Croft,Davison and Hargreaves,Engineering Mathematics,Solutions Manual 127

Chapter 19. Ordinary differential equations I

Exercises 19.2
1. y = 3 sin 2x, y
= 6 cos 2x, y

= −12 sin 2x. Hence y

+ 4y = 0 as required.
2. Differentiating y twice gives
y
= Axex + Aex + Bex

y

= Axex + 2Aex + Bex

Substitution into the left side of the differential equation gives

Axex + 2Aex + Bex − 2(Axex + Aex + Bex ) + Axex + Bex

which equals 0 as required.

3. x = t2 + A ln t + B, x
= 2t + A
t, x

= 2 − A
t2 , hence
   
A A
tx

+ x
= 2t − + 2t + = 4t
t t

as required.
4. y = A cos x + B sin x, y
= −A sin x + B cos x, y

= −A cos x − B sin x. Clearly y

+ y = 0 as required.
5. Applying y(0) = 3 to the general solution yields A = 3 and hence the particular solution is y = 3e2x . The
particular solution satisfying y
(0) = 2 is easily shown to be y = e2x .
6. (a) y dependent, x independent, order 1, linear.
(b) y dependent, x independent, order 2, non-linear.
(c) x dependent, t independent, order 3, non-linear through the sin x term.
7. x = 7 cos 3t − 2 sin 2t, x
= −21 sin 3t − 4 cos 2t, x

= −63 cos 3t + 8 sin 2t. Then

x

+ 2x = −49 cos 3t + 4 sin 2t

as required.

8. Applying x(0) = 3 gives 3 = A + B. Applying x
(0) = 5 gives 5 = A + 2B. Solving simultaneously gives
A = 1, B = 2 so that x = et + 2e2t .
9. Applying y(0) = 0 gives B = 0, and thus y = Axex . Applying y
(0) = 1 gives A = 1 and the particular
solution is y = xex .
10. Applying x(0) = 0 gives 0 = A + B. Applying x
(0) = 1 gives 1 = jωA − jωB. Solving simultaneously gives
A = −j/2ω and B = j/2ω and thus
−j jωt j −jωt
x= e + e
2ω 2ω
In terms of trigonometric functions Euler’s relations give the general solution as

x = C cos ωt + D sin ωt

where C = A + B and D = j(A − B). Applying x(0) = 0 gives C = 0, and applying x
(0) = 1 gives ωD = 1 and
so D = 1/ω. Thus x = ω1 sin ωt.

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128 Croft,Davison and Hargreaves,Engineering Mathematics,Solutions Manual

Exercises 19.3
1. (a)–(f) can be solved by direct integration.

(a) y = 3 dx = 3x + c.
(b) x = 5t + c.
(c) y = x2 + c.
(d) y = 3t2 + c.
8x3
(e) y = 3 + c.
4
3t
(f) x = 4 + c.
(g) Separate the variables.

dy x2
=
dx y
 
y dy = x2 dx

y2 x3
= +c
2 3
3
2x
y2 = +D
3
2x3
y = ± +D
3

(h)
 
x2 dx = t3 dt

x3 t4
= +c
3 4

4
3 3t
x = +D
4

(i)
 
x dx = et dt

x2
= et + c
2 √
x = ± 2et + D

(j)

 
y 2 dy = e−2x dx

y3 e−2x
= − +c
3 2

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3
− e−2x + D
3
y =
2

(k)

y dy = 6 sin x dx

y2
= −6 cos x + c
2 √
y = ± −12 cos x + D

(l)

 
x2 dx = 9 cos 4t dt

x3 9 sin 4t
= +c
3 4
3 27
x = sin 4t + D
4

(m)

