to be able to ﬁnd (11.5) without ﬁnding (11.4), in fact, without choosing a speciﬁc set of functions fn (t). Our discussion above suggests that we try using the symbol δ(t − t0 ) for f (t) on the right-hand side of (11.2). In solving the equation, we would then like to take the Laplace transform of δ(t − t0 ). Laplace Transform of a δ Function Let us investigate whether we can make sense out of the Laplace transform of δ(t − t0 ). More generally, let us try to attach meaning to the integral φ(t)δ(t − t0 ) dt, where φ(t) is any continuous function and δ(t − t0 ) is the symbol indicating an impulse at t0 . We consider the integrals φ(t)fn (t−t0 ) dt, where the functions fn (t−t0 ) are more and more strongly peaked at t0 as n increases (Figure 11.5), but the area under each graph is 1. When fn (t−t0 ) is so narrow that φ(t) is essentially constant [equal to φ(t0 )] over the width of fn (t − t0 ), the integral becomes nearly φ(t ) fn (t − t0 ) dt = φ(t0 ) · 1 = φ(t0 ); that 0 is, the sequence of integrals φ(t)fn (t − t0 ) dt tends to φ(t0 ) as n tends to inﬁnity. It then seems reasonable to say that

(11.6) a

φ(t)δ(t − t0 ) dt =

φ(t0 ), 0,

a < t0 < b, otherwise.

Equation (11.6) is the deﬁning equation for the δ function; when we operate with δ functions, we use them in integrals and (11.6) tells us the value of the integral. The integral in (11.6) is not a Riemann integral; it is just a very useful symbol indicating that we have found the limit of φ(t)fn (t − t0 ) dt as n → ∞. You may then ask how we can carry out familiar operations like integration by parts. When you treat an integral containing a δ function as an ordinary integral, you can, if you like, think

Section 11

The Dirac Delta Function

453

Figure 11.5 that you are really working with the functions fn (t − t0 ) and then taking the limit at the end. Of course, all this needs mathematical justiﬁcation which exists but is beyond our scope. (For two diﬀerent mathematical developments of generalized functions, see Lighthill, and Chapter 9 of Folland.) Our purpose is just to make understandable the δ function formulas which are so useful in applications. Example 2. We can now easily ﬁnd the Laplace transform of δ(t − t0 ). In the notation used in L27 (which we are about to derive), we have, using (8.1), (11.7)

L[δ(t − a)] =

∞

δ(t − a)e−pt dt = e−pa ,

a > 0,

since, by 11.6, the integral of the product of δ(t − a) and a function "picks out" the value of the function at t = a. Now let us use our results to obtain (11.5) more easily. Example 3. Solve (11.8)

y + ω 2 y = δ(t − t0 ),

y0 = y0 = 0.

Taking Laplace transforms and using (11.7), we get (11.9)

(p2 + ω 2 )Y = L[δ(t − t0 )] = e−pt0 .

Then Y =

(11.10)

e−pt0 + ω2

and, by L3 and L28, (11.11) as in (11.5).

1 sin ω(t − t0 ), ω

t > t0 ,

454

Ordinary Differential Equations

Chapter 8

Fourier Transform of a δ Function Using (11.6) and the deﬁnition of a Fourier transform [Chapter 7, equation (12.2)], we may write ∞ 1 1 −iαa e (11.12) g(α) = δ(x − a)e−iαx dx = . 2π −∞ 2π Formally, then (12.2) of Chapter 7 would give for the inverse transform ∞ 1 eiα(x−a) dα. (11.13) δ(x − a) = 2π −∞ We say "formally" because the integral in (11.13) does not converge. However, if we replace the limits −∞, ∞ by −n, n, we obtain a set of functions (Problem 12) which, like the functions fn (t) in Figures 11.2 to 11.4, are increasingly peaked around x = a as n increases, but all have area 1. In this sense, then, (11.13) is a representation of the δ function. Equations (11.12) and (11.13) are useful in quantum mechanics. Another Physical Application of δ functions What is the density (mass per unit length) of a point mass on the x axis? Compare the concept of a point mass with our discussion of δ functions. We could think of a point mass as corresponding to the limiting case of a density function like those in Figures 11.2 to 11.4. A point mass at x = a requires that the density be zero everywhere except at x = a but the integral of the density function across x = a should be the mass m. Thus we can write the density function for a point mass m at x = a as mδ(x − a). Similarly, we can represent the charge density for point electrical charges using δ functions. Example 4. The charge density for a charge of 2 at x = 3, a charge of −5 at x = 7 and a charge of 3 at x = −4 would be 2δ(x − 3) − 5δ(x − 7) + 3δ(x + 4). Derivatives of the δ Function ∞ To see that we can attach a meaning to the derivative of δ(x − a), we write −∞ φ(x)δ (x − a) dx and integrate by parts to get ∞ ∞ ∞ φ(x)δ (x − a) dx = φ(x)δ(x − a) − φ (x)δ(x − a) dx = −φ (a). (11.14) −∞

−∞

The integrated term is zero at ±∞, and we evaluated the integral using equation (11.6). Thus, just as δ(x − a) "picks out" the value of φ(x) at x = a [see equation (11.6)], so δ (x − a) picks out the negative of φ (x) at x = a. Integrating by parts twice (Problem 14), we ﬁnd ∞ (11.15) φ(x)δ (x − a) dx = φ (a). −∞

Repeated integrations by parts gives the formula for the derivative of any order of the δ function (Problem 14):

∞

(11.16) −∞

φ(x)δ (n) (x − a) dx = (−1)n φ(n) (a).

We have written the integrals in (11.14) to (11.16) with limits −∞ to ∞, but all that is necessary is that the range of integration include x = a; otherwise, as for (11.6), the integrals are zero.

Section 11

The Dirac Delta Function

455

Some Formulas Involving δ Functions Our discussion at the beginning of this section (see Figure 11.1 and L24 in the Laplace transform table) implied that the derivative at x = a of the unit step function ought to be δ(x − a). (11.17)

1, x > a 0, x < a

(a)

u(x − a) =

(b)

u (x − a) = δ(x − a).

What does the u = δ equation mean? By deﬁnition, two generalized functions (dis tributions) are equal, say G1 (x) = G2 (x) , if φ(x)G1 dx = φ(x)G2 dx for any test function φ(x). Test functions are assumed to be very well behaved functions; let's assume that they are continuous with continuous derivatives of all orders and that they are identically zero outside some ﬁnite interval so that the integrated term in an integration by parts is always zero. You can think of generalized functions as being operators; given a test function φ(x), they "operate" on it to produce a value such as φ(0). Compare the diﬀerential operators in Problem 5.31. We wrote Dx = xD + 1 where D = d/dx. This would be nonsense as an elementary calculus formula, but as an operator equation to be applied to y(x), it means D(xy) = (xD + 1)y = xy + y which is correct. In a similar way, two generalized functions are equal if they give the same results when they operate on any test function. Let's try this for (11.17b). We multiply u by φ(x), integrate by parts (noting that the integrated term is zero because we require test functions to be zero for large |x|), substitute the values of u(x − a), and integrate again to get ∞ ∞ ∞ φ(x)u (x − a) dx = − φ (x)u(x − a) dx = − φ (x) dx = φ(a). −∞

−∞

This is indeed the value of the integral of φ(x)δ(x − a), so u (x − a) = δ(x − a) is a valid operator equation (generalized function equation). Since we think of δ(x) and its derivatives as being zero except at the origin, and x is zero at the origin, it might seem plausible that xδ, x2 δ, xδ , etc. would be identically zero. It turns out that some of these are zero and some are not; to ﬁnd out, we multiply by an arbitrary test function φ(x) and integrate. We state a few results; also see Problems 17 and 18.

(11.18)

(a)

xδ(x) = 0

(b)

xδ (x) = −δ(x)

(c)

x2 δ (x) = 2δ(x)

To check (b), we multiply by φ(x) and integrate using (11.14) with φ(x) replaced by xφ(x). ∞ ∞ xδ (x)φ(x) dx = −(xφ) = −(xφ + φ) = −φ(0) = − δ(x)φ(x) dx. −∞

x=0

−∞

Here is another way to produce valid generalized function identities like those in d (11.18). Suppose G1 (x) = G2 (x); then we can show (Problem 19a) that dx G1 (x) = d n n G (x) and x G (x) = x G (x). For example, if we diﬀerentiate (11.18a) we get 1 2 dx 2 xδ (x) + δ(x) = 0, or xδ (x) = −δ(x) which is (11.18b).

456

Ordinary Differential Equations

Chapter 8

We list a few more operator equations (see Problems 20 and 21).

(a)

(11.19)

δ(−x) = δ(x) and δ(x − a) = δ(a − x);

(b) δ (−x) = −δ (x) and δ (x − a) = −δ (a − x); 1 δ(x), a = 0; (c) δ(ax) = |a| 1 [δ(x − a) + δ(x − b)], a = b; (d) δ[(x − a)(x − b)] = |a − b| δ(x − xi ) (e) δ[f (x)] = if f (xi ) = 0 and f (xi ) = 0. (x )| |f i i

We ﬁrst prove (c) when a is negative, say a = −b, b > 0. Let u = −bx, then du = −b dx, and the limits x = −∞, ∞, become u = ∞, −∞.

∞

φ(x)δ(−bx) dx = −∞

−∞

φ ∞

u −b

δ(u)

du −b

1 = b

∞

φ −∞

1 1 1 φ(0) = φ(0) = b |a| |a|

u −b

δ(u) du

∞

φ(x)δ(x) dx. −∞

From the second integral to the third, we have reversed the order of integration du (one minus sign) and also changed −b to du b (another minus sign, which cancels the ﬁrst). Now, if we repeat the calculation using a > 0 instead of −b, neither of these sign reversals occurs, and so we get the result a1 φ(0) instead of 1b φ(0). But when a > 0, a and |a| are the same. Thus we get the result stated in (11.19c). δ functions in 2 or 3 dimensions It is now straightforward to write the deﬁning equations in rectangular coordinates for δ functions in 2 or 3 dimensions. We have

∞

−∞ ∞

∞

(11.20)

−∞ ∞

(11.21) −∞

−∞

φ(x, y)δ(x − x0 )δ(y − y0 ) dx dy = φ(x0 , y0 ). ∞ φ(x, y, z)δ(x − x0 )δ(y − y0 )δ(z − z0 ) dx dy dz −∞

= φ(x0 , y0 , z0 ). As in one dimension, the delta function "picks out" the value of the test function φ at the "peak" of the δ function. The integrals need not be over all space, just over a region containing the point r0 ; otherwise the integral is zero. The abbreviations δ(r) or δ 3 (r) are often used for δ(x)δ(y)δ(z), but note carefully that they do not mean functions of the vector r, but rather functions of the components x, y, z of r. Similarly you may see δ(r − r0 ) or δ 3 (r − r0 ) meaning the δ function in (11.21). In spherical coordinates, let's use f instead of φ to mean a test function (since φ is a spherical coordinate angle). By the deﬁnition of δ functions, we want f (r, θ, φ)δ(r − r0 )δ(θ − θ0 )δ(φ − φ0 ) dr dθ dφ = f (r0 , θ0 , φ0 ). But since we would like to use the volume element dτ = r2 sin θ dr dθ dφ = r2 dr dΩ, we need to write

Section 11

The Dirac Delta Function

457

(also see Problem 22)

(11.22)

δ(r − r0 )δ(θ − θ0 )δ(φ − φ0 ) ; then δ(r − r0 ) = r2 sin θ f (r, θ, φ)δ(r − r0 ) dτ = f (r0 , θ0 , φ0 ).

Similarly in cylindrical coordinates, with dτ = r dr dθ dz,

(11.23)

δ(r − r0 )δ(θ − θ0 )δ(z − z0 ) ; then δ(r − r0 ) = r f (r, θ, z)δ(r − r0 ) dτ = f (r0 , θ0 , z0 ).

Note that we can use these formulas to write mass density or charge density functions in the various coordinate systems. √ Example 5. Suppose there is a unit charge or unit mass at the point (x, y, z) = (−1, 3, −2); then in rectangular coordinates, the density is √ ρ = δ(x + 1)δ(y − 3)δ(z + 2). In cylindrical coordinates the point is (r, θ, z) = (2, 2π/3, −2) so in cylindrical coordinates the density is ρ = δ(r − 2)δ(θ − 2π/3)δ(z + 2)/r. √ In spherical coordinates, the point is (r, θ, φ) = (2 2, 3π/4, 2π/3), so in spherical coordinates the density is √ ρ = δ(r − 2 2)δ(θ − 3π/4)δ(φ − 2π/3)/(r sin θ). Finally, let's verify two useful operator equations for δ functions in 3 dimensions. er = 4πδ(r); r2 1 ∇2 = −4πδ(r). r ∇·

(11.24) (11.25)

You can easily show (Problem 24a) that ∇ · (er /r2 ) is zero for any r = 0 (and undeﬁned for r = 0). Also, by the divergence theorem [Chapter 6, equation (10.17)] in spherical coordinates, we ﬁnd 2π π er 1 2 er ∇ · 2 dτ = · e dσ = r sin θ dθ dφ = 4π. r 2 2 r r φ=0 θ=0 r volume τ

surface inclosing τ

Thus ∇ · (er /r2 ) has the properties that it is zero for all r > 0 but its integral over any volume including the origin = 4π; this suggests that it is equal to 4πδ(r). Let's verify that this is correct. (Compare Problem 25.) Since ∇ · (er /r2 ) depends only on r (Problem 24a), we use a test function f (r). We want to show that

458

Ordinary Differential Equations

Chapter 8

f (r)∇ · (er /r2 ) dτ , over any volume containing the origin, is equal to 4πf (0). For convenience we integrate over the volume inside the sphere r = a. (Since the integrand is zero for r > 0, the answer is the same for any volume containing the origin.) By Problem 11.17(e) of Chapter 6 with φ = f , V = er /r2 , and n = er , we ﬁnd er er er f (r)∇ · 2 dτ = f (r) 2 · er dσ − ∇f (r) · 2 dτ. r r r volume r n; compare equation (11.18a).

(b)

Show that xn δ (n) (x) = (−1)n n! δ(x); compare (11.18b) and (11.18c).

(c)

n! Show that xm δ (n) (x) = (−1)m (n−m)! δ (n−m) (x), m ≤ n.

(d)

Use the results in (a) and (b) to show that (x2 + y 2 + z 2 )∇2 [δ(x)δ(y)δ(z)] = 6δ(x)δ(y)δ(z).

19.

(a)

Show that you can diﬀerentiate a generalizedR function equationR or multiply it by a power of x. This means to show that if φ(x)G1 (x) dx = φ(x)G2 (x) dx for all test functions φ, then Z Z and φ(x)G1 (x) dx = φ(x)G2 (x) dx Z Z φ(x)xn G1 (x) dx = φ(x)xn G2 (x) dx. Hints: For the diﬀerentiation proof, integrate by parts. For the multiplication by xn proof, consider whether xn φ(x) is a test function if φ is. See comment just after equation (11.17).

(b)

Multiply (11.18b) by x and use (11.18a). Diﬀerentiate the result and simplify to get (11.18c).

(c)

Multiply (11.18c) by x, use (11.18a), diﬀerentiate and simplify to ﬁnd x3 δ (x) in terms of δ(x). Check your result by Problem (18b).

(d)

Try a few more examples as in (b) and (c) and check your results by Problem 18.

20.

Verify the operator equations in (11.19) not done in text. Hints for (a) and (b): Follow the text method of proof of (c), making the change of variable u = −x or u = a − x. Hints for (c) and (d): Split the integral into a sum of integrals each including just one xi . In (d), what is the value of (x − a) when x is in the vicinity of b? Use part (c).

21.

Make use of the operator equations (11.19) and previous equations to evaluate the following integrals. Z ∞ Z 3 φ(x)δ(x2 − a2 ) dx (b) (a) (5x − 2)δ(2 − x) dx 0 0 Z 1 Z π/2 (c) cos x δ(−2x) dx (d) cos x δ(sin x) dx −1

22.

−π/2

You may ﬁnd the spherical coordinate δ function written as δ(r − r0 ) = δ(r − r0 )δ(cos θ − cos θ0 )δ(φ − φ0 )/r 2 . Show that this equation is equivalent to (11.22). Hints: You want to show that δ(cos θ − cos θ0 ) = δ(θ − θ0 )/ sin θ. See (11.19e). Also note that it doesn't really matter whether we write r 2 sin θ or r02 sin θ0 in the denominator of (11.22) since the δ functions are zero unless r = r0 and θ = θ0 .

Section 12

A Brief Introduction to Green Functions

461

23.

Write a formula in rectangular coordinates, in cylindrical coordinates, and in spherical coordinates for the density of a unit point charge or mass at the point with the given rectangular coordinates: (a) (−5, 5, 0) (b) (0, −1, −1) √ √ (d) (3, −3, − 6) (c) (−2, 0, 2 3)

24.

(a)

Show that ∇ · (er /r 2 ) = 0 for r > 0. Hint: You can do this in rectangular coordinates, but it is easier in spherical coordinates. See Chapter 6, equation (7.9). Show that ∇ · [er F (r)], for any F (r), is a function of r only.

(b)

Show that ∇(1/r) = −er /r 2 . See Chapter 6, equation (6.8).

25.



Let

x − 2, x > 0, 0, x < 0. R ∞ Show that F (x) = 0 for all x = 0, and −∞ F (x) dx = 1, which leads you to think that F (x) might = δ(x). Show in two ways, as outlined in (a) and (b), that this is not true. R∞ (a) Show that −∞ φ(x)F (x) dx = φ(0) + 2φ (0), where φ is any test function. Then by (11.6) and (11.14), what is F (x)? F (x) =

(b)

Show that F (x) = (x − 2)u(x) where u(x) is the unit step function in (11.17). Diﬀerentiate this equation twice and simplify using (11.17) and (11.18). Compare your result in (a).

(c)

As in (a) and (b), ﬁnd G (x) in terms of δ and δ if  3x + 1, x > 0, G(x) = 2x − 4, x < 0.

12. A BRIEF INTRODUCTION TO GREEN FUNCTIONS Let's do some examples to see what a Green function is and how we can use it to solve ordinary diﬀerential equations. Also see Chapter 13, Section 8, for an application to partial diﬀerential equations. (You might ﬁnd it interesting to read "The Green of Green Functions", Physics Today, December 2003, 41–46.) Example 1. We reconsider the diﬀerential equation (11.2), namely (12.1)

y + ω 2 y = f (t),

y0 = y0 = 0

where f (t) is some given forcing function. Using (11.6), we can write ∞ (12.2) f (t) = f (t )δ(t − t) dt , 0

that is, we can think of the force f (t) as (a limiting case of) a whole sequence of impulses. (You might reﬂect that, on the molecular level, air pressure is the force per unit area due to a tremendous number of impacts of individual molecules.) Now suppose that we have solved (12.1) with f (t) replaced by δ(t − t), that is, we ﬁnd the response of the system to a unit impulse at t . Let us call this response G(t, t ), that is, G(t, t ) is the solution of (12.3)

d2 G(t, t ) + ω 2 G(t, t ) = δ(t − t). dt2

462

Ordinary Differential Equations

Chapter 8

Then, given some forcing function f (t), we try to ﬁnd a solution of (12.1) by "adding up" the responses of many such impulses. We shall show that this solution is ∞ (12.4) y(t) = G(t, t )f (t ) dt . 0

Substituting (12.4) into (12.1) and using (12.3) and (12.2), we ﬁnd

2 ∞

2 d d 2 2 y + ω 2 y = y = + ω + ω G(t, t )f (t ) dt dt2 dt2 0 ∞ 2 ∞ d 2 G(t, t = + ω )f (t ) dt = δ(t − t)f (t ) dt = f (t). 2 dt 0 0 Thus (12.4) is a solution of (12.1). The function G(t, t ) is called a Green function (or Green's function). The Green function is the response of the system to a unit impulse at t = t . Solving (12.3) with initial conditions G = 0 and dG/dt = 0 at t = 0, we ﬁnd (Problem 1) 0, 0 < t < t , (12.5) G(t, t ) = 1 ω sin ω(t − t ), 0 < t < t. Then (12.4) gives the solution of (12.1) with y0 = y0 = 0, namely (12.6)

1 sin ω(t − t )f (t ) dt . ω

y(t) = 0

(The upper limit is t = t since G = 0 for t > t.) Thus, given a forcing function f (t), we can ﬁnd the response y(t) of the system (12.1) by integrating (12.6) (see Problems 2 to 5). Similarly for other diﬀerential equations we can ﬁnd the solution in terms of an appropriate Green function (see Problems 6 to 8). Example 2. As we will see later (Chapter 13, Section 8), in using Green functions in threedimensional problems, we usually want a solution which is zero on the boundary of some region. In order to have a similar problem here, let us ask for a solution of y + y = f (x)

(12.7)

such that y = 0 at x = 0 and at x = π/2. A physical interpretation of this problem may be useful. If a string is stretched along the x axis from x = 0 to x = π/2, and then caused to vibrate by a force proportional to −f (x) sin ωt, then |y(x)| in (12.7) gives the amplitude of small vibrations. We ﬁrst ﬁnd a solution of [compare (12.3)] (12.8)

d2 G(x, x ) + G(x, x ) = δ(x − x) dx2

satisfying G(0, x ) = G(π/2, x ) = 0; this solution is the Green function for our problem. Then [compare (12.4)] (12.9)

y(x) = 0

π/2

G(x, x )f (x ) dx

Section 12

A Brief Introduction to Green Functions

463

gives a solution of (12.7) satisfying the conditions y(0) = y(π/2) = 0 (Problem 9). To construct the desired Green function, we ﬁrst note that for any x = x , the equation (12.8) becomes d2 G(x, x ) + G(x, x ) = 0, dx2

(12.10)

x = x .

The solutions of (12.10) are sin x and cos x; we observe that sin x = 0 at x = 0 and cos x = 0 at x = π/2. Thus we try to ﬁnd a Green function of the form A(x ) sin x, 0 < x < x < π/2, (12.11) G(x, x ) = B(x ) cos x, 0 < x < x < π/2. The next step may be clariﬁed by thinking about the string problem. If the string is oscillated by a concentrated force at x [see (12.8)], then the amplitude of the vibration given by (12.11) is shown in Figure 12.1. At x = x , G(x, x ) is continuous, that is, from (12.11)

Figure 12.1

A(x ) sin x = B(x ) cos x .

(12.12)

However (see Figure 12.1), the slope changes abruptly at x . From (12.11), we ﬁnd d x < x , A(x ) cos x, G(x, x ) = −B(x ) sin x, x > x . dx dG at x is − B(x ) sin x − A(x ) cos x . (12.13) Change in dx We can evaluate this change in dG/dx (12.8) from x = x − to 2 by integrating 2 x = x + and letting → 0. Since d G/dx = dG/dx, we ﬁnd x + x +

x +

dG + G(x, x ) dx = δ(x − x) dx = 1, dx x −

x −

or, letting → 0:

dG at x is 1. Change in slope dx

Then from (12.13) (12.14)

−B(x ) sin x − A(x ) cos x = 1.

We solve (12.12) and (12.14) for A(x ) and B(x ) (Problem 10) and get (12.15)

A(x ) = − cos x ,

Thus we have (12.16)

G(x, x ) =

B(x ) = − sin x .

− cos x sin x, 0 < x < x < π/2, − sin x cos x, 0 < x < x < π/2.

Then from (12.9), the solution of (12.7) with y(0) = y(π/2) = 0 is x π/2 (12.17) y(x) = − cos x (sin x )f (x ) dx − sin x (cos x )f (x ) dx . 0

464

Ordinary Differential Equations

Chapter 8

Example 3. If f (x) = csc x, we ﬁnd from (12.17): y(x) = − cos x

sin x csc x dx − sin x

π/2

cos x csc x dx

π/2 = (− cos x)(x) − (sin x)(ln sin x ) = −x cos x + (sin x)(ln sin x).

It is interesting to note that we can use the Green function method to obtain a particular solution of a nonhomogeneous diﬀerential equation (nonzero right-hand side) when we know the solutions of the corresponding homogeneous equation (zero right-hand side). (See Problems 14 to 18.) In (12.17) each integral gives a function of x minus a constant (from the constant limits); these constants times sin x and cos x give a solution of the homogeneous equation. Thus the remaining terms give a particular solution of the nonhomogeneous equation. We can write this particular π/2 x solution in a simple form by changing x to − π/2 , dropping the constant limits and writing indeﬁnite integrals. Then a particular solution yp (x) of (12.7) is given by (12.18) yp (x) = − cos x (sin x)f (x) dx + sin x (cos x)f (x) dx.

Example 4. By the same methods used above, you can verify (Problem 14) that a solution of the diﬀerential equation y + p(x)y + q(x)y = f (x)

(12.19)

with y(a) = y(b) = 0 is given by (12.20)

y(x) = y2 (x)

x a

y1 (x )f (x ) dx + y1 (x) W (x )

b x

y2 (x )f (x ) dx , W (x )

where y1 (x) and y2 (x) are solutions of the homogeneous equation with y1 (a) = 0, y2 (b) = 0, and W is the Wronskian of y1 (x) and y2 (x) [See Chapter 3, equation (8.5)]. Just as in (12.18), we ﬁnd that a particular solution yp of (12.19) is y1 (x)f (x) y2 (x)f (x) dx − y1 (x) dx. (12.21) yp (x) = y2 (x) W (x) W (x) The particular solution (12.18) and (12.21) are exactly the same as those obtained by the method of variation of parameters (see Problem 14b) but the Green function method may seem less arbitrary.

PROBLEMS, SECTION 12 1.

Solve (12.3) if G = 0 and dG/dt = 0 at t = 0 to obtain (12.5). Hint: Use L28 and L3 to ﬁnd the inverse transform.

In Problems 2 and 3, use (12.6) to solve (12.1) when f (t) is as given. 2.

f (t) = sin ωt

f (t) = e−t

Section 12

A Brief Introduction to Green Functions

Use equation (12.6) to solve Problem 10.18.

Obtain (12.6) by using the convolution integral to solve (12.1).

For Problem 10.17, show (as in Problem 1) that the Green function is  0, 0 < t < t , G(t, t ) = (1/a) sinh a(t − t ), 0 < t < t.

465

Thus write the solution of Problem 10.17 as an integral [similar to (12.6)] and evaluate it. 7.

Use the Green function of Problem 6 to solve y − a2 y = e−t ,

y0 = y0 = 0.

Solve the diﬀerential equation y + 2y + y = f (t), y0 = y0 = 0, where  1, 0 < t < a, f (t) = 0, t > a. As in Problems 6 and 7, ﬁnd the Green function for the problem and use it in equation (12.4). Consider the cases t < a and t > a separately.

9. 10.

Following the proof of (12.4), show that (12.9) gives a solution of (12.7). Solve (12.12) and (12.14) to get (12.15). Hint: Use Cramer's rule (Chapter 3, Section 3); note that the denominator determinant is the Wronskian [Chapter 3, equation (8.5)] of the functions sin x and cos x.

In Problems 11 to 13, use (12.17) to ﬁnd the solution of (12.7) with y(0) = y(π/2) = 0 when the forcing function is given f (x). 11.

f (x) = sin 2x (

12.

13.

f (x) =

14.

(a)

Given that y1 (x) and y2 (x) are solutions of (12.19) with f (x) = 0, and that y1 (a) = 0, y2 (b) = 0, ﬁnd the Green function [as in (12.11) to (12.16)] and so obtain the solution (12.20). Then ﬁnd the particular solution (12.21) as discussed for (12.18) and (12.21).

(b)

The method of variation of parameters is an elementary way of ﬁnding a particular solution of (12.19) when you know the solutions of the homogeneous equation. Show as follows that this method leads to the same result (12.21) as the Green function method. Start with the known solution of the homogeneous equation, say y = c1 y1 + c2 y2 and allow the "constants" to be functions of x to be determined so that y satisﬁes (12.19). (The c's are the "parameters" which are to be "varied" in the expression "variation of parameters".) You want to ﬁnd y and y to substitute into (12.19). First ﬁnd y and set the sum of the terms involving derivatives of the c's equal to zero. Diﬀerentiate the rest of y again to get y . Now substitute y, y and y into (12.19) and use the fact that y1 and y2 both satisfy the homogeneous equation [that is, (12.19) with f (x) = 0]. You should have the two equations:

f (x) = sec x

x, 0 < x < π/4 π/2 − x, π/4 < x < π/2. Hint: Write separate formulas for y(x) for x < π/4 and x > π/4.

c1 y1 + c2 y2 = 0, c1 y1 + c2 y2 = f (x). Solve this pair of equations for c1 and c2 [say by determinants, and note that the denominator determinant is the Wronskian as in (12.20) and (12.21)]. Write the indeﬁnite integrals for c1 and c2 , and write y = c1 y1 + c2 y2 to get (12.21).

466

Ordinary Differential Equations

Chapter 8

In Problems 15 to 18, use the given solutions of the homogeneous equation to ﬁnd a particular solution of the given equation. You can do this either by the Green function formulas in the text or by the method of variation of parameters in Problem 14b. 15.

y − y = sech x; 2

sinh x, cosh x

x, x2

16.

x y − 2xy + 2y = x ln x;

17.

y − 2(csc2 x)y = sin2 x;

18.

(x2 + 1)y − 2xy + 2y = (x2 + 1)2 ;

cot x, 1 − x cot x x, 1 − x2

13. MISCELLANEOUS PROBLEMS Identify each of the diﬀerential equations in Problems 1 to 24 as to type (for example, separable, linear ﬁrst order, linear second order, etc.), and then solve it. 1.

x2 y − xy = 1/x

x(ln y)y − y ln x = 0

y + 2y + 2y = 0

d2 r dr + 9r = 0 −6 dt2 dt

(2x − y sin 2x) dx = (sin2 x − 2y) dy

y + 2y + 2y = 10ex + 6e−x cos x

3x3 y 2 y − x2 y 3 = 1

x2 y − xy + y = x

dy − (2y + y 2 e3x ) dx = 0

10.

u(1 − v) dv + v 2 (1 − u) du = 0

11.

(y + 2x) dx − x dy = 0

12.

xy + y = 4x

13.

y + 4y + 5y = 26e3x

14.

y + 4y + 5y = 2e−2x cos x

15.

y − 4y + 4y = 6e2x

16.

y − 5y + 6y = e2x

17.

(2x + y) dy − (x − 2y) dx = 0

18.

(x cos y − e− sin y ) dy + dx = 0

19.

sin2 x dy + [sin2 x + (x + y) sin 2x] dx = 0

20.

y − 2y + 5y = 5x + 4ex (1 + sin 2x)

21.

y + xy = x/y

22.

(D − 2)2 (D2 + 9)y = 0

23.

sin θ cos θ dr − sin2 θ dθ = r cos2 θ dθ

24.

x(yy + y 2 ) = yy

Hint: Let u = yy .

In Problems 25 to 28, ﬁnd a particular solution satisfying the given conditions. 25.

3x2 y dx + x3 dy = 0,

y = 2 when x = 1.

26.

xy − y = x ,

27.

y + y − 6y = 6,

y = 1, y = 4 when x = 0

28.

yy + y 2 + 4 = 0

y = 3, y = 0 when x = 1

29.

If 10 kg of rock salt is placed in water, it dissolves at a rate proportional to the amount of salt still undissolved. If 2kg dissolve during the ﬁrst 10 minutes, how long will it be until only 2kg remain undissolved?

y = 6 when x = 2

Section 13

Miscellaneous Problems

467

30.

A mass m falls under gravity (force mg) through a liquid whose viscosity is decreasing so that the retarding force is −2mv/(1 + t), where v is the speed of m. If the mass starts from rest, ﬁnd its speed, its acceleration, and how far it has fallen (in terms of g) when t = 1.

31.

The acceleration of an electron in the electric ﬁeld of a positively charged sphere is inversely proportional to the square of the distance between the electron and the center of the sphere. Let an electron fall from rest at inﬁnity to the sphere. What is the electron's velocity when it reaches the surface of the sphere?

32.

Suppose that the rate at which you work on a hot day is inversely proportional to the excess temperature above 75◦ . One day the temperature is rising steadily, and you start studying at 2 p.m. You cover 20 pages the ﬁrst hour and 10 pages the second hour. At what time was the temperature 75◦ ?

33.

Compare the temperatures of your cup of coﬀee at time t (a)

if you add cream and let the mixture cool;

(b)

if you let the coﬀee and cream sit on the table and mix them at time t.

Hints: Assume Newton's law of cooling (Problem 2.27) for both coﬀee and cream (where it is a law of heating). Combine n units of cream initially at temperature T0 with n units of coﬀee initially at temperature T0 , and ﬁnd the temperature at time t in (a) and in (b) assuming that the air temperature remains a constant Ta , and that the proportionality constant in the law of cooling is the same for both coﬀee and cream. 34.

A ﬂexible chain of length l is hung over a peg with one end of the chain slightly longer than the other. Assuming that the chain slides oﬀ with no friction, write and solve p the diﬀerential equation of motion to show that y = y0 cosh t 2g/l, 0 < y < l/2, where 2y is the diﬀerence in length of the two ends, and y = y0 when t = 0.

35.

A raindrop falls through a cloud, increasing in size as it picks up moisture. Assume that its shape always remains spherical. Also assume that the rate of increase of its volume with respect to distance fallen is proportional to the cross-sectional area of the drop at any time (that is, the mass increase dm = ρdV is proportional to the volume πr 2 dy swept out by the drop as it falls a distance dy). Show that the radius r of the drop is proportional to the distance y the drop has fallen if r = 0 when y = 0. Recall that when m is not constant, Newton's second law is properly stated as (d/dt)(mv) = F . Use this equation to ﬁnd the distance y which the drop falls in time t under the force of gravity, if y = y˙ = 0 at t = 0. Show that the acceleration of the drop is g/7 where g is the acceleration of gravity.

36.

(a)

A rocket of (variable) mass m is propelled by steadily ejecting part of its mass at velocity u (constant with respect to the rocket). Neglecting gravity, the diﬀerential equation of the rocket is m(dv/dm) = −u as long as v c, c = speed of light. Find v as a function of m if m = m0 when v = 0.

(b)

In the relativistic region (v/c not negligible), the rocket equation is m

„ « dv v2 = −u 1 − 2 . dm c

Solve this diﬀerential equation to ﬁnd v as a function of m. Show that v/c = (1 − x)/(1 + x), where x = (m/m0 )2u/c .

468 37.

Ordinary Differential Equations

Chapter 8

The diﬀerential equation for the path of a planet around the sun (or any object in an inverse square force ﬁeld) is, in polar coordinates, „ « 1 dr 1 k 1 d − 3 = − 2. r 2 dθ r 2 dθ r r Make the substitution u = 1/r and solve the equation to show that the path is a conic section.

38.

Use L15 and L31 to ﬁnd the Laplace transform of (1 − cos at)/t.

39.

Use L32 and L9 to ﬁnd the Laplace transform of t sinh at. Verify your result by ﬁnding its inverse transform using the convolution integral.

Use the Laplace transform table to evaluate: Z 40.

∞ 0

t3 e−4t sinh 2t dt

41.

∞ X

(−1)n

n=0

n+1

te−2t dt

Find the inverse Laplace transform of: p2 + a 2 )2

42.

p (p + a)3

45.

Prove the following shifting or translation theorems for Fourier transforms. If g(α) is the Fourier transform of f (x), then

43.

(p2

44.

(a)

the Fourier transform of f (x − a) is e−iαa g(α);

(b)

the Fourier transform of eiβx f (x) is g(α − β).

1 (p2 + a2 )3

Compare Problems 8.19 to 8.27. 46.

Use the table of Laplace transforms to ﬁnd the sine and cosine Fourier transforms of e−x ; of xe−x .

Solve Problems 47 and 48 either by Laplace transforms and the convolution integral or by Green functions. 47.

y + y = sec2 t

48.

y + y = t sin t

Table of Laplace Transforms

469

Table of Laplace Transforms y = f (t), t > 0 [y = f (t) = 0, t < 0]

Y = L(y) = F (p) =

∞

e−pt f (t) dt

1 p

e−at

1 p+a

Re (p + a) > 0

sin at

a p 2 + a2

Re p > | Im a|

cos at

p + a2

Re p > | Im a|

tk , k > −1

tk e−at , k > −1

e−at − e−bt b−a

1 (p + a)(p + b)

ae−at − be−bt a−b

p (p + a)(p + b)

sinh at

a p 2 − a2

Re p > | Re a|

L10

cosh at

p p 2 − a2

Re p > | Re a|

L11

t sin at

L12

k! Γ(k + 1) or pk+1 pk+1 k! Γ(k + 1) or k+1 (p + a) (p + a)k+1

Re p > 0

Re p > 0 Re (p + a) > 0 Re (p + a) > 0 Re (p + b) > 0 Re (p + a) > 0 Re (p + b) > 0

2ap + a2 )2

Re p > | Im a|

t cos at

p 2 − a2 (p2 + a2 )2

Re p > | Im a|

L13

e−at sin bt

b (p + a)2 + b2

Re (p + a) > | Im b|

L14

e−at cos bt

p+a (p + a)2 + b2

Re (p + a) > | Im b|

L15

1 − cos at

a2 p(p2 + a2 )

Re p > | Im a|

L16

at − sin at

a3 + a2 )

Re p > | Im a|

L17

sin at − at cos at

(p2

p2 (p2

2a3 (p2 + a2 )2

Re p > | Im a|

470

Ordinary Differential Equations

Chapter 8

Table of Laplace Transforms (continued)

y = f (t), t > 0 [y = f (t) = 0, t < 0] L18

e−at (1 − at)

L19

sin at t

L20

1 sin at cos bt, t

Y = L(y) = F (p) =

L22

L23

p (p + a)2

Re (p + a) > 0

a p

Re p > | Im a|

arc tan 1 2

a+b a−b arc tan + arc tan p p Re p > 0

e−at − e−bt t

a √ , a>0 1 − erf 2 t (See Chapter 11, Section 9)

L25

p+b p+a

Re (p + a) > 0 Re (p + b) > 0

1 −a√p e p

Re p > 0

(p2 + a2 )−1/2

J0 (at) (See Chapter 12, Section 12)

L24

e−pt f (t) dt

a > 0, b > 0 L21

∞

1, t > a > 0 0, t < a (unit step, or Heaviside function) u(t − a) =

f (t) = u(t − a) − u(t − b)

Re p > | Im a|; or Re p ≥ 0 for real a = 0

1 −pa e p

Re p > 0

e−ap − e−bp p

All p

1 tanh 12 ap p

Re p > 0

1 a

0 L26

f (t) 1 t −1

L27

2a 3a 4a

δ(t − a), a ≥ 0 (See Section 11)

L28

L29

g(t − a), t > a > 0 0, t 0 [y = f (t) = 0, t < 0] L30 L31

L33

G(u) du (−1)n

L34 0

g(t − τ )h(τ ) dτ =

dn G(p) dpn

1 G(p) p

g(τ ) dτ t

∞

tn g(t)

1 p G a a

(if integrable)

L32

L35

g(at), a > 0 g(t) t

∞

Y = L(y) = F (p) =

g(τ )h(t − τ ) dτ

G(p)H(p)

(convolution of g and h, often written as g ∗ h; see Section 10)

Transforms L(y ) = L(y ) = L(y ) = L(y (n) ) =

of derivatives of y (see Section 9): pY − y0 p2 Y − py0 − y0 p3 Y − p2 y0 − py0 − y0 , etc. (n−1) pn Y − pn−1 y0 − pn−2 y0 − · · · − y0

e−pt f (t) dt

471

CHAPTER

Calculus of Variations

1. INTRODUCTION What is the shortest distance between two points? You probably laugh at such a simple question because you know the answer so well. Can you prove it? We shall see how to prove it shortly. Meanwhile we ask the same question about a sphere, for example, the earth. What is the shortest distance between two points on the surface of the earth, measured along the surface? Again you probably know that the answer is the distance measured along a great circle. But suppose you were asked the same question about some other surface, say an ellipsoid or a cylinder or a cone. The curve along a surface which marks the shortest distance between two neighboring points is called a geodesic of the surface. Finding geodesics is one of the problems which we can solve using the calculus of variations. There are many others. To understand what the basic problem is, think about ﬁnding maximum and minimum values of f (x) in ordinary calculus. You ﬁnd f (x) and set it equal to zero. The values of x you ﬁnd may correspond to maximum points , minimum points , or points of inﬂection with a horizontal tangent . Suppose that in solving a given physical problem you want the minimum values of a function f (x). The equation f (x) = 0 is a necessary (but not a suﬃcient) condition for an interior minimum point. To ﬁnd the desired minimum, you would ﬁnd all the values of x such that f (x) = 0, and then rely on the physics or on further mathematical tests to sort out the minimum points. We use the general term stationary point to mean simply that f (x) = 0 there; that is, stationary points include maximum points, minimum points, and points of inﬂection with horizontal tangent. In the calculus of variations, we often state problems by saying that a certain quantity is to be minimized. However, what we actually always do is something similar to putting f (x) = 0, above; that is, we make the quantity stationary. The question of whether we have a maximum, a minimum, or neither, is, in general, a diﬃcult mathematical problem (see calculus of variations texts) so we shall rely on the physics or geometry. Fortunately, in many applications, "stationary" is all that is required (Fermat's principle, Problems 1 to 3; Lagrange's equations, Section 5). 472

Section 1

Introduction

473

Now what is the quantity which we want to make stationary? It is an integral x2 dy , F (x, y, y ) dx where y = (1.1) I= dx x1 and our problem is this: Given the points (x1 , y1 ) and (x2 , y2 ) and the form of the function F of x, y, and y , ﬁnd the curve y = y(x) (passing through the given points) which makes the integral I have the smallest possible value (or stationary value). Before we try to do this, let us look at several examples. Example 1. Geodesics: Find the equation y = y(x) of a curve joining two points (x1 , y1 ) and (x2 , y2 ) in the plane so that the distance between the points measured along the curve (arc length) is a minimum. Thus we want to minimize x2 (1.2) I= 1 + y 2 dx; x1

this is equation (1.1) with F (x, y, y ) =

1 + y 2 . See Section 2 and Example 3.4.

Example 2. The famous brachistochrone problem (from the Greek: brachistos = shortest, chronos = time, as in chronometer): Find the shape of a wire joining two given points so that a bead will slide down under gravity from one point to the other (without friction) in the shortest time. Here we must minimize dt. If ds is an element of arc length, then the velocity of the particle is v = ds/dt. Then we have 1 1 dt = ds = 1 + y 2 dx. v v We shall see later that (using the law of conservation of energy) we can ﬁnd v as a function of x and y. Then the integral which we want to minimize, namely 1 1 + y 2 dx, dt = v is of the form (1.1). See Section 4. Example 3. Soap ﬁlm problem: Suppose a soap ﬁlm is suspended between two circular wire hoops as shown in Figure 1.1; what is the shape of the surface? It is clear from symmetry that it is a surface of revolution (neglecting gravity), and it is known that the soap ﬁlm will adjust itself so that the surface area is a minimum. The surface area can be written as an integral and again our problem is to minimize an integral. See Section 4.

Figure 1.1

There are many other examples from physics. A chain suspended between two points hangs so that its center of gravity is as low as possible; the z coordinate of the center of gravity is given by an integral. Fermat's principle in optics says that light traveling between two given points follows the path requiring the least time. (This is a simple, but inaccurate, statement; we should say that t = dt is stationary—there are examples where it is a maximum! See Problem 3). Various other basic principles in physics are stated in the form that certain integrals have stationary values.

474

Calculus of Variations

Chapter 9

PROBLEMS, SECTION 1 The speed of light in a medium of index of refraction n is v = ds/dt = c/n. Then the RB RB time of transit from A to B is t = A dt = c−1 A n ds. By Fermat's principle above, t is stationary. If the path consists of two straight line segments with n constant over each segment, then Z B

n ds = n1 d1 + n2 d2 ,

and the problem can be done by ordinary calculus. Thus solve the following problems: 1.

Derive the optical law of reﬂection. Hint: Let light go from the point A = (x1 , y1 ) to B = (x2 , y2 ) via an arbitrary point P = (x, 0) on a mirror along the x axis. Set dt/dx = (n/c)dD/dx = 0, where D = distance AP B, and show that then θ = φ.

Derive Snell's law of refraction: n1 sin θ1 = n2 sin θ2 (see ﬁgure).

Show that the actual path is not necessarily one of minimum time. Hint: In the diagram, A is a source of light; CD is a cross section of a reﬂecting surface, and B is a point to which a light ray is to be reﬂected. AP B is to be the actual path and AP B, AP B represent varied paths. Then show that the varied paths: (a)

Are the same length as the actual path if CD is an ellipse with A and B as foci.

(b)

Are longer than the actual path if CD is a line tangent at P to the ellipse in (a).

(c)

Are shorter than the actual path if CD is an arc of a curve tangent to the ellipse at P and lying inside it. Note that in this case the time is a maximum!

(d)

Are longer on one side and shorter on the other if CD crosses the ellipse at P but is tangent to it (that is, CD has a point of inﬂection at P ).

2. THE EULER EQUATION Before we do the general problem, let us ﬁrst do the problem of a geodesic on a plane; we shall show that a straight line gives the shortest distance between two points. (The reason for doing this is to clarify the theory; you will not do problems this way.) Our problem is to ﬁnd y = y(x) which will make x2 I= 1 + y 2 dx x1

as small as possible. The y(x) which does this is called an extremal. Now we want some way to represent algebraically all the curves passing through the given endpoints, but diﬀering from the (as yet unknown) extremal by small amounts. (We

Section 2

The Euler Equation

475

assume that all the curves have continuous second derivatives so that we can carry out needed diﬀerentiations later.) These curves are called varied curves; there are inﬁnitely many of them as close as we like to the extremal. We construct a function representing these varied curves in the following way (Figure 2.1). Let η(x) represent a function of x which is zero at x1 and x2 , and has a continuous second derivative in the interval x1 to x2 , but is otherwise completely arbitrary. We deﬁne the function Y (x) by the equation (2.1)

Y (x) = y(x) + η(x),

Figure 2.1 where y(x) is the desired extremal and is a parameter. Because of the arbitrariness of η(x), Y (x) represents any (single-valued) curve (with continuous second derivative) you want to draw through (x1 , y1 ) and (x2 , y2 ). Out of all these curves Y (x) we want to pick the one curve that makes (2.2)

1 + Y 2 dx

a minimum. Now I is a function of the parameter ; when = 0, Y = y(x), the desired extremal. Our problem then is to make I() take its minimum value when = 0. In other words, we want (2.3)

dI = 0 when = 0. d

Diﬀerentiating (2.2) under the integral sign with respect to the parameter , we get x2 1 1 dY dI = dx. 2Y (2.4) 2 d 2 d x1 1+Y Diﬀerentiating (2.1) with respect to x, we get (2.5)

Y (x) = y (x) + η (x).

Then from (2.5) we have (2.6)

dY = η (x). d

We see from (2.1) that putting = 0 means putting Y (x) = y(x). Then substituting (2.6) into (2.4) and putting dI/d equal to zero when = 0, we get x2 y (x)η (x) dI = dx = 0. (2.7) d =0 x1 1 + y2 We can integrate this by parts (since we assumed that η and y have continuous second derivatives). Let u = y / 1 + y 2 , dv = η (x)dx.

476

Calculus of Variations

Chapter 9

Then d du = dx and

dI d

1 + y2

= 1 + y2

dx,

v = η(x),

x2 x2 y d dx. η(x) − η(x) dx x1 1 + y2 x1

The ﬁrst term is zero because η(x) = 0 at the endpoints. In the second term, recall that η(x) is an arbitrary function. This means that d y (2.8) = 0, dx 1 + y2 for otherwise we could select some function η(x) so that the integral would not be zero. Notice carefully here that we are not saying that when an integral is zero, 2π the integrand is also zero; this is not true (as, for example 0 sin x dx = 0 shows). x2 What we are saying is that the only way x1 f (x)η(x) dx can always be zero for every η(x) is for f (x) to be zero. You can prove this by contradiction in the following way. If f (x) is not zero, then, since η(x) is arbitrary, choose η to be positive where f is positive and negative where f is negative. Then f η is positive, so its integral is not zero, in contradiction to the statement that f η dx = 0 for every η. Integrating (2.8) with respect to x, we get y = const. 1 + y2 or y = const. Thus the slope of y(x) is constant, so y(x) is a straight line as we expected. Now we could go through this process with every calculus of variations problem. It is much simpler to do the general problem once for all and ﬁnd a diﬀerential equation which we can use to solve later problems. The problem is to ﬁnd the y which will make stationary the integral x2 (2.9) I= F (x, y, y ) dx, x1

where F is a given function. The y(x) which makes I stationary is called an extremal whether I is a maximum or minimum or neither. The method is the one we have just used with the straight line. We consider a set of varied curves Y (x) = y(x) + η(x) just as before. Then we have (2.10)

I() =

F (x, Y, Y ) dx,

and we want (d/d)I() = 0 when = 0. Remembering that Y and Y are functions of , and diﬀerentiating under the integral sign with respect to , we get x2 ∂F dY ∂F dY dI = + dx. (2.11) d ∂Y d ∂Y d x1

Section 2

The Euler Equation

477

Substituting (2.1) and (2.5) into (2.11), we have x2

∂F ∂F dI = η(x) + η (x) dx. (2.12) d ∂Y ∂Y x1 We want dI/d = 0 at = 0; recall that = 0 means Y = y. Then (2.12) gives x2

∂F ∂F dI η(x) + η (x) dx = 0. = (2.13) d =0 ∂y ∂y x1 Assuming that y is continuous, we can integrate the second term by parts just as in the straight-line problem: x2 x2 x2 ∂F d ∂F ∂F − η(x) dx. (2.14) η (x) dx = η(x) ∂y ∂y x1 ∂y x1 dx x1 The integrated term is zero as before because η(x) is zero at x1 and x2 . Then we have x2

d ∂F ∂F dI − η(x) dx = 0. (2.15) = d =0 ∂y dx ∂y x1 As before, since η(x) is arbitrary, we must have

(2.16)

d ∂F ∂F = 0. − dx ∂y ∂y

Euler equation

This is the Euler (or Euler-Lagrange) equation. Any problem in the calculus of variations, then, is solved by setting up the integral which is to be stationary, writing what the function F is, substituting it into the Euler equation, and solving the resulting diﬀerential equation. Example. Let's ﬁnd the geodesics in a plane again, this time using the Euler equation as you will do in problems. We are to minimize x2 1 + y 2 dx, so we have F = 1 + y 2 . Then

∂F y = , ∂y 1 + y2

∂F = 0, ∂y

and the Euler equation gives d dx as we had in (2.8).

1 + y2

= 0,

478

Calculus of Variations

Chapter 9

PROBLEMS, SECTION 2 Write and solve the Euler equations to make the following integrals stationary. In solving the Euler equations, the integrals in Chapter 5, Section 1, may be useful. Z 1.

Z 4. 7.

x ds

x2 x1

p p x 1 + y 2 dx

x2 x1

ds x

(y + y 2 ) dx

x2 x1

Z 6.

p ex 1 + y 2 dx Hint: In the last integration, let u = ex and see Chapter 5, Problem 1.6. Z x2 p Z x2 Z x y 2 + x2 dx 9. (1 + yy )2 dx 10.

p 1 − y 2 dx 2

(y +

√

y ) dx

R x2 x1

x2 x1

x2 dx xy + 1

3. USING THE EULER EQUATION Other Variables We have used x and y as our variables. But the mathematics is just the same if we use some other letters, for example polar coordinates r and θ. To minimize (make stationary) the integral F (r, θ, θ ) dr where θ = dθ/dr, we solve the Euler equation

d dr

(3.1)

To minimize

(3.2)

∂F ∂θ

−

∂F = 0. ∂θ

F (t, x, x) ˙ dt where x˙ = dx/dt, we solve

∂F d ∂F − = 0. dt ∂ x˙ ∂x

Notice that the ﬁrst derivative in the Euler equation [d/dx in (2.16), d/dr in (3.1), d/dt in (3.2)] is with respect to the integration variable in the integral. The partial derivatives are with respect to the other variable and its derivative [y and y in (2.16), θ and θ in (3.1), x and x˙ in (3.2)]. Example 1. Find the path followed by a light ray if the index of refraction ( in polar coordinates) is proportional to r−2 . We want to make stationary 2 −2 −2 2 2 n ds or r ds = r dr + r dθ = r−2 1 + r2 θ 2 dr.

Section 3

Using the Euler Equation

479

The Euler equation is then (3.1) with F = r−2 1 + r2 θ 2 . Since ∂F/∂θ = 0, we have d r−2 r2 θ θ =0 or = const. = K. dr 1 + r2 θ 2 1 + r2 θ 2 Solve for θ and integrate (see Chapter 5, Problem 1.5): 2

θ = K 2 (1 + r2 θ ) so θ (1 − K 2 r2 ) = K 2 , K dθ = √ , θ = dr 1 − K 2 r2 θ = arc sin Kr + const. First Integrals of the Euler Equation In some problems the integrand F in I [see equation (1.1)] does not contain y (that is, F does not contain the dependent variable). Then ∂F/∂y = 0 and the Euler equation becomes d ∂F = 0, dx ∂y

∂F = const. ∂y

This happened in the example and most of your problems in Section 2. Because ∂F/∂y was zero, we were able to integrate the Euler equation once; the equation ∂F/∂y = const. is for this reason called a ﬁrst integral of the Euler equation. There is another less obvious case in which we can easily ﬁnd a ﬁrst integral of the Euler equation. Let us show this by an example (the soap ﬁlm problem mentioned in Section 1).

Example 2. Our problem is this: Given two points P1 and P2 (not too far apart), we are going to draw a curve joining P1 and P2 and revolve it about the x axis to form a surface of revolution. We want the equation of the curve so that the surface area will be a minimum. That is, we want to minimize I = 2πy ds. We usually write 2 2 ds = 1 + y dx. Instead, let us write ds = 1 + x dy, where x = dx/dy. Then I = 2πy 1 + x 2 dy. Recall from (3.1) and (3.2) and the discussion following them how to write the Euler equation in various sets of variables. Here y is the variable of integration, F = y 1 + x 2 , and the Euler equation is

d ∂F ∂F = 0. − dy ∂x ∂x

(3.3)

Since ∂F/∂x = 0, (3.3) becomes d dy

1 + x 2

= 0.

480

Calculus of Variations

Chapter 9

This is the simpliﬁed equation we wanted. We integrate once, solve for x and integrate again (see Chapter 5, Problem 1.3): yx = c1 , 1 + x 2 c1 dx = , x = 2 dy y − c1 2 y + c2 , x = c1 cosh−1 c1 x − c2 y = c1 cosh . c1

Figure 3.1

The graph of this equation is called a catenary; it is shown in Figure 3.1 for the special case c1 = 1, c2 = 0, y = cosh x = 12 (ex + e−x ). The catenary does not always give the solution to the soap ﬁlm problem. If the given points (or the hoops in Figure 1.1) are too far apart, the soap ﬁlm may break into two parts (circular ﬁlms on the hoops). For further discussion see Courant and Robbins, Chapter 7, Section 11, and Arfken and Weber, Chapter 17. For another problem involving a catenary, see Problem 6.4. Observe that the method used in this example will simplify any problem in which I = F (y, y ) dx does not have the independent variable x in the integrand. We change to y as the integration variable making the substitutions

(3.4)

dx = x = dy

dy dx

−1 ,

y =

1 , x

dx =

dx dy = x dy dy

in I. Then the integrand is a function of y and x , so the Euler equation [now (3.3)] simpliﬁes since ∂F/∂x = 0. (See also Problem 8.1.) Example 3. Find a ﬁrst integral of the Euler equation to make stationary the integral 1 + y2 dx. (3.5) I= √ y Since x is missing in the integrand, we change to y as the integration variable; then by (3.4) 2 1 + y dx = 1 + y 2 x dy = x 2 + 1 dy, 2 x +1 I= dy = F (y, x ) dy. √ y We see that ∂F/∂x = 0; from (3.3) the Euler equation is d ∂F x d = 0. = dy ∂x dy √y x 2 + 1

Section 3

Using the Euler Equation

481

The ﬁrst integral of the Euler equation is, then, x = const. 2 y x + 1

(3.6)

Example 4. Find the geodesics√on the cone√z 2 = 8(x2 +y 2 ). Using cylindrical coordinates, we have z 2 = 8r2 , z = r 8, dz = dr 8, so ds2 = dr2 + r2 dθ2 + dz 2 = dr2 + r2 dθ2 + 8 dr2 = 9 dr2 + r2 dθ2 . We want to minimize 9 dr2 + r2 dθ2 = 9 + r2 θ 2 dr. I = ds = Note that we use r as the integration variable since the integrand contains r but not θ. Then ∂F/∂θ = 0, and we can immediately write a ﬁrst integral of the Euler equation: d ∂F ∂F r2 θ = 0, = = const. = K. dr ∂θ ∂θ 9 + r2 θ 2 We solve for θ and integrate again. 2

r4 θ = K 2 (9 + r2 θ ), 2

θ (r4 − K 2 r2 ) = 9K 2 , 3K dr √ . dθ = r r2 − K 2 From computer or tables (or see Chapter 5, Problem 1.6): K θ + α = 3 arc cos r K θ+α = cos 3 r

(α = const. of integration) θ+α or r cos = K. 3

PROBLEMS, SECTION 3 Change the independent variable to simplify the Euler equation, and then ﬁnd a ﬁrst integral of it. Z x2 Z x2 p 1 + y2 y 3/2 ds 1. dx 2. y2 x1 x1 Z 3.

y2 y1

√

x 2 + x2

x2 x1

p y 2 + y 2 dx

Write and solve the Euler equations to make the following integrals stationary. Change the independent variable, if needed, to make the Euler equation simpler. Z x2 p Z x2 2 yy 5. 1 + y 2 y 2 dx 6. dx x1 x1 1 + yy

482

Calculus of Variations Z

Z 9.

φ2

Chapter 9 Z

(y + y 2 ) dx p

φ1

θ 2 + sin2 θ dφ, θ = dθ/dφ

θ2 θ1

Z 10.

t2 t1

p r 2 + r 2 dθ, r = dr/dθ

s−1

s2 + s 2 dt, s = ds/dt

Use Fermat's principle to ﬁnd the path followed by a light ray if the index of refraction is proportional to the given function. y −1

13.

√ y

11.

x+1

15.

Find the geodesics on a plane using polar coordinates.

16.

Show that the geodesics on a circular cylinder (with elements parallel to the z axis) are helices az + bθ = c, where a, b, c are constants depending on the given endpoints. (Hint: Use cylindrical coordinates.) Note that the equation az + bθ = c includes the circles z = const. (for b = 0), straight lines θ = const. (for a = 0), and the special helices az + bθ = 0.

17.

Find the geodesics on the cone x2 + y 2 = z 2 . Hint: Use cylindrical coordinates.

18.

Find the geodesics on a sphere. Hints: Use spherical coordinates with constant r = a. Choose your integration variable so that you can write a ﬁrst integral of the Euler equation. For the second integration, make the change of variable w = cot θ. To recognize your result as a great circle, ﬁnd, in terms of spherical coordinates θ and φ, the equation of intersection of the sphere with a plane through the origin.

12.

14.

r −1

4. THE BRACHISTOCHRONE PROBLEM; CYCLOIDS We have already mentioned this problem in Section 1. We are given the points (x1 , y1 ) and (x2 , y2 ); we choose axes through the point 1 with the y axis positive downward as shown in Figure 4.1. Our problem is to ﬁnd the curve joining the two points, down which a bead will slide (from rest) in the least time; that is, we want to minimize dt. Let v = 0 initially, and let y = 0 be our reference level for potential energy. Then at the point (x, y) we have 1 1 kinetic energy = mv 2 = m 2 2

ds dt

Figure 4.1

2 ,

potential energy = −mgy. The sum of the two energies is zero initially and therefore zero at any time since the total energy is constant when there is no friction. Hence we have 1 mv 2 − mgy = 0 2

or v =

2gy.

Then the integral which we want to minimize is

dt =

ds = v

ds 1 √ =√ 2gy 2g

1 + y2 dx. √ y

Section 4

The Brachistochrone Problem; Cycloids

483

This is the integral (3.5) in Example 3, Section 3. Then the ﬁrst integral of the Euler equation is given by (3.6): √ x = c. y x 2 + 1 Solving for x , we get dx = x = dy

(4.1)

This simpliﬁes if we let cy = sin2

θ 2

cy . 1 − cy

= 12 (1 − cos θ). We ﬁnd (Problem 1)

θ 1 1 sin2 dθ = (1 − cos θ) dθ, c 2 2c 1 x = (θ − sin θ) + c . 2c

dx = (4.2)

The equations for x and y as functions of θ are parametric equations of the curve along which the particle slides in minimum time. Since we have chosen axes to make the curve pass through the origin, x = y = 0 must satisfy the equations of the curve, so c = 0, and we have 1 (θ − sin θ), 2c 1 y = (1 − cos θ). 2c

x= (4.3)

We shall now show that these are the parametric equations of a cycloid. Imagine a circle of radius a (say a wheel) in the (x, y) plane rolling along the x axis. Let it start tangent to the x axis at the origin O in Figure 4.2. Place a mark on the circle at O. As the circle rolls, the mark traces out a cycloid as shown in Figure 4.3. Let point P in Figure 4.2 be the position of the mark when the circle is tangent to the x axis at A; let (x, y) be the coordinates of P . Since the circle rolled, OA = P A = aθ with θ in radians. Then from Figure 4.2 we have (4.4)

x = OA − P B = aθ − a sin θ = a(θ − sin θ), y = AB = AC − BC = a − a cos θ = a(1 − cos θ).

Figure 4.3

Figure 4.2

484

Calculus of Variations

Chapter 9

Equations (4.4) are the parametric equations of a cycloid. Comparing (4.3), we see that the brachistochrone is a cycloid as we claimed. Note that, since we have taken the y axis positive down (Figures 4.1 and 4.4), the circle which generates the brachistochrone rolls along the under side of the x axis. From either (4.3) or (4.4), we see that all cycloids are similar; that is they diﬀer from each other only in size (determined by a or c) and not in shape. Figure 4.4 is a sketch of a cycloid for arbitrary a. If the given endpoints for the wire along which the bead slides are O and P3 , we see that the particle slides down to P2 and back up Figure 4.4 to P3 in minimum time! At point P2 the circle has rolled halfway around so OA = 12 · 2πa = πa. For any point P1 on arc OP2 , P1 is below the line OP2 , and the coordinates (x1 , y1 ) of P1 have y1 2a 2 P2 A = = > x1 AO πa π or x1 /y1 < π/2. For points like P3 on P2 B, x3 /y3 > π/2, whereas at P2 , we have x2 /y2 = π/2 (Problem 2). Then if the right-hand endpoint is (x, y) and the origin is the left-hand endpoint, we can say that the bead just slides down, or slides down and back up, depending on whether x/y is less than or greater than π/2 (Problem 2).

PROBLEMS, SECTION 4 1.

Verify equations (4.2).

Show, in Figure 4.4, that for a point like P3 , x3 /y3 > π/2 and for P2 , x2 /y2 = π/2.

In the brachistochrone problem, show that if the particle is given an initial velocity v0 = 0, the path of minimum time is still a cycloid.

Consider a rapid transit system consisting of frictionless tunnels bored through the earth between points A and B on the earth's surface (see ﬁgure). The unpowered passenger trains R would move under gravity. Using polar coordinates, set up dt to be minimized to ﬁnd the path through the earth requiring the least time. See Chapter 6, Problem 8.21, for the potential inside the earth. Find a ﬁrst integral of the Euler equation. Evaluate the constant of integration using dr/dθ = 0 when r = r0 (where r0 is the deepest point of the tunnel—see ﬁgure). Now solve for θ = dθ/dr as a function of r. Substitute this into the integral for t and evaluate the integral to show that the transit time is s Z R R 2 − r0 2 T =π dt. . Hint: Find 2 gR r=r0 Evaluate T for r0 = 0 (path through the center of the earth—see Chapter 8, Problem 5.35); for r0 = 0.99R. [For more detail, see Am. J. Phys. 34 701–704 (1966).]

In Problems 5 to 7, use Fermat's principle to ﬁnd the path followed by a light ray if the index of refraction is proportional to the given function. 5.

x−1/2

(y − 1)−1/2

(2x + 5)−1/2

Section 5

Several Dependent Variables; Lagrange's Equations

485

5. SEVERAL DEPENDENT VARIABLES; LAGRANGE'S EQUATIONS It is not necessary to restrict ourselves to problems with one dependent variable y. Recall that in ordinary calculus problems the necessary condition for a minimum point on z = z(x) is dz/dx = 0; for a function of two variables z = z(x, y), we have the two conditions ∂z/∂x = 0 and ∂z/∂y = 0. We have a somewhat analogous situation in the calculus of variations. Suppose that we are given an F which is a function of y, z, dy/dx, dz/dx, and x, and we want to ﬁnd two curves y = y(x) and z = z(x) which make I = F dx stationary. Then the value of the integral I depends on both y(x) and z(x) and you might very well guess that in this case we would have two Euler equations, one for y and one for z, namely d ∂F ∂F = 0, − dx ∂y ∂y (5.1) ∂F d ∂F − = 0. dx ∂z ∂z By carrying through calculations similar to those we used in deriving the single Euler equation for the one dependent variable case you can show (Problem 1(a)) that this guess is correct. If there are still more dependent variables (but one independent variable), then we write an Euler equation for each dependent variable. It is also possible to consider a problem with more than one independent variable (see Problem 1(b)) or with F depending on y as well as x, y, y (see Problem 1(c)). There is a very important application of equations like (5.1) to mechanics. In elementary physics, Newton's second law F = ma is a fundamental equation. In more advanced mechanics, it is often useful to start from a diﬀerent assumption (which can be proved equivalent to Newton's law; see mechanics text books.) This assumption is called Hamilton's principle. It says that any particle or system of t particles always moves in such a way that I = t12 L dt is stationary, where L = T −V is called the Lagrangian; T is the kinetic energy, and V is the potential energy of the particle or system. Example 1. Use Hamilton's principle to ﬁnd the equations of motion of a single particle of mass m moving (near the earth) under gravity. We ﬁrst write the formulas for the kinetic energy T and the potential energy V of the particle. (It is convenient to use a dot to mean a derivative with respect to t just as we use a prime to indicate a derivative with respect to x; thus dx/dt = x, ˙ dy/dt = y, ˙ dy/dx = y , d2 x/dt2 = x ¨, etc.) The equations for T , V , and L = T − V , are: 1 1 mv 2 = m(x˙ 2 + y˙ 2 + z˙ 2 ), 2 2 V = mgz, 1 L = T − V = m(x˙ 2 + y˙ 2 + z˙ 2 ) − mgz. 2 T =

(5.2)

Here t is the independent variable; x, y, and z are the dependent variables, t and L corresponds to what we have called F previously. Then to make I = t12 L dt stationary, we write the corresponding Euler equations. There are three Euler equations, one for x, one for y, and one for z. The Euler equations are called Lagrange's equations in mechanics [see (5.3) next page].

486

Calculus of Variations

Chapter 9

d ∂L ∂L − = 0, dt ∂ x˙ ∂x d ∂L ∂L − = 0, dt ∂ y˙ ∂y d ∂L ∂L − = 0. dt ∂ z˙ ∂z

(5.3)

Lagrange's equations

Substituting L in (5.2) into Lagrange's equations (5.3), we get  d  (mx) ˙ =0    dt   d (my) ˙ =0  dt      d (mz) ˙ + mg = 0 dt

(5.4)

   x˙ = const., y˙ = const., or   z¨ = −g.

These are just the familiar equations obtained from Newton's law; they say that in the gravitational ﬁeld near the surface of the earth, the horizontal velocity is constant and the vertical acceleration is −g. In this problem you may say that it would have been simpler just to write the equations from Newton's law in the ﬁrst place! This is true in simple cases, but in more complicated problems it may be much simpler to ﬁnd one scalar function (that is, L) than to ﬁnd six functions (that is, the components of the two vectors, force and acceleration). For example, the acceleration components in spherical coordinates are quite complicated to derive by elementary methods (see mechanics text books), but you should have no trouble deriving the equations of motion in polar, cylindrical or spherical coordinates using the Lagrangian. Let's do some examples. Example 2. Use Lagrange's equations to ﬁnd the equations of motion of a particle in terms of the polar coordinate variables r and θ. The element of arc length in polar coordinates is ds where ds2 = dr2 + r2 dθ2 .

(5.5)

The velocity of a moving particle is ds/dt; from (5.5) we get (5.6)

v =

ds dt

dr dt

2 +r

dθ dt

= r˙ 2 + r2 θ˙2 .

The kinetic energy is 12 mv 2 , so we have 1 m(r˙ 2 + r2 θ˙2 ), 2 1 L = T − V = m(r˙ 2 + r2 θ˙2 ) − V (r, θ), 2

T = (5.7)

Section 5

Several Dependent Variables; Lagrange's Equations

487

where V (r, θ) is the potential energy of the particle. Lagrange's equations in the variables r, θ are:

(5.8)

d ∂L ∂L − = 0, dt ∂ r˙ ∂r d ∂L ∂L = 0. − dt ∂ θ˙ ∂θ

Substituting L from (5.7) into (5.8), we get

(5.9)

d (mr) ˙ − mrθ˙2 + dt d ˙ + (mr2 θ) dt

∂V = 0, ∂r ∂V = 0. ∂θ

The r equation of motion is, then, (5.10)

m(¨ r − rθ˙2 ) = −

∂V . ∂r

The θ equation is ˙ =− m(r2 θ¨ + 2rr˙ θ)

∂V , ∂θ

or, dividing by r, (5.11)

˙ = − 1 ∂V . m(rθ¨ + 2r˙ θ) r ∂θ

Now the quantities −∂V /∂r and −(1/r)(∂V /∂θ) are the components of the force (F = −∇V ) on the particle in the r and θ directions. (See Chapter 6.) Then equations (5.10) and (5.11) are just the components of ma = F; the acceleration components are then ar = r¨ − rθ˙2 , ˙ aθ = rθ¨ + 2r˙ θ. The second term in ar is a familiar one; it is just the centripetal acceleration v 2 /r when v = rθ˙ (the minus sign indicates that it is toward the origin). The second term in aθ is called the Coriolis acceleration. We show by an example another important point about Lagrange's equations. Example 3. A mass m1 moves without friction on the surface of the cone shown (Figure 5.1). Mass m2 is joined to m1 by a string of constant length; m2 can move only vertically up and down. Find the Lagrange equations of motion of the system. Let's use spherical coordinates ρ, θ, φ for m1 , and coordinate z for m2 . Then for m1 , v 2 = (ds/dt)2 = ρ˙ 2 + ρ2 θ˙2 + ρ2 sin2 θ φ˙ 2 [Chapter 5, equation (4.20)], and for m2 , v 2 = z˙ 2 . The potential energy mgh of m1 is m1 gρ cos θ and of m2 is m2 gz. Note that we have used

Figure 5.1

488

Calculus of Variations

Chapter 9

four variables: ρ, θ, φ, z; however, there are not four Lagrange equations We must use the equation of the cone (θ = 30◦ ) and the equation ρ + |z| = l (string of constant length) to eliminate θ and either ρ or z. The Lagrangian L must always be written using the smallest possible number of variables (we say that √ we eliminate the constraint equations). Then, with θ = 30◦ , sin θ = 12 , cos θ = 12 3, θ˙ = 0, and z = −|z| = −(l − ρ), we ﬁnd L in terms of ρ and φ: L=

√ 1 1 1 m1 (ρ˙2 + ρ2 φ˙ 2 /4) + m2 ρ˙ 2 − m1 gρ 3 + m2 g(l − ρ). 2 2 2

Thus the Lagrange equations are √ d 1 (m1 ρ˙ + m2 ρ) ˙ − m1 ρφ˙ 2 /4 + m1 g 3 + m2 g = 0, dt 2 d 2 ˙ 2 ˙ (m1 ρ φ/4) = 0 or ρ φ = const. dt

PROBLEMS, SECTION 5 1.

(a)

(b)

Consider the case of two dependent variables. Show R x2 that if F = F (x, y, z, y , z ) and we want to ﬁnd y(x) and z(x) to make I = x1 F dx stationary, then y and z should each satisfy an Euler equation as in (5.1). Hint: Construct a formula for a varied path Y for y as in Section 2 [Y = y + η(x) with η(x) arbitrary] and construct a similar formula for z [let Z = z + ζ(x), where ζ(x) is another arbitrary function]. Carry through the details of diﬀerentiating with respect to , putting = 0, and integrating by parts as in Section 2; then use the fact that both η(x) and ζ(x) are arbitrary to get (5.1).

Consider the case of two independent variables. You want to ﬁnd the function u(x, y) which makes stationary the double integral Z y 2 Z x2 F (u, x, y, ux , uy ) dx dy. y1

Hint: Let the varied U (x, y) = u(x, y) + η(x, y) where η(x, y) = 0 at x = x1 , x = x2 , y = y1 , y = y2 , but is otherwise arbitrary. As in Section 2, diﬀerentiate with respect to , set = 0, integrate by parts, and use the fact that η is arbitrary. Show that the Euler equation is then ∂ ∂F ∂F ∂ ∂F + − = 0. ∂x ∂ux ∂y ∂uy ∂u (c)

Consider the case in which F depends on x, y, y , and y . Assuming zero values of the variation η(x) and its derivative at the endpoints x1 and x2 , show that then the Euler equation becomes d ∂F ∂F d2 ∂F − + = 0. dx2 ∂y dx ∂y ∂y

Set up Lagrange's equations in cylindrical coordinates for a particle of mass m in a potential ﬁeld V (r, θ, z). Hint: v = ds/dt; write ds in cylindrical coordinates.

Do Problem 2 in spherical coordinates.

Use Lagrange's equations to ﬁnd the equation of motion of a simple pendulum. (See Chapter 7, Problem 2.13.)

Section 5

Several Dependent Variables; Lagrange's Equations

489

Find the equation of motion of a particle moving along the x axis if the potential energy is V = 12 kx2 . (This is a simple harmonic oscillator.)

A particle moves on the surface of a sphere of radius a under the action of the earth's gravitational ﬁeld. Find the θ, φ equations of motion. (Comment: This is called a spherical pendulum. It is like a simple pendulum suspended from the center of the sphere, except that the motion is not restricted to a plane.)

Prove that a particle constrained to stay on a surface f (x, y, z) = 0, but subject to no other forces, moves along a geodesic of the surface. Hint: The potential energy V is constant, since constraint forces are normal to the surface and so do no work on the particle. Use Hamilton's principle and show that the problem of ﬁnding a geodesic and the problem of ﬁnding the path of the particle are identical mathematics problems.

Two particles each of mass m are connected by an (inextensible) string of length l. One particle moves on a horizontal table (assume no friction), The string passes through a hole in the table and the particle at the lower end moves up and down along a vertical line. Find the Lagrange equations of motion of the particles. Hint: Let the coordinates of the particle on the table be r and θ, and let the coordinate of the other particle be z. Eliminate one variable from L (using r + |z| = l) and write two Lagrange equations.

A mass m moves without friction on the surface of the cone r = z under p gravity acting in the negative z direction. Here r is the cylindrical coordinate r = x2 + y 2 . Find the Lagrangian and Lagrange's equations in terms of r and θ (that is, eliminate z).

10.

Do Example 3 above, using cylindrical coordinates for m1 . Hint: Use z1 and z2 for the z coordinates of m1 and m2 . What is the equation of the cone in terms of r and z1 ? Note that r = ρ, and θ in cylindrical coordinates is not the same as in spherical coordinates (see Chapter 5, Figures 4.4 and 4.5).

11.

A yo-yo (as shown) falls under gravity. Assume that it falls straight down, unwinding as it goes. Find the Lagrange equation of motion. Hints: The kinetic energy is the sum of the translational energy 12 mz˙ 2 and the rotational energy 12 I θ˙ 2 where I is ˙ the moment of inertia. What is the relation between z˙ and θ? Assume the yo-yo is a solid cylinder with inner radius a and outer radius b.

12.

Find the Lagrangian and Lagrange's equations for a simple pendulum (Problem 4) if the cord is replaced by a spring with spring constant k. Hint: If the unstretched spring length is r0 , and the polar coordinates of the mass m are (r, θ), the potential energy of the spring is 12 k(r − r0 )2 .

13.

A particle moves without friction under gravity on the surface of the paraboloid z = x2 + y 2 . Find the Lagrangian and the Lagrange equations of motion. Show that motion in a horizontal circle is possible and ﬁnd the angular velocity of this motion. Use cylindrical coordinates.

490

Calculus of Variations

Chapter 9

14.

A hoop of mass M and radius a rolls without slipping down an inclined plane of angle α. Find the Lagrangian and the Lagrange equation of motion. Hint: The kinetic energy of a body which is both translating and rotating is a sum of two terms: the translational kinetic energy 12 M v 2 where v is the velocity of the center of mass, and the rotational kinetic energy 12 Iω 2 where ω is the angular velocity and I is the moment of inertia around the rotation axis through the center of mass.

15.

Generalize Problem 14 to any mass M of circular cross section and moment of inertia I. Consider a hoop, a disk, a spherical shell, a solid spherical ball; order them as to which would ﬁrst reach the bottom of the inclined plane. (For moments of inertia, see Chapter 5, Section 4.)

16.

Find the Lagrangian and the Lagrange equation for the pendulum shown. The vertical circle is ﬁxed. The string winds up or unwinds as the mass m swings back and forth. Assume that the unwound part of the string at any time is in a straight line tangent to the circle. Let l be the length of unwound string when the pendulum hangs straight down.

␪

17.

A simple pendulum (Problem 4) is suspended from a mass M which is free to move without friction along the x axis. The pendulum swings in the xz plane and gravity acts in the negative z direction. Find the Lagrangian and Lagrange's equations for the system.

18.

A hoop of mass m in a vertical plane rests on a frictionless table. A thread is wound many times around the circumference of the hoop. The free end of the thread extends from the bottom of the hoop along the table, passes over a pulley (assumed weightless), and then hangs straight down with a mass m (equal to the mass of the hoop) attached to the end of the thread. Let x be the length of thread between the bottom of the hoop and the pulley, let y be the length of thread between the pulley and the hanging mass m, and let θ be the angle of rotation of the hoop about its center if the thread unwinds. What is the relation between x, y, and θ? Find the Lagrangian and Lagrange's equations for the system. If the system starts from rest, how does the hoop move?

For the following problems, use the Lagrangian to ﬁnd the equations of motion and then refer to Chapter 3, Section 12. 19.

For small vibrations, ﬁnd the characteristic frequencies and the characteristic modes of vibration of the coupled pendulums shown. All motion takes place in a single vertical plane. Assume the spring unstretched when both pendulums hang vertically, and take the spring constant as k = mg/l to simplify the algebra. Hints: Write the kinetic and potential energies in terms of the rectangular coordinates of the masses relative to their positions hanging at rest. Don't forget the gravitational potential energies. Then write the rectangular coordinates x and y in terms of θ and φ, and for small vibrations approximate sin θ = θ, cos θ = 1 − θ2 /2, and similar equations for φ.

Section 6 20.

Do Problem 19 if the spring constant is k = 3mg/l.

21.

Find the Lagrangian and Lagrange's equations for the double pendulum shown. All motion takes place in a single vertical plane. Hint: See the hint in Problem 19.

22.

491

Isoperimetric Problems

Do Problem 21 if the two masses are diﬀerent. Let m be the lower mass and let M be the sum of the two masses.

␪

l m ␾

l m

23.

For small oscillations of the double pendulum in Problem 22, let M = 4m and ﬁnd the characteristic frequencies and characteristic modes of vibration.

24.

Do Problem 23 if M/m = 9/4

25.

Do Problem 23 in general, that is, in terms p of the ratio M/m. Hint: You may ﬁnd it helpful to use a single letter to represent m/M , say α2 = m/M .

6. ISOPERIMETRIC PROBLEMS Recall that in ordinary calculus we sometimes want to maximize a quantity subject to a condition (for example, ﬁnd the volume of the largest box you can make with given surface area). Also recall that the method of Lagrange multipliers was useful in such problems (see Chapter 4, Section 9). There are similar problems in the calculus of variations. The original question which gave this class of problems its name was this: Of all the closed plane curves of given perimeter (isoperimetric = same perimeter), which one we incloses the largest area? To solve this problem, must maximize the area, y dx, subject to the condition that the arc, ds, is the given length l. In other words, we want to maximize an integral subject to the condition that another integral has a given (constant) value; any such problem is called an isoperimetric problem. Let

F (x, y, y ) dx

be the integral we want to make stationary; at the same time,

G(x, y, y ) dx,

with the same integration variable and the same limits, is to have a given constant value. (This means that the allowed varied paths must be paths for which J has the given value.) By using the Lagrange multiplier method, it can be shown that the desired condition is that x2

(F + λG) dx x1

should be stationary, that is, that F + λG should satisfy the Euler equation. The Lagrange multiplier λ is a constant. It will appear in thesolution y(x) of the Euler x equation; having found y(x), we can substitute it into x12 G(x, y, y ) dx = const. and so ﬁnd λ if we like. However, for many purposes we do not need to ﬁnd λ.

492

Calculus of Variations

Chapter 9

Example 1. Given two points x1 and x2 on the x axis, and an arc length l > x2 − x1 , ﬁnd the shape of the curve of length l joining the given points which, with the x axis, incloses the largest area. x x We want to maximize I = x12 y dx subject to the condition J = x12 ds = l. Here F = y and G = 1 + y 2 so (6.1) F + λG = y + λ 1 + y 2 . We want the Euler equation for F + λG. Since ∂ λy (F + λG) = ∂y 1 + y2 the Euler equation is d dx

(6.2)

λy

1 + y2

and

∂ (F + λG) = 1, ∂y

− 1 = 0.

The solution of (6.2) is (Problem 7): (x + c)2 + (y + c )2 = λ2

(6.3)

We see that the answer to our problem is an arc of a circle passing through the two given points, and the Lagrange multiplier λ is the radius of the circle. The center and radius of the circle are determined by the given points x1 and x2 , and the given arc length l (Problem 7).

PROBLEMS, SECTION 6 In Problems 1 and 2, given the length l of a curve joining two given points, ﬁnd the equation of the curve so that: 1.

The surface of revolution formed by rotating the curve about the x axis has minimum area.

The plane area between the curve and a straight line joining the points is a maximum.

Given 10 cc of lead, ﬁnd how to form it into a solid of revolution of height 1 cm and minimum moment of inertia about its axis.

A uniform ﬂexible chain of given length is suspended at given points (x1 , y1 ) and (x2 , y2 ). Find the curve in which it hangs. Hint: It will hang so that its center of gravity is as low as possible.

A curve y = y(x), joining two points x1 and x2 on the x axis, is revolved around the x axis to produce a surface and a volume of revolution. Given the surface area, ﬁnd the shape of the curve y = y(x) to maximize the volume. Hint: You should ﬁnd a ﬁrst integral of the Euler equation of the form yf (y, x , λ) = C. Since y = 0 at the endpoints, C = 0. Then either y = 0 for all x, or f = 0. But y ≡ 0 gives zero volume of the solid of revolution, so for maximum volume you want to solve f = 0.

In Problem 5, given the volume, ﬁnd the shape of the curve y = y(x) to minimize the surface area. Hint: See the hint in Problem 5.

Integrate (6.2), simplify the result and √ integrate √ again to get (6.3) where c and c are constants of integration. If x1 = − 3, x2 = 3, and l = 4π/3, show that the center and radius of the circle are (0, −1) and λ = radius = 2.

Section 7

Variational Notation

493

7. VARIATIONAL NOTATION The symbol δ was used in the early days of the development of the calculus of variations to indicate what we have called diﬀerentiation with respect to the parameter . It is just like the symbol d in a diﬀerential except that it warns you that and not x is the diﬀerentiation variable. The δ notation is not used much any more in mathematics, but you will ﬁnd it in applications and so should understand its meaning. The quantity δI is just the diﬀerential δI =

dI d, d

where dI/d is evaluated for = 0. The symbol δ (read "the variation of") is also treated as a diﬀerential operator acting on F , y, and y ; we shall deﬁne δy, δy , and δF in terms of our previous notation. We had in Section 2: Y (x, ) = y(x) = η(x),

(7.1)

Y (x, ) = y (x) + η (x).

Then the meaning of δy is (7.2)

δy =

∂Y ∂

d = η(x)d; =0

this is just like a diﬀerential dY if is the variable. The meaning of δy is ∂Y (7.3) δy = d = η (x)d. ∂ =0 This is identical with (7.4)

d d (δy) = [η(x)d] = η (x)d dx dx

since x and are independent variables; in other words, d and δ commute. The meaning of δF is (7.5)

δF =

∂F ∂F δy + δy ; ∂y ∂y

this is just a total diﬀerential dF = (∂F/∂)=0 d of the function F [x, Y (x, ), Y (x, )] at = 0 with considered the only variable. Then the variation in I is x2 x2 δI = δ F dx = δF dx x x1 x21 ∂F ∂F δy + δy dx = (7.6) ∂y ∂y x x1 2

∂F ∂F η(x)d + η (x)d dx. = ∂y ∂y x1 If you compare (7.6) with (2.13), you ﬁnd that the following two statements about I = F (x, y, y )dx mean the same thing: (a) I is stationary; that is, dI/d = 0 at = 0 as in (2.13). (b) The variation of I is zero; that is, δI = 0 as in (7.6).

494

Calculus of Variations

Chapter 9

8. MISCELLANEOUS PROBLEMS 1.

(a)

In Section 3, we showed how to obtain a ﬁrst integral of the Euler equation when F = F (y, y ). There is an alternative method of handling this case. You can show that if F = F (y, y ), then F − y ∂F/∂y = const. To prove this, diﬀerentiate the left-hand side with respect to x, and show that the result is zero if F satisﬁes the Euler equation. Note that what you have is a ﬁrst integral of the Euler equation.

(b)

Use the method of (a) to do the problems at the end of Section 3.

(c)

Consider the motion of a particle along the x axis; then L = T − V = 1 mx˙ 2 − V (x). Note that L does not contain the independent variable t; this 2 corresponds to the case F = F (y, y ) in (a). Show that the ﬁrst integral found in (a) is just the equation of conservation of energy for the mechanics problem.

Find a ﬁrst integral of the Euler equation to make stationary the integrals in Problems 2 to 4. Z b Z b Z βp 2 yy dx x2 dy p 3. √ 2. 4. r 2 r 2 + r 4 dθ 1 + y2 a 1 + x 2 a α Write and solve the Euler equations to make stationary the integrals in Problems 5 to 7. Z b Z bp Z b s 2 p √ 1 + y2 y 7. 1 + x 1 + x 2 dy 6. dx + 1 dx 5. 2 1+y y a a a 8.

Find the geodesics on the cylinder r = 1 + cos θ.

Find the geodesics on the cone z = r cot α, where r2 = x2 + y 2 .

10.

Find the geodesics on the parabolic cylinder y = x2 .

In Problems 11 to 18, use Fermat's principle to ﬁnd the path of a light ray through a medium of index of refraction proportional to the given function. ey

(2x + 3)−1

11.

r −1/2

15.

x1/3 Hint: In the last integration, let x = u3 .

16.

17.

r −1 ln r

18.

12.

13.

14.

(y + 2)1/2

Hint: In the last integration, let u = r 2 .

(x + y)

1/2

Hint: In the last integration, let u = ln r. Hint: Make the change of variables (45◦ rotation) 1 X = √ (x + y), 2

1 Y = √ (x − y); 2

what is

dX 2 + dY 2 ?

19.

Find Lagrange's equations in polar coordinates for a particle moving in a plane if the potential energy is V = 12 kr 2 .

20.

Repeat Problem 19 if V = −K/r.

21.

Write Lagrange's equations in cylindrical coordinates for a particle moving in the gravitational ﬁeld V = mgz.

22.

In spherical coordinates, ﬁnd the θ Lagrange equation for a particle moving in the potential ﬁeld V = V (r, θ, φ). What is the θ component of the acceleration? Hint: The θ Lagrange equation is the θ component of ma = F = −∇V ; for components of ∇V , see Chapter 6, end of Section 6, or Chapter 10, Section 9.

Section 8

Miscellaneous Problems

495

23.

A particle slides without friction around a vertical circle under the force of gravity. Set up the Lagrange equation of motion.

24.

Write and simplify the Euler equation to make stationary the integral Z b [P (x, y) + Q(x, y)y ] dx. a

Show that if the Euler equation is satisﬁed, the integral has the same value for all paths joining a and b. (See Problem 1.3. Also see Chapter 6, Section 9, Example 2.) 25.

Find the shape of a curve of minimum length which will inclose a given area A lying in the (x, y) plane. Find the length in terms of A.

26.

A wire carrying a uniform distribution of positive charge lies in the (x, y) plane and joins two given points. Find its shape to minimize the electrostatic potential at the origin.

27.

Find a ﬁrst integral of the Euler equation for Problem 26 if the length of the wire is given.

28.

Write the θ Lagrange equation for a particle moving in a plane if V = V (r) (that is, a central force). Use the θ equation to show that: (a)

The angular momentum r × mv is constant.

(b)

The vector r sweeps out equal areas in equal times (Kepler's second law).

CHAPTER

Tensor Analysis 1. INTRODUCTION You already know something about tensors although you may not have used the term tensor. Tensors of rank (or order ) zero are just scalars and tensors of rank one are just vectors; you are already familiar with these. In 3-dimensional space a scalar has 30 = 1 components and a vector has 31 = 3 components; a second-rank tensor has 32 = 9 components; and in general a tensor of rank n has 3n components. After scalars and vectors, second-rank tensors are the ones you are most likely to ﬁnd in applications, so let's consider an example of such a tensor. Example 1. Think of a beam carrying a load; there are stresses and strains in the material of the beam. If we imagine cutting the beam in two by a plane perpendicular to the x direction, we realize that there is a force per unit area exerted by the material on one side of our imaginary cut on the other side. This is a vector, so it has three components Pxx , Pxy , Pxz , where the ﬁrst subscript x is to emphasize that this is a force across a plane perpendicular to the x direction. Similarly, if we consider a plane perpendicular to the y direction, there is a force per unit area across this plane with components Pyx , Pyy , Pyz ; and ﬁnally across a plane perpendicular to the z direction there is a force per unit area with components Pzx , Pzy , Pzz . At a point in the material, then, we have a set of nine quantities which could be displayed as a matrix:   Pxx Pxy Pxz  Pyx Pyy Pyz  (1.1) Pzx Pzy Pzz This is a second-rank tensor known as the stress tensor. The forces (per unit area) Pxx , Pyy , Pzz are pressures or tensions; the others are shear forces (per unit area). For example Pzy is a force per unit area in the y direction acting across a plane perpendicular to the z direction; this force tends to shear the beam. So far, we have simply indicated the number of components that tensors of the various ranks have. This is not the whole story. To see what else is required, let us talk about ﬁrst-rank tensors, that is vectors, which are already familiar to you. In 496

Section 1

Introduction

497

elementary work a vector is usually deﬁned either as a magnitude and a direction, or as a set of three components. To see that we need to give a more careful deﬁnition, consider this example.

Example 2. We can draw an arrow to represent a given rotation of a rigid body in the following way. Draw the arrow along the axis of rotation, make its length equal to the rotation angle in radians, and let its sense be given by the right-hand rule. Then, apparently, a rotation is a vector according to the magnitude and direction deﬁnition. But this is not so! Take a book and rotate it 90◦ about the x axis, then 90◦ about the y axis. (See Chapter 3, Problem 7.31.) Repeat, rotating this time ﬁrst about the y axis and then about the x axis. The ﬁnal positions of the book are diﬀerent. But the sum of the two vectors does not depend on the order in which they are added (in mathematical language, vector addition is commutative). The arrows associated with rotations are not vectors.

Example 3. Now let us consider the idea of a vector as a set of three components. In order to talk about components, we must have a coordinate system. There are inﬁnitely many coordinate systems—even for rectangular axes (x, y, z) there are inﬁnitely many sets of rotated axes. Thus we must say that a vector consists of a set of three components in each coordinate system. If the components of a vector relative to one set of axes are given, we know from elementary vector analysis that the component of the vector in any direction, or its components relative to any rotated set of axes, can be found by taking projections. Then the new components are deﬁnite combinations of the old components. This fact allows us to decide whether a physical quantity is really a vector or not. There is a similar requirement for tensors, for example the second-rank stress tensor we have described. We could imagine cutting the beam by a plane oriented in any given direction and ask for the force per unit area acting across this plane. It can be shown (see Section 7) that each component of this force is a certain combination of the nine components of the stress tensor (1.1). Thus the components of the stress tensor in any other coordinate system are deﬁnite combinations of the nine components of the tensor relative to the (x, y, z) axes. In other words, tensors of all ranks, like vectors, have a physical meaning which is independent of the reference coordinate system and there are deﬁnite mathematical laws which relate their components in two systems. You may wonder why we cannot make just any set of components (3 for a vector, 9 for a second-rank tensor, etc.), given in one coordinate system, a tensor by deﬁning its components in other systems by the correct transformation laws. Mathematically, we could! But for a physical entity, we are not free to deﬁne its components in various coordinate systems; they are determined by physical fact. We merely give a mathematical description of the entity and identify it as a scalar, a vector, a second-rank tensor, etc. (or perhaps none of these). We can see again now why an arrow associated with a rotation is not a vector. If we treat the arrow as a vector and take components of it, these component vectors do not represent rotations which can be combined to give the original rotation. Thus a vector which looks superﬁcially like the arrow we have deﬁned is not a correct mathematical representation of the physical entity (a rotation) we are trying to describe.

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What is the relationship between the vectors we are going to deﬁne here and the vectors of a linear vector space (Chapter 3, Sections 10 and 14)? The ideas of an abstract vector space grew out of the geometry of three-dimensional displacement vectors. A change of coordinate system (for example, rotation of axes) corresponds to a change of basis in a vector space. Because the deﬁnitions of a vector space are set up to parallel the geometry, displacement vectors are vectors in the vector space sense. Whether other physical entities (force, temperature, stress, etc.) are properly modeled as vectors then depends on whether they transform under a change of coordinate system (that is, change of basis) in the same way that displacement vectors do. Here we want the word "vector" to refer to all physical quantities which transform properly. Thus we shall ﬁnd the transformation law for a displacement vector, and then deﬁne a vector as any entity which obeys the same law. A tensor which transforms properly under a rotation of rectangular (x, y, z) axes is called a Cartesian tensor; we will study these in some detail. Things become a little more complicated when we consider transformations to other coordinate systems such as spherical coordinates; we will consider this at the end of the chapter. But for Sections 1 to 7, the term tensor will mean Cartesian tensor.

2. CARTESIAN TENSORS In Chapter 3, Section 7, we considered the eﬀect of rotations on vectors, and emphasized active rotations (vector rotated, axes ﬁxed). Now we want to consider passive rotations (vector ﬁxed, axes rotated), in order to ﬁnd how the components of a displacement vector in one coordinate system are related to its components in a rotated system. Let (x, y, z) be a set of rectangular axes and (x , y , z ) another set obtained by rotating the axes in any manner keeping the origin ﬁxed (Figure 2.1). In the table (2.1), we list the cosines of the nine angles between the (x, y, z) axes and the (x , y , z ) axes.

(2.1)

x y z

x l1 l2 l3

y m1 m2 m3

z n1 n2 n3

Figure 2.1

In the table, l2 means the cosine of the angle between the x axis and the y axis, etc. A vector r (Figure 2.1) has components x, y, z or x , y , z relative to the two coordinate systems; we want to ﬁnd the relations between the two sets of components. Example 1. Let i, j, k be unit basis vectors along the (x, y, z) axes and i , j , k be unit basis vectors along the (x , y , z ) axes. Then the vector r can be written in terms of either set of components and basis vectors as follows: (2.2)

r = ix + jy + kz = i x + j y + k z .

Taking the dot product of this equation with i , we get (2.3)

r · i = i · i x + j · i y + k · i z = x

Section 2

Cartesian Tensors

499

(since i · i = 1, and i · j = i · k = 0). Now i · i is the cosine of the angle between i and i , that is, between the x and x axes, since i and i are unit vectors; thus i · i = l1 from the table (2.1). Similarly, j · i = m1 and k · i = n1 and (2.3) becomes (2.4)

x = l1 x + m1 y + n1 z.

Similarly, dotting r into j nd k , and using (2.1) we get (2.5)

y = l2 x + m2 y + n2 z, z = l3 x + m3 y + n3 z.

The equations (2.4) and (2.5) are called the transformation equations from the coordinate system (x, y, z) to (x , y , z ). Example 2. In the same way, dotting r with i, j, k in turn, we get equations for x, y, z in terms of x , y , z : x = l1 x + l2 y + l3 z , (2.6)

y = m1 x + m2 y + m3 z , z = n1 x + n2 y + n3 z .

These transformation equations may be written more concisely in matrix notation. Equations (2.4) and (2.5) become the matrix equation:      x x l 1 m1 n 1 z  y  =  l 2 m2 n 2 z   y  (2.7) or r = Ar, l 3 m3 n 3 z z z where r , A, and r stand for the matrices in (2.7). [Compare Chapter 3, equation (7.13) for the two-dimensional case.] Similarly, (2.6) becomes (2.8)

r = AT r

where AT is the transpose of A. Recall from Chapter 3, Sections 7 and 9, that a rotation matrix is an orthogonal matrix, and for an orthogonal matrix, AT = A−1 . Also see Problems 3 and 4. Equations (2.7) or (2.8) tell us how displacement vectors in a rectangular coordinate system transform under a rotation of axes. We now use this result to deﬁne Cartesian vectors, that is, vectors which transform in the same way that displacement vectors do under rotations of rectangular (Cartesian) axes. We will then generalize this to deﬁne Cartesian tensors of other ranks. Deﬁnition of Cartesian Vectors A Cartesian vector V consists of a set of three numbers (components) in every rectangular coordinate system; if Vx , Vy , Vz are the components in one system and Vx , Vy , Vz are the components in a rotated system, these two sets of components are related by an equation similar to (2.7), namely,     Vx Vx  Vy  = A  Vy  (2.9) or V = AV, Vz Vz where A is the rotation matrix in (2.7). Alternatively, we could use (2.8) and require that V = AT V .

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We can simplify our notation by making the following changes. by

x1 , x2 , x3

Replace x , y , z Replace Vx , Vy , Vz

by by

x1 , x2 , x3 V1 , V2 , V3

Replace Vx , Vy , Vz

Replace A in (2.7)

V1 , V2 , V3  a11 a12  a21 a22 a31 a32

Replace x, y, z

(2.10)

 a13 a23  a33

In this notation (2.7) and (2.9) become (2.11) and (2.12): (2.11)

xi =

aij xj ,

i = 1, 2, 3,

aij Vj ,

i = 1, 2, 3.

j=1

(2.12)

Vi =

3 j=1

Alternatively, we could solve (2.11) for the x coordinates in terms of the x coor3 dinates as in (2.8), to get, in the summation form: xi = aji xj , and a similar j=1

companion formula to (2.12), namely

Vi =

(2.13)

aji Vj .

j=1

Since we will occasionally want the transformation formula for a Cartesian vector solved for the unprimed components as in (2.13), you should be sure you understand (2.13). Compare carefully the indices in (2.12) and (2.13). In matrix form (2.12) is V = AV and (2.13) is V = AT V [see equations (2.7) and (2.8)]. Now element i, j of AT is the same as element j, i of A, so the coeﬃcients in (2.13) are aji instead of aij as they were in (2.12). It is now straightforward to deﬁne tensors. Deﬁnition of Cartesian Tensors A tensor of rank zero has one component which is unchanged by a rotation of axes; it is called an invariant or a scalar. Simple examples are the length of a vector, or the dot product of two vectors. A ﬁrst rank tensor is just a vector. A tensor of second rank has nine components (in three dimensions) in every rectangular coordinate system. If we call the components in one system Tij , the components Tkl in a rotated coordinate system are given by (2.14), where the a's are the direction cosines in the rotation matrix A.

(2.14)

Tkl =

3 3 i=1 j=1

aki alj Tij ,

k, l = 1, 2, 3.

Section 2

Direct Product

Cartesian Tensors

501

We can give a very simple example of a second-rank tensor.

Example 3. Let U and V be vectors; we form the following array (in each coordinate system) from the components U1 , U2 , U3 and V1 , V2 , V3 of U and V (in that coordinate system): U1 V1 U1 V2 U1 V3 U2 V1 U2 V2 U2 V3 (2.15) U3 V1 U3 V2 U3 V3 We can show that these nine quantities are the components of a second-rank tensor which we shall denote by UV. Note that this is not a dot product or a cross product; it is called the direct product of U and V (or outer product or tensor product ). Since U and V are vectors, their components in a rotated coordinate system are, by (2.12): 3 3 (2.16) Uk = aki Ui , Vl = alj Vj . i=1

j=1

Hence the components of the second-rank tensor UV are (2.17)

Uk Vl =

aki Ui

i=1

3 j=1

alj Vj =

aki alj Ui Vj ,

i,j=1

= Uk Vl . which is just (2.14) with Tij = Ui Vj and Tkl

Equation (2.14) generalizes immediately. For example, a 4th -rank Cartesian tensor is deﬁned as a set of 34 or 81 components Tijkl , in every rectangular coordinate system, which transform to a rotated coordinate system by the equations (2.18)

Tαβγδ =

aαi aβj aγk aδl Tijkl ,

i,j,k,l

where i, j, k, l take the values 1, 2, 3. Note that a 4th -rank tensor has 4 indices and requires four a's in its deﬁnition. Similarly, an nth -rank tensor has n indices and requires n a's in its deﬁnition. Also we can generalize (2.17) to show, for example, that the direct product of a vector and a 3rd -rank tensor produces a 4th -rank tensor, and, in general, the direct product of tensors of ranks n and m is a tensor of rank m + n (see Problem 7).

PROBLEMS, SECTION 2 1.

Verify equations (2.6).

Show that the sum of the squares of the direction cosines of a line through the origin is equal to 1 Hint: Let (a, b, c) be a point on the line at distance 1 from the origin. Write the direction cosines in terms of (a, b, c).

Consider the matrix A in (2.7) or (2.10). Think of the elements in each row (or column) as the components of a vector. Show that the row vectors form an orthonormal triad (that is each is of unit length and they are all mutually orthogonal), and the column vectors form an orthonormal triad.

502

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Any rotation of axes in three dimensions can be described by giving the nine direction cosines of the angle between the (x, y, z) axes and the (x , y , z ) axes. Show that the matrix A of these direction cosines in (2.7) or (2.10) is an orthogonal matrix. Hint: See Chapter 3, Section 9. Find AAT and use Problem 3.

Write equations (2.12) out in detail and solve the three simultaneous equations (say by determinants) for x1 , x2 , x3 in terms of x1 , x2 , x3 to verify equations (2.13). Use your results in Problem 4.

Write the transformation equation for a 3rd -rank tensor; for a 5th -rank tensor.

Following what we did in equations (2.14) to (2.17), show that the direct product of a vector and a 3rd -rank tensor is a 4th -rank tensor. Also show that the direct product of two 2nd -rank tensors is a 4th -rank tensor. Generalize this to show that the direct product of two tensors of ranks m and n is a tensor of rank m + n.

Write the equations in (2.16) and so in (2.17) solved for the unprimed components in terms of the primed components.

