Professional Documents
Culture Documents
Formul
Page A-01
v1
v2
v3
If v1 = 0, then separate out the equation x = xo.
If v2 = 0, then separate out the equation y = yo.
If v3 = 0, then separate out the equation z = zo.
r a t v or
The unit tangent, unit principal normal and binormal vectors at any point on a curve
given by r = r(t) are
T
dr dr
,
dt
dt
dT dT
dt
dt
and
B T N
ds
dx
dy
dz
dt
dt
dt
dt
The curvature is
dr
dt
r r
dT
dT
dr
3
ds
dt
dt
r
Conic Sections
x2
y2
x2
y2
Formul
Page A-02
Quadric Surfaces
x2
a2
x2
a2
x2
y2
b2
y2
b2
y2
z2
c2
z2
c2
z2
c a 2 b2
z x2 y 2
:
hyperbolic paraboloid
c a 2 b2
x2 y2 z 2
0:
a 2 b2 c 2
x2 y2 z 2
0:
a 2 b2 c2
x2 y 2 z 2
1 : Nothing
a 2 b2 c2
x
y
2 1:
2
a
b
2
x
y2
1:
a 2 b2
y x2
:
b a2
x2 y 2
0:
a 2 b2
x2 y 2
0:
a 2 b2
x2
0:
a2
x2 y 2
1 : Nothing
a 2 b2
x2
1 : Parallel Plane Pair
a2
x2
1 : Nothing
a2
Surfaces of Revolution
y = f (x) rotated around y = c.
Equation of surface generated is
y c
b
a
z2
f x c
f x c
1 f x
2
dx .
Formul
Page A-03
Trigonometric identities
Hyperbolic fn identities
e j cos j sin
e x cosh x sinh x
e jx e jx
cos x
cosh jx
2
e jx e jx
sin x
j sinh jx
2j
tan x = sin x / cos x
sec x = 1 / cos x
csc x = 1 / sin x
cot x = 1 / tan x
cos (x) = + cos x
sin (x) = sin x
tan (x) = tan x
e x ex
cosh x
cos jx
2
e x ex
sinh x
j sin jx
2
tanh x = sinh x / cosh x
sech x = 1 / cosh x
csch x = 1 / sinh x
coth x = 1 / tanh x
cosh (x) = + cosh x
sinh (x) = sinh x
tanh (x) = tanh x
cos2x + sin2x = 1
sec2x = 1 + tan2x
csc2x = 1 + cot2x
d
cos x sin x
dx
d
sin x cos x
dx
d
tan x sec 2 x
dx
d
sec x sec x tan x
dx
d
csc x csc x cot x
dx
d
cot x csc 2 x
dx
cosh2x sinh2x = 1
sech2x = 1 tanh2x
csch2x = coth2x 1
d
cosh x sinh x
dx
d
sinh x cosh x
dx
d
tanh x sech 2 x
dx
d
sech x sech x tanh x
dx
d
csch x csch x coth x
dx
d
coth x csch 2 x
dx
Formul
Page A-04
Some Integrals
tan A tan B
1 tan A tan B
2 tan x
tan 2 x
1 tan 2 x
1 cos 2 x
cos 2 x
2
1
cos
2x
sin 2 x
2
sin A cos B = (sin(A+B) + sin(AB)) / 2
cos A sin B = (sin(A+B) sin(AB)) / 2
cos A cos B = (cos(A+B) + cos(AB)) / 2
sin A sin B = (cos(AB) cos(A+B)) / 2
PQ
PQ
sin P sin Q 2 sin
cos
2
2
PQ
P Q
sin P sin Q 2 cos
sin
2
2
PQ
PQ
cos P cos Q 2 cos
cos
2
2
PQ
PQ
cos P cos Q 2 sin
sin
2
2
Let t = tan (x / 2) , then
1 t 2
2t
cos
x
,
,
sin x
1 t2
1 t2
2t
tan x
1 t 2
u n 1
C n 1
n 1
n
u du
ln u C n 1
au
u
a
du
C a 1, a 0
ln a
tan A B
a 2 u 2 du
du e u C
f x
f x dx ln f x C
tan u du ln sec u C
cot u du ln sin u C
sec u du ln sec u tan u
csc u du ln csc u cot u
du
a u
du
2
a2 u2
C
C
u
sin 1 C
a
u
sinh 1 C
a
ln u a 2 u 2 C 2
du
1
u
tan 1 C
2
a
u
a
du
1
1 u
a 2 u 2 a tanh a C
1
ua
ln
C2
2a
ua
u
a2
u
a2
u
a2 u2
sinh 1 C
a2 u2
ln u a 2 u 2 C 2
2
2
a
2
2
u
a2
u
2
2
a u du
a u
sin 1 C
2
2
a
2
Integration by parts :
Formul
dv
u dx dx
u v
Page A-05
du
dx v dx
ln u du
u ln u 1 C
eau
a sin bu b cos bu C
a 2 b2
eau
au
e
cos
bu
du
a cos bu b sin bu C
a 2 b2
1
m
n
m 1
n 1
m2
n
sin u cos u du m n sin u cos u m 1 sin u cos u du
m, n 1 Any
1
dg
df
H ( x, g ( x))
H ( x, f ( x))
dx
dx
H ( x, y ) dy
y f ( x) x
yg ( x)
Formul
Page A-06
Partial Differentiation
Chain rule:
If y = f (x1, x2, ..., xn) and xi = gi(t1, t2, ..., tm) then
n
y
y xi
y x1
y x2
y xn
t j
x1 t j
x2 t j
xn t j
i 1 xi t j
and
n
y
y
y
y
dy
dxi
dx1
dx2
dxn
x1
x2
xn
i 1 xi
Gradient:
f f f
, i
j
k
and f
,
,
x
y
z
x y z
Rate of change of f in the direction of a at point P is the directional derivative
Da f P f a P
In
dx n
du n
Jacobian (explicit method):
Jacobian
x1 , x 2 , , x n
u1 , u 2 , , u n
ABS det
x1
u
1
x2
u1
x
n
u1
x1
u2
x2
u2
xn
u2
x1
un
x2
un
xn
u n
Formul
Max-Min:
Check all points:
- on the domain boundary;
- where f is undefined;
- where f is undefined;
- where f = 0 .
