ENGI 2422 Appendix A Formul Page A-01

ENGI 2422 Engineering Mathematics 2

Possibilities for your Formula Sheets
You may select items from this document for placement on your formula sheets.
However, designing your own formula sheet can be a valuable revision exercise in itself.

1. Fundamentals
Equation of a plane, through point P , (where a = position vector of P), with non-zero
normal vector n A, B, C :
r n a n or Ax By Cz D 0

Equation of a line, through point P (xo, yo, zo), (where a = position vector of P), parallel
to non-zero vector v v1, v2 , v3 :
x xo y yo z zo
r a t v or
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.

The unit tangent, unit principal normal and binormal vectors at any point on a curve
given by r = r(t) are
dr dr dT dT
T , N and B T N
dt dt dt dt
The arc length s along the curve can be found from
2 2 2
ds dx dy dz dr

dt dt dt dt dt
The curvature is
dT dT dr r r
N 3
ds dt dt r

Conic Sections

x2 y2
2
2
1 : ellipse, major axis = 2a, minor axis = 2b, b a 1 e2 , 0 < e < 1,
a b
foci at (ae, 0). (b = a is a circle)
2 2
x y
2
2 1 : hyperbola, vertices at (2a, 0), asymptotes y = bx / a , e > 1,
a b
foci at (ae, 0).
y2 = 4ax : parabola, vertex at (0, 0), focus at (a, 0), e = 1.

x2 y2 x2 y2
0 is a point at (0, 0); 0 is the line pair y = bx / a.
a2 b2 a2 b2
ENGI 2422 Appendix A Formul Page A-02

Quadric Surfaces

x2 y2 z2
1 : ellipsoid (special cases are spheroid and sphere)
a2 b2 c2
x2 y2 z2
1 : hyperboloid of one sheet, aligned along z axis
a2 b2 c2
x2 y2 z2
1 : hyperboloid of two sheets, aligned along x axis
a 2 b2 c 2
z x2 y 2
: elliptic paraboloid
c a 2 b2
z x2 y2
: hyperbolic paraboloid
c a 2 b2

x2 y 2 z 2 x2 y 2 z 2
0: A single point at the origin. 1 : Nothing
a 2 b2 c 2 a 2 b2 c2
x2 y 2 z 2
0: Elliptic cone, aligned along the z axis;
a 2 b2 c 2
[asymptote to both types of hyperboloid].
2 2
x y
2
2 1: Elliptic cylinder, aligned along the z axis.
a b
2
x y2
1: Hyperbolic cylinder, aligned along the z axis.
a 2 b2
y x2
: Parabolic cylinder, vertex line on the z axis.
b a2
x2 y 2 x2 y 2
0: Line (the z axis) 1 : Nothing
a 2 b2 a 2 b2
x2 y 2 x2
0: Plane pair (intersecting along the z axis) 1 : Parallel Plane Pair
a 2 b2 a2
x2 x2
0: Single Plane (the y-z coordinate plane) 1 : Nothing
a2 a2

Surfaces of Revolution

y = f (x) rotated around y = c.

y c f x c
2
z2
2
Equation of surface generated is

f x c 1 f x
b
Area of curved surface is A 2
2
dx .
a
ENGI 2422 Appendix A Formul Page A-03

Trigonometric identities Hyperbolic fn identities

e j cos j sin e x cosh x sinh x

e jx e jx e x ex
cos x cosh jx cosh x cos jx
2 2
e jx e jx e x ex
sin x j sinh jx sinh x j sin jx
2j 2
tan x = sin x / cos x tanh x = sinh x / cosh x
sec x = 1 / cos x sech x = 1 / cosh x
csc x = 1 / sin x csch x = 1 / sinh x
cot x = 1 / tan x coth x = 1 / tanh x
cos (x) = + cos x cosh (x) = + cosh x
sin (x) = sin x sinh (x) = sinh x
tan (x) = tan x tanh (x) = tanh x

cos2x + sin2x = 1 cosh2x sinh2x = 1

sec2x = 1 + tan2x sech2x = 1 tanh2x
csc2x = 1 + cot2x csch2x = coth2x 1
d
cos x sin x d
cosh x sinh x
dx dx
d
sin x cos x d
sinh x cosh x
dx dx
d
tan x sec 2 x d
tanh x sech 2 x
dx dx
d
sec x sec x tan x d
sech x sech x tanh x
dx dx
d
csc x csc x cot x d
csch x csch x coth x
dx dx
d
cot x csc 2 x d
coth x csch 2 x
dx dx

cos (A+B) = cos A cos B sin A sin B
cos 2x = cos2x sin2x
= 2 cos2x 1 = 1 2 sin2x
sin (A+B) = sin A cos B + cos A sin B
sin 2x = 2 sin x cos x
cosh (A+B) = cosh A cosh B + sinh A sinh B
cosh 2x = cosh2x + sinh2x
= 2 cosh2x 1 = 1 + 2 sinh2x
sinh (A+B) = sinh A cosh B + cosh A sinh B
sinh 2x = 2 sinh x cosh x
 ENGI 2422 Appendix A Formul Page A-04
Trigonometric identities (contd) Some Integrals

tan A tan B u n 1
tan A B C n 1
1 tan A tan B
u du n 1
n

tan 2 x
2 tan x ln u C n 1
1 tan 2 x
1 cos 2 x au
cos 2 x a u
du C a 1, a 0
2 ln a