3. TENSOR NOTATION AND OPERATIONS Summation Convention As you may have noticed in the last section, tensor equations use a lot of summation signs—it would be a simpliﬁcation if we could get along without them. Using the summation convention (or Einstein summation convention), we omit the summation signs in equations like (2.11) to (2.14), and (2.16) to (2.18), and simply understand a summation over any index which appears exactly twice in one term. Here are some examples using summation convention (in three dimensions). Examples.

aii or ajj or aββ , etc. means xi xi or xα xα , etc. means

(3.1)

aij bjk ∂u ∂xj ∂xj ∂xi

means

Tijkl Sij Vk Ul

means

a11 + a22 + a33 ; x21 + x22 + x23 ; ai1 b1k + ai2 b2k + ai3 b3k ; ∂u ∂x1 ∂u ∂x2 ∂u ∂x3 + + ; ∂x1 ∂xi ∂x2 ∂xi ∂x3 ∂xi Tijkl Sij Vk Ul ; i

and so on. The repeated index (which is summed over) is called a dummy index; like an integration variable in a deﬁnite integral, it does not matter what letter is used for it. An index which is not repeated is called a free index. When summation convention is being used, we are not warned by a summation sign what letters to sum over; we just have to inspect the indices and see which ones appear twice. In writing terms using the summation convention, we must be careful not to re-use an index. For example, if we already have two i subscripts indicating a sum over i, and we want another sum in the same term, we must use a diﬀerent dummy index, say j or m or α, etc. In the following discussion we will use summation convention; watch carefully for the repeated dummy indices. Contraction (3.2)

The transformation equations for a 4th -rank tensor are [see (2.18)] Tαβγδ = aαi aβj aγk aδl Tijkl .

(Note the sums over i, j, k, and l).

Section 3

Tensor Notation and Operations

503

Example 1. Now suppose we put δ = β which, by summation convention, means a further sum over β. Then we have (3.3)

Tαβγβ = aαi aβj aγk aβl Tijkl .

Now aβj aβl (summed over β) is the dot product of columns j and l of the rotation matrix A [see Problem (2.3)]. This dot product is 1 if j = l, and 0 otherwise. In other words aβj aβl = δjl [see Chapter 3, equation (9.4)]. Then δjl Tijkl becomes Tijkj since δjl is zero unless j and l are equal. (The repeated dummy index could be either j or l or anything else except the dummy indices i and k which are already used, and the free indices α and γ). Thus we have (3.4)

Tαβγβ = aαi aγk δjl Tijkl = aαi aγk Tijkj

Now (3.4) says that Tijkj are the components of a 2nd -rank tensor since there are two free indices and two a factors are required [compare equation (2.14)]. This process of setting two indices of a tensor equal to each other and then summing is called contraction. Contraction reduces the rank of a tensor by 2. Note that in (3.2) we started with a 4th -rank tensor and after contracting we have a tensor of rank 2 in (3.4). It is interesting to observe that the dot (or scalar or inner) product of two vectors in elementary vector analysis is an example of contraction. In Section 2 we showed that the direct product of two vectors [see (2.17)] is a 2nd -rank tensor. If we contract Ui Vj to get Ui Vi we have the dot product of vectors U and V, which is a scalar. Again note that contraction has reduced the rank of a tensor by 2 (a scalar is a tensor of rank zero). Tensors and Matrices The components of ﬁrst or second rank tensors can be displayed as matrices and this is often useful. We have frequently (see Chapter 3) written the components of a vector (1st -rank tensor) as a column or row matrix. The components Tij of a 2nd -rank tensor can be written as the elements of a square matrix (see inertia matrix, Section 4). Then note that in the tensor equation, Ui = Tij Vj , the contraction (sum on j) corresponds exactly to row times column multiplication for matrices. Symmetric and Antisymmetric Tensors A 2nd -rank tensor Tij is called symmetric if Tij = Tji , and antisymmetric (or skew symmetric) if Tij = −Tji . Note that these agree with the corresponding deﬁnitions for matrices [Chapter 3, (9.2)]. Any 2nd -rank tensor can be written as a sum of a symmetric tensor and an antisymmetric tensor as in (3.5) (Problem 13). (3.5)

Tij =

1 1 (Tij + Tji ) + (Tij − Tji ). 2 2

For tensors of higher rank, similar terminology is used. If an exchange of two indices leaves the tensor component unchanged, we say that the tensor is symmetric with respect to those two indices. If an exchange of two indices changes the tensor component to its negative, we say that the tensor is antisymmetric with respect to those two indices.

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Combining tensors The sum or diﬀerence (in fact linear combination) of two tensors of rank n is a tensor of rank n (Problems 6 and 7). For example, Tij +Rijk Vk is a tensor of rank 2. Note the summation convention and the contraction which makes Rijk Vk also a tensor of rank 2 so that we can add it to Tij . (Addition is not deﬁned for tensors of diﬀerent ranks.)

Quotient Rule Let us suppose we know that, for every vector Vj , the quantities Ui = Tij Vj are the components of a non-zero vector and that this holds true in all rotated coordinate systems. Then we can prove that the quantities Tij are the components of a 2nd -rank tensor. This is an example of the quotient rule.

Example 2. To prove this, we need the following equations: Vβ = Uα , Tαβ

(3.6)

Uα

= aαi Ui ,

Ui = Tij Vj , Vj = aβj Vβ ,

given equation in rotated system; U is a vector; given equation; V is a vector; see equation (2.13).

Now, putting this all together we have (3.7)

Tαβ Vβ = Uα = aαi Ui = aαi Tij Vj = aαi Tij aβj Vβ .

Factoring out Vβ from the ﬁrst and last steps, we have (3.8)

− aαi aβj Tij )Vβ = 0 (Tαβ

for all vectors V .

Since V is arbitrary, the parenthesis in (3.8) is equal to zero (Problem 8). Thus we have (3.9)

Tαβ = aαi aβj Tij .

Now (3.9) is the transformation equation for a 2nd -rank tensor [compare (2.14)], so, as claimed, the quantities Tij are the components of a 2nd -rank tensor. The quotient rule is useful in determining whether some given quantities are the components of a tensor. [As an example of this, see (4.1).] Suppose X is a set of 3n components (the right number for a tensor of rank n in 3 dimensions). The quotient rule says that if the product of X and an arbitrary tensor is a non-zero tensor, then X is a tensor. The product may be either a direct product or a direct product combined with one or more contractions. We have proved the quotient rule for one case but the proof of any case follows this same pattern. Given XA = B, where A is an arbitrary tensor and B is a non-zero tensor, we use the transformation equations for A and B, and the fact that A is arbitrary, to ﬁnd the transformation equations for X (see Problems 9 to 12).

Section 4

Inertia Tensor

505

PROBLEMS, SECTION 3 1.

Write equations (2.11), (2.12), (2.13), (2.14), (2.16), (2.17), and (2.18) using summation convention.

Show that the fourth expression in (3.1) is equal to ∂u/∂xi . By equations (2.6) and (2.10), show that ∂xj /∂xi = aij , so ∂u ∂u ∂xj ∂u = = aij . ∂xi ∂xj ∂xi ∂xj Compare this with equation (2.12) to show that ∇u is a Cartesian vector. Hint: Watch the summation indices carefully and if it helps, put back the summation signs or write sums out in detail as in (3.1) until you get used to summation convention.

As we did in (3.3), show that the contracted tensor Tiij is a ﬁrst-rank tensor, that is, a vector.

Show that the contracted tensor Tijk Vk is a 2nd -rank tensor.

Show that Tijklm Slm is a tensor and ﬁnd its rank (assuming that T and S are tensors of the rank indicated by the indices).

Show that the sum of two 3rd -rank tensors is a 3rd -rank tensor. Hint: Write the transformation law for each tensor and then add your two equations. Divide out the a factors to leave the result Tαβγ + Sαβγ = aαi aβj aγk (Tijk + Sijk ) using summation convention.

As in problem 6, show that the sum of two 2nd -rank tensors is a 2nd -rank tensor; that the sum of two 4th -rank tensors is a 4th -rank tensor.

Show that (3.9) follows from (3.8). Hint: Give a proof by contradiction. Let Sαβ be the parenthesis in (3.8); you may ﬁnd it useful to think of the components written as a matrix. You want to prove that all 9 components of Sαβ are zero. Suppose it is claimed that S12 is not zero. Since Vβ is an arbitrary vector, take it to be the vector (0, 1, 0), and observe that Sαβ Vβ is then not zero in contradiction to (3.8). Similarly show that all components of Sαβ are zero as (3.9) claims.

Prove the quotient rule in each of the following problems, that is, given XA = B where A is any arbitrary tensor and B is a non-zero tensor, show that X is a tensor. Hints: Follow the general method in (3.6) to (3.9). See the last sentence of the section. 10. Xi Aj = Bij 9. Xi Aij = Bj 11. Xij Ak = Bijk 12. Xijkl Akl = Bij 13.

Show that the ﬁrst parenthesis in (3.5) is a symmetric tensor and the second parenthesis is antisymmetric.

4. INERTIA TENSOR Inertia tensor If a rigid body is rotating about a ﬁxed axis, then from elementary mechanics we know that τ = dL/dt where τ is the torque and L is the angular momentum about the rotation axis. The angular velocity ω and the angular momentum L are related by the equation L = Iω where I is the moment of inertia of the body about the rotation axis. For rotation about a ﬁxed axis, L and ω are parallel vectors, and I is a scalar. But if the rotation axis is not ﬁxed, the angular velocity and the angular momentum may not be parallel.

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Example 1. Try the following experiment. Take a small book bound by a rubber band, hold it by one corner and toss it upward giving it a spin. As it falls observe that it tumbles, that is, the angular velocity ω about the center of mass is not ﬁxed in direction. However, by deﬁnition of the center of mass, the gravitational torque τ about the center of mass is zero so τ = dL/dt = 0. (We are neglecting air resistance.) Thus L is a constant vector, and a constant L and a changing ω are not parallel. Then if the equation L = Iω is to be true, I cannot be a scalar. We have seen this situation before; look at the discussion of the quotient rule in Section 3 and the proof of the case we have here in (3.5) to (3.8). Since L and ω are vectors, we see by the quotient rule that (when L and ω are not parallel) the scalar I must be replaced by a 2nd -rank tensor with components Ijk . Then in component form we have Lj = Ijk ωk

(4.1)

Example 2. Next we want to ﬁnd the components of the inertia tensor. For simplicity, ﬁrst consider a point mass m at the tip of a vector r with tail at the origin O. From Chapter 6, end of Section 3, the angular momentum of m about the origin is L = mr × (ω × r) where ω is the angular velocity of the mass m about O. (See Chapter 6, Figures 2.6 and 3.8.) We can expand the triple vector product [see Chapter 6, equation (3.8)] to get (4.2)

L = mr × (ω × r) = m[r2 ω − (r · ω)r] = m[r2 ω − (xωx + yωy + zωz )r].

Next we write the components of L in terms of the components of ω. For example, taking the x component of (4.2), we ﬁnd (4.3)

Lx = m[r2 ωx − (xωx + yωy + zωz )x] = m[(r2 − x2 )ωx − xyωy − xzωz ].

Thus three components of the inertia tensor are (4.4)

Ixx = m(r2 − x2 ) = m(y 2 + z 2 ), Ixy = −mxy, Ixz = −mxz.

The other 6 components can be found similarly by taking the y and z components of (4.2) (Problem 1). Example 3. If, instead of a single mass, we have a set of masses or an extended body, then the expressions for the components of the inertia tensor become sums or integrals. Ixx = mi (yi2 + zi2 ) or (y 2 + z 2 ) dm, (4.5)

Ixy = −

mi xi yi

−

xy dm, etc. (Problem 1.)

It is useful to write (4.1) as a matrix equation (see discussion in Section 3 about contraction). Then the inertia tensor components form a square matrix. This matrix is symmetric and so we know from Chapter 3, Section 11, that it can be diagonalized by an orthogonal similarity transformation. The new axes are called the principal axes of inertia and the three eigenvalues are called the principal moments of inertia. We see that the equations of motion are simpler relative to the principal axes.

Section 4

Inertia Tensor

507

Example 4. Find the inertia tensor about the origin for the mass distribution consisting of a mass 1 at (0, 1, 1) and a mass 2 at (1, −1, 0). Find the principal moments of inertia and the principal axes. Substituting (x1 , y1 , z1 ) = (0, 1, 1), m1 = 1, and (x2 , y2 , z2 ) = (1, −1, 0), m2 = 2 into (4.5), we ﬁnd Ixx = (12 + 12 ) + 2(−1)2 = 4, Ixy = Iyx = −0 − 2(−1) = 2. Continuing in the same way, we can ﬁnd the rest of the components (Problem 2) and write them as an inertia matrix   4 2 0 3 −1  I= 2 0 −1 5 Either √ by hand or by computer we ﬁnd that the eigenvalues of the matrix I are 6 and 3 ± 3; these are the √ principal√moments of inertia. The √ √ corresponding eigenvectors are (1, 1, −1), (−1 − 3, 2 + 3, 1), (−1 + 3, 2 − 3, 1); these are vectors along the principal axes of inertia. Example 5. Find the inertia tensor about the origin for a mass of uniform density = 1, inside the part of the unit sphere in the ﬁrst octant, that is, x > 0, y > 0, z > 0. We will write the integrals for the components of the inertia tensor ﬁrst in rectangular coordinates and then switch to spherical coordinates [see Chapter 5, equation (4.5)] to evaluate them since the limits are then simpler. Satisfy yourself that in order to cover the required volume, the limits are: r from 0 to 1, θ from 0 to π/2, and φ from 0 to π/2. Then Ixx = (r2 − x2 ) dV =

r=0

π/2

θ=0

π/2

(r2 − r2 sin2 θ cos2 φ)r2 sin θ dr dθ dφ =

π . 15

(r2 sin2 θ cos φ sin φ)r2 sin θ dr dθ dφ = −

1 . 15

φ=0

Ixy =

(−xy) dV = −

r=0

π/2

θ=0

π/2

φ=0

Similarly, the other integrals can be written and evaluated (Problem 3). Alternatively, it may be clear that by symmetry the three diagonal components are all the same, and all the oﬀ-diagonal components are the same. Then the inertia matrix is   π −1 −1 1  −1 π −1  . I= 15 −1 −1 π As in Example 4, we ﬁnd (Problem 3): (π − 2, π + 1, π + 1) 15 Principal axes of inertia: (1, 1, 1), and any two orthogonal vectors in the

Principal moments of inertia:

plane x + y + z = 0, for example, (1, −1, 0) and (1, 1, −2).

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PROBLEMS, SECTION 4 1.

As in (4.3) and (4.4), ﬁnd the y and z components of (4.2) and the other 6 components of the inertia tensor. Write the corresponding components of the inertia tensor for a set of masses or an extended body as in (4.5).

Complete Example 4 to verify the rest of the components of the inertia tensor and the principal moments of inertia and principal axes. Verify that the three principal axes form an orthogonal triad.

As in Problem 2, complete Example 5.

Find the inertia tensor about the origin for a mass of uniform density = 1, inside the part of the unit sphere where x > 0, y > 0, and ﬁnd the principal moments of inertia and the principal axes. Note that this is similar to Example 5 but the mass is both above and below the (x, y) plane. Warning hint: This time don't make the assumptions about symmetry that we did in Example 5.

For the mass distributions in Problems 5 to 7, ﬁnd the inertia tensor about the origin, and ﬁnd the principal moments of inertia and the principal axes. 5.

Point masses 1 at (1, 1, 1) and at (−1, 1, 1).

Point masses 1 at (1, 1, −2) and 2 at (1, 1, 1).

Mass of uniform density = 1, bounded by the coordinate planes and the plane x + y + z = 1.

For the point mass m we considered in (4.2) to (4.4), the velocity is v = ω × r so the kinetic energy is T = 12 mv 2 = 12 m(ω × r) · (ω × r). Show that T can be written in matrix notation as T = 12 ω T I ω where I is the inertia matrix, ω is a column matrix, and ω T is a row matrix with elements equal to the components of ω.

5. KRONECKER DELTA AND LEVI-CIVITA SYMBOL The Kronecker δ is deﬁned in Chapter 3, equation (9.3) but let's repeat it here for convenience. δij =

(5.1)

1 0

if i = j, otherwise.

The deﬁnition of the Levi-Civita symbol (or permutation symbol) is   (5.2)

ijk =

1 if i, j, k = 1, 2, 3 or 2, 3, 1 or 3, 1, 2; −1 if i, j, k = 3, 2, 1 or 2, 1, 3 or 1, 3, 2;  0 if any indices are repeated.

Note in (5.2) that if you read the indices i, j, k, cyclically (as if they were written around a circle so you can start anywhere), then if the indices read in the direction 1, 2, 3, 1, 2, 3, 1, · · · , the result is +1; if the indices read in the opposite direction the result is −1.

Section 5

Kronecker Delta and Levi-Civita Symbol

509

We can say (5.2) in another way which is sometimes useful. Start with the fact that 123 = +1. Now if we exchange any two indices, we change the sign; for example 321 = −1 (we exchanged 1 and 3). If we now continue this process and exchange 1 and 2 in 321 = −1, we have 312 = +1. [Try a few more and compare with (5.2).] The result of an even number of exchanges in 123 is called an even permutation of 123 and the result of an odd number of exchanges is called an odd permutation of 123. Thus we could replace (5.2) by the deﬁnition   (5.3)

ijk =

1 if i, j, k = an even permutation of 1, 2, 3; −1 if i, j, k = an odd permutation of 1, 2, 3;  0 if any indices are repeated.

We say that ijk is totally antisymmetric (see Section 3), that is, it is antisymmetric with respect to every pair of indices, since each exchange of indices produces a change in sign. Isotropic Tensors A Cartesian isotropic tensor means a tensor which has the same components in all rotated coordinate systems. The deﬁnitions (5.1) to (5.3) are general, independent of any reference system. Thus to show that δij and ijk are isotropic tensors, we need to show that a tensor transformation simply reproduces the tensor we start with, that is, δ = δ and = . In this section we shall show this and develop some useful formulas. Kronecker delta To show that δij is an isotropic 2nd -rank tensor, we write the tensor transformation to a rotated system and show that it gives δ = δ. (5.4)

= ami anj δij = amj anj = δmn . δmn

Remember summation convention and follow carefully the sums in (5.4). Note in the second step that ami becomes amj because δij is zero unless i = j. (We could just as well change anj to ani and sum on i.) In the last step, amj anj (or ami ani ) is the dot product of rows m and n of the rotation matrix and this is δmn (see Problem 2.3). Thus the Kronecker δ is a 2nd -rank isotropic Cartesian tensor. Determinants We can write a useful formula for the value of a 3-by-3 determinant using the Levi-Civita symbol: (5.5)

det A = a1i a2j a3k ijk .

It is straightforward to show (Problem 1) that (5.5) is equivalent to a Laplace development. Another useful formula is (5.6)

αβγ det A = aαi aβj aγk ijk .

Again it is straightforward (although lengthy) to show that this is equivalent to a Laplace development (Problem 2).

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Levi-Civita Symbol To show that ijk is an isotropic tensor, we write the transformation equation to a rotated system. We ﬁnd (5.7)

αβγ = aαi aβj aγk ijk = αβγ .

In the last step we used (5.6) with det A = 1 (recall from Chapter 3, Section 7, that if A is a rotation matrix, det A = 1). Thus αβγ is a 3rd -rank isotropic Cartesian tensor (assuming only rotated coordinate systems; for reﬂections see Section 6). Products of Isotropic Tensors We can ﬁnd other isotropic tensors from direct products of the two we have, or from direct products followed by contraction. Recall from Sections 2 and 3 that the direct product of two tensors of ranks n and m is a tensor of rank n + m and that each contraction produces another tensor of rank smaller by 2. If the tensors you multiply are isotropic, the products are also isotropic (Problems 3 and 4). To simplify products of two Levi-Civita tensors, the following formula is useful. (5.8)

ijk imn = δjm δkn − δjn δkm

Both sides of (5.8) are 4th -rank tensors (contracted 6th -rank on the left) with free indices j, k, m, n. We want to see that (5.8) is true for any choice of these four indices. Most choices will just give 0 = 0; let's consider what is required for the product of 's to be diﬀerent from zero. Example 1. Remember that an is zero unless its three indices are all diﬀerent. Since the ﬁrst index is the same in ijk and imn , the product is diﬀerent from zero only if the other two indices (j, k and m, n) are the same pair in both 's. (For example, if i = 1, then j, k and m, n must be 2, 3 or 3, 2.) This means that either (1) j = m and k = n, or (2) j = n and k = m. In case (1), the two 's are the same (both = +1 or both = −1) so the product is +1; this is the same as δjm δkn on the right side of (5.8). In case (2), the indices on the two 's are ijk and ikj so one of them is an even permutation of 1, 2, 3 and the other is an odd permutation. Thus the product of the two 's is −1, and this is the same as −δjn δkn on the right side of (5.8). Note that, given j, k, m, n satisfying either j, k = m, n or j, k = n, m, only one term in the sum over i is diﬀerent from zero, that is, the term with i diﬀerent from either j or k. Also see Problem 5. Now that we have (5.8), it is easy to write a similar formula with the contraction (sum) over a diﬀerent pair of indices. Suppose we want abc pqb . Recall that an is not changed by cyclic permutation of its indices [see discussion after (5.2)]. Thus

abc = bca and pqb = bpq [we have cyclically permuted the indices so that the summation index b appears as the ﬁrst index for each as it does in (5.8)]. Now, this is the same pattern as in (5.8), with the sum over the ﬁrst index of each [i in (5.8), b in the second step in (5.9)], so we have (5.9)

abc pqb = bca bpq = δcp δaq − δcq δap

It may be helpful in writing this to repeat what we said in getting (5.8). In (5.9), the product bca bpq is zero unless either c, a = p, q, or c, a = q, p, as indicated by the right side of (5.9). For practice, do Problem 7.

Section 5

Kronecker Delta and Levi-Civita Symbol

511

We can further contract (5.8) to get (Problem 8). (5.10)

ijk ijn = 2δkn ,

ijk ijk = 6.

Vector Identities The familiar formulas in vector analysis can be written in tensor form using δij and ijk . [See Am. J. Phys. 34, 503–507 (1966).] We have already commented (Section 3) that the dot product A · B is the contracted direct product, Ai Bi . Now let's show that the components of the cross product of two vectors can be written as

(5.11)

(B × C)i = ijk Bj Ck .

To see that this is correct we look at one component at a time and compare the result with Chapter 3, equation (4.19), replacing x, y, z by 1, 2, 3. To ﬁnd the ﬁrst component of B × C in (5.11), we let i = 1. Then the only nonzero terms on the right side of (5.11) are the two with j, k = 2, 3 or 3, 2, so we ﬁnd that the ﬁrst component of B × C is (B2 C3 − B3 C2 ), in agreement with Chapter 3. Similarly the other components agree with the vector analysis deﬁnition of a cross product (Problem 9a). Example 2. Now let's use (5.11) to write a triple vector product in tensor form, and then use (5.8) or (5.9) to simplify it (Problem 9b). (5.12)

[A × (B × C)]n = nip Ai (B × C)p = nip Ai [ pjk Bj Ck ] = nip pjk Ai Bj Ck = pni pjk Ai Bj Ck = (δnj δik − δnk δij )Ai Bj Ck = Bn (Ai Ci ) − Cn (Ai Bi ) = components of B(A · C) − C(A · B).

We recognize the ﬁnal step as the formula [Chapter 6, (3.8)] for the triple vector product; we have just derived it in tensor form. Similarly we can prove other vector formulas (see Problems 10 to 13). Recall from Chapter 6 that we treated ∇ as if it were "almost" a vector. Here we can similarly treat it as a ﬁrst rank tensor, always remembering that it is also a diﬀerential operator. The components of ∇ are ∂/∂xi , so as in (5.11) we write

(5.13)

(∇ × V)i = ijk

∂ Vk . ∂xj

Then following the method of (5.12), we next ﬁnd the components of curl curl V in tensor form [compare part (e) in the table at the end of Chapter 6].

512

Tensor Analysis

(5.14)

Chapter 10

∂ (∇ × V)p ∂xi ∂ ∂ [ pjk Vk ] = nip ∂xi ∂xj ∂ ∂ = pni pjk Vk ∂xi ∂xj ∂ ∂ = (δnj δik − δnk δij ) Vk ∂xi ∂xj ∂ ∂ ∂ ∂ = Vi − Vn ∂xn ∂xi ∂xi ∂xi

[∇ × (∇ × V)]n = nip

= components of ∇(∇ · V) − ∇2 V. Dual tensors Let Tij be an antisymmetric 2nd -rank tensor, that is, Tij = −Tji . If we display the components Tij as elements of a matrix, it looks like this (see Problem 14).   0 T12 −T31 0 T23  (5.15) T =  −T12 T31 −T23 0 Observe that there are just 3 independent nonzero components, just enough to be the components of a vector. (Note that this happens only in 3 dimensions—see Problem 15.) If we deﬁne Vi =

(5.16)

ijk Tjk 2

then we ﬁnd (Problem 16) (5.17)

V1 = T23 ,

V2 = T31 ,

V3 = T12 .

Since ijk and Tjk are tensors and Vi is a contracted direct product of them, we are assured that Vi is a ﬁrst rank tensor, that is, a vector (but see Section 6). Thus the three quantities in (5.17) can be considered as the three independent components of an antisymmetric 2nd -rank tensor Tij , or as the three components of a vector Vk called the dual of Tij . We can also start with a vector Vk and deﬁne Tij in terms of it (Problem 16). (5.18)

Tij = ijk Vk

Now suppose Aj and Bk are vectors. Then Tjk = Aj Bk − Ak Bj is a 2nd -rank antisymmetric tensor, and the three independent components of Tjk are just the components of A × B (Problem 17). Thus we see that the vector product can be considered as either a vector or a 2nd -rank antisymmetric tensor.

PROBLEMS, SECTION 5 1.

Verify that (5.5) agrees with a Laplace development, say on the ﬁrst row (Chapter 3, Section 3). Hints: You will ﬁnd 6 terms corresponding to the 6 non-zero values of ijk . First let i = 1; then j, k can be 2, 3 or 3, 2. These two terms give you a11 times its cofactor. Next let i = 2 with j, k = 1, 3 and 3, 1, and show that you get a12 times its cofactor. Finally let i = 3. Watch all the signs carefully.

Section 5

Kronecker Delta and Levi-Civita Symbol

513

Verify for a few representative cases that (5.6) gives the same results as a Laplace development. First note that if α, β, γ = 1, 2, 3, then (5.6) is just (5.5). Then try letting α, β, γ = an even permutation of 1, 2, 3, and then try an odd permutation, to see that the signs work out correctly. Finally try a case when αβγ = 0 (that is when two of the indices are equal) to see that the right hand side of (5.6) is zero because you are evaluating a determinant which has two identical rows.

Show that δij klm is an isotropic tensor of rank 5. Hint: Combine equations (5.4) and (5.7).

Generalize Problem 3 to see that the direct product of any two isotropic tensors (or a direct product contracted) is an isotropic tensor. For example show that ijk lmn is an isotropic tensor (what is its rank?) and ijk lmn δjn is an isotropic tensor (what is its rank?).

Let Tjkmn be the tensor in (5.8). This is a 4th -rank tensor and so has 34 = 81 components. Most of the components are zero. Find the nonzero components and their values. Hint: See discussion after (5.8).

Evaluate: (a) δij δjk δkm δim (c) jk2 k2j (e) 23i 2i3

(b) ijk δjk (d) 3jk kj3 (f) k31 3k1

Write in terms of δ's as in (5.8) and (5.9): (a) ijk pjq

(b) abc pqc

Show that the equations (5.10) are correct. Hints: You can do these by further contracting (5.8). You can also do them by direct argument as follows: In the ﬁrst equation, why must k = n? If k = n, then how many choices are there for i and j? In the second equation, in how many ways can you arrange the three numbers 1, 2, 3, and for each arrangement, what is the product of the 's?

(a)

Finish the work of showing that the cross product components are correctly given by (5.11). Hints: Follow the text discussion just after (5.11). For the second component, let i = 2; etc.

(b)

Go through the sums in (5.12) carefully to verify each step. Hints: Use (5.11) twice being careful about repeated indices, and look at the discussion after equation (5.4).

(c)

Similarly check (5.14).

(a)

Write the triple scalar product A · (B × C) in tensor form and show that it is equal to the determinant in Chapter 6, equation (3.2). Hint: See (5.5).

(b)

Write equation (3.2) of Chapter 6 in tensor form to show the equivalence of the various expressions for the triple scalar product. Hint: Change the dummy indices as needed.

10.

11.

Using problem 10, write A · (B × A) in tensor notation and show that it is = 0.

514 12.

Tensor Analysis

Chapter 10

Write and prove in tensor notation: (a) (b) (c)

Chapter 6, Problem 3.13. Chapter 6, Problem 3.14. Lagrange's identity: (A × B) · (C × D) = (A · C)(B · D) − (A · D)(B · C).

(d)

(A × B) × (C × D) = (ABD)C − (ABC)D, where the symbol (XYZ) means the triple scalar product of the three vectors.

13.

Write in tensor notation and prove the following vector operator identities in the table at the end of Chapter 6: parts (b), (d), (f), (g), (h), (k).

14.

Show that the diagonal elements of an antisymmetric tensor are zero and that (5.15) is a correct display of the components of an antisymmetric 2nd -rank tensor in 3 dimensions.

15.

Write a 4-by-4 antisymmetric matrix to show that there are 6 diﬀerent components, not the 4 components of a vector in 4 dimensions.

16.

Verify that (5.16) gives (5.17). Also verify that (5.18) gives (5.17).

17.

Write out the components of Tjk = Aj Bk − Ak Bj to show that Tjk is a 2nd -rank antisymmetric tensor with elements which are the components of A × B.

6. PSEUDOVECTORS AND PSEUDOTENSORS So far we have considered only rotations of rectangular coordinate systems in our deﬁnitions of tensors. Recall that an orthogonal transformation includes both rotations and reﬂections (Chapter 3, Sections 7 and 11). Now we want to consider how the entities we have called tensors behave under reﬂections. Remember that the determinant of an orthogonal matrix is +1 for a rotation (sometimes called a "proper" rotation) and the determinant is −1 if a reﬂection is involved (sometimes called an "improper" rotation). When det A = −1, at least one eigenvalue of matrix A is −1 (see Chapter 3, Section 11). The −1 eigenvalue corresponds to the reversal of one principal axis, that is, a reﬂection through the plane perpendicular to the axis [for example a reﬂection through the (x, y) plane which reverses the z axis]. The other two eigenvalues correspond to a rotation [see Chapter 3, equation (7.19)]; this includes the case of a 180◦ rotation which is equivalent to reversal of the other two axes (see Problems 1 and 2). So in thinking about reﬂections, we can think of reversing all three axes (called an inversion) or reversing just one, since a rotation doesn't aﬀect the sign of det A. It is important to realize that reversing either one or all three axes changes the coordinate system from a right-handed to a left-handed coordinate system. Example 1. Let's look at a simple example of something we usually think of as a vector (namely a cross product) which doesn't obey the vector transformation laws under reﬂections. Let U and V be displacement vectors. Recall (Section 2) that, by deﬁnition, a vector transforms the way displacement vectors do. Also remember that we are considering passive transformations: vectors remain ﬁxed in space while the axes are changed (rotated or reﬂected). Now if the z axis is reversed [reﬂected through the (x, y) plane], then the z components of the displacement vectors U and V change signs; this is then a requirement for all vectors. But the z component of U × V (which is Ux Vy − Uy Vx ) does not change sign (Problems 3 and 4). Thus U × V is not a vector under reﬂections. We call U × V a pseudovector. We will discover other pseudovectors as we continue.

Section 6

Pseudovectors and Pseudotensors

515

Levi-Civita symbols We want to use (5.6) when the matrix A is the matrix of an orthogonal transformation. Remember (Chapter 3, Section 7) that if A is orthogonal, det A = ±1 so (det A)2 = 1. Multiply (5.6) by det A to get the equation

αβγ = (det A)aαi aβj aγk ijk . Then the transformation which gives = (see isotropic tensors in Section 5) is (6.1)

αβγ = (det A)aαi aβj aγk ijk = αβγ .

Now this is not the right transformation equation for a 3rd -rank tensor—the factor det A would not be there for, say, the direct product of three displacement vectors. Of course, we got away with calling ijk a 3rd -rank tensor in Section 5 because we were discussing just rotations and det A = 1 if A is a rotation matrix. But now we are dealing with general orthogonal transformations, and when det A = −1 (reﬂection) there is an extra factor −1 in the transformation equation. We call ijk a 3rd -rank pseudotensor. A pseudovector or pseudotensor obeys the tensor transformation equations under rotations (that is, det A = 1), but if the transformation includes a reﬂection (that is, det A = −1), then the transformation equation contains an extra factor of −1. If we have a direct product of two pseudotensors (or such a product contracted), this will be a tensor because the product of the two det A factors is (det A)2 = 1. (Problem 5). Polar and Axial Vectors If a vector (under rotations) also satisﬁes the vector transformation equations (that is, behaves like a displacement vector) under reﬂections, it is called a polar vector (or true vector or just a vector). If there is a change in sign when det A = −1, it is called an axial vector (or pseudovector). In Example 1, U and V were polar vectors and U × V was an axial vector. In order to understand pseudotensors we need to discuss left-handed coordinate systems. These are relatively unfamiliar in elementary work and for good reason. When we deﬁne a cross product or specify a vector to represent a rotation, the right hand rule is a part of our deﬁnition. It would be confusing to deal with this in a left-handed system so you are always warned to use right-handed systems. But we are now considering the general case of orthogonal transformations which includes reﬂections and so produces left-handed reference systems which we must learn to cope with. Let's consider the physics and geometry of this by comparing linear velocity and angular velocity, both vectors under rotations. Is there a diﬀerence when we consider reﬂections and so have a left-handed coordinate system? The linear velocity vector indicates a path along which something moves; it has a direct physical meaning, and under passive transformations, it stays ﬁxed in space. In the case of angular velocity, the physical motion is taking place in the plane perpendicular to the angular velocity vector, say a wheel rotating, or a mass or charge moving in a circle. The angular velocity "vector" is something we choose via the right hand rule to represent the motion. We might guess (correctly) that linear velocity is a vector (polar vector) and angular velocity is a pseudovector (axial vector). Remember that in Example 1 we found that the cross product (deﬁned using the right hand rule) is a pseudovector. As we continue, watch for this; when the right hand rule is used in the deﬁnition of a vector, you suspect that it is a pseudovector.

516

Tensor Analysis

Chapter 10

Cross Product In Example 1, we found that the cross product of two displacement vectors does not satisfy the vector transformation equations under reﬂections. Now we want to write a formula to show exactly how a cross product transforms under a general orthogonal transformation. By (5.11), we write

(6.2)

(U × V)i = ijk Uj Vk .

Then using (6.1), (6.2), and the vector transformation equations for the displacement vectors U and V, we ﬁnd (6.3)

(U × V )α = αβγ Uβ Vγ = (det A)aαi aβj aγk ijk aβm Um aγp Vp = (det A)aαi δjm δkp ijk Um Vp = (det A)aαi ( ijk Uj Vk ) = (det A)aαi (U × V)i .

If det A = 1 (no reﬂection, just a rotation), then (6.3) is the transformation equation for a vector. If det A = −1 (reﬂection) then the transformation has an extra −1 factor. Thus the vector product of two polar vectors is a pseudovector, as we have seen before and as we guessed from the fact that the right hand rule is used in deﬁning cross product. Example 2. Find the triple scalar product of 3 polar vectors. Here we have one det A factor (from the cross product), so the triple scalar product of 3 polar vectors is a pseudoscalar (Problem 7). Example 3. What is the tensor character of W × S if W is a polar vector and S is a pseudovector? In the transformation equation for W × S, there is one factor of det A for S, and another det A for the cross product as in (6.3). The two minus signs cancel, so W × S is a polar vector (Problem 8). Example 4. Show that acceleration a and force F are polar vectors. By deﬁnition, the displacement r is a polar vector (we deﬁne vectors as quantities which transform the way displacements do). Then the velocity v = dr/dt and the acceleration a = d2 r/dt2 are vectors (since time t is a scalar) and F = ma is a vector since m is a scalar. Example 5. Find the tensor character of each symbol in v = ω × r. By Example 4, v is a vector so ω × r must be a vector (both sides of a tensor equation must have the same tensor character). Then ω must be a pseudovector so that there are two det A factors, one from the cross product and one from ω. Recall that we predicted this because the right hand rule is used in deﬁning angular velocity.

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517

PROBLEMS, SECTION 6 1.

Show that in 2 dimensions (say the x, y plane), an inversion through the origin (that is, x = −x, y = −y) is equivalent to a 180◦ rotation of the (x, y) plane about the z axis. Hint: Compare Chapter 3, equation (7.13) with the negative unit matrix.

In Chapter 3, we said that any 3-by-3 orthogonal matrix with determinant = −1 can be written in the form (7.19). Use this and Problem 1 to show that in 3 dimensions, an inversion (that is a reﬂection through the origin so that all three axes are reversed) is equivalent to a reﬂection through a plane combined with a rotation about the line perpendicular to the plane [say a reﬂection through the (x, y) plane—that is, a reversal of the z axis—and a rotation of the (x, y) plane about the z axis]. Hint: Consider the matrix B in Chapter 3, (7.19).

For Example 1, write out the components of U, V, and U × V in the original righthanded coordinate system S and in the left-handed coordinate system S with the z axis reﬂected. Show that each component of U × V in S has the "wrong" sign to obey the vector transformation laws.

Do Example 1 and Problem 3 if the transformation to a left-handed system is an inversion (see Problem 2).

Write the tensor transformation equations for ijk mnp to show that this is a (rank 6) tensor (not a pseudotensor). Hint: Write (6.1) for each and multiply them, being careful not to re-use a pair of summation indices.

Write the transformation equations to show that ∇ × V is a pseudovector if V is a vector. Hint: See equations (5.13), (6.2) and (6.3).

Write the transformation equations for the triple scalar product W·(U×V) remembering that now det A = −1 if the transformation involves a reﬂection. Thus show that the triple scalar product of three polar vectors is a pseudoscalar as claimed in Example 2. Hint: Use the result in (6.3).

Write the transformation equations for W × S to verify the results of Example 3.

In the physics formulas of Problems 9 to 14, identify each symbol as a vector (polar vector) or a pseudovector (axial vector). Use results from the text and the fact that both sides of an equation must have the same tensor character. The deﬁnition of the symbols used is: r = displacement, t = time, m = mass, q = electric charge, v = velocity, F = force, ω = angular velocity, τ = torque, L = angular momentum, T = kinetic energy, E = electric ﬁeld, B = magnetic ﬁeld. Assume that t, m, and q are scalars. Note that we are working in 3 dimensional physical space and assuming classical (that is nonrelativistic) physics. F 9. E = 10. L = mr × v = mr × (ω × r) q 12. F = q(E + v × B) 11. τ = r × F ∂B 14. T = 12 m(ω × r) · (ω × r) 13. = −∇ × E ∂t 15. In equation (5.12), ﬁnd whether A × (B × C) is a vector or a pseudovector assuming (a) (b) (c)

A, B, C are all vectors; A, B, C are all pseudovectors; A is a vector and B and C are pseudovectors.

Hint: Count up the number of det A factors from pseudovectors and cross products. 16.

In equation (5.14), is ∇ × (∇ × V) a vector or a pseudovector?

17.

In equation (5.16), show that if Tjk is a tensor (that is, not a pseudotensor), then Vi is a pseudovector (axial vector). Also show that if Tjk is a pseudotensor, then Vi is a vector (true or polar vector). You know that if Vi is a cross product of polar vectors, then it is a pseudovector. Is its dual Tjk a tensor or a pseudotensor?

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7. MORE ABOUT APPLICATIONS Stress Tensor We started our discussion of tensors with a description of the stress tensor (you may want to review this in Section 1). Now let's show that the nine quantities Pij displayed in the matrix (1.1) really are the components of a 2nd -rank tensor. For simplicity in notation (and to use summation convention), we make the replacements indicated in (2.10); we also replace i, j, k by e1 , e2 , e3 and i , j , k by e1 , e2 , e3 . Our problem is to write the components Pαβ relative to a rotated coordinate system in terms of the components z Pij to show that Pαβ = aαi aβj Pij as in (2.14) or (3.9). Figure 7.1 shows the unprimed axes and one of the rotated axes. (With α = 1, 2, 3, the xα axis represents dS any one of the rotated axes.) We draw a slanted plane, as shown, perpendicular to the xα axis, and consider the forces on the small volume element dV bounded by the unprimed coordinate planes and the slanted plane. y Recall (Section 1) that pressure is force per unit area, so dV x'␣ the force acting across a face is the pressure times the x area of the face. Let the area of the slanted face (call it face α) be dS. Then the area of the face perpendicular Figure 7.1 to the xi axis (call it face i) is aαi dS where aαi [see (2.10)] is the cosine of the angle between the xα and xi axes (Problem 1). (7.1)

Area of face i is equal to aαi dS.

The pressure across face i is Pij ej (note the sum on j and see Problem 2). Multiplying this by (7.1) (force = pressure times area of face) and summing on i, we ﬁnd that the total force acting on the material in the volume element dV , across the three faces in the unprimed coordinate planes is (7.2)

(Pij ej )aαi dS.

For equilibrium, the sum of these three forces must be equal to the force acting across face α on the neighboring material. This force is (7.3)

Pαβ eβ dS

Setting (7.2) and (7.3) equal, taking the dot product of both sides with eβ , and canceling dS, we have (Problem 3) (7.4)

Pαβ = aαi aβj Pij

Thus we see that the stress Pij is, as claimed, a 2nd-rank tensor. Example 1. Suppose the following matrix is a display of the elements of a stress tensor.   1 3 0 P =  3 −2 −1  0 −1 1 We note that P is symmetric (this is true of stress tensors) so we can diagonalize P by an orthogonal transformation. In Chapter 3, Section 12, Example 2, we found

Section 7

More About Applications

519

that the eigenvalues of this matrix are 1, −4, 3. Thus a rotation of axes (matrix C in the Chapter 3 example) produces a stress tensor P with stress components only along the principal axes. The positive eigenvalues are tensions and the negative are compressions. Relative to the principal axes there are no shear forces. Strain and Stress; Hooke's Law The strain tensor speciﬁes the deformation of a solid body under stress. For a simple case such as a wire supporting a weight, strain (change in length per unit length) and stress (force per unit cross sectional area) are proportional (Hooke's Law). But for a 3 dimensional problem, stress is a 2nd -rank tensor Pij (as we have seen above), and strain is also a 2nd -rank tensor Sij . If the components of P are linear combinations of the components of S, then we can write Pij = Cijkm Skm

(7.5)

By the quotient rule, Cijkm is a 4th -rank tensor (Problem 5). The components of Cijkm depend on the kind of material under stress and are called the elastic constants of the material (see Problem 6). Inertia Tensor Revisited In Section 4 we considered the inertia tensor using vector notation. Now let's look at it using the tensor form for vector identities that we discussed in Section 5. Example 2. In (4.2) we had L = mr × (ω × r). Using (5.12) with A = C = r and B = ω, we ﬁnd (7.6)

Ln = m[r × (ω × r)]n = m(δnj δik − δnk δij )xi ωj xk .

Now sum over i and k to get δnj δik xi xk = δnj xk xk = δnj r2 and δnk δij xi xk = xj xn . Thus we have [compare (4.2)] (7.7)

Ln = m(δnj r2 − xn xj )ωj .

The coeﬃcient of ωj is then the component Inj of the inertia tensor.

(7.8)

Inj = m(δnj r2 − xn xj ).

We can easily verify that these components are the same as we found in Section 4. For example [compare (4.4)]: (7.9)

I11 = m(r2 − x21 ),

I12 = −mx1 x2 ,

and similarly for the other components (Problem 7).

I13 = −mx1 x3 ,

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Other Applications In your study of electric ﬁelds in matter, you will ﬁnd the equation P = χE; this relates the electric ﬁeld E applied to a dielectric and the resulting polarization P of the dielectric. For some materials it may be true that P and E are parallel vectors with χ = scalar, but for other materials P and E are not parallel. Now this should remind you of our work in Section 4 with the equation L = Iω when we realized that L and ω are not always parallel. Just as we replaced the scalar I by a 2nd -rank tensor, so we replace χ by a 2nd -rank tensor. In the equation Pi = χij Ej , the quotient rule (see Section 3) tells us that χij is a 2nd -rank tensor. You will ﬁnd other equations of this sort in various applications. Tensor Fields Recall from Chapter 6 that a scalar ﬁeld (temperature, for example) means a single number at each point, that is, a single function f (x, y, z). A vector ﬁeld (such as the electric ﬁeld) means a set of three numbers at each point, that is, a set of three functions Vi (x, y, z). Similarly, a 2nd -rank tensor ﬁeld means a set of 9 numbers at each point, that is, a set of 9 functions Tij (x, y, z). Think of our discussion of stress and strain. At every point in the material under stress, we can think of three vectors giving the force per unit area across the three perpendicular planes through the point, that is, a set of 9 functions. The 4th -rank tensor Cijkm in (7.5) is then a set of 34 = 81 functions, and so on. (Of course, in order to be tensors these sets must transform properly under rotations as discussed in this chapter.)

PROBLEMS, SECTION 7 1.

Verify (7.1). Hints: In Figure 7.1, consider the projection of the slanted face of area dS onto the three unprimed coordinate planes. In each case, show that the projection angle is equal to an angle between the xα axis and one of the unprimed axes. Find the cosine of the angle from the matrix A in (2.10).

Write out the sums Pij ej for each value of i and compare the discussion of (1.1). Hint: For example, if i = 2 [or y in (1.1)], then the pressure across the face perpendicular to the x2 axis is P21 e1 + P22 e22 + P23 e3 , or, in the notation of (1.1), Pyx i + Pyy j + Pyz k.

Carry through the details of getting (7.4) from (7.2) and (7.3). Hint: You need the dot product of eβ and ej . This is the cosine of an angle between two axes since each e is a unit vector. Identify the result from matrix A in (2.10).

Interpret the elements of the matrices in Chapter 3, Problems 11.18 to 11.21, as components of stress tensors. In each case diagonalize the matrix and so ﬁnd the principal axes of the stress (along which the stress is pure tension or compression). Describe the stress relative to these axes. (See Example 1.)

Show by the quotient rule (Section 3) that Cijkm in (7.5) is a 4th -rank tensor.

If P and S are 2nd -rank tensors, show that 92 = 81 coeﬃcients are needed to write each component of P as a linear combination of the components of S. Show that 81 = 34 is the number of components in a 4th -rank tensor. If the components of the 4th -rank tensor are Cijkm , then equation (7.5) gives the components of P in terms of the components of S. If P and S are both symmetric, show that we need only 36 diﬀerent non-zero components in Cijkm . Hint: Consider the number of diﬀerent components in P and S when they are symmetric. Comment: The stress and strain tensors can both be shown to be symmetric. Further symmetry reduces the 36 components of C in (7.5) to 21 or less.

In (7.9) we have written the ﬁrst row of elements in the inertia matrix. Write the formulas for the other 6 elements and compare with Section 4.

Do Problem 4.8 in tensor notation and compare the result with your solution of 4.8.

Section 8

Curvilinear Coordinates

521

8. CURVILINEAR COORDINATES Before we discuss non-Cartesian tensors we need to talk about some properties of curvilinear coordinate systems such as spherical or cylindrical coordinates. To make the discussion concrete, we shall illustrate the ideas involved by using two familiar coordinate systems—rectangular coordinates (x, y, z) and cylindrical coordinates (r, θ, z). The elements of arc length in these two systems are given by (8.1)

ds2 = dx2 + dy 2 + dz 2 2

ds = dr + r dθ + dz

(rectangular coordinates) 2

(cylindrical coordinates)

These expressions for ds are called line elements; they have much greater signiﬁcance than just their use in computing arc lengths. First consider how we can ﬁnd ds2 for a given coordinate system. In the case of a well-known coordinate system, the answer may be obvious from the geometry. For example in polar coordinates in the plane we have (from Figure 8.1 and the Pythagorean theorem) (8.2)

ds2 = dr2 + r2 dθ2 .

For an unfamiliar or complicated change of variables, however, we need a systematic method of ﬁnding ds; we illustrate the method by ﬁnding the value of ds2 for cylindrical coordinates as given in (8.1). From the equations x = r cos θ, (8.3)

y = r sin θ, z = z,

Figure 8.1

we get dx = cos θ dr − r sin θ dθ, (8.4)

dy = sin θ dr + r cos θ dθ, dz = dz.

Squaring each equation in (8.4) and adding the results, we ﬁnd (8.5)

ds2 = dx2 + dy 2 + dz 2 = dr2 + r2 dθ2 + dz 2 .

Notice particularly here that all the cross products (dr dθ, etc.) canceled out. This will not always happen, but it often does; when it does we call the coordinate system orthogonal. Such coordinate systems have some particularly simple and useful properties. Geometrically, an orthogonal system means that the coordinate surfaces are mutually perpendicular. For the cylindrical system (Figure 8.2), the coordinate surfaces are r = const. (set of concentric cylinders), θ = const. (set of half-planes), and z = const. (set of planes). The three coordinate surfaces through a given point intersect at right angles. The three curves of intersection of the coordinate surfaces in pairs intersect at right Figure 8.2

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angles; these curves are called the coordinate "lines" or directions. We draw unit basis vectors tangent to the coordinate directions; for the cylindrical system (Figure 8.2) we might call them er , eθ , ez (ez is identical to k). These unit vectors form an orthogonal triad like i, j, k. We refer to such coordinate systems as curvilinear coordinate systems when the coordinate surfaces (or some of them) are not planes and the coordinate lines (or some of them) are curves rather than straight lines. We shall be principally interested in orthogonal curvilinear coordinate systems. Scale Factors and Basis Vectors In the rectangular system, if x, y, z, are the coordinates of a particle, and x changes by dx with y and z constant, then the distance the particle moves is ds = dx. However, in the cylindrical system, if θ changes by dθ with r and z constant, the distance the particle moves is not dθ, but ds = r dθ. Factors like the r in r dθ which must multiply the diﬀerentials of the coordinates to get distances are known as scale factors and are very important as we shall see. A straightforward way to get them is to calculate ds2 as we did in (8.5); if the transformation is orthogonal, then the scale factors can be read oﬀ from ds2 . (Note that the coeﬃcients in ds2 are the squares of the scale factors.) From (8.5), we see that the scale factors for cylindrical coordinates are 1, r, 1. It is also useful to consider a vector ds which (in cylindrical coordinates) has components dr, r dθ, dz in the coordinate directions er , eθ , ez : (8.6)

ds = er dr + eθ r dθ + ez dz.

Then ds2 = ds · ds which gives (8.1), since the e vectors are orthonormal. We can write the unit basis vectors of a curvilinear coordinate system (er , eθ , ez in cylindrical coordinates) in terms of i, j, k. This is useful when we want to diﬀerentiate a vector which is expressed in terms of the curvilinear coordinate basis vectors. The unit vectors i, j, k are constant in magnitude and direction, but er and eθ are not ﬁxed in direction, so their derivatives are not zero. We illustrate an algebraic method of ﬁnding the relation between two sets of basis vectors by ﬁnding them for the cylindrical system. (Compare the geometrical method shown in Chapter 6, Section 4.) Example 1. Using (8.4) and collecting coeﬃcients of dr, dθ, and dz, we ﬁnd ds = i dx + j dy + k dz (8.7)

= i(cos θ dr − r sin θ dθ) + j (sin θ dr + r cos θ dθ) + k dz = (i cos θ + j sin θ) dr + (−ir sin θ + j r cos θ) dθ + k dz.

Comparing (8.7) with (8.6), we have er = i cos θ + j sin θ (8.8)

reθ = −ir sin θ + j r cos θ ez = k.

Notice that er is already a unit vector since sin2 θ + cos2 θ = 1, but reθ must be divided by the scale factor r to get the unit vector eθ . It is often convenient to use basis vectors which we shall call ar and aθ (which are not necessarily of unit

Section 8

Curvilinear Coordinates

523

length), given by the coeﬃcients of dr and dθ in (8.7). Then we just have to divide each a vector by its magnitude to get the corresponding e vector. Thus from (8.7) ar = er is already a unit vector, aθ = −ir sin θ + j r cos θ has magnitude r, so 1 eθ = aθ = −i sin θ + j cos θ r We can use these formulas to ﬁnd the velocity and acceleration of a particle in cylindrical coordinates, and similar formulas for any coordinate system. The displacement of a particle from the origin at time t is, in cylindrical coordinates (Figure 8.3), s = rer + zez . (8.9)

Then

dr d dz ds = er + r (er ) + ez . dt dt dt dt

By (8.8), dθ d dθ dθ (er ) = −i sin θ + j cos θ = eθ , dt dt dt dt so (8.10)

ds ˙ θ + ze = re ˙ r + rθe ˙ z. dt

Figure 8.3

By diﬀerentiating again with respect to t and using (8.8) to ﬁnd (d/dt)(eθ ), we can ﬁnd the acceleration d2 s/dt2 in cylindrical coordinates (Problem 2). General Curvilinear Coordinates In general, let x1 , x2 , x3 be the set of variables or coordinates we are considering (for example, in cylindrical coordinates, x1 = r, x2 = θ, x3 = z). Then the three sets of coordinate surfaces are x1 = const., x2 = const., x3 = const. The three coordinate surfaces through a given point intersect in three coordinate lines. Example 2. Given x, y, z as functions of x1 , x2 , x3 , we can ﬁnd ds and the a vectors as we did for cylindrical coordinates in (8.7) and (8.9).

(8.11)

ds = i dx + j dy + k dz ∂x ∂y ∂z =i dxn + j dxn + k dxn ∂xn ∂xn ∂xn = a1 dx1 + a2 dx2 + a3 dx3 = an dxn ,

where (8.12)

an =

∂ ∂x ∂y ∂z s=i +j +k . ∂xn ∂xn ∂xn ∂xn

Now deﬁning gij = ai · aj , we can write ds2 = ds · ds in matrix form as follows:    g11 g12 g13 dx1

(8.13) ds2 = dx1 dx2 dx3  g21 g22 g23   dx2  , g31 g32 g33 dx3

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Note that gij is symmetric since the dot product of two vectors is the same in either order. In simpler form using summation convention (8.13) becomes ds2 = gij dxi dxj .

(8.14)

We will see later (Section 10) that the gij are the components of a tensor known as the metric tensor. If the coordinate system is orthogonal, that is, if the basis vectors (e or a) form an orthogonal triad, then ds and ds2 can be written in terms of the scale factors as follows: (8.15) (8.16)

ds = e1 h1 dx1 + e2 h2 dx2 + e3 h3 dx3 ,    2 0 dx1 h1 0

ds2 = dx1 dx2 dx3  0 h22 0   dx2  . 0 0 h23 dx3

Also note that the volume element in an orthogonal system is h1 h2 h3 dx1 dx2 dx3 (volume of a small rectangular parallelepiped with edges h1 dx1 , h2 dx2 , h3 dx3 ). For example, in cylindrical coordinates, the volume element is dr · r dθ · dz = r dr dθ dz.

PROBLEMS, SECTION 8 1.

Find ds2 in spherical coordinates by the method used to obtain (8.5) for cylindrical coordinates. Use your result to ﬁnd for spherical coordinates, the scale factors, the vector ds, the volume element, the basis vectors ar , aθ , aφ and the corresponding unit basis vectors er , eθ , eφ . Write the gij matrix.

Observe that a simpler way to ﬁnd the velocity ds/dt in (8.10) is to divide the vector ds in (8.6) by dt. Complete the problem to ﬁnd the acceleration in cylindrical coordinates.

Use the results of Problem 1 to ﬁnd the velocity and acceleration components in spherical coordinates. Find the velocity in two ways: starting with ds and starting with s = rer .

In the text and problems so far, we have found the e vectors for various coordinate systems in terms of i and j (or i, j, k in three dimensions). We can solve these equations to ﬁnd i and j in terms of the e vectors, and so express a vector given in rectangular form in terms of the basis vectors of another coordinate system. Carry out this process to express in cylindrical coordinates the vector V = yi − xj + k. Hint: Use matrices (as in Chapter 3) to solve the set of equations for i and j.

Using the results of Problem 1, express the vector in Problem 4 in spherical coordinates.

As in Problem 1, ﬁnd ds2 , the scale factors, the vector ds, the volume (or area) element, the a vectors, and the e vectors for each of the following coordinate systems. 6.

Parabolic cylinder coordinates u, v, z: 7. 1 2 (u − v 2 ), 2 y = uv,

z = z.

Elliptic cylinder coordinates u, v, z: x = a cosh u cos v, y = a sinh u sin v, z = z.

Section 9

Vector Operators in Orthogonal Curvilinear Coordinates

Parabolic coordinates u, v, φ:

Bipolar coordinates u, v: a sinh u , cosh u + cos v a sin v y= . cosh u + cos v

x = uv cos φ,

10.

525

y = uv sin φ, 1 z = (u2 − v 2 ). 2 Sketch or computer plot the coordinate surfaces in Problems 6 to 9.

Using the expression you have found for ds, and for the e vectors, ﬁnd the velocity and acceleration components in the coordinate systems indicated. 11.

Parabolic cylinder

12.

13. 15.

14. Bipolar Parabolic Let x = u + v, y = v. Find ds, the a vectors, and ds2 for the u, v coordinate system and show that it is not an orthogonal system. Hint: Show that the a vectors are not orthogonal, and that ds2 contains du dv terms. Write the gij matrix and observe that it is symmetric but not diagonal. Sketch the lines u = const. and v = const. and observe that they are not perpendicular to each other.

Elliptic cylinder

9. VECTOR OPERATORS IN ORTHOGONAL CURVILINEAR COORDINATES We have previously (Chapter 6, Sections 6 and 7) deﬁned the gradient (∇u), the divergence (∇ · V), the curl (∇ × V), and the Laplacian (∇2 u) in rectangular coordinates x, y, z. Since in many practical problems it is better to use some other coordinate system (cylindrical or spherical, for example), we need to see how to express the vector operators in terms of general orthogonal coordinates x1 , x2 , x3 . (We consider only orthogonal coordinate systems here; see Section 10 for the more general case.) We shall outline proofs of the formulas; some of the details of the proofs are left to the problems. Gradient, ∇u. In Chapter 6, Section 6, we showed that the directional derivative du/ds in a given direction is the component of ∇u in that direction. Example 1. In cylindrical coordinates, if we go in the r direction (θ and z constant), then by (8.5) ds = dr. Thus the r component of ∇u is du/ds when ds = dr, that is, ∂u/∂r. Similarly, the θ component of ∇u is du/ds when ds = r dθ, that is, (1/r)(∂u/∂θ). Thus ∇u in cylindrical coordinates is ∂u 1 ∂u ∂u + eθ + ez . ∂r r ∂θ ∂z In general orthogonal coordinates x1 , x2 , x3 , the component of ∇u in the x1 direction (x2 and x3 constant) is du/ds if ds = h1 dx1 [from (8.11)]; that is, the component of ∇u in the direction e1 is (1/h1 )(∂u/∂x1 ). Similar formulas hold for the other components and we have

(9.1)

∇u = er

1 ∂u 1 ∂u 1 ∂u + e2 + e3 h1 ∂x1 h2 ∂x2 h3 ∂x3 3 1 ∂u = ei . hi ∂xi i=1

∇u = e1 (9.2)

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Chapter 10

Let V = e1 V1 + e2 V2 + e3 V3

(9.3)

be a vector with components V1 , V2 , V3 in an orthogonal system. We can prove (Problem 1) that e3 e2 e1 = 0, ∇· = 0, ∇· = 0. (9.4) ∇· h1 h2 h1 h3 h2 h3 Let us write (9.3) as (9.5)

e1 e2 e3 (h2 h3 V1 ) + (h1 h3 V2 ) + (h1 h2 V3 ). h2 h3 h1 h3 h1 h2

We ﬁnd ∇ · V by taking the divergence of each term on the right side of (9.5). Using (7.6) of Chapter 6, namely (9.6)

∇ · (φv) = v · (∇φ) + φ∇ · v,

with φ = h2 h3 V1 and v = e1 /h2 h3 , we ﬁnd that the divergence of the ﬁrst term on the right side of (9.5) is e1 e1 e1 = . (9.7) ∇ · h2 h3 V1 · ∇(h2 h3 V1 ) + h2 h3 V1 ∇ · h2 h3 h2 h3 h2 h3 By (9.4), the last term in (9.7) is zero. In the ﬁrst term on the right side of (9.7), the dot product of e1 with ∇(h2 h3 V1 ) is the ﬁrst component of ∇(h2 h3 V1 ). By (9.2), this is 1 ∂ (h2 h3 V1 ). h1 ∂x1 Calculating the divergence of the other terms of (9.5) in a similar way, we get ∇·V =

1 1 ∂ 1 1 ∂ 1 1 ∂ (h2 h3 V1 ) + (h1 h3 V2 ) + (h1 h2 V3 ) h2 h3 h1 ∂x1 h1 h3 h2 ∂x2 h1 h2 h3 ∂x3

(9.8)

1 ∂ ∂ ∂ ∇·V= (h2 h3 V1 ) + (h1 h3 V2 ) + (h1 h2 V3 ) . h1 h2 h3 ∂x1 ∂x2 ∂x3

Example 2. In cylindrical coordinates, h1 = 1, h2 = r, h3 = 1. By (9.8), the divergence in cylindrical coordinates is 1 ∂ ∂ ∂ ∇·V = (rVr ) + (Vθ ) + (rVz ) (9.9) r ∂r ∂θ ∂z ∂Vz 1 ∂ 1 ∂Vθ (rVr ) + + . = r ∂r r ∂θ ∂z

Section 9

Vector Operators in Orthogonal Curvilinear Coordinates

527

Laplacian, ∇2 u. Since ∇2 u = ∇ · ∇u we can ﬁnd ∇2 u by combining (9.2) and (9.8) with V = ∇u. We get (9.10)

∂ h2 h3 ∂u ∂ h1 h3 ∂u ∂ h1 h2 ∂u 1 + + . ∇ u= h1 h2 h3 ∂x1 h1 ∂x1 ∂x2 h2 ∂x2 ∂x3 h3 ∂x3 2

Example 3. In cylindrical coordinates, the Laplacian is then 1 ∂ ∂u ∂ 1 ∂u ∂ ∂u 2 ∇ u= r + + r r ∂r ∂r ∂θ r ∂θ ∂z ∂z 2 2 1 ∂ ∂u 1 ∂ u ∂ u = r + 2 2 + 2. r ∂r ∂r r ∂θ ∂z Curl, ∇ × V. By methods similar to those used in ﬁnding ∇ · V we can ﬁnd ∇ × V (Problem 2). The result is h1 e 1 h2 e 2 h3 e 3 ∂ ∂ ∂ 1 ∇×V = (9.11) ∂x2 ∂x3 h1 h2 h3 ∂x1 h1 V1 h2 V2 h3 V3 e1 ∂ ∂ = (h3 V3 ) − (h2 V2 ) h2 h3 ∂x2 ∂x3 ∂ ∂ e2 (h1 V1 ) − (h3 V3 ) + h1 h3 ∂x3 ∂x1 e3 ∂ ∂ + (h2 V2 ) − (h1 V1 ) h1 h2 ∂x1 ∂x2 Example 4. In cylindrical coordinates, we ﬁnd er reθ ez ∂ ∂ 1 ∂ ∇×V= r ∂r ∂θ ∂z Vr rVθ Vz 1 ∂Vr ∂Vθ ∂Vz 1 ∂Vz ∂Vr ∂ = er + eθ + ez . − − (rVθ ) − r ∂θ ∂z ∂z ∂r r ∂r ∂θ

PROBLEMS, SECTION 9 1.

Prove (9.4) in the following way. Using (9.2) with u = x1 , show that ∇x1 = e1 /h1 . Similarly, show that ∇x2 = e2 /h2 and ∇x3 = e3 /h3 . Let e1 , e2 , e3 in that order form a right-handed triad (so that e1 × e2 = e3 , etc.) and show that ∇x1 × ∇x2 = e3 /(h1 h2 ). Take the divergence of this equation and, using the vector identities (h) and (b) in the table at the end of Chapter 6, show that ∇ · (e3 /h1 h2 ) = 0. The other parts of (9.4) are proved similarly.

528 2.

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Derive the expression (9.11) for curl V in the following way. Show that ∇x1 = e1 /h1 and ∇ × (∇x1 ) = ∇ × (e1 /h1 ) = 0. Write V in the form V=

e2 e3 e1 (h1 V1 ) + (h2 V2 ) + (h3 V3 ) h1 h2 h3

and use vector identities from Chapter 6 to complete the derivation. 3.

Using cylindrical coordinates write the Lagrange equations for the motion of a particle acted on by a force F = −∇V , where V is the potential energy. Divide each Lagrange equation by the corresponding scale factor so that the components of F (that is, of −∇V ) appear in the equations. Thus write the equations as the component equations of F = ma, and so ﬁnd the components of the acceleration a. Compare the results with Problem 8.2.

Do Problem 3 in spherical coordinates; compare the results with Problem 8.3.

Write out ∇U , ∇ · V, ∇2 U , and ∇ × V in spherical coordinates.

Do Problem 3 for the coordinate systems indicated in Problems 6 to 9. Compare the results with Problems 8.11 to 8.14. 6.

Parabolic cylinder

Elliptic cylinder

Parabolic

Bipolar

Do Problem 5 for the coordinate systems indicated in Problems 10 to 13. 10.

Parabolic cylinder

11.

Elliptic cylinder

12.

Parabolic

13.

Bipolar

In each of the following coordinate systems, ﬁnd the scale factors hu and hv ; the basis vectors eu and ev ; the u and v Lagrange equations, and from them the acceleration components (see Problem 3).  14.

x = u − v, √ y = 2 uv.

 15.

x = uv, √ y = u 1 − v2 .

Use equations (9.2), (9.8), and (9.11) to evaluate the following expressions 16.

In cylindrical coordinates, ∇ · er , ∇ · eθ , ∇ × er , ∇ × eθ .

17.

In spherical coordinates, ∇ · er , ∇ · eθ , ∇ × eθ , ∇ × eφ .

18.

In cylindrical coordinates, ∇ × k ln r, ∇ ln r, ∇ · (rer + zez ).

19.

In spherical coordinates, ∇ × (reθ ), ∇(r cos θ), ∇ · r.

20.

In cylindrical coordinates, ∇2 r, ∇2 (1/r), ∇2 ln r.

21.

In spherical coordinates, ∇2 r, ∇2 (r 2 ), ∇2 (1/r 2 ), ∇2 eikr cos θ .

Section 10

Non-Cartesian Tensors

529

10. NON-CARTESIAN TENSORS So far we have considered only the behavior of the rectangular components of tensors under orthogonal transformations. Now let's generalize this to include any change of variables. Example 1. In spherical coordinates r, θ, φ, (10.1)

x = r sin θ cos φ, y = r sin θ sin φ, z = r cos θ.

This is not a linear transformation, and we cannot write equations like (2.4) to (2.9) for the relations between the variables. However, we can write such equations for the relations between the diﬀerentials of the variables. From (10.1), we ﬁnd the diﬀerentials dx, dy, dz, in terms of dr, dθ, dφ:      dr sin θ cos φ r cos θ cos φ −r sin θ sin φ dx  dy  =  sin θ sin φ r cos θ sin φ r sin θ cos φ   dθ  . (10.2) dφ cos θ −r sin θ 0 dz Example 2. For general coordinates x1 , x2 , x3 , and x1 , x2 , x3 , if we are given the relations [like (10.1)] between the two sets of variables, we can write the relations between the two sets of diﬀerentials as follows:  ∂x ∂x ∂x  1 1 1  ∂x ∂x ∂x 1 2 3      dx1   dx1 ∂x ∂x ∂x   2 2 dx2  =  2 (10.3)  dx2  .  ∂x1 ∂x2 ∂x3  dx3   dx3  ∂x ∂x ∂x  3 3 3 ∂x1 ∂x2 ∂x3 More simply, using index notation and summation convention, (10.3) becomes (10.4)

dxi =

∂xi dxj . ∂xj

Compare this with the transformation for the partial derivatives of a function u, (10.5)

∂u ∂xj ∂xj ∂u ∂u = = , ∂xi ∂xj ∂xi ∂xi ∂xj

and compare both (10.4) and (10.5) with the transformation for a Cartesian vector (10.6)

Vi = aij Vj ,

(Cartesian).

For Cartesian vectors you can easily verify that (10.7)

∂xj ∂xi = aij = , ∂xj ∂xi

(Cartesian),

since both the partial derivatives in (10.7) equal the cosine of the angle between the xi and the xj axes (Problem 1). This is not true for general coordinate systems; for example, in (10.1), ∂x/∂θ = ∂θ/∂x (see Problem 2). Thus in general we have two possible deﬁnitions of a vector, which become identical for Cartesian vectors.

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Contravariant and Covariant Vectors By deﬁnition, V is a contravariant vector if its components transform like this: (10.8)

Vi =

∂xi Vj , ∂xj

(contravariant vector),

and V is a covariant vector if its components transform like this: (10.9)

Vi =

∂xj Vj , ∂xi

(covariant vector).

By comparing (10.4) and (10.8), we see that the diﬀerentials of the coordinates are the components of a contravariant vector. Similarly, by comparing (10.5) and (10.9), we see that the partial derivatives of a function are the components of a covariant vector. Notation Before we deﬁne tensors in general, we need to discuss a few things about notation. It is customary to write the indices of contravariant vectors and tensors as superscripts rather than subscripts. Be careful not to confuse them with exponents! (You may ﬁnd the mnemonic "low-co" useful; lower indices are covariant indices, so, of course, upper indices are contravariant indices.) In this notation, equation (10.8) for a contravariant vector becomes

(10.10)

V i =

∂xi j V , ∂xj

(contravariant vector).

(In fact, to be strictly consistent, since the diﬀerentials are contravariant, we should write ∂xi /∂xj . For our purposes this seems unnecessary so we will leave the partial derivative notation as it is.) Also note that the summation convention now applies to a pair of indices, one upper and one lower. (An index in the denominator counts as a lower index and an index in the numerator counts as an upper index.) Note that this new rule about summation convention applies in (10.9) and (10.10) and watch for it in future formulas. Components and basis vectors You may be wondering how the vectors you studied in vector analysis (Section 9 and Chapter 6) are related to covariant and contravariant vectors. Actually we should speak of covariant and contravariant components, but the former terminology is customary. Any vector has various sets of components relative to various sets of basis vectors. Let's discuss this for orthogonal coordinate systems where it is especially simple. Recall that in vector analysis, we use the unit basis vectors such as i, j, k or er , eθ , eφ ; for example, the vectors ei in Section 9 are all unit vectors. Then the components of a vector V in vector analysis are the projections ei · V of the vector on the coordinate directions. To be able to refer to these components, let's call them the physical components (they have the right physical dimensions—see Problem 6). We would like to see the relation between the physical components and the covariant and contravariant components of a vector, and the relation between the unit basis vectors and the contravariant and covariant basis vectors.

Section 10

Non-Cartesian Tensors

531

Example 3. You have learned that, in polar coordinates, the (physical) components of ds are dr and r dθ. Now (10.4) and (10.10) tell us that the contravariant components of ds are just dr and dθ (not r dθ). Thus we may guess (correctly) that the contravariant components of a vector are the physical components divided by the scale factors. By considering the components of the gradient (Problem 4), you can show that the covariant components of a vector are the physical components multiplied by the scale factors. Example 4. In polar coordinates we can write [see equation (8.9)] ds = er dr + eθ r dθ = ar dr + aθ dθ.

(10.11)

We have written ds in terms of its physical components and the unit ei vectors, and in terms of its contravariant components and the covariant ai basis vectors. From (10.11) and from Section 8 we can see that the ai basis vectors are the ei unit vectors multiplied by the scale factors. Note that the components and the basis vectors used with them vary in opposite ways so that the scale factors cancel. Similarly we can write a vector in terms of its covariant components and the contravariant basis vectors ai which are the unit vectors divided by the scale factors (Problem 5). Note carefully that what we have just said applies only to orthogonal coordinate systems. If a coordinate system is not orthogonal, then ai and ai are not in general parallel; see the discussion just after (10.19). Deﬁnition of Tensors Tensors may be covariant of any rank, contravariant of any rank, or mixed. Here are some sample tensor deﬁnitions; you should be able to write the corresponding deﬁnitions for tensors of any rank or kind in a similar way (Problem 7). Tij = (10.12)

ijk

T k

∂xk ∂xl Tkl ∂xi ∂xj

∂xi ∂xj ∂xk lmn T ∂xl ∂xm ∂xn ∂xi ∂xj ∂xn lm = T ∂xl ∂xm ∂xk n =

(2nd -rank covariant tensor), (3rd -rank contravariant tensor), (3rd -rank mixed tensor, one covariant and two contravariant indices).

Kronecker delta We showed in Section 5 that δij is a 2nd -rank isotropic Cartesian tensor. In a general coordinate system, the 2nd -rank tensor which is equal to 1 if i = j and 0 otherwise in all coordinate systems, is a mixed tensor so we write it as δji . To show that this is correct we write the tensor transformation i equation for δlk to see that we get δ j . (10.13)

∂xi ∂xk ∂xi ∂xi ∂xl k i δl = = = δj . ∂xk ∂xj ∂xk ∂xj ∂xj

Thus we see that δji is an isotropic 2nd -rank tensor in general coordinate systems.

532

Tensor Analysis

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Quotient Rule In Section 3, we discussed the quotient rule for Cartesian tensors. A similar rule applies in general. To give proofs, we must replace the aij by the appropriate partial derivatives, noting carefully that summation convention now applies to a sum over one lower and one upper index. Example 5. If we are given Tij V j = Ui where V is an arbitrary contravariant vector and U is a non-zero covariant vector, we want to show that Tij is a 2nd -rank covariant tensor. We write [compare equations (3.6) to (3.9)] (10.14)

V = Uα = Tαβ

∂xj β ∂xi ∂xi ∂xi Ui = Tij V j = Tij V . ∂xα ∂xα ∂xα ∂xβ β

Set the ﬁrst and last steps equal; then since V is arbitrary, its coeﬃcient = 0 and we have ∂xj ∂xi Tαβ = Tij ∂xα ∂xβ which is the transformation equation for a 2nd -rank covariant tensor. Metric Tensor; Raising and Lowering Indices Example 6. From (8.14) we have (with the contravariant dx indices now written as superscripts) (10.15)

ds2 = gij dxi dxj .

Since ds2 is a scalar, and each dx is a contravariant vector, it follows by the quotient rule (Problem 8) that gij is a 2nd -rank covariant tensor. It is known as the metric tensor. If the elements of gij are written as a matrix [see (8.13)], then we deﬁne g ij as the elements of the inverse matrix. We can interpret gij g jk as either the contracted direct product of two tensors, or as the row times column product of two matrices which are inverses of each other, that is, a unit matrix. Thus we can write (10.16)

gij g jk = δik .

Then by (10.13) and the quotient rule, g ij is a 2nd -rank contravariant tensor. Example 7. If V i is a contravariant vector then Vi = gij V j is a covariant vector (Problem 10). We can also show that g ij Vj gives back the V i we started with: (10.17)

g ij Vj = g ij gjk V k = δki V k = V i .

This process of ﬁnding the contracted product of a vector (or tensor) with g ij or gij is called raising or lowering indices. The vectors V i and Vi are called the contravariant and covariant components of the vector V. In equation (8.12), we deﬁned the covariant basis vectors ai which we use with contravariant components to write a vector [see (8.11) for example, remembering that the diﬀerentials are the contravariant components of ds]. The contravariant

Section 10

Non-Cartesian Tensors

533

basis vectors to use with covariant components are given by ai = g ij aj . We can then write a vector in two ways (Problem 11): Vi = gij V j , V i = g ij Vj , i i (10.18) V = ai V = a Vi , where ai = g ij aj , ai = gij aj . It is interesting to consider the directions of the vectors ai and ai . We have deﬁned ai = g ij aj but you can show (Problem 12) that ai = ∇xi . Thus we have ∂ ∂x ∂y ∂z s=i +j +k , ∂xi ∂xi ∂xi ∂xi ∂xi ∂xi ∂xi +j +k . ai = g ij aj = ∇xi = i ∂x ∂y ∂z ai =

(10.19)

We see from the displacement vector ds = ai dxi that the basis vectors ai are tangent to the coordinate lines. The vectors ai = ∇xi are orthogonal to the coordinate surfaces xi = const. (Recall that grad u is orthogonal to u = const.) For orthogonal coordinates, ai and ai are in the same direction. (For example, in spherical coordinates, ar points in the radial direction, and ar is orthogonal to the sphere r = const.; these are the same direction.) Thus for orthogonal coordinates, if we normalize each ai , we get the same set of unit basis vectors that we get if we normalize each ai . However, if the coordinate system is not orthogonal, then at each point we have two diﬀerent sets of basis vectors ai and ai (see Problems 16 and 17). i Just as we did for vectors, any tensor, say Tjk , can be written in various diﬀerent forms by raising and lowering indices to get Tijk , T ijk , Tkij . These tensors are called associated tensors. They really all represent the same tensor T, with components relative to various bases. Orthogonal coordinate systems For orthogonal coordinate systems, formulas involving gij can be written in terms of the scale factors h1 , h2 , h3 [compare (8.13) and (8.16)]. Remember that the g ij matrix is the inverse of the gij matrix [see equation (10.16)]. Also let g represent the determinant of the gij matrix. Then you can show (Problem 13).   0, i = j, 0, i = j, 1 gij = g ij = 2 hi , i = j,  2 , i = j, (10.20) hi √ 2 2 2 g = h1 h2 h3 g = h1 h2 h3 , Vector Operators in Tensor Notation We state without proof the following tensor expressions for ∇u, ∇ · V, and ∇2 u. They are correct for any coordinate system, orthogonal or not. Using (10.20), you can specialize them to orthogonal coordinate systems and so obtain the expressions given in Section 9. (Problems 14 and 15). (10.21)

The covariant components of ∇u are

∂u . ∂xi

1 ∂ √ i (10.22) ∇ · V = √ ( g V ), where V i are contravariant components of V. g ∂xi 1 ∂ √ ij ∂u 2 (10.23) . gg ∇ u= √ g ∂xi ∂xj

534

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PROBLEMS, SECTION 10 1.

Verify equation (10.7). Hint: Use equations (2.4) to (2.6) and (2.10). For example, ∂y /∂z = ∂z/∂y = n2 = a23 .

From (10.1) ﬁnd ∂θ/∂x = (1/r) cos θ cos φ and show that ∂x/∂θ = ∂θ/∂x. Note carefully that ∂x/∂θ means that r and φ are constant, but ∂θ/∂x means that y and z are constant. (See Chapter 4, Example 7.6 for further discussion.)

Divide equation (10.4) by dt to show that the velocity v = ds/dt is a contravariant vector. Note that the contravariant components of the velocity in polar coordinates are r˙ and θ˙ (not r˙ and r θ˙ which are physical components). As we did in (10.11), write the velocity v in polar coordinates in terms of the unit e vectors and in terms of the covariant a vectors. Repeat the problem in spherical coordinates.

What are the physical components of the gradient in polar coordinates? [See (9.1)]. The partial derivatives in (10.5) are the covariant components of ∇u. What relation do you deduce between physical and covariant components? Answer the same questions for spherical coordinates, and for an orthogonal coordinate system with scale factors h1 , h2 , h3 .

Write ∇u in polar coordinates in terms of its physical components and the unit basis vectors ei , and in terms of its covariant components and the contravariant basis vectors ai . What is the relation between the contravariant basis vectors and the unit basis vectors? Hint: Compare equation (10.11) and our discussion of it.

Show that, in polar coordinates, the θ contravariant component of ds is dθ which is unitless, the θ physical component of ds is r dθ which has units of length, and the θ covariant component of ds is r 2 dθ which has units (length)2 .

As in (10.12), write the transformation equations for the following tensors: 2nd -rank contravariant, 3rd -rank covariant, 4th -rank mixed with 2 covariant and 2 contravariant indices.

Using (10.15) show that gij is a 2nd -rank covariant tensor. Hint: Write the transformation equation for each dx, and set the scalar ds2 = ds2 to ﬁnd the transformation equation for gij .

If U i is a contravariant vector and Vj is a covariant vector, show that U i Vj is a 2nd -rank mixed tensor. Hint: Write the transformation equations for U and V and multiply them.

10.

Show that if V i is a contravariant vector then Vi = gij V j is a covariant vector, and that if Vi is a covariant vector, then V i = g ij Vj is a contravariant vector.

11.

In (10.18), show by raising and lowering indices that ai V i = ai Vi . Also write (10.18) for an orthogonal coordinate system with gij and g ij written in terms of the scale factors.

12.

Show that in a general coordinate system with variables x1 , x2 , x3 , the contravariant basis vectors are given by ai = ∇xi = i

∂xi ∂xi ∂xi +j +k . ∂x ∂y ∂z

Hint: Write the gradient in terms of its covariant components and the ai basis vectors to get ∇u = aj ∂u/∂xj and let u = xi . 13.

Verify (10.20).

Section 11

Miscellaneous Problems

535

14.

Using equations (10.20) to (10.23), write the gradient, divergence, and Laplacian in cylindrical coordinates and in spherical coordinates. Change covariant or contravariant components to physical components and compare with the formulas stated in Chapter 6, Sections 6 and 7.

15.

Do Problem 14 for an orthogonal coordinate system with scale factors h1 , h2 , h3 , and compare with the Section 9 formulas.

16.

Continue Problem 8.15 to ﬁnd the g ij matrix and the contravariant basis vectors. Check your result by solving the given equations for u and v in terms of x and y, and ﬁnding the contravariant basis vectors using Problem 12. On your Problem 8.15 sketches of the lines u = const. and v = const., also sketch the covariant and contravariant basis vectors. Observe that the covariant basis vectors lie along the lines u = const. and v = const. and the contravariant basis vectors lie along the normals to these lines.

17.

Repeat Problems 8.15 and 10.16 above for the (u, v) coordinate system if x = 2u−v, y = u − 2v.

18.

Using (10.19), show that ai · ai = δji .

11. MISCELLANEOUS PROBLEMS 1.

Show that the transformation equation for a 2nd -rank Cartesian tensor is equivalent to a similarity transformation. Warning hint: Note that the matrix C in Chapter 3, Section 11, is the inverse of the matrix A we are using in Chapter 10 (compare r = Ar and r = Cr ). Thus a similarity transformation of the matrix T with tensor components Tij is T = ATA−1 . Also see "Tensors and Matrices" in Section 3 and remember that A is orthogonal.

Let e1 , e2 , e3 be a set of orthogonal unit vectors forming a right-handed system if taken in cyclic order. Show that the triple scalar product ei · (ej × ek ) = ijk .

In Chapter 3, Problem 6.6, you are asked to prove some identities among the Pauli spin matrices (called A, B, C, in that problem). Call the Pauli spin matrices σ1 , σ2 , σ3 ; then show that the identities can be written in the following summation forms: σk σm = ikmn σn + δkm ; σk σm kmn = 2iσn .

If E = electric ﬁeld and B = magnetic ﬁeld, is E × B a vector or a pseudovector? Comment: E × B/µ0 is called the Poynting vector; it points in the direction of transfer of energy. Does that tell you from the physics whether it is a vector or a pseudovector? √ Do Problems 5 to 8 for the (u, v) coordinate system if x = u(1 − v), y = u 2v − v 2 . 5.

Find ds2 , the scale factors, the area element, the vector ds, the unit basis vectors, and the covariant and contravariant basis vectors.

Use Lagrange's equations to ﬁnd the u and v acceleration components.

Write ∇U , ∇ · V, and ∇2 U .

Evaluate ∇ · eu , ∇ × ev , ∇2 ln u.

If u is a vector specifying the displacement under stress of each point of a deformable medium, then ∇u is a 2nd -rank Cartesian tensor (see Problem 11) which describes the strain at each point. Display the components of ∇u as a matrix. Write ∇u as the sum of a symmetric tensor and an antisymmetric tensor [see (3.5)]. Comment: The symmetric part of ∇u is called the stress tensor and the antisymmetric part the rotation tensor.

536

Tensor Analysis

Chapter 10

10.

Show that elements Rij of a rotation matrix are the elements of a Cartesian tensor. Hints: Could you use the quotient rule? Could you use Problem 1?

11.

Show that the nine quantities Tij = ∂Vi /∂xj (which are the Cartesian components of ∇V where V is a vector) satisfy the transformation equations (2.14) for a Cartesian 2nd -rank tensor. Show that they do not satisfy the general tensor transformation equations as in (10.12). Hint: Diﬀerentiate (10.9) or (10.10) partially with respect to, say, xk . You should get the expected terms [as in (10.12)] plus some extra terms; these extraneous terms show that ∂Vi /∂xj is not a tensor under general transformations. Comment: It is possible to express the components of ∇V correctly in general coordinate systems by taking into account the variation of the basis vectors in length and direction.

12.

The square matrix in equation (10.3) is called the Jacobian matrix J; the determinant of this matrix is the Jacobian J = det J which we used in Chapter 5, Section 4 to ﬁnd volume elements in multiple integrals. (Note that as in Chapter 3, J represents a matrix; J in italics is its determinant.) For the transformation to spherical coordinates in (10.1) and (10.2) show that J = det J = r 2 sin θ. Recall that the spherical coordinate volume element is r 2 sin θ dr dθ dφ. Hint: Find JT J and note that det(JT J) = (det J)2 .

13.

In equation (10.13), let the x variables be rectangular coordinates x, y, z, and let x1 , x2 , x3 , be general curvilinear coordinates, orthogonal or not (see end of Section 8). Show that JT J is the gij matrix in (8.13) [or in (8.16) for an orthogonal system]. Thus show that the volume element in a general coordinate system is √ dV = g dx1 dx2 dx3 where g = det(gij ), and that for an orthogonal system, this becomes [by (8.16) or (10.19)], dV = h1 h2 h3 dx1 dx2 dx3 . Hint: To evaluate the products of partial derivatives in JT J, observe that the same expressions arise as in ﬁnding ds2 . In fact, from (8.11) and (8.12), you can show that row i times column j in JT J is just ai · aj = gij in equations (8.11) to (8.14).

CHAPTER

Special Functions 1. INTRODUCTION The integrals and series and functions of this chapter arise in a variety of physical problems. Just as you learn about trigonometric functions, logarithms, etc., and use them in applied problems, so you should learn something about these special functions so that you can use them and understand their use as they come up in your more advanced work. An enormous amount of detail is known about these functions, and numerous formulas involving them exist and can be looked up in books or found in your computer program. Our purpose is not to study them intensively, but to give deﬁnitions and some of the simpler relations and show their use. This should develop your ability and conﬁdence to cope with more complicated formulas and many other similar functions and relations that may crop up occasionally in texts or computer results. Now you may be thinking that your computer will give you the answers for definite integrals and functions so you really don't need to bother with this chapter. If all you want is a numerical approximation, this may be true. However, √ in theoretical work, you often need an exact expression (say in terms of π or 3 or ln 2) and your computer may not give you the form you need. √ π/2 Example 1. Suppose you want 0 dθ/ cos θ. One computer program gives you the √ √ √ result 2 K(1/ 2) and another gives you 2 π Γ(5/4)/Γ(3/4). In books you ﬁnd √ answers 12 B(1/4, 1/2) and [Γ(1/4)]2 / 8π. What's going on here and which is right? They all are! And when you have studied the formulas in this chapter, you will be able to show this (Problem 12.21) just as you now recognize that sin2 θ = 1 − cos2 θ. Also in some problems you may want an algebraic approximation for a complicated expression rather than a numerical answer. Example 2. You will ﬁnd in thermal physics the approximation ln N ! ∼ = N ln N − N ; we will discuss this approximation and its accuracy. (See Problem 11.3). 537

538

Special Functions

Chapter 11

2. THE FACTORIAL FUNCTION Let us calculate the values of some integrals. For α > 0, ∞ ∞ 1 −αx 1 −αx (2.1) e dx = − e = . α α 0 0 Next diﬀerentiate both sides of this equation repeatedly with respect to α (see Chapter 4, Section 12): ∞ ∞ 1 1 −αx −xe dx = − 2 or xe−αx dx = 2 , α α 0 0 ∞ 2 2 −αx x e dx = 3 , α 0 ∞ 3! x3 e−αx dx = 4 . α 0 or in general

∞

(2.2) 0

Putting α = 1, we get

(2.3) 0

∞

xn e−αx dx =

xn e−x dx = n!,

n! . αn+1

n = 1, 2, 3, · · · .

Thus we have a deﬁnite integral whose value is n! for positive integral n. We can use (2.3) to give a meaning to 0!. Putting n = 0 in (2.3), we get ∞ ∞ −x −x (2.4) 0! = e dx = −e = 1. 0

(This agrees with our previous deﬁnition of 0! in Chapter 1.)

PROBLEMS, SECTION 2 In Chapter 4, Section 12, do Problems 14 to 17.

3. DEFINITION OF THE GAMMA FUNCTION; RECURSION RELATION So far n has been a nonnegative integer; it is natural to define the factorial function for nonintegral n by the deﬁnite integral (2.3). There is no real objection to the notation n! for nonintegral n (and we shall occasionally use it), but it is customary to reserve the factorial notation for integral n and to call the corresponding function for nonintegral n the gamma (Γ) function. It is also rather common practice to replace n by the letter p when we do not necessarily mean an integer. Following these conventions, we deﬁne, for any p > 0 (3.1)

∞

Γ(p) = 0

xp−1 e−x dx, p > 0.

Section 3

Definition of the Gamma Function; Recursion Relation

539

For 0 < p < 1, this is an improper integral because xp−1 becomes inﬁnite at the lower limit. However, it is a convergent integral for p > 0 (Problem 1). For p ≤ 0, the integral diverges and so cannot be used to deﬁne Γ(p); we shall see in Section 4 how to deﬁne Γ(p) when p ≤ 0. Then from (3.1) and (2.3) we have ∞ Γ(n) = xn−1 e−x dx = (n − 1)!, 0 ∞ (3.2) Γ(n + 1) = xn e−x dx = n!. 0

Thus Γ(1) = 0! = 1, Γ(2) = 1! = 1, Γ(3) = 2! = 2, Γ(4) = 3! = 6, · · · , with the usual meaning of factorial for positive integral n. The fact that Γ(n) = (n − 1)! and not n! is unfortunate but that's the notation which is used, so watch out for it. Replacing p by p + 1 in (3.1), we have ∞ (3.3) Γ(p + 1) = xp e−x dx = p!, p > −1. 0

Some authors use the factorial notation p! = Γ(p + 1) even though p is not an integer; this avoids the nuisance of the p + 1. Let us integrate (3.3) by parts, calling xp = u, e−x dx = dv; then we get du = p xp−1 dx, v = −e−x , ∞ ∞ Γ(p + 1) = −xp e−x − (−e−x )p xp−1 dx 0

∞

xp−1 e−x dx = pΓ(p).

This equation

(3.4)

Γ(p + 1) = pΓ(p)

is called the recursion relation for the Γ function. It can be used to simplify expressions involving Γ functions or to write them in a diﬀerent form (much as you use trigonometric identities). Example. By (3.4) we ﬁnd Γ(9/4) = (5/4)Γ(5/4) = (5/4)(1/4)Γ(1/4); then Γ(1/4) ÷ Γ(9/4) = 16/5.

PROBLEMS, SECTION 3 1.

The integral in (3.1) is improper because of the inﬁnite upper limit and it is also improper for 0 < p < 1 because xp−1 becomes inﬁnite at the lower limit. However, the integral is convergent for any p > 0. Prove this.

540

Special Functions

Chapter 11

Use the recursion relation (3.4), and if needed, equation (3.2) to simplify: 2.

Γ(2/3)/Γ(5/3)

Γ(2/3)/Γ(8/3)

Γ(2/5)/Γ(12/5)

Γ(1/2)Γ(4)/Γ(9/2)

Γ(10)/Γ(8)

Γ(4)Γ(3/4)/Γ(7/4)

Express each of the following integrals as a Γ function. By computer, evaluate numerically both the Γ function and the original integral. Z ∞ Z ∞ 4 8. x2/3 e−x dx 9. e−x dx Hint: Put x4 = u. Z 10. Z 12.

∞ 0 ∞ 0

Z 14.

1 0

x−2/5 e−x dx

11.

∞ 0

xe−x dx

√ 3

13. Z 15.

ln x dx

1 0

„ «3 1 x2 ln dx Hint: Put x = e−u . x

∞ 0

x5 e−x dx Hint: Put x2 = u.

x−1/3 e−8x dx

16.

A particle starting from rest at x = 1 moves along the x axis toward the origin. Its potential energy is V = 12 m ln x. Write the Lagrange equation and integrate it to ﬁnd the time required for the particle to reach the origin. Caution: dx/dt < 0. Answer: Γ( 12 ).

17.

Express as a Γ function Z 1 » „ «–p−1 1 ln dx. x 0

Hint: See Problem 13.

4. THE GAMMA FUNCTION OF NEGATIVE NUMBERS For p ≤ 0, Γ(p) has not so far been deﬁned. We shall now deﬁne it by the recursion relation (3.4) solved for Γ(p).

(4.1)

Γ(p) =

1 Γ(p + 1) p

deﬁnes Γ(p) for p < 0. Example. Γ(−0.3) =

1 Γ(0.7), −0.3

Γ(−1.3) =

1 Γ(0.7), (−1.3)(−0.3)

and so on. Since Γ(1) = 1, we see that Γ(p) =

Γ(p + 1) → ∞ as p → 0. p

From this and successive use of (4.1) it follows that Γ(p) becomes inﬁnite not only at zero but also at all the negative integers. In the intervals between the negative integers, it is alternately positive and negative, negative from 0 to −1, positive from −1 to −2, and so on, as you can see from computations like those for Γ(−0.3) and Γ(−1.3) above. See Problems 5.1 and 5.2.

Section 5

Some Important Formulas Involving Gamma Functions

541

5. SOME IMPORTANT FORMULAS INVOLVING GAMMA FUNCTIONS First we evaluate Γ

1 2

. By deﬁnition Γ( 12 )

(5.1)

∞

= 0

1 √ e−t dt. t

(Note that it does not matter what letter we use for the dummy variable of integration in a deﬁnite integral.) Put t = y 2 in (5.1); then dt = 2y dy, and (5.1) becomes ∞ ∞ 2 1 −y2 Γ( 12 ) = e 2y dy = 2 e−y dy y 0 0 or, with x as the dummy integration variable, Γ( 12 ) = 2

(5.2)

∞

e−x dx.

Multiply these two integrals for Γ( 12 ) together and write the result as a double integral: ∞ ∞ 1 2 2 2 Γ( 2 ) = 4 e−(x +y ) dx dy. 0

This is an integral over the ﬁrst quadrant; it can be more easily evaluated in polar coordinates:

2 Γ( 12 )

π/2

∞

=4 0

−r 2

π e−r r dr dθ = 4 · · 2 −2

∞ = π. 0

Therefore

Γ( 12 ) =

(5.3)

√ π.

We state here another important formula involving Γ functions (for proof, see Chapter 14, Section 7, Example 5):

(5.4)

Notice that (5.4) also gives Γ

Γ(p)Γ(1 − p) =

1 2

π . sin πp

√ π if we put p = 12 .

542

Special Functions

Chapter 11

PROBLEMS, SECTION 5 √ π.

Using (5.3) with (3.4) and (4.1), ﬁnd Γ(3/2), Γ(−1/2), and Γ(−3/2) in terms of

Without computer or tables, but just using facts you know, sketch a quick rough graph of the Γ function from −2 to 3. Hint: This is easy; don't make a big job of it. From Section 3, you know the values of the Γ function at the positive integers in terms of factorials. From Problem 1, you can easily ﬁnd and plot the Γ function at √ ±1/2, ±3/2. (Approximate π as a little less than 2.) From (4.1) and the discussion following it, you know that the Γ function tends to plus or minus inﬁnity at 0 and the negative integers, and you know the intervals where it is positive or negative. After sketching your graph, make a computer plot of the Γ function from −5 to 5 and compare your sketch. ` ´ In Chapter 1, equations (13.5) and (13.6), we deﬁned the binomial coeﬃcients np where n is a non-negative integer but p may be negative or fractional. Show that `p ´ can be written in terms of Γ functions as n

! p Γ(p + 1) = . n n! Γ(p − n + 1)

Prove that, for positive integral n: Γ(n + 12 ) =

1 · 3 · 5 · · · (2n − 1) √ (2n)! √ π= n π. 2n 4 n!

Use (5.4) to show that (a)

Γ( 12 − n)Γ( 12 + n) = (−1)n π if n = a positive integer;

(b)

(z!)(−z)! = πz/ sin πz, where z is not necessarily an integer; see comment after equation (3.3).

Prove that

In the Table of Laplace Transforms (end of Chapter p 469), verify the Γ √ 8, page function results for L5 and L6. Also show that L(1/ t ) = π/p.

Z ∞ d xp−1 e−x ln x dx, Γ(p) = dp 0 Z ∞ dn Γ(p) = xp−1 e−x (ln x)n dx. dpn 0

6. BETA FUNCTIONS The beta function is also deﬁned by a deﬁnite integral: (6.1)

B(p, q) =

xp−1 (1 − x)q−1 dx,

p > 0,

q > 0.

There are a number of simple transformations of (6.1) which are useful to know [see (6.3), (6.4), (6.5)]. It is easy to show that (Problem 1) (6.2)

B(p, q) = B(q, p).

Section 7

Beta Functions in Terms of Gamma Functions

543

The range of integration in (6.1) can be changed by putting x = y/a; then x = 1 corresponds to y = a, and (6.1) becomes (6.3)

B(p, q) =

y p−1 a

1−

1 y q−1 dy = p+q−1 a a a

y p−1 (a − y)q−1 dy.

To obtain the trigonometric form of the beta function, let x = sin2 θ; then dx = 2 sin θ cos θ dθ, (1 − x) = 1 − sin2 θ = cos2 θ, x = 1 corresponds to θ = π/2. With these substitutions, (6.1) becomes π/2 (sin2 θ)p−1 (cos2 θ)q−1 2 sin θ cos θ dθ B(p, q) =

(6.4)

B(p, q) = 2

π/2

(sin θ)2p−1 (cos θ)2q−1 dθ.

Finally, let x = y/(1 + y) in (6.1); then we get (Problem 2): (6.5)

B(p, q) =

∞

y p−1 dy . (1 + y)p+q

PROBLEMS, SECTION 6 1.

Prove that B(p, q) = B(q, p). Hint: Put x = 1 − y in Equation (6.1).

Prove equation (6.5).

Show that for integral n, m, 1/B(n, m) = m

n+m−1 n−1

! =n

! n+m−1 . m−1

Hint: See Chapter 1, Section 13C, Problem 13.3.

7. BETA FUNCTIONS IN TERMS OF GAMMA FUNCTIONS Beta functions are easily expressed in terms of Γ functions. We shall show that

(7.1)

B(p, q) =

Γ(p)Γ(q) . Γ(p + q)

Thus we can evaluate a B function in terms of Γ functions (see example below).

544

Special Functions

Chapter 11

To prove (7.1), we start with

∞

Γ(p) = 0

tp−1 e−t dt

and put t = y 2 . Then we have (7.2)

∞

Γ(p) = 2 0

y 2p−1 e−y dy.

Similarly (remember that the dummy integration variable can be any letter), ∞ 2 Γ(q) = 2 x2q−1 e−x dx. 0

Next we multiply these two equations together and change to polar coordinates: ∞ ∞ 2 2 Γ(p)Γ(q) = 4 x2q−1 y 2p−1 e−(x +y ) dx dy 0

∞

π/2

(7.3)

0 ∞

(r cos θ)2q−1 (r sin θ)2p−1 e−r r dr dθ 2

r2p+2q−1 e−r dr

π/2

(cos θ)2q−1 (sin θ)2p−1 dθ.

The r integral in (7.3) is 12 Γ(p + q) by (7.2). The θ integral in (7.3) is 12 B(p, q) by (6.4). Then Γ(p)Γ(q) = 4 · 12 Γ(p + q) · 12 B(p, q) and (7.1) follows. Example. Find

∞

x3 dx . (1 + x)5

This is (6.5) with (p + q) = 5, p − 1 = 3 or p = 4, q = 1. Then I = B(4, 1). By (7.1), this is Γ(4)Γ(1) 3! 1 = = . Γ(5) 4! 4

PROBLEMS, SECTION 7 Express the following integrals as B functions, and then, by (7.1), in terms of Γ functions. √ When possible, use Γ function formulas to write an exact answer in terms of π, 2, etc. Compare your answers with computer results and reconcile any discrepancies. Z 1.

1 0

Z 4.

1 0

Z 7.

x4 dx √ 1 − x2 x2 (1 − x2 )3/2 dx

π/2 0

dθ √ sin θ

Z 2.

π/2 0

Z 5.

∞ 0

Z 8.

2 0

Z sin3 x cos x dx

y 2 dy (1 + y)6

x2 dx √ 2−x

1 0

Z 6.

√

∞ 0

dx 1 − x3

y dy (1 + y 3 )2

Section 8 9.

The Simple Pendulum

545

Prove B(n, n) = B(n, 12 )/22n−1 . Hint: In (6.4), use the identity 2 sin θ cos θ = sin 2θ and put 2θ = φ. Use this result and (5.3) to derive the duplication formula for Γ functions: 1 Γ(2n) = √ 22n−1 Γ(n)Γ(n + 12 ). π Check this formula for the case n = 14 by using (5.4).

Computer plot the graph of x3 + y 3 = 8. Write the integrals for the following quantities (see Chapter 5 if needed) and evaluate them as B functions. 10.

The ﬁrst quadrant area bounded by the curve.

11.

The centroid of this area.

12.

The volume generated when the area is revolved about the y axis.

13.

The moment of inertia of this volume about its axis.

8. THE SIMPLE PENDULUM A simple pendulum means a mass m suspended by a string (or weightless rod) of length l so that it can swing in a plane, as shown in Figure 8.1. The kinetic energy of m is then (8.1)

T =

1 1 ˙ 2. mv 2 = m(lθ) 2 2

If the potential energy is zero when the string is horizontal, then at angle θ it is V = −mgl cos θ.

Figure 8.1

Then the Lagrangian is (see Chapter 9, Section 5) L=T −V =

1 2 ˙2 ml θ + mgl cos θ, 2

and the Lagrange equation of motion is d ˙ + mgl sin θ = 0 (ml2 θ) dt or (8.2)

g θ¨ = − sin θ. l

Example 1. Suppose the pendulum executes such small vibrations that sin θ can be approximated by θ. Then (8.2) becomes the usual equation for the simple harmonic motion of a pendulum executing small vibrations, namely g (8.3) θ¨ = − θ. l

The solutions of (8.3) are sin ωt and cos ωt where ω = 2πν = g/l; the period of the motion is then (see Chapter 7, Problem 2.13, and Chapter 8, Problem 5.34)

1 (8.4) T = = 2π l/g. ν

546

Special Functions

Chapter 11

We now want to replace this approximate solution by one which is exact even for large θ. Example 2. Going back to the diﬀerential equation of motion (8.2), we multiply both sides of it by θ˙ and integrate, thus obtaining g g θ˙θ¨ = − sin θ θ˙ or θ˙ dθ˙ = − sin θ dθ; l l 1 ˙2 g θ = cos θ + const. 2 l

(8.5)

We shall come back to the general solution of this equation when we discuss elliptic integrals; for now let us ﬁnd the period for 180◦ swings (back and forth from −90◦ to +90◦). For this case, θ˙ = 0 when θ = 90◦ , so the constant in (8.5) is zero, and we have (compare Chapter 8, Problem 7.13) 1 ˙2 2g √ 2g dθ g dθ √ θ = cos θ, = dt. cos θ, = 2 l dt l l cos θ From θ = 0 to θ = 90◦ is one-quarter of a period; hence the period for 180◦ swings is given by T in the equation T /4 π/2 dθ 2g 2g T √ · . dt = = l l 4 cos θ 0 0 Then the period is (8.6)

T =4

l 2g

π/2

dθ √ . cos θ

We can see by comparing (8.6) with (6.4) that this is a B function. By computer or tables we ﬁnd that T ∼ = 7.42 l/g (see Problem 1 and Problem 12.21). We can ﬁnd the period for only this one special case (180◦ swings) by B functions; the general case gives an elliptic integral (Section 12).