Second derivative test (at points where f = 0):
f xx f xy
D
f yx f yy
D > 0 and fxx > 0 local minimum
D > 0 and fxx < 0 local maximum
D < 0 saddle point
D = 0 : test fails.
Lagrange Multipliers:
Identify function f (x1, x2, ... , xn) to be maximized or minimized.
Identify constraint(s) g(x1, x2, ... , xn) = k .
Solve the system of equations
f = g and g = k .
Solution with smallest (largest) value of f is the minimum (maximum).
Page A-07
Formul
Page A-08
Separable if
M x, y f x g y and N x, y ux v y
Linear:
dy
Px y Rx ; solution y e h
dx
e R dx
h
C , where h P dx
M
N
; solution u x, y c where u M dx N dy
y
x
Integrating Factor:
Use I(x) to try to make Px, y dx Qx, y dy 0 exact:
ln I x
1 P
Q y x dx
or
Use I(y) to try to make Px, y dx Qx, y dy 0 exact:
ln I y
1 Q
P x y dy
dy
d2y
by p and replace
dx
dx 2
Reduction of order (missing x term):
d2y
dy
To solve
P
Qy R,
2
dx
dx
Replace
Replace
dy
dx
by
d2y
p and replace
dx 2
by
dp
dx
by
dp
dy
Formul
Page A-09
d2y
dy
P x
Q x y R x
2
dx
dx
[P and Q both constant]:
Auxiliary equation:
Solve 2 P Q 0
1, 2
Complementary function:
Real distinct roots (over-damped):
x
yc Ae 1 B e 2
Real repeated roots (critically damped):
yc A Bx e x
yc ea x Ae jbx B e jbx
ax
C cos bx D sin bx
W1
W
u , v 2
W
W
u y1 v y 2
yP
v , then
General solution:
y = yc + yP
Initial (or boundary) conditions complete solution.
or use Laplace transforms.
y1
y1
0
R
y1 R ,
Formul
Page A-10
F (s)
f (t)
e st f (t ) dt
F (s)
f (t)
s s
t n 1
n 1 !
(n )
sn
1 cos t
t sin t
3
1
s
1
sa
eat
s a n
t n 1 e at
(n 1)!
(n )
eas
f (t)
s a
at
s a
s a 2 b2
t cos t
2 2
sin t
e at sin t
s a b
s a
s a 2 2
2
2 2
Triangular wave,
period 2a ,
amplitude a
as
tanh
s2
2
t sin t
2
b
2
2 3
H (t a)
Square wave,
period 2a ,
amplitude 1
1
s
sin t t cos t
2 2
1
as
tanh
s
2
as
s2 2
(t a)
e sinh bt
b
eat cos t
eat cosh bt
as 2
s eas 1
Sawtooth wave,
period a ,
amplitude b
1
F ( s)
s
dF
ds
dn f
dt n
t
f ( ) d
t f (t)
Formul
with
F s L f t
F (s b)
Page A-11
is ebt f (t) .
is f (ta) H (ta).
F (as b)
is
t
f .
a
1 a
e
a
Periodic function:
If f (t) is a periodic function of fundamental period T , then
the Laplace transform of f (t) is
1
1 e
sT
e st f (t ) dt .
d
c
f (t ) (t a) dt
cad
f (a)
a c or a d
0
Convolution:
If the Laplace transforms of functions f (t) and g (t) are F (s) and G (s) respectively, then
the inverse Laplace transform of H (s) = F (s) G (s) is the convolution
h (t) = (f
= (g
*
*
g)(t) =
f ( ) g (t ) d
f (t ) g ( ) d
f )(t)
Also:
s
0 F d
1 e f t(t ) dt
s t
0 F s ds
f (t )
dt
t
Formul
Page A-12
Multiple Integration
m
f x, y dy dx
f x, y dx dy ,
x a y g x
y c x p y
and dA = dx dy = r dr d.
dA ,
Mx
y dA
and M y
and my M x ,
x dA .
and dV = dx dy dz = r dr d dz.
dV .
V
tan
y
x
dy
dr
sin r cos
dy
d d
dx
dr
dx
cos r sin
d
d
Arc length L
dr
r2
d
d
1 2
r d
2
v r r r
1 d 2
and a r r 2 r 2r r r r 2 r
r
r dt
END OF APPENDIX A