 
(x2 + x)dx = (3 cos 2t + 8 sin 4t)dt

x3 x2 3 sin 2t
+ = − 2 cos 4t + c
3 2 2

2. (a)
dx
dt = 3t, x(0) = 1.
3t2
x= 2 + c.
The condition x(0) = 1 gives 1 = c.
3t2
Hence x = 2 + 1.
(b)

 
y dy = 6x2 dx

y2
= 2x3 + c
2
1
= c
2
y2 1
= 2x3 +
2 2
y2 = 4x3 + 1

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130 Croft,Davison and Hargreaves,Engineering Mathematics,Solutions Manual

(c)
 
y dy = 3 sin t dt

y2
= −3 cos t + c
2
2 = −3 + c
c = 5
y2
= −3 cos t + 5
2
y2 = −6 cos t + 10

(d)

 
y dy = e−x dx

y2
= −e−x + c
2
9
= −1 + c
2
11
c =
2
y2 11
= −e−x +
2 2
y2 = −2e−x + 11

(e)

 
x dx = 4 sin t + 6 cos 2t dt

x2
= −4 cos t + 3 sin 2t + c
2
2 = −4 + c
c = 6
x2
= −4 cos t + 3 sin 2t + 6
2
x2 = −8 cos t + 6 sin 2t + 12

3.
dx
= ln t
dt
 
dx = ln t dt

and hence
x = t ln t − t + c
Applying x(1) = 1 gives c = 2 and hence x = t ln t − t + 2.

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Croft,Davison and Hargreaves,Engineering Mathematics,Solutions Manual 131

4. (a)
 
dy kx2
= kx, dy = kx dx, y= +c
dx 2
(b)  
dy dy
= −ky, = −k dx, ln Ay = −kx, i.e. y = Ce−kx
dx y

(c)  
dy dy 1 −1
= y2 , = dx, − = x + c, y=
dx y2 y x+c

(d)
 
dy y2
y = sin x, y dy = sin x dx, = − cos x + c, y 2 = −2 cos x + D
dx 2

(e)  
dy
y = x + 2, y dy = (x + 2)dx, y 2 = x2 + 4x + C
dx

(f)
dy y
x2 = 2y 2 + yx, let =ν
dx x

This yields
 
dν dν dx
x = 2ν 2 , =
dx 2ν 2 x
so that
1 x x
− = ln A|x|, i.e. y = or alternatively y =
2ν −2 ln |Ax| K − 2 ln |x|

(g)
dx t4
= 5
dt x
 
5 6t5
x dx = t4 dt, x6 = +C
5

5. (a)
 
dx dx t2 2
= xt, = t dt, ln |x| = + c, x = Aet /2
dt x 2

(b)
 
dy x y2 x2
= , y dy = x dx, = + c, y 2 = x2 + D
dx y 2 2

(c)
 
dx dt
t = tan x, cot x dx =
dt t
ln A| sin x| = ln t, t = A sin x

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132 Croft,Davison and Hargreaves,Engineering Mathematics,Solutions Manual

from which
x = sin−1 (kt) where k = 1/A

(d)
 
dx x2 − 1 dx dt
= , =
dt t x −1
2 t
Using partial fractions we obtain  
1 1 dt
− + dx =
2(x + 1) 2(x − 1) t
i.e.
 1/2
1 1 x−1
− ln |x + 1| + ln |x − 1| = ln At, i.e. At =
2 2 x+1
From this we find
1 + Bt2
x= , where B = A2
1 − Bt2

6.  
dx dx
= t(x − 2), = t dt
dt x−2
t2 2
ln A|x − 2| = , x − 2 = Ket /2
2
2
Applying x(0) = 5 we find 3 = K so that x = 2 + 3et /2
.