PROBLEMS, SECTION 8 1.

Complete the pendulum problem to ﬁnd the period for 180◦ swings as a multiple of p l/g [that is, evaluate the integral in (8.6)].

Suppose that a car with a door open at right angles (θ = 90◦ ) starts up and accelerates at a constant rate a = 1 mph/sec. The diﬀerential equation for θ(t) is θ¨ = −A sin θ where A = 3a/2w for a uniform door of width w. If w = 3.5 ft, ﬁnd how long it takes for the door to close.

The ﬁgure is part of a cycloid with parametric equations x = a(θ + sin θ),

y = a(1 − cos θ).

(The graph shown is like Figure 4.4 of Chapter 9 with the origin shifted to P2 .) Show that the time

Section 9

The Error Function

547

for a particle to slide without friction along the curve from (x1 , y1 ) to the origin is given by r Z y1 a dy p . t= g 0 y(y1 − y) p Hint: Show that the arc length element is ds = 2a/y dy. Evaluate the integral to show that the time is independent of the starting height y1 .

9. THE ERROR FUNCTION You will meet this function in probability theory (Chapter 15, Section 8), and consequently in statistical mechanics and other applications of probability theory. You have probably heard of "grading on a curve." The "curve" means the bell2 shaped graph of y = e−x (see Problem 1); the error function is the area under part of this curve. We deﬁne the error function as (9.1)

2 erf(x) = √ π

e−t dt.

Although this is the usual deﬁnition of erf(x), there are other closely related integrals which are used and sometimes referred to as the error function. Consequently, you need to look carefully at the deﬁnition in the reference you are using (text, tables, computer). Here are some integrals you may ﬁnd and their relation to (9.1) (see Problem 2). The standard normal or Gaussian cumulative distribution function Φ(x) [see Chapter 15, equation (8.5)]: x √ 2 1 Φ(x) = √ (9.2a) e−t /2 dt = 12 + 12 erf(x/ 2 ), 2π −∞ x √ 2 1 1 (9.2b) e−t /2 dt = 12 erf(x/ 2 ). Φ(x) − 2 = √ 2π 0

The complementary error function: (9.3a) (9.3b)

∞ 2 2 erfc(x) = √ e−t dt = 1 − erf(x), π x

∞ 2 2 x erfc √ = e−t /2 dt. π x 2

We can also use (9.2) to write erf(x) in terms of the standard normal cumulative distribution function [Chapter 15, equation (8.5)]. (9.4)

√ erf(x) = 2Φ(x 2 ) − 1.

548

Special Functions

Chapter 11

We next consider several useful facts about the error function. You can easily prove that the error function is odd; that is, erf(−x) = − erf(x) (Problem 3). We show that erf(∞) = 1 as follows:

(9.5)

2 erf(∞) = √ π

∞

2 2 2 √ e−t dt = √ 12 Γ( 12 ) = √ 12 π = 1 π π

by (5.2) and (5.3). For very small values of x, erf(x) can be approximated by ex2 panding e−t in a power series and integrating term by term. We get

(9.6)

2 erf(x) = √ π

x 2 2 t4 1 − t2 + − · · · dt e−t dt = √ π 0 2!

3 5 x x 2 x− + − ··· . = √ π 3 5 · 2!

[Use this when |x| 1. Compare (10.4).] For large x, say x > 3, erf(x) diﬀers from erf(∞) = 1 [see (9.5)] by less than 10−4 (and of course even less for larger x). We are then usually interested in 1 − erf(x) = erfc(x). This is best approximated by an asymptotic series; we shall discuss such expansions in Section 10. The function erﬁ(x), called the imaginary error function, is similar to the error function but with a positive exponential. We deﬁne x 2 2 (9.7) erﬁ(x) = √ et dt. π 0 You can show (Problem 5) that erf(ix) = i erﬁ(x). The Fresnel integrals (Chapter 1, Section 15) are related to the error function (Problem 6). Also see Section 10, Problem 3 for other relations involving error functions.

PROBLEMS, SECTION 9 2

Sketch or computer plot a graph of the function y = e−x .

Verify equations (9.2), (9.3), and (9.4). Hint: In (9.2a), you want√to write Φ(x) in terms of an error function. Make the change of variable t = u 2 in√the Φ(x) integral. Warning: Don't forget to adjust the limits; when t = x, u = x/ 2.

Prove that erf(x) is an odd function of x. Hint: Put t = −s in (9.1). Z ∞ √ 2 e−y /2 dy = 2π Show that

−∞

(a)

by using (9.5) and (9.2a);

(b)

by reducing it to a Γ function and using (5.3).

Replace x by ix in (9.1) and let t = iu to show that erf(ix) = i erﬁ(x), where erﬁ(x) is deﬁned in (9.7).

Section 10 6.

549

Asymptotic Series

Assuming that x is real, show the following relation between the error function and the Fresnel integrals. r Z x „ « 2 1−i √ x = (1 − i) erf (cos u2 + i sin u2 ) du. π 0 2 1−i Hint: In (9.1), make the change of variables t = √ u. 2

10. ASYMPTOTIC SERIES Since you have spent some time learning to test series for convergence, it may surprise you to learn that there are divergent series which can be of practical use. We can show this best by an example. Example 1. From (9.3a) (10.1)

2 erfc(x) = 1 − erf(x) = √ π

∞

e−t dt.

We are going to expand the integral in (10.1) in a series of inverse powers of x. To do this we write

2 2 2 1 1 1 d (10.2) e−t = te−t = − e−t t t dt 2 and integrate by parts as follows:

∞ ∞ 2 2 1 d 1 − e−t dt e−t dt = t dt 2 x x

∞ ∞ 2 2 1 1 1 1 (10.3) − e−t − − e−t − 2 dt = t 2 2 t x x∞ 1 −x2 1 1 −t2 = e − e dt. 2x 2 x t2 2

Now in the last integral in (10.3), write (1/t2 )e−t = (1/t3 )(d/dt)(− 12 e−t ), and again integrate by parts:

∞ ∞ 1 −t2 d 1 −t2 − e dt e dt = t2 dt 2 x x

∞ ∞ 2 2 1 1 3 1 − e−t − 4 dt = 3 − e−t − t 2 2 t x x 1 −x2 3 ∞ 1 −t2 = 3e − e dt. 2x 2 x t4 Continue this process, and substitute (10.3) and the following steps into (10.1) to get (Problem 1) 2

(10.4)

e−x erfc(x) = 1 − erf(x) ∼ √ x π

1 1·3 1·3·5 1− 2 + − + ··· . 2x (2x2 )2 (2x2 )3

[Use this when |x| 1. Compare (9.6).]

550

Special Functions

Chapter 11

(We shall explain the exact meaning of the symbol ∼ shortly.) This series diverges for every x because of the factors in the numerator. However, suppose we stop after a few terms and keep the integral at the end so that we have an exact equation. If we stop after the second term, we have 2

e−x erfc(x) = √ x π

(10.5)

∞ 2 1 3 1− 2 + √ t−4 e−t dt. 2x 2 π x

There is no approximation here. This is not an inﬁnite series so there is no question of convergence. However, we shall show that the integral at the end is negligible for large enough x; this will then make it possible for us to use the rest of (10.5) [that is, the ﬁrst two terms of (10.4)] as a good approximation for erfc(x) for large x. This is the meaning of an asymptotic series. As an inﬁnite series it may diverge, but we do not use the inﬁnite series. Instead, using an exact equation [like (10.5) for this example], we show that the ﬁrst few terms which we do use give a good approximation if x is large.

Example 2. Now let's look at the integral in (10.5); we want to estimate its size for large x. The t in the integrand takes values from x to ∞; therefore t ≥ x or 1/x ≥ 1/t for all values of t from x to ∞. Let us write the integral as

∞

t−4 e−t dt =

∞

1 −t2 te dt. t5

We increase the value of this integral if we replace 1/t5 by 1/x5 since 1/x ≥ 1/t. Thus

∞

∞ 2 1 −t2 1 te dt = te−t dt 5 5 x x x x

∞ 2 −x 1 −t2 1 e = 5 − e = 2x5 . x 2 x

t−4 e−t dt
1; < 1% for p > 10; < 0.1% for p > 100; < 0.01% for p > 1000.

(a)

To see the results in Problem 1 graphically, computer plot the percentage error in Stirling's formula as a function of p for values of p from 1 to 1000. Make separate plots, say for p = 1 to 10, 10 to 100, 100 to 1000, to make it easier to read values from your plots.

(b)

Repeat part (a) for the percentage error in (11.5) using two terms of the asymptotic series, that is, Stirling's formula times [1 + 1/(12p)].

554 3.

Special Functions

Chapter 11

In statistical mechanics, we frequently use the approximation ln N ! = N ln N − N , where N is of the order of Avogadro's number. Write out ln N ! using Stirling's formula, compute the approximate value of each term for N = 1023 , and so justify this commonly used approximation. √ (2n)! n . Use Stirling's formula to evaluate lim 2n n→∞ 2 (n!)2

Γ(n + 32 ) Use Stirling's formula to evaluate lim √ . n→∞ n Γ(n + 1)

Use equations (3.4) and (11.5) to show that Γ(p) ∼ pp e−p

The function ψ(p) =

d dp

" 2π/p 1 +

1 12p

" +··· .

ln Γ(p) is called the digamma function, and the polygamma

functions are deﬁned by ψ n (p) = d d ln p! = dp ln Γ(p + 1).] dp

dn ψ(p). dpn

[Warning: Some authors deﬁne ψ(p) as

(a)

Show that ψ(p + 1) = ψ(p) + p1 . Hint: See (3.4).

(b)

Use Problem 6 to obtain ψ(p) ∼ ln p −

1 2p

−

1 12p2

· · ·.

Sketch or computer plot a graph of y = Rln x for x > 0. Show that ln n! is between the R n+1 n values of the integrals 2 ln x dx and 1 ln x dx. (Hint: ln n! = ln 1+ln 2+ln 3+· · · is the sum of the areas of rectangles of width 1 and height up to the ln x curve at x = 1, 2, 3, · · ·.) By considering the values of the two integrals for very large n as in Problem 3, show that ln n! = n ln n − n approximately for large n.

The following expression occurs in statistical mechanics: P =

n! pnp+u q nq−u . (np + u)! (nq − u)!

Use Stirling's formula to show that p 1 ∼ xnpx y nqy 2πnpqxy, P where x = 1 +

u u , y =1− , and p + q = 1. Hint: Show that np nq (np)np+u (nq)nq−u = nn pnp+u q nq−u

and divide numerator and denominator of P by this expression. 10.

Use Stirling's formula to ﬁnd limn→∞ (n!)1/n /n.

12. ELLIPTIC INTEGRALS AND FUNCTIONS This is another collection of integrals and related functions which may arise in applied problems and as computer answers (see problems). We shall merely summarize the basic deﬁnitions and properties—there are whole books on the subject—and you may ﬁnd useful formulas and information in your computer program and in reference books and tables.

Section 12

Elliptic Integrals and Functions

555

Legendre Forms The Legendre forms of the elliptic integrals of the ﬁrst and second kinds are: φ dθ

, 0 ≤ k ≤ 1, F (φ, k) = 0 1 − k 2 sin2 θ (12.1) φ

E(φ, k) = 1 − k 2 sin2 θ dθ, 0 ≤ k ≤ 1. 0

There is also an elliptic integral of the third kind which occurs less frequently. In (12.1), φ is called the amplitude and k is called the modulus of the elliptic integral. Jacobi Forms If we put t = sin θ, x = sin φ in the Legendre forms (12.1), we obtain the Jacobi forms of the elliptic integrals of the ﬁrst and second kind: t = sin θ, dt dt = √ . cos θ 1 − t2 The limits θ = 0 to φ become t = 0 to x. dt = cos θ dθ

or dθ =

Then

x dθ dt

√ √ = 2 2 2 1 − t 1 − k 2 t2 0 0 1 − k sin θ φ

x√ 1 − k 2 t2 √ E(φ, k) = 1 − k 2 sin2 θ dθ = dt. 1 − t2 0 0 φ

F (φ, k) =

(12.2)

Complete Elliptic Integrals The complete elliptic integrals of the ﬁrst and second kind are the values of F and E when φ = π/2 or x = sin φ = 1: ,k =

1 dθ dt

√ √ = , 2 2 2 2 1 − t 1 − k 2 t2 0 0 1 − k sin θ 1√ π π/2

1 − k 2 t2 √ ,k = 1 − k 2 sin2 θ dθ = dt. E or E(k) = E 2 1 − t2 0 0

K or K(k) = F (12.3)

π/2

Warning: The notation used for elliptic integrals is not uniform. Most references use F and E, but you may ﬁnd φ replaced by x = sin φ, and instead of k you may ﬁnd m = k 2 , or sin−1 k. Also (φ, k) may be written as (k, φ), and other variations exist. So check carefully the notation of any book or computer program you are using and reconcile the results with the notation used here. Example 1. 0

π/3

√ 1 − (1/2) sin2 θ dθ = E(φ, k) = E(π/3, 1/ 2 ) in our notation. Other

books programs might give: E(φ, m) = E(π/3, 1/2), or E(x, k) = √ or computer √ E( 3/2, 1/ 2 ) or E(φ, sin−1 k) = E(π/3, π/4), etc. Of course, all of them will give the same numerical approximation 0.964951. Many integrals can be written in the form of one of the integrals in (12.2).

556

Special Functions

Chapter 11

16 − 8 sin2 θ dθ becomes 4 times the integral in Example 1 if we divide 0 π/3 1 − (1/2) sin2 θ dθ. out a factor of 4 to get 4 π/3

Example 2.

2/5

dt √ √ = F (φ, k) = F (sin−1 52 , 2) in the notation of (12.2), 2 1 − t 1 − 4t2 0 except that we have previously required k < 1, and here k = 2. However, we can put this integral in the standard form with k < 1 by making the change of variable 4t2 = r2 , or r = 2t. Substituting this into the given integral gives 4/5 dr/2

√ 1 − r2 /4 1 − r2 0

Example 3.

which, by (12.2), is 12 F (φ, k) = 12 F (sin−1 45 , 12 ). (See Problem 24.) It is sometimes useful to note that the integrands in elliptic integrals are all functions of sin2 θ and so are even functions of θ. Thus an elliptic integral from −φ1 to φ2 (φ1 and φ2 both positive) is equal to the integral from 0 to φ1 plus the integral from 0 to φ2 and we have φ2

1 − k 2 sin2 θ dθ = E(φ1 , k) + E(φ2 , k) −φ1

and a similar formula for F (φ, k). Also we may note that a function of sin2 θ has period π and is symmetric about θ = nπ + π/2 (look at a graph of sin2 θ). Thus, using the complete elliptic integrals in (12.3), we can write (Problem 2) (12.4)

F (nπ ± φ, k) = 2nK ± F (φ, k), E(nπ ± φ, k) = 2nE ± E(φ, k).

Since k 2 sin2 θ < 1 (for k 2 < 1), we get convergent inﬁnite series for elliptic integrals by expanding their integrands using the binomial theorem, and then integrating term by term (Problem 1). For small k these series converge rapidly and provide a good method for approximating elliptic integrals when k 1. Here are some examples where elliptic integrals occur. Example 4. Find the arc length of an ellipse. This is the problem that gave elliptic integrals their name. We write the equation of the ellipse in the parametric form x = a sin θ, y = b cos θ, for the case a > b. (If b > a, use the form x = a cos θ, y = b sin θ; see Problem 15.) Then for a > b, we have ds2 = dx2 + dy 2 = (a2 cos2 θ + b2 sin2 θ) dθ2 . Since a2 − b2 > 0, we can write a2 − b 2 2 2 2 2 ds = a − (a − b ) sin θ dθ = a 1− sin2 θ dθ. a2

Section 12

Elliptic Integrals and Functions

557

This is an elliptic integral of the second kind where k 2 = (a2 − b2 )/a2 = e2 (e is the eccentricity of the ellipse in analytic geometry). If we want the complete circumference, θ goes from 0 to 2π, and the answer is 4aE(π/2, k) = 4aE(k). For a smaller arc, we use the appropriate limits φ1 and φ2 and obtain E(φ2 , k) − E(φ1 , k). For any given ellipse (that is, given a and b), we can ﬁnd the numerical value of the desired arc length from computer or tables. Example 5. Let a pendulum swing through large angles. We had in Section 8 2g cos θ + const., θ˙2 = l and we considered 180◦ swings, that is of amplitude 90◦ . Now we want to consider swings of any amplitude, say α; then θ˙ = 0 when θ = α, and (12.5) becomes

(12.5)

2g (cos θ − cos α). θ˙2 = l

(12.6) Integrating (12.6), we get (12.7) 0

dθ √ = cos θ − cos α

2g Tα , l 4

where Tα is the period for swings from −α to +α and back. This integral can be written as an elliptic integral; its value (Problem 17) is √ α . (12.8) 2 K sin 2 Then (12.7) gives for the period l √ l α α Tα = 4 =4 K sin . 2 K sin 2g 2 g 2 For α not too large (say α < 90◦ , 12 α < 45◦ , so that sin2 (α/2) < 12 ), we can get a good approximation to Tα by series (Problem 1):

2 l π 1·3 1 2 α 4 α (12.9) Tα = 4 1+ + + ··· . sin sin g 2 2 2 2·4 2 For α small enough so that sin α/2 can be approximated by α/2, we can write l α2 (12.10) Tα = 2π 1+ + ··· . g 16 For very small α, we get the familiar formula for simple harmonic motion, T = 2π l/g independent of α. For somewhat larger α, say α = 12 radian (about 30◦ ), we get l 1 (12.11) Tα=1/2 = 2π 1+ + ··· . g 64 This would mean that a pendulum started at 30◦ would get exactly out of phase with one of very small amplitude in about 32 periods. For another physics problem giving rise to an elliptic integral, see Am. J. Phys. 55, 763 (1987).

558

Special Functions

Elliptic Functions

Chapter 11

Recall that u=

dt √ = sin−1 x 1 − t2

deﬁnes u as a function of x, or x as a function of u; in fact x = sin u. In a similar way, u = F (φ, k) in (12.2) deﬁnes u as a function of φ (or of x = sin φ) or it deﬁnes x or φ as functions of u (we are assuming k ﬁxed). We write (12.12)

x 0

dt √ √ = sn−1 x. 2 1 − t 1 − k 2 t2

or x = sn u. The function sn u (read ess-en of u) is an elliptic function. Since x = sin φ, we have (12.13)

x = sn u = sin φ.

There are other elliptic functions, related to sn u; you will notice [in (12.14)] that they have some resemblance to the trigonometric functions. We deﬁne

1 − sin2 φ = 1 − sn2 u = 1 − x2 ,

1 dφ = = 1 − k 2 sin2 φ = 1 − k 2 sn2 u = 1 − k 2 x2 . dn u = du du/dφ cn u = cos φ =

(12.14)

[The value of du/dφ is found from u = F (φ, k) in (12.2).] There are many formulas relating these functions—for example, addition formulas, integrals, derivatives, etc. These can be looked up or, in some cases, easily worked out. For example, since sn u = sin φ, we have d d dφ (sn u) = (sin φ) = cos φ = cn u dn u. du du du For a physical problem using elliptic functions, see Am. J. Phys. 68, 888–895 (2000).

PROBLEMS, SECTION 12 1.

Expand the integrands of K and E [see (12.3)] in power series in k2 sin2 θ (assuming small k), and integrate term by term to ﬁnd power series approximations for the complete elliptic integrals K and E.

Use a graph of sin2 θ and the text discussion just before (12.4) to verify the equations (12.4). Note that the area under the sin2 θ graph from 0 to π/2 and the area from π/2 to π are mirror images of each other, and this will be true also for any function of sin2 θ.

Computer plot graphs of K(k) and E(k) in (12.3) for k from 0 to 1. Also plot 3D graphs of F (φ, k) and E(φ, k) in (12.1) for k from 0 to 1 and φ from 0 to π/2 and also from 0 to 2π. Warning: Be sure you understand the notation used by your computer program; see text discussion just after (12.3) and Example 1.

Section 12

Elliptic Integrals and Functions

559

In Problems 4 to 13, identify each of the integrals as an elliptic integral (see Examples 1 and 2). Learn the notation of your computer program (see Problem 3) and then evaluate the integral by computer. Z 4.

1 0

Z 6.

π/3 0

Z 8.

√

10.

π/4 0

1/2 0

dt p 1 − t2 1 − t2 /4 p

3/2

12.

√

9 − sin θ

4 − sin θ

√ 100 − t2 √ dt 1 − t2

1/2 −1/2

11.

5π/4 0

dθ

√ 49 − 4t2 √ dt 1 − t2

π/2

3π/8 −π/2

Z 13.

3/4 −1/2

1−

1 sin2 θ dθ 9

p 25 − sin2 θ dθ

√

1−

dt √

q 1−

4 − 3t2

dθ 9 10

sin2 θ

√ 9 − 4t2 √ dt 1 − t2

14.

Find the circumference of the ellipse 4x2 + 9y 2 = 36.

15.

Find the length of arc of the ellipse x2 + (y 2 /4) = 1 between (0, 2) and ( 12 , (Note that here b > a; see Example 4.)

16.

Find the arc length of one arch of y = sin x.

17.

Write the integral in equation (12.7) as an elliptic integral and show that (12.8) gives its value. Hints: Write cos θ = 1 − 2 sin2 (θ/2) and a similar equation for cos α. Then make the change of variable x = sin(θ/2)/ sin(α/2).

18.

Computer plot graphs of sn u, cn u, and dn u, for several values of k, say, for example, k = 1/4, 1/2, 3/4, 0.9, 0.99. Also plot 3D graphs of sn, cn, and dn as functions of u and k.

19.

If u = ln(sec φ + tan φ), then φ is a function of u called the Gudermannian of u, φ = gd u. Prove that: „ « φ d π u = ln tan + , tan gd u = sinh u, sin gd u = tanh u, gd u = sech u. 4 2 du

20.

Show that for k = 0: u = F (φ, 0) = φ,

sn u = sin u,

cn u = cos u,

√

3 ).

dn u = 1;

and for k = 1: u = F (φ, 1) = ln(sec φ + tan φ) sn u = tanh u, 21.

φ = gd u

(Problem 19),

cn u = dn u = sech u.

√ R π/2 Show that the four answers given in Section 1 for 0 dθ/ cos θ are all correct. Hints: For the beta function result, use (6.4). Then get the gamma function results by using (7.1) and the various Γ function formulas. For the elliptic integral, use the hint of Problem 17 with α = π/2.

560 22.

Special Functions

Chapter 11

p In the pendulum problem, θ = α sin g/l t is an approximate solution when the amplitude α is small enough for the motion to be considered simple harmonic. Show that the corresponding exact solution when α is not small is r g θ α sin = sin sn t 2 2 l where k = sin(α/2) is the modulus of the elliptic function. Show that this reduces to the simple harmonic motion solution for small amplitude α.

23.

A uniform solid sphere of density 12 is ﬂoating in water. (Compare Chapter 8, Problem 5.37.) It is pushed down just under water and released. Write the diﬀerential equation of motion (neglecting friction) and solve it to obtain the period in terms of K(5−1/2 ). Show that this period is approximately 1.16 times the period for small oscillations.

24.

Sometimes you may ﬁnd the notation F (φ, k) in (12.2) used when k > 1. Allowing this notation, show that 13 F (sin−1 53 , 43 ) = 14 F (sin−1 54 , 34 ). Hints: Using the Jacobi form of F in (12.2), write the integral which is equal to 13 F (sin−1 53 , 43 ). Follow Example 3 to make a change of variable, write the corresponding integral, and verify that it is equal to 14 F (sin−1 54 , 34 ).

25.

As in Problem 24, show that

4 5 1 F (sin−1 15 , 2) 2

= 15 F (sin−1 32 , 25 ).

13. MISCELLANEOUS PROBLEMS 1.

Show that

Show that B(m, n)B(m + n, k) = B(n, k)B(n + k, m).

Use Stirling's formula to show that

∞

1 y m dy = n+1 (1 + y) (n − m)C(n, m) 0 `n´ for positive integral m and n, n > m, where C(n, m) = m .

lim nx B(x, n) = Γ(x).

n→∞

Verify the asymptotic series Z

∞

5. 6.

X e−t dt ∼ (−1)n n! xn (1 + xt)

[see equation (10.8)]. Hint: Integrate by parts repeatedly, integrating e−t dt and diﬀerentiating the powers of (1 + xt)−1 . Z ∞ dx √ = π. Use gamma and beta function formulas to show that (1 + x) x 0 Z ∞ π dx = Generalize Problem 5 to show that , 0 < p < 1. (1 + x)xp sin πp 0

Identify each of the following integrals or expressions as one of the functions of this chapter. Check your work by evaluating both your answer and the original problem by computer. Be sure you understand your computer program's notation. Z 7.

∞ 0

x3 e−x dx

Z 8.

1 0

e−x dx

Z 9.

1 0

4 − 3x2 dx 1 − x2

Section 13 Z 10.

3π/4 −π/4

Z 12.

π/2 0

Z 15.

∞ 0

Z 18.

∞ 0

Z 21.

Miscellaneous Problems

5 0

dφ p 1 + cos2 φ

dx 2

2 − sin x

x5/2 e−x dx e−x dx x1/4

x−1/3 (5 − x)10/3 dx

11.

13.

√

∞ −∞

∞ 5

dt √ 16 − 25t2

14.

∞ 1

e−x dx

17. 20. Z

7π/8 0

e−x

π/2

e−x dx

22.

1 − t2

d (cn u) du

16. 19.

3/5

561

π/2 0

sin3 θ cos5 θ dθ

(cos x)5/2 dx

p 4 − sin2 x dx

23.

Find an expression √ for the exact value of Γ(55.5) in terms of double factorials (!!), powers of 2 and π. For !!, see Chapter 1, Section 13C, Example 2.

24.

Using your result in Problem 23 and equation (5.4), ﬁnd an expression for the exact value of Γ(−54.5).

25.

As in problems 23 and 24, ﬁnd expressions for the exact values of Γ(28.5) and Γ(−27.5).

CHAPTER

Series Solutions of Differential Equations; Legendre, Bessel, Hermite, and Laguerre Functions 1. INTRODUCTION By now you are well aware that physical problems in many ﬁelds lead to diﬀerential equations to be solved. In Chapter 13, we will discuss a variety of physical problems which lead to partial diﬀerential equations. To solve them, we will need the solutions of some ordinary diﬀerential equations which cannot be solved in terms of elementary functions. So in this chapter we will learn about these equations and their solutions. However, if you would prefer to see some of the physics before you study the math, and if you've studied Chapters 7 and 8, you could ﬁrst do Sections 1 to 4 of Chapter 13, and then come back to Chapter 12 to learn the material needed for the rest of Chapter 13. (See the Preface.) Now you may be thinking that your computer will give you the solutions of these diﬀerential equations so you don't need to study this. What your computer may give you is the name of a function. What you need to know is something about the function: graphs; formulas for derivatives and integrals; formulas that correspond to trigonometric identities for sine and cosine functions; and other useful information so that you can work with these named functions which occur often in applications. This is what we will discuss in this chapter. The diﬀerential equations we are going to solve are linear, like the equations of Chapter 8, Section 5, but with coeﬃcients which are functions of x instead of constants, that is, of the form y + f (x)y + g(x)y = 0. A method of solving such equations which we will ﬁnd useful is to assume an inﬁnite series solution. Example 1. We illustrate the method of series solution by solving the following simple equation (which you can easily solve by elementary methods also!): (1.1)

y = 2xy. 562

Section 1

Introduction

563

We assume a solution of this diﬀerential equation in the form of a power series, namely y = a0 + a1 x + a2 x2 + a3 x3 + · · · + an xn + · · · ∞ = an xn ,

(1.2)

n=0

where the a's are to be found. Diﬀerentiating (1.2) term by term, we get y = a1 + 2a2 x + 3a3 x2 + · · · + nan xn−1 + · · · ∞ = nan xn−1 .

(1.3)

n=1

We substitute (1.2) and (1.3) into the diﬀerential equation (1.1); we then have two power series equal to each other. Now the original diﬀerential equation is to be satisﬁed for all values of x, that is, y and 2xy are to be the same function of x. Since a given function has only one series expansion in powers of x (see Chapter 1, Section 11), the two series must be identical, that is, the coeﬃcients of corresponding powers of x must be equal. We get the following set of equations for the a's: (1.4)

a1 = 0,

a2 = a 0 ,

a3 = 23 a1 = 0,

a4 = 12 a0 ,

or in general: (1.5)

nan = 2an−2 ,

an =

0, odd n, 2 n an−2 , even n.

Putting n = 2m (since only even terms appear in this series), we get (1.6)

a2m =

2 1 1 1 1 a2m−2 = a2m−2 = a2m−4 = · · · = a0 . 2m m mm−1 m!

Substituting these values of the coeﬃcients into the assumed solution (1.2) gives the solution (1.7)

y = a0 + a0 x2 +

1 1 a0 x4 + · · · + a0 x2m + · · · 2! m!

= a0

∞ x2m . m! m=0

Example 2. Compare this with the solution by an elementary method (in this case, separation of variables): dy = 2x dx, y

ln y = x2 + ln c,

y = cex .

Expanding this in a series of powers of x2 , we get: ∞ x2n x4 2 + ··· = c y =c 1+x + 2! n! n=0 which, with c = a0 , is the same as the series solution (1.7).

564

Series Solutions of Differential Equations

Chapter 12

You cannot always expect to ﬁnd the closed form of a power series solution (that is, an elementary function for which your series solution is the power series expansion), but in simple cases you may recognize it. Of course, in that case, the problem could have been done without series; the real need for series is in problems for which there is no closed form in terms of elementary functions. Also you should realize that not all solutions have series expansions in powers of x, for example, ln x or 1/x2 . All we can say is that if there is a solution which can be represented by a convergent power series this method will ﬁnd it. We shall discuss later (Section 21) some theorems which tell us when we can expect to ﬁnd such a solution. In the following sections we consider some diﬀerential equations which occur frequently in applied problems and which are usually solved by series methods.

PROBLEMS, SECTION 1 Solve the following diﬀerential equations by series and also by an elementary method and verify that your solutions agree. Note that the goal of these problems is not to get the answer (that's easy by computer or by hand) but to become familiar with the method of series solutions which we will be using later. Check your results by computer. 1.

xy = xy + y

y = 3x2 y

xy = y

y = −4y

y = y

y − 2y + y = 0

x2 y − 3xy + 3y = 0

(x2 + 2x)y − 2(x + 1)y + 2y = 0

(x2 + 1)y − 2xy + 2y = 0

10.

y − 4xy + (4x2 − 2)y = 0

2. LEGENDRE'S EQUATION The Legendre diﬀerential equation is (2.1)

(1 − x2 )y − 2xy + l(l + 1)y = 0,

where l is a constant. This equation arises in the solution of partial diﬀerential equations in spherical coordinates (see Problem 10.2 and Chapter 13, Section 7) and so in problems in mechanics, quantum mechanics, electromagnetic theory, heat, etc., with spherical symmetry. Also see an application in Section 5. Although the most useful solutions of this equation are polynomials (called the Legendre polynomials), one way to ﬁnd them is to assume a series solution of the diﬀerential equation, and show that the series terminates after a ﬁnite number of terms. [There are other ways of ﬁnding the Legendre polynomials; see Sections 4 and 5, and Chapter 3, Section 14, Example 6.] We assume the series solution (1.2) for y and diﬀerentiate it term by term twice to get y and y :  2 3 4 n   y = a 0 + a1 x + a2 x + a3 x + a4 x + · · · + an x + · · · , 2 3 n−1 (2.2) y = a1 + 2a2 x + 3a3 x + 4a4 x + · · · + nan x + ··· ,   2 3 y = 2a2 + 6a3 x + 12a4 x + 20a5 x + · · · + n(n − 1)an xn−2 + · · · .

Section 2

Legendre's Equation

565

We substitute (2.2) into (2.1) and collect the coeﬃcients of the various powers of x; it is convenient to tabulate them as follows:

y −x2 y −2xy l(l + 1)y

const.

2a2

6a3

12a4 −2a2

20a5 −6a3

(n + 2)(n + 1)an+2 −n(n − 1)an

l(l + 1)a0

−2a1 l(l + 1)a1

−4a2 l(l + 1)a2

−6a3 l(l + 1)a3

−2nan l(l + 1)an

···

Next we set the total coeﬃcient of each power of x equal to zero [because, as discussed in Section 1, y must satisfy (2.1) identically]. For the ﬁrst few powers of x we get 2a2 + l(l + 1)a0 = 0 6a3 + (l2 + l − 2)a1 = 0 (2.3) 12a4 + (l2 + l − 6)a2 = 0

l(l + 1) a0 ; 2 (l − 1)(l + 2) a1 ; or a3 = − 6 (l − 2)(l + 3) a2 or a4 = − 12 l(l + 1)(l − 2)(l + 3) a0 ; = 4! or a2 = −

and from the xn coeﬃcient we get (2.4)

(n + 2)(n + 1)an+2 + (l2 + l − n2 − n)an = 0.

The coeﬃcient of an in (2.4) can be factored to give (2.5)

l2 − n2 + l − n = (l + n)(l − n) + (l − n) = (l − n)(l + n + 1).

Then we can write a general formula for an+2 in terms of an . This formula (2.6) includes the formulas (2.3) for a2 , a3 , and a4 , and makes it possible for us to ﬁnd any even coeﬃcient as a multiple of a0 , and any odd coeﬃcient as a multiple of a1 . Solving (2.4) for an+2 and using (2.5), we have (2.6)

an+2 = −

(l − n)(l + n + 1) an . (n + 2)(n + 1)

The general solution of (2.1) is then a sum of two series containing (as the solution of a second-order diﬀerential equation should) two constants a0 and a1 to be determined by the given initial conditions:

l(l + 1) 2 l(l + 1)(l − 2)(l + 3) 4 y = a0 1 − x + x − ··· 2! 4!

(2.7) (l − 1)(l + 2) 3 (l − 1)(l + 2)(l − 3)(l + 4) 5 x + x − ··· . + a1 x − 3! 5! From equation (2.6) you can see by the ratio test that these series converge for x2 < 1. It can be shown that, in general, they do not converge for x2 = 1.

566

Series Solutions of Differential Equations

Chapter 12

Example. Consider the a1 series for l = 0. If x2 = 1, this series is 1 + 13 + 15 + · · · , which is divergent by the integral test (Chapter 1, Section 6B). Now in many applications x is the cosine of an angle θ, and l is a (nonnegative) integer. We want a solution which converges for all θ, that is, a solution which converges at x = ±1 as well as for |x| < 1. We can always ﬁnd one (but not two) such solutions when l is an integer; let us see how. Legendre Polynomials We have seen that for l = 0 the a1 series in (2.7) diverges. But look at the a0 series; it gives just y = a0 for l = 0 since all the rest of the terms contain the factor l. If l = 1, the a0 series is divergent at x2 = 1, but the a1 series stops with y = a1 x [since all the rest of the terms in the a1 series contain the factor (l − 1)]. For any integral l, one series terminates giving a polynomial solution; the other series is divergent at x2 = 1. (Negative integral values of l would simply give solutions already obtained for positive l's; for example, l = −2 gives the polynomial solution y = a1 x which is the same as the l = 1 solution. Consequently, it is customary to restrict l to nonnegative values.) Thus we obtain a set of polynomial solutions of the Legendre equation, one for each nonnegative integral l. Each solution contains an arbitrary constant factor (a0 or a1 ); for l = 0, y = a0 ; for l = 1, y = a1 x, and so on. If the value of a0 or a1 in each polynomial is selected so that y = 1 when x = 1, the resulting polynomials are called Legendre Polynomials, written Pl (x). From (2.6) and (2.7) and the requirement Pl (1) = 1, we ﬁnd the following expressions for the ﬁrst few Legendre polynomials:

(2.8)

P0 (x) = 1,

P1 (x) = x,

P2 (x) = 12 (3x2 − 1).

Finding a few more Legendre polynomials by this method and other methods will be left to the problems. Although Pl (x) for any integral l may be found by this method, simpler ways of obtaining the Legendre polynomials for larger l will be outlined in Sections 4 and 5. Of course, if you just want the formula for a particular Pl , you can ﬁnd it by computer or in reference books. Eigenvalue Problems In ﬁnding the Legendre polynomials as solutions of Legendre's equation (2.1), we have solved an eigenvalue problem. (See Chapter 3, Sections 11 and 12.) Recall that in an eigenvalue problem we are given an equation or a set of equations containing a parameter, and we want solutions that satisfy some special requirement; in order to obtain such solutions we must choose particular values (called eigenvalues) for the parameter in the problem. In ﬁnding the Legendre polynomials, we asked for series solutions of Legendre's equation (2.1) which converged at x = ±1. We saw that we could obtain such solutions if the parameter took on any integral value. The values of l, namely 0, 1, 2, · · · , are called eigenvalues (or characteristic values); the corresponding solutions Pl (x) are called eigenfunctions (or characteristic functions). Note the parallel between the eigenvalue-eigenvector problems of Chapter 3 and the eigenvalue-eigenfunction problems of this chapter. Recall that in Chapter 3, we wrote an eigenvalue equation as Mr = λr where M was a matrix operator which operated on the eigenvector r to produce a multiple of r. The Legendre equation is of the form f (D)y(x) = l(l + 1)y(x) where f (D) is a diﬀerential operator which

Section 3

Leibniz' Rule for Differentiating Products

567

operates on the eigenfunction y(x) to produce a multiple of y(x). See Section 22 and Chapter 13 for further examples of diﬀerential equations whose solutions are eigenfunctions. The Legendre polynomials are also called Legendre functions of the ﬁrst kind. The second solution for each l, which is an inﬁnite series (convergent for x2 < 1), is called a Legendre function of the second kind and is denoted by Ql (x) (See Problem 4.) The functions Ql (x) are not used as frequently as the polynomials Pl (x). For fractional l both solutions are inﬁnite series; these again occur less frequently in applications.

PROBLEMS, SECTION 2 1.

Using (2.6) and (2.7) and the requirement that Pl (l) = 1, ﬁnd P2 (x), P3 (x), and P4 (x). Check your results by computer.

Show that Pl (−1) = (−1)l . Hint: an odd function?

Computer plot graphs of Pl (x) for l = 0, 1, 2, 3, 4, and x from −1 to 1.

Use the method of reduction of order [Chapter 8, Section 7(e)] and the known solution Pl (x) of Legendre's equation to ﬁnd the second solution Ql (x) (in terms of an integral). Evaluate the integral for the cases l = 0 and l = 1 to ﬁnd Q0 and Q1 . Note the divergence of the logarithms at x = ±1. Expand the logarithms in Q0 to get the divergent series mentioned above [a1 series in (2.7) with l = 0, x2 = 1].

When is Pl (x) an even function and when is it

3. LEIBNIZ' RULE FOR DIFFERENTIATING PRODUCTS Let us digress for a moment to discuss a very useful formula called Leibniz rule for ﬁnding a high order derivative of a product. We shall ﬁrst illustrate this by a numerical example. We could, of course, do a numerical problem by computer, but our purpose is to understand the general formula which we will need in derivations. Also, when you know Leibniz rule, you may ﬁnd in simple numerical cases that you can write down the answer for a high order derivative of a product faster than you can type the problem into the computer (see Problems 2 to 5). Example. Find (d 9 /dx9 )(x sin x). Leibniz rule says that the answer is (3.1)

d9 d8 d 9 · 8 d2 d7 (sin x) + 9 (x) 8 (sin x) + (x) 7 (sin x) + · · · . 9 2 dx dx dx 2! dx dx

This should remind you of a binomial expansion (a + b)9 = a0 b9 + 9ab8 +

9·8 2 7 a b + ··· . 2!

The coeﬃcients in (3.1) are, in fact, binomial coeﬃcients, and the sum of the orders of the two derivatives in each term is 9. (You may ﬁnd the second hint in Problem 6 useful in understanding and remembering this.) Now if it happens, as here, that the derivatives of one factor become zero after the ﬁrst few, the rule saves much work. In (3.1), (d2 /dx2 )(x) = 0 and all higher derivatives of x are zero so we get d9 d9 d8 (x sin x) = x (sin x) + 9 (sin x) = x cos x + 9 sin x. dx9 dx9 dx8

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PROBLEMS, SECTION 3 1.

By Leibniz' rule, write the formula for (dn /dxn )(uv).

Use Problem 1 to ﬁnd the following derivatives. 2.

(d10 /dx10 )(xex)

(d6 /dx6 )(x2 sin x)

d25 /dx25 )(x cos x)

d100 /dx100 )(x2 e−x )

Verify Problem 1. Hints: One method is to use mathematical induction. Another method is to write d (uv) = D(uv) = (Du + Dv )(uv), dx where Du acts only on u and Dv acts only on v, that is, Du (uv) means v(du/dx), etc. Then dn (uv) = (Du + Dv )n (uv). dxn Expand (Du + Dv )n by the binomial theorem and interpret the terms to get Leibniz' rule.

4. RODRIGUES' FORMULA We have obtained the Legendre polynomials as solutions of Legendre's equation when l is an integer; there are other ways of obtaining them. We shall prove that Rodrigues' formula

(4.1)

Pl (x) =

1 dl 2 (x − 1)l 21 l! dxl

gives correctly the Legendre polynomials Pl (x). There are two parts to the proof. First we show that if v = (x2 − 1)l ,

(4.2)

then d l v/dxl is a solution of Legendre's equation; then we show that Pl (1) = 1 in (4.1). To prove the ﬁrst part, ﬁnd dv/dx in (4.2) and multiply it by x2 − 1: (x2 − 1)

(4.3)

dv = (x2 − 1)l(x2 − 1)l−1 · 2x = 2lxv. dx

Diﬀerentiate (4.3) l + 1 times by Leibniz' rule: (x2 − 1) (4.4)

d lv d l+2 v d l+1 v (l + 1)l · 2 · + (l + 1)(2x) + dxl+2 dxl+1 2! dxl d l+1 v d lv = 2lx l+1 + 2l(l + 1) l . dx dx

Simplifying (4.4), we get (Problem 1) (4.5)

(1 − x2 )

d lv dxl

− 2x

d lv dxl

+ l(l + 1)

d lv = 0. dxl

Section 5

Generating Function for Legendre Polynomials

569

This is just Legendre's equation (2.1) with y = d l v/dxl ; thus we see that d l v/dxl = (d l /dxl )(x2 − 1)l is a solution of Legendre's equation as we claimed. It is a polynomial of degree l, and since we have previously called the polynomial solution of degree l the Legendre polynomial Pl (x), this must be it with the possible exception of the numerical factor which must give Pl (1) = 1. A simple method of showing that Pl (1) = 1 for the functions Pl (x) in (4.1) is outlined in Problem 2.

PROBLEMS, SECTION 4 1.

Verify equations (4.4) and (4.5).

Show that Pl (1) = 1, with Pl (x) given by (4.1), in the following way. Factor (x2 −1)l into (x + 1)l (x − 1)1 and diﬀerentiate the product l times by Leibniz' rule. Without writing out very many terms you should see that every term but one contains the factor x − 1 and so becomes zero when x = 1. Use this to evaluate Pl (x) in (4.1) when x = 1 to get Pl (1) = 1.

Find P0 (x), P1 (x), P2 (x), P3 (x), and P4 (x) from Rodrigues' formula (4.1). Check your results by computer. R1 Show that −1 xm Pl (x) dx = 0 if m < l. Hint: Use Rodrigues' formula (4.1) and integrate repeatedly by parts, diﬀerentiating the power of x and integrating the derivative each time.

5. GENERATING FUNCTION FOR LEGENDRE POLYNOMIALS The expression

(5.1)

Φ(x, h) = (1 − 2xh + h2 )−1/2 ,

|h| < 1,

is called the generating function for Legendre polynomials. We shall show that

(5.2)

Φ(x, h) = P0 (x) + hP1 (x) + h P2 (x) + · · · =

∞

hl Pl (x),

l=0

where the functions Pl (x) are the Legendre polynomials. (For discussion of convergence of the series, see Chapter 14, Problem 2.43.) Let us ﬁrst verify a few terms of (5.2). For simplicity put 2xh − h2 = y into (5.1), expand (1 − y)−1/2 in powers of y, then substitute back y = 2xh − h2 and collect powers of h to get · 32 2 y + ··· 2! = 1 + 12 (2xh − h2 ) + 38 (2xh − h2 )2 + · · ·

Φ = (1 − y)−1/2 = 1 + 12 y + (5.3)

1 2

= 1 + xh − 12 h2 + 38 (4x2 h2 − 4xh3 + h4 ) + · · · = 1 + xh + h2 ( 32 x2 − 12 ) + · · ·

= P0 (x) + hP1 (x) + h2 P2 (x) + · · · .

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Chapter 12

This is not a proof that the functions called Pl (x) in (5.2) are really Legendre polynomials, but merely a veriﬁcation of the ﬁrst few terms. To prove in general that the polynomials called Pl (x) in (5.2) are Legendre polynomials we must show that they satisfy Legendre's equation and that they have the property Pl (1) = 1. The latter is easy to prove; putting x = 1 in (5.1) and (5.2), we get (5.4)

1 = 1 + h + h2 + · · · 1−h ≡ P0 (1) + P1 (1)h + P2 (1)h2 + · · · .

Φ(1, h) = (1 − 2h + h2 )−1/2 =

Since this is an identity in h, the functions Pl (x) in (5.2) have the property Pl (1) = 1. To show that they satisfy Legendre's equation, we shall use the following identity which can be veriﬁed from (5.1) by straightforward diﬀerentiation and some algebra (Problem 2): (1 − x2 )

(5.5)

∂2 ∂2Φ ∂Φ + h 2 (hΦ) = 0. − 2x 2 ∂x ∂x ∂h

Substituting the series (5.2) for Φ into (5.5), we get (5.6)

(1 − x )

∞ l=0

Pl (x)

− 2x

∞ l=0

Pl (x)

∞

l(l + 1)hl Pl (x) = 0.

l=0

This is an identity in h, so the coeﬃcient of each power of h must be zero. Setting the coeﬃcient of hl equal to zero, we get (5.7)

(1 − x2 )Pl (x) − 2xPl (x) + l(l + 1)Pl (x) = 0.

This is Legendre's equation, so we have proved that the functions Pl (x) in (5.2) satisfy it as claimed. Recursion Relations The generating function is useful in deriving the recursion relations (also called recurrence relations) for Legendre polynomials. These recursion relations are identities in x and are used (as trigonometric identities are) to simplify work and to help in proofs and derivations. Some examples of recursion relations are: (a)

(5.8)

lPl (x) = (2l − 1)xPl−1 (x) − (l − 1)Pl−2 (x),

(x) = lPl (x), (b) xPl (x) − Pl−1 (x) = lPl−1 (x), (c) Pl (x) − xPl−1

(d) (1 − x2 )Pl (x) = lPl−1 (x) − lxPl (x), (e)

(x) − Pl−1 (x), (2l + 1)Pl (x) = Pl+1

(f)

(1 − x2 )Pl−1 (x) = lxPl−1 (x) − lPl (x).

We shall now derive (5.8a); the problems outline derivations of the other equations. From (5.1) we get

(5.9)

∂Φ = − 21 (1 − 2xh + h2 )−3/2 (−2x + 2h); ∂h ∂Φ = (x − h)Φ. (1 − 2xh + h2 ) ∂h

Section 5

Generating Function for Legendre Polynomials

571

Substituting the series (5.2) and its derivative with respect to h into (5.9), we get (1 − 2xh + h2 )

∞

lhl−1 Pl (x) = (x − h)

l=1

∞

hl Pl (x).

l=0

This is an identity in h so we equate coeﬃcients of hl−1 . Carefully adjusting indices so that we select the term in hl−1 each time, we ﬁnd (5.10)

lPl (x) − 2x(l − 1)Pl−1 (x) + (l − 2)Pl−2 (x) = xPl−1 (x) − Pl−2 (x)

which simpliﬁes to (5.8a). The recursion relation (5.8a) gives the simplest way of ﬁnding any Legendre polynomial when we know the Legendre polynomials for smaller l (Problem 3). Expansion of a Potential The generating function is useful in problems involving the potential associated with any inverse square force. Recall that the gravitational force between two point masses separated by a distance d is proportional to 1/d2 and the associated potential energy is proportional to 1/d. Similarly, the electrostatic force between two electric charges a distance d apart is proportional to 1/d2 and the associated electrostatic potential energy is proportional to 1/d. Example 1. In either case we can write the potential as (5.11)

V =

K , d

where K is an appropriate constant. In Figure 5.1, let the two masses (or charges) be at the heads of vectors r and R. Then, by the law of cosines, the distance between them is

(5.12)

d = |R − r| = R2 − 2Rr cos θ + r2

r 2 r = R 1 − 2 cos θ + R R

and the gravitational or electric potential is

r 2 −1/2 2r K 1− cos θ + . (5.13) V = R R R

Figure 5.1

For |r| < |R|, we make the change of variables (5.14)

r , R x = cos θ. h=

(Note: x is not a coordinate but just a new variable standing for cos θ.) Then in terms of the generating function Φ in (5.1) we have d = R 1 − 2hx + h2 (5.15) K K V = (1 − 2hx + h2 )−1/2 = Φ. R R

572

Series Solutions of Differential Equations

Chapter 12

Using (5.2), we can write the potential V as an inﬁnite series (5.16)

V =

∞ K l h Pl (x) R l=0

or in terms of r and θ [using (5.14)] (5.17)

V =

∞ ∞ K rl Pl (cos θ) rl Pl (cos θ) = K . l R R Rl+1 l=0

l=0

In many applications the distance |R| is much larger than |r|. Then the terms of the series (5.17) decrease rapidly in magnitude because of the factor (r/R)l , and the potential can be approximated by using only a few terms in the series. We can make (5.17) more general and useful by considering the following problem. (We shall discuss the electrical case for deﬁniteness—the gravitational case could be discussed in parallel fashion.) Example 2. Suppose there are a large number of charges qi at points ri . The electrostatic potential Vi at the point R due to the charge qi at ri means the electrostatic potential energy of a pair of charges, namely, a unit charge at R and the charge qi at ri ; this is given by (5.11) and (5.12), or by (5.17), with r = ri , θ = θi , and K = qi · 1 · K , where K is a numerical constant depending on the choice of units: (5.18)

Vi = K qi

∞ rl Pl (cos θi ) i

l=0

Rl+1

The total potential V at R due to all the charges qi is then a sum over i of all the series (5.18), namely ∞ ∞ l ril Pl (cos θi ) i qi ri Pl (cos θi ) (5.19) V = Vi = K qi = K . Rl+1 Rl+1 i i l=0

l=0

Example 3. If, instead of a set of discrete charges, we have a continuous charge distribution, then the sum over i becomes an integral, namely l (5.20) r Pl (cos θ) dq or rl Pl (cos θ)ρ dτ, where ρ is the charge density, and the integral is over the space occupied by the charge distribution. Then (5.19) becomes 1 (5.21) V = K rl Pl (cos θ)ρ dτ. Rl+1 l

The terms of the series (5.21) can be interpreted physically. The l = 0 term is 1 1 ρ dτ = · (total charge). (5.22) R R Thus if R is large enough compared to all the ri or all the values of r at points of the charge distribution, we can approximate the potential of the distribution as

Section 5

Generating Function for Legendre Polynomials

573

that of a single charge at the origin of magnitude equal to the total charge of the distribution. The l = 1 term of the series (5.21) is 1 (5.23) r cos θ ρ dτ. R2 To interpret this recall that the electric dipole moment of a pair of charges +q and −q a distance d apart (as in Figure 5.2) is deﬁned as the vector qd, where d is the vector from −q to +q. Since the vector qd is equal to q(r1 − r2 ) = qr1 − qr2 , we often Figure 5.2 call qr1 and −qr2 the dipole moments of +q and −q about O; then the total dipole moment due to the two charges is just the sum of the two moments. Suppose wecalculate the dipole moment about O of all the charges qi ; this is the vector sum i qi ri cos θi , since θi is the angle between R and ri . In the case of a continuous charge distribution this sum becomes (5.24) r cos θ ρ dτ. Thus we see from (5.23) and (5.24) that the second term of the series (5.21) is 1/R2 times the component in the R direction of the dipole moment of the charge distribution. If you consider the fact that the ﬁrst term of (5.21) involves the total charge (a scalar, that is, a tensor of rank zero) and the second term involves the dipole moment (a vector, that is, a tensor of rank one), it may not surprise you to learn that the third term involves a 2nd -rank tensor known as the quadrupole moment of the charge distribution, the fourth term involves a 3rd -rank tensor known as the octopole moment, etc. (See Problem 15 for more detail.) Example 4. Given a charge or mass distribution, the moments of various ranks and the terms in (5.21) can be computed. The opposite process is often of great interest in applied problems. Consider a satellite circling the earth; it is moving in the gravitational ﬁeld of the earth's mass. If the mass distribution of the earth were spherically symmetric, then only the ﬁrst term would appear in the series for the gravitational potential [this series would be (5.21) with ρ a mass density instead of a charge density]. But since the earth is not a perfect sphere (equatorial bulge, etc.), other terms are present in (5.21) and the corresponding forces aﬀect the motion of satellites. From accurate measurements of the satellite orbits, it is now possible to calculate many terms of the series (5.21). Similarly, in the electrical case, experimental measurements give us information about the distribution of electric charge inside atoms and nuclei; our discussion here and equation (5.21) provide the basis for the interpretation of such measurements, and the terminology used in discussing them.

PROBLEMS, SECTION 5 1.

Find P3 (x) by getting one more term in the generating function expansion (5.3).

Verify (5.5) using (5.1).

Use the recursion relation (5.8a) and the values of P0 (x) and P1 (x) to ﬁnd P2 (x), P3 (x), P4 (x), P5 (x), and P6 (x). [After you have found P3 (x), use it to ﬁnd P4 (x), and so on for the higher order polynomials.]

574 4.

Series Solutions of Differential Equations

Chapter 12

Show from (5.1) that ∂Φ ∂Φ =h . ∂x ∂h Substitute the series (5.2) for Φ, and so prove the recursion relation (5.8b). (x − h)

Diﬀerentiate the recursion relation (5.8a) and use the recursion relation (5.8b) with l replaced by l − 1 to prove the recursion relation (5.8c).

From (5.8b) and (5.8c), obtain (5.8d) and (5.8f). Then diﬀerentiate (5.8d) with respect to x and eliminate Pl−1 (x) using (5.8b). Your result should be the Legendre equation. The derivation of Problems 4 to 6 constitutes an alternative proof [to that of equations (5.5) to (5.7)] that the functions Pl (x) in (5.2) are Legendre polynomials.

Write (5.8c) with l replaced by l + 1 and use it to eliminate the xPl (x) term in (5.8b). You should get (5.8e).

Express each of the following polynomials as linear combinations of Legendre polynomials. Hint: Start with the highest power of x and work down in ﬁnding the correct combination. 8.

5 − 2x

3x2 + x − 1

10.

11.

x − x3

12.

7x4 − 3x + 1

13.

14.

Show that any polynomial of degree n can be written as a linear combination of Legendre polynomials with l ≤ n.

15.

Expand the potential V = K/d in (5.11) in the following way in order to see how the terms depend on the tensors mentioned above. In Figure 5.1 let R have the coordinates X, Y , Z and r have coordinates x, y, z. [Note: The coordinate x here is not the x in (5.14).] Then V =

K = K[(X − x)2 + (Y − y)2 + (Z − z)2 ]−1/2 . d

Consider X, Y , Z as constants and expand V (x, y, z) in a three variable power series about the origin. (See Chapter 4, Section 2, for discussion of two-variable power series and generalize the method.) You should ﬁnd « „ K K X V = + 2 x+ ··· R R R « – »„ 3 X2 K 1 3X Y 2 x 2xy + · · · + ··· + 3 − + · · · + R 2 R2 2 2RR and similar terms in y, z, y 2 , xz, and so on. Now letting r = ri and K = K qi for a charge distribution as in (5.18), and summing (or integrating) over the charge distribution, show that: the ﬁrst term is just (K /R) · total charge; the next group of terms (in x, y, z) involve the three components of the electric dipole moment; the sum of these terms is (K /R2 )·component of the dipole moment in the R direction; the next group (quadratic terms) involve six quantities of the form ZZZ and similar y, z integrals, x2 ρ dτ ZZZ 2xyρ dτ and similar xz, yz integrals. If we split the 2xy term into xy and yx (and similarly for the 2xz and 2yz terms), we have the nine components of a 2nd -rank tensor called the quadrupole moment. Use the "direct product" method of Chapter 10, Section 2 to show that it is a 2nd -rank

Section 6

Complete Sets of Orthogonal Functions

575

tensor. (Remember from Chapter 10 that, by deﬁnition, x, y, z are the components of a vector, that is, a 1st -rank tensor.) Just as two charges +q and −q form an + s s electric dipole, so four charges like this - s s+- form an electric quadrupole and the quadratic terms in the V series give the potential of such a charge conﬁguration. Again using Chapter 10, Section 2, show that the third-order terms in x, y, z form a 3rd -rank tensor; this is known as the octopole moment. It can be represented physically by two quadrupoles side by side just as the quadrupole above was formed by two dipoles side by side.

6. COMPLETE SETS OF ORTHOGONAL FUNCTIONS Orthogonal functions Two vectors A and B are orthogonal (perpendicular) if their scalar product is zero, that is, if (6.1) Ai Bi = 0. i

[See Chapter 3, equations (4.12) and (10.3).] Recall from Chapter 3, Section 14, that we can think of functions as elements of a vector space. Then by analogy with (6.1) we say that two functions A(x) and B(x) are orthogonal on (a, b) if

(6.2)

A(x)B(x) dx = 0.

If the functions A(x) and B(x) are complex, the deﬁnition of orthogonality is [see Chapter 3, equation (14.3)] A(x) and B(x) are orthogonal on (a, b) if (6.3) a

A∗ (x)B(x) dx = 0,

∗

where A (x) is the complex conjugate of A(x) (see Problem 1). Since (6.3) is identical with (6.2) if A(x) and B(x) are real, we can take (6.3) as the general deﬁnition of orthogonality of A(x) and B(x) on (a, b). If we have a whole set of functions An (x) where n = 1, 2, 3, · · · , and b 0 if m = n, ∗ An (x)Am (x) dx = (6.4) const. = 0 if m = n, a we call the functions An (x) a set of orthogonal functions. We have already used such sets of functions in Fourier series. Recall that [Chapter 7, equation (5.2)] π 0 if m = n, (6.5) sin nx sin mx dx = π if m = n = 0. −π Thus sin nx is a set of orthogonal functions on (−π, π), or in fact on any other interval of length 2π. Similarly, the functions cos nx are orthogonal on (−π, π).

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Series Solutions of Differential Equations

Chapter 12

Also the whole set consisting of sin nx and cos nx is a set of orthogonal functions on (−π, π) since π sin nx cos mx dx = 0 for any n and m. −π

We have used complex functions also, namely the set einx . For this set the orthogonality property is given by (6.4), namely π π 0 if m = n, inx ∗ imx −inx imx (6.6) (e ) e dx = e e dx = 2π if m = n. −π −π Recall that sin nx and cos nx (or einx ) were the functions used in a Fourier series expansion on (−π, π). You should now realize that it was the orthogonality propertythat we used in getting the coeﬃcients. When we multiplied the equation imx f (x) = ∞ by e−inx and integrated, the integrals of all the terms in m=−∞ cm e the series except the cn term were zero by the orthogonality property (6.6). There are many other sets of orthogonal functions besides the trigonometric or exponential ones. Just as we used the sine-cosine or exponential set to expand a function in a Fourier series, so we can expand a function in a series using other sets of orthogonal functions. We shall show this for the functions Pl (x) after we prove that they are orthogonal. Complete sets There is another important point to consider when we want to expand a function in terms of a set of orthogonal functions. Again let us consider the vector analogy. We write vectors in terms of their components and the basis vectors i, j, k. In two dimensions we need only two basis vectors, say i and j. But if we tried to write three-dimensional vectors in terms of just i and j, there would be some vectors we could not represent; we say that (in three dimensions) i and j are not a complete set of basis vectors. A simple way of expressing this (which generalizes to n dimensions) is to say that there is another vector (namely k) which is orthogonal to both i and j. Thus we deﬁne a set of orthogonal basis vectors as complete if there is no other vector orthogonal to all of them (in the space of the number of dimensions we are considering). By analogy, we deﬁne a set of orthogonal functions as complete on a given interval if there is no other function orthogonal to all of them on that interval. Now it is easy to see that there are some vectors in three dimensions which cannot be represented using only i and j . Similarly, there are functions which cannot be represented by a series using an incomplete set of orthogonal functions. We have discussed one example of this in Fourier series (Chapter 7, Section 11). If we are trying to represent a sound wave by a Fourier series, we must not leave out any of the harmonics; that is, the set of functions sin nx, cos nx on (−π, π) would not be complete if we left out some of the values of n. As another example, the set of functions sin nx is an orthogonal set on (−π, π). However, it is not complete; to have a complete set we must include also the functions cos nx, and you should recall that this is what we did in Fourier series. On the other hand, sin nx is a complete set on (0, π); we used this fact when we started with a function given on (0, π), deﬁned it on (−π, 0) to make it odd, and then expanded it in a sine series. Similarly, cos nx is a complete set on (0, π). In this chapter, we are particularly interested in the fact (which we state without proof) that the Legendre polynomials are a complete set on (−1, 1).

Section 7

Orthogonality of the Legendre Polynomials

PROBLEMS, SECTION 6

A∗ (x)B(x) dx = 0 [see (6.3)], then

577

A(x)B ∗(x) dx = 0, and vice

Show that if versa.

Show that the functions einπx/l , n = 0, ±1, ±2, · · · , are a set of orthogonal functions on (−l, l).

Show that the functions x2 and sin x are orthogonal on (−1, 1). Hint: See Chapter 7, Section 9.

Show that the functions f (x) and g(x) are orthogonal on (−a, a) if f (x) is even and g(x) is odd. (See Problem 3.) R1 Evaluate −1 P0 (x)P2 (x) dx to show that these functions are orthogonal on (−1, 1).

Show in two ways that Pl (x) and Pl (x) are orthogonal on (−1, 1). Hint: See Problem 4 and Problem 4.4.

Show that the set of functions sin nx is not a complete set on (−π, π) by trying to expand the function f (x) = 1 on (−π, π) in terms of them.

Show that the functions cos (n + 12 )x, n = 0, 1, 2, · · · , are orthogonal on (0, π). Expand the function f (x) = 1 on (0, π) in terms of them. (Is it a complete set? See Chapter 7, end of Section 11.) R1 Show in two ways that −1 P2n+1 (x) dx = 0.

7. ORTHOGONALITY OF THE LEGENDRE POLYNOMIALS We are going to show that the Legendre polynomials are a set of orthogonal functions on (−1, 1), that is, that (7.1)

Pl (x)Pm (x) dx = 0

−1

unless l = m.

To prove this we rewrite the Legendre diﬀerential equation (2.1) in the form d [(1 − x2 )Pl (x)] + l(l + 1)Pl (x) = 0. dx

(7.2)

Write (7.2) for Pl (x) and for Pm (x); multiply the Pl (x) equation by Pm (x), and the Pm (x) equation by Pl (x) and subtract to get (7.3)

Pm (x)

d d [(1 − x2 )Pl (x)] − Pl (x) [(1 − x2 )Pm (x)] dx dx + [l(l + 1) − m(m + 1)]Pm (x)Pl (x) = 0.

The ﬁrst two terms of (7.3) can be written as (7.4)

d [(1 − x2 )(Pm Pl − Pl Pm )] dx

where, for simplicity, we have used Pl = Pl (x), and so forth. Integrating (7.3) between −1 and 1 and using (7.4), we get 1 1 (7.5) (1 − x2 )(Pm Pl − Pl Pm ) −1 + [l(l + 1) − m(m + 1)] Pm (x)Pl (x) dx = 0. −1

578

Series Solutions of Differential Equations

Chapter 12

The integrated term is zero because (1 − x2 ) = 0 at x = ±1, and Pm (x) and Pl (x) are ﬁnite. The bracket in front of the integral is not zero unless m = l. Therefore the integral must be zero for l = m and we have (7.1). The method we have used here is a standard one which can be used for many other sets of orthogonal functions to prove the orthogonality property by using the diﬀerential equation satisﬁed by the functions. (See Problems 1 and 2; also see Section 19 and Problems 10.3, 22.7, 22.16, 22.24, 23.24b, and 23.25.) Recall (Section 5, Problems 8 to 14) that we can write any polynomial of degree n as a linear combination of Legendre polynomials of degree ≤ n. Thus, by (7.1), any polynomial of degree < l is orthogonal to Pl (x):

(7.6) −1

Pl (x) · (any polynomial of degree < l) dx = 0.

PROBLEMS, SECTION 7 1.

By a method similar to that we used to show that the Pl 's are an orthogonal set of functions on (−1, 1), show that the solutions of yn = −n2 yn are an orthogonal set on (−π, π). Hint: You should know what functions the solutions yn are; do not use the functions themselves, but you may use their values and the values of their derivatives at −π and π to evaluate the integrated part of your equation.

Following the method in (7.2) to (7.5), show that the solutions of the diﬀerential equation (1 − x2 )y − 2xy + [l(l + 1) − (1 − x2 )−1 ]y = 0

are a set of orthogonal functions on (−1, 1). R1 Use Problem 4.4 to show that −1 Pm (x)Pl (x) dx = 0 if m < l. Comment: This amounts to a diﬀerent proof of orthogonality—via Rodrigues' formula instead of the diﬀerential equation. R1 Use equation (7.6) to show that −1 Pl (x)Pl−1 (x) dx = 0. Hint: What is the degree R1 of Pl−1 (x)? Also show that −1 Pl (x)Pl+1 (x) dx = 0. R1 R1 Show that −1 Pl (x) dx = 0, l > 0. Hint: Consider −1 Pl (x)P0 (x) dx.

Show that P1 (x) is orthogonal to [Pl (x)]2 on (−1, 1). Hint: See Problem 6.4.

8. NORMALIZATION OF THE LEGENDRE POLYNOMIALS If we take the scalar product of a vector with itself, A · A = A2 , we get the square of the length (or norm) of the vector. If we divide A by its length, we get a unit vector. In Chapter 3, Section 14 we showed that we can think of functions as the vectors of a vector space and we deﬁned the norm N of a function A(x) on (a, b) by [see Chapter 3, equation (14.2)] b b ∗ A (x)A(x) dx = |A(x)|2 dx = N 2 . a

We also say that the function N −1 A(x) is normalized ; like a unit vector, a normalized function has norm = 1. The factor N −1 is called the normalization factor. For

Section 8

Normalization of the Legendre Polynomials

579

π example, 0 sin2 nx dx = π/2. Then the norm of sin nx on (0, π) is π/2, and the functions 2/π sin nx have norm 1 on (0, π), that is, they are normalized. A set of normalized orthogonal functions is called orthonormal. For example, 2/π sin nx is an orthonormal set on (0, π). Such a set of orthonormal functions may remind us of i, j, k; like these unit vectors, the functions are orthogonal and have norm = 1. If the elements of a vector space are functions, we can then use a (complete) orthonormal subset of the functions as the basis vectors of the space. We think of expanding other functions in terms of them (by analogy with writing a three-dimensional vector in terms of i, j, k). For example, suppose we have expanded a given function f (x) on (0, π) in a Fourier sine series: 2 f (x) = Bn sin nx. π We call f (x) a vector with components Bn in terms of the basis vectors 2/π sin nx. Thus, in quantum mechanics, we often refer to a function which describes the state of a physical system as either a state function or a state vector. Just as we can write a three-dimensional vector in terms of i, j, k, or in terms of another basis, say er , eθ , eφ , so we can expand a given f (x) in terms of another orthonormal set of functions and ﬁnd its components relative to this new basis. In Section 9, we shall see how to expand functions in Legendre series. Just as we needed the norm of sin nx in Fourier series, so we shall need the norm of Pl (x) in expanding functions in Legendre series. We shall prove that

(8.1) −1

[Pl (x)]2 dx =

2 . 2l + 1

Then the functions (2l + 1)/2 Pl (x) are an orthonormal set of functions on (−1, 1). To prove (8.1), we use the recursion relation (5.8b), namely, lPl (x) = xPl (x) − Pl−1 (x).

(8.2)

Multiply (8.2) by Pl (x) and integrate to get 1 1 [Pl (x)]2 dx = xPl (x)Pl (x) dx − (8.3) l −1

−1

Pl (x)Pl−1 (x) dx.

The last integral is zero by Problem 7.4. To evaluate the middle integral in (8.3), we integrate by parts: 1 1 x 1 1 xPl (x)Pl (x) dx = [Pl (x)]2 − [Pl (x)]2 dx 2 2 −1 −1 −1 1 1 =1− [Pl (x)]2 dx 2 −1 (see Problem 2.2). Then (8.3) gives 1 1 1 [Pl (x)]2 dx = 1 − [Pl (x)]2 dx l 2 −1 −1

580

Series Solutions of Differential Equations

Chapter 12

which simpliﬁes to (8.1). We can combine (7.1) and (8.1) to write

(8.4) −1

Pl (x)Pm (x) dx =

2 δlm . 2l + 1

PROBLEMS, SECTION 8 Find the norm of each of the following functions on the given interval and state the normalized function. 1.

cos nx

on (0, π)

P2 (x) 2

on (−1, 1)

xe−x/2

xe−x

Give another proof of (8.1) as follows. Multiply (5.8e) by Pl (x) and integrate from −1 to 1. To evaluate the middle term, integrate by parts. Then use Problem 7.4.

Using (8.1), write the ﬁrst four normalized Legendre polynomials and compare with the answers we found by a diﬀerent method in Chapter 3, Section 14, Example 6.

on (0, ∞)

e−x

on (−∞, ∞)

Hint: See Chapter 4, Section 12.

9. LEGENDRE SERIES Since the Legendre polynomials form a complete orthogonal set on (−1, 1), we can expand functions in Legendre series just as we expanded functions in Fourier series. Example 1. Expand in a Legendre series the function f (x) given by (9.1)

f (x) =

0, −1 < x < 0, 1, 0 < x < 1,

(see Figure 9.1). We put (9.2)

f (x) =

∞

cl Pl (x).

Figure 9.1

l=0

Our problem is to ﬁnd the coeﬃcients cl . We do this by a method parallel to the one we used in ﬁnding the formulas for the coeﬃcients in a Fourier series. We multiply both sides of (9.2) by Pm (x) and integrate from −1 to 1. Because the Legendre polynomials are orthogonal, all the integrals on the right are zero except the one containing cm , and we can evaluate it by (8.1). Thus we get

(9.3) −1

f (x)Pm (x) dx =

∞ l=0

−1

Pl (x)Pm (x) dx = cm ·

2 . 2m + 1

Section 9

Legendre Series

Using this result in our example (9.1), we ﬁnd 1 1 f (x)P0 (x) dx = c0 [P0 (x)]2 dx or

−1 1

−1 1 −1

f (x)P1 (x) dx = c1 f (x)P2 (x) dx = c2

−1 1 −1

[P1 (x)]2 dx

[P2 (x)]2 dx

dx = c0 · 2, x dx = c1 · 23 ,

581

c0 = 12 ; c1 = 34 ;

( 32 x2 − 12 ) dx = c2 · 25 ,

c2 = 0.

Continuing in this way we ﬁnd for the function given in (9.1) (9.4)

f (x) = 12 P0 (x) + 34 P1 (x) −

7 16 P3 (x)

11 32 P5 (x)

+ ··· .

It is unnecessary for f (x) to be continuous as it must be for expansion in a Maclaurin series. Just as for Fourier series, the Dirichlet conditions (see Chapter 7, Section 6) are a convenient set of suﬃcient conditions for a function f (x) to be expandable in a Legendre series. If f (x) satisﬁes the Dirichlet conditions on (−1, 1), then at points inside (−1, 1) (not necessarily at the endpoints), the Legendre series converges to f (x) anywhere f (x) is continuous and converges to the midpoint of the jump at discontinuities. Example 2. Here is an interesting fact about Legendre series. Sometimes we want to ﬁt a given curve as closely as possible by a polynomial of a given degree, say a cubic. The criterion of "Least Squares" is often used to determine the best ﬁt. This means that if, say, we want to ﬁt a given f (x) on (−1, 1) by a cubic, we ﬁnd the coeﬃcients a, b, c, d so that 1 (9.5) [f (x) − (ax3 + bx2 + cx + d)]2 dx −1

is as small as possible. Then f (x) ∼ = ax3 + bx2 + cx + d

(9.6)

is called the best approximation (by a cubic) in the least squares sense. It can be proved that an expansion (as far as the desired degree of the polynomial approximation) in Legendre polynomials gives this best least squares approximation (Problem 16).

PROBLEMS, SECTION 9 Expand the following functions in Legendre series. ( ( −1, −1 < x < 0 0, 1. f (x) = 2. f (x) = 1, 0 l, there is a polynomial solution v(x) = L2l+1 λ−l−1 (x).

27.

The functions which are of interest in the theory of the hydrogen atom are "x" fn (x) = xl+1 e−x/2n L2l+1 n−l−1 n where n and l are integers with 0 ≤ l ≤ n − 1. (Note that here k = 2l + 1, and we have replaced n by n − l − 1; in this problem L32 , say, means l = 1, n = 4.) For l = 1, show that « „ " x2 5x x" + . f2 (x) = x2 e−x/4 , f3 (x) = x2 e−x/6 4 − , f4 (x) = x2 e−x/8 10 − 3 4 32 Hint: Find the polynomials L30 , L31 , L32 as in Problem 20 (with k = 3) and then replace x by x/n. The functions fn (x) are very diﬀerent from those in (22.29) since x/n changes from one function to the next. However, it can be shown (Problem 23.25) that for one ﬁxed l, the set of functions fn (x), n ≥ l + 1, is an orthogonal set on (0, ∞). Verify this for these three functions. Hint: The integrals are Γ functions—see Chapter 11, Section 3.

28.

Repeat Problem 27 for l = 0, n = 1, 2, 3.

29.

Show that Rp = xp − D and Lp = xp + D where D = d/dx, are raising and lowering operators for Bessel functions, that is, show that Rp Jp (x) = Jp+1 (x) and Lp Jp (x) = Jp−1 (x). Hint: Use equations (15.5). Note that these operators depend on p as well as x, so they are not as simple as the Hermite function raising and lowering operators (22.7) and (22.8). If you want to operate, say, on Jp+1 , you must change p in R or L to p + 1, etc. Making this adjustment, show that the equations LRJp = Jp and RLJp = Jp both give Bessel's equation.

30.

Find raising and lowering operators (see Problem 29) for spherical Bessel functions. Hint: See problems 17.15 and 17.16.

Section 23

Miscellaneous Problems

615

23. MISCELLANEOUS PROBLEMS 1.

Use the generating function (5.1) to ﬁnd the normalizing factor for Legendre polynomials. Hint: Square equation (5.2) with Φ as in (5.1) and integrate from −1 to 1. Expand the integral of Φ2 (after integrating) in powers of h and equate coeﬃcients.

Use the generating function to show that P2n+1 (0) = 0

6. 7. 8.

and

P2n (0) =

! (−1)n (2n − 1)!! −1/2 = ; 2n n! n

Hints: Expand (5.1) for x = 0 in powers of h and equate coeﬃcients of powers of h in (5.2). See Chapter 1, Section 13C. R1 Use (5.8e) to show that 0 Pl (x) dx = [Pl−1 (0) − Pl+1 (0)]/(2l + 1). Then use the result of Problem 2 and Chapter 1, Section 13C to show that ! Z 1 Z 1 (−1)n (2n − 1)!! 1/2 P2n (x) dx = 0, n > 0, and P2n+1 (x) dx = = . 2n+1 (n + 1)! n+1 0 0 Obtain the binomial coeﬃcient result in Problem 3 directly by integrating the generating function from 0 to 1 and expanding the result in powers of h. Equate the coeﬃcients of hl in the identity obtained by integrating (5.2) from 0 to 1, and use Chapter 1, Section 13C. P Show that n 0 (2l + 1)Pl (x) = Pn (x) + Pn+1 (x). Hint: Use mathematical induction as follows: (a)

Verify the formula for n = 0.

(b)

Assuming that the formula is true for l = n − 1, show [using (5.8e)] that it is true for l = n.

1 Using (10.6), (5.8), and Problem 2, evaluate P2n+1 (0). Rb Show that, for l > 0, a Pl (x) dx = 0 if a and b are any two maximum or minimum points of Pl (x), or ±1. Hint: Integrate (7.2).

Show that (2l + 1)(x2 − 1)Pl (x) = l(l + 1)[Pl+1 (x) − Pl−1 (x)]. Hint: Integrate (5.8e) and (7.2) and combine the results. Thus show that Pl+1 (x) = Pl−1 (x) at maximum and minimum points of Pl (x) and at ±1. R1 Evaluate −1 xPl (x)Pn (x) dx, n ≤ l. Hint: Write (5.8a) with l replaced by l + 1, multiply by Pn (x) and integrate.

Use the recursion relations of Section 15 (and, as needed, Sections 12, 13, 17, and 20) to verify the formulas in Problems 10 to 14. Z ∞ 1 10. . x−p Jp+1 (x) dx = p 2 Γ(1 + p) 0 Z ∞ 1 11. x−n jn+1 (x) dx = . (2n + 1)!! 0 12. 13. 14.

d Kp (x) = − 12 [Kp−1 (x) + Kp+1 (x)]. dx d jn (x) = [njn−1 (x) − (n + 1)jn+1 (x)]/(2n + 1). dx Z x3 J0 (x) dx = x3 J1 (x) − 2x2 J2 (x).

616 15.

Series Solutions of Differential Equations

Chapter 12

Use the result of Problem 18.4 and equations (17.4) to show that jn (x)yn (x) − yn (x)jn (x) =

1 . x2

Then use Problem 17.14 (for y's as well as j's) to show that 1 . x2

jn (x)yn−1 (x) − yn (x)jn−1 (x) = 16.

Use (15.2) repeatedly to show that « „ 1 d J0 (x), J1 (x) = x − x dx and, in general,

J2 (x) = x

„

1 d − x dx

«2 J0 (x),

«n „ 1 d J0 (x). Jn (x) = xn − x dx

17.

Let α be the ﬁrst positive zero of J1 (x) and let βn be the zeros of J0 (x). In terms of α and βn , ﬁnd the values of x at the maximum and minimum points of the function y = xJ1 (αx). By computer or tables, ﬁnd the needed zeros and compute the coordinates of the maximum and minimum points on the graph of y(x) for x between 0 and 5. Computer plot y from x = 0 to 5 and compare your computed maximum and minimum points with what the plot shows.

18.

(a)

Make the change of variables z = ex in the diﬀerential equation y + e2x y = 0, and so ﬁnd a solution of the diﬀerential equation in terms of Bessel functions.

(b)

Make the change of variables z = ex /2 in the diﬀerential equation xy − y + 2 x3 (ex − p2 )y = 0, and solve the equation in terms of Bessel functions.

(a)

The generating function for Bessel functions of integral order p = n is

19.

−1

Φ(x, h) = e(1/2)x(h−h

)

∞ X

hn Jn (x).

n=−∞

By expanding the exponential in powers of x(h − h−1 ) show that the n = 0 term is J0 (x) as claimed. (b)

Show that

„ «2 ∂Φ ∂ ∂2Φ 2 + x Φ − h Φ = 0. + x ∂x2 ∂x ∂h P n Use this result and Φ(x, h) = ∞ n=−∞ h Jn (x) to show that the functions Jn (x) satisfy Bessel's equation. By considering the terms in hn in the expansion of −1 e(1/2)x(h−h ) in part (a), show that the coeﬃcient of hn is a series starting with the term (1/n!)(x/2)n . (You have then proved that the functions called Jn (x) in the expansion of Φ(x, h) are indeed the Bessel functions of integral order previously deﬁned by (12.9) and (13.1) with p = n.) x2

Section 23 20.

Miscellaneous Problems

617

In the generating function equation of Problem 19, put h = eiθ and separate real and imaginary parts to derive the equations cos(x sin θ) = J0 (x) + 2J2 (x) cos 2θ + 2J4 (x) cos 4θ + · · · = J0 (x) + 2

∞ X

J2n (x) cos 2nθ,

n=1

sin(x sin θ) = 2[J1 (x) sin θ + J3 (x) sin 3θ + · · · ] =2

∞ X

J2n+1 (x) sin(2n + 1)θ.

n=0

These are Fourier series with Bessel functions as coeﬃcients. (In fact the Jn 's for integral n are often called Bessel coeﬃcients because they occur in many series like these.) Use the formulas for the coeﬃcients in a Fourier series to ﬁnd integrals representing Jn for even n and for odd n. Show that these results can be combined to give Z 1 π Jn (x) = cos(nθ − x sin θ) dθ π 0 for all integral n. These series and integrals are of interest in astronomy and in the theory of frequency modulated waves. 21.

In the generating function equation, Problem 19, put x = iy and h = −ik and show that ∞ X −1 e(1/2)y(k+k ) = kn In (y). n=−∞

22.

In the cos(x sin θ) series of Problem 20, let θ = 0, and then let θ = π/2, and add the results to show that (recall Problem 13.2) ∞ X n=−∞

J4n (x) = 12 (1 + cos x).

23.

Solve by power series (1 − x2 )y − xy + n2 y = 0. The polynomial solutions of this equation with coeﬃcients determined to make y(1) = 1 are called Chebyshev polynomials Tn (x). Find T0 , T1 , and T2 .

24.

(a)

(b)

25.

The following diﬀerential equation is often called a Sturm-Liouville equation: d [A(x)y ] + [λB(x) + C(x)]y = 0 dx (λ is a constant parameter). This equation includes many of the diﬀerential equations of mathematical physics as special cases. Show that the following equations can be written in the Sturm-Liouville form: the Legendre equation (7.2); Bessel's equation (19.2) for a fixed p, that is, with the parameter λ corresponding to α2 ; the simple harmonic motion equation y = −n2 y; the Hermite equation (22.14); the Laguerre equations (22.21) and (22.26). By following the methods of the orthogonality proofs in Sections 7 and 19, show that if y1 and y2 are two solutions of the Sturm-Liouville equation (corresponding to the two values λ1 and λ2 of the parameter λ), then y1 and y2 are orthogonal on (a, b) with respect to the weight function B(x) if A(x)(y1 y2 −y2 y1 )|ba = 0.

In Problem 22.26, replace x by x/n in the y diﬀerential equation and set λ = n to show that the diﬀerential equation satisﬁed by the functions fn (x) in Problem 22.27 is « „ 1 l(l + 1) 1 y = 0. y + − 2 − x 4n x2 Hence show by Problem 24 that the functions fn (x) are orthogonal on (0, ∞).

618 26.

Series Solutions of Differential Equations

Chapter 12

P l Verify Bauer's formula eixw = ∞ as follows. Write the integral 0 (2l +1)i jl (x)Pl (w)P cl Pl (w). You want to show for the coeﬃcients cl in the Legendre series for eixw = that cl (x) = (2l + 1)il jl (x). First show that y = cl (x) satisﬁes the diﬀerential equation (Problem 17.6) for spherical Bessel functions. Hints: Diﬀerentiate with respect to x under the integral sign to ﬁnd y and y ; substitute into the left side of the diﬀerential equation. Now integrate by parts with respect to w to show that the integrand is zero because Pl (w) satisﬁes Legendre's equation. Thus cl (x) must be a linear combination of jl (x) and nl (x). Now consider the cl (x) integral for x; expand eiwx in series and evaluate the lowest term (which is xl since R 1 small n w P (w) dw = 0 for n < l). Compare with the approximate formulas for j1 (x) l −1 and nl (x) in Section 20.

27.

Show that R = lx − (1 − x2 )D and L = lx + (1 − x2 )D, where D = d/dx, are raising and lowering operators for Legendre polynomials [compare Hermite functions, (22.1) to (22.11) and Bessel functions, Problems 22.29 and 22.30]. More precisely, show that RPl−1 (x) = lPl (x) and LPl (x) = lPl−1 (x). Hint: Use equations (5.8d) and (5.8f). Note that, unlike the raising and lowering operators for Hermite functions, here R and L depend on l as well as x, so you must be careful about indices. The L operator operates on Pl , but the R operator as given operates on Pl−1 to produce lPl . [If you prefer, you could replace l by l + 1 to rewrite R as (l + 1)x − (1 − x2 )D; then it operates on Pl to produce (l + 1)Pl+1 .] Assuming that all Pl (1) = 1, solve LP0 (x) = 0 to ﬁnd P0 (x) = 1, and then use raising operators to ﬁnd P1 (x) and P2 (x).

28.

Show that the functions J0 (t) and J0 (π − t) are orthogonal on (0, π). Hints: See the Laplace transform table (page 469), L23 and L24 with g = h = J0 . What is the inverse transform of (p2 + a2 )−1 ?

29.

Show that the Fourier cosine transform (Chapter 7, Section 12) of J0 (x) is 8r > < 2√ 1 , 0 ≤ α < 1, π 1 − α2 > : 0, α > 1.

30.

R∞ Hence show that 0 J0 (x) dx = 1. Hints: Show that the integral in Problem 20 R π/2 gives J0 (x) = (2/π) 0 cos(x sin θ) dθ. (Replace θ by π −θ in the π/2 to π integral.) Let sin θ = α to ﬁnd J0 as a cosine transform; write the inverse transform. Now let α = 0. R∞ Use the results of Chapter 7, Problems 12.18 and 13.19 to evaluate 0 [j1 (α)]2 dα.

CHAPTER

Partial Differential Equations 1. INTRODUCTION Many of the problems of mathematical physics involve the solution of partial differential equations. The same partial diﬀerential equation may apply to a variety of physical problems; thus the mathematical methods which you will learn in this chapter apply to many more problems than those we shall discuss in the illustrative examples. Let us outline the partial diﬀerential equations we shall consider, and the kinds of physical problems which lead to each of them. (1.1)

Laplace's equation

∇2 u = 0

The function u may be the gravitational potential in a region containing no mass, the electrostatic potential in a charge-free region, the steady-state temperature (that is, temperature not changing with time) in a region containing no sources of heat, or the velocity potential for an incompressible ﬂuid with no vortices and no sources or sinks. (1.2)

Poisson's equation

∇2 u = f (x, y, z)

The function u may represent the same physical quantities listed for Laplace's equation, but in a region containing mass, electric charge, or sources of heat or ﬂuid, respectively, for the various cases. The function f (x, y, z) is called the source density; for example, in electricity it is proportional to the density of the electric charge. (1.3)

The diﬀusion or heat ﬂow equation

∇2 u =

1 ∂u α2 ∂t

Here u may be the non-steady-state temperature (that is, temperature varying with time) in a region with no heat sources; or it may be the concentration of a diﬀusing substance (for example, a chemical, or particles such as neutrons). The quantity α2 is a constant known as the diﬀusivity. (1.4)

Wave equation

∇2 u =

1 ∂2u v 2 ∂t2 619

620

Partial Differential Equations

Chapter 13

Here u may represent the displacement from equilibrium of a vibrating string or membrane or (in acoustics) of the vibrating medium (gas, liquid, or solid); in electricity u may be the current or potential along a transmission line; or u may be a component of E or B in an electromagnetic wave (light, radio waves, etc.). The quantity v is the speed of propagation of the waves; for example, for light in a vacuum it is c, the speed of light, and for sound waves it is the speed at which ∂2 sound travels in the medium under consideration. The operator ∇2 − c12 ∂t 2 is called the d'Alembertian. (1.5)

Helmholtz equation

∇2 F + k 2 F = 0

As you will see later, the function F here represents the space part (that is, the time-independent part) of the solution of either the diﬀusion or the wave equation. (1.6)

Schr¨ odinger equation

−

¯2 2 h ∂ ∇ Ψ + V Ψ = i¯h Ψ 2m ∂t

This is the wave equation of quantum mechanics. In√this equation, h ¯ is Planck's constant divided by 2π, m is the mass of a particle, i = −1, and V is the potential energy of the particle. The wave function Ψ is complex, and its absolute square is proportional to the position probability of the particle. We shall be principally concerned with the solution of these equations rather than their derivation. If you like, you could say that it is true experimentally that the physical quantities mentioned above satisfy the given equations. However, it is also true that the equations can be derived from somewhat simpler experimental assumptions. Let us indicate brieﬂy an example of how this can be done. In Chapter 6, Sections 10 and 11, we considered the ﬂow of a ﬂuid. We showed (Chapter 6, Problem 10.15) that ∇ · v = 0 for an incompressible ﬂuid in a region containing no sources or sinks. If it is also true that there are no vortices (that is, the ﬂow is irrotational), then curl v = 0, and v can be written as the gradient of a scalar function: v = ∇u. Combining these two equations, we have ∇ · ∇u = ∇2 u = 0. The function u is called the velocity potential and we see that (under the given conditions) it satisﬁes Laplace's equation as we claimed. A few more examples of such derivations are outlined in the problems. In the following sections, we shall consider a number of physical problems to illustrate the very useful method of solving partial diﬀerential equations known as separation of variables (no relation to the same term used in ordinary diﬀerential equations, Chapter 8). In Sections 2 to 4, we consider problems in rectangular coordinates leading to Fourier series solutions—problems similar to those solved by Fourier. In later sections, we consider use of other coordinate systems (cylindrical, spherical) leading to solutions using Legendre or Bessel series.

PROBLEMS, SECTION 1 1.

Assume from electrostatics the equations ∇ · E = ρ/0 and E = −∇φ (E = electric ﬁeld, ρ = charge density, 0 = constant, φ = electrostatic potential). Show that the electrostatic potential satisﬁes Laplace's equation (1.1) in a charge-free region and satisﬁes Poisson's equation (1.2) in a region of charge density ρ.

(a)

Show that the expression u = sin (x − vt) describing a sinusoidal wave (see Chapter 7, Figure 2.3), satisﬁes the wave equation (1.4). Show that, in general,

Section 2

Laplace's Equation; Steady-State Temperature in a Rectangular Plate

621

u = f (x − vt) and u = f (x + vt) satisfy the wave equation, where f is any function with a second derivative. This is the d'Alembert solution of the wave equation. (See Chapter 4, Section 11, Example 1.) The function f (x − vt) represents a wave moving in the positive x direction and f (x + vt) represents a wave moving in the opposite direction. (b)

Show that u(r, t) = (1/r)f (r − vt) and u(r, t) = (1/r)f (r + vt) satisfy the wave equation in spherical coordinates. [Use the ﬁrst term of (7.1) for ∇2 u since here u is independent of θ and φ.] These functions represent spherical waves spreading out from the origin or converging on the origin.

Assume from electrodynamics the following equations which are valid in free space. (They are called Maxwell's equations.) ∇·E=0 ∂B ∇×E=− ∂t

∇·B=0 ∇×B=

1 ∂E c2 ∂t

where E and B are the electric and magnetic ﬁelds, and c is the speed of light in a vacuum. From them show that any component of E or B satisﬁes the wave equation (1.4) with v = c. 4.

Obtain the heat ﬂow equation (1.3) as follows: The quantity of heat Q ﬂowing across a surface is proportional to the normal component of the (negative) temperature gradient, (−∇T ) · n. Compare Chapter 6, equation (10.4), and apply the discussion of ﬂow of water given there to the ﬂow of heat. Thus show that the rate of gain of heat per unit volume per unit time is proportional to ∇ · ∇T . But ∂T /∂t is proportional to this gain in heat; thus show that T satisﬁes (1.3).

2. LAPLACE'S EQUATION; STEADY-STATE TEMPERATURE IN A RECTANGULAR PLATE We want to solve the following problem: A long rectangular metal plate has its two long sides and the far end at 0◦ and the base at 100◦ (Figure 2.1). The width of the plate is 10 cm. Find the steady-state temperature distribution inside the plate. (This problem is mathematically identical to the problem of ﬁnding the electrostatic potential in the region 0 < x < 10, y > 0, if the given temperatures are replaced by potentials—see, for example, Jackson, 3rd edition, p.73) To simplify the problem, we shall assume at ﬁrst that the plate is so long compared to its width that we may make the mathematical approximation that it extends to inﬁnity in the y direction. It is then called a semi-inﬁnite plate. This is a good approximation if we are interested in temperatures not too near the far end. The temperature T satisﬁes Laplace's equation inside the plate where there are no sources of heat, that is, (2.1)

∇2 T = 0

∂2T ∂2T + =0 2 ∂x ∂y 2

We have written ∇2 in rectangular coordinates because the boundary of the plate is rectangular

Figure 2.1

622

Partial Differential Equations

Chapter 13

and we have omitted the z term because the plate is in two dimensions. To solve this equation, we are going to try a solution of the form (2.2)

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

where, as indicated, X is a function only of x, and Y is a function only of y. Immediately you may raise the question: But how do we know that the solution is of this form? The answer is that it is not! However, as you will see, once we have solutions of the form (2.2) we can combine them to get the solution we want. [Note that a sum of solutions of (2.1) is a solution of (2.1).] Substituting (2.2) into (2.1), we have d2 X d2 Y (2.3) Y + X = 0. dx2 dy 2 (Ordinary instead of partial derivatives are now correct since X depends only on x, and y depends only on y.) Divide (2.3) by XY to get (2.4)

1 d2 Y 1 d2 X + = 0. X dx2 Y dy 2

The next step is really the key to the process of separation of variables. We are going to say that each of the terms in (2.4) is a constant because the ﬁrst term is a function of x alone and the second term is a function of y alone. Why is this correct? Recall that when we say u = sin t is a solution of u ¨ = −u, we mean that if we substitute u = sin t into the diﬀerential equation, we get an identity (¨ u = −u becomes − sin t = − sin t), which is true for all values of t. Although we speak of an equation, when we substitute the solution into a diﬀerential equation, we have an identity in the independent variable. (We made use of this fact in series solutions of diﬀerential equations in Chapter 12, Sections 1 and 2.) In (2.1) to (2.4) we have two independent variables, x and y. Saying that (2.2) is a solution of (2.1) means that (2.4) is an identity in the two independent variables x and y [recall that (2.4) was obtained by substituting (2.2) into (2.1)]. In other words, if (2.2) is a solution of (2.1), then (2.4) must be true for any and all values of the two independent variables x and y. Since X is a function only of x and Y of y, the ﬁrst term of (2.4) is a function only of x and the second term is a function only of y. Suppose we substitute a particular x into the ﬁrst term; that term is then some numerical constant. To have (2.4) satisﬁed, the second term must be minus the same constant. While x remains ﬁxed, let y vary (remember that x and y are independent). We have said that (2.4) is an identity; it is then true for our ﬁxed x and any y. Thus the second term remains constant as y varies. Similarly, if we ﬁx y and let x vary, we see that the ﬁrst term of (2.4) is a constant. To say this more concisely, the equation f (x) = g(y), with x and y independent variables, is an identity only if both functions are the same constant; this is the basis of the process of separation of variables. From (2.4) we then write (2.5)

1 d2 X 1 d2 Y =− = const. = −k 2 , k ≥ 0, 2 X dx Y dy 2 X = −k 2 X and Y = k 2 Y.

The constant k 2 is called the separation constant. The solutions of (2.5) are sin kx, eky , (2.6) X= Y = e−ky , cos kx,

Section 2

Laplace's Equation; Steady-State Temperature in a Rectangular Plate

623

and the solutions of (2.1) [of the form (2.2)] are (2.7)

T = XY =

eky e−ky

sin kx cos kx

None of the four solutions in (2.7) satisﬁes the given boundary temperatures. What we must do now is to take a combination of the solutions (2.7), with the constant k properly selected, which will satisfy the given boundary conditions. [Any linear combination of solutions of (2.1) is a solution of (2.1) because the diﬀerential equation (2.1) is linear ; see Chapter 3, Section 7, and Chapter 8, Sections 1 and 6.] We ﬁrst discard the solutions containing eky since we are given T → 0 as y → ∞. (We are assuming k > 0; see Problem 5.) Next we discard solutions containing cos kx since T = 0 when x = 0. This leaves us just e−ky sin kx, but the value of k is still to be determined. When x = 10, we are to have T = 0; this will be true if sin (10k) = 0, that is, if k = nπ/10 for n = 1, 2, · · · . Thus for any integral n, the solution nπx (2.8) T = e−nπy/10 sin 10 satisﬁes the given boundary conditions on the three T = 0 sides. Finally, we must have T = 100 when y = 0; this condition is not satisﬁed by (2.8) for any n. But a linear combination of solutions like (2.8) is a solution of (2.1); let us try to ﬁnd such a combination which does satisfy T = 100 when y = 0. In order to allow all possible n's we write an inﬁnite series for T , namely (2.9)

T =

∞

bn e−nπy/10 sin

n=1

nπx . 10

For y = 0, we must have T = 100; from (2.9) with y = 0 we get (2.10)

Ty=0 =

∞ n=1

bn sin

nπx = 100. 10

But this is just the Fourier sine series (Chapter 7, Section 9) for f (x) = 100 with l = 10. We can ﬁnd the coeﬃcients bn , as we did in Chapter 7; we get 10 400 , odd n, 2 2 l nπx nπx dx = dx = nπ f (x) sin 100 sin (2.11) bn = l 0 l 10 0 10 0, even n. Then (2.9) becomes (2.12)

T =

400 π

πx 1 −3πy/10 3πx e−πy/10 sin + e + ··· . sin 10 3 10

Equation (2.12) can be used for computation if πy/10 is not too small since then the series converges rapidly. (See also Problem 6.) For example, at x = 5 (central line of the plate) and y = 5, we ﬁnd 400 −π/2 1 π 3π (2.13) T = e + · · · 26.1◦. sin + e−3π/2 sin π 2 3 2

624

Partial Differential Equations

Chapter 13

To see how the temperature varies with x and y over a rectangle, you can computer plot a 3-dimensional graph of several terms of T (x, y) in (2.12). Or you can make a 2-dimensional contour plot which shows the isothermals (curves of constant T ). If the temperature on the bottom edge is any function f (x) instead of 100◦ (with the other three sides at 0◦ as before), we can do the problem by the same method. We have only to expand the given f (x) in a Fourier sine series and substitute the coeﬃcients into (2.9). Next, let us consider a ﬁnite plate of height 30 cm with the top edge at T = 0◦ , and other dimensions and temperatures as in Figure 2.1. We no longer have any reason to discard the eky solution since y does not become inﬁnite. We now replace e−ky by a linear combination ae−ky + beky which is zero when y = 30. The most convenient way to do this is to use the combination 1 k(30−y) 2e

(2.14)

− 12 e−k(30−y)

(that is, let a = 12 e30k and b = − 21 e−30k ). Then, when y = 30, (2.14) gives e0 − e0 = 0 as we wanted. Now (2.14) is just sinh k(30 − y) (see Chapter 2, Section 12), so for the ﬁnite plate, we can write the solution as [compare (2.9)] (2.15)

∞

T =

n=1

Bn sinh

nπx nπ (30 − y) sin . 10 10

Each term of this series is zero on the three T = 0 sides of the plate. When y = 0, we want T = 100: (2.16)

Ty=0 = 100 =

∞ n=1

Bn sinh (3nπ) sin

∞ nπx nπx bn sin = 10 10 n=1

where bn = Bn sinh 3nπ or Bn = bn / sinh 3nπ. We ﬁnd bn , solve for Bn and substitute into (2.15) to get the temperature distribution in the ﬁnite plate: (2.17)

T =

odd n

400 nπ nπx sinh (30 − y) sin . nπ sinh 3nπ 10 10

In (2.12) and (2.17) we have found functions T (x, y) satisfying both (2.1) and all the given boundary conditions. For a bounded region with given boundary temperatures, it is an experimental fact (and it can also be shown mathematically— see Problem 16 and Chapter 14, Problem 11.38) that there is only one T (x, y) satisfying Laplace's equation and the given boundary conditions. Thus (2.17) is the desired solution for the rectangular plate. It can also be shown that there is only one solution for the semi-inﬁnite plate provided T → 0 at ∞; thus (2.12) is the solution for that case. It may have occurred to you to wonder why we took the constant in (2.5) to be −k 2 and what would happen if we took +k 2 instead. As far as getting solutions of the diﬀerential equation is concerned it would be perfectly correct to use +k 2 ; we would get instead of (2.7): kx sin ky e . (2.18) T = XY = cos ky e−kx [We are assuming that k is real; an imaginary k in (2.18) would simply give combinations of the solutions (2.7) over again. Also see Problem 5.] The solutions (2.18)

Section 2

Laplace's Equation; Steady-State Temperature in a Rectangular Plate

625

would not be of any use for the semi-inﬁnite plate problem since none of them tends to zero as y → ∞, and a linear combination of ekx and e−kx cannot be zero both at x = 0 and at x = 10. However, if we had considered a semi-inﬁnite plate with its long sides parallel to the x axis instead of the y axis, and T = 100◦ along the short end on the y axis, the solutions (2.18) would have been the ones needed. Or, for the ﬁnite plate, if the 100◦ side were along the y axis, then we would want (2.18). Finally, let us see how to ﬁnd the temperature distribution in a plate if two adjacent sides are held at 100◦ and the other two at 0◦ (or, in general, if any values are given for the four sides). We can ﬁnd the solution to this problem by a combination of the results we have already obtained. Let us call the sides of the rectangular plate A, B, C, D (Figure 2.2). If sides A, B, and C are held at 0◦ , and D at 100◦ , we can ﬁnd the temperature distribution by the same method we used in ﬁnding (2.17) if we take the x axis along Figure 2.2 D. Next suppose that for the same plate (Figure 2.2) sides A, B, ◦ ◦ and D are held at 0 and C at 100 . This is the same kind of problem over again, but this time we want to use the solutions (2.18). [Or to shorten the work, we could write the solution like (2.17) with the x axis taken along C and then interchange x and y in the result to agree with Figure 2.2.] Having obtained the two solutions (one for C at 100◦ and one for D at 100◦), let us add these two answers. The result is a solution of the diﬀerential equation (2.1) (linearity: the sum of any two solutions is a solution). The temperatures on the boundary (as well as inside) are the sums of the temperatures in the two solutions we added, that is, 0◦ on A, 0◦ on B, 0◦ + 100◦ on C, and 100◦ + 0◦ on D. These are the given boundary conditions we wanted to satisfy. Thus the sum of the solutions of two simple problems gives the answer to the more complicated one (see Problems 11 to 13). Before solving more problems, let us stop for a moment to summarize this process of separation of variables which is basically the same for all the partial diﬀerential equations we shall discuss. We ﬁrst assume a solution which is a product of functions of the independent variables [like (2.2)], and separate the partial differential equation into several ordinary diﬀerential equations [like (2.5)]. We solve these ordinary diﬀerential equations; the solutions may be exponential functions, trigonometric functions, powers (positive or negative), Bessel functions, Legendre polynomials, etc. Any linear combination of these solutions, with any values of the separation constants, is a solution of the partial diﬀerential equation. The problem is to determine both the values of the separation constants and the correct linear combination to ﬁt the given boundary or initial conditions. The problem of ﬁnding the solution of a given diﬀerential equation subject to given boundary conditions is called a boundary value problem. Such problems often lead to eigenvalue problems. Recall (Chapter 3, Section 11, and Chapter 12, end of Section 2) that in an eigenvalue (or characteristic value) problem, there is a parameter whose values are to be selected so that the solutions of the problem meet some given requirements. The separation constants we have been using are just such parameters; their values are determined by demanding that the solutions satisfy some of the boundary conditions. [For example, we found k = nπ/10 just before (2.8) by requiring that T = 0 when x = 10.] The resulting values of the separation constants are called eigenvalues and the solutions of the diﬀerential equation [for example (2.8)] corresponding to the eigenvalues are called eigenfunctions. It may also happen that in addition to the separation constants there is a parameter in the

626

Partial Differential Equations

Chapter 13

original partial diﬀerential equation [for example, E in the Schr¨ odinger equation (1.6)]. Again the possible values of this parameter (for which the equation has solutions meeting speciﬁed requirements) are called eigenvalues, and the corresponding solutions are called eigenfunctions. Having found the eigenfunctions, the next step is to expand the given function (boundary or initial conditions) in terms of them. [See, for example (2.10) and (2.16) and many examples in later sections.] As we have discussed (see Chapter 7, Section 8, and Chapter 12, Section 6), the eigenfunctions are a set of basis functions for this expansion. Thus we select the functions [for example e−ky sin kx in (2.7)] and values of the separation constants (eigenvalues) to ﬁt the given boundary (or initial) conditions; this determines the basis functions for a problem.