1 cos 2x
e du e u C
u
sin 2 x
f x
2
sin A cos B = (sin(A+B) + sin(AB)) / 2 f x dx ln f x C
cos A sin B = (sin(A+B) sin(AB)) / 2
cos A cos B = (cos(A+B) + cos(AB)) / 2 tan u du ln sec u C
sin A sin B = (cos(AB) cos(A+B)) / 2
PQ PQ cot u du ln sin u C
sin P sin Q 2 sin
sec u du ln sec u tan u
cos C
2 2
PQ PQ
sin P sin Q 2 cos sin csc u du ln csc u cot u C
2 2
du u
cos P cos Q 2 cos
PQ
cos
P Q a u2 2
sin 1 C
a
2 2
PQ PQ du u
cos P cos Q 2 sin
2
sin
2
a2 u2
sinh 1 C
a
Let t = tan (x / 2) , then ln u a 2 u 2 C 2
2t 1 t 2
sin x , cos x , du 1 u
1 t2 1 t2
2t
a 2
u 2
tan 1 C
a a
tan x
1 t2 du 1 1 u
a 2 u 2 a tanh a C
1 ua
ln C2
2a ua

u 2 a2 u u a2
a 2 u 2 du
2
a u2
2
sinh 1 C

a 2
a2 u2
2
ln u a 2 u 2 C2

u 2 a2 u
a u du a u sin 1 C
2 2 2

2 2 a
ENGI 2422 Appendix A Formul Page A-05

u v
dv du
Integratio n by parts : u dx dx dx v dx
[or tabular format]

Some forms that can be obtained from integration by parts:

ln u du u ln u 1 C
eau
e sin bu du
au
a sin bu b cos bu C
a 2 b2
eau
e au
cos bu du a cos bu b sin bu C
a 2 b2
m n

sin u cos u du m n sin u cos u m 1 sin u cos u du
1 m 1 n 1 m2 n

m, n 1 Any

mn
1

sin m1 u cos n 1 u n 1 sin m u cos n 2 u du
other anti-derivatives that are required in a question but that cannot be obtained from the
identities above will be supplied either directly or by means of a hint in the question.

Leibnitz diffn of an integral:

d yg ( x)

dx y f ( x )
H ( x, y ) dy
yg ( x)


dg df
H ( x, g ( x)) H ( x, f ( x)) H ( x, y) dy
dx dx y f ( x) x
ENGI 2422 Appendix A Formul Page A-06

2. Partial Differentiation

Chain rule: If y = f (x1, x2, ..., xn) and xi = gi(t1, t2, ..., tm) then
y n
y xi y x1 y x2 y xn

t j i 1 xi t j x1 t j x2 t j xn t j
and
n
y y y y
dy dxi dx1 dx2 dxn
i 1 xi x1 x2 xn

Gradient:
f f f
In 3
, 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

Jacobian (implicit method):

Conversion from { x1, x2, ..., xn } to { u1, u2, ..., un } defined implicitly by n equations
fi ( x1, x2, ..., xn, u1, u2, ..., un) = 0.
Find all n differentials dfi , then construct the matrix equation
dx1 du1
dx du
det B
A 2 B 2 . The Jacobian is .
det A

dxn du n

Jacobian (explicit method):

x1 x1 x1
u
u2 un
1
x2 x2 x2
x1 , x 2 , , x n
Jacobian ABS det u1 u2 un

u1 , u 2 , , u n

x xn xn
n
u1 u2 u n

ENGI 2422 Appendix A Formul Page A-07

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).
ENGI 2422 Appendix A Formul Page A-08

3. First Order ODEs

M(x, y) dx + N(x, y) dy = 0

Separable if M x, y f x g y and N x, y ux v y

Linear:
dy
dx
Px y Rx ; solution y e h e R dx
h

C , where h P dx

Bernoulli: [not in this semester]

1u
Px y Rx y u ; reduce to linear dw 1 u Px w Rx using w y
dy
dx dx 1 u

M N
Exact if ; 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:
1 P Q
ln I x Q y x dx (invalid if the integrand is dependent on y).

or
Use I(y) to try to make Px, y dx Qx, y dy 0 exact:
1 Q P
ln I y P x y dy (invalid if the integrand is dependent on x).