Exercises 19.4.1
1. (a)

d  2 
x y = x3
dx
x4
x2 y = +C
4
x2 C
y = + 2
4 x

(b)

d y
= 5x3
dx x2
y 5x4
= +C
x2 4
5x6
y = + Cx2
4

(c)

d
(ex y) = cos x
dx
ex y = sin x + C
y = e−x sin x + Ce−x

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Croft,Davison and Hargreaves,Engineering Mathematics,Solutions Manual 133

Exercises 19.4.4

1 dx
1. (a) P (x) = 1, Q(x) = 1. µ(x) = e = ex . Then
d x
(e y) = ex
dx
e x y = ex + c
y = 1 + ce−x

(b) P (x) = 2, µ(x) = e2x .

d 2x
(e y) = 6e2x
dx
e2x y = 3e2x + c
y = 3 + ce−2x

(c) µ(t) = e6t .

d 6t
(e x) = 4e6t
dt
2 6t
xe6t = e +c
3
2
x = + ce−6t
3

(d) µ(x) = e−3x .

d −3x
(e y) = 2e−3x
dx
2
e−3x y = − e−3x + c
3
2
y = − + ce3x
3

(e) µ(x) = e−6x .

d −6x
(e y) = 9e−6x
dx
9
y e−6x = − e−6x + c
6
3
y = − + ce6x
2

(f) µ(t) = e−3t .

d −3t
(e x) = −8e−3t
dt
8 −3t
x e−3t = e +c
3
8
x = + ce3t
3

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2. (a) µ(x) = e4x .

d 4x
(e y) = 7e4x
dx
7 4x
y e4x = e +c
4
7
y = + ce−4x
4
Then applying the condition y(0) = 1 gives
7 3
1= + c, so that c=−
4 4
Then
7 3 −4x
y= − e
4 4
(b) µ(t) = e−t .

x e−t = −4e−t + c
x = −4 + cet

Then applying the condition x(0) = 2 gives

2 = −4 + c, so that c=6

Then
x = −4 + 6et
(c) µ(t) = e−3t .

2
y e−3t = − e−3t + c
3
2
y = − + ce3t
3
Then applying the condition y(0) = 2 gives
2 8
2 = − + c, so that c=
3 3
Then
2 8
y = − + e3t
3 3

(d) µ(x) = e−4x .

y e−4x = 2e−4x + c
y = 2 + ce4x

Then applying the condition y(1) = 2 gives

2 = 2 + ce4 , so that c=0

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Croft,Davison and Hargreaves,Engineering Mathematics,Solutions Manual 135

Then
y=2

3. In standard form we have

dx
− 2x = 4t
dt
The integrating factor 
−2 dt
µ=e = e−2t
Then

−2t
xe = 4te−2t dt

= −2te−2t − e−2t + K

Then x = −2t − 1 + Ke2t . Applying x(1) = 2 yields K = 5e−2 so that x = −2t − 1 + 5e2t−2 .

4. The integrating factor is


dx
µ=e = ex
Then

ex y = ex (2x + 5)dx

= (2x + 5)ex − 2ex + K

i.e.
y = 2x + 3 + Ke−x

5. In standard form we have

dx
+ tx = t
dt
The integrating factor is 
t dt 2
µ=e = et /2

Then

2 2
et /2
x = tet /2
dt
2
= et /2
+K

so that
x = 1 + Ke−t
2
/2

Applying x(0) = 0 yields K = −1 so that x = 1 − e−t

2
/2
.

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6. In standard form

di R 1
+ i = sin ωt
dt L L
Then the integrating factor 
R/L dt
µ=e = eRt/L
Then

Rt/L 1
ie = sin ωt eRt/L dt
L
 
1 L2 ω 2 R sin ωt cos ωt
= eRt/L − +K
L L2 ω 2 + R2 Lω 2 ω

Whence
R sin ωt Lω
i= 2 2 2
− 2 2 cos ωt + Ke−Rt/L
L ω +R L ω + R2

7.
dy
x + y = x4
dx
In standard form
dy 1
+ y = x3
dx x
The integrating factor  1
µ=e x dx = eln x = x
Then 
x5
xy = x4 dx = +c
5
i.e.
x4 c
y= +
5 x