PROBLEMS, SECTION 2 After you ﬁnd the series solution of a problem, make computer plots of your results as discussed just after equation (2.13). 1.

Find the steady-state temperature distribution for the semi-inﬁnite plate problem if the temperature of the bottom edge is T = f (x) = x (in degrees; that is, the temperature at x cm is x degrees), the temperature of the other sides is 0◦ , and the width of the plate is 10 cm. Answer:

T =

∞ 20 X (−1)n+1 −nπy/10 e sin (nπx/10). π n=1 n

Solve the semi-inﬁnite plate problem if the bottom edge of width 20 is held at ( 0 < x < 10, 0◦ , T = ◦ 100 , 10 < x < 20, and the other sides are at 0◦ .

Solve the semi-inﬁnite plate problem if the bottom edge of width π is held at T = cos x and the other sides are at 0◦ . Answer:

T =

4 X n e−ny sin nx. π even n n2 − 1

Solve the semi-inﬁnite plate problem if the bottom edge of width 30 is held at ( x, 0 < x < 15, T = 30 − x, 15 < x < 30, and the other sides are at 0◦ .

Show that the solutions of (2.5) can also be written as ( ( sinh ky, eikx , Y = X= cosh ky. e−ikx , Also show that these solutions are equivalent to (2.7) if k is real and equivalent to (2.18) if k is pure imaginary. (See Chapter 2, Section 12.) Also show that X = sin k(x − a), Y = sinh k(y − b) are solutions of (2.5).

Section 2 6.

Laplace's Equation; Steady-State Temperature in a Rectangular Plate

627

Show that the series in (2.12) can be summed to get „ « sin (πx/10) 200 arc tan T = π sinh (πy/10) (with the arc tangent in radians). Use this formula to check the value T = 26.1◦ at x = y = 5. Hints P for summing the series: Use sin (nπx/10) = Im einπx/10 to write the series as Im odd n z n /n. (What is z?) Compare this with the series for ln[(1 + z)/(1 − z)] (see Chapter 1, Problem 13.17). Then use (13.5) of Chapter 2.

Solve Problem 3 if the plate is cut oﬀ at height 1 and the temperature at y = 1 is held at 0◦ . n 4 X sinh n(1 − y) sin nx. Answer: T = π even n (n2 − 1) sinh n

Find the steady-state temperature distribution in a rectangular plate 30 cm by 40 cm given that the temperature is 0◦ along the two long sides and along one short end; the other short end along the x axis has temperature ( 100◦ , 0 < x < 10, T = 10 < x < 30. 0◦ ,

Solve Problem 2 if the plate is cut oﬀ at height 10 and the temperature of the top edge is 0◦ .

10.

Find the steady-state temperature distribution in a metal plate 10 cm square if one side is held at 100◦ and the other three sides at 0◦ . Find the temperature at the center of the plate. Answer:

T =

X odd n

400 nπ nπx sinh (10 − y) sin , nπ sinh nπ 10 10

T (5, 5) 25◦ . 11.

Find the steady-state temperature distribution in the plate of Problem 10 if two adjacent sides are at 100◦ and the other two at 0◦ . Hint: Use your solution of Problem 10. You should not have to do any calculation—just write down the answer!

12.

Find the temperature distribution in a rectangular plate 10 cm by 30 cm if two adjacent sides are held at 100◦ and the other two sides at 0◦ .

13.

Find the steady-state temperature distribution in a rectangular plate covering the area 0 < x < 10, 0 < y < 20, if the two adjacent sides along the axes are held at temperatures T = x and T = y and the other two sides at 0◦ .

14.

In the rectangular plate problem, we have so far had the temperature speciﬁed all around the boundary. We could, instead, have some edges insulated. The heat ﬂow across an edge is proportional to ∂T /∂n, where n is a variable in the direction normal to the edge (see normal derivatives, Chapter 6, Section 6). For example, the heat ﬂow across an edge lying along the x axis is proportional to ∂T /∂y. Since the heat ﬂow across an insulated edge is zero, we must have not T , but a partial derivative of T , equal to zero on an insulated boundary. Use this fact to ﬁnd the steady-state temperature distribution in a semi-inﬁnite plate of width 10 cm if the two long sides are insulated, the far end (at ∞ as in Figure 2.1) is at 0◦ , and the bottom edge is at T = f (x) = x − 5. Note that you used T → 0 as y → ∞ only to discard the solutions e+ky ; it would be just as satisfactory to say that T does not become inﬁnite as y → ∞. Actually,

628

Partial Differential Equations

Chapter 13

the temperature (assumed ﬁnite) as y → ∞ in this problem is determined by the given temperature at y = 0. Let T = f (x) = x at y = 0, repeat your calculations above to ﬁnd the temperature distribution, and ﬁnd the value of T for large y. Don't forget the k = 0 term in the series! 15.

Consider a ﬁnite plate, 10 cm by 30 cm, with two insulated sides, one end at 0◦ and the other at a given temperature T = f (x). Try f (x) = 100◦ ; f (x) = x. You should convince yourself that this problem cannot be done using just the solutions (2.7). To see what is wrong, go back to the diﬀerential equations (2.5) and solve them if k = 0. You should ﬁnd solutions x, y, xy and constant [the constant is already contained in (2.7) for k = 0, but the other three solutions are not]. Now go back over each of the problems we have done so far and see why we could ignore these k = 0 solutions; then including the k = 0 solutions, ﬁnish the problem of the ﬁnite plate with insulated sides. For the case f (x) = x, the answer is: T =

40 X nπ nπx 1 1 (30 − y) − 2 sinh (30 − y) cos . 6 π n2 sinh 3nπ 10 10 odd n

16.

Show that there is only one function u which takes given values on the (closed) boundary of a region and satisﬁes Laplace's equation ∇2 u = 0 in the interior of the region. Hints: Suppose u1 and u2 are both solutions with the same boundary conditions so that U = u1 − u2 = 0 on the boundary. In Green's ﬁrst identity (Chapter 6, Problem 10.16), let φ = Ψ = U to show that ∇U ≡ 0. Thus show U ≡ 0 everywhere inside the region.

¨ 3. THE DIFFUSION OR HEAT FLOW EQUATION; THE SCHRODINGER EQUATION The heat ﬂow equation is (3.1)

∇2 u =

1 ∂u , α2 ∂t

where u is the temperature and α2 is a constant characteristic of the material through which heat is ﬂowing. It is worthwhile to do ﬁrst a partial separation of (3.1) into a space equation and a time equation; the space equation in more than one dimension then must be further separated into ordinary diﬀerential equations in x and y, or x, y, and z, or r, θ, φ, etc. We assume a solution of (3.1) of the form (3.2)

u = F (x, y, z)T (t).

(Note the change in meaning of T ; we have previously used it for temperature; here u is temperature and T is the time-dependent factor in u.) Substitute (3.2) into (3.1); we get (3.3)

T ∇2 F =

1 dT . F α2 dt

Next divide (3.3) by F T to get (3.4)

1 2 1 1 dT ∇ F = 2 . F α T dt

Section 3

¨ The Diffusion or Heat Flow Equation; The Schrodinger Equation

629

The left side of this identity is a function only of the space variables x, y, z, and the right side is a function only of time. Therefore both sides are the same constant and we can write 1 2 ∇ F = −k 2 or ∇2 F + k 2 F = 0 and F (3.5) dT 1 1 dT = −k 2 = −k 2 α2 T. or 2 α T dt dt The time equation can be integrated to give (3.6)

T = e−k

α2 t

We can see a physical reason here for choosing the separation constant (−k 2 ) to be negative. As t increases, the temperature of a body might decrease to zero as in (3.6), but it could not increase to inﬁnity as it would if we had used +k 2 in (3.5) and (3.6). The space equation in (3.5) is the Helmholtz equation (1.5) as promised. You will ﬁnd (Problem 10) that the space part of the wave equation is also the Helmholtz equation. Example 1. Let us now consider the ﬂow of heat through a slab of thickness l (for example, the wall of a refrigerator). We shall assume that the faces of the slab are so large that we may neglect any end eﬀects and assume that heat ﬂows only in the x direction (Figure 3.1). This problem is then identical to the problem of heat ﬂow in a bar of length l with insulated sides, because in both cases the heat ﬂow is just in the x direction. Suppose the slab has initially a steady-state temperature distribution with the x = 0 wall at 0◦ and the x = l wall at 100◦ . From t = 0 on, let the x = l wall (as well as the x = 0 wall) be held at 0◦ . We want to ﬁnd the Figure 3.1 temperature at any x (in the slab) at any later time. First, we ﬁnd the initial steady-state temperature distribution. You probably already know that this is linear, but it is interesting to see this from our equations. The initial steady-state temperature u0 satisﬁes Laplace's equation, which in this one-dimensional case is d2 u0 /dx2 = 0. The solution of this equation is u0 = ax + b, where a and b are constants which must be found to ﬁt the given conditions. Since u0 = 0 at x = 0 and u0 = 100 at x = l, we have u0 =

(3.7)

100 x. l

From t = 0 on, u satisﬁes the heat ﬂow equation (3.1). We have already separated this; the solutions are (3.2) where T (t) is given by (3.6) and F (x) satisﬁes the ﬁrst of equations (3.5), namely (3.8)

∇2 F + k 2 F = 0

d2 F + k 2 F = 0. dx2

(For this one-dimensional problem, F is a function only of x.) The solutions of (3.8) are sin kx, (3.9) F (x) = cos kx,

630

Partial Differential Equations

Chapter 13

and the solutions (3.2) are (3.10)

e−k α t sin kx 2 2 e−k α t cos kx

We discard the cos kx solution for this problem because we are given u = 0 at x = 0. Also we want u = 0 at x = l; this will be true if sin kl = 0, that is, kl = nπ, or k = nπ/l (eigenvalues). Our basis functions (eigenfunctions) are then 2

u = e−(nπα/l) t sin

(3.11)

nπx l

and the solution of our problem will be the series (3.12)

∞

bn e−(nπα/l) t sin

n=1

nπx . l

At t = 0, we want u = u0 as in (3.7), that is, (3.13)

∞

bn sin

n=1

nπx 100 = u0 = x. l l

This means ﬁnding the Fourier sine series for (100/l)x on (0, l); the result (from Problem 1) for the coeﬃcients is (3.14)

bn =

100 2l 1 200 (−1)n−1 (−1)n−1 = . l πn π n

Then we get the ﬁnal solution by substituting (3.14) into (3.12); this gives

(3.15)

∞ nπx 200 (−1)n−1 −(nπα/l)2 t e . sin π n=1 n l

Example 2. We can now do some variations of this problem. Suppose the ﬁnal temperatures of the faces are given as two diﬀerent constant values diﬀerent from zero. Then, as for the initial steady state, the ﬁnal steady state is a linear function of distance. The series (3.12) tends to a ﬁnal steady state of zero; to obtain a solution tending to some other ﬁnal steady state, we add to (3.12) the linear function uf representing the correct ﬁnal steady state. Thus we write instead of of (3.12) (3.16)

∞

bn e−(nπα/l) t sin

n=1

nπx + uf . l

Then for t = 0, the equation corresponding to (3.13) is (3.17)

u0 =

∞ n=1

bn sin

nπx + uf l

¨ The Diffusion or Heat Flow Equation; The Schrodinger Equation

Section 3

631

or u0 − uf =

(3.18)

∞

bn sin

n=1

nπx . l

Thus when uf = 0, it is u0 − uf rather than u0 which must be expanded in a Fourier series. Insulated boundaries So far we have had the boundary temperatures given. We could, instead, have the faces insulated; then no heat ﬂows in or out of the body. This will be true if the normal derivative ∂u/∂n (see Problem 2.14) of the temperature is zero at the boundary. (When the boundary values of u are given, the problem is called a Dirichlet problem; when the boundary values of the normal derivative ∂u/∂n are given, the problem is called a Neumann problem.) For the onedimensional case we have considered, we replace the condition u = 0 at x = 0 and l by the condition ∂u/∂x = 0 at x = 0 and l if the faces are insulated. This means that the useful solution in (3.10) is now the one containing cos kx; note carefully that we must include the constant term (corresponding to k = 0). See Problem 7. The Schr¨ odinger Equation Compare equations (1.3) and (1.6). If V = 0 in (1.6), the two equations have the same form (a ∇2 term and a ﬁrst partial with respect to t). For future reference (see problems, Section 7), let's ﬁrst separate variables in the general equation (1.6). We assume [compare (3.2)] (3.19)

Ψ = ψ(x, y, z)T (t).

Substitute (3.19) into (1.6) and divide by Ψ to get −

(3.20)

¯2 1 2 h 1 dT ∇ ψ + V = i¯h =E 2m ψ T dt

where E is the separation constant [compare (3.5)]. (In quantum mechanics, E has the meaning of energy of the particle.) Then integrating the time equation gives (compare 3.6) T = e−iEt/¯h

(3.21)

and the space equation (called the time-independent Schr¨ odinger equation) is (3.22)

−

¯2 2 h ∇ ψ + V ψ = Eψ. 2m

Time-independent Schr¨odinger equation

For the one-dimensional problems that we consider in this section, and with V = 0, we have (3.23)

−

¯ 2 d2 ψ h = Eψ 2m dx2

d2 ψ 2mE + 2 ψ=0 dx2 ¯ h

. Thus the solutions of (3.23) are the same as in (3.9) which is (3.8) with k 2 = 2mE h ¯2 and the corresponding Ψ solutions are sin kx e−iEt/¯h . (3.24) Ψ = ψ(x)T (t) = cos kx

632

Partial Differential Equations

Chapter 13

Example 3. The "particle in a box" problem in quantum mechanics requires the solution of the Schr¨ odinger equation with V = 0 on (0, l) and Ψ = 0 at the endpoints x = 0 and x = l for all t. (The wave function Ψ then describes a particle trapped between 0 and l.) As in the heat ﬂow problem, Ψ = 0 at x = 0 requires the sine solutions in (3.24) and Ψ = 0 at x = l requires k = nπ/l. Since k 2 = 2mE/¯h2 , we ﬁnd h ¯ 2 n2 π 2 E = 2m which we will call En . (The meaning of this equation in quantum l2 mechanics is that the energy of a particle trapped between 0 and l can have only a discrete set of values called eigenvalues. We say that the energy is quantized.) The basis functions for this problem are then the eigenfunctions (3.25)

Ψn = sin

nπx −iEn t/¯h e , l

and we write Ψ(x, t) as a linear combination of them. (3.26)

Ψ(x, t) =

∞

bn sin

n=1

nπx −iEn t/¯h e , l

(compare (3.12) for the heat ﬂow problem). If the initial state Ψ(x, 0) is the same function as in (3.7), the bn coeﬃcients are the same as in (3.14), so we have (3.27)

Ψ(x, t) =

∞ nπx −iEn t/¯h 200 (−1)n−1 sin e . π n=1 n l

See Problems 11 and 12; also see Problems 6.6 to 6.8, and 7.17 to 7.22.

PROBLEMS, SECTION 3 As in Section 2, make computer plots of your results. 1.

Verify the coeﬃcients in equation (3.14).

A bar 10 cm long with insulated sides is initially at 100◦ . Starting at t = 0, the ends are held at 0◦ . Find the temperature distribution in the bar at time t. 400 X 1 −(nπα/10)2 t nπx Answer: u = sin e . π n 10 odd n

In the initial steady state of an inﬁnite slab of thickness l, the face x = 0 is at 0◦ and the face x = l is at 100◦ . From t = 0 on, the x = 0 face is held at 100◦ and the x = l face at 0◦ . Find the temperature distribution at time t. nπx 100x 400 X 1 −(nπα/l)2 t sin Answer: u = 100 − − e . l π even n n l

At t = 0, two ﬂat slabs each 5 cm thick, one at 0◦ and one at 20◦ , are stacked together, and then the surfaces are kept at 0◦ . Find the temperature as a function of x and t for t > 0.

Two slabs, each 1 inch thick, each have one surface at 0◦ and the other surface at 100◦ . At t = 0, they are stacked with their 100◦ faces together and then the outside surfaces are held at 100◦ . Find u(x, t) for t > 0.

Show that the following problem is easily solved using (3.15): The ends of a bar are initially at 20◦ and 150◦ ; at t = 0 the 150◦ end is changed to 50◦ . Find the time-dependent temperature distribution.

Section 4 7.

The Wave Equation; the Vibrating String

633

A bar of length l with insulated sides has its ends also insulated from time t = 0 on. Initially the temperature is u = x, where x is the distance from one end. Determine the temperature distribution inside the bar at time t. Hints and comments: See the discussion above and also Problem 2.14. Show that the k = 0 solutions are x and constant (time independent). Note that here (unlike Problem 2.15) you do not need the extra solution (namely x) for k = 0 since the ﬁnal steady state is a constant and this is included in the solutions (3.10). Also note that we did need the k = 0 solutions in the discussion following (3.15) but were able to simplify the work by observing that these linear solutions simply give the ﬁnal steady state. Answer:

l nπx −(nπα/l)2 t 4l X 1 cos . − 2 e 2 π odd n n2 l

A bar of length 2 is initially at 0◦ . From t = 0 on, the x = 0 end is held at 0◦ and the x = 2 end at 100◦ . Find the time-dependent temperature distribution.

Solve Problem 8 if, for t > 0, the x = 0 end of the bar is insulated and the x = 2 end is held at 100◦ . See Problem 7 above, and Chapter 7, end of Section 11.

10.

Separate the wave equation (1.4) into a space equation and a time equation as we did the heat ﬂow equation, and show that the space equation is the Helmholtz equation for this case also.

11.

Solve the "particle in a box" problem to ﬁnd Ψ(x, t) if Ψ(x, 0) = 1 on (0, π). What is En ? The function of interest here which you should plot is |Ψ(x, t)|2 .

12.

Do Problem 11 if Ψ(x, 0) = sin2 πx on (0, 1).

4. THE WAVE EQUATION; THE VIBRATING STRING Let a string (for example, a piano or violin string) be stretched tightly and its ends fastened to supports at x = 0 and x = l. When the string is vibrating, its vertical displacement y from its equilibrium position along the x axis depends on x and t. We assume that the displacement y is always very small and that the slope ∂y/∂x of the string at any point at any time is small. In other words, we assume that the string never gets very far away from its stretched equilibrium position; in fact, we do not distinguish between the length of the string and the distance between the supports, although it is clear that the string must stretch a little as it vibrates out of its equilibrium position. Under these assumptions, the displacement y(x, t) satisﬁes the (one-dimensional) wave equation ∂ 2y 1 ∂ 2y = . ∂x2 v 2 ∂t2

(4.1)

The constant v depends on the tension and the linear density of the string; it is called the wave velocity because it is the velocity with which a disturbance at one point of the string would travel along the string. To separate the variables, we substitute (4.2)

y = X(x)T (t)

into (4.1) and get (Problem 3.10) 1 d2 X 1 1 d2 T = = −k 2 , X dx2 v 2 T dt2

634

Partial Differential Equations

Chapter 13

or X + k 2 X = 0, T¨ + k 2 v 2 T = 0.

(4.3)

We can see from the physical problem why we use a negative separation constant here; the solutions are to describe vibrations which are represented by sines and cosines, not by real exponentials. Of course, if we tried using +k 2 with k real, we would also discover mathematically that we could not satisfy the boundary conditions. Recall the following notation used in discussing wave phenomena (see Chapter 7, Problem 2.17): ν = frequency (sec−1 ) λ = wavelength v = λν

ω = 2πν = angular frequency (radians) 2πν ω 2π = = = wave number k= λ v v

The solutions of the two equations in (4.3) are sin kx, sin kvt = sin ωt, (4.4) X= T = cos kx, cos kvt = cos ωt, and so the solutions (4.2) for y are are (4.5)

sin kx cos kx

sin ωt cos ωt

where ω = kv.

Since the string is fastened at x = 0 and x = l, we must have y = 0 for these values of x and all t. This means that we want only the sin kx factors in (4.5), and also we select k so that sin kl = 0 or k = nπ/l. The solutions then become  nπx nπvt  sin sin , l l (4.6) y=  sin nπx cos nπvt . l l The particular combination of solutions (4.6) that we should take to solve a given problem depends on the initial conditions. For example, suppose the string is started vibrating by plucking (that is, pulling it aside a small distance Figure 4.1 h at the center and letting go). Then we are given the shape of the string at t = 0, namely y0 = f (x) as in Figure 4.1, and also the fact that the velocity ∂y/∂t of points on the string is zero at t = 0. (Do not confuse ∂y/∂t with the wave velocity v; there is no relation between

Section 4

The Wave Equation; the Vibrating String

635

them.) In (4.6) we must then discard the term containing sin (nπvt/l) since its time derivative is not zero when t = 0. Thus the basis functions for this problem are sin (nπx/l) cos (nπvt/l) and we write the solution in the form (4.7)

∞

bn sin

n=1

nπvt nπx cos . l l

The coeﬃcients bn are to be determined so that at t = 0 we have y0 = f (x), that is, (4.8)

y0 =

∞

bn sin

n=1

nπx = f (x). l

As in previous problems, we ﬁnd the coeﬃcients in the Fourier sine series for the given f (x) and substitute them into (4.7). The result is (Problem 1) 8h πx πvt 1 3πx 3πvt (4.9) y = 2 sin cos − sin cos + ... . π l l 9 l l Another way to start the string vibrating is to hit it (a piano string, for example). In this case the initial conditions would be y = 0 at t = 0, with the velocity ∂y/∂t at t = 0 given as a function of x (that is, the velocity of each point of the string is given at t = 0). This time we discard in (4.6) the term containing cos (nπvt/l) because it is not zero at t = 0. Then, for this problem, the basis functions are sin (nπx/l) sin (nπvt/l) and the solution is of the form (4.10)

∞

Bn sin

n=1

nπvt nπx sin . l l

Here the coeﬃcients must be determined so that ∞ ∞ nπv nπx ∂y nπx sin = = V (x), (4.11) = Bn bn sin ∂t t=0 l l l n n=1 1

that is, V (x), the given initial velocity, must be expanded in a Fourier sine series (see Problems 5 to 8). Suppose the string is vibrating in such a way that, instead of an inﬁnite series for y, we have just one of the solutions (4.6), say (4.12)

y = sin

nπx nπvt sin l l

for some one value of n. The largest value of sin (nπvt/l), for any t, is 1, and the shape of the string then is (4.13)

y = sin

nπx . l

Graphs of (4.13) are sketched in Figure 4.2 for n = 1, 2, 3, 4. (The graphs are exaggerated! Remember that the displacements are actually very small.) Consider

636

Partial Differential Equations

Chapter 13

Figure 4.2 a point x on the string; for this point sin (nπx/l) is some number, say A. Then the displacement of this point at time t is [from (4.12)] (4.14)

y = A sin

nπvt . l

As time passes, this point of the string oscillates up and down with frequency νn given by ωn = nπv/l = 2πνn or νn = nv/(2l); the amplitude of the oscillation at this point is A = sin (nπx/l) (see Figure 4.2). Other points of the string oscillate with diﬀerent amplitudes but the same frequency. This is the frequency of the musical note which the string is producing. (See Chapter 7, Section 10.) If n = 1 (see Figure 4.2), the frequency is v/(2l); in music this tone is called the fundamental or ﬁrst harmonic. If n = 2, the frequency is just twice that of the fundamental; this tone is called the ﬁrst overtone or the second harmonic; etc. All the frequencies which this string can produce are multiples of the fundamental. These frequencies are called the characteristic frequencies of the string. (They are proportional to the characteristic values or eigenvalues, k = nπ/l.) The corresponding ways in which the string may vibrate producing a pure tone of just one frequency [that is, with y given by (4.12) for one value of n] are called the normal modes of vibration. The ﬁrst four normal modes are indicated in Figure 4.2. Any vibration is a combination of these normal modes [for example, (4.9) or (4.10)]. The solution (4.12) (for one n) describing one normal mode, is a characteristic function or eigenfunction. The waves in Figure 4.2 are called standing waves. The d'Alembert solution of the wave equation (see Problem 1.2) represents traveling waves. Suppose we combine two traveling waves moving in opposite directions as follows: (4.15)

cos k(x − vt) − cos k(x + vt) = 2 sin kx sin kvt

(by a trigonometry formula). This is one of the solutions (4.5) so we see that this combination of two traveling waves produces a standing wave. Suppose these two traveling waves are moving along a string which is fastened at x = 0 and at x = l. First consider the wave cos k(x + vt) which is moving in the negative x direction toward x = 0. When it reaches x = 0, it will be reﬂected, and the combination of the incident and reﬂected waves must equal zero at x = 0 for all t. We see that this is true in (4.15), so the wave cos k(x − vt) is the reﬂection of − cos k(x + vt). Now consider cos k(x − vt) traveling toward x = l. When it reaches x = l and is reﬂected, we can verify (Problem 10) that, if k = nπ/l, then the reﬂection at x = l is − cos nπ l (x + vt). We can think of a wave traveling back and forth between x = 0

Section 4

The Wave Equation; the Vibrating String

637

and x = l, being reﬂected at each end. The net result as we see from (4.15) is a standing wave. So far we have been considering problems in which a string is pinned at both ends. We could, instead, have a "free" end; this means free to move up and down along x = 0 or x = l, say by allowing the end to slide along a frictionless track. The mathematical condition for this is ∂y/∂x = 0 at the free end (compare the condition for an insulated face in Section 3). If the x = 0 end is free, we choose ∂ the solution containing cos kx (since ∂x cos kx = −k sin kx = 0 at x = 0). Then, if the string is pinned at x = l, we want cos kl = 0, so kl = (n + 12 )π. Thus the basis functions when the x = 0 end is free, the x = l end is pinned, and the initial string velocity is zero, are

n + 12 πx n + 12 πvt (4.16) y = cos cos . l l For a discussion of these functions, see Chapter 7, Section 11 and Problem 11.11.

PROBLEMS, SECTION 4 As in Sections 2 and 3, use a computer to plot your answers. 1.

Complete the plucked string problem to get equation (4.9).

A string of length l has a zero initial velocity and a displacement y0 (x) as shown. (This initial displacement might be caused by stopping the string at the center and plucking half of it.) Find the displacement as a function of x and t. Answer:

∞ nπx 8h X nπvt Bn sin cos , where Bn = (2 sin nπ/4 − sin nπ/2)/n2 . π 2 n=1 l l

Solve Problem 2 if the initial displacement is:

A string of length l is initially stretched straight; its ends are ﬁxed for all t. At time t = 0, its points are given the velocity V (x) = (∂y/∂t)t=0 as indicated in the diagram (for example, by hitting the string). Determine the shape of the string at time t, that is, ﬁnd the displacement y as a function of x and t in the form of a series similar to (4.9). Warning: What basis functions do you need here? Answer:

8hl π3v

„ « πx 3πx 5πx πvt 1 3πvt 1 5πvt sin sin − 3 sin sin + 3 sin sin − ··· . l l 3 l l 5 l l

638 6.

Partial Differential Equations

Chapter 13

Do Problem 5 if the initial velocity V (x) = (∂y/∂t)t=0 is as shown.

Answer:

4hl π2v

„ « πw πx πvt 1 3πw 3πx 3πvt sin sin sin − sin sin sin + ··· . l l l 9 l l l

Solve Problem 5 if the initial velocity is:

Solve Problem 5 if the initial velocity is ( sin 2πx/l, V (x) = 0,

0 < x < l/2, l/2 < x < l.

In each of the Problems 1 to 8, ﬁnd the frequency of the most important harmonic.

10.

Verify that, if k = nπ , then the sum of the two traveling waves in equation (4.15) is l zero at x = l, for all t.

11.

Verify (4.16) and ﬁnd a similar formula for a string pinned at x = 0 and free at x = l. Solve Problems 2, 3, and 4, for a string with a free end (a) at x = 0; (b) at x = l.

12.

In Sections 2, 3, 4, we have solved a number of physics problems which led to the expansion of a given f (x) in a Fourier sine series. Look at (2.9) and (2.25), temperature in a plate; (3.12), heat ﬂow; (3.26), wave function for a particle in a box; (4.7) and (4.10), displacement of a vibrating string plucked or struck. If we have expanded a given f (x) in a Fourier sine series on (0, l), we can immediately write the corresponding solutions for these six diﬀerent physics problems on the same interval. Do this for f (x) = x − x2 on (0, 1), that is with l = 1. Make computer plots of your results.

13.

Do Problem 12 for f (x) = 1 − cos 2x on (0, π).

14.

Do Problem 12 for f (x) = x − x3 on (0, 1).

5. STEADY-STATE TEMPERATURE IN A CYLINDER Consider the following problem. Find the steady-state temperature distribution u in a semi-inﬁnite solid cylinder (Figure 5.1) of radius a if the base is held at 100◦ and the curved sides at 0◦ . This sounds very much like the problem of the temperature distribution in a semi-inﬁnite plate. However, it is not convenient here to use the solutions in rectangular coordinates, because the boundary condition u = 0 is given for r = a rather than for constant values of x or y. The natural variables for this problem are the cylindrical coordinates r, θ, z. The temperature u inside the cylinder satisﬁes Laplace's equation since there are no sources of heat there.

Figure 5.1

Section 5

Steady-state Temperature in a Cylinder

639

Laplace's equation in cylindrical coordinates is (see Chapter 10, Section 9) ∂u 1 ∂2u ∂2u 1 ∂ 2 r + 2 2 + 2 = 0. (5.1) ∇ u= r ∂r ∂r r ∂θ ∂z To separate the variables, we assume a solution of the form (5.2)

u = R(r)Θ(θ)Z(z).

Substitute (5.2) into (5.1) and divide by RΘZ to get dR 1 1 d2 Θ 11 d 1 d2 Z r + (5.3) + = 0. R r dr dr Θ r2 dθ2 Z dz 2 The last term is a function only of z, while the other two terms do not contain z. Therefore the last term is a constant and the sum of the ﬁrst two terms is minus the same constant. Notice that neither of the ﬁrst two terms is constant alone since both contain r. In order to say that a term is constant, we must be sure that: (a) it is a function of only one variable, and (b) that variable does not appear elsewhere in the equation. Thus we have (5.4)

1 d2 Z = K 2, Z dz 2

eKz , e−Kz .

Since we want the temperature u to tend to zero as z tends to inﬁnity, we call the separation constant +K 2 (K > 0) and then use only the e−Kz solution. Next write (5.3) with the last term replaced by K 2 —see (5.4). dR 1 1 d2 Θ 11 d r + + K 2 = 0. R r dr dr Θ r2 dθ2 We can separate the variables by multiplying by r2 . dR 1 d2 Θ r d r + (5.5) + K 2 r2 = 0. R dr dr Θ dθ2 In (5.5) the second term is a function of θ only, and the other terms are independent of θ. Thus we have 1 d2 Θ sin nθ, (5.6) = −n2 , Θ= Θ dθ2 cos nθ. Here we must use −n2 as the separation constant and then require n to be an integer for the following reason. When we locate a point using polar coordinates, we can choose the angle as θ or as θ + 2mπ where m is any integer. But regardless of the value of m, there is one physical point and one temperature there. The mathematical formula for the temperature at the point must give the same value at

640

Partial Differential Equations

Chapter 13

θ as at θ+2mπ, that is, the temperature must be a periodic function of θ with period 2π. This is true only if the Θ solutions are sines and cosines instead of exponentials (hence the negative separation constant) and the constant n is an integer (to give period 2π). The solutions of (5.6) when n = 0 are θ and constant. Since θ is not periodic, we can use only the constant solution which is already contained in the cos nθ solution when n = 0. Finally, the r equation is r d dR r − n2 + K 2 r 2 = 0 R dr dr or (5.7)

d dr

dR r + K 2 r2 − n2 R = 0. dr

This is a Bessel equation with solutions Jn (Kr) and Nn (Kr) [see Chapter 12, equation (16.5)]. Since the base of the cylinder contains the origin, we can use only the Jn and not the Nn solutions since Nn becomes inﬁnite at the origin. Hence we have (5.8)

R(r) = Jn (Kr).

We can ﬁnd the possible values of K from the condition that the temperature is zero on the curved surface of the cylinder. Thus u = 0 when r = a (for all θ and z) or R(r) = 0 when r = a. So from (5.8) we see that Jn (Ka) = 0, that is, the possible values of Ka are the zeros of Jn . If we deﬁne k = Ka, or K = k/a, then (5.9)

R(r) = Jn (kr/a)

and

Z(z) = e−kz/a .

Thus the solutions for u are (5.10)

Jn (kr/a) sin nθ e−kz/a , Jn (kr/a) cos nθ e−kz/a ,

where k is a zero of Jn . For our problem, the base of the cylinder is held at a constant temperature of 100◦. If we turn the cylinder through any angle the boundary conditions are not changed; thus the solution does not depend on the angle θ. This means that we use cos nθ with n = 0 in (5.10). The possible values of k are the zeros of J0 ; call these zeros km , where m = 1, 2, 3, · · · . Thus we have the basis functions for the problem and write the solution in terms of them: (5.11)

∞

cm J0 (km r/a)e−km z/a .

m=1

When z = 0, we want u = 100, that is, (5.12)

uz=0 =

∞ m=1

cm J0 (km r/a) = 100.

Section 5

Steady-state Temperature in a Cylinder

641

This should remind you of a Fourier series; here we want to expand 100 in a series of Bessel functions instead of a series of sines or cosines. We proved [see Chapter 12, equation (19.11)] that the functions J0 (km r/a) are orthogonal on (0, a) with respect to the weight function r. We can then ﬁnd the coeﬃcients cm in (5.12) by the same method used in ﬁnding the coeﬃcients in a Fourier sine or cosine series. (In fact, series like (5.12) are often called Fourier-Bessel series.) Multiply (5.12) by rJ0 (kµ r/a), µ = 1, 2, 3, · · · , and integrate term by term from r = 0 to r = a. Because of the orthogonality [see Chapter 12, equation (19.11)], all terms of the series drop out except the term with m = µ, and we have a a (5.13) cµ r [J0 (kµ r/a)]2 dr = 100rJ0 (kµ r/a) dr. 0

For each value of µ = 1, 2, 3, · · · , equation (5.13) gives one of the coeﬃcients in (5.11) and (5.12); thus any cm in (5.11) is given by (5.13) with µ replaced by m. We need to evaluate the integrals in (5.13). Equation (19.11) of Chapter 12 gives (for p = 0, α = β = km ) a a2 2 r [J0 (km r/a)] dr = J12 (km ). (5.14) 2 0 By equation (15.1) of Chapter 12 d [xJ1 (x)] = xJ0 (x). dx If we put x = km r/a in this formula, we get a d [(km r/a)J1 (km r/a)] = (km r/a)J0 (km r/a). km dr Cancelling one km /a factor and integrating from 0 to a, we have a a a a2 rJ0 (km r/a) dr = rJ1 (km r/a) = J1 (km ). (5.15) km km 0 0 Now we write (5.13) for cm , substitute the values of the integrals from (5.14) and (5.15), and solve for cm . The result is (5.16)

cm =

200 100a2 J1 (km ) 2 = . · 2 2 km a J1 (km ) km J1 (km )

The solution of our problem is now (5.11) with the values of cm given by (5.16). The numerical value of the temperature at any point can be found by computing a few terms of the series (Problem 1). The values of the zeros and of the Bessel functions can be found either from your computer or from tables. Warning: Remember that km is a zero of J0 , not of J1 . Suppose the given temperature of the base of the cylinder is more complicated than just a constant value, say f (r, θ), some function of r and θ. Down to (5.10) we proceed as before. But now the series solution is more complicated than (5.11) since we must include all Jn 's instead of just J0 . We need a double subscript on the numbers k which are the zeros of the Bessel functions; by kmn we shall mean the

642

Partial Differential Equations

Chapter 13

mth positive zero of Jn , where n = 0, 1, 2, · · · and m = 1, 2, 3, · · · . The temperature u is a double inﬁnite series, summed over the indices m, n of all zeros of all the Jn 's: (5.17)

∞ ∞

Jn (kmn r/a)(Amn cos nθ + Bmn sin nθ)e−kmn z/a .

m=1 n=0

At z = 0, we want u = f (r, θ). Thus we write (5.18)

∞ ∞

uz=0 =

Jn (kmn r/a)(Amn cos nθ + Bmn sin nθ) = f (r, θ).

m=1 n=0

To determine the coeﬃcients Amn , multiply this equation by Jν (kµν r/a) cos νθ and integrate over the whole base of the cylinder, (0 to 2π for θ, 0 to a for r). Because of the orthogonality of the functions sin nθ and cos nθ on (0, 2π), all the Bmn terms drop out, and only the Amn terms for n = ν remain. Because of the orthogonality of the functions Jn (kmn r/a) (one n, all m), only the one term Aµν remains. Thus we have a (5.19) 0

2π

f (r, θ)Jν (kµν r/a) cos νθ r dr dθ a = Aµν

2π

Jν2 (kµν r/a) cos2 νθ r dr dθ = Aµν ·

a2 2 J (kµν ) · π. 2 ν+1

[The r integral is given by (19.11) of Chapter 12, and the θ integral by Chapter 7, Section 4]. Notice how the weight function r in the Bessel function integral arises here as part of the polar coordinate area element. Similarly, we can ﬁnd (5.20)

Bµν =

2 2 (k ) πa2 Jν+1 µν

a 0

2π

f (r, θ)Jν (kµν r/a) sin νθ r dr dθ.

By substituting the values of the A and B coeﬃcients from (5.19) and (5.20) into (5.17), we ﬁnd the solution to the problem.

PROBLEMS, SECTION 5 1.

(a)

Compute numerically the coeﬃcients (5.16) of the ﬁrst three terms of the series (5.11) for the steady-state temperature in a solid semi-inﬁnite cylinder when u = 0 at r = 1, and u = 100 at z = 0. Find u at r = 12 , z = 1.

(b)

In part (a), if u = 0 at r = 10 and u = 100 at z = 0, ﬁnd u at r = 5, z = 10. What is the relation between parts (a) and (b)? Hint: Suppose in part (a) that the length units for r and z are centimeters. Consider the identical physics problem but with distances measured in millimeters, and compare part (b). Note that in equation (5.10), r/a and z/a are just measurements as multiples of the radius a.

(a)

Find the steady-state temperature distribution in a solid semi-inﬁnite cylinder if the boundary temperatures are u = 0 at r = 1 and u = y = r sin θ at z = 0. Hints: In (5.10) you want the solution containing sin θ; therefore you want the functions J1 . You will need to integrate r 2 J1 ; follow the text method of integrating rJ0 just before (5.15).

Section 5

(b)

Steady-state Temperature in a Cylinder

643

Do part (a) if the cylinder radius is r = a. Answer:

∞ X m=1

2a J1 (km r/a)e−km z/a sin θ, km J2 (km )

km = zeros of J1 .

If a = 2, ﬁnd u when r = 1, z = 1, θ = π/2. 3.

(a)

Find the steady-state temperature distribution in a solid cylinder of height 10 and radius 1 if the top and curved surface are held at 0◦ and the base at 100◦ . Hint: See Section 2.

(b)

Generalize part (a) to a cylinder of height H and radius a.

A ﬂat circular plate of radius a is initially at temperature 100◦ . From time t = 0 on, the circumference of the plate is held at 0◦ . Find the time-dependent temperature distribution u(r, θ, t). Hint: Separate variables in equation (3.1) in polar coordinates.

Do Problem 4 if the initial temperature distribution is u(r, θ, t = 0) = 100r sin θ.

Consider Problem 4 if the initial temperature distribution is given as some function f (r, θ). The solution is, in general, a double inﬁnite series similar to (5.17). Find formulas for the coeﬃcients in the series.

Find the steady-state temperature distribution in a solid cylinder of height 20 and radius 3 if the ﬂat ends are held at 0◦ and the curved surface at 100◦ . Hints: Use −K 2 in (5.4). Also see Chapter 12, Sections 17 and 20.

Water at 100◦ is ﬂowing through a long pipe of radius 1 rapidly enough so that we may assume that the temperature is 100◦ at all points. At t = 0, the water is turned oﬀ and the surface of the pipe is maintained at 40◦ from then on (neglect the wall thickness of the pipe). Find the temperature distribution in the water as a function of r and t. Note that you need only consider a cross section of the pipe. Answer:

u = 40 +

∞ X m=1

2 120 J0 (km r)e−(αkm ) t , km J1 (km )

where J0 (km ) = 0.

Find the steady-state distribution of temperature in a cube of side 10 if the temperature is 100◦ on the face z = 0 and 0◦ on the other ﬁve faces. Hint: Separate Laplace's equation in three dimensions in rectangular coordinates, and follow the methods of Section 2. You will want to expand 100 in the double Fourier series ∞ ∞ X X n=1 m=1

anm sin

mπy nπx sin . l l

The coeﬃcients anm are determined by using the orthogonality of the functions sin (nπx/l) sin (mπy/l) over the square, that is, Z lZ 0

10.

mπy pπx qπy nπx sin sin sin dx dy = 0 sin l l l l 0

unless

( n = p, m = q.

A cube is originally at 100◦ . From t = 0 on, the faces are held at 0◦ . Find the time-dependent temperature distribution. Hint: This problem leads to a triple Fourier series; see the double Fourier series in Problem 9 and generalize it to three dimensions.

644 11.

Partial Differential Equations

Chapter 13

The following two R(r) equations arise in various separation of variables problems in polar, cylindrical, or spherical coordinates: „ « d dR r r = n2 R, dr dr „ « dR d r2 = l(l + 1)R. dr dr There are various ways of solving them: They are a standard kind of equation (often called Euler or Cauchy equations—see Chapter 8, Section 7d); you could use power series methods; given the fact that the solutions are just powers of r, it is easy to ﬁnd the powers. Choose any method you like, and solve the two equations for future reference. Consider the case n = 0 separately. Is this necessary for l = 0?

12.

Separate Laplace's equation in two dimensions in polar coordinates [equation (5.1) without the z term] and solve the r and θ equations. (See Problem 11.) Remember that for the θ equation, only periodic solutions are of interest. Use your results to solve the problem of the steady-state temperature in a circular plate if the upper semicircular boundary is held at 100◦ and the lower at 0◦ . Comment: Another physical problem whose mathematical solution is identical with this temperature problem is this: Find the electrostatic potential inside a capacitor formed by two half-cylinders, insulated from each other and maintained at potentials 0 and 100. 200 X " r "n sin nθ Answer: u = 50 + . π a n odd n

13.

Find the steady-state distribution of temperature in the sector of a circular plate of radius 10 and angle π/4 if the temperature is maintained at 0◦ along the radii and at 100◦ along the curved edge. Hint: See Problem 12.

14.

Find the steady state temperature distribution in a circular annulus (shaded area) of inner radius 1 and outer radius 2 if the inner circle is held at 0◦ and the outer circle has half its circumference at 0◦ and half at 100◦ . Hint: Don't forget the r solutions corresponding to k = 0.

15.

Solve Problem 14 if the temperatures of the two circles are interchanged.

6. VIBRATION OF A CIRCULAR MEMBRANE A circular membrane (for example, a drumhead) is attached to a rigid support along its circumference. Find the characteristic vibration frequencies and the corresponding normal modes of vibration. Take the (x, y) plane to be the plane of the circular support and take the origin at its center. Let z(x, y, t) be the displacement of the membrane from the (x, y) plane. Then z satisﬁes the wave equation (6.1)

∇2 z =

1 ∂2z . v 2 ∂t2

Putting (6.2)

z = F (x, y)T (t),

Section 6

Vibration of a Circular Membrane

645

we separate (6.1) into a space equation (Helmholtz) and a time equation (see Problem 3.10 and Section 3). We get the two equations (6.3)

∇2 F + K 2 F = 0

and

T¨ + K 2 v 2 T = 0.

Because the membrane is circular we write ∇2 in polar coordinates (see Chapter 10, Section 9); then the F equation is 1 ∂ ∂F 1 ∂2F (6.4) r + 2 + K 2 F = 0. r ∂r ∂r r ∂θ2 When we put (6.5)

F = R(r)Θ(θ),

(6.4) becomes (5.5), and the separated equations and their solutions are just (5.6), (5.7), and (5.8). The solutions of the time equation (6.3) are sin Kvt and cos Kvt. Thus the solutions for z are z = R(r)Θ(θ)T (t), where R(r) = Jn (Kr), Θ(θ) = {sin nθ, cos nθ} and T (t) = {sin Kvt, cos Kvt}. Just as in Section 5, n must be an integer. To ﬁnd possible values of K, we use the fact that the membrane is attached to a rigid frame at r = a, so we must have z = 0 at r = a for all values of θ and t. Thus Jn (Ka) = 0 so the possible values of Ka are the zeros of Jn . As in Section 5, let k = Ka, that is, K = k/a. Then the possible values of k for each Jn are kmn , the zeros of Jn . We can now write the solutions for z as sin kvt/a sin nθ . (6.6) z = Jn (kr/a) coskvt/a cos nθ For a given initial displacement or velocity of the membrane, we could ﬁnd z as a double series as we found (5.17) in the cylinder temperature problem. However, here we shall do something diﬀerent, namely investigate the separate normal modes of vibration and their frequencies. Recall that for the vibrating string (Section 4), each n gives a diﬀerent frequency and a corresponding normal mode of vibration (Figure 4.2). The frequencies of the string are ν = nv/(2l); all frequencies are integral multiples of the frequency ν1 = v/(2l) of the fundamental. For the circular membrane, the frequencies are [from (6.6)] ν=

kv ω = . 2π 2πa

The possible values of k are the zeros kmn of the Bessel functions. Each value of kmn gives a frequency νmn = kmn v/(2πa), so we have a doubly inﬁnite set of characteristic frequencies and the corresponding normal modes of vibration. All these frequencies are diﬀerent, and they are not integral multiples of the fundamental as is true for the string. This is why a drum is less musical than a violin. From your computer or tables you can ﬁnd several kmn values (Problem 2) and ﬁnd the frequencies as (nonintegral) multiples of the fundamental (which corresponds to k10 , the ﬁrst zero of J0 ). Let us sketch a few graphs (Figure 6.1) of the normal vibration modes corresponding to those in Figure 4.2 for the string, and write the corresponding formulas (eigenfunctions) for the displacement z given in (6.6). (For simplicity, we have used just the cos nθ cos kvt/a solutions in Figure 6.1.) In the fundamental mode of vibration corresponding to k10 , the membrane vibrates as a whole. In the

646

Partial Differential Equations

Chapter 13

Figure 6.1 k20 mode, it vibrates in two parts as shown, the + part vibrating up while the − part vibrates down, and vice versa, with the circle between them at rest. We can show that there is such a circle (called a nodal line) and ﬁnd its radius. Since k20 > k10 , the circle r = ak10 /k20 is a circle of radius less than a. Hence it is a circle on the membrane. For this value of r, J0 (k20 r/a) = J0 (k20 k10 /k20 )) = J0 (k10 ) = 0, so points on this circle are at rest. For the k11 mode, cos θ = 0 when θ = ±π/2 and is positive or negative as shown. Continuing in this way you can sketch any normal mode (Problem 1). It is diﬃcult experimentally to obtain pure normal modes of a vibrating object. However, a complicated vibration will have nodal lines of some kind and it is easy to observe these. Fine sand sprinkled on the vibrating object will collect along the nodal lines (where there is no vibration) so that you can see them clearly—but see Am. J. Phys. 72, 1345–1346, (2004). [For experimental work on the vibrating circular membrane, see Am. J. Phys. 35, 1029–1031, (1967); Am. J. Phys. 40, 186–188, (1972); Am. J. Phys. 59, 376–377, (1991). Also see Problem 1(b).]

PROBLEMS, SECTION 6 1.

(a)

Continue Figure 6.1 to show the fundamental modes of vibration of a circular membrane for n = 0, 1, 2, and m = 1, 2, 3. As in Figure 6.1, write the formula for the displacement z under each sketch.

(b)

Use a computer to set up animations of the various modes of vibration of a circular membrane. [This has been discussed in a number of places. See, for example, Am. J. Phys. 67, 534–537, (1999).]

Find, from computer or tables, the ﬁrst three zeros kmn of each of the Bessel functions J0 , J1 , J2 , and J3 . Find the ﬁrst six frequencies of a vibrating circular membrane as (non-integral) multiples of the fundamental frequency.

Separate the wave equation in two-dimensional rectangular coordinates x, y. Consider a rectangular membrane as shown, rigidly attached to supports along its sides.

Section 7

Steady-state Temperature in a Sphere

647

Show that its characteristic frequencies are p νnm = (v/2) (n/a)2 + (m/b)2 , where n and m are positive integers, and sketch the normal modes of vibration corresponding to the ﬁrst few frequencies. That is, indicate the nodal lines as we did for the circular membrane in Figure 6.1 and Problem 1. Next suppose the membrane is square. Show that in this case there may be two or more normal modes of vibration corresponding to a single frequency. (Hint for one example: 72 + 11 = 12 + 72 = 52 + 52 .) This is an example of what is called degeneracy; we say that there is degeneracy when several diﬀerent solutions of the wave equation (eigenfunctions) correspond to the same frequency (eigenvalue). Sketch several normal modes giving rise to the same frequency. Comment: Compare Chapter 3, Section 11, where an eigenvalue of a matrix is called degenerate if several eigenvectors correspond to it. 4.

Find the characteristic frequencies for sound vibration in a rectangular box (say a room) of sides a, b, c. Hint: Separate the wave equation in three dimensions in rectangular coordinates. This problem is like Problem 3 but for three dimensions instead of two. Discuss degeneracy (see Problem 3).

A square membrane of side l is distorted into the shape f (x, y) = xy(l − x)(l − y) and released. Express its shape at subsequent times as an inﬁnite series. Hint: Use a double Fourier series as in Problem 5.9.

Let V = 0 in the Schr¨ odinger equation (3.22) and separate variables in 2-dimensional rectangular coordinates. Solve the problem of a particle in a 2-dimensional square box, 0 < x < l, 0 < y < l. This means to ﬁnd solutions of the Schr¨ odinger equation which are 0 for x = 0, x = l, y = 0, y = l, that is, on the boundary of the box, and to ﬁnd the corresponding energy eigenvalues. Comments: If we extend the idea of a "particle in a box" (see Section 3, Example 3) to two or three dimensions, the box in 2D might be a square (as in this problem) or a circle (Problem 8); in 3D it might be a cube (Problem 7.17) or a sphere (Problem 7.19). In all cases, the mathematical problem is to ﬁnd solutions of the Schr¨ odinger equation with V = 0 inside the box and Ψ = 0 on the boundary of the box, and to ﬁnd the corresponding energy eigenvalues. In quantum mechanics, Ψ describes a particle trapped inside the box and the energy eigenvalues are the possible values of the energy of the particle.

In your Problem 6 solutions, ﬁnd some examples of degeneracy. (See Problem 3. Degeneracy means that several eigenfunctions correspond to the same energy eigenvalue.)

Do Problem 6 in polar coordinates to ﬁnd the eigenfunctions and energy eigenvalues of a particle in a circular box r < a. You want Ψ = 0 when r = a.

7. STEADY-STATE TEMPERATURE IN A SPHERE Find the steady-state temperature inside a sphere of radius a when the surface of the upper half is held at 100◦ and the surface of the lower half at 0◦ . Inside the sphere, the temperature u satisﬁes Laplace's equation. In spherical coordinates this is (see Chapter 10, Section 9) ∂u 1 ∂ ∂u 1 ∂2u 1 ∂ (7.1) ∇2 u = 2 r2 + 2 sin θ + 2 2 = 0. r ∂r ∂r r sin θ ∂θ ∂θ r sin θ ∂φ2

648

Partial Differential Equations

Chapter 13

We separate this equation following our standard procedure. Substitute (7.2)

u = R(r)Θ(θ)Φ(φ)

into (7.1) and multiply by r2 /RΘΦ to get dR 1 1 d dΘ 1 1 d2 Φ 1 d r2 + sin θ + (7.3) = 0. R dr dr Θ sin θ dθ dθ Φ sin2 θ dφ2 If we multiply (7.3) by sin2 θ, the last term becomes a function of φ only and the other terms do not contain φ. Thus we obtain the φ equation and its solutions: 1 d2 Φ sin mφ, 2 (7.4) = −m , Φ= 2 Φ dφ cos mφ. The separation constant must be negative and m an integer to make Φ a periodic function of φ [see the discussion after (5.6)]. Equation (7.3) can now be written as 1 d 1 1 d dΘ m2 dR (7.5) r2 + sin θ − = 0. R dr dr Θ sin θ dθ dθ sin2 θ The ﬁrst term is a function of r and the last two terms are functions of θ, so we have two equations 1 d 2 dR (7.6) r = k, R dr dr 1 d dΘ m2 sin θ − (7.7) Θ + kΘ = 0. sin θ dθ dθ sin2 θ If you compare (7.7) with the equation of Problem 10.2 in Chapter 12, you will see that (7.7) is the equation for the associated Legendre functions if k = l(l + 1). Recall that l must be an integer in order for the solution of Legendre's equation to be ﬁnite at x = cos θ = ±1, that is, at θ = 0 or π; the same statement is true for the equation for the associated Legendre functions. The corresponding result for (7.7) is that k must be a product of two successive integers; it is then convenient to replace k by l(l + 1), where l is an integer. The solutions of (7.7) are then the associated Legendre functions (see Problem 10.2, Chapter 12) (7.8)

Θ = Plm (cos θ).

In (7.6), we put k = l(l + 1); you can then easily verify (Problem 5.11) that the solutions of (7.6) are rl , (7.9) R= r−l−1 . Since we are interested in the interior of the sphere, we discard the solutions r−l−1 because they become inﬁnite at the origin. If we were discussing a problem (say about water ﬂow or electrostatic potential) outside the sphere, we would use the r−l−1 solutions and discard the solutions rl because they become inﬁnite at inﬁnity.

Section 7

Steady-state Temperature in a Sphere

649

The basis functions for our problem are then (7.10)

u=r

Plm (cos θ)

sin mφ, cos mφ.

[The functions Plm (cos θ) sin mφ and Plm (cos θ) cos mφ are called spherical harmonicsand are often denoted by Ylm (θ, φ); also see Problem 16.] If the surface temperature at r = a were given as a function of θ and φ, we would have a double series (summed on l and m). For the given surface temperatures in our problem (100◦ on the top hemisphere and 0◦ on the lower hemisphere), the temperature is independent of φ; thus in (7.10) we must have m = 0, cos mφ = 1. The solutions (7.10) then reduce to rl Pl (cos θ). We write the solution of the problem as a series of these basis functions: (7.11)

∞

cl rl Pl (cos θ).

l=0

We determine the coeﬃcients cl by using the given temperatures when r = a; that is, we must have (7.12) ur=a =

∞

cl al Pl (cos θ)

l=0

100, 0 < θ < π2 , π 0, 2 < θ < π,

that is, 0 < cos θ < 1, that is, −1 < cos θ < 0,

or, with x = cos θ, (7.13)

ur=a =

∞

cl al Pl (x) = 100f (x)

l=0

where f (x) =

0, −1 < x < 0, 1, 0 < x < 1.

(Note that here x just stands for cos θ and is not the coordinate x.) In Section 9 of Chapter 12, we expanded this f (x) in a series of Legendre polynomials and obtained: (7.14)

f (x) =

3 7 11 1 P0 (x) + P1 (x) − P3 (x) + P5 (x) + . . . . 2 4 16 32

The coeﬃcients cl in (7.13) are just these coeﬃcients times 100/al . Substituting the c's into (7.11), we get the ﬁnal solution: (7.15) u = 100

1 2 P0 (cos θ)

3r 4 a P1 (cos θ)

−

7 16

r 3 a

P3 (cos θ) r 5 + 11 P (cos θ) + . . . . 5 32 a

650

Partial Differential Equations

Chapter 13

We can do variations of this problem. Notice that we have not even mentioned so far what temperature scale we are using (Celsius, Fahrenheit, absolute, etc.). This is a very easy adjustment to make once we have a solution in any one scale. To see why, observe that if u is a solution of Laplace's equation ∇2 u = 0 or of the heat ﬂow equation ∇2 u = (1/α2 )(∂u/∂t), then u + C and Cu are also solutions for any constant C. If we add, say, 50◦ to the solution (7.15), we have the temperature distribution inside a sphere with the top half of the surface at 150◦ and the lower half at 50◦ . If we multiply the solution (7.15) by 2, we ﬁnd the temperature distribution with given surface temperatures of 200◦ and 0◦ , and so on. The temperature of the equatorial plane θ = π/2 or cos θ = 0 as given by equations (7.11) to (7.15) is halfway between the top and bottom surface temperatures, because Legendre series, like Fourier series, converge to the midpoint of a jump in the function which was expanded to get the series. To solve the problem of the temperature in a hemisphere given the temperatures of the curved surface and of the equatorial plane, we need only imagine the lower hemisphere in place and at the proper temperature to give the desired average on the equatorial plane. When the temperature of the equatorial plane is 0◦ , this amounts to deﬁning the function f (x) in (7.13) on (−1, 0) to make it an odd function.

PROBLEMS, SECTION 7 Find the steady-state temperature distribution inside a sphere of radius 1 when the surface temperatures are as given in Problems 1 to 10. 1.

35 cos4 θ

cos θ − cos3 θ

cos θ − 3 sin2 θ

5 cos3 θ − 3 sin2 θ

|cos θ|

π/2−θ.

 7.  8. 9.

cos θ, 0,

0 < θ < π/2, π/2 < θ < π,

100◦ , 0◦ ,

0 < θ < π/3, otherwise.

3 sin θ cos θ sin φ.

See Chapter 12, Problem 9.4.

that is, upper hemisphere, that is, lower hemisphere.

Hint: See Problem 9.8 of Chapter 12.

Hint: See equation (7.10) and Chapter 12, equation (10.6).

10.

sin2 θ cos θ cos 2φ − cos θ.

11.

Find the steady-state temperature distribution inside a hemisphere if the spherical surface is held at 100◦ and the equatorial plane at 0◦ . Hint: See the last paragraph of this section above.

12.

Do Problem 11 if the curved surface is held at cos2 θ and the equatorial plane at zero. Careful: The answer does not involve P2 ; read the last sentence of this section.

13.

Find the electrostatic potential outside a conducting sphere of radius a placed in an originally uniform electric ﬁeld, and maintained at zero potential. Hint: Let the original ﬁeld E be in the negative z direction so that E = −E0 k. Then since E = −∇Φ, where Φ is the potential, we have Φ = E0 z = E0 r cos θ (Verify this!) for the original potential. You then want a solution of Laplace's equation ∇2 u = 0 which is zero at r = a and becomes u ∼ Φ for large r (that is, far away from the

(See Problem 9.)

Section 7

Steady-state Temperature in a Sphere

651

sphere). Select the solutions of Laplace's equation in spherical coordinates which have the right θ and φ dependence (there are just two such solutions) and ﬁnd the combination which reduces to zero for r = a. 14.

Find the steady-state temperature distribution in a spherical shell of inner radius 1 and outer radius 2 if the inner surface is held at 0◦ and the outer surface has its upper half at 100◦ and its lower half at 0◦ . Hint: r = 0 is not in the region of interest, so the solutions r −l−1 in (7.9) should be included. Replace cl r l in (7.11) by (cl r l + bl r −l−1 ).

15.

A sphere initially at 0◦ has its surface kept at 100◦ from t = 0 on (for example, a frozen potato in boiling water!). Find the time-dependent temperature distribution. Hint: Subtract 100◦ from all temperatures and solve the problem; then add the 100◦ to the answer. Can you justify this procedure? Show that the Legendre function √ required for this problem is P0 and the r solution is (1/ r)J1/2 or j0 [see (17.4) in Chapter 12]. Since spherical Bessel functions can be expressed in terms of elementary functions, the series in this problem can be thought of as either a Bessel series or a Fourier series. Show that the results are identical.

16.

Separate the wave equation in spherical coordinates, and show that the θ, φ solutions are the spherical harmonics Ylm (θ, φ) =Plm (cos θ)e±imφ and the r solutions are the spherical Bessel functions jl (kr) and yl (kr) [Chapter 12, equations (17.4)].

17.

Do Problem 6.6 in 3 dimensional rectangular coordinates. That is, solve the "particle in a box" problem for a cube.

18.

Separate the time-independent Schr¨ odinger equation (3.22) in spherical coordinates assuming that V = V (r) is independent of θ and φ. (If V depends only on r, then we are dealing with central forces, for example, electrostatic or gravitational forces.) Hints: You may ﬁnd it helpful to replace the mass m in the Schr¨ odinger equation by M when you are working in spherical coordinates to avoid confusion with the letter m in the spherical harmonics (7.10). Follow the separation of (7.1) but with the extra term [V (r) − E]Ψ. Show that the θ, φ solutions are spherical harmonics as in (7.10) and Problem 16. Show that the r equation with k = l(l + 1) is [compare (7.6)] „ « 2M r 2 dR 1 d [V (r) − E) = l(l + 1). r2 − R dr dr h2 ¯

19.

Find the eigenfunctions and energy eigenvalues for a "particle in a spherical box" r < a. Hints: See Problem 6.6. Write the R equation from Problem 18 with p V = 0, h2 , and compare Chapter 12, Problem 17.6, with y = R, x = βr where β = 2M E/¯ and n = l.

20.

Write the Schr¨ odinger equation (3.22) if ψ is a function of x, and V = 12 mω 2 x2 (this is a one-dimensional harmonic oscillator). Find the solutions ψn (x) and the energy eigenvalues En . Hints: In Chapter p 12, equation (22.1) and the ﬁrst equation h. (Don't forget appropriate factors in (22.11), replace x by αx where α = mω/¯ of α for the x's in the denominators of D = d/dx and ψ = d2 ψ/dx2 .) Compare your results for equation (22.1) with the Schr¨ odinger equation you wrote above to see that they are identical if En = (n + 12 )¯ hω. Write the solutions ψn (x) of the Schr¨ odinger equation using Chapter 12, equations (22.11) and (22.12).

21.

Separate the Schr¨ odinger equation (3.22) in rectangular coordinates in 3 dimensions assuming that V = 12 mω 2 (x2 +y 2 +z 2 ). (This is a 3-dimensional harmonic oscillator). Observe that each of the separated equations is of the form of the one-dimensional oscillator equation in Problem 20. Thus write the solutions ψn (x, y, z) for the 3dimensional problem, where n = nx + ny + nz . Find the energy eigenvalues En and their degree of degeneracy (see Problem 6.7 and Chapter 15, Problem 4.21).

652 22.

Partial Differential Equations

Chapter 13

Find the energy eigenvalues and eigenfunctions for the hydrogen atom. The potential energy is V (r) = −e2 /r in Gaussian units, where e is the charge of the electron and r is in spherical coordinates. Since V is a function of r only, you know from Problem 18 that the eigenfunctions are R(r) times the spherical harmonics Ylm (θ, φ), so you only have to ﬁnd R(r). Substitute V (r) into the R equation in Problem 18 and make the following simpliﬁcations: Let x = 2r/α, y = rR; show that then „ « d 2 d d 2 dR 2 y(x), = , r2 = xy . r = αx/2, R(r) = αx dr α dx dr dr α h2 (note that for a bound state, E is negative, so α2 is positive) Let α2 = −2M E/¯ h2 , to get the ﬁrst equation in Problem 22.26 of Chapter 12. Do and λ = M e2 α/¯ this problem to ﬁnd y(x), and the result that λ is an integer, say n. [Caution: not the same n as in equation (22.26)]. Hence ﬁnd the possible values of α (these are the radii of the Bohr orbits), and the energy eigenvalues. You should have found α proportional to n; let α = na, where a is the value of α when n = 1, that is, the radius of the ﬁrst Bohr orbit. Write the solutions R(r) by substituting back y = rR, and x = 2r/(na), and ﬁnd En from α.

8. POISSON'S EQUATION We are going to derive Poisson's equation (1.2) for a simple problem whose answer we know in advance. Using our known solution, we shall be able to see a method of solving more diﬃcult problems. Recall from Chapter 6, Section 8, that the gravitational ﬁeld is conservative, that is, curl F = 0, and there is a potential function V such that F = −∇V . If we consider the gravitational ﬁeld at a point P due to a point mass m a distance r away, we have (8.1)

V =−

Gm r

F=−

and

Gm u r2

where u is a unit vector along r toward P . It is straightforward to show that div F = 0 and V satisﬁes Laplace's equation (Problem 1), that is, (8.2)

∇ · F = −∇ · ∇V = −∇2 V = 0.

Now suppose there are many masses mi at distances ri from P . The total potential at P is the sum of the potentials due to the individual mi , that is, V =

Vi = −

Gmi i

and the total gravitational ﬁeld at P is the vector sum of the ﬁelds Fi , that is, F=− ∇Vi = −∇V. i

Note that we are taking it for granted that none of the masses mi are at P , that is, that no ri is zero. Since ∇ · Fi = −∇2 Vi = 0,

Section 8

Poisson's Equation

653

we have also ∇ · F = −∇2 V = 0. Instead of a number of masses mi , we can consider a continuous distribution of mass inside a volume τ (Figure 8.1). Let ρ be the mass density of the distribution; then the mass in an element dτ is ρ dτ . The gravitational potential at P due to this mass ρdτ is −(Gρ/r) dτ . Then the total gravitational potential at P due to the whole mass distribution is the triple integral over the volume τ : Gρ dτ (8.3) V =− . r

Figure 8.1

volume τ

As before, the contribution to V at P due to each bit of mass satisﬁes Laplace's equation and therefore V satisﬁes Laplace's equation. Also the total ﬁeld F at P is the vector sum of the ﬁelds due to the elements of mass, and as before we have ∇ · F = −∇2 V = 0. Again note that we are implicitly assuming that none of the mass distribution coincides with P , that is, that r = 0, which means that point P is not a point of the region τ . Now let us investigate what happens if P is a point of τ . Can we ﬁnd V from (8.3) and does V satisfy Laplace's equation? Let S be a small sphere of radius a about P ; imagine all the mass removed from inside S (Figure 8.2). Then our previous discussion holds at points inside S since these points are not in the mass distribution. If F and V are the new ﬁeld and potential (with the matter inside S removed), then ∇ · F = −∇2 V = 0 at points inside S. Now restore the mass inside S; let F and V represent the ﬁeld and potential due to the whole distribution and let FS and VS represent the ﬁeld and potential due to just the mass inside S. Then F = F + FS and at Figure 8.2 points inside S (8.4)

∇ · F = ∇ · F + ∇ · FS = ∇ · FS

since ∇ · F = 0 inside S. By the divergence theorem (see Figure 8.2 and Chapter 6, Section 10) (8.5) ∇ · FS dτ = FS · n dσ. volume of S

surface of S

If we let the radius a of S tend to zero, the density ρ of matter inside S tends to its value at P ; thus for small a, S contains a total mass M approximately equal to

654

Partial Differential Equations

Chapter 13

4 3 3 πa ρ,

where ρ is evaluated at P . The gravitational ﬁeld at the surface of S due to this mass is of magnitude Fs =

GM 4 = G πaρ a2 3

directed toward P . Thus in (8.5), FS · n = − 34 Gπaρ because FS and n are antiparallel. Since FS is constant over the surface S, the right-hand side of (8.5) is FS · n times the area of the sphere. The left-hand side is, for small a, approximately the value of ∇ · FS at P times the volume of S. Then we have 4 4 (∇ · FS )( πa3 ) = (− Gπaρ)(4πa2 ) 3 3 or ∇ · FS = −4πGρ

(8.6) Since

at P.

∇ · FS = ∇ · F = −∇ · ∇V = −∇2 V,

we have ∇2 V = 4πGρ.

(8.7)

This is Poisson's equation; we see that the gravitational potential in a region containing matter satisﬁes Poisson's equation as claimed in (1.2). Note that if ρ = 0, (8.7) becomes (8.2) as it should. Next we must consider whether our formula (8.3) for V is valid when P is a point of the mass distribution. The integral appears to diverge at r = 0, but this is not really so as we see most easily by using spherical coordinates. Then (8.3) becomes Gρ 2 V =− r sin θ dr dθ dφ r volume τ

and we see that there is no trouble when r = 0. Thus (8.3) is valid in general and gives a solution for (8.7). Using the notation of (1.2) for Poisson's equation [that is, replacing 4πGρ by f and V by u in (8.7) and (8.3)] we can write 1 f dτ (8.8) u=− is a solution of ∇2 u = f. 4π r In the more detailed notation needed when we use this solution in a problem, (8.8) becomes (see Figure 8.3):

(8.9)

u(x, y, z) = −

is a solution of

1 4π

f (x , y , z ) dx dy dz (x − x )2 + (y − y )2 + (z − z )2

∇2 u(x, y, z) = f (x, y, z)

Section 8

Poisson's Equation

655

In (8.9) and Figure 8.3, the point (x, y, z) is the point at which we are calculating the potential u; the point (x , y , z ) is a point in the mass distribution over which we integrate; r in (8.8) is the distance between these two points and is written out in full in (8.9). Equations (8.8) or (8.9) actually give a very special solution of Poisson's equation. Recall that it is customary to take the zero point for gravitaFigure 8.3 tional (and electrostatic) potential energy at inﬁnity, and this is what we have done. Thus (8.8) or (8.9) gives a solution of Poisson's equation which tends to zero at inﬁnity. In another problem this may not be what we want. For example, suppose we have an electrostatic charge distribution near a grounded plane. The electrostatic potential satisﬁes Poisson's equation, but here we want a solution which is zero on the grounded plane rather than at inﬁnity. To see how we might ﬁnd such a solution, observe that if u is a solution of Poisson's equation, and w is any solution of Laplace's equation (∇2 w = 0), then (8.10)

∇2 (u + w) = ∇2 u + ∇2 w = ∇2 u = f ;

thus u + w is a solution of Poisson's equation. Then we can add to the solution (8.9) any solution of Laplace's equation; the combination must be adjusted to ﬁt the given boundary conditions just as we have done in the problems in previous paragraphs. Example 1. Let us do the following simple problem to illustrate this process. In Figure 8.4, a point charge q at (0, 0, a) is outside a grounded sphere of radius R and center

FIgure 8.4 at the origin. Our problem is to ﬁnd the electrostatic potential V at points outside the sphere. The potential V and the charge density ρ are related by Poisson's equation (8.11)

∇2 V = −4πρ

(in Gaussian units).

The potential at (x, y, z) due to a given charge distribution ρ is given by (8.8) or

656

Partial Differential Equations

(8.9) with f = −4πρ: (8.12)

V (x, y, z) = −

1 4π

Chapter 13

−4πρ(x , y , z ) dx dy dz . (x − x )2 + (y − y )2 + (z − z )2

For a given space-charge distribution, we would next evaluate this integral. For the single point charge q, we have (x , y , z ) = (0, 0, a) and we replace ρ dx dy dz (which is simply the total charge) by q to obtain (8.13)

q . V = 2 2 x + y + (z − a)2

[We could, of course, simply have written down (8.13) without using (8.8); (8.13) is just the electrostatic formula corresponding to the gravitational formula (8.1) with which we started.] Now we want to add to (8.13) a solution of Laplace's equation such that the combination is zero on the given sphere (Figure 8.4). It will be convenient to change to spherical coordinates and to use solutions of Laplace's equation in spherical coordinates. [Note a change in the meaning of r from now on. We have been using r to mean the distance from q at (x , y , z ) to (x, y, z); from now on we want to use it to mean the distance from (0, 0, 0) to (x, y, z). See, for example, Figures 8.3 and 8.4.] Writing Vq for V in (8.13) (to distinguish it from our ﬁnal answer which will be a sum of Vq and a solution of Laplace's equation) and changing to spherical coordinates, we get (8.14)

q Vq = √ . 2 r − 2ar cos θ + a2

The solutions of Laplace's equation in spherical coordinates are (Section 7): sin mφ rl m . Pl (cos θ) (8.15) cos mφ r−l−1 Since we are interested in the region outside the sphere, we want r solutions which do not become inﬁnite at inﬁnity; thus we use r−l−1 and discard the rl solutions. Because the physical problem is symmetric about the z axis, we look for solutions independent of φ; that is, we choose m = 0, cos mφ = 1. Then the basis functions for our problem are r−l−1 Pl (cos θ) and we try to ﬁnd a solution of the form (8.16) V = Vq + cl r−l−1 Pl (cos θ). l

We must satisfy the boundary condition V = 0 when r = R. This gives q (8.17) Vr=R = √ + cl R−l−1 Pl (cos θ) = 0. R2 − 2aR cos θ + a2 l Thus we want to expand Vq in a Legendre series. Since Vq is essentially the generating function for Legendre polynomials, this is very easy. Comparing (8.17) and the formulas of Chapter 12, Section 5 [(5.1) and (5.2), or more simply, (5.12) and (5.17)], we ﬁnd (8.18)

Rl Pl (cos θ) q √ =q . al+1 R2 − 2aR cos θ + a2 l

Section 8

Poisson's Equation

657

Thus the coeﬃcients cl in (8.17) are given by (8.19)

cl R−l−1 = −

qRl al+1

or cl = −

qR2l+1 . al+1

Substituting (8.19) into (8.16), we obtain the ﬁnal solution for V : (8.20)

R2l+1 r−l−1 Pl (cos θ) q −q . V = √ al+1 r2 − 2ar cos θ + a2 l

Since the second term in (8.20) is of the same general form as (8.18), we can simplify (8.20) by summing the series to get (Problem 2) (8.21)

q (R/a)q V = √ − . 2 2 2 2 r − 2ar cos θ + a r + (R /a)2 − 2r(R2 /a) cos θ

Formula (8.21) has a very interesting physical interpretation. The second term is the potential of a charge −(R/a)q at the point (0, 0, R2 /a); thus we could replace the grounded sphere by this charge and have the same potential for r > R. This result can be shown also by elementary analytic geometry and is known as the "method of images." For problems with simple geometry (involving planes, spheres, circular cylinders), it may oﬀer a simpler method of solution than the one we have discussed; however, our purpose was to illustrate the more general method. Use of Green Functions In Chapter 8, Section 12, we used Green functions to solve ordinary diﬀerential equations with a nonzero right-hand side. Here we consider the use of Green functions to solve a corresponding partial diﬀerential equation in three dimensions, namely Poisson's equation (8.22)

∇2 u = f (r) = f (x, y, z).

Suppose that we have a solution of Poisson's equation when the right hand side is a 3-dimensional δ function (see Chapter 8, Sections 11 and 12): (8.23)

∇2 G(r, r ) = δ(r − r ) = δ(x − x )δ(y − y )δ(z − z ).

The three-dimensional δ function has the property that (8.24) f (x , y , z )δ(r − r ) dτ = f (x, y, z) if the volume of integration includes the point (x, y, z) (and the integral is zero otherwise). Recall that the right-hand side of Poisson's equation is proportional to the mass density or the charge density. integral of the density gives the The volume total mass or total charge. Since δ(r − r ) dτ = 1, the right-hand side of (8.23) corresponds to a point mass or point charge. That is, the Green function in (8.23) is the potential due to a point source. Just as we showed in Chapter 8, Section 12, that (12.4) is a solution of (12.1), we ﬁnd here that a solution of (8.22) is given by (see Problem 6) (8.25) u(r) = G(r, r )f (r ) dτ .

658

Partial Differential Equations

Chapter 13

In equation (8.9) we found that a solution of (8.22) is f (r ) 1 dτ . (8.26) u(r) = − 4π |r − r | Comparing (8.25) and (8.26), we conclude that a solution of (8.23) is G(r, r ) = −

(8.27)

1 . 4π|r − r |

Now (8.26) and (8.27) give solutions which are zero at inﬁnity; usually we want solutions which are zero on some given surface (for example, zero electrostatic potential on a grounded sphere or plane). In order to obtain such a solution, we add to (8.27) a solution F (r, r ) of Laplace's equation chosen so that the new Green function (8.28)

G(r, r ) = −

1 + F (r, r ) 4π|r − r |

satisﬁes the desired zero boundary conditions. Then (8.25) with G(r, r ) as in (8.28) gives a solution of (8.22) which is zero of the boundary. For example, in equation (8.21), V is the potential outside the grounded sphere r = R due to a point charge at r = a > R. Rewriting that result in our present notation gives the Green function (8.28) which satisﬁes (8.23) and is zero on the sphere r = R, namely (Problem 7) (8.29)

G(r, r ) = −

R/r 1 + . 4π|r − r | 4π|r − R2 r /r2 |

(Also see Problems 8 and 9.)

PROBLEMS, SECTION 8 1.

Show that the gravitational potential V = −Gm/r satisﬁes Laplace's equation, that is, show that ∇2 (1/r) = 0 where r 2 = x2 + y 2 + z 2 , r = 0.

Using the formulas of Chapter 12, Section 5, sum the series in (8.20) to get (8.21).

Do the problem in Example 1 for the case of a charge q inside a grounded sphere to obtain the potential V inside the sphere. Sum the series solution and state the image method of solving this problem.

Do the two-dimensional analogue of the problem in Example 1. A "point charge" in a plane means physically a uniform charge along an inﬁnite line perpendicular to the plane; a "circle" means an inﬁnitely long circular cylinder perpendicular to the plane. However, since all cross sections of the parallel line and cylinder are the same, the problem is a two-dimensional one. Hint: The potential must satisfy Laplace's equation in charge-free regions. What are the solutions of the two-dimensional Laplace equation?

Find the method of images for problem 4.

Substitute (8.25) into (8.22) and use (8.23) and (8.24) to show that (8.25) is a solution of (8.22).

Verify that the Green function in (8.29) is zero when r = R. Also verify that the point at which the second term becomes inﬁnite is inside the sphere, so outside the sphere this term satisﬁes Laplace's equation as required. Thus write a triple integral for the solution of (8.22) for r > R which is zero on the sphere r = R.

Section 9 8.

Integral Transform Solutions of Partial Differential Equations

659

Show that the Green function (8.28) which is zero on the plane z = 0 is 1 4π 1 + 4π

G(r, r ) = −

˜−1/2

(x − x )2 + (y − y )2 + (z − z )2 (x − x )2 + (y − y )2 + (z + z )2

Hence write a triple integral for the solution of (8.22) for z > 0 which is zero for z = 0. 9.

Show that our results can be extended to ﬁnd the following solution of (8.22) which satisﬁes given nonzero boundary conditions: ZZZ ZZ ∂G(r, r ) u(r) = G(r, r )f (r ) dτ + u(r ) dσ ∂n where G(r, r ) is the Green function (8.28) which is zero on the surface σ, and ∂G/∂n = ∇G · n is the normal derivative of G (see Chapter 6, Section 6). Hints: In Green's second identity (Chapter 6, Problem 10.16) let φ = u(r) and ψ = G(r, r ), and use (8.22) and (8.23) to ﬁnd ∇2 φ and ∇2 ψ. Comment: Although we derived the divergence theorem and so Green's identities only for bounded regions in Chapter 6, they are valid for unbounded regions if the functions involved tend to zero suﬃciently rapidly.

9. INTEGRAL TRANSFORM SOLUTIONS OF PARTIAL DIFFERENTIAL EQUATIONS Laplace Transform Solutions We have seen (Chapter 8, Section 9) that taking the Laplace transform of an ordinary diﬀerential equation converts it into an algebraic equation. Taking the Laplace transform of a partial diﬀerential equation reduces the number of independent variables by one, and so converts a two-variable partial diﬀerential equation into an ordinary diﬀerential equation. To illustrate this, we solve the following problem. Example 1. A semi-inﬁnite bar (extending from x = 0 to x = ∞), with insulated sides, is initially at the uniform temperature u = 0◦ . At t = 0, the end at x = 0 is brought to u = 100◦ and held there. Find the temperature distribution in the bar as a function of x and t. The diﬀerential equation satisﬁed by u is (9.1)

∂2u 1 ∂u . = 2 ∂x2 α ∂t

We are going to take the t Laplace transform of (9.1); the variable x will just be a parameter in this process. Let U be the Laplace transform of u, that is, ∞ (9.2) U (x, p) = u(x, t)e−pt dt. 0

By Chapter 8, equation (9.1) we have ∂u = pU − ut=0 = pU L ∂t since u = 0 when t = 0. Also 2 ∂2 ∂ u ∂2U = L L(u) = 2 2 ∂x ∂x ∂x2

660

Partial Differential Equations

Chapter 13

(remember that x is just a parameter here; we are taking a t Laplace transform). The transform of (9.1) is then (9.3)

∂ 2U 1 = 2 pU. 2 ∂x α

Now if we think of p as a constant and x as the variable, this is an ordinary diﬀerential equation for U as a function of x. Its solutions are √ e( p/α)x , √ (9.4) U= e−( p/α)x . To ﬁnd the correct combination of these solutions to ﬁt our problem, we need the Laplace transforms of the boundary conditions on u since these give the conditions on U . Using L1 (see Laplace Transform Table, page 469) to ﬁnd the transforms, we have (9.5)

u = 100 at x = 0, u→0 as x → ∞,

U = L(100) = U → L(0) = 0

100 p

at x = 0; as x → ∞. √

Since U → 0 as x → ∞, we see that we must use the solution e−( p/α)x from (9.4) and discard the positive exponential solution. We determine the constant multiple of this solution which ﬁts our problem from the condition that U = 100/p at x = 0. Thus we ﬁnd that the U solution satisfying the given boundary conditions is (9.6)

100 −(√p/α)x e . p

We ﬁnd u by looking up the inverse transform of (9.6); it is, by L22 x √ (9.7) u = 100 1 − erf 2α t and this is the solution of the problem. Fourier Transform Solutions In the examples in Sections 2, 3 and 4, we expanded a given function in a Fourier series. This was possible because the function was to be represented by a series over a ﬁnite interval. We could then take that interval as the period for the Fourier series. If we are dealing with a function which is given over an inﬁnite interval (and not periodic), then instead of representing it by a Fourier series we represent it by a Fourier integral (Chapter 7, Section 12). Let us do this for a speciﬁc problem. Example 2. An inﬁnite metal plate (Figure 9.1) covering the ﬁrst quadrant has the edge along the y axis held at 0◦ , and the edge along the x axis held at 100◦, 0 < x < 1, (9.8) u(x, 0) = 0◦ , x > 1. Find the steady-state temperature distribution as a function of x and y.

Section 9

Integral Transform Solutions of Partial Differential Equations

661

The diﬀerential equation and its solutions are the same as in the semi-inﬁnite plate problem discussed in Section 2, equations (2.1), (2.6), and (2.7). As in that problem, we assume u → 0 as y → ∞, and use only the e−ky terms. Since u = 0 when x = 0, we use only the sine solutions. The basis functions we want are then u = e−ky sin kx. We do not have any requirement here which deFigure 9.1 termines k as we did in Section 2. We must then allow all k's and try to ﬁnd a solution in the form of an integral over k. Instead of coeﬃcients bn in a series, we have a coeﬃcient function B(k) to determine. Remember that k > 0 since e−ky must tend to zero as y → ∞. Thus we try to ﬁnd a solution of the form ∞ (9.9) u(x, y) = B(k)e−ky sin kx dk. 0

When y = 0, we have (9.10)

∞

B(k) sin kx dk.

u(x, 0) = 0

This is the ﬁrst of equations (12.14) in Chapter 7, if we identify k with α, u(x, 0) with fs (x), and B(k) with 2/πgs (α). Thus the given temperature on the x axis is a Fourier sine transform of the desired coeﬃcient function, so B(k) can be found as the inverse transform. Using the second of equations (12.14) in Chapter 7, we get 2 2 ∞ 2 ∞ (9.11) B(k) = gs (k) = fs (x) sin kx dx = u(x, 0) sin kx dx. π π 0 π 0 For the given u(x, 0) in (9.8), we ﬁnd 1 200 cos kx 200 2 1 (1 − cos k). 100 sin kx dx = − = (9.12) B(k) = π 0 π k 0 πk Finding B(k) corresponds to evaluating the coeﬃcients in a Fourier series. Substituting (9.12) into (9.9), we get the solution to our problem in the form of an integral instead of a series: 200 ∞ 1 − cos k −ky (9.13) u(x, y) = e sin kx dk. π 0 k An integral can, of course, be evaluated numerically just as a convergent series can be approximated by calculating a few terms. However, (9.13) can be integrated; a convenient way to do it is to recognize that it is a Laplace transform of f (k) = [(1 − cos k) sin kx]/k, where x is just a parameter and y corresponds to p and k to t. From L19 and L20 200 x 1 x+1 1 x−1 (9.14) u(x, y) = arc tan − arc tan − arc tan . π y 2 y 2 y This can also be written in polar coordinates as (Problem 1) 100 π r2 − cos 2θ (9.15) u= − arc tan . π 2 sin 2θ

662

Partial Differential Equations

Chapter 13

PROBLEMS, SECTION 9 1.

Verify that (9.15) follows from (9.14). Hint: Use the formulas for tan (α ± β), tan 2α, etc., to condense (9.14) and then change to polar coordinates. You may ﬁnd u=

100 sin 2θ arc tan 2 . π r − cos 2θ

Show that if you use principal values of the arc tangent, this formula does not give the correct boundary conditions on the x axis, whereas (9.15) does. 2.

A metal plate covering the ﬁrst quadrant has the edge which is along the y axis insulated and the edge which is along the x axis held at ( 100(2 − x), for 0 < x < 2, u(x, 0) = 0, for x > 2. Find the steady-state temperature distribution as a function of x and y. Hint: Follow the procedure of Example 2, but use a cosine transform (because ∂u/∂x = 0 for x = 0). Leave your answer as an integral like (9.13).

Consider the heat ﬂow problem of Section 3. Solve this by Laplace transforms (with respect to t) by starting as in Example 1. You should get ∂2U p 100 − 2U = − 2 x ∂x2 α α l

and U (0, p) = U (l, p) = 0.

Solve this diﬀerential equation to get U (x, p) = −

100 sinh (p1/2 /α)x 100 + x. p sinh (p1/2 /α)l pl

Assume the following expansion, and ﬁnd u by looking up the inverse Laplace transforms of the individual terms of U: » – sin (πx/l) sin (2πx/l) sin (3πx/l) x 2 sinh (p1/2 /α)x − − + · · · . = pl π p + (π 2 α2 /l2 ) 2[p + (4π 2 α2 /l2 )] 3[p + (9π 2 α2 /l2 )] p sinh (p1/2 /α)l Your answer should be (3.15). 4.

A semi-inﬁnite bar is initially at temperature 100◦ for 0 < x < 1, and 0◦ for x > 1. Starting at t = 0, the end x = 0 is maintained at 0◦ and the sides are insulated. Find the temperature in the bar at time t, as follows. Separate variables in the 2 2 2 2 heat ﬂow equation and get elementary solutions e−α k t sin kx and e−α k t cos kx. Discard the cosines since u = 0 at x = 0. Look for a solution Z ∞ 2 2 B(k)e−α k t sin kx dk. u(x, t) = 0

and proceed as in Example 2. Leave your answer as an integral. 5.

A long wire occupying the x axis is initially at rest. The end x = 0 is oscillated up and down so that y(0, t) = 2 sin 3t, t > 0. Find the displacement y(x, t). The initial and boundary conditions are y(0, t) = 2 sin 3t, y(x, 0) = 0, ∂y/∂t|t=0 = 0. Take Laplace transforms of these conditions and of the wave equation with respect to t as in Example 1. Solve the resulting diﬀerential equation to get 6e−(p/v)x . Y (x, p) = p2 + 9

Section 10

Miscellaneous Problems

Use L3 and L28 to ﬁnd

( y(x, t) =

` ´ 2 sin 3 t − xv , 0,

663

x < vt, x > vt.

Continue the problem of Example 2 in the following way: Instead of using the explicit form of B(k) from (9.12), leave it as an integral and write (9.13) in the form u(x, y) =

200 π

∞ 0

e−ky sin kx dk

Z 0

sin kt dt.

Change the order of integration and evaluate the integral with respect to k ﬁrst. (Hint: Write the product of sines as a diﬀerence of cosines.) Now do the t integration and get (9.14). 7.

Continue with Problem 4 as in Problem 6.

10. MISCELLANEOUS PROBLEMS 1.

Find the steady-state temperature distribution in a rectangular plate covering the area 0 < x < 1, 0 < y < 2, if T = 0 for x = 0, x = 1, y = 2, and T = 1 − x for y = 0.

Solve Problem 1 if T = 0 for x = 0, x = 1, y = 0, and T = 1 − x for y = 2. Hint: Use sinh ky as the y solution; then T = 0 when y = 0 as required.

Solve Problem 1 if the sides x = 0 and x = 1 are insulated (see Problems 2.14 and 2.15), and T = 0 for y = 2, T = 1 − x for y = 0.

Find the steady-state temperature distribution in a plate with the boundary temperatures T = 30◦ for x = 0 and y = 3; T = 20◦ for y = 0 and x = 5. Hint: Subtract 20◦ from all temperatures and solve the problem; then add 20◦ . (Also see Problem 2.)

A bar of length l is initially at 0◦ . From t = 0 on, the ends are held at 20◦ . Find u(x, t) for t > 0.

Do Problem 5 if the x = 0 end is insulated and the x = l end held at 20◦ for t > 0. (See Problem 3.9.)

Solve Problem 2 if the sides x = 0 and x = 1 are insulated.

A slab of thickness 10 cm has its two faces at 10◦ and 20◦ . At t = 0, the face temperatures are interchanged. Find u(x, t) for t > 0.

A string of length l has initial displacement y0 = x(l − x). Find the displacement as a function of x and t.

10.

Solve Problem 5.7 if half the curved surface of the cylinder is held at 100◦ and the other half at −100◦ with the ends at 0◦ .

11.

The series in Problem 5.12 can be summed (see Problem 2.6). Show that u = 50 +

12.

2ar sin θ 100 . arc tan 2 π a − r2

A plate in the shape of a quarter circle has boundary temperatures as shown. Find the interior steady-state temperature u(r, θ). (See Problem 5.12.)

664 13.

Partial Differential Equations

Chapter 13

Sum the series in Problem 12 to get u=

200 2a2 r 2 sin 2θ . arc tan π a4 − r 4

Hint: See Problem 2.6. 14.

A long cylinder has been cut into quarter cylinders which are insulated from each other; alternate quarter cylinders are held at potentials +100 and −100. Find the electrostatic potential inside the cylinder. Hints: Do you see a relation to Problem 12 above? Also see Problem 5.12.

15.

Repeat Problems 12 and 13 for a plate in the shape of a circular sector of angle 30◦ and radius 10 if the boundary temperatures are 0◦ on the straight sides and 100◦ on the circular arc. Can you then state and solve a problem like 14?

16.

Consider the normal modes of vibration for a square membrane of side π (see Problem 6.3). Sketch the 2, 1 and 1, 2 modes. Show that the line y = x is a nodal line for the combination sin x sin 2y − sin 2x sin y of these two modes. Thus ﬁnd a vibration frequency of a membrane in the shape of a 45◦ right triangle.

17.

Sketch some of the normal modes of vibration for a semicircular drumhead and ﬁnd the characteristic vibration frequencies as multiples of the fundamental for the corresponding circular drumhead.

18.

Repeat Problem 17 for a membrane in the shape of a circular sector of angle 60◦ .

19.

A long conducting cylinder is placed parallel to the z axis in an originally uniform electric ﬁeld in the negative x direction. The cylinder is held at zero potential. Find the potential in the region outside the cylinder. Hints: See Problem 7.13. You want solutions of Laplace's equation in polar coordinates (Problem 5.12).

20.

Use Problem 7.16 to ﬁnd the characteristic vibration frequencies of sound in a spherical cavity.

21.

The surface temperature of a sphere of radius 1 is held at u = sin2 θ + cos3 θ. Find the interior temperature u(r, θ, φ).

22.

Find the interior temperature in a hemisphere if the curved surface is held at u = cos θ and the equatorial plane at u = 1.

23.

Find the steady-state temperature in the region between two spheres r = 1 and r = 2 if the surface of the outer sphere has its upper half held at 100◦ and its lower half at −100◦ and these temperatures are reversed for the inner sphere. Hint: See Problem 7.14. Here you will need to ﬁnd two Legendre series (when r = 1 and when r = 2) and solve for al and bl .

24.

Find the general solution for the steady-state temperature in Figure 2.2 if the boundary temperatures are the constants T = A, T = B, etc., on the four sides, and the rectangle covers the area 0 < x < a, 0 < y < b. Hints: You can subtract, say, A from all four temperatures, solve the problem, and then add A back again. Thus a solution with one side at T = 0 and the other three at given temperatures solves the general problem. You have previously solved problems (Section 2) with temperatures C and D given. For B, see Problem 2.

25.

The Klein-Gordon equation is ∇2 u = (1/v 2 )∂ 2 u/∂t2 + λ2 u. This equation is of interest in quantum mechanics, but it also has a simpler application. It describes, for example, the vibration of a stretched string which is embedded in an elastic medium. Separate the one-dimensional Klein-Gordon equation and ﬁnd the characteristic frequencies of such a string. vp Answer: νn = (n/l)2 + (λ/π)2 . 2

Section 10

Miscellaneous Problems

665

26.

Find the characteristic frequencies of a circular membrane which satisﬁes the KleinGordon equation (Problem 25). Hint: Separate the equation in two dimensions in polar coordinates.

27.

Do Problem 26 for a rectangular membrane.

28.

Find the steady-state temperature in a semi-inﬁnite plate covering the region x > 0, 0 ≤ y ≤ 1, if the edges along the x axis and y axis are insulated (see Problem 2.14) and the top edge is held at ( 100◦ , 0 < x < 1, u(x, 1) = 0◦ , x > 1. Hint: Look for a solution as a Fourier integral. Leave your answer as an integral (just as we usually give answers as series.)

CHAPTER

Functions of a Complex Variable 1. INTRODUCTION In Chapter 2 we discussed plotting complex numbers z = x + iy in the complex plane (see Figure 1.1) and ﬁnding values of the elementary functions of z such as roots, trigonometric functions, logarithms, etc. Now we want to discuss the calculus of functions of z, diﬀerentiation, integration, power series, etc. As you know from such topics as diﬀerential equations, Fourier seFigure 1.1 ries and integrals, mechanics, electricity, etc., it is often very convenient to use complex expressions. The basic facts and theorems about functions of a complex variable not only simplify many calculations but often lead to a better understanding of a problem and consequently to a more eﬃcient method of solution. We are going to state some of the basic deﬁnitions and theorems of the subject (omitting the longer proofs), and show some of their uses. As in Chapter 2, the value of a function of z for a given z is a complex number. Example. Consider a simple function of z, namely f (z) = z 2 . We may write f (z) = z 2 = (x + iy)2 = x2 − y 2 + 2ixy = u(x, y) + iv(x, y), where u(x, y) = x2 − y 2 and v(x, y) = 2xy. In Chapter 2, we observed that a complex number z = x + iy is equivalent to a pair of real numbers x, y. Here we see that a function of z is equivalent to a pair of real functions, u(x, y) and v(x, y), of the real variables x and y. In general, we write (1.1)

f (z) = f (x + iy) = u(x, y) + iv(x, y),

666

Section 2

Analytic Functions

667

where it is understood that u and v are real functions of the real variables x and y. Recall that functions are customarily single-valued, that is, f (z) has just one (complex) value for each z. Does this mean that we cannot deﬁne a function by a formula such as ln z or arc tan z? By Chapter 2, we have ln z = ln |z| + i(θ + 2nπ), where tan θ = y/x. For each z, ln z has an inﬁnite set of values. But if θ is allowed a range of only 2π , then ln z has one value for each z and this √ single-valued function is called a branch of ln z. Thus in using formulas such as z, ln z, arc tan z, to deﬁne functions, we always discuss a single branch at a time so that we have a singlevalued function. (As a matter of terminology, however, you should know that the whole collection of branches is sometimes called a "multiple-valued function.")

PROBLEMS, SECTION 1 Find the real and imaginary parts u(x, y) and v(x, y) of the following functions. 1.

z¯

|z|

Re z

cosh z

sin z

1 z

10.

2z + 3 z+2

11.

2z − i iz + 2

12.

z z2 + 1

13.

ln |z|

14.

z 2 z¯

15.

16.

z 2 − z¯2

17.

cos z¯

18.

ez √ z

19.

ln z

(Use 0 < θ < 2π.)

21.

eiz

(Careful: cos z and sin z are not u and v.)

20.

(1 + 2i)z 2 + (i − 1)z + 3

2. ANALYTIC FUNCTIONS Definition The derivative of f (z) is deﬁned (just as it is for a function of a real variable) by the equation (2.1)

f (z) =

∆f df = lim , dz ∆z→0 ∆z

where ∆f = f (z + ∆z) − f (z) and ∆z = ∆x + i∆y. Definition: A function f (z) is analytic (or regular or holomorphic or monogenic) in a region∗ of the complex plane if it has a (unique) derivative at every point of the region. The statement "f (z) is analytic at a point z = a" means that f (z) has a derivative at every point inside some small circle about z = a.

∗ Isolated

points and curves are not regions; a region must be two-dimensional.

668

Functions of a Complex Variable

Chapter 14

Let us consider what it means for f (z) to have a derivative. First think about a function f (x) of a real variable x; it is possible for the limit of ∆f /∆x to have two values at a point x0 , as shown in Figure 2.1—one value when we approach x0 from the left and a diﬀerent value when we approach x0 from the right. When we say that f (x) has a derivative at x = x0 , we mean that these two values are equal. However, for a function f (z) of a complex variable z, there are an inﬁnite number of ways we can approach a point z0 ; a few ways are shown in Figure 2.2. When we say that f (z) has a derivative at z = z0 , we mean that f (z) [as deﬁned by (2.1)] has the same value no matter how we approach z0 . This is an amazingly stringent requirement and we might well wonder whether there are any analytic functions. On the other hand, it is hard to imagine making any progress in calculus unless we can ﬁnd derivatives!

Figure 2.1

Figure 2.2

Let us immediately reassure ourselves that there are analytic functions by using the deﬁnition (2.1) to ﬁnd the derivatives of some simple functions. Example 1. Show that (d/dz)(z 2 ) = 2z. By (2.1) we have (z + ∆z)2 − z 2 z 2 + 2z∆z + (∆z)2 − z 2 d 2 (z ) = lim = lim ∆z→0 ∆z→0 dz ∆z ∆z = lim (2z + ∆z) = 2z. ∆z→0

We see that the result is independent of how ∆z tends to zero; thus z 2 is an analytic function. By the same method it follows that (d/dz)(z n ) = nz n−1 if n is a positive integer (Problem 30). Observe that the deﬁnition (2.1) of a derivative is of exactly the same form as the corresponding deﬁnition for a function of a real variable. Because of this similarity, many familiar formulas can be proved by the same methods used in the real case, as we have just discovered in diﬀerentiating z 2 . You can easily show (Problems 25 to 28) that derivatives of sums, products, and quotients follow the familiar rules and that the chain rule holds [if f = f (g) and g = g(z), then df /dz = (df /dg)(dg/dz)]. Then derivatives of rational functions of z follow the familiar real-variable formulas. If we assume the deﬁnitions and theorems of Chapters 1 and 2, we can see that the derivatives of the other elementary functions also follow the familiar formulas; for example, (d/dz)(sin z) = cos z, etc. (Problems 29 to 33). Now you may be wondering what is new here since all our results so far seem to be just the same as for functions of a real variable. The reason for this is that we have been discussing only functions f (z) that have derivatives. Comparing Figures 2.1 and 2.2, we pointed out the essential diﬀerence between ﬁnding (d/dx)f (x)

Section 2

Analytic Functions

669

and ﬁnding (d/dz)f (z), namely that there are an inﬁnite number of ways we can approach z0 in Figure 2.2. Example 2. Find (d/dz)(|z|2 ). Note that |x|2 = x2 , and its derivative is 2x. If |z|2 has a derivative, it is given by (2.1), that is, by lim

∆z→0

|z + ∆z|2 − |z|2 . ∆z→0 ∆z

= lim

The numerator of this fraction is always real (because absolute values are real— recall |z| = x2 + y 2 = r.) Consider the denominator ∆z = ∆x + i∆y. As we approach z0 in Figure 2.2 (that is, let ∆z → 0), ∆z has diﬀerent values depending on our method of approach. For example, if we come in along a horizontal line, then ∆y = 0 and ∆z = ∆x; along a vertical line ∆x = 0 so ∆z = i∆y, and along other directions ∆z is some complex number; in general, ∆z is neither real nor pure imaginary. Since the numerator of ∆f /∆z is real and the denominator may be real or imaginary (in general, complex), we see that lim∆z→0 ∆f /∆z has diﬀerent values for diﬀerent directions of approach to z0 , that is, |z|2 is not analytic. Now we have seen examples of both analytic and nonanalytic functions, but we still do not know how to tell whether a function has a derivative [except to appeal to (2.1)]. The following theorems answer this question. Theorem I (which we shall prove). If f (z) = u(x, y) + iv(x, y) is analytic in a region, then in that region (2.2)

∂u ∂v = , ∂x ∂y

∂v ∂u =− . ∂x ∂y

These equations are called the Cauchy-Riemann conditions.

Proof. Remembering that f = f (z), where z = x + iy, we ﬁnd by the rules of partial diﬀerentiation (see Problem 28 and also Chapter 4)

(2.3)

∂f df ∂z df = = · 1, ∂x dz ∂x dz ∂f df ∂z df = = · i. ∂y dz ∂y dz

Since f = u(x, y) + iv(x, y) by (1.1), we also have (2.4)

∂f ∂u ∂v = +i ∂x ∂x ∂x

and

∂f ∂u ∂v = +i . ∂y ∂y ∂y

Notice that if f has a derivative with respect to z, then it also has partial derivatives with respect to x and y by (2.3). Since a complex function has a derivative with respect to a real variable if and only if its real and imaginary parts do [see (1.1)], then by (2.4) u and v also have partial derivatives with respect to x and y. Combining (2.3) and (2.4) we have df ∂f ∂u ∂v df 1 ∂f 1 ∂u ∂v ∂v ∂u = = +i and = = +i = −i . dz ∂x ∂x ∂x dz i ∂y i ∂y ∂y ∂y ∂y

670

Functions of a Complex Variable

Chapter 14

Since we assumed that df /dz exists and is unique (this is what analytic means), these two expressions for df /dz must be equal. Taking real and imaginary parts, we get the Cauchy-Riemann equations (2.2).

Theorem II (which we state without proof). If u(x, y) and v(x, y) and their partial derivatives with respect to x and y are continuous and satisfy the CauchyRiemann conditions in a region, then f (z) is analytic at all points inside the region (not necessarily on the boundary).