Reduction of order (missing y term):

d2y dy
To solve 2
P x R x ,
dx dx
dy d2y dp
Replace by p and replace by
dx dx 2 dx
Reduction of order (missing x term):
d2y dy
To solve 2
P Qy R,
dx dx
dy d2y dp
Replace by p and replace by p
dx dx 2 dy
ENGI 2422 Appendix A Formul Page A-09

4. Second Order Linear ODEs

d2y
P x Q x y R x
dy
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 x
yc Ae 1 B e 2
Real repeated roots (critically damped):
yc A Bx e x
Complex conjugate pair of roots ( = a bj) (under-damped):

yc ea x Ae jbx B e jbx
e ax
C cos bx D sin bx
Particular solution by undetermined coefficients:
If R(x) = ekx , then try yP = c ekx
If R(x) = (a polynomial of degree n),
then try yP = (a polynomial of degree n), with all (n + 1) coefficients to be determined.
If R(x) = (a multiple of cos kx and/or sin kx),
then try yP = c cos kx + d sin kx
But: if part (or all) of yP is included in the C.F., then multiply yP by x.

Particular solution by variation of parameters:

Let yc = A y1 + B y2 then find
y1 y 2 0 y2 y1 0
W , W1 y 2 R , W2 y1 R ,
y1 y 2 R y 2 y1 R
W1 W
u u , v 2 v , then
W W
yP u y1 v y2

General solution:
y = yc + yP
Initial (or boundary) conditions complete solution.

or use Laplace transforms.

ENGI 2422 Appendix A Formul Page A-10

5. Some Inverse Laplace Transforms

F (s) f (t) F (s) f (t)

0 e st f (t ) dt f (t) 1 1 cos t
s s 2 2
2
1 t n 1
(n )
sn n 1 ! 1 t sin t
s 2
s 2
2
3
1 1
s t 1 sin t t cos t
1 s 2

2 2
2 3
eat
sa
s t sin t
1 (n ) t n 1 e at
s 2

2 2
2

s a n (n 1)! s2 2
t cos t
s 2

2 2

eas (t a)
1 as Square wave,
as tanh period 2a ,
e s 2
H (t a) amplitude 1
s
1 as Triangular wave,
tanh
1 sin t s2 2 period 2a ,
s
2 2 amplitude a

b b Sawtooth wave,

1 e at sin t as 2
s eas 1 period a ,
s a 2 2

amplitude b

{ sn F (s) sn1 f (0)

1 at
e sinh bt sn2 f (0) sn3 f (0)
s a b 2 2
b ... dn f
s f (n2) (0) f (n1) (0) } dt n
s a
eat cos t
s a 2 2 t
0
1 f ( ) d
F ( s)
s a eat cosh bt
s
s a 2 b2 dF t f (t)
ds
ENGI 2422 Appendix A Formul Page A-11

First shift theorem: with F s L f t

The inverse Laplace transform of F (s b) is ebt f (t) .

Second shift theorem:

The inverse Laplace transform of eas F (s) is f (ta) H (ta).

Scaling property (an extension of the first shift theorem):

bt
1 a t
The inverse Laplace transform of F (as b) is e f .
a a

Periodic function:

If f (t) is a periodic function of fundamental period T , then

1 T
the Laplace transform of f (t) is
sT 0 e st f (t ) dt .
1 e

Sifting property of the Dirac delta function:

d f (a) cad
c
f (t ) (t a) dt
0 a c or a d

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

t t
h (t) = (f * g)(t) = 0 f ( ) g (t ) d 0 f (t ) g ( ) d
= (g * f )(t)

Also:

0 F d
s
0

1 e f t(t ) dt
s t


0 F s ds 0
f (t )
t
dt
ENGI 2422 Appendix A Formul Page A-12

6. Multiple Integration

If the surface density is = f (x, y), then the mass is

b h x d q y
m
f x, y dy dx

f x, y dx dy ,

x a y g x
y c x p y

where the inner integral must be evaluated first.

Polar coordinates: (x, y) = (r cos , r sin ) and dA = dx dy = r dr d.

Centre of mass is at x , y , where mx M y and my M x ,

m dA ,
D
Mx y dA
D
and M y x dA .
D

Cylindrical polar coordinates:

(x, y, z) = (r cos , r sin , z) and dV = dx dy dz = r dr d dz.

Spherical polar coordinates:

(x, y, z) = (r sin cos , r sin sin , r cos )
and dV = dx dy dz = r2sin dr d d .

Mass m dV .
V

Additional Formulae for Polar Coordinates (if needed)

y
(x, y) = (r cos , r sin ) r 2 x 2 y 2 , tan
x
dy dr
sin r cos
dy
d d
dx dx dr
cos r sin
d d

2
dr
Arc length L r2 d
d
1 2
Area swept out by r = f ( ): A
2
r d

r r 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