8. The integrating factor is

 1
µ=e t dt =t
Then 
3t2
tx = 3t dt = +A
2
i.e.
3t A
x= +
2 t

9. The integrating factor 

2t dt 2
µ=e = et
Then 
t2 2 1 t2
xe = tet dt = e +c
2
Then
1
+ ce−t /2
2
x=
2

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Applying the condition x(0) = −1 yields c = −3/2 so that

1 3 −t2
x= − e
2 2

10. Here µ = t3 and 

3
xt = et dt = et + c

Exercises 19.5.4
1. (a) The auxiliary equation is λ2 −3λ+2 = 0 so that (λ−1)(λ−2) = 0. The general solution is y = Aex +Be2x .
(b)

k 2 + 7k + 6 = 0
(k + 1)(k + 6) = 0
k = −1, −6

Then
y = Ae−x + Be−6x

(c)

k 2 + 5k + 6 = 0
(k + 3)(k + 2) = 0
k = −3, −2

Then
x = Ae−3t + Be−2t

(d)

k 2 + 2k + 1 = 0
2
(k + 1) = 0
k = −1 twice

Then
y = Ae−t + Bte−t
(e)

k 2 − 4k + 4 = 0
(k − 2) 2
= 0
k = 2 twice

Then
y = Ae2x + Bxe2x

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138 Croft,Davison and Hargreaves,Engineering Mathematics,Solutions Manual

(f)

k2 + k + 8 = 0
√
−1 ± 1 − 32
k =
2
√
1 31
= − ± j
2 2
Then √ √ 
−t/2 31 31
y=e A cos t + B sin t ≈ e−0.5t (A cos 2.78t + B sin 2.78t)
2 2

(g) The auxiliary equation is (λ − 1)2 = 0, so that y = Aex + Bxex .

(h)

k2 + k + 5 = 0
√
−1 ± 1 − 20
k =
2
√
1 19
= − ± j
2 2
Then √ √ 
−t/2 19 19
y=e A cos t + B sin t ≈ e−0.5t (A cos 2.18t + B sin 2.18t)
2 2

(i)

k2 + k − 2 = 0
(k − 1)(k + 2) = 0
k = 1, −2

Then
y = Aex + Be−2x

(j) The auxiliary equation is λ2 + 9 = 0 so that λ = ±3j. Then y = C cos 3x + D sin 3x.
(k) The auxiliary equation is λ(λ − 2) = 0, so that λ = 0, 2. Then y = A + Be2x .
(l) k 2 − 16 = 0, k = ±4. y = Ae4t + Be−4t .

2. The auxiliary equation is

1
Lλ2 + Rλ + =0
C
Then
i = Aeλ1 t + Beλ2 t
where  
−R + R2 − 4L/C −R − R2 − 4L/C
λ1 = , λ2 = ,
2L 2L

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3. λ2 + λ + 1 = 0. From which √
1 3
λ=− ±j
2 2
Then √ √ 
3 3
y = e−x/2 A cos x + B sin x
2 2

Exercises 19.5.6
1. (a) The auxiliary equation is k 2 −2k−3 = 0 so that k = −1, 3. The complementary function is x = Ae−t +Be3t .
For a particular integral try x = c which yields −3c = 6 so that c = −2. Then

x = Ae−t + Be3t − 2

(b) k 2 + 5k + 4 = 0; (k + 4)(k + 1) = 0; k = −4, −1. Then y = Ae−4x + Be−x . For a particular integral try
y = α. Then
4α = 8, so α=2
Then
y = Ae−4x + Be−x + 2
(c) k 2 + 5k + 6 = 0; (k + 2)(k + 3) = 0; k = −2, −3. Then y = Ae−2t + Be−3t . For a particular integral try
y = αt + β. Then ẏ = α. Then
0 + 5α + 6αt + 6β = 2t
Then 6α = 2, i.e. α = 13 .
5 5
β=− α=−
6 18
Then
5 1
y = Ae−2t + Be−3t − + t
18 3

(d) k 2 + 11k + 30 = 0; (k + 6)(k + 5) = 0, k = −6, −5. Then x = Ae−6t + Be−5t .