Although we shall not prove this (see texts on complex variables), we can make it plausible by showing that it is true when we approach z0 along any straight line. Example 3. Find df /dz assuming that we approach z0 along a straight line of slope m, and show that df /dz does not depend on m if u and v satisfy (2.2). The equation of the straight line of slope m through the point z0 = x0 + iy0 is y − y0 = m(x − x0 ) and along this line we have dy/dx = m. Then we ﬁnd ∂u ∂u ∂v ∂v dx + dy + i dx + dy df du + i dv ∂x ∂y ∂x ∂y = = dz dx + i dy dx + i dy ∂u ∂u ∂v ∂v + m+i + m ∂x ∂y ∂x ∂y . = 1 + im Using the Cauchy-Riemann equations (2.2), we get ∂u ∂v ∂v ∂u − m+i + m df ∂x ∂x ∂x ∂x = dz 1 + im ∂u ∂v (1 + im) + i (1 + im) ∂u ∂v ∂x = +i . = ∂x 1 + im ∂x ∂x Thus df /dz has the same value for approach along any straight line. The theorem states that it also has the same value for approach along any curve.

Some definitions: A regular point of f (z) is a point at which f (z) is analytic. A singular point or singularity of f (z) is a point at which f (z) is not analytic. It is called an isolated singular point if f (z) is analytic everywhere else inside some small circle about the singular point.

Section 2

Analytic Functions

671

Theorem III (which we state without proof). If f (z) is analytic in a region (R in Figure 2.3), then it has derivatives of all orders at points inside the region and can be expanded in a Taylor series about any point z0 inside the region. The power series converges inside the circle about z0 that extends to the nearest singular point (C in Figure 2.3).

Figure 2.3 Notice again what a strong condition it is on f (z) to say that it has a derivative. It is quite possible for a function of a real variable f (x) to have a ﬁrst derivative but not higher derivatives. But if f (z) has a ﬁrst derivative with respect to z, then it has derivatives of all orders, and all these derivatives are analytic functions. This theorem also explains a fact about power series which may have puzzled you. The function f (x) = 1/(1 + x2 ) does not have anything peculiar about its behavior at x = ±1. Yet if we expand it in a power series (2.5)

1 = 1 − x2 + x4 − x6 + · · · 1 + x2

we see that the series converges only for |x| < 1. We can see why this happens if we consider instead (2.6)

f (z) =

1 = 1 − z2 + z4 − z6 + · · · . 1 + z2

When z = ±i, f (z) and its derivatives become inﬁnite; that is, f (z) is not analytic in any region containing z = ±i. The point z0 of the theorem is the origin and the circle C (bounding the disk of convergence of the series) passes through the nearest singular points ±i (Figure 2.4). Since a power series in z always converges inside its disk of convergence and diverges outside (Chapter 2, Problem 6.14), we see that (2.5) Figure 2.4 [which is (2.6) for y = 0] converges for |x| < 1 and diverges for |x| > 1. This simple example shows an important reason for studying functions of a complex variable; our study of f (z) gives us insights about the corresponding f (x). Formulas involving not only the elementary functions but also Γ functions, Bessel functions, and many others are more easily derived and understood by considering them as functions of z. A function φ(x, y) which satisﬁes Laplace's equation in two dimensions, namely, ∇2 φ = ∂ 2 φ/dx2 + ∂ 2 φ/∂y 2 , is called a harmonic function. A great many physical problems lead to Laplace's equation, and consequently we are very much interested in ﬁnding solutions of it. (See Section 10 and Chapter 13.) The following theorem

672

Functions of a Complex Variable

Chapter 14

should then give you a clue as to one reason why the theory of functions of a complex variable is important in applications. Theorem IV. Part 1 (to be proved in Problem 44). If f (z) = u + iv is analytic in a region, then u and v satisfy Laplace's equation in the region (that is, u and v are harmonic functions). Part 2 (which we state without proof). Any function u (or v) satisfying Laplace's equation in a simply-connected region, is the real or imaginary part of an analytic function f (z). Thus we can ﬁnd solutions of Laplace's equation simply by taking the real or imaginary parts of an analytic function of z. It is also often possible, starting with a simple function which satisﬁes Laplace's equation, to ﬁnd the explicit function f (z) of which it is, say, the real part. Example 4. Consider the function u(x, y) = x2 − y 2 . We ﬁnd that ∇2 u =

∂2u ∂2u + 2 = 2 − 2 = 0, ∂x2 ∂y

that is, u satisﬁes Laplace's equation (or u is a harmonic function). Let us ﬁnd the function v(x, y) such that u+iv is an analytic function of z. By the Cauchy-Riemann equations ∂v ∂u = = 2x. ∂y ∂x Integrating partially with respect to y, we get v(x, y) = 2xy + g(x), where g(x) is a function of x to be found. Diﬀerentiating partially with respect to x and again using the Cauchy-Riemann equations, we have ∂u ∂v = 2y + g (x) = − = 2y. ∂x ∂y Thus we ﬁnd Then

g (x) = 0,

g = const.

f (z) = u + iv = x2 − y 2 + 2ixy + const. = z 2 + const.

The pair of functions u, v are called conjugate harmonic functions. (Also see Problem 64.)

PROBLEMS, SECTION 2 1 to 21. Use the Cauchy-Riemann conditions to ﬁnd out whether the functions in Problems 1.1 to 1.21 are analytic. Similarly, ﬁnd out whether the following functions are analytic. 22.

y + ix

23.

x − iy x2 + y 2

24.

y − ix x2 + y 2

Section 2

Analytic Functions

673

Using the deﬁnition (2.1) of (d/dz)f (z), show that the following familiar formulas hold. Hint: Use the same methods as for functions of a real variable. 25. 27.

df dg d [Af (z) + Bg(z)] = A +B . 26. dz dz dz „ « gf − f g d f (z) = , g(z) = 0. 28. dz g(z) g2

d dg df [f (z)g(z)] = f (z) + g(z) . dz dz dz df dg d f [g(z)] = . (See hint below.) dz dg dz

Problem 28 is the chain rule for the derivative of a function of a function. Hint: Assume that df /dg and dg/dz exist, and write equations like (3.5) of Chapter 4 for ∆f and ∆g; substitute ∆g into ∆f , divide by ∆z, and take limits. 29.

d 3 (z ) = 3z 2 . dz

31.

1 d ln z = , dz z

32.

Using the deﬁnition of ez by its power series [(8.1) of Chapter 2], and the theorem (Chapters 1 and 2) that power series may be diﬀerentiated term by term (within the disk of convergence), and the result of Problem 30, show that (d/dz)(ez ) = ez .

33.

Using the deﬁnitions of sin z and cos z [Chapter 2, equation (11.4)], ﬁnd their derivatives. Then using Problem 27, ﬁnd (d/dz)(cot z), z = nπ.

d n (z ) = nz n−1 . dz „ « ∆z Hint: Expand ln 1 + in series. z 30.

z = 0.

Using series you know from Chapter 1, write the power series (about the origin) of the following functions. Use Theorem III to ﬁnd the disk of convergence of each series. What you are looking for is the point (anywhere in the complex plane) nearest the origin, at which the function does not have a derivative. Then the disk of convergence has center at the origin and extends to that point. The series converges inside the disk. p 34. ln(1 − z) 35. cos z 36. 1 + z2 37.

tanh z

38.

1 2i + z

39.

z z2 + 9

40.

(1 − z)−1

41.

eiz

42.

sinh z

43.

In Chapter 12, equations (5.1) and (5.2), we expanded the function φ(x, h) in a series of powers of h. Use Theorem III (see instructions for Problems 34 to 42 above) to show that the series for φ(x, h) converges for |h| < 1 and −1 ≤ x ≤ 1. Here h is the variable and x is a parameter; you should ﬁnd the (complex) value of h which makes Φ inﬁnite, and show that the absolute value of this complex number is 1 (independent of x when x2 ≤ 1). This proves that the series for real h converges for |h| < 1.

44.

Prove Theorem IV, Part 1. Hint: Recall the equality of the second cross partial derivatives; see Chapter 4, end of Section1.

45.

Let f (z) = u + iv be an analytic function, and let F be the vector F = vi + uj. Show that the equations div F = 0 and curl F = 0 are equivalent to the Cauchy-Riemann equations.

46.

Find the Cauchy-Riemann equations in polar coordinates. Hint: Write z = reiθ and f (z) = u(r, θ) + iv(r, θ). Follow the method of equations (2.3) and (2.4).

47.

Using your results in Problem 46 and the method of Problem 44, show that u and v satisfy Laplace's equation in polar coordinates (see Chapter 10, Section 9) if f (z) = u + iv is analytic.

674

Functions of a Complex Variable

Chapter 14

Using polar coordinates (Problem 46), ﬁnd out whether the following functions satisfy the Cauchy-Riemann equations. 48. 51.

√

49.

|z|

50.

ln z

52.

|z|2

53.

|z|1/2 eiθ/2

Show that the following functions are harmonic, that is, that they satisfy Laplace's equation, and ﬁnd for each a function f (z) of which the given function is the real part. Show that the function v(x, y) (which you ﬁnd) also satisﬁes Laplace's equation. 54.

55.

3x2 y − y 3

56.

58.

cosh y cos x

59.

ex cos y

60.

ln(x2 + y 2 )

61.

x x2 + y 2

62.

e−y sin x

63.

y (1 − x)2 + y 2

64.

It can be shown that, if u(x, y) is a harmonic function which is deﬁned at z0 = x0 + iy0 , then an analytic function of which u(x, y) is the real part is given by f (z) = 2u

" z + z¯

57.

x+y

z − z¯0 " + const. 2i

[See Struble, Quart. Appl. Math., 37 (1979), 79-81.] Use this formula to ﬁnd f (z) in Problems 54 to 63. Hint: If u(0, 0) is deﬁned, take z0 = 0.

3. CONTOUR INTEGRALS Theorem V Cauchy's theorem (see discussion below). Let C be a simple† closed curve with a continuously turning tangent except possibly at a ﬁnite number of points (that is, we allow a ﬁnite number of corners, but otherwise the curve must be "smooth"). If f (z) is analytic on and inside C, then (3.1) f (z) dz = 0. around C

(This is a line integral as in vector analysis; it is called a contour integral in the theory of complex variables.) Proof. We shall prove Cauchy's theorem assuming that f (z) is continuous. (With more eﬀort it is possible to prove it without this assumption, and then show that if f (z) exists in a region, it is, in fact, continuous there. See also Theorem III which we stated without proof; it is usually proved using the results of Cauchy's theorem.) (3.2) f (z) dz = (u + iv)(dx + i dy) C C = (u dx − v dy) + i (v dx + u dy). C

†A

simple curve is one which does not cross itself.

Section 3

Contour Integrals

675

Green's theorem in the plane (Chapter 6, Section 9) says that if P (x, y), Q(x, y), and their partial derivatives are continuous in a simply-connected region R, then ∂Q ∂P − dx dy, (3.3) P dx + Q dy = ∂x ∂y C area inside C

where C is a simple closed curve lying entirely in R. The curve C is traversed in a direction so that the area inclosed is always to the left; the area integral is over the area inside C. Applying (3.3) to the ﬁrst integral in (3.2), we get ∂u ∂v (3.4) − dx dy. − (u dx − v dy) = ∂x ∂y C area inside C

Since we are assuming that f (z) is continuous, then u and v and their derivatives are continuous; by the Cauchy-Riemann equations the integrand on the right of (3.4) is zero at every point of the area of integration, so the integral is equal to zero. In the same way the second integral in (3.2) is zero; thus (3.1) is proved. Theorem VI Cauchy's integral formula (which we shall prove). If f (z) is analytic on and inside a simple closed curve C, the value of f (z) at a point z = a inside C is given by the following contour integral along C: 1 f (z) f (a) = dz. 2πi z−a Proof. Let a be a ﬁxed point inside the simple closed curve C and consider the function f (z) (3.5) φ(z) = , z−a where f (z) is analytic on and inside C. Let C be a small circle (inside C) with center at a and radius ρ. Make a cut between C and C along AB (Figure 3.1); two cuts are shown to make the picture clear, but later we shall make them coincide. We are now going to Figure 3.1 integrate along the path shown in Figure 3.1 (in the direction shown by the arrows) from A, around C, to B, around C , and back to A. Notice that the area between the curves C and C is always to the left of the path of integration and is inclosed by it. In this area between C and C , the function φ(z) is analytic; we have cut out a small disk about the point z = a at which φ(z) is not analytic. Cauchy's theorem then applies to the integral along the combined path consisting of C counterclockwise, C clockwise, and the two cuts. The two integrals, in opposite directions along the cuts, cancel when the cuts are made to coincide. Thus we have φ(z) dz + φ(z) dz = 0 or (3.6)

C clockwise

C counterclockwise

φ(z) dz =

φ(z) dz

where both are counterclockwise.

676

Functions of a Complex Variable

Chapter 14

Along the circle C , z = a + ρeiθ , dz = ρieiθ dθ, and (3.6) becomes f (z) dz φ(z) dz = φ(z) dz = z −a C C C (3.7) 2π 2π f (z) iθ = ρie dθ = f (z)i dθ. ρeiθ 0 0 Since our calculation is valid for any (suﬃciently small) value of ρ, we shall let ρ → 0 (that is, z → a) to simplify the formula. Because f (z) is continuous at z = a (it is analytic inside C), limz→a f (z) = f (a). Then (3.7) becomes (3.8) C

φ(z) dz =

f (z) dz = z−a

2π

f (z)i dθ =

2π

f (a)i dθ = 2πif (a)

(3.9)

f (a) =

1 2πi

f (z) dz, z−a

a inside C.

This is Cauchy's integral formula. Note carefully that the point a is inside C; if a were outside C, then φ(z) would be analytic everywhere inside C and the integral would be zero by Cauchy's theorem. A useful way to look at (3.9) is this: If the values of f (z) are given on the boundary of a region (curve C), then (3.9) gives the value of f (z) at any point a inside C. With this interpretation you will ﬁnd Cauchy's integral formula written with a replaced by z, and z replaced by some diﬀerent dummy integration variable, say w: 1 f (w) (3.10) f (z) = dw, z inside C. 2πi C w − z For some important uses of this theorem, see Problems 11.3 and 11.36 to 11.38.

PROBLEMS, SECTION 3 Evaluate the following line integrals in the complex plane by direct integration, that is, as in Chapter 6, Section 8, not using theorems from this chapter. (If you see that a theorem applies, use it to check your result.) R i+1 1. z dz along a straight line parallel to the x axis. i R 1+i 2 (z − z) dz 2. 0 (a)

(b) H C

along the line y = x; along the indicated broken line. 2

z dz along the indicated paths:

Section 3 4. 5. 6.

dz/(1 − z 2 ) along the whole positive imaginary axis, that is, the y axis; this is R i∞ frequently written as 0 dz/(1 − z 2 ). R −z e along the positive part of the line y = π; this is frequently written as R ∞+iπ −z e dz. iπ Ri z dz along the indicated paths: 1

Z Z

11.

12.

13.

14.

677

7. 8.

Contour Integrals

dz along the line y = x from 0 to ∞. 8i + z 2 2π+i∞ 2π

e2iz dz

Z 9.

∞+2i 1+2i

dz (x − 2i)2

Z 10.

2+i∞ 2

zeiz dz

H Evaluate C (¯ z − 3) dz where C is the indicated closed curve along the ﬁrst quadrant part of the circle |z| = 2, and the indicated parts of the x and y axes. Hint: Don't try to use Cauchy's theorem! (Why not? Further hint: See Problem 2.3.) R 1+2i 2 |z| dz along the indicated paths: 0

Rb In Chapter 6, Section 11, we showed that a necessary H condition for a F · dr to be independent of the path of integration, that is, for C F · dr around a simple closed curve C to be zero, was curl F = 0, or in two dimensions, ∂F H y /∂x = ∂Fx /∂y. By considering (3.2), show that the corresponding condition for C f (z) dz to be zero is that the Cauchy-Riemann conditions hold. In ﬁnding complex Fourier series in Chapter 7, we showed that Z 2π einx e−imx dx = 0, n = m. 0

Show this by applying Cauchy's theorem to I z n−m−1 dz, C

15. 16.

n > m,

where C is the circle |z| = 1. (Note that although we take n > m to make z n−m−1 analytic at z = 0, an identical proof using z m−n−1 with n < m completes the proof for all n = m.) R 2π If f (z) is analytic on and inside the circle |z| = 1, show that 0 eiθ f (eiθ ) dθ = 0. R 2π If f (z) is analytic in the disk |z| ≤ 2, evaluate 0 e2iθ f (eiθ ) dθ.

Use Cauchy's theorem or integral formula to evaluate the integrals in Problems 17 to 20. I sin z dz (a) |z| = 1, where C is the circle 17. (b) |z| = 2. 2z − π C I sin 2z dz where C is the circle |z| = 3. 18. C 6z − π

678

Functions of a Complex Variable I

e3z dz if C is the square with vertices ±1 ± i. z − ln 2

19. I 20. 21.

Chapter 14

cosh z dz (a) |z| = 1, if C is the circle (b) |z| = 2. 2 ln 2 − z

Diﬀerentiate Cauchy's formula (3.9) or (3.10) to get I I f (w) dw f (z) dz 1 1 or f (a) = . f (z) = 2πi C (w − z)2 2πi C (z − a)2 By diﬀerentiating n times, obtain I f (w) dw n! f (n) (z) = 2πi C (w − z)n+1

f (n) (a) =

n! 2πi

I C

f (z) dz . (z − a)n+1

Use Problem 21 to evaluate the following integrals. I sin 2z dz where C is the circle |z| = 3. 22. 3 C (6z − π) I e3z dz 23. where C is the square in Problem 19. 4 C (z − ln 2) I cosh z dz 24. where C is the circle |z| = 2. 5 C (2 ln 2 − z)

4. LAURENT SERIES Theorem VII Laurent's theorem [equation (4.1)] (which we shall state without proof). Let C1 and C2 be two circles with center at z0 . Let f (z) be analytic in the region R between the circles. Then f (z) can be expanded in a series of the form (4.1)

f (z) = a0 + a1 (z − z0 ) + a2 (z − z0 )2 + · · · +

b1 b2 + + ··· z − z0 (z − z0 )2

convergent in R. Such a series is called a Laurent series. The "b" series in (4.1) is called the principal part of the Laurent series.

Example 1. Consider the Laurent series (4.2) f (z) = 1 +

z n z2 z3 z + + + ···+ + ··· 2 4 8 2 1 (−1)n 2 1 − 3 + ··· + + ··· . + +4 z z2 z zn

Let us see where this series converges. First consider the series of positive powers; by the ratio test (see Chapters 1 and 2), this series converges for |z/2| < 1, that is, for |z| < 2. Similarly, the series of negative powers converges for |1/z| < 1, that is, |z| > 1. Then both series converge (and so the Laurent series converges) for |z| between 1 and 2, that is, in a ring between two circles of radii 1 and 2. We expect this result in general. The "a" series is a power series, and a power series converges inside some circle (say C2 in Figure 4.1). The "b" series is a series

Section 4

Laurent Series

679

of inverse powers of z, and so converges for |1/z| < some constant; thus the "b" series converges outside some circle (say C1 in Figure 4.1). Then a Laurent series converges between two circles (if it converges at all). (Note that the inner circle may be a point and the outer circle may have inﬁnite radius).

Figure 4.1

Figure 4.2 The formulas for the coeﬃcients in (4.1) are (Problem 5.2) f (z) dz f (z) dz 1 1 (4.3) an = , b = , n n+1 2πi C (z − z0 ) 2πi C (z − z0 )−n+1 where C is any simple closed curve surrounding z0 and lying in R. However, this is not usually the easiest way to ﬁnd a Laurent series. Like power series about a point, the Laurent series (about z0 ) for a function in a given annular ring (about z0 ) where the function is analytic, is unique, and we can ﬁnd it by any method we choose. (See examples below.) Warning: If f (z) has several isolated singularities (Figure 4.2), there are several annular rings, R1 , R2 , · · · , in which f (z) is analytic; then there are several diﬀerent Laurent series for f (z), one for each ring. The Laurent series which we usually want is the one that converges near z0 . If you have any doubt about the ring of convergence of a Laurent series, you can ﬁnd out by testing the "a" series and the "b" series separately. Example 2. The function from which we obtained (4.2) was (4.4)

f (z) =

12 . z(2 − z)(1 + z)

This function has three singular points, at z = 0, z = 2, and z = −1. Thus there are two circles C1 and C2 about z0 = 0 in Figure 4.2, and three Laurent series about z0 = 0, one series valid in each of the three regions R1 (0 < |z| < 1), R2 (1 < |z| < 2), and R3 (|z| > 2). To ﬁnd these series we ﬁrst write f (z) in the following form using partial fractions (Problem 2): 4 1 1 (4.5) f (z) = + . z 1+z 2−z

680

Functions of a Complex Variable

Chapter 14

Now, for 0 < |z| < 1, we expand each of the fractions in the parenthesis in (4.5) in powers of z. This gives (Problem 2): (4.6)

f (z) = −3 + 9z/2 − 15z 2/4 + 33z 3/8 + · · · + 6/z.

This is the Laurent series for f (z) which is valid in the region 0 < |z| < 1. To obtain the series valid in the region |z| > 2, we write the fractions in (4.5) as (4.7)

1 1 1 = , 1+z z 1 + 1/z

1 1 1 =− 2−z z 1 − 2/z

and expand each fraction in powers of 1/z. This gives the Laurent series valid for |z| > 2 (problem 2): (4.8)

f (z) = −(12/z 3)(1 + 1/z + 3/z 2 + 5/z 3 + 11/z 4 + · · · ).

Finally, to obtain (4.2), we expand the fraction 1/(2 − z) in powers of z, and the fraction 1/(1 + z) in powers of 1/z; this gives a Laurent series which converges for 1 < |z | < 2. Thus the Laurent series (4.6), (4.2) and (4.8) all represent f (z) in (4.4), but in three diﬀerent regions. Let z0 in Figure 4.2 be either a regular point or an isolated singular point and assume that there are no other singular points inside C1 . Let f (z) be expanded in the Laurent series about z0 which converges inside C1 (except possibly at z0 ); we say that we have expanded f (z) in the Laurent series which converges near z0 . Then we have the following deﬁnitions. Definitions: If all the b's are zero, f (z) is analytic at z = z0 , and we call z0 a regular point. (See Problem 4.1) If bn = 0, but all the b's after bn are zero, f (z) is said to have a pole of order n at z = z0 . If n = 1, we say that f (z) has a simple pole. If there are an inﬁnite number of b's diﬀerent from zero, f (z) has an essential singularity at z = z0 . The coeﬃcient b1 of 1/(z − z0 ) is called the residue of f (z) at z = z0 .

Example 3. (a)

ez = 1 + z +

z3 z2 + + ··· 2! 3!

is analytic at z = 0; the residue of ez at z = 0 is 0. (b)

1 ez 1 1 1 + + ··· = 3+ 2+ 3 z z z 2!z 3!

has a pole of order 3 at z = 0; the residue of

ez 1 at z = 0 is . 3 z 2!

Section 4

Laurent Series

e1/z = 1 +

(c)

681

1 1 + + ··· z 2!z 2

has an essential singularity at z = 0; the residue of e1/z at z = 0 is 1. Most of the functions we shall consider will be analytic except for poles—such functions are called meromorphic functions. If f (z) has a pole at z = z0 , then |f (z)| → ∞ as z → z0 . A three-dimensional graph with |f (z)| plotted vertically over a horizontal complex plane would look like a tapered pole near z = z0 . We can often see that a function has a pole and ﬁnd the order of the pole without ﬁnding the Laurent series. Example 4. z+3 z 2 (z − 1)3 (z + 1)

(a)

has a pole of order 2 at z = 0, a pole of order 3 at z = 1, and a simple pole at z = −1. sin2 z z3

(b)

has a simple pole at z = 0.

To see that these results are correct, consider ﬁnding the Laurent series for f (z) = g(z)/(z − z0 )n . We write g(z) = a0 + a1 (z − z0 ) + · · · ; then the Laurent series for f (z) starts with the term (z − z0 )−n unless a0 = 0, that is unless g(z0 ) = 0. Then the order of the pole of f (z) is n unless some factors cancel. In Example 4b, the sin z series starts with z, so sin2 z has a factor z 2 ; thus (sin2 z)/z 3 has a simple pole at z = 0.

PROBLEMS, SECTION 4 1.

Show that the sum of a power series which converges inside a circle C is an analytic function inside C. Hint: See Chapter 2, Section 7, and Chapter 1, Section 11, and the deﬁnition of an analytic function.

Show that equation (4.4) can be written as (4.5). Then expand each of the fractions in the parenthesis in (4.5) in powers of z and in powers of 1/z [see equation (4.7)] and combine the series to obtain (4.6), (4.8), and (4.2).

For each of the following functions ﬁnd the ﬁrst few terms of each of the Laurent series about the origin, that is, one series for each annular ring between singular points. Find the residue of each function at the origin. (Warning: To ﬁnd the residue, you must use the Laurent series which converges near the origin.) Hints: See Problem 2. Use partial fractions as in equations (4.5) and (4.7). Expand a term 1/(z − a) in powers of z to get a series convergent for |z| < a, and in powers of 1/z to get a series convergent for |z| > a. 3.

1 z(z − 1)(z − 2)

1 z(z − 1)(z − 2)2

z−1 z 3 (z − 2)

1 z 2 (1 + z)2

2−z 1 − z2

30 (1 + z)(z − 2)(3 + z)

682

Functions of a Complex Variable

Chapter 14

For each of the following functions, say whether the indicated point is regular, an essential singularity, or a pole, and if a pole of what order it is. 9.

10.

11.

12.

sin z , z=0 z 3 z −1 , z=1 (c) (z − 1)3

cos z , z=0 z3 ez (d) , z=1 z−1

ez − 1 , z = 2i z2 + 4 1 − cos z , z=0 (c) z4

(b) tan2 z, z = π/2 „ « π (d) cos , z=π z−π

(a)

ez − 1 − z , z=0 z2 2 z −1 , z=1 (c) (z − 1)2 (a)

(a)

sin z − z , z6

z=0

(b)

sin z , z=0 z3 cos z , z = π/2 (d) (z − π/2)4

(b)

z2 − 1 , z=i (z 2 + 1)2 (d) Γ(z), z = 0 [See Chapter 11, equation (4.1)]

(b)

5. THE RESIDUE THEOREM Let z0 be an isolated singular point of f (z). We are going to ﬁnd the value of f (z) dz around a simple closed curve C surrounding z0 but inclosing no other C singularities. Let f (z) be expanded in the Laurent series (4.1) about z = z0 that converges near z = z0 . By Cauchy's theorem (V), the integral of the "a" series is zero since this part is analytic. To evaluate the integrals of the terms in the "b" series in (4.1), we replace the integrals around C by integrals around a circle C with center at z0 and radius ρ as in (3.6), (3.7), and Figure 3.1. Along C , z = z0 + ρeiθ ; calculating the integral of the b1 term in (4.1), we ﬁnd (5.1) C

b1 dz = b1 (z − z0 )

2π

ρieiθ dθ = 2πib1 . ρeiθ

It is straightforward to show (Problem 1) that the integrals of all the other bn terms are zero. Then C f (z) dz = 2πib1 , or since b1 is called the residue of f (z) at z = z0 , we can say f (z) dz = 2πi · residue of f (z) at the singular point inside C. C

The only term of the Laurent series which has survived the integration process is the b1 term; you can see the reason for the term "residue." If there are several isolated singularities inside C, say at z0 , z1 , z2 , · · · , we draw small circles about each as shown in Figure 5.1 so that f (z) is analytic in the region between C and the circles. Then, introducing cuts as in Figure 3.1, we ﬁnd that the integral around C counterclockwise, plus the integrals around the circles clockwise, is zero (since the

Section 6

Methods of Finding Residues

683

Figure 5.1 integrals along the cuts cancel), or the integral along C is the sum of the integrals around the circles (all counterclockwise). But by (5.1), the integral around each circle is 2πi times the residue of f (z) at the singular point inside. Thus we have the residue theorem: (5.2) C

f (z) dz = 2πi · sum of the residues of f (z) inside C,

where the integral around C is in the counterclockwise direction. The residue theorem is useful in evaluating many deﬁnite integrals; we shall consider this in Section 7. But ﬁrst, in Section 6, we need to develop some techniques for ﬁnding residues.

PROBLEMS, SECTION 5 1.

If C is a circle of radius ρ about z0 , show that I dz = 2πi (z − z 0 )n C

if n = 1,

but for any other integral value of n, positive or negative, the integral is zero. Hint: Use the fact that z = z0 + ρeiθ on C. 2.

Verify the formulas (4.3) for the coeﬃcients in a Laurent series. Hint: To get an , divide equation (4.1) by (z − z0 )n+1 and use the results of Problem 1 to evaluate the integrals of the terms of the series. Use a similar method to ﬁnd bn .

Obtain Cauchy's integral formula (3.9) from the residue theorem (5.2).

6. METHODS OF FINDING RESIDUES A. Laurent Series If it is easy to write down the Laurent series for f (z) about z = z0 that is valid near z0 , then the residue is just the coeﬃcient b1 of the term 1/(z − z0 ). Caution: Be sure you have the expansion about z = z0 ; the series you have memorized for ez , sin z, etc., are expansions about z = 0 and so can be used only for ﬁnding residues at the origin (see Section 4, Example 3). Here is another

684

Functions of a Complex Variable

Chapter 14

example: Given f (z) = ez /(z − 1), ﬁnd the residue, R(1), of f (z) at z = 1. We want to expand ez in powers of z − 1; we write

ez e · ez−1 e (z − 1)2 e = = 1 + (z − 1) + + ··· = + e + ··· . z−1 z−1 z−1 2! z−1 Then the residue is the coeﬃcient of 1/(z − 1), that is, R(1) = e. B. Simple Pole If f (z) has a simple pole at z = z0 , we ﬁnd the residue by multiplying f (z) by (z − z0 ) and evaluating the result at z = z0 (Problem 10). Example 1. Find R(− 21 ) and R(5) for f (z) =

z . (2z + 1)(5 − z)

Multiply f (z) by (z + 12 ), [Caution: not by (2z + 1)], and evaluate the result at z = − 21 . We ﬁnd (z + 12 )f (z) = (z + 12 ) R(− 21 ) =

z z = , (2z + 1)(5 − z) 2(5 − z)

− 12 1 1 = − 22 . 2(5 + 2 )

Similarly, (z − 5)f (z) = (z − 5) R(5) = −

z z =− , (2z + 1)(5 − z) 2z + 1

5 . 11

Example 2. Find R(0) for f (z) = (cos z)/z. Since zf (z) = cos z, we have R(0) = (cos z)z=0 = cos 0 = 1. To use this method, we may in some problems have to evaluate an indeterminate form, so in general we write

(6.1)

R(z0 ) = lim (z − z0 )f (z) z→z0

when z0 is a simple pole.

Example 3. Find the residue of cot z at z = 0. By (6.1) R(0) = lim

z→0

z cos z z = cos 0 · lim = 1 · 1 = 1. z→0 sin z sin z

If, as often happens, f (z) can be written as g(z)/h(z), where g(z) is analytic and not zero at z0 and h(z0 ) = 0, then (6.1) becomes R(z0 ) = lim

z→z0

(z − z0 )g(z) z − z0 1 g(z0 ) = g(z0 ) lim = g(z0 ) lim = z→z0 h(z) z→z0 h (z) h(z) h (z0 )

Section 6

Methods of Finding Residues

685

by L'Hˆ opital's rule or the deﬁnition of h (z) (Problem 11). Thus we have

(6.2)

R(z0 ) =

g(z0 ) h (z0 )

  f (z) = g(z)/h(z), and if g(z0 ) = ﬁnite const. = 0, and   h(z0 ) = 0, h (z0 ) = 0.

Often (6.2) gives the most convenient way of ﬁnding the residue at a simple pole. Example 4. Find the residue of (sin z)/(1 − z 4 ) at z = i. By (6.2) we have 1 sin i e−1 − e 1 sin z = (e − e−1 ) = sinh 1. = = R(i) = −4z 3 z=i −4i3 (2i)(4i) 8 4 Now you may ask how you know, without ﬁnding the Laurent series, that a function has a simple pole. Perhaps the simplest answer is that if the limit obtained using (6.1) is some constant (not 0 or ∞), then f (z) does have a simple pole and the constant is the residue. [If the limit = 0, the function is analytic and the residue = 0; if the limit is inﬁnite, the pole is of higher order.] However, you can often recognize the order of a pole in advance. [See end of Section 4 for the simple case in which (z − z0 )n is a factor of the denominator.] Suppose f (z) is written in the form g(z)/h(z), where g(z) and h(z) are analytic. Then you can think of g(z) and h(z) as power series in (z − z0 ). If the denominator has the factor (z − z0 ) to one higher power than the numerator, then f (z) has a simple pole at z0 . For example, z cot2 z =

z(1 − z 2 /2 + · · · )2 z cos2 z z(1 + · · · ) = = 2 2 3 2 (z − z /3! + · · · ) z (1 + · · · ) sin z

has a simple pole at z = 0. By the same method we can see whether a function has a pole of any order C. Multiple Poles When f (z) has a pole of order n, we can use the following method of ﬁnding residues.

Multiply f (z) by (z − z0 )m , where m is an integer greater than or equal to the order n of the pole, diﬀerentiate the result m − 1 times, divide by (m − 1)!, and evaluate the resulting expression at z = z0 .

It is easy to prove that this rule is correct (Problem 12) by using the Laurent series (4.1) for f (z) and showing that the result of the outlined process is b1 .

686

Functions of a Complex Variable

Chapter 14

Example 5. Find the residue of f (z) = (z sin z)/(z − π)3 at z = π. We take m = 3 to eliminate the denominator before diﬀerentiating; this is an allowed choice for m because the order of the pole of f (z) at π is not greater than 3 since z sin z is ﬁnite at π. (The pole is actually of order 2, but we do not need this fact.) Then following the rule stated, we get 1 d2 1 R(π) = (z sin z) = [−z sin z + 2 cos z]z=π = −1. 2! dz 2 2 z=π (To compute the derivative quickly, use Leibniz' rule for diﬀerentiating a product; see Chapter 12, Section 3.) Much of this work can be done by computer. However, remember that the point of doing these problems is to gain skill in using the ideas and techniques of complex variable theory. So a good study method is to do the problems as outlined above and then check your results by computer.

PROBLEMS, SECTION 6 Find the Laurent series for the following functions about the indicated points; hence ﬁnd the residue of the function at the point. (Be sure you have the Laurent series which converges near the point.) 1.

1 , z=0 z(z + 1)

cosh z , z=0 z2

1 sin πz , z= 4z 2 − 1 2

1 , z=1 z(z − 1)

sin z , z=0 z4

ez , z=1 −1

1 sin , z = 0 z

1 + cos z , z=π (z − π)2

1 , z=2 z 2 − 5z + 6

10.

Show that rule B is correct by applying it to (4.1).

11.

Derive (6.2) by using the limit deﬁnition of the derivative h (z0 ) instead of using L'Hˆ opital's rule. Remember that h(z0 ) = 0 because we are assuming that f (z) has a simple pole at z0 .

12.

Prove rule C for ﬁnding the residue at a multiple pole, by applying it to (4.1). Note that the rule is valid for n = 1 (simple pole) although we seldom use it for that case.

13.

Prove rule C by using (3.9). Hints: If f (z) has a pole of order n at z = a, then f (z) = g(z)/(z − a)n with g(z) analytic at z = a. By (3.9) Z g(z) dz = 2πig(a) (z − a) C with C a contour inclosing a but no other singularities. Diﬀerentiate this equation (n − 1) times with respect to a. (Or, use Problem 3.21.)

Find the residues of the following functions at the indicated points. Try to select the easiest of the methods outlined above. Check your results by computer. 14.

1 at z = − 23 ; at z = 2 (3z + 2)(2 − z)

15.

1 at z = 12 ; at z = (1 − 2z)(5z − 4)

16.

z−2 at z = 0; at z = 1 z(1 − z)

17.

z+2 1 1 at z = ; at z = − 4z 2 − 1 2 2

4 5

Section 7

Evaluation of Definite Integrals by Use of the Residue Theorem

18.

z+2 at z = 3i z2 + 9

19.

sin2 z at z = π/2 2z − π

20.

z at z = i 1 − z4

21.

√ z2 at z = 2(1 + i) z 4 + 16

22.

e2z at z = iπ 1 + ez

23.

2i eiz at z = 9z 2 + 4 3

24.

1 − cos 2z at z = 0 z3

25.

e2z − 1 at z = 0 z2

26.

e2πiz at z = e2πi/3 1 − z3

27.

cos z at z = π/6 1 − 2 sin z

28.

z+2 at z = 3i (z 2 + 9)(z 2 + 1)

29.

e2z at z = ln 2 4 cosh z − 5

30.

cosh z − 1 at z = 0 z7

31.

e3z − 3z − 1 at z = 0 z4

eiz at z = 2i + 4)2

33.

1 + cos z at z = π (π − z)3

35.

z at z = i (z 2 + 1)2

32. 34.

(z 2

z−2 1 at z = 0 and at z = z 2 (1 − 2z)2 2

687

14 to 35 Use the residue theorem to evaluate the contour integrals of each of the functions in Problems 14 to 35 around a circle of radius 32 and center at the origin. Check carefully to see which singular points are inside the circle. You may use your results in the previous problems as far as they go, but you may have to compute some more residues. 36.

For complex z, Jp (z) can be deﬁned by the series (12.9) in Chapter 12. Use this deﬁnition to ﬁnd the Laurent series about z = 0 for z −3 J0 (z). Find the residue of the function at z = 0.

37.

The gamma function Γ(z) is analytic except for poles at z = x = 0, −1, −2, −3 · · · (all the negative integers). Find the residues at these poles. Hints: See Example 1 above and Chapter 11, Equation (4.1).

7. EVALUATION OF DEFINITE INTEGRALS BY USE OF THE RESIDUE THEOREM We are going to use (5.2) and the techniques of Section 6 to evaluate several diﬀerent types of deﬁnite integrals. The methods are best shown by examples. Example 1. Find I =

2π

dθ . 5 + 4 cos θ

If we make the change of variable z = eiθ , then as θ goes from 0 to 2π, z traverses the unit circle |z| = 1 (Figure 7.1) in the counterclockwise direction, and we have a contour integral. We shall evaluate this integral by the residue theorem. If z = eiθ , we have dz = ieiθ dθ = iz dθ cos θ =

z + z1 eiθ + e−iθ = . 2 2

dθ =

1 dz, iz Figure 7.1

688

Functions of a Complex Variable

Chapter 14

Making these substitutions in I, we get 1 dz dz 1 iz = I= 5 + 2(z + 1/z) i 5z + 2z 2 + 2 C C dz 1 , = i C (2z + 1)(z + 2)

where C is the unit circle. The integrand has poles at z = − 21 and z = −2; only z = − 21 is inside the contour C. The residue of 1/[(2z + 1)(z + 2)] at z = − 21 is 1 1 1 1 = R(− 2 ) = lim (z + 2 ) · = 13 . (2z + 1)(z + 2) 2(z + 2) z=−1/2 z→−1/2 Then by the residue theorem I=

1 2πiR(− 21 ) = 2π · i

1 3

2π . 3

This method can be used to evaluate the integral of any rational function of sin θ and cos θ between 0 and 2π, provided the denominator is never zero for any value of θ. You can also ﬁnd an integral from 0 to π if the integrand is even, since the integral from 0 to 2π of an even periodic function is twice the integral from 0 to π of the same function. (See Chapter 7, Section 9 for discussion of even and odd functions.) Example 2. Evaluate I =

∞

−∞

dx . 1 + x2

Here we could easily ﬁnd the indeﬁnite integral and so evaluate I by elementary methods. However, we shall do this simple problem by contour integration to illustrate a method which is useful for more complicated problems. This time we are not going to make a change of variable in I. We are going to start with a diﬀerent integral and show how to ﬁnd I from it. We consider dz , 2 C 1+z where C is the closed boundary of the semicircle shown in Figure 7.2. For any ρ > 1, the semicircle incloses the singular point z = i and no others; the residue of the integrand at z = i is R(i) = lim (z − i) z→i

1 1 = . (z − i)(z + i) 2i

Figure 7.2

Then the value of the contour integral is 2πi(1/2i) = π. Let us write the integral in two parts: (1) an integral along the x axis from −ρ to ρ; for this part z = x; (2) an integral along the semicircle, where z = ρeiθ . Then we have ρ π dz dx ρieiθ dθ = + . (7.1) 2 2 2 2iθ −ρ 1 + x 0 1+ρ e C 1+z

Section 7

Evaluation of Definite Integrals by Use of the Residue Theorem

689

We know that the value of the contour integral is π no matter how large ρ becomes since there are no other singular points besides z = i in the upper half-plane. Let ρ → ∞; then the second integral on the right in (7.1) tends to zero since the numerator contains ρ and the denominator ρ2 . Thus the ﬁrst term on the right tends to π (the value of the contour integral) as ρ → ∞, and we have ∞ dx I= = π. 1 + x2 −∞ This method can be used to evaluate any integral of the form ∞ P (x) dx −∞ Q(x) if P (x) and Q(x) are polynomials with the degree of Q at least two greater than the degree of P , and if Q(z) has no real zeros (that is, zeros on the x axis). If the integrand P (x)/Q(x) is an even function, then we can also ﬁnd the integral from 0 to ∞. Example 3. Evaluate I =

∞

cos x dx . 1 + x2

We consider the contour integral C

eiz dz , 1 + z2

where C is the same semicircular contour as in Example 2. The singular point inclosed is again z = i, and the residue there is lim (z − i)

z→i

e−1 1 eiz = = . (z − i)(z + i) 2i 2ie

The value of the contour integral is 2πi(1/2ie) = π/e. As in Example 2 we write the contour integral as a sum of two integrals: ρ ix eiz dz e dx eiz dz (7.2) = + . 2 2 1 + z2 C 1+z −ρ 1 + x along upper half of z = ρeiθ

As before, we want to show that the second integral on the right of (7.2) tends to zero as ρ → ∞. This integral is the same as the corresponding integral in (7.1) except for the eiz factor. Now |eiz | = |eix−y | = |eix ||e−y | = e−y ≤ 1 since y ≥ 0 on the contour we are considering. Since |eiz | ≤ 1, this factor does not change the proof given in Example 2 that the integral along the semicircle tends to zero as the radius ρ → ∞. We have then ∞ eix π dx = , 2 e −∞ 1 + x

690

Functions of a Complex Variable

Chapter 14

or taking the real part of both sides of this equation, ∞ cos x dx π = . 2 1 + x e −∞ Since the integrand (cos x)/(1 + x2 ) is an even function, the integral from 0 to ∞ is half the integral from −∞ to ∞. Hence we have ∞ π cos x dx I= = . 2 1+x 2e 0 Observe that the same proof would work if we replaced eiz by eimz (m > 0) in the above integrals. At the point where we said e−y ≤ 1 (since y ≥ 0) we would then want e−my ≤ 1 for y ≥ 0, which is true if m > 0. [For m < 0, we could use a semicircle in the lower half-plane (y < 0); then we would have emy ≤ 1 for y ≤ 0. This is an unnecessary complication, however, in evaluating integrals containing sin mx or cos mx since we can then choose m to be positive.] Although we have assumed here that (as in Example 2) Q(x) is of degree at least 2 higher than P (x), a more detailed proof (see books on complex variables) shows that degree at least one higher is enough to make the integral P (z) imz e dz Q(z) around the semicircle tend to zero as ρ → ∞. Thus ∞ P (x) imx P (z) imz e e dx = 2πi · sum of the residues of Q(x) Q(z) −∞ in the upper half-plane if all the following requirements are met: 1. P (x) and Q(x) are polynomials, and 2. Q(x) has no real zeros, and 3. the degree of Q(x) is at least 1 greater than the degree of P (x), and m > 0. By taking real and imaginary parts, we then ﬁnd the integrals ∞ ∞ P (x) P (x) cos mx dx, sin mx dx. −∞ Q(x) −∞ Q(x)

∞

Example 4. Evaluate −∞

sin x dx. x

Here we remove the restriction of Examples 2 and 3 that Q(x) has no real zeros. As in Example 3, we consider iz e dz. z To avoid the singular point at z = 0, we integrate around the contour shown in Figure 7.3. We then let the radius r shrink to zero so that in eﬀect we are integrating straight through the simple pole at the origin. We are going to show (later in this

Section 7

Evaluation of Definite Integrals by Use of the Residue Theorem

691

section and Problem 21) that the net result of integrating in the counterclockwise direction around a closed contour which passes straight‡ through one or more simple poles is 2πi · (sum of the residues at interior points plus one-half the sum of the residues at the simple poles on the boundary). (Warning: this rule does not hold in general for a multiple pole Figure 7.3 on a boundary.) You might expect this result. If a pole is inside a contour, it contributes 2πi· residue, to the integral; if it is outside, it contributes nothing; if it is on the straight line boundary, its contribution is just halfway between zero and 2πi· residue. [See Am. J. Phys. 52, 276 (1984).] Using this fact, and observing that, as in Example 3, the integral along the large semicircle tends to zero as R tends to inﬁnity, we have ∞ ix e 1 eiz 1 dx = 2πi · residue of at z = 0 = 2πi · · 1 = iπ. x 2 z 2 −∞ Taking the imaginary parts of both sides, we get ∞ sin x dx = π. −∞ x To show more carefully that our result is correct, let us return to the contour of Figure 7.3. Since eiz /z is analytic inside this contour, the integral around the whole contour is zero. As we have said, the integral along C tends to zero as R → ∞ by the theorem at the end of Example 3. Along the small semicircle C , we have dz = idθ, z = reiθ , dz = reiθ idθ, z eiz dz = eiz idθ. z C C As r → 0, z → 0, eiz → 1, and the integral (along C in the direction indicated in Figure 7.3) tends to 0 i dθ = −iπ. π

Then we have as R → ∞, and r → 0, ∞ ix e dx − iπ = 0 −∞ x or

∞

−∞

eix dx = iπ x

as before. Taking real and imaginary parts of this equation (and using Euler's formula eix = cos x + i sin x), we get ∞ ∞ cos x sin x dx = 0, dx = π. x −∞ −∞ x ‡ By "straight" we mean that the contour curve has a tangent at the pole, that is, it does not turn a corner there.

692

Functions of a Complex Variable

Chapter 14

Since (sin x)/x is an even function, we have ∞ sin x 1 ∞ sin x π dx = dx = . x 2 x 2 0 −∞ [For another way of evaluating this integral, see Chapter 7, equation (12.19).] Principal value Now consider the cosine integral. ∞ cos x dx x 0 is a divergent integral since the integrand (cos x)/x is approximately 1/x near x = 0. ∞ The value zero which we found for I = −∞ (cos x)/x dx is called the principal value (or Cauchy principal value) of I. To see what this means, consider a simpler integral, namely 5 dx . 0 x−3 3 5 The integrand becomes inﬁnite at x = 3, and both 0 dx/(x − 3) and 3 dx/(x − 3) are divergent. Suppose we cut out a small symmetric interval about x = 3, and integrate from 0 to 3 − r and from 3 + r to 5. We ﬁnd

3−r

5 3+r

3−r dx = ln |x − 3| = ln r − ln 3, x−3 0 dx = ln 2 − ln r. x−3

The sum of these two integrals is 2 ln 2 − ln 3 = ln ; 3 this sum is independent of r. Thus, if we let r → 0, we get the result ln 23 which is called the principal value of 5 5 dx dx 2 often written P V . = ln 3 0 x−3 0 x−3 The terms ln r and − ln r have been allowed to cancel each other; graphically an inﬁnite area above the x axis and a corresponding inﬁnite area below the x axis have been canceled. In computing the contour integral we integrated along the x axis from −∞ up to −r, and from +r to +∞, and then let r → 0; this is just the process we described ∞ for ﬁnding principal values, so the result we found for the improper integral −∞ (cos x)/x dx, namely zero, was the principal value of this integral. Example 5. Evaluate

∞

rp−1 dr, 1+r

0 < p < 1,

and use the result to prove (5.4) of Chapter 11.

Section 7

Evaluation of Definite Integrals by Use of the Residue Theorem

We ﬁrst ﬁnd p−1 z dz, (7.3) 1+z

0 < p < 1,

693

around C in Figure 7.4.

Before we can evaluate this integral, we must ask what z p−1 means, since for each z there may be more than one value of z p−1 . (See discussion of branches at the end of Section 1.) For example, consider the case p = 12 ; then z p−1 = z −1/2 . Recall from Chapter 2, Section 10, that there are two square roots of any complex number. At a point where θ = π/4, say, we have z = reiπ/4 ,

z −1/2 = r−1/2 e−iπ/8 .

But if θ increases by 2π (we think of following a circle around the origin and back to our starting point), we have z = rei(π/4+2π) ,

z −1/2 = r−1/2 e−i(π/8+π) = −r−1/2 e−iπ/8 .

Similarly, for any starting point (with r = 0), we ﬁnd that z −1/2 or z p−1 comes back to a diﬀerent value (diﬀerent branch) when θ increases by 2π and we return to our starting point. If we want to use the formula z p−1 to deﬁne a (single-valued) function, we must decide on some interval of length 2π for θ (that is, we must select one branch of z p−1 ). Let us agree to restrict θ to the values of 0 to 2π in evaluating the contour integral (7.3). We may imagine an artiﬁcial barrier or cut (which we agree not to cross) along the positive x axis; this is called a branch cut. (See Example 3, Section 9.) A point which we cannot encircle (on an arbitrarily small circle) without crossing a branch cut (thus changing to another branch) is called a branch point ; the origin is a branch point here. In Figure 7.4, then, θ = 0 along AB (upper side of the positive x axis); when we follow C around to DE, θ increases by 2π, so θ = 2π on the lower side of the positive x axis. Note that the contour in Figure 7.4 never takes us outside the 0 to 2π interval, so the factor z p−1 in (7.3) is a single-valued function. The integrand in (7.3), namely z p−1 /(1 + z), is now an analytic function inside the closed curve C in Figure 7.4 except for the pole at z = −1 = eiπ . The residue there is (eiπ )p−1 = −eiπp . Then we have (7.4) C

z p−1 dz = −2πieiπp , 1+z

Figure 7.4

0 < p < 1.

Along either of the two circles in Figure 7.4 we have z = reiθ and the integral is

rp−1 ei(p−1)θ iθ rie dθ = i 1 + reiθ

rp eipθ dθ. 1 + reiθ

This integral tends to zero if r → 0 or if r → ∞. (Verify this; note that the denominator is approximately 1 for small r, and approximately reiθ for large r.) Thus the integrals along the circular parts of the contour tend to zero as the little circle shrinks to a point and the large circle expands indeﬁnitely. We are left with

694

Functions of a Complex Variable

Chapter 14

the two integrals along the positive x axis with AB now extending from 0 to ∞ and DE from ∞ to 0. Along AB we agreed to have θ = 0, so z = rei·0 = r, and this integral is ∞ p−1 r dr. r=0 1 + r Along DE, we have θ = 2π, so z = re2πi and this integral is 0 ∞ p−1 2πip (re2πi )p−1 2πi r e dr. e dr = − 2πi 1+r r=∞ 1 + re 0 Adding the AB and DE integrals, we get ∞ p−1 r 2πip dr = −2πieiπp ) (1 − e 1+r 0 by (7.4). Then the desired integral is ∞ p−1 r −2πieiπp π · 2i π dr = . (7.5) = iπp = 1+r 1 − e2πip e − e−iπp sin πp 0 Let us use (7.5) to obtain (5.4) of Chapter 11. Putting q = 1 − p in (6.5) and (7.1) of Chapter 11, we have ∞ p−1 y B(p, 1 − p) = dy and 1 +y (7.6) 0 B(p, 1 − p) = Γ(p)Γ(1 − p) Γ(1) = 1. Combining (7.5) and (7.6) gives (5.4) of Chapter 11, namely ∞ p−1 y π dy = . Γ(p)Γ(1 − p) = B(p, 1 − p) = 1+y sin πp 0 Argument Principle Since w = f (z) is a complex number for each z, we can write w = ReiΘ (just as we write z = reiθ ) where R = |w| and Θ is the angle of w [or we could call it the angle of f (z)]. As z changes, w = f (z) also changes and so R and Θ vary as we go from point to point in the complex (x, y) plane. We want to show that (a) if f (z) is analytic on and inside a simple closed curve C and f (z) = 0 on C, then the number of zeros of f (z) inside C is equal to (1/2π)· (change in the angle of f (z) as we traverse the curve C); (b) if f (z) has a ﬁnite number of poles inside C, but otherwise meets the requirements stated,§ then the change in the angle of f (z) around C is equal to (2π)· (the number of zeros minus the number of poles). (Just as we say that a quadratic equation with equal roots has two equal roots, so here we mean that a zero of order n counts as n zeros and a pole of order n counts as n poles.) To show (a) and (b) we consider f (z) dz. C f (z) §A

function which is analytic except for poles is called meromorphic.

Section 7

Evaluation of Definite Integrals by Use of the Residue Theorem

695

By the residue theorem, the integral is equal to 2πi·(sum of the residues at singularities inside C). It is straightforward to show (Problem 42) that the residue of F (z) = f (z)/f (z) at a zero of f (z) of order n is n, and the residue of F (z) at a pole of f (z) of order p is −p. Then if N is the number of zeros and P the number of poles of f (z) inside C, the integral is 2πi(N − P ). Now by direct integration, we have f (z) (7.7) dz = ln f (z)C = ln ReiΘ C = Ln RC + iΘC , C f (z) where R = |f (z)| and Θ is the angle of f (z). Recall from Chapter 2, Section 13, that Ln R means the ordinary real logarithm (to the base e) of the positive number R, and is single-valued; ln f (z) is multiple-valued because Θ is multiple-valued. Then if we integrate from a point A on C all the way around the curve and back to A, Ln R has the same value at A both at the beginning and at the end, so the term Ln R|C is Ln R at A minus Ln R at A; this is zero. The same result may not be true for Θ; that is, the angle may have changed as we go from point A all the way around C and back to A. (Think, for example, of the angle of z as we go from z = 1 around the unit circle and back to z = 1; the angle of z has increased from 0 to 2π.) Collecting our results, we have

(7.8)

f (z) 1 1 dz = iΘC 2πi C f (z) 2πi 1 · (change in the angle of f (z) around C), = 2π

N −P =

where N is the number of zeros and P the number of poles of f (z) inside C, with poles of order n counted as n poles and similarly for zeros of order n. Equation (7.8) is known as the argument principle (recall from Chapter 2 that argument means angle). This principle is often used to ﬁnd out how many zeros (or poles) a given function has in a given region. (Locating the zeros of a function has important applications to determining the stability of linear systems such as electric circuits and servomechanisms. Example 6. Let us show that f (z) = z 3 + 4z + 1 has exactly one zero in the ﬁrst quadrant. The closed curve C in (7.8) is, for this problem, the contour OP Q in Figure 7.5, where P Q is a large quarter circle. We ﬁrst observe that on the x axis, x3 + 4x + 1 > 0 for x > 0, and on the y axis, (iy)3 + 4iy + 1 = 0 for any y (since its real part, namely 1, = 0). Then f (z) = 0 on OP or OQ. Also f (z) = 0 on P Q if we choose a circle large enough to inclose all zeros. We now want to ﬁnd the change in the angle Θ of f (z) = ReiΘ as we go around C. Along OP , z = x; then f (z) = f (x) is real and so Θ = 0. Along P Q, z = reiθ , with r constant and very large. For very large r, the z 3 term in f (z) far outweighs the other terms, and we have f (z) ∼ Figure 7.5 = z 3 = r3 e3iθ . As θ goes from 0 to π/2 along P Q,

696

Functions of a Complex Variable

Chapter 14

Θ = 3θ goes from 0 to 3π/2. On QO, z = iy, f (z) = −iy 3 + 4iy + 1; then tan Θ =

4y − y 3 imaginary part of f (z) = . real part of f (z) 1

For very large y (that is, at Q), we had Θ ∼ = 3π/2 (for y = ∞, we would have tan θ = −∞, and Θ would be exactly 3π/2). Now as y decreases along QO, the value of tan Θ = 4y − y 3 decreases in magnitude but remains negative until it becomes 0 at y = 2. This means that Θ changes from 3π/2 to 2π. Between y = 2 and y = 0, the tangent becomes positive, but then decreases to zero again without becoming inﬁnite. This means that the angle Θ increases beyond 2π but not as far as 2π +π/2, and then decreases again to 2π. Thus the total change in Θ around C is 2π, and by (7.8), the number of zeros of f (z) in the ﬁrst quadrant is (1/2π) · 2π = 1. If we realize that (for a polynomial with real coeﬃcients) the zeros oﬀ the real axis always occur in conjugate pairs, we see that there must also be one zero for z in the fourth quadrant, and the third zero must be on the negative x axis. Bromwich integral (Inverse Laplace Transform) In Chapter 8 (Section 8ﬀ), we found inverse Laplace transforms from a table (pages 469–471), or by computer, but we had no general formula for the inverse transform. By analogy with Fourier transforms (Chapter 7, Section 12), where we have similar integrals for the direct and inverse transforms, we might reasonably wonder whether an inverse Laplace transform could be given by an integral. To discuss this, we repeat here for convenience the deﬁnitions of Laplace and Fourier transforms. ∞ (7.9) L(f ) = f (t)e−pt dt = F (p) 0

f (x) = (7.10)

∞ −∞

1 g(α) = 2π

g(α)eiαx dα

∞

−∞

f (x)e−iαx dx

If we compare the Laplace transform (7.9) with the Fourier transform [g(α) in (7.10)], we observe that if p were imaginary, the integrals would be almost the same. This suggests that we should consider complex p, and that the integral we want for the inverse Laplace transform might be an integral in the complex p plane (that is, a contour integral). Let's investigate this idea. In the deﬁnition (7.9) of the Laplace transform of f (t), let p be complex, say p = z = x+iy. (Note that this possibility has already been considered in Chapter 8.) Then (7.9) becomes ∞ F (p) = F (z) = F (x + iy) = e−pt f (t) dt 0 (7.11) ∞ ∞ −(x+iy)t = e f (t) dt = e−xt f (t)e−iyt dt, x = Re p > k. 0

[Recall (Chapter 8, Section 8) that we must have some restriction on Re p to make the integral converge at inﬁnity. The restriction depends on what the function f (t) is, but is always of the form Re p > k, for some real k, as you can see in

Section 7

Evaluation of Definite Integrals by Use of the Residue Theorem

697

the table of Laplace transforms, pages 469–471.] Now (7.11) is of the form of a Fourier transform. To see this, compare (7.11) with (7.10) making the following correspondences: e−iyt dt corresponds to e−iαx dx, that is, y corresponds to α and t to x [the x in (7.11) is just a constant parameter in this discussion]; the function e−xt f (t), t > 0, (7.12) φ(t) = 0, t < 0, corresponds to f (x) in (7.10) and F (p) = F (x+ iy) corresponds to g(α); and ﬁnally, we recall that the 1/(2π) factor may be in either integral in (7.10). Then assuming that φ(t) satisﬁes the required conditions for a function to have a Fourier transform ∞ [see Chapter 7, Section 12: Dirichlet conditions, and −∞ |φ(t)| dt ﬁnite], we can write the inverse transform to get ∞ 1 F (x + iy)eiyt dy. (7.13) φ(t) = 2π −∞ Using the deﬁnition (7.12) of φ(t), we ﬁnd ∞ ∞ 1 1 F (x + iy)eiyt dy = F (x + iy)e(x+iy)t dy (7.14) f (t) = ext · 2π −∞ 2π −∞ for t > 0. Since x is constant, say x = c, we have dz = d(x + iy) = i dy, and we can write (7.14) as

(7.15)

1 f (t) = 2πi

c+i∞

c−i∞

F (z)ezt dz,

t > 0,

where the notation means (see Problem 3.4) that we integrate along a vertical line x = c in the z plane. [This can be any vertical line on which x = c > k as required by the restriction on Re p in (7.11).] The integral (7.15) for the inverse Laplace transform is known as the Bromwich integral. We would like to use contour integration and the residue theorem to evaluate f (t) in (7.15) for a given F (p) [which we call F (z) since we consider complex p]. In Examples 2 and 3, we have evaluated integrals along a straight line (the x axis) by considering the contour made up of the x axis and a large semicircle inclosing the upper half plane. If we rotate this contour 90◦ , we have a contour consisting of a vertical straight line and a semicircle inclosing a left half-plane (that is, the area to the left of x = c). Let's use this contour to evaluate (7.15). We restrict F (z) to be of the form P (z)/Q(z) with P (z) and Q(z) polynomials, and Q(z) of degree at least one higher than P (z) (compare the conditions in Example 3). Then it can be shown that, as in Examples 2 and 3, the integral along the semicircle tends to zero as the radius tends to inﬁnity. Thus the integral along the straight line is equal to 2πi times the sum of the residues of F (z)ezt at its poles, or, cancelling the factor 2πi in (7.15), (7.16)

f (t) = sum of residues of F (z)ezt at all poles.

We must include all poles in (7.16); to see this we can argue as follows. We know that (7.15) is true for any value of c > k. Suppose we use a value of c which is

698

Functions of a Complex Variable

Chapter 14

large enough so that all poles lie to the left of x = c; then we know that our answer is correct. Turning the argument around, we can say that since we would get a diﬀerent answer if we did not take x = c to the right of all poles, we must integrate along a vertical line such that all poles of F (z)ezt are included in the contour to the left of the line. 5 . (p + 2)(p2 + 1) and factor the denominator to get

Example 7. Find the inverse transform of F (p) = We ﬁrst ﬁnd the poles of F (z)ezt

F (z)ezt =

5ezt . (z + 2)(z + i)(z − i)

Evaluating the residues at the three simple poles (Section 6, method B), we ﬁnd residue at z = −2

residue at z = i

residue at z = −i

5e−2t = e−2t 5 5eit (2 + i)(2i) 5e−it (2 − i)(−2i)

Then by (7.16) we have f (t) = e−2t +

5eit (2 − i) − 5e−it (2 + i) = e−2t + 2 sin t − cos t. (2 + i)(2 − i)(2i)

f (z) dz around the upper half plane as in z−a Problem 21. Let a be real. Let f (z) be analytic for y ≥ 0, and → 0 rapidly enough at ∞ so that the integral around the semicircle in the upper half plane → 0 as the radius of the semicircle → ∞. Then by Example 4 and Problem (21b) we get ∞ f (x) (7.17) PV dx = iπf (a). −∞ x − a Dispersion relations Consider

Now we write f (x) = u(x) + iv(x), and take real and imaginary parts of (7.17): ∞ ∞ u(x) v(x) (7.18) PV dx = −πv(a), PV dx = πu(a). x − a x −a −∞ −∞ These (and similar integrals relating the real and imaginary parts of a function satisfying the given conditions) are called dispersion relations. From them, you can ﬁnd the Kramers-Kronig relations (see Problem 66) named for the two people who developed similar relations involving the complex index of refraction for light. (Light traveling through a material medium is both refracted and absorbed. The real part of the complex index of refraction is related to refraction and the imaginary part to absorption.) These formulas have widespread applications, to optics, electricity, solid state, elementary particle theory, quantum mechanics, etc. The integrals in (7.18) are called Hilbert transforms, and (7.18) may be stated in the form: u(x) and v(x) are Hilbert transforms of each other. Compare Fourier

Section 7

Evaluation of Definite Integrals by Use of the Residue Theorem

699

transforms (Chapter 7, Section 12), or a Laplace transform and the corresponding Bromwich integral. In each case two functions have the property that each is given by an integral involving the other. This is what an integral transform means, and there are other integral transforms which you may discover in tables or computer.

PROBLEMS, SECTION 7 The values of the following integrals are known and can be found in integral tables or by computer. Your goal in evaluating them is to learn about contour integration by applying the methods discussed in the examples above. Then check your answers by computer. Z 2π Z 2π dθ dθ 1. 2. 13 + 5 sin θ 5 − 3 cos θ 0 0 Z 2π Z 2π dθ sin2 θ dθ 3. 4. 5 − 4 sin θ 5 + 3 cos θ 0 0 Z π Z π dθ dθ (0 ≤ r < 1) 6. 5. 2 1 − 2r cos θ + r (2 + cos θ)2 0 0 Z π Z 2π sin2 θ dθ cos 2θ dθ 8. 7. 5 + 4 cos θ 0 13 − 12 cos θ 0 Z ∞ Z 2π dx dθ 10. 9. (α = const.) 2 + 4x + 5 x 1 + sin θ cos α −∞ 0 Z ∞ Z ∞ 2 dx x dx 11. 12. (4x2 + 1)3 x4 + 16 0 0 Z ∞ Z ∞ sin x dx x2 dx 14. 13. 2 + 4x + 5 2 + 4)(x2 + 9) x (x −∞ 0 Z ∞ Z ∞ cos 2x dx x sin x dx 16. 15. 2 +4 9x 9x2 + 4 0 0 Z ∞ Z ∞ x sin x dx cos πx dx 17. 18. 2 1 + x2 + x4 −∞ x + 4x + 5 0 Z ∞ Z ∞ cos 2x dx cos x dx 19. 20. (4x2 + 9)2 (1 + 9x2 )2 0 0 21.

In Example 4 we stated a rule for evaluating a contour integral when the contour passes through simple poles. We proved that the result was correct for Z PV

eiz dz z

around the contour Γ shown here. (a) By following the same method (integrating around C of Figure 7.3 and letting r → 0) show that the result is correct if we replace eiz by any f (z) which is analytic at z = 0. (b) Repeat the proof in (a) for Z f (z) dz, a real PV (z − a) Γ (that is, a pole on the x axis), with f (z) analytic at z = a.

700

Functions of a Complex Variable

Chapter 14

Using the rule of Example 4 (also see problem 21), evaluate the following integrals. Find principal values if necessary. Z 22.

∞ −∞

Z 24.

∞ −∞

Z 26.

∞ −∞

Z 28.

∞ 0

dx (x − 1)(x2 + 1)

23.

x sin πx dx 1 − x2

25.

∞ −∞

∞ 0

x dx (x − 1)4 − 1

27.

dx 1 − x4

29.

∞ 0

Z 30.

∞

dx (x2 + 4)(2 − x) x sin x dx 9x2 − π 2 cos πx dx 1 − 4x2 sin ax dx x

dx . 1 + x4

(a)

By the method of Example 2 evaluate

(b)

Evaluate the same integral by using tables or computer to get the indeﬁnite integral; unless you are very careful you may get zero. Explain why.

Make the change of variables u = x4 in the integral in (a) and evaluate the u integral using (7.5). Z ∞ dx . Use the method of Problem 30(c) to evaluate 1 + x6 0

(c)

31. 32.

Use the method of Problem 30(c) and the contour and method of Example 5 to Z ∞ dx evaluate . (1 + x4 )2 0

Evaluate the following integrals by the method of Example 5. Z 33.

∞ 0

Z 35.

∞ 0

√

x dx 1 + x2

34.

∞ 0

x1/3 dx (1 + x)(2 + x)

36.

∞ 0

√

x dx (1 + x)2 ln x dx x3/4 (1 + x)

37.

(a)

Show that

∞

−∞

epx π dx = 1 + ex sin πp

R for 0 < p < 1. Hint: Find epz dz/(1 + ez ) around the rectangular contour shown. Show that the integrals along the vertical sides tend to zero as A → ∞. Note that the integral along the upper side is a multiple of the integral along the x axis. (b)

Make the change of variable y = ex in the x integral of part (a), and using (6.5) of Chapter 11, show that this integral is the beta function, B(p, 1 − p). Then using (7.1) of Chapter 11, show that Γ(p)Γ(1 − p) = π/ sin πp.

Section 7 38.

Evaluation of Definite Integrals by Use of the Residue Theorem

701

Using the same contour and method as in Problem 37a evaluate Z ∞ epx dx, 0 < p < 1. x −∞ 1 − e Hint: The only diﬀerence between this problem and Problem 37a is that you now have two simple poles on the contour instead of a pole inside. Use the rule of Example 4.

39.

Evaluate

∞ −∞

e2πx/3 dx. cosh πx

Hint: Use a rectangle as in Problem 37a but of height 1 instead of 2π. Note that there is a pole at i/2. 40.

41.

42.

Evaluate

∞

x dx . sinh x 0 Hint: First ﬁnd the −∞ to ∞ integral. Use a rectangle of height π and note the simple pole at iπ on the contour. Ru Ru The Fresnel integrals, 0 sin u2 du and 0 cos u2 du, are important in optics. For the case of inﬁnite upper limits, evaluate these integrals as follows: Make the change of variable x = u2 ; to evaluate the resulting H −1/2 eiz dz around the contour shown. integrals, ﬁnd z Let r → 0 and R → ∞ and show that the integrals along these quarter-circles tend to zero. Recognize the integral along the y axis as a Γ function and so evaluate it. Hence evaluate the integral along the x axis; the real and imaginary parts of this integral are the integrals you are trying to ﬁnd. If F (z) = f (z)/f (z), (a)

show that the residue of F (z) at an nth order zero of f (z), is n. Hint: If f (z) has a zero of order n at z = a, then f (z) = an (z − a)n + an+1 (z − a)n+1 + · · · .

(b)

Also show that the residue of F (z) at a pole of order p of f (z), is −p. Hint: See the deﬁnition of a pole of order p at the end of Section 4.

43.

By using theorem (7.8), show that z 3 + z 2 + 9 = 0 has exactly one root in the ﬁrst quadrant. Hence show that it has one root in the fourth quadrant and one on the negative real axis. Hint: See Example 6.

44.

The fundamental theorem of algebra says that every equation of the form f (z) = an z n + an−1 z n−1 + · · · + a0 = 0, an = 0, n ≥ 1, has at least one root. From this it follows that an nth degree equation has n roots. Prove this by using the argument principle. Hint: Follow the increase in the angle of f (z) around a very large circle z = reiθ ; for suﬃciently large r, all roots are inclosed, and f (z) is approximately an z n .

As in Problem 43 ﬁnd out in which quadrants the roots of the following equations lie: 45.

z3 + z2 + z + 4 = 0

46.

z 3 + 3z 2 + 4z + 2 = 0

47.

z 3 + 4z 2 + 12 = 0

48.

z 4 − z 3 + 6z 2 − 3z + 5 = 0

702

Functions of a Complex Variable

49.

z 4 − 4z 3 + 11z 2 − 14z + 10 = 0

51.

Use (7.8) to evaluate I f (z) dz, C f (z)

52. 53. 54.

Chapter 14

50.

where

z 4 + z 3 + 4z 2 + 2z + 3 = 0

f (z) =

z 3 (z + 1)2 sin z , (z 2 + 1)2 (z − 3)

around the circle |z| = 2; around |z| = 12 . I z 3 dz Use (7.8) to evaluate around |z| = 1. 1 + 2z 4 I z 3 + 4z Use (7.8) to evaluate dz around the circle |z − 2i| = 2. 4 z + 8z 2 + 16 Use (7.8) to evaluate

I C

sec2 (z/4) dz , 1 − tan(z/4)

where C is the rectangle formed by the lines y = ±1, x = ± 25 π. Find the inverse Laplace transform of the following functions by using (7.16). 55.

p3 p4 + 4

57.

p+1 p(p2 + 1)

58.

1 + 1)

61.

60.

56.

Hint: Use (6.2).

p2 (p

1 p4 − 1

p3 p4 − 16

59.

3p2 p3 + 8

p5 − 64

62.

(p − 1)2 p(p + 1)2

65.

p (p + 1)(p2 + 4)

p2 − 1)(p2 − 4)

63.

p p4 − 1

66.

In equation (7.18), let u(x) be an even function and v(x) be an odd function.

64.

(p2

(a)

If f (x) = u(x)+iv(x), show that these conditions are equivalent to the equation f ∗ (x) = f (−x).

(b)

Show that Z πu(a) = P V

∞

2xv(x) dx, x2 − a2

Z πv(a) = −P V

∞

2au(x) dx. x2 − a2

These are the Kramers-Kronig relations. Hint: To ﬁnd u(a), write the integral for u(a) in (7.18) as an integral from −∞ to 0 plus an integral from 0 to ∞. Then in the −∞ to 0 integral, replace x by −x to get an integral from 0 to ∞, and use v(−x) = −v(x). Add the two 0 to ∞ integrals and simplify. Similarly ﬁnd v(a).

8. THE POINT AT INFINITY; RESIDUES AT INFINITY It is often useful to think of the complex plane as corresponding to the surface of a sphere in the following way. In Figure 8.1, the sphere is tangent to the plane at the origin O. Let O be the south pole of the sphere, and N be the north pole of the sphere. If a line through N intersects the sphere at P and the plane at Q, we say that the point P on the sphere and the point Q on the plane are corresponding points. Then we have a one-to-one correspondence between points on the sphere

Section 8

The Point at Infinity; Residues at Infinity

703

(except N ) and points of the plane (at ﬁnite distances from O). Imagine point Q moving farther and farther out away from O; then P moves nearer and nearer to N . If z = x + iy is the complex coordinate of Q, then as Q moves out farther and farther from O, we would say z → ∞. It is customary to say that the point N corresponds to the point at infinity in the complex plane. Observe Figure 8.1 that straight lines through the origin in the plane correspond to meridians of the sphere. The meridians all pass through both the north pole and the south pole. Corresponding to this, straight lines through the origin in the complex plane pass through the point at inﬁnity. Circles in the complex plane with center at O correspond to parallels of latitude on the sphere. This mapping of the complex plane onto a sphere (or the mapping of the sphere onto a tangent plane) is called a stereographic projection. To investigate the behavior of a function at inﬁnity, we replace z by 1/z and consider how the new function behaves at the origin. We then say that inﬁnity is a regular point, a pole, etc., of the original function, depending on what the new function does at the origin. For example, consider z 2 at inﬁnity; 1/z 2 has a pole of order 2 at the origin, so z 2 has a pole of order 2 at inﬁnity. Or consider e1/z ; since ez is analytic at z = 0, e1/z is analytic at ∞. Next we want to see how to ﬁnd the residue of a function at ∞. To do this, we want to replace z by 1/z and work around the origin. In order to keep our notation straight, let us use two variables, namely Z which takes on values near ∞, and z = 1/Z which takes on values near 0. The residue of a function at ∞ is deﬁned so that the residue theorem holds, that is (8.1) C

f (Z) dZ = 2πi · (residue of f (Z) at Z = ∞)

if C is a closed path around the point at ∞ but inclosing no other singular points. Now what does it mean to integrate "around ∞"? Recall that we have agreed to traverse contours so that the area inclosed always lies to our left. The area we wish to "inclose" is the area "around ∞"; if C is a circle, this area would lie outside the circle in our usual terminology. Figure 8.1 may clarify this. Imagine a small circle about the north pole; the area inside this circle (that is, the area including N ) corresponds to points in the plane which are outside a large circle C. We must go around C in the clockwise direction in order to have the area "around ∞" to our left. Note that if Z = ReiΘ , then in going clockwise around C, we are going in the direction of decreasing Θ. Let us make the following change of variable in the integral (8.1): Z=

1 , z

dZ = −

1 dz. z2

If Z = ReiΘ traverses a circle C of radius R in the direction of decreasing Θ, then z = 1/Z = (1/R)e−iΘ = reiθ traverses a circle C of radius r = 1/R in the counterclockwise direction (that is, θ = −Θ increases as Θ decreases). Thus (8.1)

704

Functions of a Complex Variable

becomes

1 − 2f z C

(8.2)

Chapter 14

1 dz = 2πi · residue of f (Z) at Z = ∞. z

The integral in (8.2) is an integral about the origin and so can be evaluated by calculating the residue of (−1/z 2)f (1/z) at the origin. (There are no other singular points of f (1/z) inside C because we assumed that there were no singular points of f (Z) outside C except perhaps ∞.) Thus we have 1 1 at z = 0 (8.3) (residue of f (Z) at Z = ∞) = − residue of 2 f z z and we can use the methods we already know for computing residues at the origin. Note that a function may be analytic at ∞ and still have a residue there. Example. f (Z) = 1/Z is analytic at ∞ because z is analytic at the origin. But the residue of f (Z) = 1/Z at Z = ∞ is 1 − residue of 2 · z at z = 0 = −1. z

PROBLEMS, SECTION 8 1.

Let f (z) be expanded in the Laurent series that is valid for all z outside some circle, that is, |z| > M (see Section 4). This series is called the Laurent series "about inﬁnity." Show that the result of integrating the Laurent series term by term around a very large circle (of radius > M ) in the positive direction, is 2πib1 (just as in the original proof of the residue theorem in Section 5). Remember that the integral "around ∞ " is taken in the negative direction, and is equal to 2πi·(residue at ∞). Conclude that R(∞) = −b1 . Caution: In using this method of computing R(∞), be sure you have the Laurent series that converges for all suﬃciently large z.

(a)

Show that if f (z) tends to a ﬁnite limit as z tends to inﬁnity, then the residue of f (z) at inﬁnity is limz→∞ z 2 f (z).

(b)

Also show that if f (z) tends to zero as z tends to inﬁnity, then the residue of f (z) at inﬁnity is − limz→∞ zf (z).

Find out whether inﬁnity is a regular point, an essential singularity, or a pole (and if a pole, of what order) for each of the following functions. Using Problem 1, or Problem 2, or (8.3), ﬁnd the residue of each function at inﬁnity. Check your results by computer. 3.

z z2 + 1

2z + 3 (z + 2)2

sin

4z 3 + 2z + 3 z2

z2 + 2 3z 2

z2 − 1 z2 + 1

11. 13.

1 z

z2 + 5 z

10.

1+z 1−z

z+1 1 12. ln z−1 z Give another proofH of the fundamental theorem of algebra (see Problem 7.44) as follows. Let I = f (z)/f (z) dz about inﬁnity, that is, in the negative direction around a very large circle C. Use the argument principle (7.8), and also evaluate I by ﬁnding the residue of f (z)/f (z) at inﬁnity; thus show that f (z) has n zeros inside C. tan

Section 9

Mapping

705

Evaluate the following integrals by computing residues at inﬁnity.HCheck your answers by computing residues at all the ﬁnite poles. (It is understood that means in the positive direction.) I 14. 16.

1 − z 2 dz 1 + z2 z

I around |z| = 2.

15.

z 2 dz (2z + 1)(z 2 + 9)

around |z| = 5.

Observe that in Problems 14 and 15 the sum of the residues at ﬁnite points plus the residue at inﬁnity is zero. Prove that this is always true for a function which has a ﬁnite number of singularities.

9. MAPPING We often ﬁnd it useful to sketch a graph of a given function y = f (x) of a real variable x. Imagine trying to make a similar sketch for a function w = f (z) of a complex variable z. We need a plane to plot values of z and another plane to plot values of w = f (z), that is, we need a four-dimensional space. Lacking this, we must resort to a diﬀerent method. Imagine trying to "graph" y = f (x) using only two straight lines, but not a plane. A "graph" of y = x2 might look like Figure 9.1. Given a point on the x axis, we can locate a corresponding point y = f (x) on the y axis and label the two points with the same letter to indicate this correspondence. (Note that to ﬁnish our "graph," we really need a second positive y axis to hold the y points corresponding to negative values of x.)

Figure 9.1 Now consider a similar method of representing a function of a complex variable w = f (z). We use a z plane and a w plane; a given point in the z plane (that is, a value of z) determines a corresponding value of w, that is, a point in the w plane. The pair of points, one z and one w, are called images of each other. Although we could label pairs of corresponding z and w points (as we did corresponding x and y points in Figure 9.1), it is usually more interesting to sketch corresponding curves or regions in the two planes. The correspondence between a point (or curve or region) in the z plane, and the image point (or curve or region) in the w plane, is called a mapping or a transformation. Example 1. Consider the function w = i + zeiπ/4 , and let us map the grid of coordinate lines x = const., y = const. (z plane in Figure 9.2) into the w plane. You may be able to see at once that this transformation amounts to a rotation of the grid through an angle of π/4 (since zeiπ/4 = rei(θ+π/4) ) plus a translation i (the image of z = 0 is w = i), giving the result shown in the w plane in Figure 9.2. Alternatively,

706

Functions of a Complex Variable

Chapter 14

Figure 9.2 we can compute u and v as follows: π π w = i + zeiπ/4 = i + (x + iy) cos + i sin 4 4 x−y x+y 1+i √ √ √ = +i 1+ . = i + (x + iy) 2 2 2 Since w = u + iv, we have (9.1)

x−y u= √ , 2

x+y v =1+ √ . 2

Then (eliminating x and y in turn), we have (9.2)

√ u − v = −1 − y 2,

√ u + v = 1 + x 2.

The image of the x axis (y = 0) is, from the ﬁrst equation in (9.2), u − v = −1; the image of the y axis (x = 0) is, from the second equation in (9.2), u +√v = 1. Plotting √ these lines √ in the w√plane, and also plotting the images of x = ± 2, x = ±2 2, y = ± 2, y = ±2 2 [using the equations (9.2)], we get Figure 9.2. (Verify that the shaded squares are images of each other.) If the elimination [to get (9.2)] is not easy, we can use equations (9.1) directly. Suppose √ that we want √ the image of y = 0. With y = 0, equations (9.1) become u = x/ 2, v = 1 + x/ 2; these are a pair of parametric equations for a curve in the (u, v) plane, with x as the parameter. Similarly, to ﬁnd the image of x = const., we substitute the value of x into (9.1); we then have a pair of parametric equations with y as the parameter. Note that we could just as easily have found the images in the z plane of the lines u = const., and v = const. For example, letting u = 0 in (9.1), we get x − y = 0; the image of the v axis (u = 0) is the 45◦ line in the (x, y) plane. (We might have guessed that going back to the z plane would involve a rotation through −45◦ .) In any given problem, we may start with simple curves (or regions) in either the z plane or the w plane, and ﬁnd their images in the other plane.

Section 9

Mapping

707

Example 2. Let us map the coordinate grid u = const., v = const., into the z plane by the function w = z 2 . We have (9.3)

w = z 2 = (x + iy)2 = x2 − y 2 + 2ixy, u = x2 − y 2 ,

v = 2xy.

Then the images of u = const. are hyperbolas x2 − y 2 = const., and the images of v = const. are also hyperbolas xy = const. (Figure 9.3). Alternatively, we could map the lines x = const., y = const. into the w plane (Problem 1); this gives two sets of parabolas in the (u, v) plane. Accurate graphs can be obtained by computer.

Figure 9.3 Example 3. Let us consider still another useful way of discussing the mapping by w = z 2 . Using polar coordinates, we have (9.4)

z = reiθ ,

w = z 2 = r2 e2iθ .

Consider the region inside the circle r = 1 in the (x, y) plane. If r = 1 in (9.4), we have z = eiθ , w = e2iθ . The angle of w is twice the angle of z; thus the ﬁrst-quadrant part of the area inside the circle r = 1 in the z plane maps into a semicircular area in the w plane as indicated by the shading in Figure 9.4. The second quadrant of the z plane disk (θ between π/2 and π) maps into the lower half of the disk in the w plane (angle of w between π and 2π) as indicated. We have now used up the whole area of the disk in the w plane and only half of the z plane disk. (Compare Figure 9.1 and the comment about a second y axis.) In order to have a one-to-one correspondence between points in the z plane and their images in the w plane, we draw a second w plane (w plane II in Figure 9.4) to contain the images of points in the lower half of the z plane. (Convince yourself that the two lower quarter-disks in the z plane and their images in w plane II are correctly indicated by the shading.) We agree that as we reach the angle 2π in w plane I, we go over to w plane II, and as we reach the angle 4π in w plane II, we go back to w plane I. The two w planes joined in this way are called a Riemann surface; each plane is called a sheet of the Riemann surface. Note that the line along which the sheets of the Riemann surface are joined (positive real axis here) is a branch cut, and the origin is a branch point (see Example 5, Section 7). Here the branch cut and Riemann surface are in

708

Functions of a Complex Variable

Chapter 14

Figure 9.4 √ √ the w plane because z = w has two branches; for w = z, the Riemann surface would be in the z plane (as in Section 7). It is not necessary to take the branch √ cut along the positive x axis; we can select any 2π interval for one branch of w, for example from −π to π instead of 0 to 2π. A Riemann surface may have many sheets; for example for w = z 5 , there are 5 sheets, and for w = ln z, there are an inﬁnite number. For more detail, see complex variables texts. Conformal Mapping We have been discussing mappings or transformations. We used the term transformation in Chapters 3 and 10, meaning a change of variables or a change of coordinate system or a change of basis; let us see the connection between the two discussions. In Chapter 10 we used only one plane [the (x, y) plane]; we located a point in the (x, y) plane by giving its rectangular coordinates (x, y), or its polar coordinates (r, θ), or some other coordinates (u, v). In polar coordinates, the circles r = const., and the rays θ = const., were sketched in the (x, y) plane. Similarly, for any coordinate system (u, v) (in Chapter 10, see Section 8 and the Section 8 problems), we sketched the curves u = const., v = const., in the (x, y) plane. In the complex variable language we are now using, this amounts to mapping the w plane lines u = const., v = const., into the z plane. In Chapter 10 we were particularly interested in transformations to orthogonal curvilinear coordinates. Let us see that any analytic function w = f (z) = u + iv gives us a transformation to an orthogonal coordinate system (u, v). We have (9.5)

dz = dx + idy, 2

|dz| = dx + dy ,

dw = du + idv, |dw|2 = du2 + dv 2 .

Then the square of the arc length element in the (x, y) plane is 2 dz 2 dz 2 2 2 2 2 |dw| = (du2 + dv 2 ). (9.6) ds = dx + dy = |dz| = dw dw Since there is no du dv term in ds2 , the (u, v) coordinate system is orthogonal (Chapter 10, Section 8). By this we mean that if we obtain u(x, y) and v(x, y) from

Section 9

Mapping

709

f (z) = u + iv and plot the curves u(x, y) = const., v(x, y) = const. in the (x, y) plane, we have two sets of mutually orthogonal curves. These are the coordinate curves for the (u, v) coordinate systems as in Chapter 10. If we solve the equations u = u(x, y), v = v(x, y) for x and y in terms of u and v, we have the transformation equations from the variables x, y to the variables u, v as in Problems 8.6 to 8.9 of Chapter 10, and by (9.6) we know that the coordinate system (u, v) is an orthogonal system [if f (z) is analytic]. We see an example of this in Figure 9.3 (two orthogonal sets of hyperbolas). Note from (9.6) that the two scale factors in a (u, v) coordinate system obtained this way are equal. Although we used only one plane in Chapter 10, for complex variables we ﬁnd it useful to consider both the z plane [that is the (x, y) plane] and the w plane [that is, the (u, v) plane]. In the (x, y) plane, the arc length element ds is given by ds2 = dx2 + dy 2 . Similarly, in the (u, v) plane, the arc length element (which we shall call dS) is given by dS 2 = du2 + dv 2 . From (9.5) we see that ds = |dz| and dS = |dw|. Then the ratio of dS to ds is |dw/dz|. Consider a point z (and its image w) at which w(z) is analytic and dw/dz is not zero. If we stay near z, the value of dw/dz is almost constant, and the ratio dS/ds is nearly constant. This says that if we consider a small area in the z plane (ABCD in Figure 9.5) and its image (A B C D in Figure 9.5) in the w Figure 9.5 plane, then (9.7)

dw A B BC C D D A dS , = = = = = AB BC CD DA ds dz

that is, the two small areas are similar ﬁgures (since corresponding sides are proportional). Because of this property of any mapping by an analytic function, we call the mapping or transformation conformal (same form or shape). Corresponding angles are equal (A = A , etc.) and the net result of the transformation is to magnify (or minify) and rotate each inﬁnitesimal area. Note that the conformal property is a local one; since the value of dw/dz changes from point to point, each tiny bit of a ﬁgure is magniﬁed and rotated by a diﬀerent amount, and so a large ﬁgure will not have the same shape after mapping. Also note that we do not have conformality in the neighborhood of a point where dw/dz = 0; for example, in Figure 9.4 a tiny quarter-circle about the origin in the z plane maps into a tiny semicircle in the w plane.

PROBLEMS, SECTION 9 In these problems you should be able to make rough sketches by hand, but for accurate graphs use a computer. 1.

Solve equations (9.3) for x and y in terms of u and v. Use your equations to sketch the images in the w plane of the z plane lines x = const. (for several values of x) and similarly of y = const.

710

Functions of a Complex Variable

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For each of the following functions w = f (z) = u + iv, ﬁnd u and v as functions of x and y. Sketch the graphs in the (x, y) plane of the images of u = const. and v = const. for several values of u and several values of v as was done for w = z 2 in Figure 9.3. The curves u = const. should be orthogonal to the curves v = const. 2. 6.

z+1 2i

1 z

w = ez

z−i z+i

√ w = z. Hint: This is equivalent to w2 = z; ﬁnd x and y in terms of u and v and then solve the pair of equations for u and v in terms of x and y. Note that this is really the same problem as Problem 1 with the z and w planes interchanged. w = sin z

w = cosh z

Describe the Riemann surface for 9.

w = z3

10.

√

11.

w = ln z

12.

If w = f (z) = u(x, y) + iv(x, y), f (z) analytic, deﬁnes a transformation from the variables x, y to the variables u, v, show that the Jacobian of the transformation (Chapter 5, Section 4) is ∂(u, v)/∂(x, y) = |f (z)|2 . Hint: To simplify the determinant, use the Cauchy-Riemann equations and the equations (Section 2) used in obtaining them.

13.

Verify the matrix equation

„

« „ « du dx =J , dv dy

where J is a matrix whose determinant is the Jacobian in Problem 12. Multiply the matrix equation by its transpose and use Problem 12 to obtain dS/ds = |dw/dz| as in (9.7). 14.

We have discussed the fact that a conformal transformation magniﬁes and rotates an inﬁnitesimal geometrical ﬁgure. We showed that |dw/dz| is the magniﬁcation factor. Show that the angle of dw/dz is the rotation angle. Hint: Consider the rotation and magniﬁcation of an arc dz = dx + idy (of length ds and angle arc tan dy/dx) which is required to obtain the image of dz, namely dw.

15.

Compare the directional derivative dφ/ds (Chapter 6, Section 6) at a point and in the direction given by dz in the z plane, and the directional derivative dφ/dS in the direction in the w plane given by the image dw of dz. Hence show that the rate of change of T in a given direction in the z plane is proportional to the corresponding rate of change of T in the image direction in the w plane. (See Section 10, Example 2.) Show that the proportionality constant is |dw/dz|. Hint: See equations (9.6) and (9.7).

10. SOME APPLICATIONS OF CONFORMAL MAPPING Many diﬀerent physical problems require solution of Laplace's equation. We are going to show how to solve a few such problems by conformal mapping. Much of this work can be done by computer. But before you can use the computer, you need to know the basic theory behind the use of conformal mapping. Our purpose in this section is to learn this background. First we consider a very simple problem for which we know the answer from elementary physics.

Section 10

Some Applications of Conformal Mapping

711

Figure 10.1 Example 1. In Figure 10.1, the shaded area in the (u, v) plane represents a rectangular plate. The ends and faces of the plate are insulated, the bottom edge is held at temperature T = 0◦ , and the top edge at T = 100◦ . Then we know from elementary physics that the temperature increases linearly from the bottom edge (v = 0) to the top edge (v = π), that is, T = (100/π)v at any point of the plate. Let us also derive this answer by a more advanced method. It is known from the theory of heat that the temperature T of a body satisﬁes Laplace's equation in regions where there is no source of heat. (See Chapter 13, Section 2.) In our problem we want a solution of Laplace's equation which satisﬁes the boundary conditions, that is, T = 100◦ when v = π, T = 0◦ when v = 0, and ∂T /∂u = 0 on the ends (see Chapter 13, Problem 2.14). You should verify that T = 100v/π satisﬁes ∂ 2 T /∂u2 + ∂ 2 T /∂v 2 = 0, and satisﬁes all the boundary conditions. Also note that an easy way to know that v satisﬁes Laplace's equation is to observe that it is the imaginary part of w = u + iv, and use Theorem IV of Section 2 which says that the real and imaginary parts of an analytic function of a complex variable satisfy Laplace's equation. Now let us use our results to solve a harder problem. Example 2. Consider the mapping of the rectangle in the w plane into the z plane by the function w = ln z (Figure 10.1, z plane). We have w = ln z = ln(reiθ ) = ln r + iθ = u + iv, u = ln r, v = θ.

(10.1)

Then v = 0 maps into θ = 0, that is, the positive x axis; v = π maps into θ = π, that is, the negative x axis (z plane, Figure 10.1). The insulated end of the rectangle at u = 0 maps into ln r = 0 or r = 1; the left-hand end of the rectangle maps into a small semicircle about the origin which we can think of as a bit of insulation at the origin separating the 0◦ and 100◦ parts of the x axis. (If the left-hand end of the rectangle is at u = −∞, we have ln r = −∞, r = 0, and the image is just the origin; for ﬁnite negative u, the image is a semicircle with r < 1.) We can now solve the problem indicated by the picture in the z plane of Figure 10.1. A semicircular plate has its faces and its curved boundary insulated, and has half its ﬂat boundary at 0◦ and the other half at 100◦ (with a bit of insulation at the center). Find the temperature T at any point of the plate. To solve this problem we need only transform our solution in the (u, v) plane to the variables x, y by using (10.1). Thus we ﬁnd (10.2)

T =

100 100 100 y V = θ= arc tan , π π π x

0 ≤ θ ≤ π.

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Functions of a Complex Variable

Chapter 14

It is not hard to justify our method; we need to show that our solution satisﬁes Laplace's equation and that it satisﬁes the boundary conditions. It is straightforward to show (Problem 1) that if a function φ(u, v) satisﬁes Laplace's equation ∂ 2 φ/∂u2 + ∂ 2 φ/∂v 2 = 0, then the function of x and y obtained by substituting u = u(x, y), v = v(x, y) in φ satisﬁes Laplace's equation in x and y, where u and v are the real and imaginary parts of an analytic function w = f (z). Thus we know that (10.2) satisﬁes Laplace's equation (or in this case you can easily verify the fact directly). We must also know that the transformed T satisﬁes the boundary conditions; this is where conformal mapping is so useful. Observe in Figure 10.1 that we had a transformation which took the boundaries of a simple region (a rectangle) for which we knew the solution of the temperature problem, into the boundaries of a more complicated region for which we wanted the solution. This is the basic method of conformal mapping—to transform from a simple region where you know the answer to a given problem, to the region in which you want the solution. The temperature at any (x, y) point is the same as the temperature at the (u, v) image point, since we obtain the temperature as a function of x and y by the same substitution u = u(x, y), v = v(x, y) that we use to obtain image points. Thus the temperatures on the boundaries of the transformed region are the same as the temperatures on the corresponding boundaries of the simpler (u, v) region. Similarly, isothermals (curves of constant temperature) transform into isothermals; in this problem the (u, v) isothermals are the lines v = const., and so the (x, y) isothermals are θ = const. You can show that the rate of change of T in a direction perpendicular to a boundary in the (u, v) plane is proportional to the corresponding rate of change of T in a direction perpendicular to the image boundary in the (x, y) plane (Problem 9.15). Thus insulated boundaries (across which the rate of change of T is zero) map into insulated boundaries. The lines (or curves) perpendicular to the isothermals give the direction of ﬂow of heat; in Figure 10.1 heat ﬂows along the lines u = const. in the w plane, and along the circles r = const. (which are the images of u = const.) in the z plane. Using the same mapping function w = ln z, we can solve a number of other physics problems. Observe ﬁrst that if we think of Figure 10.1 as representing a cross section of a three-dimensional problem (with all parallel cross sections identical), then (10.2) gives the solution of the three-dimensional problem also. In Figure 10.1 the (u, v) diagram would be the cross section of a slab with faces at T = 100◦ and T = 0◦ and all other surfaces insulated (or extending to inﬁnity); the (x, y) diagram would similarly represent half a cylinder. Now let us do a three-dimensional problem in electrostatics.

Figure 10.2 Example 3. In Figure 10.2 the (u, v) diagram represents (the cross section of) two inﬁnite parallel plates, one at potential V = 0 volts and one at potential V = 100 volts. The (x, y) diagram represents (the cross section of) one plane with its right-hand half

Section 10

Some Applications of Conformal Mapping

713

at potential V = 0 volts and its left-hand half at V = 100 volts. From electricity we know that the electrostatic potential V satisﬁes Laplace's equation in regions where there is no free charge (see Chapter 13, Section 1). You should convince yourself that the mapping by (10.1) gives the result shown in Figure 10.2, and that the potential is given by V =

100 100 100 y v= θ= arc tan , π π π x

0≤θ≤π

as in (10.2). The equipotentials (V = const.) in the (x, y) plane are the lines θ = const. Recall that the electric ﬁeld is given by E = −∇V , and that the gradient of V is perpendicular to V = const. (Chapter 6, Section 6). Then the direction of the electric ﬁeld at any point is perpendicular to the equipotential through that point. Thus if we sketch the curves r = const. which are perpendicular to the equipotentials θ = const., then the tangent to a circle at a point gives the direction of the electric ﬁeld E at that point. Note the correspondence between the isothermals of the temperature problem and the equipotentials here, and between the lines of electric ﬂux (curves tangent to E) and the lines or curves along which heat ﬂows. We can also solve problems in hydrodynamics (see Chapter 6, Section 10) by conformal mapping. We consider a two-dimensional ﬂow of water by which we mean either that we think of the water as ﬂowing in a thin sheet over the (x, y) [or (u, v)] plane, or if it has depth, the ﬂow is the same in all planes parallel to the (x, y) [or (u, v)] plane. Although it is convenient to talk about water, what we actually require is an irrotational ﬂow (see Chapter 6, Section 11) of a nonviscous incompressible ﬂuid. For then (see Problem 2) the velocity V of the liquid is given by V = ∇Φ, where Φ (called the velocity potential ) satisﬁes Laplace's equation. Water approximately meets these requirements.

Figure 10.3 Example 4. Figure 10.3 shows two ﬂow patterns related by the same transformation we have used in the heat problem and the electrostatics problem, namely w = ln z. In the w plane of Figure 10.3, we picture water ﬂowing in the u direction at constant speed V0 down a channel between v = 0 and v = 2π. (Note that v is the imaginary part of w = u + iv and has nothing to do with velocity.) The velocity potential is Φ = V0 u; for then the velocity, V = ∇Φ, has components ∂Φ/∂u = V0 in the u direction and ∂Φ/∂v = 0 in the v direction as we have assumed. The function Φ+iΨ = V0 w = V0 (u+iv) is called the complex potential ; the function Ψ (conjugate to Φ; see Section 2) is called the stream function. The lines Ψ = const. (that is,

714

Functions of a Complex Variable

Chapter 14

v = const. in the w plane) are the lines along which the water ﬂows and are called streamlines. Observe that the lines Φ = const. and the lines Ψ = const. are mutually perpendicular sets of lines. The water ﬂows across lines of constant Φ and along streamlines (constant Ψ); boundaries of the channel (v = 0 and v = 2π) must then be streamlines. The water comes from the left (Figure 10.3, w plane) and goes oﬀ to the right; we say that there is a source at the left and a sink at the right. Now consider the mapping of the w plane ﬂow of Figure 10.3 into the z plane by the function w = ln z. The complex potential is Φ + iΨ = V0 w = V0 ln z = V0 (ln r + iθ). The streamlines are Ψ = const., or θ = const., that is, radial lines; the curves Φ = const. are circles r = const. and are perpendicular to the streamlines. The velocity is given by ∂ 1 ∂ V0 V = ∇Φ = V0 ∇(ln r) = V0 er + eθ ln r = er . ∂r r ∂θ r What we are describing, then, is the ﬂow of water from a source at the origin out along radial lines. Since the same amount of water crosses a small circle (about the origin) or a large one, the velocity of the water decreases with r as we have found (|V| = V0 /r). We can obtain another ﬂow pattern from any given one by interchanging the equipotentials and the streamlines. In Figure 10.3, z plane, this new ﬂow would have the circles r = const. as streamlines and would correspond to a whirlpool motion of the water about the origin (called a vortex ). There are still other applications of this diagram. The circles r = const. give the direction of the magnetic ﬁeld about a long current-carrying wire perpendicular to the (x, y) plane and passing through the origin. The radial lines θ = const. give the direction of the electric ﬁeld about a similar long wire with a static charge on it. The radial lines give the direction of heat ﬂow from a small hot object at the origin, and the circles r = const. are then the isothermals. By starting with problems like these to which we know the answers and using various conformal transformations, we can solve many other physics problems involving ﬂuid ﬂow, electricity, heat, and so on. Some examples are outlined in the problems and you will ﬁnd many more in books on complex variables. Example 5. Let us consider one somewhat more complicated example of the use of conformal mapping. We shall be able to solve two interesting physics problems in this example: (1) to ﬁnd the ﬂow pattern for water ﬂowing out of the end of a straight channel into the open, and (2) to ﬁnd the edge eﬀect (fringing) at the ends of a parallel-plate capacitor. We consider the mapping function (10.3)

z = w + ew = u + iv + eu eiv = u + iv + eu (cos v + i sin v), y = v + eu sin v. x = u + eu cos v,

In Figure 10.4, w plane, we picture a parallel ﬂow of water at constant velocity in the region between the lines DEF and GHI; this is just like the ﬂow of Figure 10.3,

Section 10

Some Applications of Conformal Mapping

715

Figure 10.4 w plane. Now let us map the w plane streamlines into the z plane using (10.3). On the u axis, v = 0; putting v = 0 in (10.3), we ﬁnd y = 0, and x = u + eu . Thus the u axis maps into the x axis (y = 0) with u = −∞ corresponding to x = −∞, u = 0 corresponding to x = 1, and u = +∞ corresponding to x = +∞ as shown in Figure 10.4 (line ABC maps into A B C ). Now on DEF , v = π; substituting v = π into (10.3), we ﬁnd y = π, x = u + eu cos π = u − eu . However, the image of v = π is not the entire line y = π. To see this consider x = u − eu . We ﬁnd the maximum value of x for dx/du = 1 − eu = 0, d2 x/du2 = −eu < 0. These equations are satisﬁed for u = 0, x = −1. The point E (u = 0, v = π) maps into the point E (x = −1, y = π). Thus DE in the w plane maps into the part of the line y = π in the z plane up to x = −1 with u = −∞ corresponding to x = −∞ and u = 0 corresponding to x = −1. To see how to map EF , we realize that x has its largest value at u = 0 and so decreases as u increases; for very large positive u, x = u − eu is negative and of large absolute value since eu u. Thus the positive part of v = π (EF ) maps into the same line segment (y = π, x ≤ −1) that we obtained for the mapping of the negative part (DE), but this time the line segment (E F , z plane) is traversed backward. It is as if the line y = π were broken at x = −1 and bent back upon itself through an angle of 180◦ . By a parallel discussion of the line GHI, we ﬁnd that it maps as shown in Figure 10.4 into G H I . Other streamlines in the w plane are given by v = const. for any v between −π and π. If we substitute v = const. into the x and y equations in (10.3), we have parametric equations (with u as the parameter) for the streamlines in the z plane. For any value of v, these streamlines can be plotted in the z plane: some of them are shown by the solid curves in Figure 10.5. Think of D E and G H as boundaries of a channel (in the z plane) down which water ﬂows coming from x = −∞. The boundaries stop at x = −1 and the water ﬂows out of the channel spreading over the whole plane, including spreading back along the outsides (E F and H I ) of the channel boundaries. This is correct according to our mapping, for the boundary streamline DEF mapped into the broken-and-folded-back line D E F , and similarly for GHI to G H I . For the electrical application, let DEF and GHI represent (the cross section of) a large parallel plate capacitor. Then the lines v = const. are the equipotentials and the lines u = const. give the direction of the electric ﬁeld E. The image in the z plane represents (a cross section of) the end of a parallel plate capacitor. The images of the equipotentials v = const. are the equipotentials in the z plane (same as the streamlines, shown as solid curves in Figure 10.5). The images of the lines u = const. (shown as dotted curves in Figure 10.5) give the direction of the electric ﬁeld at the end of a parallel-plate capacitor. Well inside the plates the E lines are vertical, but at the end they bulge out; this eﬀect is known as fringing.

716

Functions of a Complex Variable

Chapter 14

Figure 10.5

PROBLEMS, SECTION 10 1.

Prove the theorem stated just after (10.2) as follows. Let φ(u, v) be a harmonic function (that is, φ satisﬁes ∂ 2 φ/∂u2 + ∂ 2 φ/∂v 2 = 0). Show that there is then an analytic function g(w) = φ(u, v) + iψ(u, v) (see Section 2). Let w = f (z) = u + iv be another analytic function (this is the mapping function). Show that the function h(z) = g(f (z)) is analytic. Hint: Show that h(z) has a derivative. (How do you ﬁnd the derivative of a function of a function, for example, ln sin z?) Then (by Section 2) the real part of h(z) is harmonic. Show that this real part is φ(u(x, y), v(x, y)).

A ﬂuid ﬂow is called irrotational if ∇×V = 0 where V = velocity of ﬂuid (Chapter 6, Section 11); then V = ∇Φ. Use Problem 10.15 of Chapter 6 to show that if the ﬂuid is incompressible, the Φ satisﬁes Laplace's equation. (Caution: In Chapter 6, we used V = vρ, with v = velocity; here V = velocity.)

Assuming from electricity the equations ∇ · D = ρ, E = −∇V , D = E ( = const.), show that in regions where the free charge density ρ is zero, V satisﬁes Laplace's equation.

Let a ﬂat plate in the shape of a quarter-circle, as shown, have its faces and curved boundary insulated, and its two straight edges held at 0◦ and 100◦ . Find the temperature distribution T (x, y) in the plate, and the equations of the isothermals. Hint: Use the mapping function w = ln z as in Figure 10.1; what w plane line maps into the y axis?

Consider a capacitor made of two very large perpendicular plates. (Let the positive x and y axes in the diagram of Problem 4 represent a cross section of the capacitor.) Let one plate (x axis) be held at potential V = 0, and the other plate (y axis) be held at potential V = 100 volts. Find the potential V (x, y) for x > 0, y > 0, and the equations of the equipotentials. Hint: This problem is mathematically the same as Problem 4.

Section 10

Some Applications of Conformal Mapping

717

Let the ﬁgure represent (the cross section of) a hot cylinder (say T = 100◦ ) lying on a cold plane (say T = 0◦ ). (Separate the two by a bit of insulation.) Find the temperature in the shaded region. Alternatively, let the cylinder and the plane be held at two diﬀerent electric potentials (with insulation between), and ﬁnd the electric potential in the shaded region. Find and sketch some of the isothermals (equipotentials) and some of the curves (perpendicular to the isothermals) along which heat ﬂows (lines of ﬂux for the electric case). Hint: Use the mapping function w = 1/z, and consider the image of the w plane region between v = 0 and v = −1.

Use the mapping function w = z 2 to ﬁnd the streamlines for the ﬂow of water around the inside of a right-angle boundary. Find the velocity potential Φ, the stream function Ψ, and the velocity V = ∇Φ.

Observe that the magnitude of the velocity in Problem 7 can be obtained from V = V0 |dw/dz|. Show that this result holds in general as follows. Let w = f (z) be an analytic mapping function such that the lines v = const. map into the streamlines of the ﬂow you want to consider in the z plane. Then V0 w = V0 (u + iv) = Φ(x, y) + iΨ(x, y). Show that

∂Φ ∂Φ dw = −i = Vx − iVy dz ∂x ∂y (this expression is called the complex velocity). Hence show that V = V0 |dw/dz|. V0

Find and sketch the streamlines for the ﬂow of water over a semicircular hump (say a half-buried log at the bottom of a stream) as shown. Hint: Use the mapping function w = z + z −1 . Show that the u axis maps into the contour ABCDE with the correspondence shown.

10.

Find and sketch the streamlines for the indicated ﬂow of water inside a rectangular boundary. Hint: Consider w = sin z; map the u axis into the boundary of the rectangle.

11.

For w = ln[(z + 1)/(z − 1)], show that the images of u = const. and v = const. are two orthogonal sets of circles. Find centers and radii of ﬁve or six circles of each set and sketch them. Include the circle with center at the origin.

Use the results of Problem 11 to solve the following physics problems. 12.

The ﬁgure represents the cross section of a long cylinder (assume it inﬁnitely long) cut in half, with the top half and the bottom half insulated

718

Functions of a Complex Variable

Chapter 14

from each other. Let the surface of the top half be held at temperature T = 30◦ and the surface of the bottom half at T = 10◦ . Find the temperature T (x, y) inside the cylinder. Hint: Show that the line v = π/2 maps into the lower half of the circle |z| = 1, and the line v = 3π/2 maps into the upper half of the circle. 13.

Let the ﬁgure in Problem 12 represent (the cross section of) a capacitor with the lower half at potential V1 and the upper half at potential V2 . Find the potential V (x, y) between the plates (that is, inside the circle). Hint: This is almost like Problem 12. Observe that in the text and in Problem 12, the w-plane temperature is of the form Av, with A constant; here you need the potential of the form Av + B, A and B constants.

14.

In the ﬁgure in Problem 12, let z = −1 be a source and z = +1 a sink, and let the water ﬂow inside the circular boundary. Find Φ, Ψ, and V. Sketch the streamlines.

15.

In Problem 14, the streamlines were the images of v = const. Consider the ﬂow (over the whole plane, that is, with no boundaries) with streamlines u = const. This ﬂow may be described as two vortices rotating in opposite directions. Sketch a number of streamlines indicating the direction of the velocity with arrows. Since a boundary is a streamline, a ﬂow is not disturbed by inserting a boundary along a streamline. Insert two circular boundaries corresponding to u = a and u = −a. Show that the velocity through the narrow neck (say at z = 0) is greater than the velocity elsewhere (say at z = i). You can simplify your calculation of the velocity by showing that the result in Problem 8 holds here also.

16.

Two long parallel cylinders form a capacitor. (Let their cross sections be the images of u = a and u = −a.) If they are held at potentials V0 and −V0 , ﬁnd the potential V (x, y) at points between them. given that the charge (per unit length) on a cylinder is q = V0 /(2a), show that the capacitance (per unit length), that is, q/(2V0 ), is given by 1/(4 cosh−1 d/(2r)), where d is the distance between the centers of the two cylinders, and their radii are r.

17.

Other problems to consider using the mapping function of Problem 11: (a) a capacitor consisting of two long cylinders one inside the other, but not concentric; (b) the magnetic ﬁeld in a plane perpendicular to two long parallel wires carrying equal but opposite currents; (c) the electric ﬁeld in a plane perpendicular to two long parallel wires, one charged positive and the other negative; (d) other ﬂow problems obtained by inserting boundaries along streamlines.

11. MISCELLANEOUS PROBLEMS In Problems 1 and 2, verify that the given function is harmonic, and ﬁnd a function f (z) of which it is the real part. Hint: Use Problem 2.64. For Problem 2, see Chapter 2, Section 17, Problem 19. p

y x+1

Liouville's theorem: Suppose f (z) is analytic for all z (except ∞), and bounded [that is, |f (z)| ≤ M for all z and some M ]. Prove that f (z) is a constant. Hints: If f (z) = 0, then f (z) = const. To show this, write f (z) as in Problem 3.21 where C is a circle of radius R and center z, that is, w = z + Reiθ . Show that |f (z)| ≤ M/R, and let R → ∞.

Use Liouville's theorem (Problem 3) to prove the fundamental theorem of algebra (see Problem 7.44). Hint: Let P (z) be a polynomial of degree ≥ 1; then f (z) = 1/P (z) is a bounded analytic function in a region not containing any zeros of P (z). Disprove the assumption that P (z) has no zeros anywhere.

(1 + x)2 + y 2

arc tan

Section 11

Miscellaneous Problems

719

In Problems 5 to 8, ﬁnd the residues of the given function at all poles. Take z = reiθ , 0 ≤ θ < 2π. √ ln z ln z z z 1/3 8. 7. 6. 5. 2 3 2 (2z − 1)2 1 + z 1 + 8z 1+z In Problems 9 to 10, use Laurent series to ﬁnd the residues of the given functions at the origin. 9. 11.

12.

sin z 2 z7

10.

ln(1 − z) sin2 z

|z| > 1. Hints: Find the Laurent series of f (z) = ez /(1 − z) for |z| < 1 and P ∞ n with For |z|P< 1, multiply two power series; you should ﬁnd f (z) = n=0 an z n an = k=0 1/k!. For |z| > 1, use (4.3) where C is a circle |z| = a with a > 1. Evaluate the P integrals by ﬁnding residues at 1 and 0. YouPshould ﬁnd f (z) = P∞ ∞ n −n a z + where all bn = −e and an = −e + n n n=0 n=1 bn z k=0 1/k!. √ Let f (z) be the branch of z 2 − 1 which is positive for large positive real values of z. Expand the square root in powers of 1/z to obtain the Laurent series of f (z) about ∞. Thus by Problem 8.1 ﬁnd the residue of f (z) at ∞. Check your result by using equation (8.2).

In Problems 13 and 14, ﬁnd the residues at the given points. 13.

14.

cos z π at (2z − π)4 2 z3 (c) at z = − 12 1 + 32z 5

(a)

(b)

2z 2 + 3z z−1

(d) csc(2z − 3)

at at

∞ z=

3 2

1 sin(2z + 5) at ∞ z z sin 2z (d) at − π (z + π)2

ln(1 + 2z) at 0 z2 3 z at 12 (1 + i) (c) 4z 4 + 1

(b)

(a)

In Problem 15 to 20, evaluate the integrals by contour integration. Z π Z 2π cos θ dθ sin θ dθ 15. 16. 5 + 3 sin θ 0 5 − 4 cos θ 0 Z 17. 19.

∞

cos x dx (4x2 + 1)(x2 + 9) 0 Z ∞ sin x dx PV 2 2 −∞ (3x − π)(x + π )

Z 18. 20.

∞

x sin(πx/2) dx x4 + 4 Z ∞ cos x dx PV 2 −∞ x(1 − x)(x + 1) 0

Verify the formulas in Problem 21 to 27 by contour integration or as indicated. Assume a > 0, m > 0. Z 2π Z 2π 2π dθ dθ , |b| < a = = √ 21. 2 a + b sin θ a + b cos θ a − b2 0 0 Z 2π Z 2π 2πa dθ dθ 22. = = 2 , |b| < a (a + b sin θ)2 (a + b cos θ)2 (a − b2 )3/2 0 0 Hint: You can do this directly by contour integration, but it is easier to diﬀerentiate Problem 21 with respect to a. „ « Z 2π Z 2π a sin θ dθ cos θ dθ 2π 23. 1− √ , |b| < a = = a + b sin θ a + b cos θ b a 2 − b2 0 0

720

Functions of a Complex Variable Z

24. Z 26.

∞ 0 ∞ 0

Chapter 14 Z

cos mx dx π −ma = e x2 + a2 2a

25.

x sin mx dx π = e−ma x2 + a2 2

27.

∞ 0 ∞ 0

cos mx dx π =− sin ma x2 − a2 2a x sin mx dx π = cos ma x2 − a2 2

Hint for Problems 26 and 27: Diﬀerentiate Problems 24 and 25 with respect to m. Z ∞√ x ln x dx by using the contour of Figure 7.4. 28. Evaluate (1 + x)2 0 2πi so ln z = ln r + 2πi. Hint: Along DE, z = re Z ∞ 2 (ln x) dx by using the contour of Figure 7.3. Comment: Note that 29. Evaluate 1 + x2 0 Z ∞ ln x dx = 0. your work also shows that 1 + x2 0 30.

Show that PV

∞

cos(ln x) π dx = x2 + 1 2 cosh(π/2)

by integrating ei ln z /(z 2 − 1) around a contour like Figure 7.3 but rotated 90◦ clockwise so the straight side is along the y axis. As in Section 7, ﬁnd out how many roots the equations in Problem 31 to 34 have in each quadrant. 31.

z 4 + 3z + 5 = 0

32.

z 3 + 2z 2 + 5z + 6 = 0

33.

z 6 + z 3 + 9z + 64 = 0 (no real roots)

34.

z 8 + 5z 3 + 3z + 4 = 0 (2 negative real roots)

35.

Show that the Cauchy-Riemann equations [see (2.2) and Problem 2.46] in a general orthogonal curvilinear coordinate system [see Chapter 10, Sections 8 and 9] are 1 ∂u 1 ∂v = , h1 ∂x1 h2 ∂x2

1 ∂v 1 ∂u =− h1 ∂x1 h2 ∂x2

where, as in Chapter 10, the variables are x1 , x2 and the scale factors are h1 , h2 . Hint: Consider the directional derivatives (Chapter 6, Section 6) in two perpendicular directions. (Compare Problem 2.46.) Also show that u and v satisfy Laplace's equation, Chapter 10, equation (9.10) (drop the x3 term and set h3 = 1). 36.

Show that a harmonic function u(x, y) is equal at every point a to its average value on any circle centered at a [and lying in the region where f (z) = u(x, y) + iv(x, y) is analytic]. Hint: In (3.9), let z = a + reiθ (that is, C is a circle with center at a), and show that the average value of f (z) on the circle is f (a) (see Chapter 7, Section 4 for discussion of the average of a function). Take real and imaginary parts of f (a) = [u(x, y) + iv(x, y)]z=a .

37.

A (nonconstant) harmonic function takes its maximum value and its minimum value on the boundary of any region (not at an interior point). Thus, for example, the electrostatic potential V in a region containing no free charge takes on its largest and smallest values on the boundary of the region; similarly, the temperature T of a body containing no sources of heat takes its largest and smallest values on the surface of the body. Prove this fact (for two-dimensional regions) as follows: Suppose that it is claimed that u(x, y) takes its maximum value at some interior point a; this means that, at all points of some small disk about a, the values of u(x, y) are no larger than at a. Show by Problem 36 that such a claim leads to a contradiction (unless u = const.). Similarly prove that u(x, y) cannot take its minimum value at an interior point.

Section 11

Miscellaneous Problems

721

38.

Show that a Dirichlet problem (see Chapter 13, Section 3) for Laplace's equation in a ﬁnite region has a unique solution; that is, two solutions u1 and u2 with the same boundary values are identical. Hint: Consider u2 − u1 and use Problem 37. [Also see Chapter 13, discussion following equation (2.17).]

39.

Use the following sequence of mappings to ﬁnd the steady state temperature T (x, y) in the semi-inﬁnite strip y ≥ 0, 0 ≤ x ≤ π if T (x, 0) = 100◦ , T (0, y) = T (π, y) = 0, and T (x, y) → 0 as y → ∞. (See Chapter 13, Section 2 and Problem 2.6.) (a)

Use w = (z − 1)/(z + 1) to map the half plane v ≥ 0 on the upper half plane y > 0, with the positive u axis corresponding to the two rays x > 1 and x < −1, and the negative u axis corresponding to the interval −1 ≤ x ≤ 1 of the x axis.

(b)

Use z = − cos z to map the half-strip 0 < x < π, y > 0 on the z half plane described in (a). The interval −1 ≤ x < 1, y = 0 corresponds to the base 0 < x < π, y = 0 of the strip.

Comments: The temperature problem in the (u, v) plane is like the problems shown in the z plane of Figures 10.1 and 10.2, and so is given by T = (100/π) arc tan(v/u). In the z plane you will ﬁnd T (x, y) = Put tan α =

100 2 sin x sinh y . arc tan π sinh2 y − sin2 x

sin x and use the formula for tan 2α to get sinh y T (x, y) =

200 sin x arc tan . π sinh y

Note that this is the same answer as in Chapter 13, Problem 2.6, if we replace 10 by π. 40. 41.

Use L13 of the Laplace transform table to ﬁnd the Laplace transform of sin at sinh at. Verify your result by ﬁnding its inverse transform using the Bromwich integral. Z ∞ cos2 (απ/2) dα. Evaluate by contour integration (1 − α2 )2 0 I 1 + eiπz dz Hint: cos2 (απ/2) = (1 + cos απ)/2. Evaluate (z − 1)2 (z + 1)2 around the upper half plane; note that the poles are actually simple poles (see Section 7, Example 4).

CHAPTER

Probability and Statistics

1. INTRODUCTION The theory of probability has many applications in the physical sciences. It is of basic importance in quantum mechanics where results may be expressed in terms of probabilities (see Chapter 13, Schr¨ odinger equation). It is needed whenever we are dealing with large numbers of particles or variables where it is impossible or impractical to have complete information about each one, such as in kinetic theory and statistical mechanics and a great variety of engineering problems. Statistics is the part of probability theory which deals with the interpretation of sets of data. You need statistical terms and methods every time you make a set of laboratory measurements. In this chapter, we shall discuss some of the basic ideas of probability and statistics which are most useful in applications. The word "probably" is frequently used in everyday life. We say "The test will probably be hard," "It will probably snow today," "We will probably win this game," and so on. Such statements always imply a state of partial ignorance about the outcome of some event; we do not say "probably" about something whose outcome we know. The theory of probability tries to express more precisely just what our state of ignorance is. We say that the probability of getting a head in one toss of a coin is 12 , and similarly for a tail. We mean by this that there are two possible outcomes of the experiment (if we do not consider the possibility of the coin's standing on edge) and that we have no reason to expect one outcome more than the other; therefore we assign equal probabilities to the two possible outcomes. (See end of Section 2 for further discussion of this.) Consider the following problem. You and I each toss a coin and look at our own coins but not each other's. The question is "What is the probability that both coins show heads?" Suppose you see that your coin shows tails; you say that the probability that both coins are heads is zero because you know that yours is tails. On the other hand, suppose I see that my coin is heads; then I say that the probability of both heads is 12 because I don't know whether your coin shows heads or tails. Now suppose neither of us looks at either coin, but a third person looks at both coins and gives us the information that at least one is heads. Without this 722

Section 1

Introduction

723

information, there are four possibilities, namely (1.1)

to each of which we would ordinarily assign the probability 14 (see end of Section 2, and Section 3). The information "at least one head" rules out tt, but gives no new information about the other three cases. Since hh, th, ht were equally likely before, we still consider them equally likely and say that the probability of hh is 13 . Notice in the above discussion that the answer to a probability problem depends on the state of knowledge (or ignorance) of the person giving the answer. Notice also that in order to ﬁnd the probability of an event, we consider all the diﬀerent equally likely outcomes which are possible according to our information. We say that these are mutually exclusive (for example, if a coin is heads it cannot be tails), collectively exhaustive (we must consider all possibilities), and equally likely (we have no information which makes us expect one result more than another so we assume the same probability for each one of the set of outcomes). Let us now formalize this notion of probability as a deﬁnition (also see Section 2).

(1.2)

If there are several equally likely, mutually exclusive, and collectively exhaustive outcomes of an experiment, the probability of an event E is p=

number of outcomes favorable to E . total number of outcomes

Example 1. Find the probability that a single card drawn from a shuﬄed deck of cards will be either a diamond or a king (or both). There are 52 diﬀerent possible outcomes of the drawing; since the deck is shuﬄed, we assume all cards equally likely. Of the 52 cards, 16 are favorable (13 diamonds 4 and the 3 other kings); therefore by (1.2) the desired probability is 16 52 = 13 . Example 2. A three-digit number (that is, a number from 100–999) is selected "at random." ("At random" means that we assume all numbers to have the same probability of being selected.) What is the probability that all three digits are the same? There are 900 three-digit numbers; 9 of them (namely 111, 222, · · · , 999) have 9 1 all three digits the same. Hence the desired probability is 900 = 100 .

PROBLEMS, SECTION 1 1.

If you select a three-digit number at random, what is the probability that the units digit is 7? What is the probability that the hundreds digit is 7?

Three coins are tossed; what is the probability that two are heads and one tails? That the ﬁrst two are heads and the third tails? If at least two are heads, what is the probability that all are heads?

In a box there are 2 white, 3 black, and 4 red balls. If a ball is drawn at random, what is the probability that it is black? That it is not red?

724

Probability and Statistics

Chapter 15

A single card is drawn at random from a shuﬄed deck. What is the probability that it is red? That it is the ace of hearts? That it is either a three or a ﬁve? That it is either an ace or red or both?

Given a family of two children (assume boys and girls equally likely, that is, probability 1/2 for each), what is the probability that both are boys? That at least one is a girl? Given that at least one is a girl, what is the probability that both are girls? Given that the ﬁrst two are girls, what is the probability that an expected third child will be a boy?

A trick deck of cards is printed with the hearts and diamonds black, and the spades and clubs red. A card is chosen at random from this deck (after it is shuﬄed). Find the probability that it is either a red card or the queen of hearts. That it is either a red face card or a club. That it is either a red ace or a diamond.

A letter is selected at random from the alphabet. What is the probability that it is one of the letters in the word "probability?" What is the probability that it occurs in the ﬁrst half of the alphabet? What is the probability that it is a letter after x?

An integer N is chosen at random with 1 ≤ N ≤ 100. What is the probability that N is divisible by 11? That N > 90? That N ≤ 3? That N is a perfect square?

You are trying to ﬁnd instrument A in a laboratory. Unfortunately, someone has put both instruments A and another kind (which we shall call B) away in identical unmarked boxes mixed at random on a shelf. You know that the laboratory has 3 A's and 7 B's. If you take down one box, what is the probability that you get an A? If it is a B and you put it on the table and take down another box, what is the probability that you get an A this time?

10.

A shopping mall has four entrances, one on the North, one on the South, and two on the East. If you enter at random, shop and then exit at random, what is the probability that you enter and exit on the same side of the mall?

2. SAMPLE SPACE It is frequently convenient to make a list of the possible outcomes of an experiment [as we did in (1.1)]. Such a set of all possible mutually exclusive outcomes is called a sample space; each individual outcome is called a point of the sample space. There are many diﬀerent sample spaces for any given problem. For example, instead of (1.1), we could say that a set of all mutually exclusive outcomes of two tosses of a coin is (2.1)

2 heads,

1 head,

no heads.

Still another sample space for the same problem is (2.2)

no heads,

at least 1 head.

(Can you list some more examples?) On the other hand, the set of outcomes 2 heads,

at least 1 head,

exactly 1 tail.

cannot be used as a sample space, because these outcomes are not mutually exclusive. "At least 1 head" includes "2 heads" and also includes "exactly 1 tail" (which means also "exactly 1 head").

Section 2

725

Sample Space

In order to use a sample space to solve problems, we need to have the probabilities corresponding to the diﬀerent points in the sample space. We usually assign probability 1/4 to each of the outcomes listed in (1.1). (See end of Section 2 and Section 3.) We call such a list of equally likely outcomes a uniform sample space. Now suppose the outcomes are not equally likely. Satisfy yourself that the probabilities associated with the points of (2.1) and (2.2) are as follows. For (2.1):

2h 1 4

no h

1 2

and for (2.2):

1 4

no h 1 4

at least 1 h 3 4

The sample spaces (2.1) and (2.2) with diﬀerent probabilities associated with different points are called nonuniform sample spaces. For some problems, there may be both uniform and nonuniform sample spaces; for example, (1.1) is a uniform sample space, and (2.1) and (2.2) are nonuniform sample spaces for a toss of two coins. But sometimes there is no uniform sample space; for example, consider a weighted coin which has a probability 13 for heads and 23 for tails. In such cases, we cannot use the deﬁnition (1.2) of probability, and we need the following more general deﬁnition. Definition of Probability. Given any sample space (uniform or not) and the probabilities associated with the points, we ﬁnd the probability of an event by adding the probabilities associated with all the sample points favorable to the event. For a given nonuniform sample space, we must use this deﬁnition since (1.2) does not apply. If the given sample space is uniform, or if there is an underlying uniform sample space [for example, (1.1) is the uniform space underlying (2.1) and (2.2)], then this deﬁnition is consistent with the deﬁnition (1.2) by equally likely cases (Problems 15 and 16), and we may use either deﬁnition. As an example, let us ﬁnd from (2.1) the probability of at least one head; this is the probability of one head plus the probability of two heads or 12 + 14 = 34 . We get the same result from the uniform sample space (1.1) using either (1.2) or the deﬁnition above. If we can easily construct several sample spaces for a given problem, we must choose an appropriate one for the question we want to answer. Suppose we ask the question: In two tosses of a coin, what is the probability that both are heads? From either (1.1) or (2.1) we ﬁnd the answer 14 ; (2.2) is not an appropriate sample space to use in answering this question. (Why not?) To ﬁnd the probability of both tails, we could use any of the three listed sample spaces, and to ﬁnd the probability that the ﬁrst toss gave a head and the second a tail, we could use only (1.1) since the other sample spaces do not give enough information. Let us now consider some less trivial examples. Example 1. A coin is tossed three times. A uniform sample space for this problem contains eight points, (2.3) and we attach probability some questions.

hhh hht 1 8

hth thh

ttt tth

tht htt

to each. Now let us use this sample space to answer

726

Probability and Statistics

Chapter 15

What is the probability of at least two tails in succession? By actual count, we see that there are three such cases, so the probability is 38 . What is the probability that two consecutive coins fall the same? Again by actual count, this is true in six cases, so the probability is 68 or 34 . If we know that there was at least one tail, what is the probability of all tails? The point hhh is now ruled out; we have a new sample space consisting of seven points. Since the new information (at least one tail) tells us nothing new about these seven outcomes, we consider them equally probable, each with probability 17 . Thus the probability of all tails when all heads is ruled out is 17 . (See problems 11 and 12 for further discussion of this example.)

Example 2. Let two dice be thrown; the ﬁrst die can show any number from 1 to 6 and similarly for the second die. Then there are 36 possible outcomes or points in a uniform sample space for this problem; with each point we associate the probability 1 36 . We can indicate a 3 on the ﬁrst die and a 2 on the second die by the symbol 3,2. Then the sample space is as shown in (2.4). (Ignore the circling of some points and the letters a and b right now; they are for use in the problems below.) J 1,3 1,4J 1,5 1,6 2,1 2,2 2,3 2,4 2,5 2,6 3,1 3,2 3,3 3,4 3,5 3,6 J a J4,1 4,2 4,3 4,4 4,5 4,6J b J 5,1 5,2 5,3 5,4 5,5 5,6 6,1 6,2 6,3 J6,4 6,5 6,6 J 1,1

(2.4)

1,2

Let us now ask some questions and use the sample space (2.4) to answer them. (a) What is the probability that the sum of the numbers on the dice will be 5? The sample space points circled and marked a in (2.4) give all the cases for which the sum is 5. There are four of these sample points; therefore the probability that 4 or 19 . the sum is 5 is 36 (b) What is the probability that the sum on the dice is divisible by 5? This means a sum of 5 or 10; the four points circled and marked a in (2.4) correspond to a sum of 5, and the three points circled and marked b correspond to a sum of 10. Thus there are seven points in the sample space corresponding to a sum divisible 7 by 5, so the probability of a sum divisible by 5 is 36 (7 favorable cases out of 36 1 possible cases, or 7 times the probability 36 of each of the favorable sample points). (c) Set up a sample space in which the points correspond to the possible sums of the two numbers on the dice, and ﬁnd the probabilities associated with the points of this nonuniform sample space. The possible sums range from 2 (that is, 1 + 1) to 12 (that is, 6 + 6). From (2.4) we see that the points corresponding to any given sum lie on a diagonal (parallel to the diagonal elements marked a or b). There is one point corresponding to the sum 2; there are two points giving the sum 3, three

Section 2

Sample Space

727

points for sum 4, etc. Thus we have:

(2.5)

Sample Space Associated probabilities

1 36

2 36

3 36

4 36

5 36

6 36

5 36

4 36

3 36

2 36

1 36

(d) What is the most probable sum in a toss of two dice? Although we can answer this from the sample space (2.4) (Try it!), it is easier from (2.5). We see 6 that the sum 7 has the largest probability, namely 36 = 16 . (e) What is the probability that the sum on the dice is greater than or equal to 9? Using (2.5), we add the probabilities associated with the sums 9, 10, 11, and 12. Thus the desired probability is 4 3 2 1 10 5 + + + = = . 36 36 36 36 36 18 So far we have been talking as if it were perfectly obvious and unquestionable that heads and tails are equally likely in the toss of a coin. If you have felt skeptical about this, you are perfectly right. It is not obvious; it is not even necessarily true, as a bent or weighted coin would show. We must distinguish here between the mathematical theory of probability and its application to a problem about the physical world. Mathematical probability (like all of mathematics) starts with a set of assumptions and shows that if the assumptions are true, then various results follow. The basic assumptions in a mathematical probability problem are the probabilities associated with the points of the sample space. Thus in a coin tossing problem, we assume that for each toss the probability of heads and the probability of tails are both 12 , and then we show that the probability of both heads in two tosses is 14 . (See Section 3.) The question of whether the assumptions are correct is not a mathematical one. Here we must ask what physical problem we are trying to solve. If we are dealing with a weighted coin, and if we know or can somehow estimate experimentally the probability p of heads (and so 1 − p of tails), then the mathematical theory starts with these values instead of 12 , 12 . In the absence of any information as to whether heads or tails is more likely, we often make the "natural" or "intuitive" assumption that the probabilities are both 12 . The only possible answer to the question of whether this is correct or not lies in experiment. If the results predicted on the basis of our assumptions agree with experiment, then the assumptions are good; otherwise we must revise the assumptions. (See Section 4, Example 5.) In this chapter we shall consider mainly the mathematical methods of calculating the probabilities of complicated happenings if we are given the probabilities associated with the points of the sample space. For simplicity, we shall often assume these probabilities to be the "natural" ones; the mathematical theory we develop applies, however, if we replace these "natural" probabilities ( 12 , 12 in the coin toss problem, etc.) by any set of non-negative fractions whose sum is 1.

PROBLEMS, SECTION 2 1 to 10. Set up an appropriate sample space for each of Problems 1.1 to 1.10 and use it to solve the problem. Use either a uniform or nonuniform sample space or try both. 11.

Set up several nonuniform sample spaces for the problem of three tosses of a coin (Example 1, above).

728 12.

Probability and Statistics

Chapter 15

Use the sample space of Example 1 above, or one or more of your sample spaces in Problem 11, to answer the following questions. (a)

If there were more heads than tails, what is the probability of one tail?

(b)

If two heads did not appear in succession, what is the probability of all tails?

(c)

If the coins did not all fall alike, what is the probability that two in succession were alike?

(d)

If Nt = number of tails and Nh = number of heads, what is the probability that |Nh − Nt | = 1?

(e)

If there was at least one head, what is the probability of exactly two heads?

13.

A student claims in Problem 1.5 that if one child is a girl, the probability that both are girls is 12 . Use appropriate sample spaces to show what is wrong with the following argument: It doesn't matter whether the girl is the older child or the younger; in either case the probability is 12 that the other child is a girl.

14.

Two dice are thrown. Use the sample space (2.4) to answer the following questions.

15.

16.

(a)

What is the probability of being able to form a two-digit number greater than 33 with the two numbers on the dice? (Note that the sample point 1, 4 yields the two-digit number 41 which is greater than 33, etc.)

(b)

Repeat part (a) for the probability of being able to form a two-digit number greater than or equal to 42.

(c)

Can you ﬁnd a two-digit number (or numbers) such that the probability of being able to form a larger number is the same as the probability of being able to form a smaller number? [See note, part (a).]

Use both the sample space (2.4) and the sample space (2.5) to answer the following questions about a toss of two dice. (a)

What is the probability that the sum is ≥ 4?

(b)

What is the probability that the sum is even?

(c)

What is the probability that the sum is divisible by 3?

(d)

If the sum is odd, what is the probability that it is equal to 7?

(e)

What is the probability that the product of the numbers on the two dice is 12?

Given an nonuniform sample space and the probabilities associated with the points, we deﬁned the probability of an event A as the sum of the probabilities associated with the sample points favorable to A. [You used this deﬁnition in Problem 15 with the sample space (2.5).] Show that this deﬁnition is consistent with the deﬁnition by equally likely cases if there is also a uniform sample space for the problem (as there was in Problem 15). Hint: Let the uniform sample space have N points each with the probability N −1 . Let the nonuniform sample space have n < N points, the ﬁrst point corresponding to N1 points of the uniform space, the second to N2 points, etc. What is N1 + N2 + · · · + Nn ? What are p1 , p2 , . . . , the probabilities associated with the ﬁrst, second, etc., points of the nonuniform space? What is p1 + p2 + · · · + pn ? Now consider an event for which several points, say i, j, k, of the nonuniform sample space are favorable. Then using the nonuniform sample space, we have, by deﬁnition of the probability p of the event, p = pi + pj + pk . Write this in terms of the N 's and show that the result is the same as that obtained by equally likely cases using the uniform space. Refer to Problem 15 as a speciﬁc example if you need to.

Section 3 17.

18.

19.

Probability Theorems

729

Two dice are thrown. Given the information that the number on the ﬁrst die is even, and the number on the second is < 4, set up an appropriate sample space and answer the following questions. (a)

What are the possible sums and their probabilities?

(b)

What is the most probable sum?

(c)

What is the probability that the sum is even?

Are the following correct nonuniform sample spaces for a throw of two dice? If so, ﬁnd the probabilities of the given sample points. If not show what is wrong. Suggestion: Copy sample space (2.4) and circle on it the regions corresponding to the points of the proposed nonuniform spaces. (a)

First die shows an even number. First die shows an odd number.

(b)

Sum of two numbers on dice is even. First die is even and second odd. First die is odd and second even.

(c)

First die shows a number ≤ 3. At least one die shows a number > 3.

Consider the set of all permutations of the numbers 1, 2, 3. If you select a permutation at random, what is the probability that the number 2 is in the middle position? In the ﬁrst position? Do your answers suggest a simple way of answering the same questions for the set of all permutations of the numbers 1 to 7?

3. PROBABILITY THEOREMS It is not always easy to make direct use of our deﬁnitions to calculate probabilities. Deﬁnition (1.2) asks us to ﬁnd a uniform sample space for a problem, that is, a set of all possible equally likely, mutually exclusive outcomes of an experiment, and then determine how many of these are favorable to a given event. The deﬁnition in Section 2 similarly requires a sample space, that is, a list of the possible outcomes and their probabilities. Such lists may be prohibitively long; we want to consider some theorems which will shorten our work. Suppose there are 5 black balls and 10 white balls in a box; we draw one ball 1 "at random" (this means we are assuming that each ball has probability 15 of being drawn), and then without replacing the ﬁrst ball, we draw another. Let us ask for the probability that the ﬁrst ball is white and the second one is black. The probability of drawing a white ball the ﬁrst time is 10 15 (10 of the 15 balls are white). 5 The probability of then drawing a black ball is 14 since there are 14 balls left and 5 of them are black. We are going to show that the probability of drawing ﬁrst a 5 white ball and then (without replacement) a black is the product 10 15 · 14 . We reason in the following way, using a uniform sample space. Imagine that the balls are numbered 1 to 15. The symbol 5,3 will mean that ball 5 was drawn the ﬁrst time and ball 3 the second time. In such pairs of two (diﬀerent) numbers representing a drawing of two balls in succession, there are 15 choices for the ﬁrst number and 14 for the second (the ﬁrst ball was not replaced). Thus the uniform sample space representing all possible drawings consists of a rectangular array of symbols (like 5,3) with 15 columns (for the 15 diﬀerent choices for the ﬁrst number) and 14 rows (for the 14 choices for the second number). Thus there are 15 · 14 points in the sample space. [See also (4.1)]. How many of these sample points correspond to

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drawing ﬁrst a white ball and then a black ball? Ten numbers correspond to white balls and the other ﬁve to black balls. Thus to obtain a sample point corresponding to drawing ﬁrst a white and then a black ball, we can choose the ﬁrst number in 10 ways and then the second number in 5 ways, and so choose the sample point in 10 · 5 ways; that is, there are 10 · 5 sample points favorable to the desired drawing. Then by the deﬁnition (1.2), the desired probability is (10 · 5)/(15 · 14) as claimed. Let us state in general the theorem we have just illustrated. We are interested in two successive events A and B. Let P (A) be the probability that A will happen, P (AB) be the probability that both A and B will happen, and PA (B) be the probability that B will happen if know that A has happened. Then P (AB) = P (A) · PA (B)

(3.1)

or in words, the probability of the compound event "A and B" is the product of the probability that A will happen times the probability that B will happen if A does. Using the idea of a uniform sample space, we can prove (3.1) by following the method in the ball drawing problem. Let N be the total number of sample points in a uniform sample space, N (A) and N (B) be the numbers of sample points corresponding to the events A and B respectively, and N (AB) be the number of sample points corresponding to the compound event A and B. It is useful to picture the sample space geometrically (Figure 3.1) as an array of N points [compare with sample space (2.4)]. We can then circle all points which correspond to A's happening and mark this region A; it contains N (A) points. Similarly, we can circle the N (B) points which correspond to B's happening and call this region B. The overlapping region we call AB; it is part of both A and B and contains N (AB) points which correspond to the compound event A and B. Then by the deﬁnition (1.2): N (AB) , N N (A) P (A) = , N N (AB) PA (B) = . N (A)

P (AB) = (3.2)

Figure 3.1

Perhaps this last formula for PA (B) needs some discussion. Recall from Section 2, Example 1, the uniform sample space (2.3) for three tosses of a coin. To ﬁnd the probability of all tails given that there was at least one tail, we reduced our sample space to seven points (eliminating hhh). We then assumed that the seven points of the new sample space had the same relative probability as before the deletion of the point hhh; thus each of the seven points had probability 17 . (This is no more and no less "obvious" than the original assumption that the eight points had equal probability; it is an additional assumption which we make in the absence of any information to the contrary; see end of Section 2.) Now let us look at the third equation of (3.2). N (A) is the number of sample points corresponding to event A; the N points in the original sample apace all had the same probability

Section 3

Probability Theorems

731

so we now assume that when we cross oﬀ all the points corresponding to A's not happening, the remaining N (A) points also have equal probability. Thus we have a new uniform sample space consisting of N (A) points. N (AB) of these N (A) points correspond to the event B (assuming A). Thus by (1.2), the probability of "B if A" is N (AB)/N (A). From the three equations (3.2), we then have (3.1). In a similar way we can show that (3.3)

P (BA) = P (B) · PB (A) = P (AB)

(see Problem 1). [We have proved (3.1) assuming a uniform sample space. This assumption is not necessary; (3.1) is true whether or not we can construct a uniform sample space; see Problem 2.] Suppose, now, in our example of 5 black and 10 white balls in a box, we draw a ball and replace it and then draw a second ball. The probability of a black ball on 5 the second drawing is then 15 = 13 ; this is exactly the same result we would get if we had not drawn and replaced the ﬁrst ball. In the notation of the last paragraph (3.4)

P (B) = PA (B),

A and B independent.

When (3.4) is true, we say that the event B is independent of event A and (3.1) becomes

(3.5)

P (AB) = P (A) · P (B),

A and B independent.

Because of the symmetry of (3.5), we may simply say that A and B are independent if (3.5) is true. (Also see Problem 7.) Example 1. (a) In three tosses of a coin, what is the probability that all three are heads? We found p = 18 for this problem in Section 2 by seeing that one sample point out of eight corresponds to all heads. Now we can do the problem more simply by saying that the probability of heads on each toss is 12 , the tosses are independent, and therefore 1 1 1 1 p= · · = . 2 2 2 8 (b) If we should want the probability of all heads when a coin is tossed ten times, the sample space would be unwieldy; instead of using the sample space, we can say that since the tosses are independent, the desired probability is p = ( 12 )10 . (c) To ﬁnd the probability of at least one tail in ten tosses, we see that this event corresponds to all the rest of the sample space except the "all heads" point. Since the sum of the probabilities of all the sample points is 1, the desired probability is 1 − ( 12 )10 . In Figure 3.1 or Figure 3.2 the region AB corresponds to the happening of both A and B. The whole region consisting of points in A or B or both corresponds to the happening of either A or B or both. We write P (AB) for the probability that both A and B occur. We shall write P (A + B) for the probability that either or both occur. Then we can prove that

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Figure 3.2

(3.6)

Figure 3.3

P (A + B) = P (A) + P (B) − P (AB).

To see why this is true, consider Figure 3.2. To ﬁnd P (A + B) we add the probabilities of all the sample points in the region consisting of A or B or both. But if we add P (A) and P (B), we have included the probabilities of all the sample points in AB twice [once in P (A) and once in P (B)]. Thus we must subtract P (AB), which is the sum of the probabilities of all the sample points in AB. This is just what (3.6) says. If the sample space diagram is like the one in Figure 3.3, so that P (AB) = 0, we say that A and B are mutually exclusive. Then (3.6) becomes

(3.7)

P (A + B) = P (A) + P (B),

A and B mutually exclusive.

Example 2. Two students are working separately on the same problem. If the ﬁrst student has probability 12 of solving it and the second student has probability 34 of solving it, what is the probability that at least one of them solves it? Let A be the event "ﬁrst student succeeds," and B be the event "second student succeeds." Then P (AB) = 12 · 34 = 38 (assume A and B independent since the students work separately). Then by (3.6) the probability that one or the other or both students solve the problem is P (A + B) =

1 3 3 7 + − = . 2 4 8 8

Conditional Probability; Bayes' Formula If we are asked for the probability of event B assuming that event A occurs [that is, PA (B)], it is often useful to ﬁnd it from (3.1):

(3.8)

PA (B) =

P (AB) . P (A)

Equation (3.8) is called Bayes' formula. In any conditional probability problem to which the answer is not immediately obvious, you should consider whether you can easily ﬁnd P (A) and P (AB); if so, the conditional probability PA (B) is given by (3.8).

Section 3

Probability Theorems

733

Example 3. A preliminary test is customarily given to the students at the beginning of a certain course. The following data are accumulated after several years: (a) 95% of the students pass the course, 5% fail. (b) 96% of the students who pass the course also passed the preliminary test. (c) 25% of the students who fail the course passed the preliminary test. What is the probability that a student who has failed the preliminary test will pass the course?

Figure 3.4 Let A be the event "fails preliminary test" and B be the event "Passes course." The probability we want is then PA (B) in (3.8), so we need P (AB) and P (A). P (AB) is the probability that the student both fails the preliminary test and passes the course; this is P (AB) = (0.95)(0.04) = 0.038. (See Figure 3.4; 95% of the students passed the course and of these 4% had failed the preliminary test.) We also want P (A), the probability that a students fails the preliminary test; this event corresponds to the shaded area in Figure 3.4. Thus P (A) is the sum of the probabilities of the two events "passes course after failing test," "fails course after failing test." Then P (A) = (0.095)(0.04) + (0.05)(0.75) = 0.0755 (See Figure 3.4; of the 95% of students who passed the course, 4% failed the preliminary test; of the 5% of the students who failed the course, 75% failed the preliminary test since we are given that 25% passed.) By (3.8) we have PA (B) =

0.038 P (AB) = = 50%, P (A) 0.0755

that is, half of the students who fail the preliminary test succeed in passing the course. Note that in Figure 3.4, the shaded area corresponds to event A (fails preliminary test). We are interested in event B (passes course) given event A. Thus instead of the original sample space (whole rectangle in Figure 3.4) we consider a smaller sample space (shaded area in Figure 3.4). We then want to know what part of this sample space corresponds to event B (passes course). This fraction is P (AB)/P (A) which we computed.

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PROBLEMS, SECTION 3 1.

(a)

Set up a sample space for the 5 black and 10 white balls in a box discussed above assuming the ﬁrst ball is not replaced. Suggestions: Number the balls, say 1 to 5 for black and 6 to 15 for white. Then the sample points form an array something like (2.4), but the point 3,3 for example is not allowed. (Why? What other points are not allowed?) You might ﬁnd it helpful to write the numbers for black balls and the numbers for white balls in diﬀerent colors.

(b)

Let A be the event "ﬁrst ball is white" and B be the event "second ball is black." Circle the region of your sample space containing points favorable to A and mark this region A. Similarly, circle and mark region B. Count the number of sample points in A and in B; these are N (A) and N (B). The region AB is the region inside both A and B; the number of points in this region is N (AB). Use the numbers you have found to verify (3.2) and (3.1). Also ﬁnd P (B) and PB (A) and verify (3.3) numerically.

(c)

Use Figure 3.1 and the ideas of part (b) to prove (3.3) in general.

Prove (3.1) for a nonuniform sample space. Hints: Remember that the probability of an event is the sum of the probabilities of the sample points favorable to it. Using Figure 3.1, let the points in A but not in AB have probabilities p1 , p2 , . . . , pn , the points in AB have probabilities pn+1 , pn+2 , . . . , pn+k , and the points in B but not in AB have probabilities pn+k+1 , pn+k+2 , . . . , pn+k+l . Find each of the probabilities in (3.1) in terms of the p's and show that you then have an identity.

What is the probability of getting the sequence hhhttt in six tosses of a coin? If you know the ﬁrst three are heads, what is the probability that the last three are tails?

(a)

A weighted coin has probability of 23 of showing heads and 13 of showing tails. Find the probabilities of hh, ht, th and tt in two tosses of the coin. Set up the sample space and the associated probabilities. Do the probabilities add to 1 as they should? What is the probability of at least one head? What is the probability of two heads if you know there was at least one head?

(b)

For the coin in (a), set up the sample space for three tosses, ﬁnd the associated probabilities, and use it to answer the questions in Problem 2.12.

What is the probability that a number n, 1 ≤ n ≤ 99, is divisible by both 6 and 10? By either 6 or 10 or both?

A card is selected from a shuﬄed deck. What is the probability that it is either a king or a club? That it is both a king and a club?

(a)

Note that (3.4) assumes P (A) = 0 since PA (B) is meaningless if P (A) = 0. Assuming both P (A) = 0 and P (B) = 0, show that if (3.4) is true, then P (A) = PB (A); that is if B is independent of A, then A is independent of B. If either P (A) or P (B) is zero, then we use (3.5) to deﬁne independence.

(b)

When is an event E independent of itself? When is E independent of "not E"?

Show that P (A + B + C) = P (A) + P (B) + P (C) − P (AB) − P (AC) − P (BC) + P (ABC). Hint: Start with Figure 3.2 and sketch in a region C overlapping some of the points of each of the regions A, B, and AB.

Two cards are drawn at random from a shuﬄed deck and laid aside without being examined. Then a third card is drawn. Show that the probability that the third card is a spade is 14 just as it was for the ﬁrst card. Hint: Consider all the (mutually exclusive) possibilities (two discarded cards spades, third card spade or not spade, etc.).

Section 3 10.

Probability Theorems

735

(a)

Three typed letters and their envelopes are piled on a desk. If someone puts the letters into the envelopes at random (one letter in each), what is the probability that each letter gets into its own envelope? Call the envelopes A, B, C, and the corresponding letters a, b, c, and set up the sample space. Note that "a in C, b in B, c in A" is one point in the sample space.

(b)

What is the probability that at least one letter gets into its own envelope? Hint: What is the probability that no letter gets into its own envelope?

(c)

Let A mean that a got into envelope A, and so on. Find the probability P (A) that a got into A. Find P (B) and P (C). Find the probability P (A + B) that either a or b or both got into their correct envelopes, and the probability P (AB) that both got into their correct envelopes. Verify equation (3.6).

11.

In paying a bill by mail, you want to put your check and the bill (with a return address printed on it) into a window envelope so that the address shows right side up and is not blocked by the check. If you put check and bill at random into the envelope, what is the probability that the address shows correctly?

12.

(a)

13.

1 2 3 4 5 6 A loaded die has probabilities 21 , 21 , 21 , 21 , 21 , 21 , of showing 1, 2, 3, 4, 5, 6. What is the probability of throwing two 3's in succession?

(b)

What is the probability of throwing a 4 the ﬁrst time and not a 4 the second time with a die loaded as in (a)?

(c)

If two dice loaded as in (a) are thrown, and we know that the sum of the numbers on the faces is greater than or equal to 10, what is the probability that both are 5's?

(d)

How many times must we throw a die loaded as in (a) to have probability greater than 12 of getting an ace?

(e)

A die, loaded as in (a), is thrown twice. What is the probability that the number on the die is even the ﬁrst time > 4 the second time?

(a)

A candy vending machine is out of order. The probability that you get a candy bar (with or without return of your money) is 12 , the probability that you get your money back (with or without candy) is 13 , and the probability that you 1 get both the candy and your money back is 12 . What is the probability that you get nothing at all? Suggestion: Sketch a geometric diagram similar to Figure 3.1, indicate regions representing the various possibilities and their probabilities; then set up a four-point sample space and the associated probabilities of the points.

(b)

Suppose you try again to get a candy bar as in part (a). Set up the 16-point sample space corresponding to the possible results of your two attempts to buy a candy bar, and ﬁnd the probability that you get two candy bars (and no money back); that you get no candy and lose your money both times; that you just get your money back both times.

14.

A basketball player succeeds in making a basket 3 tries out of 4. How many tries are necessary in order to have probability > 0.99 of at least one basket?

15.

Use Bayes' formula (3.8) to repeat these simple problems previously done by using a reduced sample space. (a)

In a family of two children, what is the probability that both are girls if at least one is a girl?

(b)

What is the probability of all heads in three tosses of a coin if you know that at least one is a head?

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16.

Suppose you have 3 nickels and 4 dimes in your right pocket and 2 nickels and a quarter in your left pocket. You pick a pocket at random and from it select a coin at random. If it is a nickel, what is the probability that it came from your right pocket?

17.

(a)

There are 3 red and 5 black balls in one box and 6 red and 4 white balls in another. If you pick a box at random, and then pick a ball from it at random, what is the probability that it is red? Black? White? That it is either red or white?

(b)

Suppose the ﬁrst ball selected is red and is not replaced before a second ball is drawn. What is the probability that the second ball is red also?

(c)

If both balls are red, what is the probability that they both came from the same box?

18.

Two cards are drawn at random from a shuﬄed deck. (a)

What is the probability that at least one is a heart?

(b)

If you know that at least one is a heart, what is the probability that both are hearts?

19.

Suppose it is known that 1% of the population have a certain kind of cancer. It is also known that a test for this kind of cancer is positive in 99% of the people who have it but is also positive in 2% of the people who do not have it. What is the probability that a person who tests positive has cancer of this type?

20.

Some transistors of two diﬀerent kinds (call them N and P ) are stored in two boxes. You know that there are 6 N 's in one box and that 2 N 's and 3 P 's got mixed in the other box, but you don't know which box is which. You select a box and a transistor from it at random and ﬁnd that it is an N ; what is the probability that it came from the box with the 6 N 's? From the other box? If another transistor is picked from the same box as the ﬁrst, what is the probability that it is also an N ?

21.

Two people are taking turns tossing a pair of coins; the ﬁrst person to toss two alike wins. What are the probabilities of winning for the ﬁrst player and for the second player? Hint: Although there are an inﬁnite number of possibilities here (win on ﬁrst turn, second turn, third turn, etc.), the sum of the probabilities is a geometric series which can be summed; see Chapter 1 if necessary.

22.

Repeat Problem 21 if the players toss a pair of dice trying to get a double (that is, both dice showing the same number).

23.

A thick coin has probability 37 of falling heads, 37 of falling tails, and 17 of standing on edge. Show that if it is tossed repeatedly it has probability 1 of eventually standing on edge.

4. METHODS OF COUNTING Let us digress for a bit to review some ideas and formulas we need in computing probabilities in more complicated problems. Let us ask how many two-digit numbers have either 5 or 7 for the tens digit and either 3, 4, or 6 for the units digit. The answer becomes obvious if we arrange the possible numbers in a rectangle 53 73

54 74

56 76

Section 4

Methods of Counting

737

with two rows corresponding to the two choices of the tens digit and three columns corresponding to the three choices of the units digit. This is an example of the fundamental principle of counting:

(4.1)

If one thing can be done N1 ways, and after that a second thing can be done in N2 ways, the two things can be done in succession in that order in N1 · N2 ways. This can be extended to doing any number of things one after the other, the ﬁrst N1 ways, the second N2 ways, the third N3 ways, etc. Then the total number of ways to perform the succession of acts is the product N1 N2 N3 · · · .

Now consider a set of n things lined up in a row; we ask how many ways we can arrange (permute) them. This result is called the number of permutations of n things n at a time, and is denoted by n Pn or P (n, n) or Pnn . To ﬁnd this number, we think of seating n people in a row of n chairs. We can place anyone in the ﬁrst chair, that is, we have n possible ways of ﬁlling the ﬁrst chair. Once we have selected someone for the ﬁrst chair, there are (n − 1) choices left for the second chair, then (n − 2) choices for the third chair, and so on. Thus by the fundamental principle, there are n(n − 1)(n − 2) · · · 2 · 1 = n! ways of arranging the n people in the row of n chairs. The number of permutations of n things n at a time is (4.2)

P (n, n) = n!.

Next suppose there are n people but only r < n chairs and we ask how many ways we can select groups of r people and seat them in the r chairs. The result is called the number of permutations of n things r at a time and is denoted by n Pr or P (n, r) or Prn . Arguing as before, we ﬁnd that there are n ways to ﬁll the ﬁrst chair, (n − 1) ways to ﬁll the second chair, (n − 2) ways for the third [note that we could write (n − 2) as (n − 3 + 1)], etc., and ﬁnally (n − r + 1) ways of ﬁlling chair r. Thus we have for the number of permutations of n things r at a time P (n, r) = n(n − 1)(n − 2) · · · (n − r + 1). By multiplying and dividing by (n − r)! we can write this as

(4.3)

P (n, r) = n(n − 1)(n − 2) · · · (n − r + 1)

n! (n − r)! = . (n − r)! (n − r)!

So far we have been talking about arranging things in a deﬁnite order. Suppose, instead that we ask how many committees of r people can be chosen from a group of n people (n ≥ r). Here the order of the people in the committee is not considered; the committee made up of people A, B, C, is the same as the committee made up of people B, A, C. We call the number of such committees of r people which we can select from n people, the number of combinations orselections of n things r at a time, and denote this number by n Cr or C(n, r) or nr . To ﬁnd C(n, r), we go back to the problem of selecting r people from a group of n and seating them in r chairs; we found that the number of ways of doing this is P (n, r) as given in

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(4.3). We can perform this job by ﬁrst selecting r people from the total n and then arranging the r people in r chairs. The selection of r people can be done in C(n, r) ways (this is the number we are trying to ﬁnd), and after r people are selected, they can be arranged in r chairs in P (r, r) ways by (4.2). By the fundamental principle (4.1), the total number of ways P (n, r) of selecting and seating r people out of n is the product C(n, r) · P (r, r). Thus we have (4.4)

P (n, r) = C(n, r) · P (r, r).

We can solve this equation to ﬁnd the value C(n, r) which we wanted. Substituting the values of P (n, r) and P (r, r) from (4.3) and (4.2) into (4.4) and solving for C(n, r), we ﬁnd for the number of combinations of n things r at a time

(4.5)

n! P (n, r) = = C(n, r) = P (r, r) (n − r)!r!

n . r

Each time we select r people to be seated, we leave n − r people without chairs. Then there are exactly the same number of combinations of n things n − r at a time as there are combinations of n things r at a time. Hence we write (4.6)

C(n, n − r) = C(n, r) =

n! . (n − r)!r!

We can also obtain (4.6) from (4.5) by replacing r by (n − r). Example 1. A club consists of 50 members. In how many ways can a president, vicepresident, secretary, and treasurer be chosen? In how many ways can a committee of 4 members be chosen? In the selection of oﬃcers, we must not only select 4 people, but decide which one is president, etc.; we could think of seating the 4 people in chairs labeled president, vice-president, etc. Thus the number of ways of selecting the oﬃcers is P (50, 4) =

50! 50! = = 50 · 49 · 48 · 47. (50 − 4)! 46!

The committee members, however, are all equivalent (we are neglecting the possibility that one is named chairman), so the number of ways of selecting committees of 4 people is 50! 50 · 49 · 48 · 47 C(50, 4) = = . 46!4! 24 Example 2. Find the coeﬃcient of x8 in the binomial expansion of (1 + x)15 . Think of multiplying out (1 + x)(1 + x)(1 + x) · · · (1 + x),

(with 15 factors).

We obtain a term in x8 each time we multiply 1's from seven of the parentheses by x's from eight of the parentheses. The number of ways of selecting 8 parentheses out of 15 is 15! C(15, 8) = . 8!7!

Section 4

Methods of Counting

739

This is the desired coeﬃcient of x8 . n Generalizing this example, we see that n in the expansion of (a+b) , the coeﬃcient n−r r of a b is C(n, r), usually written r when used in connection with a binomial expansion (see Chapter 1, Section 13C). Thus the expressions C(n, r) are just the binomial coeﬃcients, and we can write (4.7)

(a + b)n =

n n n−r r a b . r r=0

Example 3. A basic problem in statistical mechanics is this: Given N balls, and n boxes, in how many ways can the balls be put into the boxes so that there will be given numbers of balls in the boxes, say N1 balls in the ﬁrst box, N2 balls in the second box, N3 in the third, · · · , Nn in the nth, and what is the probability that this given distribution will occur when the balls are put into the boxes? In statistical mechanics the "balls" may be molecules, electrons, photons, etc., and each "box" corresponds to a small range of values of position and momentum of a particle. We can state many other problems in this same language of putting balls into boxes. For example, in tossing a coin, we can equate heads with box 1, and tails with box 2; in tossing a die, there are six "boxes." In putting letters into envelopes, the letters are the balls, and the envelopes are the boxes. In dealing cards, the cards are the balls and the players who receive them are the boxes. In an alpha scattering experiment, the alpha particles are the balls, and the boxes are elements of area on the detecting screen which the particles hit after they are scattered. (Also see Problems 14 and 21 and Feller, pp. 10–11.) Let us do a special case of this problem in which we have 15 balls and 6 boxes, and the numbers of balls we are to put into the various boxes are: Number of balls: In box number:

3 1

1 2

4 3

2 4

3 5

2 6

We ﬁrst ask how many ways we can select 3 balls to go in the ﬁrst box from the 15 balls; this is C(15, 3). (Note that the order of the balls in the boxes is not considered; this is like the committee problem in Example 1.) Now we have 12 balls left, of which we are to select 1 for box 2; we can do this in C(12, 1) ways. We can then select the 4 balls for box 3 from the remaining 11 balls in C(11, 4) ways, the 2 balls for box 4 in C(7, 2) ways, the 3 balls for box 5 in C(5, 3) ways, and ﬁnally the balls for box 6 in C(2, 2) ways (verify that this is 1). By the fundamental principle, the total number of ways of putting the required numbers of balls into the boxes is C(15, 3) · C(12, 1) · C(11, 4) · C(7, 2) · C(5, 3) · C(2, 2) 15! 12! 11! 7! 5! 2! = · · · · · 3! · 12! 1! · 11! 4! · 7! 2! · 5! 3! · 2! 2! · 0! 15! = . 3! · 1! · 4! · 2! · 3! · 2! (Remember from Chapters 1 and 11 that 0! = 1.) Next we want the probability of this particular distribution. Let us assume that the balls are distributed "at random" into the boxes; by this we mean that a ball has the same probability (namely 16 ) of being put into any one box as into any other box. We can put the ﬁrst ball into any one of the 6 boxes, the second ball into any

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one of the 6 boxes, and so on. Thus by the fundamental principle, the total number of ways of distributing the 15 balls into the 6 boxes is 6 · 6 · 6 · 6 · · · 6 = 615 and we are assuming that these distributions are equally probable. Then the probability that, when 15 balls are distributed "at random" into 6 boxes, there will be 3 balls in box 1, 1 in box 2, etc., as given, is, by (1.2) (favorable cases ÷ total) 15! ÷ 615 . 3! · 1! · 4! · 2! · 3! · 2! Example 4. In Example 3, we assumed that the 615 possible distributions of 15 balls into 6 boxes were equally likely. This seems very reasonable if we think of putting the balls into the boxes by tossing a die for each ball; if the die shows 1 we put the ball into box 1, etc. However, we can think of situations to which this method and result do not apply. For example, suppose we are putting letters into envelopes or seating people in chairs; then we may reasonably require only one letter per envelope, not more than one person per chair, that is, one ball (or none) per box. Consider the problem of seating 4 people in 6 chairs, that is of putting 4 balls into 6 boxes. If we number the chairs from 1 to 6 and let each person choose a chair by tossing a die, we may have two or more people choosing the same chair. The result 64 (which the method of Example 3 gives for the problem of 4 balls in 6 boxes) then does not apply to this problem. However, let us consider the uniform sample space of 64 points and select from it the points corresponding to our restriction (one ball or none per box). The new sample space contains C(6, 4) · 4! points (number of ways of selecting the 4 chairs to be occupied times the number of ways of then arranging 4 people in 4 chairs). Since these points were equally probable in the original (uniform) sample space, we still consider them equally probable. Now let us ask for the probability that the ﬁrst two chairs are vacant when the 4 people are seated. The number of sample points corresponding to this event is 4! (the number of ways of arranging the 4 people in the last 4 chairs). Thus the desired probability is 4! 1 = . C(6, 4) · 4! C(6, 4) We can now see an easier way of doing problems of this kind. The factor 4!, which canceled in the probability calculation, was the number of rearrangements of the 4 people among the 4 occupied chairs. Since this is the same for any given set of 4 chairs, we can lump together all the sample points corresponding to each given set of 4 chairs, and have a smaller (still uniform) sample space of C(6, 4) points. Each point now corresponds to a given set of 4 occupied chairs; the quantity C(6, 4) is just the number of ways of picking 4 occupied chairs out of 6. The probability that the ﬁrst two chairs are vacant when 4 people are seated is 1/C(6, 4) since there is only one way to select 4 occupied chairs leaving the ﬁrst two chairs vacant. Another useful way of looking at this problem is to consider a set of 4 identical balls to be put into 6 boxes. Since the balls are identical, the 4! arrangements of the 4 balls in 4 given boxes all look alike. We can say that there are C(6, 4) distinguishable arrangements of the 4 identical balls in 6 boxes (one ball or none per box). Since all these arrangements are equally probable, the probability of any one arrangement (say the ﬁrst two boxes empty) is 1/C(6, 4) as we found previously.

Section 4

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741

Example 5. In Example 4 we found the same answer for the probability that two particular boxes were empty whether or not we considered the balls distinguishable. This was true because the allowed distinguishable arrangements were equally probable. Without the restriction of one ball or none per box, all distinguishable arrangements are not equally probable according to the methods of Examples 3 and 4. For example, the probability of all balls in box 1 is 1/64 ; compare this with the probability of no balls in the ﬁrst 2 boxes and one ball in each of the other 4 boxes, which is 1 4! ÷ 64 = 54 . We see that the concentrated arrangements (all or several balls in one box) are less probable than the more uniform arrangements. Now we are going to try to imagine a situation in which all distinguishable arrangements are equally probable. Suppose the 6 boxes are benches in a waiting room and the 4 balls are people who are going to come in and sit on the benches. Then if the people are friends, there will be a certain tendency for them to sit together and the probabilities we have been calculating will not apply—the probabilities of the concentrated arrangements will increase. Consider the following mathematical model. (This is a modiﬁcation of P´olya's urn model.) We have 6 boxes labeled 1 to 6, and 4 balls. From 6 cards labeled 1 to 6 we draw one at random and place a ball in the box numbered the same as the card drawn. We then replace the card and also add another card of the same number so that there are now 7 cards, two with the number ﬁrst drawn. We now select a card at random from these 7, put a ball in the corresponding box and again replace the card adding a duplicate to make 8 cards. We repeat this process two more times (until all balls are distributed). Then the probability that all balls are in box 1 is 16 · 27 · 38 · 49 . The probability of one ball in each of the ﬁrst 4 boxes is 16 · 17 · 18 · 19 · 4! (here 16 · 17 · 18 · 19 is the probability that the ﬁrst ball is in box 1, the second in box 2, etc.; we must add to this the probability that the ﬁrst ball is in box 3, the second in box 1, etc.; there are 4! such possibilities all giving one ball in each of the ﬁrst 4 boxes). We see that the distributions "all balls in box 1" and "one ball in each of the ﬁrst 4 boxes" are equally probable. Further calculation (Problem 20) shows that all distinguishable arrangements are equally probable. To ﬁnd the number of distinguishable arrangements, consider the following picture of the 4 balls in the 6 boxes. | Box number: Number of balls:

o 1 1

| 2 0

oo 3 2

| 4 0

o 5 1

| 6 0

The lines mean the sides of the boxes and the circles are the balls; note that it requires 7 lines to picture the 6 boxes. This picture shows one of many possible arrangements of the 4 balls in 6 boxes. In any such picture there must be a line at the beginning and at the end, but the rest of the lines (5 of them) and the 4 circles can be arranged in any order. You should convince yourself that every arrangement of the balls in the boxes can be so pictured. Then the number of such distinguishable arrangements is just the number of ways we can select 4 positions for the 4 circles out of 9 positions for the 5 lines and 4 circles. Thus there are C(9, 4) equally likely arrangements in this problem. We see then that putting balls in boxes is not quite as simple as we thought; we must say how we propose to distribute them and even before that we must think what practical problem we are trying to solve; this is what determines the sample space and the probabilities to be associated with the sample points. Unfortunately,

742

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it may not always be clear what the sample space probabilities should be; then the best we can do is to try various assumptions. In statistical mechanics it is found that certain particles (for example, the molecules of a gas) are correctly described if we assume that they behave like the balls of Example 3 (all 615 arrangements equally likely); we then say that they obey Maxwell-Boltzmann statistics. Other particles (for example, electrons) behave like the people to be seated in Example 4 (one particle or none per box); we say that such particles obey Fermi-Dirac statistics. Finally some particles (for example, photons) act something like the friends who want to sit near each other (all distinguishable arrangements of identical particles are equally likely); we say that these particles obey Bose-Einstein statistics. For the problem of 4 particles in 6 boxes, there are then 64 equally likely arrangements for Maxwell-Boltzmann particles, C(6, 4) for Fermi-Dirac particles, and C(9, 4) for Bose-Einstein particles. (See Problems 15 to 20.)

PROBLEMS, SECTION 4 1.

(a)

There are 10 chairs in a row and 8 people to be seated. In how many ways can this be done?

(b)

There are 10 questions on a test and you are to do 8 of them. In how many ways can you choose them?

(c)

In part (a) what is the probability that the ﬁrst two chairs in the row are vacant?

(d)

In part (b), what is the probability that you omit the ﬁrst two problems in the test?

(e)

Explain why the answer to parts (a) and (b) are diﬀerent, but the answers to (c) and (d) are the same.

In the expansion of (a + b)n (see Example 2), let a = b = 1, and interpret the terms of the expansion to show that the total number of combinations of n things taken 1, 2, 3, · · · , n at a time, is 2n − 1.

A bank allows one person to have only one savings account insured to $100,000. However, a larger family may have accounts for each individual, and also accounts in the names of any 2 people, any 3 and so on. How many accounts are possible for a family of 2? Of 3? Of 5? Of n? Hint: See Problem 2.

Five cards are dealt from a shuﬄed deck. What is the probability that they are all of the same suit? That they are all diamond? That they are all face cards? That the ﬁve cards are a sequence in the same suit (for example, 3, 4, 5, 6, 7 of hearts)?

A bit (meaning binary digit) is 0 or 1. An ordered array of eight bits (such as 01101001) is a byte. How many diﬀerent bytes are there? If you select a byte at random, what is the probability that you select 11000010? What is the probability that you select a byte containing three 1's and ﬁve 0's?

A so-called 7-way lamp has three 60-watt bulbs which may be turned on one or two or all three at a time, and a large bulb which may be turned to 100 watts, 200 watts or 300 watts. How many diﬀerent light intensities can the lamp be set to give if the completely oﬀ position is not included? (The answer is not 7.)

What is the probability that the 2 and 3 of clubs are next to each other in a shuﬄed deck? Hint: Imagine the two cards accidentally stuck together and shuﬄed as one card.

Section 4

Methods of Counting

743

Two cards are drawn from a shuﬄed deck. What is the probability that both are aces? If you know that at least one is an ace, what is the probability that both are aces? If you know that one is the ace of spades, what is the probability that both are aces?

Two cards are drawn from a shuﬄed deck. What is the probability that both are red? If at least one is red, what is the probability that both are red? If at least one is a red ace, what is the probability that both are red? If exactly one is a red ace, what is the probability that both are red?

10.

What is the probability that you and a friend have diﬀerent birthdays? (For simplicity, let a year have 365 days.) What is the probability that three people have three diﬀerent birthdays? Show that the probability that n people have n diﬀerent birthdays is «„ «„ « „ « „ 2 3 n−1 1 1− 1− ··· 1 − . p= 1− 365 365 365 365 Estimate this for n 365 by calculating ln p [recall that ln(1+x) is approximately x for x 1]. Find the smallest (integral) n for which p < 12 . Hence, show that for a group of 23 people or more, the probability is greater than 12 that two of them have the same birthday. (Try it with a group of friends or a list of people such as the presidents of the United States.)

11.

The following game was being played on a busy street: Observe the last two digits on each license plate. What is the probability of observing at least two cars with the same last two digits among the ﬁrst 5 cars? 10 cars? 15 cars? How many cars must you observe in order for the probability to be greater than 12 of observing two with the same last two digits?

12.

Consider Problem 10 for diﬀerent months of birth. What is the smallest number of people for which the probability is greater than 12 that two of them were born in the same month?

13.

Generalize Example 3 to show that the number of ways of putting N balls in n boxes with N1 in box 1, N2 in box 2, etc., is « „ N! . N1 ! · N2 ! · N3 ! · · · Nn !

14.

(a)

Find the probability that in two tosses of a coin, one is heads and one tails. That in six tosses of a die, all six of the faces show up. That in 12 tosses of a 12-sided die, all 12 faces show up. That in n tosses of an n-sided die, all n faces show up.

(b)

The last problem in part (a) is equivalent to ﬁnding the probability that, when n balls are distributed at random into n boxes, each box √ contains exactly one ball. Show that for large n, this is approximately e−n 2πn.

15.

Set up the uniform sample spaces for the problem of putting 2 particles in 3 boxes: for Maxwell-Boltzmann particles, for Fermi-Dirac particles, and for Bose-Einstein particles. See Example 5. (You should ﬁnd 9 sample points for MB, 3 for FD, and 6 for BE.)

16.

Do Problem 15 for 2 particles in 2 boxes. Using the model discussed in Example 5, ﬁnd the probability of each of the three sample points in the Bose-Einstein case. (You should ﬁnd that each has probability 13 , that is, they are equally probable.)

17.

Find the number of ways of putting 2 particles in 4 boxes according to the three kinds of statistics.

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18.

Find the number of ways of putting 3 particles in 5 boxes according to the three kinds of statistics.

19.

(a)

Following the methods of Examples 3, 4, and 5, show that the number of equally likely ways of putting N particles in n boxes, n > N , is nN for MaxwellBoltzmann particles, C(n, N ) for Fermi-Dirac particles, and C(n − 1 + N, N ) for Bose-Einstein particles.

(b)

Show that if n is much larger than N (think , for example, of n = 106 , N = 10), then both the Bose-Einstein and the Fermi-Dirac results in part (a) contain products of N numbers, each number approximately equal to n. Thus show that for n N , both the BE and the FD results are approximately equal to nN /N !, which is 1/N ! times the MB result.

(a)

In Example 5, a mathematical model is discussed which claims to give a distribution of identical balls into boxes in such a way that all distinguishable arrangements are equally probable (Bose-Einstein statistics). Prove this by showing that the probability of a distribution of N balls into n boxes (according to this model) with N1 balls in the ﬁrst box, N2 in the second, P · · · , Nn in the nth, is 1/C(n−1+N, N ) for any set of numbers Ni such that n i=1 Ni = N .

(b)

Show that the model in (a) leads to Maxwell-Boltzmann statistics if the drawn card is replaced (but no extra card added) and to Fermi-Dirac statistics if the drawn card is not replaced. Hint: Calculate in each case the number of possible arrangements of the balls in the boxes. First do the problem of 4 particles in 6 boxes as in the example, and then do N particles in n boxes (n > N ) to get the results in Problem 19.

20.

21.

The following problem arises in quantum mechanics (see Chapter 13, Problem 7.21). Find the number of ordered triples of nonnegative integers a, b, c whose sum a + b + c is a given positive integer n. (For example, if n = 2, we could have (a, b, c) = (2, 0, 0) or (0, 2, 0) or (0, 0, 2) or (0, 1, 1) or (1, 0, 1) or (1, 1, 0).) Hint: Show that this is the same as the number of distinguishable distributions of n identical balls in 3 boxes, and follow the method of the diagram in Example 5.

22.

Suppose 13 people want to schedule a regular meeting one evening a week. What is the probability that there is an evening when everyone is free if each person is already busy one evening a week?

23.

Do Problem 22 if one person is busy 3 evenings, one is busy 2 evenings, two are each busy one evening, and the rest are free every evening.

5. RANDOM VARIABLES In the problem of tossing two dice (Example 2, Section 2), we may be more interested in the value of the sum of the numbers on the two dice than we are in the individual numbers. Let us call this sum x; then for each point of the sample space in (2.4), x has a value. For example, for the point 2,1, we have x = 2 + 1 = 3; for the point 6,2, we have x = 8, etc. Such a variable, x, which has a deﬁnite value for each sample point, is called a random variable. We can easily construct many more examples of random variables for the sample space (2.4); here are a few (Can you construct

Section 5

Random Variables

745

some more?): x = number on ﬁrst die minus number on second; x = number on second die; x = probability p associated with the sample point; 1 if the sum is 7 or 11, x= 0 otherwise. For each of these random variables x, we could set up a table listing all the sample points in (2.4) and, next to each sample point, the corresponding value of x. This table may remind you of the tables of values we could use in plotting the graph of a function. In analytical geometry or in a physics problem, knowing x as a function of t means that for any given t we can ﬁnd the corresponding value of x. In probability the sample point corresponds to the independent variable t; given the sample point, we can ﬁnd the corresponding value of the random variable x if we are given a description of x (for example, x = the sum of numbers on dice). The "description" corresponds to the formula x(t) that we use in plotting a graph in analytic geometry. Thus we may say that a random variable x is a function defined on a sample space. Probability Functions Let us consider further the random variable x = "sum of numbers on dice" for a toss of two dice [sample space (2.4)]. We note that there are several sample points for which x = 5, namely the points marked a in (2.4). Similarly, there are several sample points for most of the other values of x. It is then convenient to lump together all the sample points corresponding to a given value of x, and consider a new sample space in which each point corresponds to one value of x; this is the sample space (2.5). The probability associated with each point of the new sample space is obtained as in Section 2, by adding the probabilities associated with all the points in the original sample space corresponding to the particular value of x. Each value of x, say xi , has a probability pi of occurrence; we may write pi = f (xi ) = probability that x = xi , and call the function f (x) the probability function for the random variable x. In (2.5) we have listed on the ﬁrst line the values of x and on the second line the values of f (x). [In this problem, x and f (x) take on only a ﬁnite number of discrete values; in some later problems they will take on a continuous set of values.] We could also exhibit these values graphically (Figure 5.1).

Figure 5.1

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Now that we have the table of values (2.5) or the graph (Figure 5.1) to describe the random variable x and its probability function f (x), we can dispense with the original sample space (2.4). But since we used (2.4) in deﬁning what is meant by a random variable, let us now give another deﬁnition using (2.5) or Figure 5.1. We can say that x is a random variable if it takes various values xi with probabilities pi = f (xi ). This deﬁnition may explain the name random variable; x is called a variable since it takes various values. A random (or stochastic) process is one whose outcome is not known in advance. The way the two dice fall is such an unknown outcome, so the value of x is unknown in advance, and we call x a random variable. You may note that at ﬁrst we thought of x as a dependent variable or function with the sample point as the independent variable. Although we didn't say much about it, there was also a value of the probability p attached to each sample point, that is p and x were both functions of the sample point. In the last paragraph, we have thought of x as an independent variable with p as a function of x. This is quite analogous to having both x and p given as functions of t and eliminating t to obtain p as a function of x. We have here eliminated the sample point from the forefront of our discussion in order to consider directly the probability function p = f (x). Example 1. Let x = number of heads when three coins are tossed. The uniform sample space is (2.3) and we could write the value of x for each sample point in (2.3). Instead, let us go immediately to a table of x and p = f (x). [Can you verify this table by using (2.3), or otherwise?] (5.1)

x p = f (x)

0 1 8

1 3 8

2 3 8

3 1 8

Other terms used for the probability function p = f (x) are: probability density function, frequency function, or probability distribution (caution: not distribution function, which means the cumulative distribution as we will discuss later; see Figure 5.2). The origins of these terms will become clearer as we go on (Sections 6 and 7) but we can get some idea of the terms frequency and distribution from (5.1). Suppose we toss three coins repeatedly; we might reasonably expect to get three heads in about 18 of the tosses, two heads in about 38 of the tosses, etc. That is, each value of p = f (x) is proportional to the frequency of occurrence of that value of x—hence the term frequency function (see also Section 7). Again in (5.1), imagine four boxes labeled x = 0, 1, 2, 3, and put a marble into the appropriate box for each toss of three coins. Then p = f (x) indicates approximately how the marbles are distributed into the boxes after many tosses—hence the term distribution. Mean Value; Standard Deviation The probability function f (x) of a random variable x gives us detailed information about it, but for many purposes we want a simpler description. Suppose, for example, that x represents experimental measurements of the length of a rod, and that we have a large number N of measurements xi . We might reasonably take pi = f (xi ) proportional to the number of times Ni we obtained the value xi , that is pi = Ni /N . We are especially interested in two numbers, namely a mean or average value of all our measurements, and some number which indicates how widely the original set of values spreads out about that average. Let us deﬁne two such quantities which are customarily used to describe a random variable. To calculate the average of a set of N numbers, we add them and

Section 5

Random Variables

747

divide by N . Instead of adding the large number of measurements, we can multiply each measurement by the number of times it occurs and add the results. This gives for the average of the measurements, the value 1 · Ni xi = pi xi . N i i By analogy with this calculation, we now deﬁne the average or mean value µ of a random variable x whose probability function is f (x) by the equation

(5.2)

µ = average of x =

xi pi =

xi f (xi ).

To obtain a measure of the spread or dispersion of our measurements, we might ﬁrst list how much each measurement diﬀers from the average. Some of these deviations are positive and some are negative; if we average them, we get zero (Problem 10). Instead, let us square each deviation and average the squares. We deﬁne the variance of a random variable x by the equation

(5.3)

Var(x) =

(xi − µ)2 f (xi ).

(The variance is sometimes called the dispersion.) If nearly all the measurements xi are very close to µ, then Var(x) is small; if the measurements are widely spread, Var(x) is large. Thus we have a number which indicates the spread of the measurements; this is what we wanted. The square root of Var(x), called the standard deviation of x, is often used instead of Var(x):

(5.4)

σx = standard deviation of x =

Var(x).

Example 2. For the data in (5.1) we can compute: 3 By (5.2), µ = average of x = 0 · 18 + 1 · 38 + 2 · 38 + 3 · 18 = 12 8 = 2. 2 2 2 2 By (5.3), Var(x) = 0 − 32 · 18 + 1 − 32 · 38 + 2 − 32 · 38 + 3 − 32 · 9 1 3 4 · 8 = 4. √ By (5.4), σx = standard deviation of x = Var(x) = 12 3.

9 4

1 8

1 4

3 8

1 4

3 8

1 8

The mean or average value of a random variable x is also called its expectation or its expected value or (especially in quantum mechanics) its expectation value. Instead of µ, the symbols x or E(x) or x may be used to denote the mean value of x.

748

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x = E(x) = x = µ =

(5.5)

xi f (xi ).

The term expectation comes from games of chance. Example 3. Suppose you will be paid $5 if a die shows a 5, $2 if it shows a 2 or a 3, and nothing otherwise. Let x represent your gain in playing the game. Then the possible values of x and the corresponding probabilities are x = 5 with p = 16 , x = 2 with p = 13 , and x = 0 with p = 12 . We ﬁnd for the average or expectation of x: E(x) =

xi pi = $5 ·

1 1 1 + $2 · + $0 · = $1.50. 6 3 2

If you play the game many times, this is a reasonable estimate of your average gain per game; this is what your expectation means. It is also a reasonable amount to pay as a fee for each game you play. The term expected value (which means the same as expectation or average) may be somewhat confusing and misleading if you try to interpret "expected" in an everyday sense. Note that the expected value ($1.50) of x is not one of the possible values of x, so you cannot ever "expect" to have x = $1.50. If you think of expected value as a technical term meaning the same as average, then there is no diﬃculty. Of course, in some cases, it makes reasonable sense with its everyday meaning; for example, if a coin is tossed n times, the expected number of heads is n/2 (Problem 11) and it is true that we may reasonably "expect" a fair approximation to this result (see Section 7). Cumulative Distribution Functions So far we have been using the probability function f (x) which gives the probability pi = f (xi ) that x is exactly xi . In some problems we may be more interested in the probability that x is less than some particular value. For example, in an election we would like to know the probability that less than half the votes would be cast for the opposing candidate, that is, that our candidate would win. In an experiment on radioactivity, we would like to know the probability that the background radiation always remains below a certain level. Given the probability function f (x), we can obtain the probability that x is less than or equal to a certain value xi by adding all the probabilities of values of x less than or equal to xi . For example, consider the sum of the numbers on two dice; the probability function p = f (x) is plotted in Figure 5.1. The probability that x is, say, less than or equal to 4 is the sum of the probabilities that x is 2 or 3 or 4, that 1 2 3 is, 36 + 36 + 36 = 16 . Similarly, we could ﬁnd the probability that x is less than or equal to any given number. The resulting function of x is plotted in Figure 5.2. Such a function F (x) is called a cumulative distribution function; we can write (5.6)

F (xi ) = (probability that x ≤ xi ) =

f (xj ).

xj ≤xi

Note carefully that, although the probability function f (x) may be referred to as a probability distribution, the term distribution function means the cumulative distribution F (x).

Section 5

Random Variables

749

Figure 5.2

PROBLEMS, SECTION 5 Set up sample spaces for Problems 1 to 7 and list next to each sample point the value of the indicated random variable x, and the probability associated with the sample point. Make a table of the diﬀerent values xi of x and the corresponding probabilities pi = f (xi ). Compute the mean, the variance, and the standard deviation for x. Find and plot the cumulative distribution function F (x). 1.

Three coins are tossed; x = number of heads minus number of tails.

Two dice are thrown; x = sum of the numbers on the dice.

A coin is tossed repeatedly; x = number of the toss at which a head ﬁrst appears.

Suppose that Martian dice are 4-sided (tetrahedra) with points labeled 1 to 4. When a pair of these dice is tossed, let x be the product of the two numbers at the tops of the dice if the product is odd; otherwise x = 0.

A random variable x takes the values 0, 1, 2, 3, with probabilities

A card is drawn from a shuﬄed deck. Let x = 10 if it is an ace or a face card; x = −1 if it is a 2; and x = 0 otherwise.

A weighted coin with probability p of coming down heads is tossed three times; x = number of heads minus number of tails.

Would you pay $10 per throw of two dice if you were to receive a number of dollars equal to the product of the numbers on the dice? Hint: What is your expectation? If it is more than $10, then the game would be favorable for you.

Show that the expectation of the sum of two random variables deﬁned over the same sample space is the sum of the expectations. Hint: Let p1 , p2 , · · · , pn be the probabilities associated with the n sample points; let x1 , x2 , · · · , xn , and y1 , y2 , · · · , yn , be the values of the random variables x and y for the n sample points. Write out E(x), E(y), and E(x + y).

10.

Let µ be the average of the random variable x. Then the quantities (xi − µ) are the deviations of x from its average. Show that the average of these deviations is zero. Hint: Remember that the sum of all the pi must equal 1.

11.

Show that the expected number of heads in a single toss of a coin is 12 . Show in two ways that the expected number of heads in two tosses of a coin is 1:

5 , 1, 1 , 1. 12 3 12 6

(a)

Let x = number of heads in two tosses and ﬁnd x.

(b)

Let x = number of heads in toss 1 and y = number of heads in toss 2; ﬁnd the average of x + y by Problem 9. Use this method to show that the expected number of heads in n tosses of a coin is 12 n.

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12.

Use Problem 9 to ﬁnd the expected value of the sum of the numbers on the dice in Problem 2.

13.

Show that adding a constant K to a random variable increases the average by K but does not change the variance. Show that multiplying a random variable by K multiplies both the average and the standard deviation by K.

14.

As in Problem 11, show that the expected number of 5's in n tosses of a die is n/6.

15.

Use Problem 9 to ﬁnd x in Problem 7.

16.

Show that σ 2 = E(x2 ) − µ2 . Hint: Write the deﬁnition of σ 2 from (5.3) and (5.4) and use Problems 9 and 13.

17.

Use Problem 16 to ﬁnd σ in Problems 2, 6, and 7.

6. CONTINUOUS DISTRIBUTIONS In Section 5, we discussed random variables x which took a discrete set of values xi . It is not hard to think of cases in which a random variable takes a continuous set of values. Example 1. Consider a particle moving back and forth along the x axis from x = 0 to x = l, rebounding elastically at the turning points so that its speed is constant. (This could be a simple-minded model of an alpha particle in a radioactive nucleus, or of a gas molecule bouncing back and forth between the walls of a container.) Let the position x of the particle be the random variable; then x takes a continuous set of values from x = 0 to x = l. Now suppose that, following Section 5, we ask for the probability that the particle is at a particular point x; this probability must be the same, say k, for all points (because the speed is constant). In Section 5, with a ﬁnite number of points, we would say k = 1/N . In the continuous case, there are an inﬁnite number of points so we would ﬁnd k = 0, that is, the probability that the particle is at a given point) must be zero. But this is not a very useful result. Let us instead divide (0, l) into small intervals dx; since the particle has constant speed, the time it spends in each dx is proportional to the length of dx. In fact, since the particle spends the fraction (dx)/l of its time in a given interval dx, the probability of ﬁnding it in dx is just (dx)/l.

Figure 6.1

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Continuous Distributions

751

Comparison of Discrete and Continuous Probability Functions To see how to deﬁne a probability function for the continuous case and to correlate this discussion with the discrete case, let us return for a moment to Figure 5.1. There we plotted a vertical distance to represent the probability p = f (x) of each value of x. Instead of a dot (as in Figure 5.1) to indicate p for each x, let us now draw a horizontal line segment of length 1 centered on each dot, as in Figure 6.1. Then the area under the horizontal line segment at a particular xi is f (xi ) · 1 = f (xi ) = pi (since the length of each horizontal line segment is 1), and we could use this area instead of the ordinate as a measure of the probability. Such a graph is called a histogram. Example 2. Now let us apply this area idea to Example 1. Consider Figure 6.2. We have plotted the function 1/l, 0 < x < l, f (x) = 0, x < 0 and x > l. If we consider any interval x to x + dx on (0, l), the area under the curve f (x) = 1/l for this interval is (1/l) dx or f (x) dx, and this is just the probability that the particle is in this interval. The probability that the particle is in some longer subinterval of (0, l), say (a, b), is (b − a)/l b Figure 6.2 or a f (x) dx, that is, the area under the curve from a to b. If the interval (a, b) is b outside (0, l), then a f (x) dx = 0 since f (x) is zero, and again this is the correct value of the probability of ﬁnding the particle on the given interval. When f (x) is constant over an interval (as in Figure 6.2), we say that x is uniformly distributed on that interval. Let us consider an example in which f (x) is not constant. Example 3. This time suppose the particle of Example 1 is sliding up and down an inclined plane (no friction) rebounding elastically (no energy loss) against a spring at the bottom and reaching zero speed at height y = h (Figure 6.3). The total energy, namely 12 mv 2 + mgy is constant and equal to mgh since v = 0 at y = h. Thus we have (6.1)

v2 =

2 (mgh − mgy) = 2g(h − y). m

The probability of ﬁnding the particle within an interval dy at a given height y is proportional to the time dt spent in that interval. From v = ds/dt, we have dt = (ds)/v; from Figure 6.3, we ﬁnd ds = (dy) csc α. Combining these with (6.1) we have ds (dy) csc α dt = =√ √ v 2g h − y Since the probability f (y) dy of ﬁnding the particle in the interval √ dy at height y is proportional to dt, we can drop the constant factor (csc α)/ 2g, and say that

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Figure 6.3 √ f (y) dy is proportional to dy/ h − y. In order to ﬁnd f (y), we must multiply by a h constant factor which makes the total probability 0 f (y) dy equal to 1 since this is the probability that the particle is somewhere. You can easily verify that 1 dy f (y) dy = √ √ h −y 2 h

1 or f (y) = 2 h(h − y)

A graph of f (y) is plotted in Figure 6.4. Note that although f (y) becomes inﬁnite at y = h, the area under the f (y) curve for any interval is ﬁnite; this area represents the probability that the particle is in that height interval.

Figure 6.4 We can now extend the deﬁnitions of mean (expectation), variance, standard deviation, and cumulative distribution function to the continuous case. Let f (x) be ∞ n a probability density function; remember that −∞ f (x) dx = 1 just as i=1 pi = 1. The average of a random variable x with probability density function f (x) is

(6.2)

µ = x = E(x) = x =

∞

−∞

xf (x) dx.

(In writing the limits −∞, ∞ here, we assume that f (x) is deﬁned to be zero on intervals where the probability is zero.) Note that (6.2) is a natural extension of

Section 6

Continuous Distributions

753

the sum in (5.5). Having found the mean of x, we now deﬁne the variance as in Section 5 as the average of (x − µ)2 , that is,

(6.3)

∞

Var(x) = −∞

(x − µ)2 f (x) dx = σx2 .

As before, the standard deviation σx is the square root of the variance. Finally, the cumulative distribution function F (x) gives for each x the probability that the random variable is less than or equal to that x. But this probability is just the area under the f (x) curve from −∞ up to the point x. Also, of course, the integral of f (x) from −∞ to ∞ must = 1 since that is the total probability for all values of x. Thus we have

(6.4)

F (x) =

−∞

f (u) du,

∞

−∞

f (x) dx = F (∞) = 1.

Example 4. For the problem in Example 3, we ﬁnd:

h 2 1 1 dy = h. By (6.2), µy = yf (y) dy = √ y√ 3 h−y 2 h 0 0 2

h 1 4h2 2 By (6.3), Var(y) = , dy = y− h √ (y − µy )2 f (y) dy = 3 45 h−y 0 0 √ so standard deviation σy = Var(y) = 2h/ 45.

y By (6.4), cumulative distribution function F (y) = f (u) du 0

y 1 du √ = √ . h−u 2 h 0 h

Why "density function"? In Section 5, we mentioned that the probability function f (x) is often called the probability density. We can now explain why. Consider (6.2). If f (x) represents the density (mass per unit length) of a thin rod, then the center of mass of the rod is given by [see Chapter 5, (3.3)]

(6.5) x = xf (x) dx f (x) dx, where the integrals are over the length of the rod, or from −∞ to ∞ as in (6.2) with f (x) = 0 outside the rod. But in (6.2), f (x) dx is the total probability that x has some value, and so this integral is equal to 1. Then (6.5) and (6.2) are really the same; we see that it is reasonable to call f (x) a density, and also that the mean of x corresponds to the center of mass of a linear mass distribution of density f (x). In a similar way, we can interpret (6.3) as giving the moment of inertia of the mass distribution about the center of mass (see Chapter 5, Section 3).

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Joint Distributions We can easily generalize the ideas and formulas above to two (or more) dimensions. Suppose we have two random variables x and y; we deﬁne their joint probability density function f (x, y) so that f (xi , yj ) dx dy is the probability that the point (x, y) is in an element of area dx dy at x = xi , y = yj . Then the probability that the point (x, y) is in a given region of the (x, y) plane, is the integral of f (x, y) over that area. The average or expected values of x and y, the variances and standard deviations of x and y, and the covariance of x, y (see Problems 13 to 16) are given by

∞ ∞ x= xf (x, y) dx dy, −∞ −∞

∞ ∞ y= yf (x, y) dx dy, −∞ −∞

∞ ∞ (x − x)2 f (x, y) dx dy = σx2 , Var(x) = (6.6) −∞ −∞

∞ ∞ Var(y) = (y − y)2 f (x, y) dx dy = σy2 , −∞ −∞

∞ ∞ (x − x)(y − y)f (x, y) dx dy. Cov(x, y) = −∞

−∞

You should see that these are generalizations of (6.2) and (6.3); that (6.6) can be interpreted as giving the coordinates of the center of mass and the moments of inertia of a two-dimensional mass distribution; and that similar formulas can be written for three (or more) random variables (that is, in three or more dimensions). Also note that the formulas in (6.6) could be written in terms of polar coordinates (see Problems 6 to 9). We have discussed a number of probability distributions both discrete and continuous, and you will ﬁnd others in the problems. We will discuss three very important named distributions (binomial, normal, and Poisson) in the following sections. Learning about these and related graphs, formulas, and terminology should make it possible for you to cope with any of the many other named distributions you ﬁnd in texts, reference books, and computer programs.

PROBLEMS, SECTION 6 1.

(a)

Find the probability density function f (x) for the position x of a particle which is executing simple harmonic motion on (−a, a) along the x axis. (See Chapter 7, Section 2, for a discussion of simple harmonic motion.) Hint: The value of x at time t is x = a cos ωt. Find the velocity dx/dt; then the probability of ﬁnding the particle in a given dx is proportional to the time it spends there which is inversely proportional to its speed there. Don't forget that the total probability of ﬁnding the particle somewhere must be 1.

(b)

Sketch the probability density function f (x) found in part (a) and also the cumulative distribution function F (x) [see equation (6.4)].

(c)

Find the average and the standard deviation of x in part (a).

It is shown in the kinetic theory of gases that the probability for the distance a molecule travels between collisions to be between x and x + dx, is proportional to e−x/λ dx, where λ is a constant. Show that the average distance between collisions (called the "mean free path") is λ. Find the probability of a free path of length ≥ 2λ.

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Continuous Distributions

755

A ball is thrown straight up and falls straight back down. Find the probability density function f (h) so that f (h) dh is the probability of ﬁnding it between height h and h + dh. Hint: Look at Example 3.

In Problem 1 we found the probability density function for a classical harmonic oscillator. In quantum mechanics, the probability density function for a harmonic 2 2 oscillator (in the ground state) is proportional to e−α x , where α is a constant and x takes values from −∞ to ∞. Find f (x) and the average and standard deviation of x. (In quantum mechanics, the standard deviation of x is called the uncertainty in position and is written ∆x.)

The probability for a radioactive particle to decay between time t and time t + dt is proportional to e−λt . Find the density function f (t) and the cumulative distribution function F (t). Find the expected lifetime (called the mean life) of the radioactive particle. Compare the mean life and the so-called "half life" which is deﬁned as the value of t when e−λt = 1/2.

A circular garden bed of radius 1 m is to be planted so that N seeds are uniformly distributed over the circular area. Then we can talk about the number n of seeds in some particular area A, or we can call n/N the probability for any one particular seed to be in the area A. Find the probability F (r) that a seed (that is, some particular seed) is within r of the center. (Hint: What is F(1)?) Find f (r) dr, the probability for a seed to be between r and r + dr from the center. Find r and σ.

(a)

Repeat Problem 6 where the "circular" area is now on the curved surface of the earth, say all points at distance s from Chicago (measured along a great circle on the earth's surface) with s ≤ πR/3 where R = radius of the earth. The seeds could be replaced by, say, radioactive fallout particles (assuming these to be uniformly distributed over the surface of the earth). Find F (s) and f (s).

(b)

Also ﬁnd F (s) and f (s) if s ≤ 1 R (say s ≤ 1 mile where R = 4000 miles). Do your answers then reduce to those in Problem 6?

Given that a particle is inside a sphere of radius 1, and that it has equal probabilities of being found in any two volume elements of the same size, ﬁnd the cumulative distribution function F (r) for the spherical coordinate r, and from it ﬁnd the density function f (r). Hint: F (r) is the probability that the particle is inside a sphere of radius r. Find r and σ.

A hydrogen atom consists of a proton and an electron. According to the Bohr theory, the electron revolves about the proton in a circle of radius a (a = 5 · 10−9 cm for the ground state). According to quantum mechanics, the electron may be at any distance r (from 0 to ∞) from the proton; for the ground state, the probability that the electron is in a volume element dV , at a distance r to r + dr from the proton, is proportional to e−2r/a dV , where a is the Bohr radius. Write dV in spherical coordinates (see Chapter 5, Section 4) and ﬁnd the density function f (r) so that f (r) dr is the probability that the electron is at a distance between r and r + dr from the proton. (Remember that the probability for the electron to be somewhere must be 1.) Computer plot f (r) and show that its maximum value is at r = a; we then say that the most probable value of r is a. Also show that the average value of r −1 is a−1 .

10.

Do Problem 5.10 for a continuous distribution.

11.

Do Problem 5.13 for a continuous distribution.

12.

Do Problem 5.16 for a continuous distribution.

13.

Given a joint distribution function f (x, y) as in (6.6), show that E(x + y) = E(x) + E(y) and Var(x + y) = Var(x) + Var(y) + 2 Cov(x, y).

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14.

Recall that two events A and B are called independent if p(AB) = p(A)p(B). Similarly two random variables x and y are called independent if the joint probability function f (x, y) = g(x)h(y). Show that if x and y are independent, then the expectation or average of xy is E(xy) = E(x)E(y) = µx µy .

15.

Show that the covariance of two independent (see Problem 14) random variables is zero, and so by Problem 13, the variance of the sum of two independent random variables is equal to the sum of their variances.

16.

By Problem 15, if x and y are independent, then Cov(x, y) = 0. The converse is not always true, that is, if Cov(x, y) = 0, it is not necessarily true that the joint distribution function is of the form f (x, y) = g(x)h(y). For example, suppose f (x, y) = (3y 2 + cos x)/4 on the rectangle −π/2 < x < π/2, −1 < y < 1, and f (x, y) = 0 elsewhere. Show that Cov(x, y) = 0, but x and y are not independent, that is, f (x, y) is not of the form g(x)h(y). Can you construct some more examples?

7. BINOMIAL DISTRIBUTION Example 1. Let a coin be tossed 5 times; what is the probability of exactly 3 heads out of the 5 tosses? We can represent any sequence of 5 tosses by a symbol such as thhth. The probability of this particular sequence (or any other particular sequence) is ( 12 )5 since the tosses are independent (see Example 1 of Section 3). The number of such sequences containing 3 heads and 2 tails is the number of ways we can select 3 positions out of 5 for heads (or 2 for tails), namely C(5, 3). Hence, the probability of exactly 3 heads in 5 tosses of a coin is C(5, 3)( 12 )5 . Suppose a coin is tossed repeatedly, say n times; let x be the number of heads in the n tosses. We want to ﬁnd the probability density function p = f (x) which gives the probability of exactly x heads in n tosses. By generalizing the case of 3 heads in 5 tosses, we see that (7.1)

f (x) = C(n, x)( 12 )n

Example 2. Let us do a similar problem with a die, asking this time for the probability of exactly 3 aces in 5 tosses of the die. If A means ace and N not ace, the probability of a particular sequence such as AN N AA is 16 · 56 · 56 · 16 · 16 since the probability of A is 16 , the probability of N is 56 , and the tosses are independent. The number of such sequences containing 3 A's and 2 N 's is C(5, 3); thus the probability of exactly 3 aces in 5 tosses of a die is C(5, 3)( 16 )3 ( 56 )2 . Generalizing this, we ﬁnd that the probability of exactly x aces in n tosses of a die is (7.2)

f (x) = C(n, x)( 16 )x ( 56 )n−x .

Bernoulli Trials In the two examples we have just done, we have been concerned with repeated independent trials, each trial having two possible outcomes (h or t, A or N ) of given probability. There are many examples of such problems; let's consider a few. A manufactured item is good or defective; given the probability of a defect we want the probability of x defectives out of n items. An archer has probability p of hitting a target; we ask for the probability of x hits out of n tries. Each atom of a radioactive substance has probability p of emitting an alpha particle during the next minute; we are to ﬁnd the probability that x alpha particles will be emitted in the next minute from the n atoms in the sample. A particle moves back and forth along the x axis in unit jumps; it has, at each step, equal probabilities of

Section 7

Binomial Distribution

757

Figure 7.1

Figure 7.2

Figure 7.3 jumping forward or backward. (This motion is called a random walk ; it can be used as a model of a diﬀusion process.) We want to know the probability that, after n jumps, the particle is at a distance d = number x of positive jumps − number (n − x) of negative jumps, from its starting point; this probability is the probability of x positive jumps out of a total of n jumps. In all these problems, something is tried repeatedly. At each trial there are two possible outcomes of probabilities p (usually called the probability of "success") and

Figure 7.4

Figure 7.5

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Probability and Statistics

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q = 1 − p (where q = probability of "failure"). Such repeated independent trials with constant probabilities p and q are called Bernoulli trials. Binomial Probability Functions Let us generalize (7.1) and (7.2) to obtain a formula which applies to any similar problem, namely the probability f (x) of exactly x successes in n Bernoulli trials. Reasoning as we did to obtain (7.1) and (7.2), we ﬁnd that

(7.3)

f (x) = C(n, x)px q n−x .

We might also ask for the probability of not more than x successes in n trials. This is the sum of the probabilities of 0, 1, 2, · · · , x successes, that is, it is the cumulative distribution function F (x) for the random variable x whose probability density function is (7.3) [see (5.6)]. We can write F (x) = f (0) + f (1) + · · · + f (x) (7.4)

= C(n, 0)p0 q n + C(n, 1)p1 q n−1 + · · · + C(n, x)px q n−x x x n u n−u u n−u p q = C(n, u)p q = . u u=0 u=0

Observe that (7.3) is one term of the binomial expansion of (p + q)n and (7.4) is a sum of several terms of this expansion (see Section 4, Example 2). For this reason, the functions f (x) in (7.1), (7.2), or (7.3) are called binomial probability (or density) functions or binomial distributions, and the function F (x) in (7.4) is called a binomial cumulative distribution function. We shall ﬁnd it very useful to computer plot graphs of the binomial density function f (x) for various values of p and n. (See Figures 7.1 to 7.5 and Problems 1 to 8.) Instead of a point at y = f (x) for each x, we plot a horizontal line segment of length 1 centered on each x as in Figure 6.1; the probabilities are then represented by areas under the broken line, rather than by ordinates. From Figures 7.1 to 7.3 and similar graphs, we can draw a number of conclusions. The most probable value of x [corresponding to the largest value of f (x)] is approximately x = np (Problems 10 and 11); for example for p = 12 , the most probable value of x is 12 n for even n; for odd n, there are two consecutive values of x, namely 12 (n ± 1), for which the probability is largest. The graphs for p = 12 are symmetric about x = 12 n. For p = 12 , the curve is asymmetric, favoring small x values for small p and large x values for large p. As n increases, the graph of f (x) becomes wider and ﬂatter (the total area under the graph must remain 1). The probability of the most probable value of x decreases with n. For example, the most probable number of heads in 8 tosses of a coin is 4 with probability 0.27; the most probable number of heads in 20 tosses is 10 with probability 0.17; for 106 tosses, the probability of exactly 500,000 heads is less than 10−3 . Let us redraw Figures 7.1 and 7.2 plotting nf (x) against the relative number of successes x/n (Figures 7.4 and 7.5). Since this change of scale (ordinate times n, abscissa divided by n) leaves the area unchanged, we can still use the area to represent probability. Note that now the curves become narrower and taller as n

Section 7

Binomial Distribution

759

increases. This means that values of the ratio x/n tend to cluster about their most probable value, namely np/n = p. For example, if we toss a coin repeatedly, the diﬀerence "number of heads − 21 number of tosses" is apt to be large and to increase with n (Figures 7.1 and 7.2), but the ratio "number of heads ÷ number of tosses" is apt to be closer and closer to 12 as n increases (Figures 7.4 and 7.5). It is for this reason that we can use experimentally determined values of x/n as a reasonable estimate of p. Chebyshev's Inequality This is a simple but very general result which we will ﬁnd useful. We consider a random variable x with probability function f (x), and let µ be the mean value and σ the standard deviation of x. We are going to prove that if we select any number t, the probability that x diﬀers from its mean value µ by more than t, is less than σ 2 /t2 . This means that x is unlikely to diﬀer from µ by more than a few standard deviations; for example, if t is twice the standard deviation σ, we ﬁnd that the probability for x to diﬀer from µ by more than 2σ is less than σ 2 /t2 = σ 2 /(2σ)2 = 14 . The proof is simple. By deﬁnition of σ, we have σ2 =

(x − µ)2 f (x)

where the sum is over all x. Then if we sum just over the values of x for which |x − µ| ≥ t, we get less than σ 2 : (7.5) σ2 > (x − µ)2 f (x). |x−µ|≥t

If we replace each x − µ by the number t in (7.5), the sum is decreased, so we have (7.6)

σ2 >

|x−µ|≥t

t2 f (x) = t2

f (x)

|x−µ|≥t

f (x)
f (x)], and less than or equal to 1 [that is, f (x + 1) ≤ f (x)]. Remember that x must be an integer.

11.

Use the method of Problem 10 to show that for the binomial distribution (7.3), the most probable value of x is approximately np (actually within 1 of this value).

12.

Let x = number of heads in one toss of a coin. What are the possible values of x and their probabilities? What is µx ? Hence show that Var(x) = [average of (x − µx )2 ] = 14 , so the standard deviation is 12 . Now use the result from Problem 6.15 "variance of a sum of independent random variables = sum of their variances" to show that if x = number of heads in n tosses of a coin, Var(x) = 14 n and the standard deviation 1√ σx = 2 n.

13.

Generalize Problem 12 to show that for the general binomial distribution (7.3), √ Var(x) = npq, and σ = npq.

n = 50, p = 4/5

Section 8

The Normal or Gaussian Distribution

761

8. THE NORMAL OR GAUSSIAN DISTRIBUTION The graph of the normal or Gaussian distribution is the bell-shaped curve you may know as the normal error curve (Figure 8.1). The normal distribution is used a great deal because, as we shall see, it is not only of interest in itself (see Problems 2 and 3), but also other distributions become almost normal when n (the number of trials or measurements) becomes large (see Figures 8.2 and 8.3). The probability density function f (x) and the cumulative distribution function F (x) for the normal or Gaussian distribution are given by

(8.1)

2 2 1 f (x) = √ e−(x−µ) /(2σ ) , σ 2π

x 2 2 1 F (x) = √ e−(t−µ) /(2σ ) dt. σ 2π −∞

Normal distribution

It is straightforward to show (Problem 1) that if x is a random variable with probability density f (x) in (8.1), then the mean of x is µ and the standard deviation is σ. Also we can show that the integral of f (x) from −∞ to ∞ is equal to 1 as it must be for a probability function. Then the probability that a normally distributed random variable x lies between x1 and x2 is the area under the f (x) curve between x1 and x2 which is

(8.2)

F (x2 ) − F (x1 ) = probability that x1 ≤ x ≤ x2 .

Figure 8.1 A normal density function graph (Figure 8.1) has its peak at x = µ and is symmetric with respect to the line x = µ. Since the area from −∞ to ∞ is 1, the area from −∞ to µ is 12 (that is, F (µ) = 12 ), and similarly the area from µ to ∞ is 12 . A change in µ merely translates the graph with no change in shape. An increase in σ widens and ﬂattens the graph so that the area remains 1, and similarly a decrease in σ makes the graph taller and narrower. (Problems 4 to 6). The area from µ − σ to µ + σ is 0.6827, that is, the probability that x diﬀers from its mean value by 1 standard deviation or less, is just over 68%. The probability that |x − µ| ≤ 2σ

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is over 95% and the probability that |x − µ| ≤ 3σ is over 99.7%. Note that these probabilities are independent of the values of µ and σ (Problem 7). Normal Approximation to the Binomial Distribution As an example of approximating another distribution by a normal distribution, let's consider the binomial distribution (7.3). For large n and large np, we can use Stirling's formula (Chapter 11, Section 11) to approximate the factorials in C(n, x) in (7.3) and make other approximations to ﬁnd

(8.3)

2 1 e−(x−np) /(2npq) . f (x) = C(n, x)px q n−x ∼ √ 2πnpq

Figure 8.2

Binomial distribution for n = 88, p = 12 , and the normal approximation.

The sign ∼ means (as in Chapter 11, Section 11) that the ratio of the exact binomial distribution (7.3) and the right-hand side of (8.3) tends to 1 as n → ∞. An outline of a derivation of (8.3) is given in Problem 8, but you may be more impressed by doing some computer plotting of graphs like Figures 8.2 and 8.3 (Problems 9 and 10). Although we have said that equation (8.3) gives an approximation valid for large n, the agreement is quite good even for fairly small values of n. Figure 8.2 shows this for the case n = 8. The binomial distribution f (x) is deﬁned only for integral x; you should compare the values of f (x) with the values of the approximating normal curve at integral values of x. When n is very large (Figure 8.3), a graph of the exact binomial distribution is very close to the normal approximation (Problem 9).

Figure 8.3

Binomial distribution for n = 100 100, p = 12 .

In (8.3), the left-hand side is the exact binomial distribution and the right√ hand side is a normal distribution with µ = np and σ = npq as we see by comparing (8.3) and (8.1). Recall from Problems 7.9 and 7.13 that the mean value

Section 8

The Normal or Gaussian Distribution

763

µ and standard deviation σ for a random variable whose probability function is the √ binomial distribution (7.3) are also µ = np and σ = npq.

(8.4)

For the binomial distribution and its normal approximation, √ µ = np, σ = npq .

We can expect this in general; whatever the µ and σ are for a given distribution, the normal approximation will have the same µ and σ. Example 1. Find the probability of exactly 52 heads in 100 tosses of a coin using the binomial distribution and using the normal approximation. See Figure (8.3) which is a plot of the binomial probability density function with n = 100, p = 12 . We ﬁnd by computer for x = 52, binomial f (52) = 0.07353, which you could also read approximately from Figure (8.3). For the normal approximation, we ﬁnd from (8.4), µ = np = 100 · 12 = 50, √ σ = npq = 100 · 12 · 12 = 5. Then for the normal approximation with µ = 50, σ = 5, we ﬁnd by computer for x = 52, normal f (52) = 0.07365. Example 2. Find the probability P (45, 55) of between 45 and 55 heads in 100 tosses of a coin, that is 45 ≤ x ≤ 55. As in Example 1, for the binomial distribution we have n = 100, p = 12 . The cumulative binomial distribution function F (x) in (7.4) gives P (45, 55) as a sum of terms; we want the sum of the 11 terms with x = 45, 46, · · · 55. By computer, we can ﬁnd F (55), the binomial cumulative distribution function with x = 55, which is the probability of 55 heads or less, and then ﬁnd and subtract F (44), the probability of 44 heads or less. Thus we ﬁnd P (45, 55) = binomial F (55) − binomial F (44) = 0.72875. For the normal approximation, we ﬁnd by computer from (8.2), P (45, 55) = normal F (55) − normal F (45) = 0.68269. We can get a better approximation by integrating from 44.5 to 55.5; this corresponds more closely to the appropriate area under the exact binomial graph in Figure 8.3 by including the whole steps at x = 45 and x = 55. This gives P (44.5, 55.5) = normal F (55.5)−normal F (44.5) = 0.72867. Standard Normal Distribution This is just the normal distribution in (8.1) for the special case µ = 0 and σ = 1. The density function is often denoted by φ(z), and the corresponding cumulative distribution function by Φ(z):

(8.5)

2 1 φ(z) = √ e−z /2 , 2π

z 2 1 Φ(z) = √ e−u /2 du. 2π −∞

Standard normal distribution

The cumulative distribution function Φ(z) is related to the error function (see Chapter 11, Section 9).

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It is sometimes convenient to write the functions in (8.1) in terms of φ(z) and Φ(z). We can do this by making the change of variables z = (x − µ)/σ. The result is (Problem 21)

(8.6)

1 φ(z), σ F (x) = Φ(z), f (x) =

where z =

(x − µ) . σ

The functions φ(z) and Φ(z) [or sometimes Φ(z) − 12 ] are tabulated so you can use either tables or computer to do problems. Example 3. Find the number r such that the area under the normal distribution curve y = f (x) from µ − r to µ + r is equal to 1/2. Look at Figure 8.1 and recall that the area from −∞ to ∞ is 1 and that the graph is symmetric about x = µ. Then the integral from −∞ to µ − r and the integral from µ + r to ∞ are equal to each other and so each is equal to 1/4. Thus the integral from −∞ to µ + r must be 3/4, that is F (µ + r) = 3/4. By (8.6) this is Φ(z) = 3/4 where z = (µ + r − µ)/σ = r/σ. By computer or tables we ﬁnd that if Φ(z) = 3/4, then z = 0.6745. Thus r = 0.6745σ. Example 4. You have taken a test (academic like the SAT, or medical like a bone density test) and a report gives your z-score as 1.14. What percent of your peers scored higher than you? If we call the actual test scores x, and their average is µ and standard deviation σ, then the term z-score means the value of z = (x− µ)/σ as in (8.6). (In words, the zscore is the diﬀerence between x and its average, measured in units of the standard deviation.) Now we want the area 1 − F (x) = 1 − Φ(z) by (8.6). By computer (or tables) we ﬁnd Φ(1.14) = 0.87; then 1 − 0.87 = 0.13, so 13% of your peers scored higher than you. If your z-score is negative, then you are below average—bad if it's a physics test, good if it's your cholesterol! For example, if z = −0.25, then Φ(z) = 0.40, so 60% of your peers scored higher than you. Example 5. Suppose that boxes of a certain kind of cereal have an average weight of 16 ounces and it is known that 70% of the boxes weigh within 1 ounce of the average. What is the probability that the box you buy weighs less than 14 ounces? If x represents the weight of a box, then we are given that the probability of 15 < x < 17 is 0.7. Assuming a normal distribution, the area under the f (x) curve up to x = µ = 16 is 12 and the area from x = 16 to x = 17 is half of 0.7 (by symmetry; see Figure 8.1). Thus F (17) = 0.5 + 0.35 = 0.85. We want to ﬁnd the probability that x < 14; this is F (14). Using (8.6), x = 17 gives z = (17 − 16)/σ = 1/σ, and similarly x = 14 gives z = −2/σ. So we are given Φ(1/σ) = 0.85, and we want to ﬁnd Φ(−2/σ). By computer (or tables) we ﬁnd that if Φ(1/σ) = 0.85, then 1/σ = 1.0364, so 2/σ = 2.0728, and Φ(−2/σ) = 0.019. So there is almost a 2% chance that we would get a box weighing less than 14 ounces. Note that in Examples 4 and 5 we assumed a normal distribution with no obvious justiﬁcation. It is a very interesting and useful fact that such an assumption is

Section 8

The Normal or Gaussian Distribution

765

reasonable if the number of measurements is very large. We will discuss this further at the end of Section 10.

PROBLEMS, SECTION 8 1.

Verify that for a random variable x with normal density function f (x) as in (8.1), the mean value of x is µ , the standard deviation is σ, and the integral of f (x) from −∞ to ∞ is 1 as it must Rbe for a probability R∞ R ∞ function. Hint: Write and evaluate ∞ the integrals −∞ f (x) dx, −∞ xf (x) dx, −∞ (x − µ)2 f (x) dx. See equations (6.2), (6.3), and (6.4).

Do Problem 6.4 by comparing e−ax with f (x) in (8.1).

The probability density function for the x component of the velocity of a molecule 2 of an ideal gas is proportional to e−mv /(2kT ) where v is the x component of the velocity, m is the mass of the molecule, T is the temperature of the gas and k is the Boltzmann constant. By comparing this with (8.1), ﬁnd the mean and standard deviation of v, and write the probability density function f (v).

Computer plot on the same axes the normal probability density functions with µ = 0, σ = 1, and with µ = 3, σ = 1 to note that they are identical except for a translation.

Computer plot on the same axes the normal density functions with µ = 0 and σ = 1, 2, and 5. Label each curve with its σ.

Do Problem 5 for σ = 16 ,

By computer ﬁnd the value of the normal cumulative distribution function at µ + σ, µ + 2σ, µ + 3σ, and satisfy yourself that these are independent of your choices for µ and σ. Find the probabilities that x is within 1, 2, or 3 standard deviations of its mean value µ to verify the results stated in the paragraph following (8.2). Hint: See Figure (8.1). The probability that x is within 1 standard deviation of its mean value is the area from µ − σ to µ + σ; this is twice the area from µ to µ + σ. Subtract 1 (that is the area from −∞ to µ) from your value of F (µ + σ) and then double the 2 result.

Carry through the following details of a derivation of (8.3). Start with (7.3); we want an approximation to (7.3) for large n. First approximate the factorials in C(n, x) by Stirling's formula (Chapter 11, Section 11) and simplify to get „ «x „ «n−x r np n nq f (x) ∼ . x n−x 2πx(n − x)

1 , 3

Show that if δ = x−np, then x = np+δ and n−x = nq−δ. Make these substitutions for x and n − x in the approximate f (x). To evaluate the ﬁrst two factors in f (x) (ignore the square root for now): Take the logarithm of the ﬁrst two factors; show that „ « np δ ln = − ln 1 + x np and a similar formula for ln[nq/(n − x)]; expand the logarithms in a series of powers of δ/(np), collect terms and simplify to get «n−x „ « „ «x „ δ nq np δ2 1 + powers of . ln ∼− x n−x 2npq n Hence

„

np x

«x „

nq n−x

«n−x

∼ e−δ

/(2npq)

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Chapter 15

for large n. [We really want δ/n small, that is, x near enough to its average value np so that δ/n = (x − np)/n is small. This means that our approximation is valid for the central part of the graph (see Figures 7.1 to 7.3) around x = np where f (x) is large. Since f (x) is negligibly small anyway for x far from np, we ignore the fact that our approximation may not be good there. For more detail on this point, see Feller, p. 192]. Returning to the square root factor in f (x), approximate x by np and n − x by nq (assuming δ np or nq) and obtain (8.3). 9.

Computer plot a graph like Figure 8.3 of the binomial distribution with n = 1000, p = 12 , and observe that you have practically the corresponding normal approximation.

10.

Computer plot graphs like Figure 8.2 but with p = 12 to see that as n increases, the normal approximation becomes good (at least in the region around x = µ where the probabilities are large) even though the binomial graph is not symmetric (see Figure 7.3).

As in Examples 1 and 2, use (a) the binomial distribution; (b) the corresponding normal approximation, to ﬁnd the probabilities of each of the following: 11.

Exactly 50 heads in 100 tosses of a coin.

12.

Exactly 120 aces in 720 tosses of a die.

13.

Between 100 and 140 aces in 720 tosses of a die.

14.

Between 499,000 and 501,000 heads in 106 tosses of a coin.

15.

Exactly 195 tails in 400 tosses of a coin.

16.

Between 195 and 205 tails in 400 tosses of a coin.

17.

Exactly 31 4's in 180 tosses of a die.

18.

Between 29 and 33 4's in 180 tosses of a die.

19.

Exactly 21 successes in 100 Bernoulli trials with probability

20.

Between 17 and 21 successes in 100 Bernoulli trials with probability

21.

Verify equations (8.6). Hints: In F (x), let u = (t − µ)/σ; note that dt = σdu. What is u when t = −∞? When t = x? Remember that by deﬁnition z = (x − µ)/σ.

22.

Using (8.6), do Problem 7.

23.

Using (8.6), ﬁnd h such that 90% of the area under a normal f (x) lies between µ − h and µ + h. Repeat for 95%. Hint: See Example 3.

24.

Write out a proof of Chebyshev's inequality (see end of Section 7) for the case of a continuous probability function f (x).

25.

An instructor who grades "on the curve" computes the mean and standard deviation of the grades, and then, assuming a normal distribution with this µ and σ, sets the border lines between the grades at: C from µ − 12 σ to µ + 12 σ, B from µ + 12 σ to µ + 32 σ, A from µ + 32 σ up, etc. Find the percentages of the students receiving the various grades. Where should the border lines be set to give the percentages: A and F, 10%; B and D, 20%; C, 40%?

1 5

of success. 1 5

of success.

Section 9

The Poisson Distribution

767

9. THE POISSON DISTRIBUTION The Poisson distribution is useful in a variety of problems in which the probability of some occurrence is small and constant. (See Example 1 and Problems 3 to 9.) It is also a good approximation to the binomial distribution when p is so small that np is small even though n is large (see Example 2). Let's derive the Poisson distribution by considering the following experiment. Suppose we observe and count the number of particles emitted per unit time by a radioactive substance. We assume that our period of observation is much less than the half-life of the substance, so that the average counting rate does not decrease during the experiment. Then the probability that one particle is emitted during a small time interval ∆t is µ∆t, µ =const., if ∆t is short enough so that the probability of two particles during ∆t is negligible. We want to ﬁnd the probability Pn (t) of observing exactly n counts during a time interval t. The probability Pn (t + ∆t) is the probability of observing n counts in the time interval t + ∆t. For n > 0, this is the sum of the probabilities of the two mutually exclusive events, "n particles in t, none in ∆t" and "(n − 1) particles in t, one in ∆t"; in symbols, (9.1)

Pn (t + ∆t) = Pn (t)P0 (∆t) + Pn−1 (t)P1 (∆t).

Now P1 (∆t) is the probability of one particle in ∆t; this, by assumption, is µ∆t. Then the probability of no particles in ∆t is 1 − P1 (∆t) = 1 − µ∆t. Substituting these values into (9.1), we get (9.2)

Pn (t + ∆t) = Pn (t)(1 − µ∆t) + Pn−1 (t)µ∆t,

or, (9.3)

Pn (t + ∆t) − Pn (t) = µPn−1 (t) − µPn (t). ∆t

Letting ∆t → 0, we have (9.4)

dPn (t) = µPn−1 (t) − µPn (t). dt

For n = 0, (9.1) simpliﬁes since the only possible event is "no particles in t, no particles in ∆t," and (9.4) becomes, for n = 0, (9.5)

dP0 (t) = −µP0 (t). dt

Then, since P0 (0) = "probability that no particle is emitted during a zero time interval" = 1, integration of (9.5) gives (9.6)

P0 = e−µt .

Substituting (9.6) into (9.4) with n = 1 gives a diﬀerential equation for P1 (t); its solution (Problem 1) is P1 (t) = µte−µt . Solving (9.4) successively (Problem 1) for P2 , P3 , · · · , Pn , we obtain (9.7)

Pn (t) =

(µt)n −µt e . n!

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Probability and Statistics

Chapter 15

Putting t = 1, we get for the probability of exactly n counts per unit time

(9.8)

Pn =

µn −µ e . n!

Poisson distribution

The probability density function (9.8) is called the Poisson distribution or the Poisson probability density function. You can show (Problem 2) that for the random variable n, the mean (that is the average number of counts per unit time) is µ, and √ the variance is also µ so the standard deviation is µ. Example 1. The number of particles emitted each minute by a radioactive source is recorded for a period of 10 hours; a total of 1800 counts are registered. During how many 1-minute intervals should we expect to observe no particles; exactly one; etc.? The average number of counts per minute is 1800/(10·60) = 3 counts per minute; this is the value of µ. Then by (9.8), the probability of n counts per minute is Pn =

3n −3 e . n!

A graph of this probability function is shown in Figure 9.1. For n = 0, we ﬁnd P0 = e−3 = 0.05; then we should expect to observe no particles in about 5% of the 600 1-minute intervals, that is, during 30 1-minute intervals. Similarly we could compute the expected number of 1-minute intervals during which 1, 2, · · · , particles would be observed.

Figure 9.1

Poisson distribution µ = 33.

Poisson Approximation of the Binomial Distribution In Section 8, we discussed the fact that the binomial distribution can be approximated by the normal distribution for large n and large np. If p is very small so that np is very much less than n (say, for example, p = 10−3 , n = 2000, np = 2), the normal approximation is not good. In this case you can show (Problem 10) that the Poisson distribution gives a good approximation to the binomial distribution (7.3), that is, that

Section 9

(9.9)

The Poisson Distribution

C(n, x)px q n−x ∼

(np)x e−np , x!

769

Large n, small p.

[The exact meaning of (9.9) is that, for any ﬁxed x, the ratio of the two sides approaches 1 as n → ∞ and p → 0 with np remaining constant.] Example 2. If 1500 people each select a number at random between 1 and 500, what is the probability that 2 people selected the number 29? The answer is given by the binomial distribution (7.3) with n = 1500, p = 1/500, x = 2. This is 1500! 1 2 499 998 C(n, x)px q n−x = = 0.2241. 2!1498! 500 500 (Or from your computer: the binomial probability density function with n = 1500, p = 1/500, x = 2, is 0.2241 to four decimal places.). A simpler formula from (9.9) is the Poisson approximation with µ = np = 3, x = 2, namely µx e−x /x! = 32 e−2 /2! = 0.2240. (Or from your computer, the Poisson probability density function with µ = 3, x = 2, is 0.2240 to four decimal places.) It is interesting to computer plot on the same axes the binomial distribution with n = 1500, p = 1/500, and the Poisson distribution with µ = 3 as in Figure 9.1 to discover that they are almost identical (Problem 12). Approximations by the Normal Distribution We have commented that many distributions can be approximated by the normal distribution when n and µ = np are both large, and have shown this for the binomial distribution in (8.1). The Poisson distribution when µ is large is also fairly well approximated by the normal distribution as in (9.10).

(9.10)

2 µx e−µ ∼ 1 e−(x−µ) /(2µ) , =√ x! 2πµ

µ large.

Note that the normal distribution in (9.10) has the same mean and variance as the Poisson distribution it is approximating (see Problem 2 for the Poisson mean and variance). It is useful to computer plot on the same axes graphs of the Poisson distribution and their normal approximations (Problem 13).

PROBLEMS, SECTION 9 1.

Solve the sequence of diﬀerential equations (9.4) for successive n values [as started in (9.5) and (9.6)] to obtain (9.7).

Show that the average value of a random variable n whose probability function is the Poisson distribution (9.8) is the number µ in (9.8). Also show that the standard √ x deviation of the random variable is µ. Hint: P Write the inﬁnite series for e , diﬀerentiate it and multiply by x to get xex = (nxn /n!); put x = µ. To ﬁnd σ 2 diﬀerentiate the xex series again, etc.

770

Probability and Statistics

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In an alpha-particle counting experiment the number of alpha particles is recorded each minute for 50 hours. The total number of particles is 6000. In how many 1-minute intervals would you expect no particles? Exactly n particles, for n = 1, 2, 3, 4, 5? Plot the Poisson distribution.

Suppose you receive an average of 4 phone calls per day. What is the probability that on a given day you receive no phone calls? Just one call? Exactly 4 calls?

Suppose that you have 5 exams during the 5 days of exam week. Find the probability that on a given day you have no exams; just 1 exam; 2 exams; 3 exams.

If you receive, on the average, 5 email messages per day, in how many days out of a 365-day year would you expect to receive exactly 5 messages? Fewer than 5? Exactly 10? More than 10? Just 1? None at all?

In a club with 500 members, what is the probability that exactly two people have birthdays on July 4?

If there are 100 misprints in a magazine of 40 pages, on how many pages would you expect to ﬁnd no misprints? Two misprints? Five misprints?

If there are, on the average, 7 defects in a new car, what is the probability that your new car has only 2 defects? That it has 6 or 7? That it has more than 10?

10.

Derive equation (9.9) as follows: In C(n, x), show that n!/(n − x)! ∼ nx for ﬁxed x and large n [write n!/(n − x)! as a product of x factors, divide by nx , and show that the limit is 1 as n → ∞]. Then write q n−x = (1 − p)n−x as (1 − p)n (1 − p)−x = (1 − np/n)n (1 − p)−x ; evaluate the limit of the ﬁrst factor as n → ∞, np ﬁxed; the limit of the second factor as p → 0 is 1. Collect your results to obtain equation (9.9).

11.

Suppose 520 people each have a shuﬄed deck of cards and draw one card from the deck. What is the probability that exactly 13 of the 520 cards will be aces of spades? Write the binomial formula and approximate it. Which is best, the normal or the Poisson approximation? Although you only need values at one x to answer the question, you might like to computer plot on the same axes graphs of the three distributions for the given n and p.

12.

Computer plot on the same axes graphs of the binomial distribution in Example 2 and the Poisson and normal approximations.

13.

Computer plot on the same axes a graph of the Poisson distribution and the corresponding normal approximation for the cases µ = 1, 5, 10, 20, 30.

10. STATISTICS AND EXPERIMENTAL MEASUREMENTS Statistics uses probability theory to consider sets of data and draw reasonable conclusions from them. So far in this chapter, we have been discussing problems for which we could write down a density function formula (normal, Poisson, etc.). Suppose that, instead, we have only a table of data, say a set of laboratory measurements of some physical quantity. Presumably, if we spent more time, we could enlarge this table of data as much as we liked. We can then imagine an inﬁnite set of measurements of which we have only a sample. The inﬁnite set is called the parent population or universe. What we would really like to know is the probability function for the parent population, or at least the average value µ (often thought of as the "true" value of the quantity being measured) and the standard deviation σ of the parent population. We must content ourselves with the best estimates we can make of these quantities using our available sample, that is, the set of measurements which we have made.

Section 10

Statistics and Experimental Measurements

771

Estimate of Population Average As a quick estimate of µ we might take the median of our measurements xi (a value such that there are equal numbers of larger and smaller measurements), or the mode (the measurement we obtained the most times, that is the most probable measurement). The most frequently used estimate of µ is, however, the arithmetic mean (or average) of the measurements, that is the n sample mean x = (1/n) i=1 xi . Thus we have

(10.1)

Estimate of population mean is µ x = (1/n)

xi .

i=1

For a large set of measurements we can justify this choice as follows (also see Problem 1). Assuming that the parent population for our measurements has probability density function f (x) with expected value µ and standard deviation σ, it is easy to show (Problem 2) that the expected value of x is µ and the standard deviation √ of x is σ/ n. Now Chebyshev's inequality (end of Section 7) says that a random variable is unlikely to diﬀer from its expected value by more than a few standard deviations. For our problem √ this says that x is unlikely to diﬀer from µ by more than a few multiples of σ/ n, which becomes small as n increases. Thus x becomes an increasingly good estimate of µ as we increase the number n of measurements. Note that this just says mathematically what you would assume from experience, that the average of a large number of measurements is more likely to be accurate than the average of a small number. For example, two measurements might both be too large, but it's unlikely that 20 would all be too large. Estimate of Population Variance Our ﬁrst guess for an estimate of σ 2 might 2 be s = (1/n) ni=1 (xi − x)2 , but we would be wrong. To see what is reasonable, we ﬁnd the expected value of s2 assuming that our measurements are from a population with mean µ and variance σ 2 . The result is (Problem 3), E(s2 ) = [(n − 1)/n]σ 2 . n We conclude that a reasonable estimate of σ 2 is n−1 s2 .

(10.2)

Estimate of population variance is σ 2

1 (xi − x)2 . n − 1 i=1

(Caution: The term "sample variance" is used in various references—texts, reference books, computer programs—to mean either our s2 or our estimate of σ 2 , so check the deﬁnition carefully in any reference you use. We shall avoid using the term.) The quantity σ which we have just estimated is the standard deviation for the parent population whose probability function we call f (x). Consider just a single measurement x. The function f (x) (if we knew it) would give us the probabilities of the diﬀerent possible values of x, the population mean µ would tell us approximately the value we are apt to ﬁnd for x, and the standard deviation σ would tell us roughly the spread of x values about µ. Since σ tells us something about a single measurement, it is often called the standard deviation of a single measurement.

772

Probability and Statistics

Chapter 15

Standard Deviation of the Mean; Standard Error Instead of a single measurement, let us consider x, the average (mean) of a set of n measurements. (The mean, x, will be what we will use or report as the result of an experiment.) Just as we originally imagined obtaining the probability function f (x) by making a large number of single measurements, so we can imagine obtaining a probability function g(x) by making a large number of sets of n measurements with each set giving us a value of x. The function g(x) (if we knew it) would give us the probability of diﬀerent values of x. We have seen (Problem 2) that Var(x) = σ 2 /n, so the standard deviation of the mean (that is, of x) is (10.3)

σm =

σ Var(x) = √ . n

The quantity σm is also called the standard error ; it gives us an estimate of the spread of values of x about µ. We see that the new probability function g(x) must be √ much more peaked than f (x) about the value µ because the standard deviation σ/ n is much smaller than σ. Collecting formulas (10.2) and (10.3), we have

(10.4)

σm ∼ =

n i=1 (xi

− x)2 n(n − 1)

Example 1. To illustrate our discussion, let's consider the following set of measurements: {7.2, 7.1, 6.7, 7.0, 6.8, 7.0, 6.9, 7.4, 7.0, 6.9}. [Note that, to show methods but minimize computation, we consider unrealistically small sets of measurements.] 10

From (10.1) we ﬁnd µ x =

1 70 = 7.0. xi = 10 i=1 10 10

1 0.36 = 0.04, σ 0.2. (xi − 7)2 = 9 i=1 9 0.36 From (10.4), the standard error is σm

= 0.0632. 10 · 9

From (10.2) we ﬁnd σ 2

Combination of Measurements We have discussed how we can use a set of measurements xi to estimate µ (the population average) by x (the sample average) and to estimate the standard error σmx = Var(x) [equation (10.4)]. Now suppose we have done this for two quantities, x and y, and we want to use a known formula w = w(x, y) to estimate a value for w and the standard error in w. First we consider the simple example w = x + y. Then, by Problem 6.13, (10.5)

E(w) = E(x) + E(y) = µx + µy

where µx and µy are population averages. As discussed above, we estimate µx and µy by x and y and conclude that a reasonable estimate of w is (10.6)

w = x + y.

Section 10

Statistics and Experimental Measurements

773

Now let us assume that x and y are independently measured quantities. Then by Problem 6.15, (10.7)

2 2 Var(w) = Var(x) + Var(y) = σmx + σmy , 2 + σ2 . σmw = σmx my

Next consider the case w = 4 − 2x + 3y. As in equations (10.5) and (10.6), we ﬁnd w = 4 − 2x + 3y. Now by Problem 5.13, we have Var(x + K) = Var(x), and Var(Kx) = K 2 Var(x), where K is a constant. Thus, (10.8)

(10.9)

Var(w) = Var(4 − 2x + 3y) = Var(−2x + 3y) 2 2 = (−2)2 Var(x) + (3)2 Var(y) = 4σmx + 9σmy , 2 + 9σ 2 . σmw = 4σmx my

We can now see how to ﬁnd w and σmw for any function w(x, y) which can be approximated by the linear terms of its Taylor series about the point (µx , µy ), namely (see Chapter 4, Section 2) ∂w ∂w (10.10) w(x, y) ∼ (x − µx ) + (y − µy ) = w(µx , µy ) + ∂x ∂y where the partial derivatives are evaluated at x = µx , y = µy , and so are constants. [Practically speaking, this means that the ﬁrst partial derivatives should not be near zero—we can't expect good results near a maximum or minimum of w—and the higher derivatives should not be large, that is, w should be "smooth" near the point (µx , µy ).] Assuming (10.10), and remembering that w(µx , µy ) and the partial derivatives are constants, we ﬁnd ∂w ∂w [E(x) − µx ] + [E(y) − µy ] E[w(x, y)] ∼ (10.11) = w(µx , µy ) + ∂x ∂y = w(µx , µy ). Since we have agreed to estimate µx and µy by x and y, we conclude that a reasonable estimate of w is (10.12)

w = w(x, y).

(This may look obvious, but see Problem 7.) Then, putting x = x, y = y in (10.10) and remembering the comment just before (10.11), we ﬁnd as in (10.8)

(10.13)

Var(w) = Var[w(x, y)] ∂w ∂w (x − µx ) + (y − µy ) = Var w(µx , µy ) + ∂x ∂y 2 2 ∂w ∂w 2 2 = σmx + σmy , ∂x ∂y 2 2 ∂w ∂w 2 + 2 . σmx σmy σmw = ∂x ∂y

We can use (10.12) and (10.13) to estimate the value of a given function w of two measured quantities x and y and to ﬁnd the standard error in w.

774

Probability and Statistics

Chapter 15

Example 2. From Example 1 we have x = 7 and σmx = 0.0632. Suppose we have also found from measurements that y = 5 and σmy = 0.0591. If w = x/y, ﬁnd w and σmw . From (10.12) we have w = x/y = 7/5 = 1.4. From (10.13) we ﬁnd 2 2 2 2 1 1 −x −7 2 + 2 = 2+ σmx σ (0.0632) (0.0591)2 σmw = my y 5 25 y2 = 0.0208. Central Limit Theorem So far we have not assumed any special form (such as normal, etc.) for the density function f (x) of the parent population, so that our results for computation of approximate values of µ, σ, and σm from a set of measurements apply whether or not the parent distribution is normal. (And, in fact, it may not be; for example, Poisson distributions are quite common.) You will ﬁnd, however, that most discussions of experimental errors are based on an assumed normal distribution. Let us discuss the justiﬁcation for this. We have seen above that we can think of the √ sample average x as a random variable with average µ and standard deviation σ/ n. We have said that we might think of a density function g(x) for x and that it would be more strongly peaked about µ than the density function f (x) for a single measurement, but we have not said anything so far about the form of g(x). There is a basic theorem in probability (which we shall quote without proof) which gives us some information about the probability function for x. The central limit theorem says that no matter what the parent probability function f (x) is (provided µ and σ exist), the probability function for √ x is approximately the normal distribution with standard deviation σ/ n if n is large. Confidence Intervals, Probable Error If we assume that the probability function for x is normal (a reasonable assumption if n is large), then we can give a more speciﬁc meaning to σm (standard deviation of the mean) than our vague statement that it gives us an estimate of the spread of x values about µ. Since the probability for a normally distributed random variable to have values between µ − σ and µ + σ is 0.6827 (see Section 8 and Problem 8.7), we can say that the probability is about 68% for a measurement of x to lie between µ − σm and µ + σm . This interval is called the 68% confidence interval. Similarly we can ﬁnd an interval µ ± r such that the probability is 12 that a new measurement would fall in this interval (and so also the probability is 12 that it would fall outside!), that is, a 50% conﬁdence interval. From Section 8, Example 3, this is r = 0.6745σm. The number r is called the probable error. When we have found σm as in Examples 1 and 2, we just have to multiply it by 0.6745 to ﬁnd the corresponding probable error. Similarly we can ﬁnd the error corresponding to other choices of conﬁdence interval (see Problem 4).

PROBLEMS, SECTION 10 1.

Let m1 , m2 , · · · , mn be a set of measurements, and deﬁne the values of xi by x1 = (as yet unspeciﬁed, m1 − a, x2 = m2 − a, · · · , xn = mn − a, where a is some number Pn 2 x but the same for all x i ). Show that in order to minimize i=1 i , we should choose P Pn 2 a = (1/n) n m . Hint: Diﬀerentiate x with respect to a. You have shown i i i=1 i=1 that the arithmetic mean is the "best" average in the least squares sense, that is, that if the sum of the squares of the deviations of the measurements from their

Section 10

Statistics and Experimental Measurements

775

"average" is a minimum, the "average" is the arithmetic mean (rather than, say, the median or mode). 2.

function f (x), Let x1 , x2 , · · · , xn be independent random variables, each with densityP expected value µ, and variance σ 2 . Deﬁne the sample mean by x = n i=1 xi . Show that E(x) = µ, and Var(x) = σ 2 /n. (See Problems 5.9, 5.13, and 6.15.) P 2 Deﬁne s by the equation s2 = (1/n) n i=1 (xi − x) . Show that the expected value 2 2 of s is [(n − 1)/n]σ . Hints: Write (xi − x)2 = [(xi − µ) − (x − µ)]2 = (xi − µ)2 − 2(xi − µ)(x − µ) + (x − µ)2 . Find the average value of the ﬁrst term from the deﬁnition of σ 2 and the average value of the third term from Problem 2. To ﬁnd the average value of the middle term write „ « x1 + x2 + · · · + xn 1 (x − µ) = − µ = [(x1 − µ) + (x2 − µ) + · · · + (xn − µ)]. n n Show by Problem 6.14 that E[(xi − µ)(xj − µ)] = E(xi − µ)E(xj − µ) = 0

for i = j,

and evaluate E[(xi − µ)2 ] (same as the ﬁrst term). Collect terms to ﬁnd E(s2 ) =

n−1 2 σ . n

Assuming a normal distribution, ﬁnd the limits µ ± h for a 90% conﬁdence interval; for a 95% conﬁdence interval; for a 99% conﬁdence interval. What percent conﬁdence interval is µ ± 1.3σ? Hints: See Section 8, Example 3, and Problems 8.7, 8.22, and 8.23.

Show that if w = xy or w = x/y, then (10.14) gives the convenient formula for relative error s„ « „ «2 2 rw ry rx + . = w x y

By expanding w(x, y, z) in a three-variable power series similar to (10.10), show that s„ „ „ «2 «2 «2 ∂w ∂w ∂w rx2 + ry2 + rz2 . rw = ∂x ∂y ∂z

Equation (10.12) is only an approximation (but usually satisfactory). Show, however, that if you keep the second order terms in (10.10), then „ „ « « 1 ∂2w 1 ∂2w 2 w = w(x, y) + + σ σy2 . x 2 ∂x2 2 ∂y 2

The following measurements of x and y have been made. x : 5.1, 4.9, 5.0, 5.2, 4.9, 5.0, 4.8, 5.1 y : 1.03, 1.05, 0.96, 1.00, 1.02, 0.95, 0.99, 1.01, 1.00, 0.99 Find the mean value and the probable error of x, y, x + y, xy, x3 sin y, and ln x. Hint: See Examples 1 and 2 and the last paragraph of this section.

776 9.

Probability and Statistics

Chapter 15

Given the measurements x : 98, 101, 102, 100, 99 y : 21.2, 20.8, 18.1, 20.3, 19.6, 20.4, 19.5, 20.1 ﬁnd the mean value and probable error of x − y, x/y, x2 y 3 , and y ln x.

10.

Given the measurements x : 5.8, 6.1, 6.4, 5.9, 5.7, 6.2, 5.9 y : 2.7, 3.0, 2.9, 3.3, 3.1 ﬁnd the mean value and probable error of 2x − y, y 2 − x, ey , and x/y 2 .

11. MISCELLANEOUS PROBLEMS 1.

(a)

Suppose you have two quarters and a dime in your left pocket and two dimes and three quarters in your right pocket. You select a pocket at random and from it a coin at random. What is the probability that it is a dime?

(b)

Let x be the amount of money you select. Find E(x).

(c)

Suppose you selected a dime in (a). What is the probability that it came from your right pocket?

(d)

Suppose you do not replace the dime, but select another coin which is also a dime. What is the probability that this second coin came from your right pocket?

(a)

Suppose that Martian dice are regular tetrahedra with vertices labeled 1 to 4. Two such dice are tossed and the sum of the numbers showing is even. Let x be this sum. Set up the sample space for x and the associated probabilities.

(b)

Find E(x) and σx .

(c)

Find the probability of exactly ﬁfteen 2's in 48 tosses of a Martian die using the binomial distribution.

(d)

Approximate (c) using the normal distribution.

(e)

Approximate (c) using the Poisson distribution.

There are 3 red and 2 white balls in one box and 4 red and 5 white in the second box. You select a box at random and from it pick a ball at random. If the ball is red, what is the probability that it came from the second box?

If 4 letters are put at random into 4 envelopes, what is the probability that at least one letter gets into the correct envelope?

Two decks of cards are "matched," that is, the order of the cards in the decks is compared by turning the cards over one by one from the two decks simultaneously; a "match" means that the two cards are identical. Show that the probability of at least one match is nearly 1 − 1/e.

Find the number of ways of putting 2 particles in 5 boxes according to the diﬀerent kinds of statistics.

Suppose a coin is tossed three times. Let x be a random variable whose value is 1 if the number of heads is divisible by 3, and 0 otherwise. Set up the sample space for x and the associated probabilities. Find x and σ.

Section 11 8.

Miscellaneous Problems

777

(a)

A weighted coin has probability 23 of coming up heads and probability 13 of coming up tails. The coin is tossed twice. Let x = number of heads. Set up the sample space for x and the associated probabilities.

(b)

Find x and σ.

(c)

If in (a) you know that there was at least one tail, what is the probability that both were tails?

(a)

One box contains one die and another box contains two dice. You select a box at random and take out and toss whatever is in it (that is, toss both dice if you have picked box 2). Let x = number of 3's showing. Set up the sample space and associated probabilities for x.

(b)

What is the probability of at least one 3?

(c)

If at least one 3 turns up, what is the probability that you picked the ﬁrst box?

(d)

Find x and σ.

Do Problems 10 to 12 using both the binomial distribution and the normal approximation. 10.

11.

12.

A true coin is tossed 104 times. (a)

Find the probability of getting exactly 5000 heads.

(b)

Find the probability of between 4900 and 5075 heads.

A die is thrown 720 times. (a)

Find the probability that 3 comes up exactly 125 times.

(b)

Find the probability that 3 comes up between 115 and 130 times.

Consider a biased coin with probability 1/3 of heads and 2/3 of tails and suppose it is tossed 450 times. (a)

Find the probability of getting exactly 320 tails.

(b)

Find the probability of getting between 300 and 320 tails.

13.

A radioactive source emits 1800 α particles during an observation lasting 10 hours. In how many one minute intervals do you expect no α's? 5α's?

14.

Suppose a 200-page book has, on the average, one misprint every 10 pages. On about how many pages would you expect to ﬁnd 2 misprints?

In Problems 15 and 16, ﬁnd the binomial probability for the given problem, and then compare the normal and the Poisson approximations. 15.

Out of 1095 people, what is the probability that exactly 2 were born on Jan. 1? Assume 365 days in a year.

16.

Find the probability of x successes in 100 Bernoulli trials with probability p = 1/5 of success (a) if x = 25; (b) if x = 21.

17.

Given the measurements x : 2.3, 2.1, 1.8, 1.7, 2.1 y : 1.0, 1.1, 0.9 ﬁnd the mean value and the probable error for x − y, xy, and x/y 3 .

18.

Given the measurements x : 5.7, 4.5, 4.8, 5.1, 4.9 y : 61.5, 60.1, 59.7, 60.3, 58.4 ﬁnd the mean value and the probable error for x + y, y/x, and x2 .

References This list includes the details of references cited in the text, plus a few other books you might ﬁnd useful. Abramowitz, Milton, and Irene A. Stegun, editors, Handbook of Mathematical Functions With Formulas, Graphs, and Mathematical Tables, National Bureau of Standards, Applied Mathematics Series, 55, U. S. Government Printing Ofﬁce, Washington, D. C., 1964. Arfken, George B., and Hans J. Weber, Mathematical Methods for Physicists, Academic Press, ﬁfth edition, 2001. Boyce, William E., and Richard C. DiPrima, Introduction to Diﬀerential Equations, Wiley, 1970. Butkov, Eugene, Mathematical Physics, Addison-Wesley, 1968. Callen, Herbert B., Thermodynamics and an Introduction to Thermostatistics, Wiley, second edition, 1985. Cantrell, C. D., Modern Mathematical Methods for Physicists and Engineers, Cambridge University Press, 2000. Chow, Tai L., Mathematical Methods for Physicists: A Concise Introduction, Cambridge University Press, 2000. Courant, Richard, and Herbert Robbins, What Is Mathematics?, Oxford University Press, second edition revised by Ian Stewart, 1996. CRC Standard Mathematical Tables, CRC Press, any recent edition. Feller, William, An Introduction to Probability Theory and Its Applications, Wiley, second edition, 1966. Folland, G. B., Fourier analysis and its applications, Brooks/Cole, 1992. Goldstein, Herbert, Charles P. Poole, and John L. Safko, Classical Mechanics, Addison Wesley, third edition, 2002. Griﬃths, David J., Introduction to Electrodynamics, Prentice Hall, third edition, 1999. Griﬃths, David J., Introduction to Quantum Mechanics, Prentice Hall, second edition, 2004. Hassani, Sadri, Mathematical Methods: For Students of Physics and Related Fields, Springer, 2000. Jackson, John David, Classical Electrodynamics, Wiley, third edition, 1999. 779

780

References

Jahnke, E., and F. Emde, Tables of Higher Functions, McGraw-Hill, sixth edition revised by Friedrich L¨ osch, 1960. Jeﬀreys, Harold, Cartesian Tensors, Cambridge University Press, 1965 reprint. Jordan, D. W., and Peter Smith, Mathematical Techniques: An Introduction for the Engineering, Physical, and Mathematical Sciences, Oxford University Press, third edition, 2002. Kittel, Charles, Elementary Statistical Physics, Dover edition, 2004. Kreyszig, Erwin, Advanced Engineering Mathematics, Wiley, eighth edition, 1999. Lighthill, M. J., Introduction to Fourier Analysis and Generalised Functions, Cambridge University Press, 1958. Lyons, Louis, All You Wanted To Know About Mathematics but Were Afraid To Ask: Mathematics for Science Students, two volumes, Cambridge University Press, 1995–1998. Mathews, Jon, and R. L. Walker, Mathematical Methods of Physics, Benjamin, second edition, 1970. McQuarrie, Donald A., Mathematical Methods for Scientists and Engineers, University Science Books, 2003. Morse, Philip M., and Herman Feshbach, Methods of Theoretical Physics, McGrawHill, 1953. NBS Tables. See Abramowitz and Stegun. Parratt, Lyman G., Probability and Experimental Errors in Science, Dover edition, 1971. Relton, F. E., Applied Bessel Functions, Dover edition, 1965. Riley, K. F., M. P. Hobson, and S. J. Bence, Mathematical Methods for Physics and Engineering: A Comprehensive Guide, Cambridge University Press, second edition, 2002. Schey, H. M., Div, Grad, Curl, and All That: An Informal Text on Vector Calculus, Norton, fourth edition, 2004. Snieder, Roel, A Guided Tour of Mathematical Methods for the Physical Sciences, Cambridge University Press, second edition, 2004. Strang, Gilbert, Linear Algebra and Its Applications, Harcourt, Brace, Jovanovich, third edition, 1988. Weinstock, Robert, Calculus of Variations, with Applications to Physics and Engineering, Dover edition, 1974. Weisstein, Eric W., CRC Concise Encyclopedia of Mathematics, Chapman & Hall /CRC, second edition, 2003. Woan, Graham, Cambridge Handbook of Physics Formulas, Cambridge University Press, reprinted 2003 with corrections. Young, Hugh D., Statistical Treatment of Experimental Data, McGraw-Hill, 1962.

Answers to Selected Problems Chapter 1 1.1 1.3 2.1 4.2 4.4 4.6

0.0173 yd; 0.104 yd (compared to a total of 5 yd) 7 6 19 5 1.5 1.9 1.11 9 12 7 28 1

2.4

∞

2.7

1.15 1

2.9 1 1 5 1 5 1 1 − n → ; Rn = →0 an = n−1 → 0; Sn = 5 4 5 4 4 · 5n−1 1 1 1 1 1 1 − n → ; Rn = →0 an = n → 0; Sn = 3 2 3 2 2 · 3n 1 1 1 → 0; Sn = 1 − → 1; Rn = →0 an = n(n + 1) n+1 n+1

5.2 5.6

Test further Test further

6.5 b 6.18 6.26 6.36

D D C D

6.7 D 6.20 C 6.29 D

6.9 C 6.22 C 6.31 D

6.10 C 6.23 D 6.32 D

6.14 D 6.24 D 6.35 C

7.1

7.2

7.4

7.6

7.8

9.2 D 9.10 D 9.20 C

5.4 5.8

9.3 C 9.12 C 9.21 C

D Test further

9.7 D 9.13 C 9.22 (b) D

10.1 |x| < 1 10.5 All x 10.11 −5 ≤ x < 5

10.3 |x| ≤ 1 10.9 |x| < 1 10.13 −1 < x ≤ 1 3 1 10.17 −2 < x ≤ 0 10.18 − ≤ x ≤ − 4 4 10.21 0 ≤ x ≤ 1 10.22 No x π π 10.25 nπ − < x < nπ + 6 6 781

5.5 5.9

9.8 C 9.15 D

D D

9.9 D 9.16 C

√ 10.4 |x| ≤ 2 10.10 |x| ≤ 1 10.15 −1 < x < 5 10.20 All x 10.24 |x|
0, error < 0.002. 15.1 15.3 15.6 15.14 15.19 15.22 15.24 15.27 15.28 15.29 15.30 15.31

−x4 /24 − x5 /30 · · · ∼ = −3.376 × 10−16 5 7 ∼ x /15 − 2x /45 · · · = 6.667 × 10−17 12 15.8 1/2 15.10 −1 15.12 1/3 3 t√− t3 , error < 10−6 15.17 cos(π/2) = 0 2 15.20 (b) 5e 15.21 (b) 0.937548 (b) 1.202057 15.23 (a) 1/2 (c) 1/3 (a) −π (d) 0 (f) 0 (a) 1 − vc = 1.3 × 10−5 , or v = 0.999987c (d) 1 − vc = 1.3 × 10−11 mc2 + 12 mv 2 x x3 F 3x5 = + 3 + 5 ··· (b) W l 2l 8l θ2 θ4 1F 1+ +7 ··· (b) T = 2θ 6 360 (a) ﬁnite (b) inﬁnite

C 16.7 D 16.9 −1 ≤ x < 1 −4 < x < 4 16.13 −5 < x ≤ 1 −x2 /6 − x4 /180 − x6 /2835 · · · 1 − x/2 + 3x2 /8 − 11x3 /48 + 19x4 /128 · · · −(x − π) + (x − π)3 /3! − (x − π)5 /5! · · · 5(x − 8)3 x − 8 (x − 8)2 − 5 2 + ··· 16.20 2 + 12 2 ·3 28 · 34 16.26 −1/3 16.28 1 16.31 (b) 2.66 × 1086 terms. For N = 15, 1.6905 < S < 1.6952

16.6 16.10 16.15 16.16 16.19

Chapter 2

Answers to Selected Problems

783

Chapter 2 x

4.1 4.2 4.3 4.5 4.7 4.9 4.11 4.14 4.15 4.17 4.20

1 −1 1 0 −1 −2 √ √3 2 −1 1 −2.39

1 1√ − 3 2 0 2 1√ 2 0 −1 −6.58

r √ √2 2 2 2 1√ 2 2 2 2 1√ 2 7

5.2 5.4 5.6 5.8 5.10 5.12 5.14 5.16 5.17 5.18

−1/2 0 −1 1.6 −25/17 2.65 1.27 1.53 −7.35 −0.94

−1/2 2 0 −2.7 19/17 1.41 −2.5 −1.29 −10.9 −0.36

√ 1/ 2 2 1 3.14 58/17 3 2.8 2 13.1 1

θ π/4 3π/4 −π/3 π/2 π 3π/4 π/6 π/4 −π or π −π/4 −110◦ = −1.92 radians

See Fig. 5.1 See Fig. 9.6 See Fig. 5.2 See Fig. 9.2 See Fig. 9.1 See Fig. 9.2 See Fig. 9.5

−3π/4 or 5π/4 π/2 π −59.3◦ 142.8◦ 28◦ −1.1 radians = −63◦ −40◦ −124◦ 201◦ or −159◦

5.19 5.21 5.23 5.26 5.32 5.36 5.42 5.45 5.46 5.49 5.53 5.55 5.56 5.57 5.60 5.62 5.63 5.68

(2 + 3i)/13; (x − yi)/(x2 + y 2 ) (1 + i)/6; (x + 1 − yi)/[(x + 1)2 + y 2 ] (−6 − 3i)/5; (1 − x2 − y 2 + 2yi)/[(1 − x)2 + y 2 ] 1 5.30 3/2 5.31 1 169 5.34 1 5.35 x = −4, y = 3 x = −1/2, y = 3 5.39 x = y = any real number x = −1/7, y = −10/7 5.43 (x, y) = (0, 0), or (1, 1), or (−1, 1) x = 0, any real y; or y = 0, any real x y = −x 5.48 x = 36/13, y = 2/13 y = 0, x = 1/2 Circle (Find center and radius) Straight line (What is its equation?) Part of a straight line (Describe it.) Hyperbola (What is its equation?) Circle (Find center and radius) Ellipse (Find its equation; where are the foci?) Two straight lines (What lines?) v = 2, a = 4

6.2 6.5

D D

6.3 C 6.10 C

6.4 D 6.12 C

784

Answers to Selected Problems

7.1 All z 7.7 All z 7.14 |z − 2i| < 1

Chapter 2

7.3 All z 7.6 |z| < 1/3 7.10 |z| < 1 7.12 |z| < 4 √ 7.16 |z + (i − 3)| < 1/ 2

8.3

See Problem 17.30

9.3 9.7 9.11 9.17 9.21 9.29 9.35

−9i 3e2 −1 − i −(1 + i)/4 1 1 21

10.3 10.7 10.9 10.16 10.17 10.18 10.22 10.24 10.25

12.25 12.26 12.28 12.30 12.33

±1, 10.4 ±2, ± 2i √ ±i √ ± 2, ± i 2, ± 1 ± i 1, 0.309 √± 0.951i, − 0.809 ± 0.588i ±i, (± 3 ± i)/2 −1, 0.809√± 0.588i, − 0.309 ± 0.951i √ ±(1 √ + i)/ 2 10.21 ±( 3 + i) n: 1 + i, − 1.366 + 0.366i, 0.366 − 1.366i r =√ 2, θ = 45◦ + 120◦√ ±( 3 + i)/2, ± (1 − i 3)/2, ± (0.259 + 0966i), ± (0.966 − 0.259i) 0.758(1 + i), −0.487 + 0.955i, −1.059 − 0.168i, −0.168 − 1.059i, 0.955 − 0.487i √ 3(1 − i)/ 2 11.5 1 + i 11.8 −41/9 11.9 4i/3 sin x cosh y − i cos x sinh y, sin2 x + sinh2 y cosh 2 cos 3 − i sinh 2 sin 3 = −3.72 − 0.51i, 3.76 tanh 1 = 0.762 −i 12.32 −4i/3 i tanh 1 = 0.762i 12.35 − cosh 2 = −3.76

14.2 14.5 14.8 14.11 14.14 14.18 14.23

−iπ/2 or 3iπ/2 14.3 Ln 2 + 5iπ/4 14.6 √ −1, (1 ± i 3)/2 14.10 cos(Ln 2) + i sin(Ln 2) = 0.769 + 0.639i 0.3198i − 0.2657 14.15 −1 14.20 eπ/2 = 4.81

15.2 15.4 15.8 15.12 15.15

15.3 15.5 15.9 15.14

11.3

9.4 9.8 9.13 9.19 9.24 9.32 9.38

√ −e(1 √ + i 3)/2 − 3+i −4 + 4i 16 4i 3e2√ 1/ 2

π/2 + nπ + (i Ln 3)/2 i(2nπ + π/6), i(2nπ + 5π/6) π/2 + 2nπ ± i Ln 3 i(2nπ ± π/6) nπ + 3π/8 + (i/4) Ln 2 √ 16.3 |z| = 2; motion around √ a circle constant acceleration a = 2.

9.6 9.10 9.14 9.20 9.26 9.34

1 −2 64 i √ (1 + i 3)/2 4/e

Ln 2 + iπ/6 −iπ/4 or 7iπ/4 2 e−π /4 e−π sinh 1 = 0.0249 1

i(±π/3 + 2nπ) √ ±[π/2 + 2nπ − i Ln(3 + 8)] i(π/3 + nπ) 2nπ + i Ln 2, (2n + 1)π − i Ln 2

of radius

√ √ 2, at constant speed v = 2,

Chapter 3

Answers to Selected Problems

785

16.5 v = |z1 − z2 |; a = 0 16.6 (a) Series: 3 − 2i; √ parallel: 5 + i √ (b) Series: 2(1 + i 3 ); parallel: i 3 16.8 [R − i(ωCR2 + ω 3 L2 C − ωL)]/[(ωCR)2 + (ω 2 LC − 1)2 ]; this simpliﬁes to L/(RC) at√resonance. 16.9 (b) ω = 1/ LC 16.12 (1 + r4 − 2r2 cos θ)−1 √ 17.2 ( 3 + i)/2 17.4 i cosh 1 = 1.54i 2 17.6 −e−π = −5.17 × 10−5 17.7 eπ/2 = 4.81 17.9 π/2 ± 2nπ 17.11 i 17.13 x = 0, y = 4 17.15 |z| < 1/e 2 17.26 1 17.27 (c) e−2(x−t) 2 −2 17.28 1 + (a2 + b2 )2 (2ab) sinh b ∞ n/2 n x 17.30 e cos x = n=0 2 x /n! cos nπ/4 n/2 n x /n! sin nπ/4 ex sin x = ∞ n=0 2

Chapter 3 1 0 − 12 12 , x = 12 (z + 1), y = 1 2.4 0 1 0 1   1 −1 0 −11 0 1 7, x = y − 11, z = 7 2.8 0 0 0 0 0   1 0 1 0 2.9  0 1 −1 0 , inconsistent, no solution 0 0 0 1   1 0 0 −2 1 , x = −2, y = 1, z = 1 2.12  0 1 0 0 0 1 1 2.17 R = 2 3.1 −11 3.5 −544 3.12 16 3.16 A = −(K + ik)/(K − ik), |A| = 1 √ 4.12 arc cos(−1/ 2) = 3π/4 4.14 (a) arc cos(1/3) = 70.5◦ ◦ 4.14 (c) arc cos 2/3 = 35.3 4.15 (b) 8i − 4j + 8k 4.18 2i − 8j − 3k 4.19 i + j + k 4.22 Law of cosines 4.24 A2 B 2 5.1

5.4 5.6 5.8 5.9

r = (2i − 3j) + (4i + 3j)t [Note that 2i − 3j may be replaced by any point on the line; 4i + 3j may be replaced by any vector along the line. Thus, for example, r = 6i − (8i + 6j)t is just as good an answer, and similarly for all such problems.] r = i + (2i + j)t (x − 1)/1 = (y + 1)/(−2) = (z + 5)/2, or r = i − j − 5k + (i − 2j + 2k)t x/3 = (z − 4)/(−5), y = −2; or r = −2j + 4k + (3i − 5k)t x = −1, z = 7; or r = −i + 7 k + j t

786 5.11 5.12 5.14 5.18 5.21 5.22 5.24 5.25 5.29 5.34 5.39 5.42 6.2

6.4

6.13 6.19 6.22 6.30

7.1 7.8 7.14 7.22 7.26

Answers to Selected Problems

Chapter 3

(x − 4)/1 = (z − 3)/(−2), y = −1; or r = 4i − j + 3k + (i − 2k)t (x − 5)/5 = (y + 4)/(−2) = (z − 2)/1; or r = 5i − 4j + 2k + (5i − 2j + k)t 36x − 3y − 22z = 23 5.16 5x − 2y + z = 35 x + 6y + 7z +√5 = 0 5.20 x − 4y − z + 5 = 0 ◦ cos θ = 25/(7 30 ) = 0.652, θ = 49.3 √ ◦ cos θ = 2/ 6, θ = 35.3 r = 2i + j + (j + 2k)t, d = 2 6/5 √ r = i − 2j + (4i + 9j − k)t, d = 3 3 /7 √ 5.31 5/7 5.33 43/15 2/ 6 11/10 5.36 3 √ 5.38 arc cos 21/22 = 12.3◦ Intersect at (3, 2, 0); cos θ = 5/ √60, θ = 49.8◦ √ √ 1/ 5 5.43 20/ 21 5.45 d = 2, t = −1 1 −1 −6 17 −2 −2 , , A + B = , BA = AB = −1 5 −2 6 1 2 3 −9 9 −25 1 4 , A2 = A−B = , B2 = , 5A = −1 1 −5 14 0 4 −3 12 10 −25 , det(5A) = 52 det A for a 2 × 2 matrix , 3B = 0 6 −5 15 You should have foundBA, C2 ,  CB, C3 , C2 B,  are  and CBA; all others 36 46 14 −36 32 12 91 7, CBA =  40 22 1 meaningless. C2 B =  53 −8 −2 1 −29 −13 −9   4 5 8 1 5/3 −3 6.15 −  −2 −2 −2  −1 2 2 2 3 4 1 1 2 , (x, y) = (5, 0) A−1 = −3 1 7   4 4 0 1  −7 −1 3 , (x, y, z) = (1, −1, 2) A−1 = 12 1 −5 3 cos k 0 0 sin k , , cos kA = I cos k = sin kA = A sin k = 0 cos k sink 0 cosh k sinh k cos k i sin k ekA = , eikA = sinh k cosh k i sin k cos k

Not linear 7.4 Linear 7.6 Not linear Not linear 7.11 Not linear 7.12 Linear Not linear 7.15 Linear D = 1, rotation θ = −45◦ 7.24 D = −1, reﬂection line x + y = 0 D = −1, reﬂection line x = 2y    1 0 0 0 −1 0 0 0 , S =  0 0 −1 , 7.30 R =  1 0 1 0 0 0 1 R is a 90◦ rotation about the z axis, S is a 90◦ rotation about the x axis. 7.32 180◦ rotation about i − k 7.35 Reﬂection through the (x, y) plane and 90◦ rotation about the z axis.

Chapter 3

8.1 8.3 8.19 8.23 8.25 8.26

9.4 9.14

Answers to Selected Problems

787

In terms of basis u = 19 (9, 0, 7), v = 19 (0, −9, 13), the vectors are: u − 4v, 5u − 2v, 2u + v, 3u + 6v. Basis i, j, k 8.6 V = 3A − B x=y=z=w=0 8.20 x = −z, y = z For λ = 3, x = 2y; for λ = 8, x = −2y For λ = 2: x = 0, y = −3z; for λ = −3: x = −5y, z = 3y; for λ = 4: z = 3y, x = 2y r = (3, 1, 0) + (−1, 1, 1)z     0 i 3 0 0 2 1 i A† = −2i 2 0, A−1 =  0 3 6 −1 0 0 −6 6i −2 CT BAT , C−1 M−1 C, H

10.1 (b) d = 8 10.2 The number of basis vectors given is the dimension of the space. We list one possible basis; other bases consist of the same number of independent linear combinations of the vectors given. (b) (1, 0, 0, 5, 0, 1), (0, 1, 0, 0, 6, 4), (0, 0, 1, 0, −3, 0) √ 10.3 (a) Label the√vectors A, B, C, D. Then cos(A, B) = 1/ 15, cos(A, C) = 2/3, cos(B, D) = 17/690. √ 10.4 (b) e1 = (0, 0, 0, 1), e√ 2 = (1, 0, 0, 0), e3 = (0, 1, 1, 0)/ 2 √ 10.5 (b) A = 7, B = 60, |Inner product of A and B| = 5 11.5 θ =1.1 = 63.4◦ 1 x 1 3 x = , not orthogonal 11.11 y y 5 −1 2 In the following answers, for each eigenvalue, the components of a corresponding eigenvector are listed in parentheses. 11.12 4 (1, 1) 11.15 1 (0, 0, 1) −1 (3, −2) −1 (1, −1, 0) 5 (1, 1, 0) 11.20 3 (0, −1, 2) 11.18 4 (2, 1, 3) 4 (1, 2, 1) 2 (0, −3, 1) −2 (−5, 2, 1) −3 (5, −1, −3) 11.22 −4 (−4, 1, 1) 5 (1, 2, 2) −2 (0, −1, 1) 11.23 18 (2, 2, −1) The two eigenvectors corresponding to the eigenvalue 9 9 (1, −1, 0) may be any two vectors orthogonal to (2, 2, −1) and orthogonal to each other. 9 (1, 1, 4) 1 3 0 1 1 ,C= √ 11.27 D = 11.26 4 (1, 1, 1) 0 1 2 −1 1 1 (1, −1, 0) 1 (1, 1, −2) 1 1 −1 1 1 −2 5 0 11 0 ,C= √ ,C= √ 11.31 D = 11.29 D = 0 1 0 1 2 1 1 2 1 5 1 1 i 11.41 λ = 1, 3; U = √ 2 i 1

788

11.44 11.52 11.53 11.56 11.58 11.59 12.2 12.6 12.15 12.17 12.19 12.22

Answers to Selected Problems

Chapter 3

1 5 −3 − 4i λ = 3, −7; U = √ 5 5 2√ 3 − 4i √ ◦ 60 rotation about −i 2 + k and reﬂection through the plane z = x 2 180◦ rotation about i + j + k 45◦ rotation about10j − k 1 1+4·6 2 − 2 · 610 M10 = 4 + 610 5 2 − 2 · 610 cosh 1 − sinh 1 eM = e3 − sinh 1 cosh 1 2

3x − 2y 24√ 12.3 10x = 35 √ = 2 2 2 3 z = 12 3x + 3 y − 3k/m; x = −2y with ω = 8k/m y = 2x with ω = x = −2y with ω = 2k/m; 3x = 2y with ω = 2k/(3m) y = −x with ω = 3k/m; y = 2x with ω = 3k/(2m) y = −x with ω = 2k/m; y = 3x with ω = 2k/(3m)

13.6 The cyclic group 13.11 Thefour matrices group of the are: rectangle of the symmetry −1 0 1 0 −1 0 1 0 = −I = −P, , ,P= I= 0 −1 0 −1 0 1 0 1 This group is isomorphic to the 4's group. 13.21 SO(2) is Abelian; SO(3) is not Abelian. 14.3 x, cos x, x cos x, ex cos x 14.6 Not a vector space

14.5 1, x + x3 , x2 , x4 , x5 14.8 1, x2 , x4 , x6

15.3 (a) (x − 4)/1 = (y + 1)/(−2) = (z − 2)/(−2); or r = (4, −1, 2) + (1, −2, −2)t (b) x√ − 5y + 3z = 0 (c) 5/7 (d) 5 2/3 = 2.36 (e) arc sin 19/21 = 64.8◦ 15.5 (a) y = 7, (x − 2)/3 = (z + 1)/4; or r = (2, 7, −1) + (3,√0, 4)t ◦ (b) x − 4y − 9z = 0 (c) arc sin( 33 70 2 ) = 41.8 √ √ (d) 12/ 98 = 1.21 (e) 29 /5 = 1.08 15.7 You should have found all except AT BT , BAT , ABC, ABT C, B−1 C, and CBT , which are meaningless.   2 2 0 −i T −1   1 − 3i 1 , C A= B AC = 1 −1 −1 − 5i −1

1 1 1 (n − 1)d 15.9 = (n − 1) − + f nR1 R2 −→R1 −→R 2 1 − 15.13 Area = 2 P Q × P R = 7/2 15.14 x = −x, y = −y, 180◦ rotation 15.15 x = −y, y = x; 90◦ rotation of vectors 15.18 1 (1, 1) 15.20 −2 (0, 1) 15.24 15.22 1 (1, 0, 1) 4 (0, 1, 0) 5 (1, 0, −1) √ 2 2 2 15.27 3x − y − 5z = 15, d = 5 15.29

or −90◦ rotation of axes 1 (1, 1) 9 (1, −1) 2 (0, 4, 3) 7 (5, −3, 4) −3 (5, 3, −4) 2

3x + 6y − 4z = 54, d = 3

Chapter 4

Answers to Selected Problems

789

Chapter 4 1.1 1.3 1.4 1.7 1.13 1.19 1.8 1.14 1.20 1.22

∂u/∂x = 2xy 2 /(x2 + y 2 )2 , ∂u/∂y = −2x2 y/(x2 + y 2 )2 ∂z/∂u = u/(u2 + v 2 + w2 ) At (0, 0), both = 0; at (−2/3, 2/3), both = −4 2x 1.9 2x(1 + 2 tan2 θ) 1.11 2 4r tan θ 1.15 r2 sin 2θ 1.17 0 1.21 −4x csc2 θ 1.23 4 3 −2r /x 1.10 2y + 4y 3 /x2 1.12 2 2 2 2y sec θ tan θ 1.16 2r tan θ 1.18 2 2 2 4x(tan θ sec θ)(tan θ + sec θ) −8r3 /x3 1.24 −8y 3 /x3

2.1 2.3 2.5 2.8

y + y 3 /6 − x2 y/2 + x4 y/24 − x2 y 3 /12 + y 5 /120 · · · x − x2 /2 − xy + x3 /3 + x2 y/2 + xy 2 · · · 1 + xy/2 − x2 y 2 /8 + x3 y 3 /16 − 5x4 y 4 /128 · · · ex cos y = 1 + x + (x2 − y 2 )/2 + (x3 − 3xy 2 )/6 · · ·

4.2 2.5 × 10−13 4.8 5% 4.15 8 × 1023 5.1 5.7

4.4 12.2 4.10 4.28 nt

e−y sinh t + z sin t (1 − 2b − e2a ) cos(a − b)

6.2 y = 1, y = 0 6.5 2x + 11y − 24 = 0 6.10 x + y = 0

2y 4r 2r sin 2θ 2y sec2 θ −2ry 4 /(r2 − y 2 )2

4.6 9% 4.11 3.95 5.3

2r(q 2 − p2 )

6.3 y = 4(ln 2 − 1)/(2 ln 2 − 1) 6.6 1800/113 6.11 y = 4

dx/dy = z − y + tan(y + z), d2 x/dy 2 = 12 sec3 (y + z) + 12 sec(y + z) − 2 ∂w/∂u = −2(rv + s)w, ∂w/∂v = −2(ru + 2s)w (∂y/∂θ)r = x, (∂y/∂θ)x = r2 /x, (∂θ/∂y)x = x/r2 ∂x/∂s = −19/13, ∂x/∂t = −21/13, ∂y/∂s = 24/13, ∂y/∂t = 6/13 ∂x/∂s = 1/6, ∂x/∂t = 13/6, ∂y/∂s = 7/6, ∂y/∂t = −11/6 (∂p/∂q)m = −p/q, (∂p/∂q)a = 1/(a cos p − 1), (∂p/∂q)b = 1 − b sin q, (∂b/∂a)p = (sin p)(b sin q − 1)/ cos q, (∂a/∂q)m = [q + p(a cos p − 1)]/(q sin p) 7.15 (∂x/∂u)v = (2yv 2 − x2 )/(2yv + 2xu), (∂x/∂u)y = (x2 u + y 2 v)/(y 2 − 2xu2 ) 7.17 (∂p/∂s)t = −9/7, (∂p/∂s)q = 3/2 7.19 (∂x/∂z)s = 7/2, (∂x/∂z)r = 4, (∂x/∂z)y = 3

7.1 7.4 7.7 7.8 7.10 7.13

8.3 8.8 8.9 8.13

(−1, 2) is a minimum point 8.4 θ = π/3; bend up 8 cm on each side l = w = 2h 8.11 (4/3, 5/3) 8.16 √ √ 9.4 9.2 r : l : s = 5 : (1 + 5 ) : 3 9.6 V = 1/3 9.8 9.12 Let legs √ of right triangle be a and b, h = (2 − 2 )a.

(−1, −2) is a saddle point √ θ = 30◦ , x = y 3 = z/2 m = 5/2, b = 1/3 √ √ √ 4/ 3 by 6/ 3 by 10/ 3 (8/13, 12/13) height of prism = h; then a = b,

790

Answers to Selected Problems

Chapter 5

10.2 4, 2 10.4 10.6 d = 2 10.7 10.10 (a) max T = 12 , min T = − 21 10.12 (b) max T = 1, min T = − 21 (c) max T = 1, min T = − 21√ 10.13 Largest sum = 3 arc sin(1/ 3) = 105.8◦,

11.6 d2 y/dz 2 + dy/dz − 5y = 0

11.1 z = f (y + 2x) + g(y + 3x) 11.11 H = pq˙ − L 12.1 12.3 12.4 12.7 12.10 12.12 12.14 13.2 13.4 13.5 13.9 13.10 13.13 13.14 13.18 13.23 13.29

d√ =1 1 2 11 Largest sum = 180◦ √ Smallest sum = 3 arc cos(1/ 3) = 164.2◦ smallest sum = 90◦

1 −1/2 2x

sin x dz/dx = − sin(cos x) tan x − sin(sin x) cot x 1 2 sin 2 (∂u/∂x)y = −e4 , (∂u/∂y)x = e4 / ln 2, (∂y/∂x)u = ln 2 dy/dx = (ex − 1)/x (2x + 1)/ ln(x + x2 ) − 2/ ln(2x) π/(4y 3 ) √ (a) and (b) d = 4/ 13 − csc θ cot θ −6x, 2x2 tan θ sec2 θ, 4x tan θ sec2 θ dz/dt = 1 + (t/z)(2 − x − y), z = 0 [x ln x − (y 2 /x)]xy where x = r cos θ, y = r sin θ −1 (∂w/∂x) y = (∂f /∂x)s, t + 2(∂f /∂s)x, t + 2(∂f /∂t)x, s = f1 + 2f2 + 2f3 26/3 13.21 T (2) = 4, T (5) = −5 t cot t 13.25 −ex /x dt = 3.9

Chapter 5 2.1 2.11 2.21 2.31 2.41

3 36 131/6 6 5

2.3 2.13 2.23 2.33 2.43

4 7/4 9/8 16/3 9/2

2.5 2.15 2.25 2.36 2.45

1 2 4e

−

5 12

3/2 3/2 1/6 46k/15

2.7 2.17 2.27 2.37 2.47

5/3 1 2 ln 2 32/5 7/6 16/3

2.9 2.19 2.29 2.39 2.49

6 32 2 70 1/3

(b) M l2 /12 (c) M l2 /3 (a) M = 140 (b) x ¯ = 130/21 (c) Im = 6.92M (d) I = 150M/7 3.5 (a) M a2 /3 (b) M a2 /12 (c) 2M a2 /3 3.7 (a) M = 9 (b) (¯ x, y¯) = (2, 4/3) (c) Ix = 2M , Iy = 9M/2 (d) Im = 13M/18 3.9 (a) 1/6 (b) (1/4, 1/4, 1/4) (c) M = 1/24, z¯ = 2/5 √ 3.11 (a) M = (5 5 − 1)/6 = √ 1.7 (b) x ¯ = 0, y¯ = (313 + 15 5 )/620 = 0.56 3.14 V = 2π 2 a2 b, A = 4π 2 ab, where a = radius of revolving circle, and b = distance to axis from center of this circle. 3.15 For area, (¯ x, y¯) = (0, 43 r/π), for arc, (¯ x, y¯) = (0, 2r/π) 3.2 3.3

Chapter 6

3.18 3.20 3.21 3.23 3.25 3.26

Answers to Selected Problems

√ √ s = [3 2 + ln(1 + 2 )]/2 13π/3 √ √ s¯ x = [51 2 − ln(1 + 2 )]/32, s¯ y = 13/6, s as in Problem 3.18 (149/130, 0, 0) I/M has the same numerical value as x ¯ in Problem 3.21 2M/3 3.27 149M/130 3.29 2 3.30 32/5

(b) x ¯ = y¯ = 43 a/π (c) I = M a2 /4 (e) x ¯ = y¯ = 2a/π 4 (c) y¯ = 3 a/π (d) Ix = M a2 /4, Iy = 5M a2 /4, Iz = 3M a2 /2 (e) y¯ = 2a/π (f) x ¯ = 6a/5, Ix √ = 48M a2/175, Iy = 288M a2 /175, Iz = 48M a2/25 2 1 (g) A = ( 3 π − 2 3 )a2 4.4 (b) (0, 0, a/2) (c) 2M a2 /3 (e) (0, 0, 3a/8) 4.5 7π/3 4.11 12π 4.12 (c) M = (16ρ/9)(3π − 4) = 9.64ρ

4.1 4.2

4.14 4.22 4.27 5.1 5.5 5.8 5.12 5.16 6.2 6.4 6.7 6.10 6.12 6.15 6.18 6.19 6.21 6.26

I = (128ρ/152)(15π − 26) = 12.02ρ = 1.25M π(1 − e−1 )/4 4.16 u2 + v 2 4.19 π/4 2 1/2 4.24 ρGπa/2 4.26 (a) 75 M a2 12(1 + 36π ) 2πah (where h = distance between parallel planes) √ 9 5.3 π(373/2 − 1)/6 5 π 30 8π√for each nappe 5.6 4 √ √ √ 3 9 6 + ln( 2 + 3 ) 5.9 π 2 16 √16 1 1 1 1 M = 6 3, (¯ x, y¯, z¯) = ( 2 , 4 , 4 ) 5.14 M = 12 π − 43 x¯ = 0, y¯ = 1, z¯ = [32/(9π)] 2/5 = 0.716 √ 6.3 15π/8 45(2 + 2 )/112 √ R2 (b) √32 M R2 6.6 (a) (4π − 3 3 )/6 (a) 12 M√ 6.8 (b) 27/20 (8π − 3 3 )(4π − 3 3 )−1 M (a) (¯ x, y¯) = (π/2, π/8) 6.10 (c) 3M/8 (abc)2 /6 6.14 16a3 /3 8 7 2 2 Ix = 15 M a , Iy = 15 M a 6.16 x¯ = y¯ = 2a/5 (0, 0, 5h/6) 2 2 2 Ix = Iy = 20M √ h /21, Iz = 10M h /21, Im = 65M h /252 6.24 (0, 0, 2c/3) πGρh(2 − 2 ) 1 6.27 e2 − e − 1 2 sinh 1

Chapter 6 3.1 3.3 3.6

3.7

(A · B)C = 6C, (A × B) · C = A · (B × C) = −8, A × (B × C) = −4(i + 2k) −5 √ √ v = (2/ 6 )(A × B) = (2/ 6 )(i − 7j − 3k), r × F = (A − C) × B = 3i + 3j − k, √ n · (r × F) = [(A − C) × B] · C/|C| = 8/ 26 (a) 11i + 3j − 13k, (b) 3, (c) 17

791

792 3.9 3.15 3.17 3.19 3.20 4.2

4.5 4.8

Answers to Selected Problems

Chapter 6

√ −9i − 23j + k, 1/ 21 u1 · u = −u3 · u, n1 u1 × u = n2 u2 × u a = (ω · r)ω − ω 2 r; for r ⊥ ω, a =√−ω 2 r, |a| = v 2 /r. (a) 16i − 2j − 5k (b) 8/ 6 (b) 12 (a) t = 2 √ (b) v = 4i − 2j + 6k, |v| = 2 14 (c) (x − 4)/4 + 4)/(−2) = (z − 8)/6, 2x − y + 3z = 36 √ = (y 2 |dr/dt| = 2; |d r/dt2 | = 1; path is a helix. dr/dt = er (dr/dt) + eθ (r dθ/dt); d2 r/dt2 = er [d2 r/dt2 − r(dθ/dt)2 ] + eθ [r d2 θ/dt2 + 2(dr/dt)(dθ/dt)]

−i √ πe/(3 5 ) 6x + 8y − z = 25, (x − 3)/6 = (y − √4)/8 = (z − 25)/(−1) (a) 2i − 2j − k (b) 5/ 6 (c) r √ = (1, 1, 1) + (2, −2, −1)t √ 6.12 (a) 2 5, −2i + j (b) 3i + 2j (c) 10 √ 6.14 (b) Down, at the rate 11 2 6.17 er 6.19 j

6.2 6.4 6.6 6.9

7.1 7.2 7.4 7.6 7.7 7.10 7.13 7.16

∇ · r = 3, ∇ × r = 0 ∇ · r = 2, ∇ × r = 0 ∇ · V = 0, ∇ × V = −(i + j + k) ∇ · V = 5xy, ∇ × V = ixz − jyz + k(y 2 − x2 ) ∇ · V = 0, ∇ × V = ix − jy − kx cos y 0 7.11 −(x2 + y 2 )/(x2 − y 2 )3/2 2xy 7.14 0 2(x2 + y 2 + z 2 )−1 7.19 2/r

8.1 8.3 8.7 8.9 8.14

−11/3 (a) 5/3 (b) 1 (c) 2/3 (b) 0 (d) 2π 3xy − x3 yz − z 2 − arc sin xy

9.2 9.8

40 24π

9.4 −3/2 9.10 −20

8.2 8.4 8.8 8.11 8.18

(a) −4π (b) −16 (c) −8 (a) 3 (b) 8/3 yz − x −y sin2 x (a) π + π 2 /2 (b) π 2 /2 9.7 πab 9.11 2

10.4 36π 10.5 4π · 52 10.7 48π   r ≤ R1 ; 0, 10.12 φ = (k/2π0 ) ln(R1 /r), R1 ≤ r ≤ R2 ;   (k/2π0 ) ln(R1 /R2 ), r ≥ R2 . 10.2 3

11.2 11.5 11.10 11.18 11.20

10.9 16π

11.3 0 11.4 −12 2ab2 36 11.6 45π 11.7 0 √ −6π 11.12 18π 11.15 −2π 2 A = (xz − yz 2 − y 2 /2)i + (x2 /2 − x2 z + yz 2 /2 − yz)j + ∇u, any u A = i sin zx + j cos zx + kezy + ∇u, any u

Chapter 7

Answers to Selected Problems

12.1 (sin θ cos θ)C 12.7 (a) 9i + 5j − 3k (b) 29/3 12.9 12.11 (a) grad φ = −3yi − 3xj + 2zk (c) 2x + y − 2z + 2 = 0, r = (1, 2, 3) + (2, 1, −2)t 12.13 (a) 6i − j − 4k (b) 53−1/2 (6i − j − 4k) 1/2 (e) 531/2 (d) 53 12.18 Not conservative (a) 1/2 12.21 4 12.23 192π 12.25 12.27 4 12.29 10 12.31

793

24 √ (b) − 3 (c) same as (a) (b) 4/3 −18π 29/3

Chapter 7 Amplitude

Period

Frequency

Velocity Amplitude

2.2

π/2

2/π

2.3

1/2

π/2

6 cos(π/8) = 5.54

1/π

12 cos(π/8) = 11.1

2.8

4π

1/(4π)

2.10

1/π

1/60

2.6

s = 6 cos(π/8) sin(2t)

2.11

q I

2.13 2.16 2.19 2.21 2.23 2.25

360π 1/60 A = maximum value of θ, ω = g/l t∼ = 4.91 ∼ = 281◦ A = 1, T = 4, f = 1/4, v = 1/4, λ = 1 y = 20 sin 12 π(x − 6t), ∂y/∂t = −60π cos 12 π(x − 6t) y = sin 880π((x/350) − t) y = 10 sin[π(x − 3 · 108 t)/250]

3.6

sin(2x + 13 π)

4.5 π −1 + 4.11 1/2

1 2

4.6 2/π 4.14 (a) 2π/3

4.8 0 4.15 (a) 3/2

(b) π

x→

−2π

−π

−π/2

π/2

2π

6.2

1/2

6.4

−1

6.6

1/2

6.8

1 − 12 π

1 + 12 π

6.10

π/2

794

7.1

7.2

7.7

Answers to Selected Problems

Chapter 7

∞ i 1 inx 1 + e 2 π −∞ n odd n 1 1 (1 − i)eix + (1 + i)e−ix − i(e2ix − e−2ix ) f (x) = + 4 2π

1 + i 3ix 1 − i −3ix 1 − i 5ix 1 + i −5ix e − e e + e − + ··· 3 3 5 5 ∞ ∞ i π i 1 + einx + einx f (x) = − 2π 4 n 2n 2n −∞ −∞

f (x) =

odd n ix

7.11 f (x) =

e 1 + π

−e 4i

−ix

−

1 π

∞ −∞ even n=0

even n=0 inx

e n2 − 1

1 πx 1 3πx 1 5πx 1 cos − cos + cos ··· 8.2 f (x) = + 4 π l 3 l 5 l 1 πx 2 2πx 1 3πx 1 5πx 2 6πx + sin + sin + sin + sin + sin ··· π l 2 l 3 l 5 l 6 l 41 nπx 1 sin (n = 2, 6, 10, · · · ) 8.6 f (x) = + 2 π n l ∞ 2 n π (−1) 8.11 (a) f (x) = +4 cos nx 3 n2 1 ∞ 1 iπ 4π 2 +2 einx , n = 0 + (b) f (x) = 2 3 n n −∞ ∞ 8 n(−1)n+1 sin 2nπx 8.14 (a) f (x) = π 1 4n2 − 1 ∞ ∞ 4 cos 2nπx 2 2 1 = − e2inπx (b) f (x) = − π π 1 4n2 − 1 π −∞ 4n2 − 1

∞ 1 1 (−1)n+1 sin 2nπx cos 2nπx + n2 2π 1 n odd n=1

2 9 1 1 2πx 4πx 8πx f (x) = − 2 cos + 2 cos + 2 cos + ··· 3 8π 3 2 3 4 3 √ √ 3 3 2πx 3 3 4πx 1 1 − sin + sin + − 2 2 8π π 3 32π 2π 3 √ 6πx 3 3 8πx 1 1 sin − sin ··· + − 3π 3 128π 2 4π 3

8.19 f (x) = 8.20

9.2 9.5

1 1 − 8 π2

ln |1 − x2 | + 12 ln |(1 − x)/(1 + x)| ∞ 4 1 sin nx f (x) = π n (a)

1 2

∞

odd n=1

Chapter 7

9.19

fc (x) = fp (x) =

∞ 4 (−1)n cos 2nx 2 − π π 1 4n2 − 1

2 sin x + sin 3x + 13 sin 5x + π ∞ 4 (−1)n 1 cos nπx fc (x) = + 2 3 π 1 n2

fs (x) = 9.20

fs (x) =

795

Answers to Selected Problems

∞ 8 2 (−1)n+1 sin nπx − 3 π 1 n π

1 3

sin 7x +

∞

odd n=1

1 5

sin 9x +

1 5

sin 11x · · ·

1 sin nπx n3

∞ ∞ 1 1 1 11 sin 2nπx fp (x) = + 2 cos 2nπx − 3 π 1 n2 π 1 n πx 1 3πx 1 5πx 20 cos − cos + cos ··· 9.22 fc (x) = 15 − π 20 3 20 5 20 πx 2 2πx 3 3πx 3 5πx 2 6πx 20 fs (x) = 3 sin − sin + sin + sin − sin ··· π 20 2 20 3 20 5 20 6 20 ∞ nπx 20 1 sin fp (x) = 15 − π n 10 odd n=1 1 1 πx 3πx 5πx 8h − 2 sin + 2 sin ··· 9.23 f (x, 0) = 2 sin π l 3 l 5 l 1 1 : 0 : 49 :0:0:0 10.1 Relative intensities = 1 : 0 : 0 : 0 : 25 1 1 25 1 1 10.3 Relative intensities = 1 : 25 : 9 : 0 : 25 : 9 : 49 : 0 : 81 :1

∞ 1 5 5 1−2 cos 120nπt + sin 120πt 10.5 I(t) = π n2 − 1 2 even n=2 ∞ 1 400 10.6 V (t) = 50 − 2 cos 120nπt π n2 ∞

odd n=1

20 (−1)n sin 120nπt 10.7 I(t) = − π 1 n ∞ ∞ 200 1 100 1 sin 120nπt 10.10 V (t) = 75 − 2 cos 120nπt − π n2 π 1 n odd n=1

Relative intensities = 1.4 : 0.25 : 0.12 : 0.06 : 0.04 11.5 π 2 /8

11.7 π 2 /6

2 ∞ 1 − cos α sin αx dα 12.2 fs (x) = α π∞ 0 sin απ − sin(απ/2) iαx e dα 12.4 f (x) = απ −∞ ∞ sin α − α cos α iαx e dα 12.6 f (x) = iπα2 −∞ ∞ (iα + 1)e−iα − 1 iαx 12.8 f (x) = e dα 2πα2 −∞

11.9

1 π2 − 16 2

796

Answers to Selected Problems

Chapter 8

∞

αa − sin αa iαx e dα iπα2 −∞ 1 ∞ cos(απ/2) iαx e dα f (x) = π −∞ 1 − α2 ∞ sin απ − sin(απ/2) 2 cos αx dα fc (x) = π 0 α ∞ cos(απ/2) 2 cos αx dα fc (x) = π 0 1 − α2 2 ∞ sin α − α cos α sin αx dα fs (x) = π 0 α2 4 ∞ αa − sin αa fs (x) = sin αx dα π 0 α2 2 2 e−α σ /2 g(α) = σ(2π)−1/2 ∞ 1 + e−iαπ iαx 1 (a) f (x) = e dα 2π −∞ 1 − α2 ∞ cos 3α sin α 4 cos αx dα (a) fc (x) = π 0 α ∞ sin 3α sin α 4 sin αx dα (b) fs (x) = π 0 α ∞ 1 − cos 2α 1 cos αx dα (a) fc (x) = π 0 α2 ∞ 2α − sin 2α 1 sin αx dα (b) fs (x) = π 0 α2

12.10 f (x) = 2 12.11 12.13 12.16 12.18 12.19 12.21 12.25 12.28

12.30

13.7 f (x) =

∞ 4 1 π − cos nx 2 π 1 n2

13.8 (b) 1

odd n

13.10 (d) −1, −1/2, −2, −1

13.14 (a) f (x) =

13.15 −π/4

(b) π 4 /90 13.23 π 2 /8

∞ 4 cos nπx 1 + 2 3 π 1 n2

Chapter 8 1.7 x = (c/F )[(m2 c2 + F 2 t2 )1/2 − mc] √ 2.2 (1 − x2 )1/2 + (1 − y 2 )1/2 = C, √C = 3 2.3 ln y = A(csc x − cot x), A = 3 2 2.6 2y 2 + 1 = A(x2 − 1)2 , A = 1 2.7 y 2 = 8 + eK−x , K = 1 y x 2.9 ye = ae , a = 1 2.13 y ≡ 1, y ≡ −1, x ≡ 1, x ≡ −1 2.19 (a) I/I0 = e−0.5 = 0.6 for s = 50 ft 1.5

x = −Aω −2 sin ωt + v0 t + x0

Half value thickness = (ln 2)/µ = 69.3 ft (b) Half life T = (ln 2)/λ 2.20 (c) τ = RC, τ = L/R. Corresponding quantities are a, λ = (ln 2)/T , µ, 1/τ . 2.22 N = N0 eKt − (R/K)(eKt − 1) where N0 = number of bacteria at t = 0, KN = rate of increase, R = removal rate. 2.23 T = 100[1 − (ln r)/(ln 2)]

Chapter 8

Answers to Selected Problems

797

2.26 (a) k = weight divided by terminal speed (b) t = g −1 · (terminal speed) · (ln 100); typical terminal speeds are 0.02 to 0.1 cm/sec, so t is of the order of 10−4 sec. 5 3 )/(ln 13 ) = 6.6 min 2.29 t = 100 ln 94 = 81.1 min 2.27 t = 10(ln 13 2.31 ay = bx 2.33 x2 + ny 2 = C 2.35 x(y − 1) = C 2

y = 12 ex + Ce−x 3.3 y = ( 12 x2 + C)e−x √ y = (x + C)/(x + x2 + 1 ) 3.8 y = 12 ln x + C/ ln x 2 1/2 2 =x +C 3.11 y = 2(sin x − 1) + Ce− sin x y(1 − x ) 1 y −y x = 2 e + Ce 3.14 x = y 2/3 + Cy −1/3 S = (107 /2)[(1 + 3t/104) + (1 + 3t/104)−1/3 ], where S = number of pounds of salt, and t is in hours. 3.17 I = Ae−t/(RC) − V0 ωC(sin ωt − ωRC cos ωt)/(1 + ω 2 R2 C 2 ) 3.21 Nn = c1 e−λ1 t + c2 e−λ2 t + · · · where λ1 λ2 · · · λn−1 N0 λ1 λ2 · · · λn−1 N0 , c2 = , c1 = (λ2 − λ1 )(λ3 − λ1 ) . . . (λn − λ1 ) (λ1 − λ2 )(λ3 − λ2 ) · · · (λn − λ2 ) etc. (all λ's diﬀerent) 3.22 y = x + 1 + Kex

3.1 3.6 3.9 3.13 3.15

4.1 4.5 4.9 4.13 4.18

y 1/3 = x − 3 + Ce−x/3 x2 − y 2 + 2x(y + 1) = C 2 2 y 2 = Ce−x /y y 2 = − sin2 x + C sin4 x x2 + (y − k)2 = k 2

4.4 4.7 4.11 4.16 4.19

5.1

y = Aex + Be−2x

5.3

x2 e3y + ex − 13 y 3 = C x = y(ln x + C) tan 12 (x + y) = x + C y 2 = C(C ± 2x) r = Ae−θ , r = Beθ

5.5 5.9 5.20 5.24 5.28 5.29 5.35

y = Ae3ix + Be−3ix or other forms as in (5.24) y = (Ax + B)ex 5.7 y = Ae3x + Be2x y = Ae2x sin(3x + γ) 5.11 y = (A + Bx)e−3x/2 −x ix y = Ae + Be 5.22 y = Aex + Be−3x + Ce−5x √ 1 −x x/2 y = Ae + Be sin( 2 x 3 + γ) 5.26 y = Ae5x + (Bx + C)e−x y = ex (A sin x + B cos x) + e−x (C sin x + D cos x) y = (A + Bx)e−x + Ce2x + De−2x + E sin(2x + γ) T = 2π R/g ∼ = 85 min.

6.1 6.5 6.9 6.11 6.13 6.15 6.17 6.18 6.20 6.22 6.26 6.33

y y y y y y y y y y y y

= Ae2x + Be−2x − 52 6.3 y = Aex + Be−2x + 14 e2x = Aeix + Be−ix + ex 6.7 y = Ae−x + Be2x + xe2x 2 −x = (Ax + B + x )e = e−x (A sin 3x + B cos 3x) + 8 sin 4x − 6 cos 4x = (Ax + B)ex − sin x = e−6x/5 [A sin(8x/5) + B cos(8x/5)] − 5 cos 2x = A sin 4x + B cos 4x + 2x sin 4x = e−x (A sin 4x + B cos 4x) + 2e−4x cos 5x = Ae−2x sin(2x + γ) + 4e−x/2 sin(5x/2) 6.24 y = (A + Bx + 2x3 )e3x = A + Be−x/2 + x2 − 4x 2 = A sin x + B cos x − 2x cos x + 2x sin x = A sin(x + γ) + x3 − 6x − 1 + x sin x + (3 − 2x)ex

798

Answers to Selected Problems

Chapter 8

6.34 y = Ae3x + Be2x + ex + x 6.37 y = (A + Bx)ex + 2x2 ex + (3 − x)e2x + x + 1 6.41 y = e−x (A cos x + B sin x) + 14 π ∞ [4(n2 − 2) cos nx − 8n sin nx]/[πn2 (n2 + 4)] + odd n=1

7.1 7.4 7.12 7.16 7.18 7.20 7.25

(a) y ≡ 5 (c) y = tan( π4 − x2 ) = sec x − tan x x2 + (y − b)2 = a2 , or y = C 7.11 x t = 1 u2 (1 − u4 )−1/2 du (a) y = Ax + Bx−3 7.16 y = Ax + Bx−1 + 12 x + x−1 ln x y = x2 (A + B ln x) + x2 (ln x)3 7.22 7.27 x3 ex x−1 − 1

(b) y = 2/(x + 1) (d) y = 2 tanh x x = (1 − 3t)1/3 (c) y = (A + B ln x)/x3 y = A cos ln x + B sin ln x + x 7.29 xe1/x

8.8 e−2t − te−2t 8.12 3 cosh 5t + 2 sinh 5t 8.23 y = te−2t (cos t − sin t)

8.10 13 et sin 3t + 2et cos 3t 8.21 2b(p + a)/[(p + a)2 + b2 ]2 8.25 e−pπ/2 /(p2 + 1)

9.3 9.7 9.11 9.13 9.19 9.23

y = e−2t (4t + 12 t2 ) y = 1 − e2t y = te2t y = sinh 2t y = e2t y= sin t + 2 cos t − 2e−t cos 2t y = t + 14 (1 − e4t ) 9.27 z = 13 + e4t y = t − sin 2t 9.30 z = cos 2t

9.4 9.9 9.12 9.17 9.21 9.25

9.36 arc tan(2/3) 9.40 1

9.38 4/5 9.42 π/4

10.3 10.5 10.7 10.9 10.12 10.13 10.15

1 2 t sinh t

y = cos t + 12 (sin t − t cos t) y = (t + 2) sin 4t y = 12 (t2 e−t + 3et − e−t ) y=2 y = e3t + 2e−2t sin t y = (3 + t)e−2t sin t y = t cos t − 1 9.28 z = cos t + t sin t y = sin 2t 9.32 z = cos 2t − 1

[b(b − a)te−bt + a(e−bt − e−at )]/(b − a)2 (a cosh bt − b sinh bt − ae−at )/(a2 − b2 ) (2t2 − 2t + 1 − e−2t )/4 (b2 − a2 )−1 (b−2 cos bt − a−2 cos at) + a−2 b−2 1 −t + sin t − cos t) 2 (e 1 3t 1 −4t 1 t e + − 10 e 14 35 e (cosh at − 1)/a2 , t > 0 10.17 y = 0, t t0 0, t < t0

Chapter 9

Answers to Selected Problems

11.9 y = 11.11 y =

1 −(t−t0 ) 3e

0, 1 2 [sinh(t

799

sin 3(t − t0 ), t > t0 t < t0

− t0 ) − sin(t − t0 )],

t > t0 t < t0

(b) 3δ(x + 5) − 4δ(x − 10) (b) 0 (d) cosh 1 (b) φ(|a|)/(2|a|) (c) 1/2 √ (a) δ(x + 5)δ(y − 5)δ(z), δ(r − 5 2 )δ(θ − 3π 4 )δ(z)/r, √ π 3π δ(r − 5 2 )δ(θ − 2 )δ(φ − 4 )/(r sin θ) √ √ (c) δ(x + 2)δ(y)δ(z − 2 3 ), δ(r − 2)δ(θ − π)δ(z − 2 3 )/r, δ(r − 4)δ(θ − π6 )δ(φ − π)/(r sin θ) 11.25 (c) G (x) = δ(x) + 5δ (x) 11.13 11.15 11.21 11.23

12.2 y = (sin ωt − ωt cos ωt)/(2ω 2 ) 12.7 y = [a(cosh at − e−t ) − sinh at]/[a(a2 − 1)] 12.11 y = − 31 sin 2x √ x < π/4 x − 2 sin x, √ 12.13 y = 1 π − x − 2 cos x, x > π/4 2 12.16 y = −x ln x − x − x(ln x)2 /2 12.18 y = x2 /2 + x4 /6 13.1 13.5 13.8 13.13 13.18 13.20 13.22 13.24 13.28 13.32 13.33 13.38 13.43 13.46 13.47

y = − 31 x−2 + Cx 13.3 y = A + Be−x sin(x + γ) 2 2 2 x + y − y sin x = C 13.7 3x2 y 3 + 1 = Ax3 1 2 y = x(A + B ln x) + 2 x(ln x) 13.10 u − ln u + ln v + v −1 = C −2x 3x y = Ae sin(x + γ) + e 13.15 y = (A + Bx)e2x + 3x2 e2x − sin y x = (y + C)e y = Aex sin(2x + γ) + x + 25 + ex (1 − x cos 2x) y = (A + Bx)e2x + C sin(3x + γ) y 2 = ax2 + b 13.26 y = x2 + x 2 2 y + 4(x − 1) = 9 13.30 y = g/3, v = 7g/12, a = 5g/12 1:23 p.m. In both (a) and (b), the temperature of the mixture at time t is given by the formula Ta (1 − e−kt ) + (n + n )−1 (nT0 + n T0 )e−kt . 1 2 2 2 13.41 14 (tanh 1 − sech2 1) = 0.0854 2 ln[(a + p )/p ] (sin at + at cos at)/(2a) For e−x : gs (α) = (2/π)1/2 α/(1 + α2 ), gc (α) = (2/π)1/2 /(1 + α2 ) y = A sin t + B cos t + sin t ln(sec t + tan t) − 1

Chapter 9 2.1 2.3 3.1 3.6 3.9

Parabola ax = sinh(ay + b) dx/dy = C/ y 3 − C 2 x = ay 3/2 − 12 y 2 + b cot θ = A cos(φ − α)

2.2 2.6

Circle x + a = 43 (y 1/2 − 2b)(b + y 1/2 )1/2

3.3 x4 y 2 = C 2 (1 + x2 y 2 )3 3.7 y = K sinh(x + C) 3.12 (x − a)2 + y 2 = C 2

800

Answers to Selected Problems

Chapter 10

3.15 r cos(θ + α) = C or, in rectangular coordinates, the straight line x cos α − y sin α = C 3.18 See Problem 3.9 4.6 5.2

Cycloid   r − rθ˙2 ) = −∂V /∂r m(¨ ˙ = −(1/r)(∂V /∂θ) m(rθ¨ + 2r˙ θ)   m¨ z = −∂V /∂z

5.4

lθ¨ + g sin θ = 0

5.8

L = 12 m(2r˙ 2 + r2 θ˙2 ) − mgr ˙ =0 z + mga2 = 0 (ma2 + I)¨ 2¨ r − rθ˙2 + g = 0, (d/dt)(r2 θ) L = 1 m(r˙ 2 + r2 θ˙2 ) − 1 k(r − r0 )2 − mgr cos θ

5.12

Comment: These equations are in the form ma = F; recall from Chapter 6, equation (6.7), the polar coordinate formfor F = −∇V . 5.6 aθ¨ − a sin θ cos θ φ˙ 2 − g sin θ = 0 ˙ =0 (d/dt)(sin2 θ φ) −2 2 1 5.11 L = 2 (m + Ia )z˙ − mgz

5.23

k ˙ + gr sin θ = 0 (r − r0 ) − g cos θ = 0, (d/dt)(r2 θ) r¨ − rθ˙2 + m L = M x˙ 2 + M gx sin α, 2M x ¨ − M g sin α = 0 L = 12 m(l + aθ)2 θ˙2 − mg[a sin θ − (l + aθ) cos θ] (l + aθ)θ¨ + aθ˙2 + g sin θ = 0 x = y with ω = g/l ; x = −y with ω = 3g/l 2θ¨ + φ¨ cos(θ − φ) + φ˙ 2 sin(θ − φ) + 2g l sin θ = 0 g 2 ¨ ¨ ˙ φ + θ cos(θ − φ) − θ sin(θ − φ) + l sin φ = 0 φ = 2θ with ω = 2g/(3l) ; φ = −2θ with ω = 2g/l

6.1

Catenary

5.14 5.16 5.19 5.21

6.3

Circular cylinder

6.5

Circle

√ dr/dθ = Kr r4 − K 2 (x − a)2 + (y + 1)2 = C 2 Intersection of r = 1 + cos θ with z =√a + b sin(θ/2) Intersection of y = x2 with az = b[2x 4x2 + 1 + sinh−1 2x] + c ey cos(x − a) = K Hyperbola: r2 cos(2θ + α) = K or (x2 − y 2 ) cos α − 2xy sin α = K K ln r = cosh(Kθ + C) Parabola: (x − y − C)2 = 4K 2 (x + y − K 2 ) m(¨ r − rθ˙2 ) + Kr−2 = 0, r2 θ˙ = const. r−1 m(r2 θ¨ + 2rr˙ θ˙ − r2 sin θ cos θ φ˙ 2 ) = −r−1 (∂V /∂θ) = Fθ = maθ , 2r˙ θ˙ − r sin θ cos θ φ˙ 2 aθ = rθ¨ + 8.27 dr/dθ = r K 2 (1 + λr)2 − 1

8.4 8.6 8.8 8.10 8.12 8.16 8.17 8.18 8.20 8.22

Chapter 10 4.6 I =

9 0 −3

0 −3 6 0 0 9

; principal moments: (6, 6, 12); principal axes along the vec-

tors (1, 0, −1) and any two orthogonal vectors in the plane z = x, say (0, 1, 0) and (1, 0, 1). 5.6

(a) 3

(e) −1

Chapter 10

Answers to Selected Problems

801

6.15 (c) vector 8.1

hr = 1,

hθ = r,

hφ = r sin θ

ds = er dr + eθ r dθ + eφ r sin θ dφ dV = r2 sin θ dr dθ dφ ar = i sin θ cos φ + j sin θ sin φ + k cos θ = er

8.3

8.5 8.6

aθ = ir cos θ cos φ + j r cos θ sin φ − kr sin θ = reθ aφ = −ir sin θ sin φ + j r sin θ cos φ = r sin θ eφ ds/dt = er r˙ + eθ rθ˙ + eφ r sin θ φ˙ 2 r − rθ˙2 − r sin2 θ φ˙ 2 ) d s/dt2 = er (¨ + eθ (rθ¨ + 2r˙ θ˙ − r sin θ cos θ φ˙ 2 ) ˙ + eφ (r sin θ φ¨ + 2r cos θ θ˙φ˙ + 2 sin θ r˙ φ) V = er cos θ − eθ sin θ − eφ r sin θ hu = hv = (u2 + v 2 )1/2 , hz = 1 ds = (u2 + v 2 )1/2 (eu du + ev dv) + ez dz dV = (u2 + v 2 ) du dv dz au = iu + jv = (u2 + v 2 )1/2 eu

8.9

av = −iv + ju = (u2 + v 2 )1/2 ev az = k = ez hu = hv = a(cosh u + cos v)−1 ds = a(cosh u + cos v)−1 (eu du + ev dv) dA = a2 (cosh u + cos v)−2 du dv au = (h2u /a)[i(1 + cos v cosh u) − j sin v sinh u] = hu eu

8.11

av = (h2v /a)[i sinh u sin v + j(1 + cos v cosh u)] = hv ev ds/dt = (u2 + v 2 )1/2 (eu u˙ + ev v) ˙ + ez z˙

u + u(u˙ 2 − v˙ 2 ) + 2v u˙ v] ˙ d2 s/dt2 = eu (u2 + v 2 )−1/2 [(u2 + v 2 )¨ 8.14

v + v(v˙ 2 − u˙ 2 ) + 2uu˙ v] ˙ + ez z¨ + ev (u2 + v 2 )−1/2 [(u2 + v 2 )¨ −1 ˙ ds/dt = a(cosh u + cos v) (eu u˙ + ev v) u + (v˙ 2 − u˙ 2 ) sinh u + 2u˙ v˙ sin v] d2 s/dt2 = eu a(cosh u + cos v)−2 [(cosh u + cos v)¨ v + (v˙ 2 − u˙ 2 ) sin v − 2u˙ v˙ sinh u] + ev a(cosh u + cos v)−2 [(cosh u + cos v)¨

9.10 Let h = hu = hv = (u2 + v 2 )1/2 represent the u and v scale factors. ∂U ∂U ∂U + ev +k ∇U = h−1 eu ∂u ∂v ∂z

∂ ∂ ∂Vz (hVu ) + (hVv ) + ∇ · V = h−2 ∂u ∂v ∂z 2 2 2 ∂ U ∂ U ∂ U + ∇2 U = h−2 + ∂u2 ∂v 2 ∂z 2

∂Vz ∂Vz ∂Vv ∂ ∂Vu ∂ − eu + − h−1 ev + h−2 (hVv ) − (hVu ) ez ∇ × V = h−1 ∂v ∂z ∂z ∂u ∂u ∂v

802

Answers to Selected Problems

Chapter 12

9.13 Same as 9.10 if h = a(cosh u+cos v)−1 and terms involving either z derivatives or Vz are omitted. Note, however, that ∇ × V has only a z component if V = eu Vu + ev V√ v where Vu and Vv are functions of u and v. = u/ 1 − v 2 √ 9.15 hu = 1, hv √ eu = iv + j 1 − v 2 , ev = i 1 − v 2 − jv m[¨ u − uv˙ 2 /(1 − v 2 )] = −∂V /∂u = Fu m[(u¨ v + 2u˙ v)/(1 ˙ − v 2 )1/2 + uv v˙ 2 /(1 − v 2 )3/2 ] = −h−1 v ∂V /∂v = Fv −1 −1 9.16 r , 0, 0, r ez 9.19 2eφ , er cos θ − eθ sin θ, 3 9.21 2r−1 , 6, 2r−4 , −k 2 eikr cos θ

Chapter 11 3.3 9/10 3.11 1

3.7 8 3.14 −Γ(4/3)

1 5 1 7.1 2 B( 2 , 2 ) = 3π/16 7.5 B(3, 3) = 1/30 7.11 2B( 23 , 43 )/B( 13 , 43 ) 8.1 B( 12 , 14 ) 2l/g = 7.4163 l/g (Compare 2π l/g )

3.9 Γ(5/4) 3.17 Γ(p)

1 1 1 7.3 3 B( 3 , 2 ) 1 1 1 7.7 2 B( 4 , 2 ) 7.13 Iy /M = 8B( 43 , 43 )/B( 53 , 13 ) 8.3 t = π a/g

10.2 Γ(p, x) ∼ xp−1 e−x [1 + (p − 1)x−1 + (p − 1)(p − 2)x−2 · · · ] 10.5 (a) E1 (x) = Γ(0, x) 10.6 (b) Ei(x) 11.5 1 12.1

K = F (π/2, k) = (π/2){1 + ( 12 )2 k 2 + [(1 · 3)/(2 · 4)]2 k 4 · · · } E = E(π/2, k) = (π/2){1 − ( 12 )2 k 2 − [1/(2 · 4)]2 · 3k 4

− [(1 · 3)/(2 · 4 · 6)]2 · 5k 6 · · · }

Caution: For the following answers, see the warning about elliptic integral notation just after equations (12.3) and in Example 1. 12.5 E(1/3) ∼ 12.6 13 F ( π3 , 13 ) ∼ = 1.526 = 0.355 1 ∼ 1 π 1 ∼ 12.7 5E( 5π , ) 19.46 12.10 F ( , ) 4 5 = 2 4 2 = 0.402 3π √3 3 π ∼ 12.11 F ( 8 , 10 ) + K( √10 ) = 4.097 12.13 3E( 6 , 23 ) + 3E(arc sin 34 , 23 ) ∼ = 3.96 √ √ ∼ 12.16 2 2 E(1/ 2 ) = 3.820 √ a K(1/ 5 ); for small vibrations, T ∼ 12.23 T = 8 5g = 2π 2a 3g √ 13.8 12 π erf(1) 13.11 15 F (arc sin 34 , 45 ) ∼ = 0.1834 √ 13.15 Γ(7/2) = 15 π/8 √ 13.19 12 π erfc 5 √ 13.24 −255 π/109!!

√ √ 13.10 2 K(1/ 2 ) ∼ = 2.622 13.13 − sn u dn u √ 13.17 12 B( 54 , 74 ) = 3π 2/64 5 5 14π √ 13.21 54 B( 23 , 13 3 ) = (3) ( 3 )

Chapter 12

Answers to Selected Problems

803

Chapter 12 3

1.2 1.7

y = a0 e x y = Ax + Bx3

2.4

Q0 =

3.3

(30 − x2 ) sin x + 12x cos x

5.3

P0 (x) = 1 P1 (x) = x

P4 (x) = (35x4 − 30x2 + 3)/8

P2 (x) = (3x2 − 1)/2

P6 (x) = (231x6 − 315x4 + 105x2 − 5)/16

1 2

ln 1+x 1−x , Q1 =

x 2

1.3 1.9

y = a1 x y = a0 (1 − x2 ) + a1 x

3.5

(x2 − 200x + 9900)e−x

ln 1+x 1−x − 1

P5 (x) = (63x5 − 70x3 + 15x)/8

P3 (x) = (5x3 − 3x)/2 5.9 2P2 + P1 5.12 85 P4 + 4P2 − 3P1 + 12 5 P0 5 8.2 N = 25 , 2 P2 (x)

5.11

2 5 (P1

8.4

N = π 1/4 , π −1/4 e−x

3 7 11 9.1 2 P1 − 8 P3 + 16 P5 · · · 1 7 11 9.4 8 π(3P1 + 16 P3 + 64 P5 · · · ) 9.6 P0 + 38 P1 − 20 9 P2 · · · 1 3 5 2 2 9.8 (1 − a)P + 0 2 4 (1 − a )P1 + 4 a(1 − a )P2 + 9.11 85 P4 + 4P2 − 3P1 + 12 5 P0 9.12 25 (P1 − P3 ) 3 9.14 12 P0 + 58 P2 = 16 (5x2 + 1)

− P3 )

7 16 (1

− a2 )(5a2 − 1)P3 · · ·

10.5

1 3 2 (sin θ)(35 cos

11.2 11.6 11.8 11.10

y = Ax−3 + Bx3 11.4 y = Ax−2 + Bx3 −x 2/3 2 y = Ae + Bx [1 − 3x/5 + (3x) /(5 · 8) − (3x)3 /(5 · 8 · 11) + · · · ] y = A(x−1 − 1) + Bx2 (1 − x + 3x2 /5 − 4x3 /15 + 2x4 /21 + · · · ) y = A[1 + 2x − (2x)2 /2! + (2x)3 /(3 · 3!) − (2x)4 /(3 · 5 · 4!) + · · · ]

θ − 15 cos θ)

+ Bx3/2 [1 − 2x/5 + (2x)2 /(5 · 7 · 2!) − (2x)3 /(5 · 7 · 9 · 3!) + · · · ] 11.11 y = Ax1/6 [1 + 3x2 /25 + 32 x4 /(5 · 210 ) + · · · ] + Bx−1/6 [x + 3x3 /26 + 32 x5 /(7 · 211 ) + · · · ] 16.1 16.5 16.9 16.15

y y y y

= x−3/2 Z1/2 (x) = xZ0 (2x) √ = x1/3 Z2/3 (4 x ) = Z2 (5x)

16.3 16.7 16.11 16.17

y y y y

= x−1/2 Z1 (4x1/2 ) = x−1 Z1/2 (x2 /2) = x−2 Z2 (x) = Z0 (3x)

17.7 (a) y = x1/2 I1 (2x1/2 ). Note that the factor i does not need to be included, since any multiple of y is a solution. 18.11 1.7 m for steel. 20.1 1/6 20.3 4/π (1) 20.7 hn (x) ∼ x−1 ei[x−(n+1)π/2]

20.5 1/2 (1) 20.9 hn (ix) ∼ −i−n x−1 e−x

804

Answers to Selected Problems

Chapter 13

√ = Ax + B x sinh−1 x − x2 + 1 = A(1 + x) + Bxe1/x = A(x − 1) + B[(x − 1) ln x − 4] x x = A 1−x + B[ 1−x ln x + 1+x 2 ] 2 = A(x + 2x) + B[(x2 + 2x) ln x + 1 + 5x − x3 /6 + x4 /72 + · · · ]

21.1 21.2 21.5 21.7 21.8

y y y y y

22.4

H0 (x) = 1 H1 (x) = 2x

H2 (x) = 4x2 − 2 22.13 L0 (x) = 1 L1 (x) = 1 − x

H3 (x) = 8x3 − 12x H4 (x) = 16x4 − 48x2 + 12 H5 (x) = 32x5 − 160x3 + 120x

L2 (x) = 12 (2 − 4x + x2 )

L3 (x) = 16 (6 − 18x + 9x2 − x3 )

2 3 4 1 24 (24 − 96x + 72x − 16x + x ) 2 3 1 120 (120 − 600x + 600x − 200x +

L4 (x) = L5 (x) =

25x4 − x5 )

Note: The factor 1/n! is omitted in most quantum mechanics books but is included as here in most reference books. Chapter 13

400 nπ nπx sinh (30 − y) sin nπ sinh 3nπ 10 10 odd n nπ nπy 400 sinh (10 − x) sin + nπ sinh(nπ/3) 30 30 odd n 40 1 nπx −nπy/10 e 2.14 For f (x) = x − 5: T = − 2 cos π n2 10 odd n For f (x) = x: add 5 to the answer just given. ∞ 2n + 1 400 (−1)n −[(2n+1)πα/4]2 t e πx cos 3.9 u = 100 − π n=0 2n + 1 4 sin nx 4 e−iEn t/¯h 3.11 E n = n2 ¯ h2 /(2m); Ψ(x, t) = π n 2.12

T =

4.8

4.9

5.1 5.4

odd n

πx πvt π 2πx 2πvt 4l 1 sin sin + sin sin 2 π v 3 l l 16 l l

∞ sin nπ/2 nπx nπvt sin sin − n(n2 − 4) l l n=3 Problem 2: n = 2, ν = v/l Problem 3: n = 3, ν = 32 v/l and n = 4, ν = 2v/l have nearly equal intensity. Problem 5: n = 1, ν = 12 v/l y=

(a) u ∼ = 9.76 ∞ u = 200

2 1 J0 (km r/a)e−(km α/a) t , km = zeros of J0 k J (k ) m=1 m 1 m

Chapter 13

5.10 u =

Answers to Selected Problems

805

nπx mπy pπz −(απ/l)2 (n2 +m2 +p2 )t 6400 1 sin sin sin e π3 nmp l l l odd n odd m odd p

5.11 R = rn , r−n , n = 0; R = ln r, const., n = 0. R = rl , r−l−1 . 400 1 r 4n 5.13 u = sin 4nθ π n 10 odd n 200 rn − r−n 50 ln r + sin nθ 5.14 u = ln 2 π n(2n − 2−n ) odd n

6.5 6.8

64l4 1 mπy πv(m2 + n2 )1/2 t nπx sin cos sin 6 3 3 π n m l l l odd m odd n 2 2 ¯h kmn sin nθ e−iEmn t/¯h , Emn = Ψmn = Jn (kmn r) cos nθ 2ma2

u = 25 rP1 (cos θ) − 25 r3 P3 (cos θ) 3 4 u = 12 P0 (cos θ) + 58 r2 P2 (cos θ) − 16 r P4 (cos θ) · · · 1 7 3 5 u = 8 π[3rP1 (cos θ) + 16 r P3 (cos θ) + 11 64 r P5 (cos θ) · · · ] 21 3 2 u = 25[P0 (cos θ) + 94 rP1 (cos θ) + 15 8 r P2 (cos θ) + 64 r P3 (cos θ) · · · ] 1 3 2 u = 15 r P3 (cos θ) cos 2φ − rP1 (cos θ) 7 3 11 5 u = 34 rP1 (cos θ) + 24 r P3 (cos θ) − 192 r P5 (cos θ) · · · 3 2 u = E0 (r − a /r )P1 (cos θ) ∞ nπr −(αnπ/a)2 t 200a (−1)n sin e 7.15 u = 100 + πr 1 n a

7.2 7.5 7.6 7.8 7.10 7.12 7.13

= 100 + 200

∞

(−1)n j0 (nπr/a)e−(αnπ/a)

Ψ(r, θ, φ) = jl (βr)Plm (cos θ)e±imφ e−iEt/¯h , where ¯h2 β = 2M E/¯h2 , βa = zeros ofjl , E = ( zeros of jl )2 2 2M a 2 2 7.20 ψn (x) = e−α x /2 Hn (αx), α = mω/¯h 7.21 Degree of degeneracy of En is C(n + 2, n) = (n + 2)(n + 1)/2, n = 0 to ∞. 2r Me4 7.22 Ψ(r, θ, φ) = R(r)Ylm (θ, φ), R(r) = rl e−r/(na) L2l+1 n−l−1 na , En = − 2¯ h2 n2 7.19

8.4

Let K = line charge per unit length. Then V = −K ln(r2 + a2 − 2ra cos θ) + K ln a2 − K ln R2

8.5 9.2 9.7

+ K ln[r2 + (R2 /a)2 − 2(R2 /a)r cos θ] K at (a, 0), −K at (R2 /a, 0) ∞ u = 200π −1 0 k −2 (1 − cos 2k)e−ky cos kx dk u(x, t) = 100 erf[x/(2αt1/2 )] − 50 erf[(x − 1)/(2αt1/2 )] − 50 erf[(x + 1)/(2αt1/2 )]

10.3 T =

1 4 1 (2 − y) + 2 sinh nπ(2 − y) cos nπx 4 π n2 sinh 2nπ odd n

806 10.4

10.6 10.8 10.10 10.16 10.18 10.20 10.22 10.26

Answers to Selected Problems

Chapter 14

1 nπy nπx 40 sinh sin π n sinh(3nπ/5) 5 5 odd n 1 nπ(5 − x) nπy 40 sinh sin + π n sinh(5nπ/3) 3 3 odd n ∞ n 80 (−1) −[(2n+1)πα/(2l)]2 t 2n + 1 e πx u = 20 − cos π 0 2n + 1 2l nπx 40 1 −(nπα/10)2 t e sin u = 20 − x − π even n n 10 mπr 1 mπz 1600 In sin nθ sin u= 2 π nmIn (3mπ/20) 20 20 odd n odd m √ v 5/(2π) νmn , n = 3, 6, · · · ; the lowest frequencies are: ν13 = 2.65 ν10 , ν23 = 4.06 ν10 , ν16 = 4.13 ν10 , ν33 = 5.4 ν10 ν = vλ l /(2πa) where λ l = zeros of j l , a = radius of sphere, v = speed of sound 5 u = 1 − 12 rP1 (cos θ) + 78 r3 P3 (cos θ) − 11 16 r P5 (cos θ) · · · 2 2 1/2 where kmn is a zero of Jn ν = [v/(2π)][(kmn /a) + λ ] T = 20 +

Chapter 14 1.3 u = x, v = −y u = x3 − 3xy 2 , v = 3x2 y − y 3 1.7 u = cos y cosh x, v = sin y sinh x u = (x2 + y 2 )1/2 , v = 0 u = x/(x2 + y 2 ), v = −y/(x2 + y 2 ) u = 3x/[x2 + (y − 2)2 ], v = (−2x2 − 2y 2 + 5y − 2)/[x2 + (y − 2)2 ] 1.17 u = cos x cosh y, v = sin x sinh y u = ln(x2 + y 2 )1/2 , v = 0 u = ±2−1/2 [(x2 + y 2 )1/2 + x]1/2 , v = ±2−1/2 [(x2 + y 2 )1/2 − x]1/2 , where the ± signs are chosen so that uv has the sign of y. 1.19 u = ln(x2 + y 2 )1/2 , v = arc tan(y/x) [The angle is in the quadrant of the point (x, y).]

1.1 1.4 1.9 1.11 1.13 1.18

In 2.1–2.23, A = analytic, N = not analytic 2.1 A 2.3 N 2.4 N 2.7 A 2.9 A, z = 0 2.11 A, z = 2i 2.13 N 2.17 N 2.18 A, z = 0 2.19 A, z = 0 2.23 A, z = 0 2.34 −z − 12 z 2 − 13 z 3 · · · , |z| < 1 1 3 2.38 − 12 i + 14 z + 18 iz 2 − 16 z · · · , |z| < 2 3 5 2.42 z + z /3! + z /5! · · · , all z 2.48 Yes, z = 0 2.52 No 2.53 Yes, z = 0 2.54 −iz 2.56 −iz 2 /2 2.59 ez 2.60 2 ln z 2.63 −i/(1 − z) 1 3.1 2 +i 3.7 π(1 − i)/8 3.17 (a) 0 (b) iπ

4.4

3.3 0 3.9 1 3.19 16iπ

3.5 −1 3.12 (a) 53 (1 + 2i) 3.23 72iπ

13 2 1 For 0 < |z| < 1: − 14 z −1 − 12 − 11 16 z − 16 z · · · ; R(0) = − 4 3 −1 1 5 3 2 −3 −2 For 1 < |z| < 2: · · · + z + z + 4 z + 2 + 16 z + 16 z · · · For |z| > 2: z −4 + 5z −5 + 17z −6 + 49z −7 · · ·

Chapter 14

Answers to Selected Problems

For 0 < |z| < 1: z −2 − 2z −1 + 3 − 4z + 5z 2 · · · ; R(0) = −2 For |z| > 1: z −4 − 2z −5 + 3z −6 · · · 175 2 4.8 For |z| < 1: −5 + 25 6 z − 36 z · · · ; R(0) = 0 1 2 7 3 For 1 < |z| < 2: −5(· · · + z −3 − z −2 + z −1 + 16 z + 36 z + 216 z ···) 1 1 2 1 3 −3 −2 −1 For 2 < |z| < 3: · · · + 3z + 9z − 3z + 1 − 3 z + 9 z − 27 z ··· −3 −4 −5 For |z| > 3: 30(z − 2z + 9z · · · ) 4.9 (a) Regular (b) Pole of order 3 4.10 (b) Pole of order 2 (d) Essential singularity 4.11 (c) Simple pole (d) Pole of order 3 4.12 (b) Pole of order 2 (d) Pole of order 1 4.6

6.1 6.3 6.5 6.7 6.9 6.14 6.18 6.21 6.27 6.31 6.35 6.16 6.19 6.28 6.33

z −1 − 1 + z − z 2 · · · ; R = 1 z −3 − z −1 /3! + z/5! · · · ; R = − 16 1 −1 + 12 + 14 (z − 1) · · · ]; R = 12 e 2 e[(z − 1) 1 1 −1 − 1 + (1 − π 2 /2)(z − 12 ) · · · ]; R = 14 4 [(z − 2 ) −1 −[(z − 2) + 1 + (z − 2) + (z − 2)2 · · · ]; R = −1 R(−2/3) = 1/8, R(2) = −1/8 6.16 R(0) = −2, R(1) = 1 1 1 R(3i) = − i 6.19 R(π/2) = 1/2 2 3 √ √ 6.22 R(iπ) = −1 R[ 2 (1 + i)] = 2 (1 − i)/16 1 1 R(π/6) = −1/2 6.28 R(3i) = − 16 + 24 i R(0) = 9/2 6.33 R(π) = −1/2 R(i) = 0 6.14 πi/4 −2πi 6.18 0 0 6.27 −πi πi/4 6.31 9πi 0 6.35 0

7.1 7.5 7.9 7.13 7.17 7.23 7.26 7.30 7.33 7.39 7.45 7.48 7.50 7.52 7.55 7.60 7.63

π/6 7.3 2π/3 π/(1 − r2 ) 7.7 π/6 2π/| sin α| 7.11 3π/32 π/10 7.15 πe−4/3 /12 (π/e)(cos 2 + 2 sin 2) 7.19 πe−3 /54 π/8 7.24 π −π/2√ 7.28 π/4 √ 3 π/(2 7.32 16 π √2 √ 2) 7.36 −π 2 2 π 2/2 2 7.41 (2π)1/2 /4 One negative real, one each in quadrants I and IV Two each in quadrants I and IV Two each in quadrants II and III πi 7.54 8πi cosh t cos t 7.57 1 + sin t − cos t √ t + e−t − 1 7.61 cosh 2t + 2 cosh t cos t 3 /3 (cosh t − cos t)/2 7.65 (cos 2t + 2 sin 2t − e−t )/5

8.3 Regular, R = −1 8.7 Simple pole, R = −2 8.11 Regular, R = −1

8.5 Regular, R = −1 8.9 Regular, R = 0 8.14 −2πi

807

808 9.3 9.4 9.7

Answers to Selected Problems

Chapter 15

u = x/(x2 + y 2 ), v = −y/(x2 + y 2 ) u = ex cos y, v = ex sin y u = sin x cosh y, v = cos x sinh y

10.6 T = 100y/(x2 + y 2 ); isothermals y/(x2 + y 2 ) = const.; ﬂow lines x/(x2 + y 2 ) = const. 10.9 Streamlines y − y/(x2 + y 2 ) = const. 10.12 T = (20/π) arc tan[2y/(1 − x2 − y 2 )], arc tan between π/2 and 3π/2 10.14 Φ = 12 V0 ln{[(x + 1)2 + y 2 ]/[(x − 1)2 + y 2 ]} Ψ = V0 arc tan{2y/[1 − x2 − y 2 ]}, arc tan between π/2 and 3π/2 Vx = 2V0 (1 − x2 + y 2 )/[(1 − x2 + y 2 )2 + 4x2 y 2 ], Vy = −4V0 xy/[(1 − x2 + y 2 )2 + 4x2 y 2 ] √ 11.2 −i ln(1 + z) 11.5 R(i) = 14 (1 − i 3 ), R(−i) = − 12 11.8 R(1/2) = 1/2 11.10 −1 11.12 1/2 11.14 (a) 2 (b) − sin 5 (c) 1/16 (d) −2π 11.16 −π/6 11.18 14 πe−π/2 11.20 12 π(e−1 + sin 1) 11.29 π 3 /8. Caution: −π 3 /8 is wrong. 11.32 One negative real, one each in quadrants II and III 11.34 Two each in quadrants I and IV, one each in II and III 11.41 π 2 /8

Chapter 15 1.2 1.6

3/8, 1/8, 1/4 27/52, 16/52, 15/52

1.5 1.8

1/4, 3/4, 1/3, 1/2 9/100, 1/10, 3/100, 1/10

2.12 (a) 3/4 (b) 1/5 (c) 2/3 (d) 3/4 2.14 (a) 3/4 (b) 25/36 (c) 37, 38, 39, 40 2.17 (a) 3 to 9 with p(5) = p(7) = 2/9; others, p = 1/9.

(e) 3/7 (c) 1/3

3.4 3.12 3.14 3.17 3.20

(a) 8/9, 1/2 (b) 3/5, 1/11, 2/3, 2/3, 6/13 (a) 1/49 (b) 68/441 (c) 25/169 n > 3.3, so 4 tries are needed. 3.16 9/23 (a) 39/80, 5/16, 1/5, 11/16 (b) 374/819 5/7, 2/7, 11/14 3.21 2/3, 1/3

3.5 1/33, 2/9 (d) 15 times (e) 44/147

4.1 4.4 4.8 4.17 5.1 5.5

(a) P (10, 8) (b) C(10, 8) (c) 1/45 −3 −4 1.98 × 10 , 4.95 × 10 , 3.05 × 10−4 , 1.39 × 10−5 4.7 1/26 1/221, 1/33, 1/17 4.11 0.097, 0.37, 0.67; 13 MB: 16, FD: 6, BE: 10 √ √ 5.3 µ = 2, σ = 2 µ = 0, σ = 3 5.7 µ = 3(2p − 1), σ = 2 3p(1 − p) µ = 1, σ = 7/6

6.1 6.5

Chapter 15

6.7

Answers to Selected Problems

809

(a) F (s) = 2[1 − cos(s/R)], f (s) = (2/R) sin(s/R) (b) F (s) = [1 − cos(s/R)]/[1 − cos(1/R)] ∼ = s2 , ∼ 2s f (s) = R−1 [1 − cos(1/R)]−1 sin(s/R) =

Exactly 7h

At most 7h

At least 7h

Most probable number of h

Expected number of h

7.1

0.0078

3 or 4

7/2

7.2

0.193

0.806

0.387

In the following answers, the ﬁrst number is the binomial result and the second number is the normal approximation using whole steps at the ends as in Example 2. 8.12 0.03987, 0.03989 8.14 0.9546, 0.9546 8.17 0.0770, 0.0782 8.18 0.372, 0.376 8.20 0.462, 0.455 9.3

Number of particles 0 1 2 3 4 Number of intervals 406 812 812 541 271 9.5 P0 = 0.37, P1 = 0.37, P2 = 0.18, P3 = 0.06 9.8 3, 10, 3 9.11 Normal: 0.08, Poisson: 0.0729, (binomial: 0.0732)

5 108

10.8 x¯ = 5, y¯ = 1, sx = 0.122, sy = 0.029, σx = 0.131, σy = 0.030, σmx = 0.046, σmy = 0.0095, rx = 0.031, ry = 0.0064, x + y = 6 with r = 0.03, xy = 5 with r = 0.04, x3 sin y = 105 with r = 2.00, ln x = 1.61 with r = 0.006 10.10 x¯ = 6 with r = 0.062, y¯ = 3 with r = 0.067, ey = 20 with r = 1.3, x/y 2 = 0.67 with r = 0.03 √ 11.3 20/47 11.7 x¯ = 1/4, σ = 3/4 √ 11.9 (d) x ¯ = 1/4, σ = 31/12 11.13 30, 60 11.17 x¯ = 2 with r = 0.073, y¯ = 1 with r = 0.039, x − y = 1 with r = 0.08, xy = 2 with r = 0.11, x/y 3 = 2 with r = 0.25

Index Abelian group, 175 absolutely convergent series, 10, 56 absolute value of complex number, 49, 53 acceleration, 286 of car, 33 centripetal, 83, 487 in circular motion, 283 complex, 56 in any coordinate system, 523 Coriolis, 487 in cylindrical coordinates, 523 of gravity, 392 in polar coordinates, 487 a-c circuit, See electric circuits active transformation, 127 adding (subtracting) complex numbers, 51 matrices, 115 mod N , 174, 178 rows (columns) of a determinant, 91 series, 19, 23 tensors, 504 vectors, 97–98 adjoint, 137 air pressure in a sound wave, 345, 372 Airy functions, 596 alternating current. See electric current alternating series, 17, 34 Ampere's law, 329 amplitude: of a complex number, 49 of an elliptic integral, 555 of a sinusoidal function, 341 of vibration, 341 AM radio signal, 347 analytic at a point, 667 analytic at inﬁnity, 703–704 analytic geometry using vectors, 106 angle: of a complex number, 49 811

in n dimensions, 143, 145 between planes, 112 solid, 320 between vectors, 102 angular frequency, 80 angular momentum, 289 (Problem 9) angular velocity, 278, 515 annihilation operators, 607 annular ring, 679 antisymmetric matrix, 138 antisymmetric tensor, 503, 509 applications to physics problems. See individual topics approximation(s): by asymptotic series, 549 ﬀ, 552 for Bessel functions, 604 using diﬀerentials, 196–199 of integral, 198 "least squares", 214 (Problem 16), 581, 774 (Problem 1) of ln N !, 537 by normal distribution, 762, 769 using series, 33, 38 (Problems 40 ﬀ) arc length, 250, 266, 521 in cylindrical coordinates, 260, 521 of ellipse, 556 metric tensor, 524 in orthogonal systems, 521 in polar coordinates, 259, 266, 521 in rectangular coordinates, 250 in spherical coordinates, 261. See also 523–524 vector element, 319 arc tan series, 30 area, 249. See also surface under a curve, 249 element on a sphere, 261 element on a surface, 271 as measure of probability, 751 of parallelogram, 279

812

INDEX

in polar coordinates, 258 sec γ method, 271 of surface of revolution, 254 Argand diagram, 48 argument of a complex number, 49 argument principle, 694 ﬁnding zeros, 695 arithmetic mean, 771 arrow representing a rotation, 497 arrow representing a vector, 96 associated Legendre functions, 583 associated tensors, 533 associative law for matrix multiplication, 139 for vector addition, 97 asymptotic series, 549 ﬀ audio frequency, 347 augmented matrix, 85 auxiliary equation, 409 ﬀ average value. See also mean value of a function, 347 ﬀ of products of sines and cosines, 351 of sin2 x and cos2 x, 349 axes along eigenvector directions, 151 principal, 162 real and imaginary, 48 rotation of, 126, 127, 498 axial vector, 515 left-handed coordinate system, 515 in physics formulas, 517 right-hand rule, 515 bacteria, growth of, 1, 399 balls in boxes, 739 ﬀ distinguishable and indistinguishable, 741 identical, 740 basic interval in Fourier series, 350, 360 basis, 143 ﬀ change of, 127, 708 orthonormal, 145 basis functions, 357 completeness relation, 375 complete set of, 375–377 basis vectors. See also basis functions; unit basis vectors complete set of, 576 covariant and contravariant, 530

in curvilinear coordinates, 522 in general coordinates, 533 i, j, k, 100 Bauer's formula, 618 Bayes' formula, 732 beam carrying load, 496 Bernoulli equation, 404, 431 Bernoulli trials, 756 Bessel coeﬃcients, 617 Bessel functions, 587 ﬀ Airy functions, 596 applications, 587 approximate formulas, 604 asymptotic formulas, 604 ber, bei, ker, kei, 596 diﬀerential equations, 588, 593, 594 ﬁrst kind, 589, 595 generating function, 616 graphs, 591 Hankel functions, 595 hyperbolic, 595 integrals involving, 617 Kelvin functions, 596 modiﬁed, 595 Neumann function, 591 normalization of, 602–603 order, 589 orthogonality, 601 ﬀ recursion relations, 592 second kind, 591, 595 second solution, 590 series of, 640 ﬀ spherical, 596 third kind, 595 Weber function, 591 zeros, 591 Bessel's inequality, 376 beta functions, 542 ﬀ in terms of gamma functions, 543 integrals, 542, 543 binomial coeﬃcients, 28 ﬀ, 192, 567, 609, 739 binomial distribution, 756 ﬀ mean value and standard deviation, 763 normal approximation, 762 Poisson approximation, 768 binomial series, 28 ﬀ. See also binomial coeﬃcients binomial theorem, 28 ﬀ

INDEX

bipolar coordinates, 525 ﬀ birthdays, 743 books, pile of, 44 Bose-Einstein statistics, 742 bouncing ball, 1 boundary conditions, 393, 625, 631, 634, 711 boundary point problems, 223 ﬀ boundary value problems, 625, 711 bounded function, 356 brachistochrone, 473, 482, 484 branch, branch cut, branch point, 693 Bromwich integral, 696 butterﬂy net, 328 calculator. See also computer degree and radian mode, 49, 52 calculus of variations, Chapter 9 brachistochrone, 473, 482, 484 Euler equation, 474, 477 Fermat's principle, 473, 484 geodesics, 472 ﬀ isoperimetric problems, 491 Lagrange's equations, 485 ﬀ soap ﬁlm, 473, 480 variational notation, 493 Caley-Hamilton theorem, 161, 187 capacitor, 323 fringing at edge of, 714–716 car, acceleration of, 33 carrier wave, 347 Cartesian tensors, 498, 500 Cartesian vectors, 499 catenary, 480 Cauchy diﬀerential equation, 434 Cauchy principal value, 692 Cauchy-Riemann conditions, 669 ﬀ, 673-674, 720 Cauchy's integral formula, 675 Cauchy's theorem, 674 center of mass, 251 ﬀ central limit theorem, 774 centripetal acceleration, 487 centroid, 251 ﬀ chain rule, 199 ﬀ, 203 ﬀ in matrix form, 205 chain suspended, 467, 473 change of basis, 127, 708. See also change of variables

813

linear transformations, 125 in n dimensions, 143 orthogonal transformations, 126 change of variables, 228 ﬀ. See also change of basis in a diﬀerential equation, 228, 406, 431, 434 general transformations, 529 in integrals, 258 ﬀ rectangular to cylindrical, 260 rectangular to polar, 258 rectangular to spherical, 261 rotation, 127, 498 character (group), 175 characteristic equation for a diﬀerential equation, 409 characteristic equation of a matrix, 148 characteristic frequencies, 165–166, 636, 644 characteristic functions, 566, 625. See also eigenvalue problems characteristic modes of vibration, 166, 636, 645 characteristic values, 148 ﬀ. See also eigenvalue problems characteristic vectors, 148 ﬀ Chebyshev's inequality, 759 circuit. See electric circuits circular membrane, 644 ﬀ circulation, 325 ﬀ class (group) 175 cn u, 558 coeﬃcients in Bessel series, 641-642 binomial, 28 ﬀ, 192, 567, 609, 739 determinant of, 93, 148 in Fourier series, 350 in Legendre series, 580–581 in Maclaurin series, 24 matrix of, 84 in Taylor series, 24 in two-variable power series, 191 undetermined, 421 cofactor, 90 coin, weighted, 727 coldest points of a plate, 224 collectively exhaustive, 723 color, 346, 378 column matrix, 114

814

INDEX

columns. See determinants or matrices column vector, 114 combinations of measurements, 772 ﬀ combinations or selections, 737 ﬀ commutative law for scalar multiplication, 101 for vector addition, 97 not for vector multiplication, 103 commutator, 117, 122, 141 comparison test, 10 special, 15 complementary error function, 547 complementary function, 417 complete elliptic integrals, 555 complete set of basis functions, 375–377 complete set of basis vectors, 576 complex acceleration, 56 complex conjugate, 50, 52 of a matrix, 137 roots of auxiliary equation, 411 complex eigenvalues, 156 complex equations, 54 ﬀ complex Euclidean space, 146 complex exponentials, 60 ﬀ in diﬀerential equations, 420 in evaluating integrals, 351 complex Fourier series, 358 ﬀ complex impedance, 78 complex inﬁnite series, 56 ﬀ, 678 ﬀ. See also series; power series complex numbers, Chapter 2 absolute value, 49, 53 angle, 49 combining, 51, 60, 63 conjugate, 50, 52, 53 deﬁnition, 46 elementary functions of, 60 ﬀ imaginary part, 47 laws of exponents for, 60 modulus, 49 plotting, 48, 666 polar form, 48, 50 ﬀ real part, 47, 49 rectangular form, 48, 51 complex plane, 47 ﬀ, 666 ﬀ complex potential, 713 complex powers and roots, 73 complex power series, 58, 678

complex variable, functions of, Chapter 14 complex velocity, 56, 717 components, 82, 96 scalar and vector, 100 of a tensor, 496 ﬀ, 499 ﬀ of a vector, 100 ﬀ, 497 compound interest, 3 computer, See also calculator comments about use, xii, 3, 36, 63, 93, 196, 241, 402, 408, 537, 562, 699 (see also instructions and comments in problem sets) examples of use, 31, 66, 249, 357, 393–394, 397, 605, 624, 646, 762, 768 (see also individual problem sets) conditionally convergent series, 18 conditional probability, 732 conﬁdence interval, 774 conformable matrices, 116 conformal mapping, 708 ﬀ applications, 710 ﬀ conic section, principal axes, 162 conjugate element, 175 conjugate harmonic functions, 672 conjugate of a complex number, 50, 52, 53 conjugate of a matrix, 137 conservation of energy, 433 conservative ﬁeld, conservative force, 302 ﬀ, 325, 330 ﬀ constraints, 214, 488 continuity, equation of, 317 continuous distributions, 750–751 contour integrals, 674, 676–678 for inverse Laplace transform, 696 problems, 699 ﬀ by residues, 687 ﬀ contour lines, 290 contour map, 295 contraction of a tensor, 502 ﬀ contravariant vector or tensor, 530 ﬀ convergence, 3, 6–7 absolute, 10 conditional, 18 disk of, 58 of Fourier series, 356 of inﬁnite series, 2, 7, 9 ﬀ

INDEX

interval of, 20 of Legendre series, 580 of power series, 2, 7, 9 ﬀ, 20 radius of, 58 of a series to a function, 23 tests for, 10 ﬀ convolution, 444, 446, 447, 471 cooling, Newton's law of, 400 coordinate lines, 522 coordinates bipolar, 525 ﬀ curvilinear, 521 ﬀ cylindrical, 260, 521, 525 ﬀ (see also cylindrical coordinates) elliptic cylinder, 524 ﬀ general, 523, 525, 529, 531 orthogonal, 525, 533 in n dimensions, 143 non-orthogonal, 533 parabolic, 525 ﬀ parabolic cylinder, 524 ﬀ polar, 258 ﬀ (see also polar coordinates) spherical, 261 ﬀ, 529 (see also spherical coordinates) and variables, 258 coordinate surfaces, 522 coordinate transformations, Chapters 3 and 10. See also transformations; linear transformations; orthogonal transformation; rotation Coriolis acceleration, 487 correspondence principle, 197 cosh z, 70 cosine of angle between vectors, 102 of angles between axes, 164 of complex number, 67 Fourier series, 366 Fourier transform, 382 hyperbolic, 70 inverse, 74 power series for, 26, 69 cos nθ as a determinant, 96 Coulomb's law, 304, 320 counting, fundamental principle of, 737 coupled pendulums, 490

815

covariant vector or tensor, 530 ﬀ Cramer's rule, 93–94 creation operators, 607 critically damped motion, 413 cross product, 103 ﬀ, 276 in tensor form, 516 cumulative distribution function, 748 curl, 296 and angular velocity, 325 and conservative ﬁelds, 302 ﬀ, 324, 331 ﬀ in orthogonal coordinates, 527 and Stokes' theorem, 313, 324, 327 ﬀ in tensor notation, 511 curvature, 435 curve arc length of, 250, 266, 521 (see also arc length) integral along, 299 simple, 330, 674 smooth, 674 tangent line to, 203 curve ﬁtting, 214, 581 curvilinear coordinates, 521. See also orthogonal curvilinear coordinates cyclic group, 172 cycloid, 482, 483, 546 cylinder functions, 587. See also Bessel functions cylindrical coordinates, 260 arc length element, 266 curl, 527 div, 298, 526 grad, 294, 525 Laplace's equation, 639 Laplacian, 298, 527 scale factors and unit basis vectors, 522 velocity and acceleration, 523 volume element, 260, 261, 524 damped motion, 413–414 damping, critical, 413 d-c generator voltage, 374 decay constant, 39, 395, 402 deﬁnite integrals. See integrals deformation of elastic membrane, 148 degeneracy, 152, 647

816

INDEX

degenerate subspace, 153 degree mode, 49 degrees and radians, 49 ∇ (del), 296 δ (delta, variation), 493 δ function (Dirac delta function), 449 ﬀ deﬁnition, 452 derivatives of, 454 distribution (generalized function), 450 formulas involving, 455 Fourier transform of, 454 generalized function identities, 455 generalized functions, 450 impulse, 449 Laplace transform of, 453 operator equations, 456, 457 physical applications, 450, 454, 457 in 2 or 3 dimensions, 456 unit impulse, 449 δ (Kronecker delta), 138–139, 508 ﬀ use in formulas, 510 ﬀ in general coordinates, 531 inertia tensor, 505, 519 isotropic tensor, 509 DeMoivre's theorem, 64 density mass, 246 ﬀ, 250 probability, 753 (see also probability functions) source and sink, 714 dependent equations, 87 dependent functions, 133 dependent variable diﬀerential of, 193 in Euler equation, 479 missing in diﬀerential equation, 430 derivatives. See also diﬀerentiation using diﬀerentials, 201 directional, 290 ﬀ, 710 (Problem 15) of functions of z, 668 of integrals (Leibniz' rule), 233 ﬀ normal, 293 partial, 189 (see also partial diﬀerentiation) of products (Leibniz' rule), 567 of vectors, 285 determinant(s), 89 ﬀ of coeﬃcients, 93, 148

cofactors, 90 evaluating, 89–90 formula using ijk , 509 Laplace development, 90 ﬀ of a matrix, 89 minor, 89 order of, 80 product of, 118 secular, 148 useful facts about, 91 Wronskian, 133, 136 (Problem 16) diagonalization of matrices, 148 ﬀ applications, 162 ﬀ Hermitian, 153 simultaneous, 158 symmetric, 154 diﬀerential equations. See ordinary diﬀerential equations; partial differential equations diﬀerential operators, 409, 415–416, 566 diﬀerentials, 193 approximate calculations using, 196 ﬀ change of variables using, 228 ﬀ exact, 305, 331 ﬁnding derivatives using, 200 of independent and dependent variables, 193 principal part, 194 relation between, in two coordinate systems, 529 tangent approximation, 193 total, 193, 194 diﬀerentiation. See also derivatives chain rule for, 199 ﬀ, 203 ﬀ of Fourier series, 369 implicit, 201, 202 ﬀ, 215 of integrals, 233 ﬀ partial, 188 ﬀ (see also partial differentiation) of power series, 23 of vectors, 285 ﬀ diﬀraction, Fresnel, 37 diﬀusion equation, 297, 619, 628 ﬀ. See also heat ﬂow diﬀusivity, 619 dimension of a vector space, 144 dipole moment, 574

INDEX

Dirac delta function. See δ function directional derivative, 290 ﬀ, 710 direction cosines, 164, 498 direction ﬁeld, 393, 394 direct product, 501 Dirichlet conditions, 356 ﬀ Fourier integrals, 379 Fourier series, 356, 362 Legendre series, 581 Dirichlet problem, 631 discriminant, 46 disk of convergence, 58 dispersion relations, 698 dispersion, variance, 747 displacement vector, 286, 498 distance minimum, 214, 216, 221–222, 225 between points, 143 point to line, 110–111 point to plane, 110 between skew lines, 111 distinguishable arrangements, 741 distribution functions, 748 distribution(s) binomial, 756 continuous, 750, 751 discrete, 750, 751 generalized function, 450 joint, 754 normal, 761 Poisson, 767 distributive law, 102, 104 divergence, 296 in cylindrical coordinates, 298, 526 in orthogonal coordinates, 526 physical meaning, 316 in tensor notation, 533 divergence theorem, 318 ﬀ and Gauss's law, 318, 320 use of, 319 divergent series, 6 ﬀ dividing complex numbers, 51, 63 series, 23, 27–28, 59 dn u, 558 dot meaning d/dt, 165 dot product, 101, 276 double factorial, 29 double integrals, 242 ﬀ

817

double pendulum, 490 drumhead, vibrating, 644 ﬀ dual tensors, 512 dummy index, 502 dummy variable, 380, 541 earth, gravitational potential of, 484 eccentricity, 557 eﬀective value of current, 348 eigenfunctions. See eigenvalue problems eigenplane, 153 eigenvalue problems, 135, 148 ﬀ boundary value problems, 625 diﬀerential equations, 566 linear equations, 135 matrices, 148 ﬀ partial diﬀerential equations, 625–626, 630, 632, 636 eigenvalues, 148 ﬀ. See also eigenvalue problems complex, 156 real, 154 eigenvectors, 148 ﬀ. See also eigenvalue problems Einstein summation convention, 502 ﬀ elastic medium: deformed membrane, 148 string in, 665 electric charge, 18, 304, 317, 320–322 problems, 289, 323, 336 electric circuits, 77, 390–391 complex impedance of, 77 diﬀerential equation for, 391, 414, 444 impulse applied to, 450 ﬀ electric current, 329–330, 344. See also electric circuits distribution in wire (skin eﬀect), 596 root-mean-square, 348 electric-dipole moment, 573–575 electric ﬁeld, 304–305, 317, 320–322, 712–713, 714 ﬀ problems, 295, 308, 323, 716 electric oscillations, 340, 426 ﬀ, 444 electric quadrupole moment, 573–575 electric resistance, 197 electromagnetic force, 285, 289, 336 electromagnetic theory, 329 electron, 42, 394, 467

818

INDEX

electrostatic potential, 304 of charge distribution, 492, 573 ﬀ, 652–655 by conformal mapping, 711 ﬀ Legendre expansion of, 571 ﬀ, 574 (Problem 15) maximum on boundary, 720 by method of images, 657 multipole expansion of, 571–573 of point charge outside grounded sphere, 655 ﬀ, 657–658 Poisson's equation for, 652 ﬀ zero at inﬁnity, 655 elementary functions, 60 of complex numbers, 60 derivatives of, 60, 61 power series for, 26 elementary row operations, 86 elements arc length, 250, 259, 266–267, 521 ﬀ area, 244 ﬀ, 250, 258, 267, 271 cylindrical coordinates, 260–261, 264, 266 of a determinant, 89 of a group, 172 mass, 251 of a matrix, 89 polar coordinates, 258–259, 266, 521 spherical coordinates, 261, 264–266, 524 surface area, 255, 270 ﬀ, 317 volume, 243, 246, 253, 260 ﬀ, 524 ellipse, 163 arc length, 556 principal axes of, 163 ellipsoid, box inscribed in, 218 ﬀ elliptic cylinder coordinates, 524 ﬀ elliptic functions, 558 elliptic integrals, 555 endpoint and boundary point problems, 223 ﬀ energy conservation of, 433 of harmonic oscillator, 342, 348, 545 kinetic, 342, 348, 433, 485, 545 problems, 488–491, 545 of a particle, 433 potential, 303, 433, 485 in a sound wave, 373 equally likely, 723

equation(s). See also individual equations auxiliary, 409 ﬀ characteristic for diﬀerential equation, 409 for matrix, 148 complex, 54 ﬀ of continuity, 317 diﬀerential, Chapters 8, 12, 13 homogeneous algebraic, 134 ﬀ inconsistent, 86, 87 indicial, 586 linear algebraic, 82 ﬀ of lines and planes, 106 ﬀ of normal line, 109, 293 partial diﬀerential, Chapter 13 of surfaces of revolution, 257(Problem 16) of tangent line, 203 of tangent plane, 293 equator, 239 equipotentials, 290 erfc, 549 ﬀ erﬁ, 548 error in alternating series, 34 in asymptotic series, 550-551 probable, 774 relative, 197, 775 in series computation, 34 standard, 722 error function, 547 errors, combination of, 772 ﬀ escape velocity, 435 essential singularity, 680 Euclidean space, 142 ﬀ complex, 146 ﬀ Euler (Cauchy) diﬀerential equation, 434 Euler (Lagrange) equation, 474, 477 ﬀ Euler's formula, 61 Euler's theorem on homogeneous functions, 238 evaluating integrals, 243 ﬀ, 687 ﬀ even functions, 364 events, 723 compound, 730 independent, 731 mutually exclusive, 723

INDEX

exact diﬀerential, 305, 331 exact diﬀerential equations, 405 expectation, expected value, 747 experimental measurements, 770 ﬀ exponential Fourier series, 358 ﬀ exponential function, 60, 419 complex, 67, 420 ﬀ, 428–429 exponential integral, 552 exponential series, 26, 61 exponential shift, 424 exponents, laws for complex numbers, 73 extremal, 474, 475 factorial, 4, 538 factor, integrating, 401, 405 double, 29 function, 4, 538 gamma function, 538 Stirling's formula, 552 zero factorial, 4, 538 falling body, 392, 400 falling book, 506 Faltung, 446 family of curves, 395–396 Fermat's principle, 473, 484 Fermi-Dirac statistics, 742 ﬁelds, 290 conservative, 302, 330, 332 electric (see) electric ﬁelds gravitational (see) gravitational force irrotational, 332 lamellar, 332 magnetic, 329, 335, 714 scalar, 290, 303 ﬀ, 332 solenoidal, 332 tensor, 520 vector, 290, 325, 332, 520 velocity, 290, 314 ﬁlter, 430 ﬁnite groups, 172 ﬁrst integral of a diﬀerential equation, 433 of the Euler equation 479 Florida, highest point, 223 ﬂow of water, 317, 325 circulation, 326 by conformal mapping, 713 ﬀ equation of continuity, 317 irrotational, 713

819

out of channel, 714 ﬀ sources and sinks, 714 ﬀ ﬂuid ﬂow, 325. See also ﬂow of water ﬂuid, incompressible, 324 ﬂux, 316 force conservative, 303 ﬀ, 325 electromagnetic, 329 electrostatic, 304 friction, 302 gravitational (see) gravitational force impulsive, 449 inverse square, 304, 320, 468, 571, 652 moment of, 277 periodic, 427 forced vibrations, 417 ﬀ, 426ﬀ forcing function. See forced vibrations Fourier-Bessel series, 641 Fourier coeﬃcients, 350 ﬀ Fourier integrals, 378 ﬀ. See also Fourier transforms Fourier integral theorem, 379 Fourier series, Chapter 7 applications in physics, 345, 372 ﬀ, 428 ﬀ, 623 ﬀ, 629–638 complex form, 358 ﬀ convergence, 356 cosine series, 366 diﬀerentiating, 369 Dirichlet conditions, 355–358 double, 643 even and odd functions, 364 ﬀ exponential, 358 ﬀ in ordinary diﬀerential equations, 428 Parseval's theorem, 375 in partial diﬀerential equations, Chapter 13, Sections 1–4 period 2l, 360 ﬀ period 2π, 350 ﬀ sine-cosine form, 350 ﬀ sine series, 366 triple, 643 Fourier transform(s), 378 ﬀ applications of, 454 convolution, 447 cosine, 382 of delta function, 454 Dirichlet conditions, 379 exponential, 379

820

INDEX

factor 1/(2π), 381 and Fourier series, 378 Parseval's theorem, 383 partial diﬀerential equations, solutions to, 660–662 sine, 381 4's group, 172 free vibrations, 80, 417 frequencies, characteristic, 165, 636, 644 frequency, 343 angular, 80, 344 continuous, 378 of damped vibrations, 413, 414 of light, 346, 378 modulation, 617 natural undamped, 427 resonance, 427 in a sound wave, 345, 373 frequency function, 746. See also probability function Fresnel integrals, 37, 549 (Problem 6), 701 (Problem 41) friction, 302, 412 fringing at edge of capacitor, 714–716 Frobenius method, 585 ﬀ, 605 Fuch's theorem, 605 functions analytic, 667 ﬀ associated Legendre, 583, 648 average value of, 347 ﬀ Bessel, 587 ﬀ (see also Bessel functions) beta, 542 ﬀ bounded, 356 characteristic, 566, 625 (see also eigenvalue problems) complementary, 417 of a complex variable, Chapters 2 and 14 conjugate harmonic, 672 cumulative distribution, 748 delta, 449 ﬀ dependent and independent, 133 discontinuous, 224, 346 elementary, 60, 668 elliptic, 558 error, 547, 763 complementary, 547

even, 364 exponential, 60, 419 factorial, 4, 538 forcing, 417, 426, 444, 449 gamma, 538 ﬀ, 694 generalized, 450 harmonic, 671 ﬀ (see also Laplace's equation) Hermite, 607 ﬀ holomorphic, 667 homogeneous, 238, 406, 407 (Problem 21) hyperbolic, 70 Kelvin, 596 Laguerre, 609 Legendre, 564 ﬀ ln, 72, 667 of a matrix, 121 meromorphic, 681 monogenic, 667 multiple-valued, 667 Neumann, 591 normalized, 578 ﬀ, 584 not having a derivative, 669 odd, 364 orthogonal, 575 ﬀ complete sets of, 575 orthonormal, 579 periodic, 343 probability, 745 ﬀ rational, 60 regular, 667 of several variables, Chapter 4 (see also partial diﬀerentiation) sinusoidal, 341 transfer, 444 fundamental, 345 fundamental principle of counting, 737 fundamental theorem of algebra, 701 g, gij , g ij , 533 gamma function, 538ﬀ asymptotic series for, 553 in Bessel function formulas, 589 deﬁnition: for p > 0, 538; for p ≤ 0, 540 incomplete, 551 (Problem 2) recursion relation, 538, 539 Stirling's formula, 552

INDEX

Gaussian distribution, 547 Gauss's law, 318, 320 Gauss's theorem, 318 gd u, 559 general coordinate systems, 529 ﬀ generalized function, 450 generalized power series, 585 general solution of a diﬀerential equation, 392, 402, 410, 411, 418 generating function: Bessel functions, 616 Hermite polynomials, 609 Laguerre polynomials, 610 Legendre polynomials, 569 geodesics, 472 ﬀ on a cone, 481 in a plane, 477 geometrical meaning of: complex equations, 54, 55 covariant and contravariant vectors, 530 diﬀerentials, 193 linear transformations, 126 ﬀ real equations, 188 total diﬀerentials, 194 geometric progression, geometric series, 1 Gibb's phenomenon, 357 gradient, 290 ﬀ, 294, 525 normal to surface, 293 in orthogonal coordinates, 525 in polar coordinates, 294, 525 in tensor notation, 533 grading "on a curve", 766 Gram-Schmidt method, 145–146, 182– 183 graphical representation of complex equations, 55 complex numbers, 45 functions, 188 roots of a complex number, 65 ﬀ gravitational ﬁeld. See gravitational force gravitational force, 302 ﬀ, 392, 571 ﬀ problems, 308, 416, 435, 467, 489–90, 494 gravitational potential, 290, 330. See also potential inside earth, 308, 484

821

outside earth, 308 Green functions, 461, 657 response to unit impulse, 461 solution of ordinary diﬀerential equations, 462 ﬀ solution of partial diﬀerential equations, 657–658 variation of parameters, 464, 465 Green's theorem in the plane, 675 ﬀ Green's theorems, 324 grid of curves or surfaces, 258, 261 group(s), 172 ﬀ Abelian, 175 character, 175 class, 175 closure, 175 conjugate element, 175 cyclic, 172 deﬁnition, 172 element, 172 ﬁnite, 172 ﬀ 4's group, 172 inﬁnite, 176 isomorphic, 174 multiplication table, 173 ﬀ order, 173 product, 172, 173 representation, 172 dimension of, 176 irreducible, 176 matrix, 175 subgroup, 173 symmetry group: of equilateral triangle, 174 of rectangle, 178 (Problem 11) of square, 178 (Problem 10) unit element, 172 growth of bacteria, 1, 399 Gudermannian, 559 half-life, 399 half-value thickness, 399 Hamiltonian, 233 Hamilton's principle, 485 hanging chain, 473 Hankel functions, 595 harmonic analysis, 345 harmonic functions, 671, 720. See also Laplace's equation

822

INDEX

harmonic oscillator. See simple harmonic motion harmonics, 373 harmonic series, 11, 12 alternating, 17 ﬀ heat ﬂow, 291, 619, 621 (Problem 4), 628 ﬀ in a bar or slab, 629, 659 across a boundary, 627–631 conformal mapping solution, 711 ﬀ diﬀerential equation, 390 (see also partial diﬀerential equations) Laplace transform solution, 659–660 partial diﬀerential equation, 619, 628 ﬀ separation of variables solution, 628 temperature gradient, 293, 295 Helmholtz equation, 620, 629, 645 Hermite functions, 607 ﬀ diﬀerential equation, 607 ladder (raising and lowering) operators, 607 Hermite polynomials, 608 diﬀerential equation, 608 generating function, 609 normalization, 608 orthogonality, 608 table of, 804 Hermitian adjoint, 137 Hermitian conjugate, 137 Hermitian matrix, 138 higher derivatives by implicit diﬀerentiation, 202 highest point in Florida, 223 high ﬁdelity, 346 Hilbert transform, 698 histogram, 751 holomorphic function, 667 homogeneous algebraic equations, 134 homogeneous diﬀerential equations, 406, 408 ﬀ homogeneous functions, 238, 406, 407 (Problem 21) Hooke's law, 519 hoop, 490 horizon, distance to, 43 hottest points of a plate, 224 hydrodynamics, 713. See also ﬂow of water

hydrogen atom, 614 (Problems 27, 28), 652 (Problem 22) hyperbolic Bessel functions, 595 hyperbolic functions, 70 identities, 71 inverse, 74 integrals leading to, 75 i, 46 ﬀ identities. See also recursion relations Bessel, 592 Legendre, 570 trigonometric, 69, 71 vector, 339 identity matrix, 118 images in conformal mapping, 705 images, method of, 657 imaginary axis, 48 imaginary numbers, Chapter 2 imaginary part of a complex number, 47 impedance, complex, 78 implicit diﬀerentiation, 201, 202 ﬀ, 215 improper rotation, 514 impulse, unit impulse, 449 incomplete gamma function, 551 incompressible ﬂuid, 324 inconsistent equations, 86, 87 indeﬁnite integrals, 241 ﬀ independent events, 731 independent random variables, 756 independent variable change of, 431, 434 missing, in diﬀerential equation, 431 diﬀerential of, 193 in Euler equation, 480 in maximum, minimum problems, 212 in partial diﬀerentiation, 207 independent vectors, 132 indeterminate forms, 38 index, dummy, 502 index notation, 138 index of refraction, 474, 478 indicial equation, 586 inertia, moment of, 252 ﬀ, 505. See also moment of inertia inertia tensor, 505 ﬀ, 519 extended body, 506 matrix, 507

INDEX

point mass, 506 principal axes, 507 inﬁnite group, 176 inﬁnite series, Chapter 1. See also series; power series; Fourier series; Legendre series complex, 56 inﬁnity, 702 ﬀ asymptotic series about, 549–551 residues at, 703 inhomogeneous linear diﬀerential equation, 417 initial conditions, 393 inner product, 100 insulated boundary, 631 integral representations of functions analytic, 676 Bessel, 617 beta, 542 error, 549 gamma, 538 integrals arc length, 250 area, 242, 249 around inﬁnity, 703 beta function, 542 Bromwich, 696 change of variables in, 258 ﬀ contour, 674 ﬀ, 676–678, 687 ﬀ, 696 in cylindrical coordinates, 260 ﬀ diﬀerentiating, 233 divergence theorem, 318 double, 242 ﬀ, 249 ﬀ, 262, 270 elliptic, 555 error function, 547 evaluated by contour integration, 687 ﬀ evaluated in terms of inverse hyperbolic functions, 75 evaluated using complex exponentials, 69, 351 evaluated using series, 37, 548 evaluating, 243 ﬀ, 687 ﬀ Fourier, 378 Fresnel, 37, 549 (Problem 6), 701 (Problem 41) gamma function, 538 improper, 539 indeﬁnite, 241 ﬀ

823

iterated, 243 ﬀ as "limit of sum", 249 limits on, 243 ﬀ line, 299 mass, 246, 250 moment of inertia, 252, 259, 264 ﬀ in polar coordinates, 258 ﬀ of power series, 23, 37 principal value of, 692 by residues, 687 ﬀ setting up, 242, 253 in spherical coordinates, 260 ﬀ Stokes' theorem, 328 surface, 253, 270 ﬀ through a simple pole, 691 triple, 242 ﬀ volume, 242 ﬀ volume and surface of revolution, 252 ﬀ integral test, 11 ﬀ integral transforms, 378 ﬀ, 437 ﬀ Fourier, 378 (see also Fourier transforms) Hilbert, 698 Laplace, 437 ﬀ (also see Laplace transforms) integrating factor, 401, 405 integration. See integrals intensity of a sound wave, 376 interior maxima and minima, 223 ﬀ interval of convergence, 20 invariant, 500 inverse exponential shift, 424 inverse Fourier transform (Bromwich integral), 696 inverse hyperbolic functions, 74 integrals expressed in terms of, 75 inverse Laplace transforms, 440 by contour integration (Bromwich integral), 696 of a product (convolution), 445 ﬀ using the table, 440 ﬀ inverse matrix, 119, 137 inverse of a product of matrices, 140 inverse operators, 424 inverse square force, 304, 320, 571, 652 inverse trigonometric functions, 74 invertible matrix, 119

824

INDEX

irrotational ﬁeld, 325 isolated singular point, 670 isoperimetric problems, 491 isothermals, 290, 295, 712 isotropic tensors, 509 Kronecker delta, 509 Levi-Civita tensor, 510 product of, 510 j, 49 Jacobian, 261 ﬀ, 283, 536 (Problem 12), 710 (Problems 12, 13) Jacobi forms of elliptic integrals, 555 Jacobi identity, 141, 284, 514 joint probability, 754 Kelvin functions, 596 Kepler's second law, 495 kinetic energy, 342, 348, 433, 485, 545. See also energy kinetic theory applications, 237, 239 kite, 116 Klein-Gordon equation, 665 Kronecker δ, 138–139, 508 ﬀ in general coordinates, 531 ladder (raising and lowering) operators, 607, 614 (Problems 29, 30) Lagrange multipliers, 214, 216 ﬀ, 491 Lagrange's equations, 485 ﬀ in polar coordinates, 486 in spherical coordinates, 487 Lagrange's identity, 106, 284, 514 Lagrangian, 485 ﬀ, 545 Laguerre functions, Laguerre polynomials, 609 ﬀ associated, 610 generating function, 610 list of, 804 recursion relations, 610, 611 Rodrigues' formula, 609, lamellar ﬁeld, 332 lamina, 248, 256 Laplace development, 90 ﬀ Laplace's equation, 297, 619, 621 ﬀ, 638 ﬀ, 648 ﬀ, 711 conformal mapping solutions, 711 ﬀ in cylindrical coordinates, 527, 639 electrostatic potential problems, 712 ﬂuid ﬂow problems, 713

Fourier transform solution, 660 ﬀ gravitational potential, 652 in one dimension, 629 in orthogonal coordinates, 527 in polar coordinates, 229 separation of variables, 622 in spherical coordinates, 298, 527, 648 temperature problems, 621 ﬀ, 711, 712 in tensor notation, 533 in two dimensions, 671 Laplace transforms, 437 ﬀ convolution, 444 ﬀ of delta functions, 453 of derivatives, 440 evaluating integrals using, 442 ﬁnding, 437 ﬀ inverse, 440 ﬀ, 444, 696 (see also inverse Laplace transform) solving ordinary diﬀerential equations by, 440 ﬀ solving partial diﬀerential equations by, 659 table of, 469–471 Laplacian, 297. See also Laplace's equation Laurent series, 678 ﬀ Laurent's theorem, 678 law of large numbers, 759 law of reﬂection, 474 "least squares," 214 (Problem 16), 581, 774 (Problem 1) left-handed system, 515 Legendre equation, 564. See also Legendre polynomials Legendre forms of elliptic integrals, 555 Legendre functions, 564 ﬀ. See also Legendre polynomials associated, 583 ﬁrst and second kinds, 567 Legendre polynomials, 566 ﬀ applications, 571 ﬀ, 581, 648 ﬀ, 656– 657 generating function, 569 by Gram Schmidt method, 182–183 list of, 803 normalization, 578 ﬀ orthogonality, 577

INDEX

raising and lowering operators, 607, 618 recursion relations, 570 Rodrigues' formula, 568 Legendre series, 580 ﬀ, 649 Legendre transformation, 231, 233 (Problems 10 to 13) Leibniz' rule: for diﬀerentiating integrals, 233 ﬀ for diﬀerentiating products, 567 lengthening pendulum, 598 length of arc. See arc length length of a vector, 96 lenses, 198 level lines, 290 level surfaces, 290 lever problem, 277 Levi-Civita symbol ijk , 508 ﬀ, 515 in determinant formula, 509 isotropic tensor, 510 products of, 510 L'Hˆopital's rule, 38, 685 light. See also optics applications absorption, 399 color, 346, 378 continuous spectrum, 378 frequency, 346, 378 parabolic mirror, 407 pulse, 382 scattering, 389 waves, 346, 378 limits on an integral, 243 ﬀ line(s) distance between skew, 111 distance from point to, 110–111 equations of, 106 ﬀ parametric, 108 symmetric, 107–108 normal, 109, 293 perpendicular to plane, 109 tangent to curve, 203 linear absorption coeﬃcient, 399 linear algebra, Chapter 3 linear algebraic equations, 82 ﬀ. See also determinants; matrices; matrix Cramer's rule, 93–94 homogeneous, 134 matrix solution of, 119–120

825

solution in vector form, 134 standard form, 84 linear combination, 124 linear dependence, 132 linear diﬀerential equations, 401, 408, 417. See also diﬀerential equations linear functions, 124 linearly independent functions, 133 linearly independent vectors, 144 linear operators, 124, 425, 438 linear space. See linear vector space linear transformations, 125. See also transformations; orthogonal transformations deformation of membrane, 148 ﬀ eigenvectors of, 148 ﬀ matrix of, 125, 148 orthogonal, 126 linear triatomic molecule, 167 ﬀ linear vector space, 143 ﬀ, 179 ﬀ basis, 143 ﬀ (also see) basis complex Euclidean, 146 ﬀ deﬁnition, 142, 179 dimension, 144 Euclidean, 142 ﬀ examples, 143 ﬀ, 180–181 function space, 180, 414–415 (Problems 13 to 18) general, 179 Gram-Schmidt process, 145, 182–183 inﬁnite dimensional, 183 inner product, 144, 146, 181 inner product space, 181 norm, 144, 146, 181 orthogonality, 144, 146, 181 orthonormal basis, 145, 182 Schwarz inequality, 145, 146, 182 span, 143 subspace, 143 line element, 521. See also arc length line integrals, 299 ﬀ lines of force, 396 Liouville's theorem, 718 ln, 72. See also Logarithm Logarithm(s): to base e, 72 branch of, 693 of complex numbers, 72

826

INDEX

and inverse hyperbolic functions, 74 of negative numbers, 72 series for, 26 Lorenz equations, 96 loudness, 373 lowering and raising operators (ladder operators), 607, 614, 618 lowering and raising tensor indices, 532 loxodrome, 269 Maclaurin series, 24 ﬀ. See also series; power series magnetic ﬁeld, 329, 714 magnitude of a vector, 96 main diagonal, 118 mapping functions of z, 705 ﬀ, 710 of the plane, 125 ﬀ mass, center of, 251 ﬀ matrices, Chapter 3. See also matrix addition of, 115 commutator of, 117 conformable, 116 and determinants compared, 115 elementary row operations, 86 equal, 86, 114 inverse of product of, 140 multiplication of, 115, 116 operations on, 114 ﬀ row reduction, 83 ﬀ similar, 150 table of special, 137–138 transpose of product of, 139 and vectors or tensors, 114, 503 matrix, Chapter 3, 83ﬀ. See also matrices adjoint, 137 anti-Hermitian, 138 anti-symmetric, 138 augmented, 85 block diagonalized, 176 characteristic equation of, 148 of coeﬃcients, 84 column, 114 dagger, 137 determinant of, 89 diagonalizing, 148 ﬀ eigenvalues of, 148 ﬀ of eigenvectors, 150 equations, 114

functions of, 121 Hermitian, 137, 138 Hermitian conjugate, 137 identity, 118 index notation, 84, 116, 138 ﬀ inverse, 119, 137 invertible, 119 multiplication by a number, 114 normal, 138 null, 117 operators, 125 orthogonal, 126, 127, 138 power of, 121 pure imaginary, 138 rank of, 86, 94 real, 138 reﬂection, 128 ﬀ, 155 ﬀ rotation, 120, 127, 129, 155 ﬀ row, 114 singular, 119 skew-symmetric, 138 special, 137 symmetric, 138 trace of, 140 of a transformation, 125, 148 transpose conjugate of, 137 transpose of, 84, 137 unit, 118 unitary, 138, 154 zero, 117 maxima and minima, 211 ﬀ boundary point or endpoint problems, 223 ﬀ in calculus of variations, 472 ﬀ with constraints, 214 of harmonic functions, 720 interior, 224 ﬀ using Lagrange multipliers, 214 ﬀ second derivative tests, 213 (problems 1, 2) Maxwell-Boltzmann statistics, 742 Maxwell equations, 330, 621 (Problem 3) mean free path, 754 mean value. of See also average value a product of random variables, 756 (Problem 14) a random variable, 746,752,763,768 a set of measurements, 771 ﬀ

INDEX

827

of a charge or mass distribution, 573 a sum of random variables, 749 (Probelectric dipole, 573–575 lem 9) ﬁrst, 277 mean value theorem, 195 of a force, 277 measurements, 770 ﬀ of inertia, 252, 265, 277, 505 (see mechanics applications. See acceleraalso inertia tensor) tion; energy; motion of a parproblems, 255-257, 267–270, ticle; velocity 273–275, 508, 520 median, 771 quadrupole, 573–575 medians of triangle, 98 second, 277 membrane, deformation of, 148 monogenic function, 667 membrane, vibration of, 644 ﬀ mothball, 394 meromorphic function, 681 motion of a particle, 4 (Problem 16), method of Frobenius, 585 ﬀ, 605 286. See also acceleration; force; method of images, 657 Lagrange's equations method of undetermined coeﬃcients, 421 in a circle, 283 methods of counting, 736 complex notation, 56, 76, 80, 340–341 metric tensor, 524, 532 damped, 413 in orthogonal coordinates, 533 forced, 426 raising and lowering indices, 532 under gravity, 392 minimum distance: problems, 308, 400, 435, 486 calculus methods, 214, 216 in polar coordinates, 487 calculus of variations, 472 ﬀ probability function for, 750–753 Lagrange multipliers, 217–218, 221–222 reduced mass, 197 vector methods, 109–111, 238 (Problem 2) simple harmonic, 80 minimum surface of revolution, 479 problems, 344, 416, 754, 489–490 minor of a determinant, 89 multiple integrals, Chapter 5 mirror, 407 multiple pole, 680 mixed second partial derivatives, 189 multiple-valued function, 667 not necessarily equal, 190 multiplication (mod N ), 178 reciprocity relations, 190, 231, 306 multiplication tables for groups, 173 ﬀ mixed tensor, 531 multiplying. See product mobile, 44 music. See sound waves mode, 771 mutually exclusive, 723 mode of vibration, 165, 636, 645–646 modern physics. See also quantum mechanics nappe of a cone, 263 charge distribution in atoms, 573 natural frequency, 414, 427 hydrogen atom, 614 (Problems 27, natural logarithm, 72. See also Logarithm 28), 652 (Problem 22) n-dimensional space, 143 ﬀ Millikan oil drop experiment, 400 negative of a vector, 97 radioactive decay, 39, 395, 399, Neumann function, 591 402–403, 755, 768 Neumann problem, 631 relativity, 42, 394 Newton's law of cooling, 400 waves, 342 (see also waves) Newton's second law, 80, 289, 390, modiﬁed Bessel functions, 595 394, 485 mod N , 174, 178 Newton's third law, 285 modulus of a complex number, 49 nodal line, 646 modulus of an elliptic integral, 555 nonanalytic function, 669 Moebius strip, 327 non-Cartesian tensors, 529 ﬀ, 531 moment, 277

828

INDEX

noncommutative operations, 103, 117, 132 nonconservative ﬁeld, 302, 306 nonlinear diﬀerential equation, 392, 396 non-uniform sample space, 725 norm, 96 normal cumulative distribution, 547 normal derivative, 293 normal distribution, 547, 761, 769 normal error curve, 761 normal frequencies, 166 normalization of Bessel functions, 602–603 Hermite polynomials, 608 Laguerre polynomials, 610, 611 Legendre polynomials, 578 ﬀ normal line, 109, 293 normal matrix, 138 normal modes of vibration, 165 normal (perpendicular), 109 normal vector to a plane, 109 normal vector to a surface, 220, 271, 293 null matrix, 117 number of poles and zeros, 694 octopole moment, 573, 575 odd functions, 364 Ohm's law, 78 one-sided surface, 327 operators See diﬀerential operators; linear operators; vector operators optics applications, 79. See also light combining light waves, 79 Fermat's principle, 473, 484 Fresnel integrals, 37, 549 (Problem 6), 701 (Problem 41) law of reﬂection, 474 lenses, 198 multiple reﬂections, 79 scattering, 389 Snell's law, 474 orbits, 468 order: of a Bessel function, 589 of a determinant, 80 of a diﬀerential equation, 391 of eigenvalues in a diagonal matrix, 152 of a group, 173 of placing electric charges, 18–19

of a pole, 680 of a tensor, 496 of terms in a series, 18 ordinary diﬀerential equations, Chapters 8 and 12. See also partial diﬀerential equations associated Legendre, 583 auxiliary equation, 409 ﬀ Bernoulli, 404, 431 Bessel, 588, 593, 594 boundary conditions, 393 change of variables in, 406 complementary function, 417 damped motion, 413 dependent variable missing, 430 Euler (Cauchy), 434 Euler (Lagrange), 485 ﬀ exact, 405 exponential right-hand side, 419 family of solutions, 395–396 ﬁrst integrals, 433 forced vibrations, 417 ﬀ, 426 ﬀ Fourier series solutions, 428 free vibrations, 412, 417 Fuchs's theorem, 605 generalized power series solution, 585 general solution of, 392, 395, 401, 410, 411, 418 Green functions for, 461 Hermite, 607, 608 homogeneous, 406, 408 ﬀ independent variable missing, 431 inhomogeneous, 408 initial conditions, 393 integrating factors, 401, 405 Laguerre, 609 ﬀ Laplace transform solution, 440 ﬀ Legendre, 564 linear, 391 linear ﬁrst-order, 401 ﬀ linear second-order, 408 ﬀ, 417 ﬀ method of undetermined coeﬃcients, 421 nonhomogeneous, 408 nonlinear, 391, 392, 396 ﬀ, order, 391 particular solution, 392 ﬀ, 397, 415 ﬀ (see also particular solution)

INDEX

reduction of order, 434, 567 (Problem 4), 606 (Problems 1–4) regular, 605 second solution, 606 separable, 395 ﬀ series solutions, Chapter 12 simultaneous, Laplace transform solution, 441 slope ﬁeld, 393, 394 solution of, 391, Sturm-Liouville, 617 variation of parameters, 464 y missing, 430 orthogonal curvilinear coordinates, 521 ﬀ, 708 arc length element, 521 basis vectors, 522 scale factors, 522 vector operators in, 525 velocity, 524 volume element, 524 orthogonal functions, 575 orthogonality of Bessel functions, 601 ﬀ of functions in Fourier series, 351, 601 of Hermite polynomials, 608 of Laguerre polynomials, 610, 611 of Legendre polynomials, 577 proof using diﬀerential equation, 577 of solutions of a Sturm-Liouville equation, 617 of vectors in 3 dimensional space, 102 of vectors in n dimensional space, 144 with respect to weight function, 602 orthogonal matrix, 126, 127, 138 orthogonal similarity transformation. See orthogonal transformation orthogonal trajectories, 396 orthogonal transformation, 126 ﬀ See also rotation; reﬂection by an analytic function, 708 diagonalizing a symmetric matrix by, 149 ﬀ matrix, 127 in n dimensions, 143 to normal modes of vibration, 165

829

to principal axes, 162 similarity, 150 in 3 dimensions, 155 orthogonal (perpendicular) vectors, 105, 144 orthonormal basis, 145 functions, 579 oscillating series, 7 oscillator, oscillatory motion. See vibrations oscillatory (underdamped) motion, 414 outer product, 501 out of phase, 79 overdamped motion, 413 overtones, 345, 373 paddle wheel probe, 325 parabolic coordinates, 525 parabolic cylinder coordinates, 524 parabolic mirror, 407 parallel axis theorem, 255 parallelogram, 186 parallelogram law, 97 parallel vectors, 102 parameters, variation of, 464 parametric equations circle, 301 curve, 301 cycloid, 483 ﬀ ellipse, 556 line, 108 parent population, 770 ﬀ Parseval's theorem, 375 partial derivatives, Chapter 4. See also partial diﬀerentiation cross partials, 190 of functions of (x, y) or (r, θ), 189 in matrix notation, 200 in thermodynamics, 190, 231 partial diﬀerential equations, Chapter 13 change of variables in, 228 ﬀ derivations of 620–621 Fourier series solutions, Chapter 13, Sections 1–4 Green function solutions, 657–658 heat ﬂow or diﬀusion equation, 619, 628 ﬀ, 659 Helmholtz equation, 620, 629, 645

830

INDEX

Laplace's equation, 619, 621, 638, 648 (see also Laplace's equation) Poisson's equation, 619, 652 ﬀ, 657 Schr¨ odinger equation, 620, 628, 631– 632, 651 (Problems 18, 20–22) solution by Fourier transforms, 660 ﬀ solution by Laplace transforms, 659 ﬀ solution by separation of variables, 622, 625, 628, 639, 645, 648 wave equation, 297, 620, 633 ﬀ, 644 ﬀ partial diﬀerentiation, Chapter 4. See also partial derivatives chain rule, 199 ﬀ, 203 ﬀ change of variables, 228 ﬀ derivatives not reciprocals, 208 diﬀerentials, 193 implicit, 202 of integrals, 233 ﬀ Lagrange multipliers, 216 ﬀ maximum and minimum problems, 211 ﬀ mixed second derivatives, 189–190 notation, 189–190 total diﬀerential, 193 ﬀ two-variable power series, 191 ﬀ partial fractions, 451 partial sum of a series, 7 particular solution, 392ﬀ, 397 complex exponentials, 420 exponential right-hand side, 419 ﬀ by inspection, 418 principle of superposition, 425, 428 undetermined coeﬃcients, 421 passive transformation, 127 Pauli spin matrices, 122 pendulum(s), 38, 344, 545 coupled, 490 double, 491 energy of, 545 large vibrations of, 557 lengthening, 598 period of, 343, 545–546, 557 seconds, 343 shortening, 600 simple, 38, 344, 545 small vibrations of, 38, 344, 545 spherical, 489 period of a Fourier series, 350 ﬀ, 360 ﬀ of a function, 343

of lengthening pendulum, 599 of simple harmonic motion, 341 of simple pendulum, 38, 344, 545 periodic function, 340, 343, 345 permutation, even, odd, 509 permutations, 737 permutation symbol (Levi-Civita), 508 ﬀ perpendicular axis theorem, 252 perpendicular (orthogonal) vectors, 105 phase of a complex number, 49 phase space, 143 plane complex, 47 ﬀ distance from point to, 110 equations of, 108 ﬀ perpendicular to a vector, 109 tangent to a surface, 293 through 4 points, 136 (Problem 21) through 3 points, 109 planet, 468 plate, conducting, 322 plate, hottest and coldest points of, 224 plate, temperature in, 621, 661 plotting complex numbers, 48 ﬀ, 62 graphs of complex equations, 54 ﬀ roots of complex numbers, 64 ﬀ point boundary, 223 ﬀ at inﬁnity, 702 of inﬂection, 212, 472 maximum, minimum, 211 ﬀ in n-dimensional space, 143 saddle, 212 of sample space, 724 ﬀ and vector r, 142 Poisson distribution, 767 ﬀ approximated by normal distribution, 769 mean and standard deviation, 768 Poisson's equation, 619, 652 ﬀ, 657 Poisson's summation formula, 389 polar coordinates. See also orthogonal coordinates acceleration in, 487 arc length element, 259, 266, 521 area element, 258 change of variables to, 229, 258

INDEX

complex numbers in, 48, 50 ﬀ div, 298 Euler equation, 478 grad, 294, 525 integrals in, 258 ﬀ Lagrange's equations in, 486 Laplacian, 298 partial derivatives, 189, 208 scale factors, 522 unit basis vectors, 288, 522 polar form of a complex number, 48, 61 polar vector, 515 in physics formulas, 517 pole(s) on contour, 691 at inﬁnity, 703 number in a region, 694 of order 2, 681 of order n, 680 residues at, 684 ﬀ simple, 680 ﬀ Polya's urn model, 741 polynomial approximation, 581 polynomials Hermite, 608 Laguerre, 609 ﬀ Legendre, 566 ﬀ (see also Legendre polynomials) Legendre polynomials, as combinations of, 574 population average and variance, 771 position vector, 286 potential complex, 713 by conformal mapping, 712–713 electrostatic, 304, 712, 713 (see also electrostatic potential) gravitational, 290, 303 ﬀ, 484, Legendre expansion of, 571 ﬀ multipole expansion of, 571–573 Poisson's equation for, 652 ﬀ scalar, 303 ﬀ vector, 332 velocity, 303, 713 zero at inﬁnity, 304–305 potential energy, 303, 433, 485 power of a matrix, 121 power series. See also series absolutely convergent, 10, 19, 58

831

adding, 19, 23, 59 alternating series test, 17 in annular ring, 679 binomial, 28 combining, 23, 26 ﬀ, 59 comparison test, 10 complex, 56 ﬀ computation, 3, 36 ﬀ, 41 ﬀ using computer, 31 conditionally convergent, 18 convergence of, 6 ﬀ, 20 ﬀ, 58 diﬀerentiating, 23, 59 disk of convergence, 58, 671 divergence of, 6 ﬀ dividing, 27 ﬀ, 59 expanding functions in, 23 ﬀ functions having no power series, 33 generalized, 585 ﬀ general term, 4 integral test, 11 ﬀ integrating, 23, 30, 59 interval of convergence, 20 Maclaurin, 24 ﬀ multiplying, 23, 26, 59 numerical computation using, 36 preliminary test, 9 ratio test, 13, 14 rearranging terms, 18 remainder of, 7, 13 sequence, 1, 5 solution of diﬀerential equations, Chapter 12. See also diﬀerential equations substitution of one in another, 23, 29 Taylor, 24, 30, 213, 671 theorems about, 23 two-variable, 191 uniqueness of, 23, 59, 191 powers of a matrix, 121 powers of complex numbers, 63 Poynting vector, 535 preliminary test, 9 principal angle of a complex number, 50 principal axes and moments of inertia, 506 ﬀ principal axes of a conic section, 162 principal part of ∆z, 195 principal part of Laurent series, 678 principal value of

832

INDEX

arc tan, 50 an integral, 692 ln z, 72 principle of superposition, 425, 428 probability, Chapter 15 applications, 722 of compound events, 730 conditional, 732 cumulative distribution, 748 deﬁnition, 723, 725 density, 753 ﬀ (see also probability functions) distribution, 748 distribution function, 748 experimental measurements, 770 ﬀ functions, 745, 748 binomial, 756 ﬀ continuous, 750 ﬀ normal (Gaussian), 761 ﬀ Poisson, 767 ﬀ of independent events, 731 mathematical, 727 mean value, 746,752,763,768 natural or intuitive, 727 random variables, 744, 747 sample space, 724 ﬀ standard deviation, 747,753,763,768 theorems, 729 variance, dispersion, 747, 753 probable error, 774 product of complex numbers, 62 ﬀ cross, 103 ﬀ, 276 derivative of, 567 of determinants, 118 dot, 101, 102, 276 inner, 100 of matrices, 115, 116 scalar, 101, 276 of series, 23, 26, 191 vector, 103, 276 of vectors, 276 progression, geometric, 1 projections of a vector, 101 proper rotation, 514 p-series test, 13 pseudovector, pseudotensor, 514 axial vector, 515 cross product, 516

pup tent, 212 pure imaginary, 47 pure tone, 345 quadratic formula, 46 quadratures, 433 quadric surface, principal axes of, 163–164 quadrilateral, 100 quadrupole moment, 573 quantum mechanics applications complex numbers, 81 correspondence principle, 197 Dirac delta function, 454 Fourier transforms, 386 Hermite and Laguerre functions, 607–614 hydrogen atom, 614 (Problems 27, 28), 652 (Problem 22) Klein-Gordon equation, 665 ladder operators, 607 ﬀ, 614 (Problems 29, 30) Pauli spin matrices, 122 Schr¨ odinger equation, 620, 628, 631– 632, 651 (Problems 18, 20–22) simple harmonic oscillator, 651 (Problem 21) spherical harmonics, 649, 651 (Problem 16) statistics, 739 ﬀ problems, 744 sums of integers, 651 (Problem 21), 744 (Problem 21) quotient. See dividing quotient rule for tensors, 504, 532 radian mode, 49 radians and degrees, 49, 52 radioactive decay, 39, 395, 399, 402– 403, 755 and Poisson distribution, 768 radio-frequency, 347 radio waves, 343, 347 radius of convergence, 58 raindrop, 467 raising and lowering operators, ladder operators, 607, 614, 618 raising and lowering tensor indices, 532 ramp function, 374 random variables, 744, 747 random walk, 757

INDEX

rank of a matrix, 86, 94 rank (order) of a tensor, 496 rational functions, 60 ratio test, 13–14 real axis, 48 real part of a complex number, 47, 49 rearranging terms of a series, 18 reciprocals in diﬀerentiation, 208 reciprocity relations, 190, 231, 306 rectangular form of a complex number, 48, 51 rectiﬁed half-wave, 374 recurrence. See recursion relations recursion relations: Bessel functions, 592 gamma function, 538–539 Hermite polynomials, 609 Legendre polynomials, 570 reduced mass, 197 reduction of order in a diﬀerential equation, 434, 606 reﬂection matrix, 128 ﬀ, 155 ﬀ reﬂection of axes, 126, 128 ﬀ, 156 ﬀ reﬂection of light, 285, 474 refraction, 474 region, 667 simply connected, 330 regular diﬀerential equation, 605 regular function, 667 regular point, 680 relative error, 197, 775 relative intensity of harmonics, 373 relativity, 42, 394 relaxation oscillator, 387 remainder, 7, 13 residues at inﬁnity, 703 using Laurent series, 683 at a multiple pole, 685 at a simple pole, 684 residue theorem, 682 evaluating integrals using, 687 ﬀ resistance of a wire, 197 resonance, 427 response to unit impulse, 449, 459 resultant, 446 rhombus, 106 rhumb line, 269 Riccati, 408

833

Riemann surface, 707, 708 right-handed system, 515 right-hand rule, 515 RLC circuit. See electric circuits rocket, 467 Rodrigues' formula, 568 Hermite polynomials, 608 Laguerre polynomials, 609 Legendre polynomials, 568 root-mean-square, 348 roots of auxiliary equation, 409–414 roots of complex numbers, 65, 66 rotation(s) angle, 127, 129, 151 axes rotated, 127 in the complex plane, 77 (Problem 1), 131 (Problem 19) equations, 127, 151 improper, 514 matrix, 120, 127, 129, 155 ﬀ in n dimensions, 143 non-commuting, 132 not a vector, 497 to principal axes, 162–164 proper, 514 of a rigid body, 497, 505 ﬀ tensor, 535 (problem 9) in three dimensions, 129, 155 ﬀ in two dimensions, 127, 151 of a vector, 127 vector rotated, 127 rot v, rotation v, 325 row matrix, 114 row operations, 86 row reduction, 83 ﬀ row vector, 114 saddle point, 212 sample average, 771 sample space, 724 ﬀ sawtooth voltage, 346, 374 scalar, 82, 496 ﬁeld, 290 operator, 296 potential, 303 ﬀ, 332 (see also potential) product, 101, 276 projection, 101 triple product, 278

834

INDEX

scale factors and basis vectors, 522 Schr¨ odinger equation, 620, 628, 631– 632, 651 (Problems 18, 20–22) particle in a box, 632 time independent, 631 Schwarz inequality in complex Euclidean space, 146 in Euclidean space, 145 sec γ method, 271 second derivative tests for maximum, minimum, 213 (Problem 2) second-rank tensor: Cartesian, 500 contravariant, 532 covariant, 531 mixed, 531 skew-symmetric, 503 symmetric, 503 seconds pendulum, 343 secular determinant 148 seesaw, 277 selections (combinations), 737 separable diﬀerential equations, 395 separation constant, 622 integral valued, 639, 645, 648 sign of, 624, 629, 634, 639, 648 zero value of, 628, 644 separation of variables: ordinary diﬀerential equations, 395 partial diﬀerential equations, 622, 633, 639 sequence 1, 5, 8 series, Chapters 1, 2, 7, 11, 12. See also individual series absolutely convergent, 10, 19, 58 adding, 19, 23, 59 alternating, 17, 34 alternating harmonic, 17, 18, 21, 37 approximations, 33 ﬀ, 38 ﬀ, 545, 548 asymptotic, 549 ﬀ, 552 Bessel, 640 ﬀ, 645 ﬀ (see also Bessel functions) binomial, 28 complex, 56 ﬀ, 673, 678 ﬀ computation with, 3, 36, 41 ﬀ, 548– 549, 624 ﬀ conditionally convergent, 18 convergent, 6, 20, 58 (see also convergence)

divergent, 6 ﬀ dividing, 23, 27, 59 Fourier, Chapter 7 (see also Fourier series) geometric, 1 ﬀ harmonic, 11, 12 inﬁnite, Chapter 1 Laurent, 678 ﬀ Legendre, 580, 649 (see also Legendre series) Maclaurin, 24 ﬀ multiplying, 23, 26, 191 oscillating, 7 partial sum of, 7 of positive terms, 10 power, Chapter 1 (see also power series) rearranging terms in, 18 remainder of, 7, 13, 33 for alternating series, 34 solutions of diﬀerential equations, 428, 562 ﬀ summing, 37 sum of, 2, 7, 18 Taylor, 24, 30, 671 useful facts about, 19 series solutions of diﬀerential equations, Chapter 12 Bessel 588, 593, 594 Hermite, 607 ﬀ Laguerre, 609 ﬀ Legendre, 564 ﬀ sgn x, 460 shear forces in stress tensor, 496 sheet of Riemann surface, 708 shifting theorems, 439, 468 SHM. See simple harmonic motion, 340 ﬀ shortening pendulum, 600 shortest distance along a surface, see geodesics shortest time. See brachistochrone side bands, 347 Sierpi´ nski gasket, 3 similarity transformation, 150 ﬀ orthogonal, 150 ﬀ, 154 unitary, 154 similar matrices, 150 simple curve, 674

INDEX

simple harmonic motion, 38, 80, 340 ﬀ, 412. See also pendulum problems, 344, 416, 489–490, 754 simple pendulum. See pendulum simple pole, 680 simply connected region, 330 simultaneous diagonalization of matrices, 158 simultaneous diﬀerential equations, 441 sine of complex number, 68 Fourier series, 366 Fourier transform, 381 hyperbolic, 70 inverse, 74 ﬀ power series for, 26, 69 single-valued function, 356, 667 singularity, 670 singular matrix, 119 singular point, 670 singular solution, 397 sinh z, 70 sink, sink density, 316, 714 sinusoidal functions, 341 skew lines, 111 skew-symmetric matrix, 138 skew-symmetric tensor, 503 skin eﬀect, 596 slant height, 255 slope of a curve, 202–203 Snell's law, 474 sn u, 558 soap ﬁlm, 473, 480 solenoidal ﬁeld, 332 solid angle, 320 solid of revolution, 253 sound waves, 345, 372, 378 air pressure in, 345, 372 energy in, 373 frequency: continuous, 378; fundamental, 345, 373; overtones, 345, 373 harmonics, 345, 373 intensity of, 373 pure tone, 345 vibrating drum, 644 vibrating string, 633 ﬀ source, source density, 714 space, 142 ﬀ. See linear vector space span, 143

835

special comparison test, 15 speciﬁc heats, 211 (Problem 28) spectrum, continuous, 378 sphere and complex plane, 703 spherical Bessel functions, 596 spherical coordinates, 261. See also orthogonal coordinates acceleration, 523 arc length element, 266 curl, 527 div, 298, 526 grad, 294, 525 Laplace's equation, 648 Laplacian, 298 scale factors and unit basis vectors, 523 velocity, 266, 523 volume element, 261, 263, 524 spherical harmonics, 649 spherical pendulum, 489 spring constant, 80 square of a vector, 101 square wave, 353 stability of a vertical wire, 600 standard deviation for binomial and normal distributions, 763 of the mean, 772 for Poisson distribution, 768 of a random variable, 747, 753 of a single measurement, 771 of sum, product, etc., 772 ﬀ standard error, 722 standard normal distribution, 763, 764 star ∗ meaning complex conjugate, 50 star ∗ meaning convolution, 446 statics problems, 42–43 stationary point, 472 ﬀ statistical mechanics applications, 554, 739 ﬀ Bose-Einstein, Fermi-Dirac, MaxwellBoltzmann statistics, 742 problems, 743–744 statistics, 770 ﬀ central limit theorem, 774 combination of measurements, 772 ﬀ conﬁdence interval, probable error, 774

836

INDEX

and experimental measurements, 770 ﬀ population mean and variance, 771 standard deviation of the mean 772 steady state, 426 steady state temperature in a cylinder, 638 ﬀ in a ﬁnite plate, 625 insulated boundaries, 631 insulated edges, 627 (Problem 14) problems, 626 ﬀ in a semi-inﬁnite rectangular plate, 621 in a sphere, 648 ﬀ stereographic projection, 703 Stirling's formula, 552 error in, 553 in statistical mechanics, 554 stochastic process, 746 Stokes' theorem, 313, 324 ﬀ, 327 ﬀ and Amp`ere's law, 329 strain, strain tensor, 519 stream function, 713 streamlines, 325, 714. See also ﬂow of water stress tensor, 496, 519, 520 stretch, 152 string, vibrating. See vibrating string Sturm-Liouville equation, 617 subgroup, 173 subscripts on D, 568 on ∆, 298 in partial diﬀerentiation, 189–190, 205 in tensor notation, 502 ﬀ, 530 on vectors, 97 ﬀ subspace, 143 ﬀ substituting one series in another, 29 subtraction of vectors, 98 summation convention, 502 ﬀ summation sign, 4 summing numerical series: by computer, 41, 44, 45 using Fourier series, 358, 377 power series of a function, 37 sum of alternating harmonic series, 37 complex numbers, 51 conditionally convergent series, 18

geometric progression, 2 inﬁnite series, 2, 7, 10 ﬀ, 37 matrices, 115 power series, 23 two series, 18, 23 vectors, 97 superposition principle, 425 superscripts, 530 surface area, 271 (see also area) distance to, 216 integral, 270 ﬀ level, 290, 293 of minimum area, 479 normal to, 220, 271, 293, 317, 327 one-sided and two-sided, 327 of revolution, 254, 479 tangent plane to, 194, 293 symmetric equations of line, 107–108 matrix, 138 tensor, 503 symmetry groups, 174, 178 systems of masses and springs, 165–172 tables approximate formulas for Bessel functions, 604 Laplace transforms, 469–471 matrices, 137–138 orthogonal polynomials: Hermite and Laguerre, 804 Legendre, 803 vector identities, 339 tangent approximation, 193 tangent line, 203 tangent plane, 293 tangent, series for, 28 Taylor series, 24, 30, 671. See also power series temperature: in a bar, 629 ﬀ, 659 on boundary, 720 in a cylinder, 638 ﬀ gradient, 292–293 in a half cylinder, 712 in a hemisphere, 650 maximum and minimum in a plate, 224–225

INDEX

in a plate, 621, 625 scale, 650 in a semicircular plate, 711 in a sphere, 648 ﬀ tensor product. See direct product tensor(s), Chapter 10 angular momentum, 505 ﬀ antisymmetric, 503 applications of, 505, 518 ﬀ associated, 533 Cartesian, 498 ﬀ combining, 504 components and basis vectors, 530 contraction, 502 ﬀ contravariant, 530 covariant, 530 cross product, 516 deﬁnition, 499 direct product, 501 dual, 512 electric dipole, quadrupole, 574 (Problem 15) ﬁeld, 520 in general coordinates, 531 inertia, 505 ﬀ isotropic, 509 Kronecker δ, 508 ﬀ Levi-Civita symbol, 508 ﬀ and matrices, 503 metric, 524, 532 non-Cartesian, 529 ﬀ notation, 502 order (see rank) pseudo-vectors, pseudo-tensors, 514 ﬀ quotient rule, 504, 532 raising and lowering tensor indices, 532 rank, 496 rotation, 535 (Problem 9) 2nd -rank, 496, 501, 506 strain, 519 stress, 496, 519 summation convention, 502 symmetric, 503 vector identities, 511 vector operators, 525 and vectors, 496 ﬀ tent, 212 term-by-term addition of series, 19, 23 terminal speed, 400

837

thermodynamics, 190, 211. See also heat ﬂow Legendre transformation, 231, 233 reciprocity relations, 190, 231, 306 speciﬁc heats, 211 time constant, 399 torque about a line, 277 torque about a point, 281 torus, 257 total diﬀerentials, 193 ﬀ tower of books, 44 circular, 43 trace, 140 and group character, 176 of a product of matrices, 140 of a rotation matrix, 157 transfer function, 444 transformations. See also linear transformations; rotation active, 127 conformal mapping, 705 ﬀ general, 520 Jacobian of, 261 ﬀ, 283, 536 (Problem 12), 710 (Problems 12, 13) Legendre, 231, 233 linear, 125 orthogonal, 126 ﬀ passive, 127 similarity, 150 transforms, integral, 378 ﬀ, 437 ﬀ Fourier, 378 ﬀ (see also Fourier transforms) Hilbert, 437 Laplace, 437 ﬀ (see also Laplace transforms) transients, 426 translation or shifting theorems, 439 transpose of a matrix, 84, 137 transpose of product of matrices, 139 trapezoid, 100 triangle inequality, 148 trigonometric functions of complex numbers, 67 ﬀ identities, 69, 70 integrals of, 349, 351 inverse of, 74 series for, 23 ﬀ triple integrals, 242 ﬀ

838

INDEX

triple scalar product, 278 triple vector product, 280 trivial solution, 134 true vector (polar vector), 515 tuning fork, 345 two-sided surface, 327 two-variable power series, 191 unbounded region, 659 underdamped motion, 413, 414 undetermined coeﬃcients, 421 undetermined multipliers, 216 uniformly distributed, 751 uniform sample space, 725 unitary matrix, 138 similarity transformation, 154 transformation, 154 unit basis vectors, 100, 144, 288, 522. See also basis vectors cross product, 104, in curvilinear coordinates, 522 in cylindrical coordinates, 522 derivatives, 288, 523 dot product, 102 in general curvilinear coordinates, 523 in polar coordinates, 288 unit circle, 687 unit eigenvectors, 149, 164 unit element of a group, 172 unit impulse, 449 unit matrix, 118 unit step, 470 unit vector, 98. See also unit basis vectors in polar coordinates, 287, 288 universe, 770 variables. See also change of variables; coordinates; dependent variable; independent variable complex, Chapters 2 and 14 dummy, 380, 541 random, 744, 747 variance, 747, 753, 763, 771. See also standard deviation variational notation, 493 variation of parameters, 464 varied curves, 475

vector coordinate, 286 vector ﬁeld, 289 ﬀ, 332, 393, 394 vector identities, table 339 polar, cylindrical, spherical, 298 proved in tensor form, 511 vector integral theorems, 325 vector operators, 296 ﬀ, 525 ﬀ curl, 296, 324, 511, 527 in curvilinear coordinates, 525 ﬀ in cylindrical coordinates, 525 ﬀ divergence, 296, 314, 526 gradient, 290 ﬀ, 525 Laplacian, 297, 298, 527 in tensor notation, 533 vector potential, 332, 336 (Problem 3) vector product, 276 not commutative, 103 of parallel vectors, 103 triple, 280 vectors, Chapters 3, 6 and 10 acceleration, 286 complex, 56 addition of, 97 angle between, 102 associated, 533 associative law for addition, 97 axial, 515 basis, 287 (see also basis vectors) Cartesian, 498 ﬀ characteristic, 148 ﬀ column, 114 commutative law for addition, 97 components, 82, 97, 100, 114, 497, 530 covariant and contravariant, 530 cross product, 103 ﬀ, 276, 516 deﬁnition, 82, 497 derivatives of, 285 ﬀ displacement, 286 dot product, 101, 102, 276 length, 96 linearly independent, 132 magnitude, 96 in matrix notation, 114 multiplication of, 100 ﬀ in n dimensions, 143 negative of, 97 norm of, 96 notation, 96

INDEX

orthogonal, 144 parallel, 102 perpendicular, 102 polar, 515 in polar coordinates, 287, 288 position, 286 products of, 276 pseudo-, 514 row, 114 scalar product, 276 subtraction of, 98 transformation law, 498 triple products of, 278 ﬀ, 511, 516 unit, 100 (see also unit basis vectors) zero, 98 vector space. See linear vector space velocity amplitude, 343 angular, 278, 324, 340 complex, 56, 717 in cylindrical coordinates, 523 of electrons, 42 of escape, 435 of light, 474 in orthogonal coordinates, 524 potential, 303, 620, 713 in spherical coordinates, 266 vector, 286 wave, 342, 620, 634 vibrating string, 633 ﬀ characteristic frequencies, 636 in elastic medium, 665 with free end, 637 Green function solution, 462 plucked, 634 standing waves, 636 struck, 635 of variable density, 600 vibrations. See also pendulum; sound waves; waves; vibrating string characteristic frequencies, 636 of circular membrane (drum), 644 ﬀ damped, 413–414 electrical, 340, 426 ﬀ, 444 forced, 417 ﬀ, 426 ﬀ free, 80, 417 due to impulse, 449 of lengthening pendulum, 598

839

normal modes, 645, 646 of pendulum, 38, 344, 545 ﬀ, 557 period of, 341 resonance, 427 simple harmonic, 38, 341, 412 problems, 344, 416 in a sound wave, 345, 373 steady state, 426 of string, 633 tuning fork, 345 violin, 645 voltage, 346, 353, 378 volume, 242 ﬀ element, 253, 261, 524 ﬁnding by integration, 242, 253 integral, 253 ﬀ, 318 of revolution, 253 vortex, 714 water ﬂow, 325, 713-714. See also ﬂow of water water waves, 342 wave equation, 297, 620, 633 ﬀ, 644 ﬀ for vibrating drum, 644 for vibrating string, 633 ﬀ wavelength, 342 wave number, 634 waves, 342, 620, 634 light, 346, 378 notation, 344 (Problem 17) radio, 343 sound, 345, 372 velocity of, 342, 620, 634 Weber function, 591 weighted coin, 727, 734 weight function, 602 wire, vertical stability of, 600 work, 277 independent of the path, 303 Wronskian, 133, 136 (Problem 16) yo-yo, 489 zero factorial, 4 zero matrix, 117 zero-rank tensor, 496 zeros of Bessel functions, 591 zeros of f (z), 694 zeta (ζ) function, 41 z-score, 764

Mary Boas Solution 7.3.8

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Mawby Teres1997

Mary Boas Solution 7.3.8

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