For a particular integral try x = αt + β. Then ẋ = α.

11α + 30αt + 30β = 8t

Then
8 4
α= =
30 15
11 22
β=− α=−
30 225
4 22
x = Ae−6t + Be−5t + t − ≈ Ae−6t + Be−5t + 0.267t − 0.0978
15 225
√ √
(e) k 2 + 2k + 3 = 0; k = −2± 2 4−12 = −1 ± 2j.
√ √
Then the complementary function is y = e−x (A cos 2x + B sin 2x).
For the particular integral try y = α cos 2x + β sin 2x.
y
= −2α sin 2x + 2β cos 2x.
y

= −4α cos 2x − 4β sin 2x.
Then substitution gives
−4αC − 4βS + 2(−2αS + 2βC) + 3αC + 3βS = 2S

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Equating separately the sine and cosine terms:

−β − 4α = 2, −α + 4β = 0
with solution
8 2
α=− , β=−
17 17
Then
√ √ 8 2
y = e−x (A cos 2x + B sin 2x) − cos 2x − sin 2x
17 17
√ √
−1± 1−4
(f) k 2 + k + 1 = 0; k = 2 = − 12 ± 3
2 j.
Then the complementary function is
√ √ 
−t/2 3 3
y=e A cos t + B sin t
2 2

For the particular integral try y = α cos 3t + β sin 3t.

y
= −3α sin 3t + 3β cos 3t.
y

= −9α cos 3t − 9β sin 3t.
Then
−9αC − 9βS − 3αS + 3βC + αC + βS = 4C
from which
−8α + 3β = 4, −8β − 3α = 0
with solution
12 32
β= , α=−
73 73
The solution is √ √ 
−t/2 3 3 32 12
y=e A cos t + B sin t − cos 3t + sin 3t
2 2 73 73

(g) k = ±3j. The complementary function is y = A cos 3x + B sin 3x. For a particular integral try y = αe8x .
Then
64α + 9α = 4
and so
4
α= ≈ 0.0548
73
Then
4 8x
y = A cos 3x + B sin 3x + e
73

(h) k = ±4. The complementary function is x = Ae4t + Be−4t . For a particular integral try x = αe6t . Then

36α − 16α = 9

from which
9
α=
20

Then
9 6t
x = Ae4t + Be−4t + e
20

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2. Try x = αe3t which yields α = 5/2.

3. k 2 − 1 = 0, k 2 = 1, k = ±1. Then x = Aet + Be−t . For a particular integral try x = αe−2t . Then

4α − α = 4

so
4
α=
3
Then
4
x = Aet + Be−t + e−2t
3

4. The complementary function is y = Ae−x + Be2x . Trying a particular integral of the form y = α yields
α = −3 so that y = Ae−x + Be2x − 3.
5. The complementary function is y = Ae−x + Be−2x . For a particular integral try y = C cos 2x + D sin 2x, from
which C = −1/2 and D = 3/2. Then the general solution is
1 3
y = Ae−x + Be−2x − cos 2x + sin 2x
2 2
Application of the conditions yields A = 0 and B = 3/2 so that
3 −2x 1 3
y= e − cos 2x + sin 2x
2 2 2

6. Try y = αx + β. This yields α = 1 and β = 0 so that a particular integral is y = x.

7. (a) The auxiliary equation is k 2 − 6k + 5 = 0, i.e. (k − 1)(k − 5) = 0 so that k = 1, 5. The complementary
function is x = Ae5t + Bet . For a particular integral try x = α which results in α = 3/5. Then the general
solution is x = Ae5t + Bet + 3/5.
b) The auxiliary equation is k 2 − 2k + 1 = (k − 1)2 = 0, so that the c.f. is x = Aet + Btet . For a particular
integral it is necessary to try x = αt2 et from which α = 1/2. The general solution is then x = Aet + Btet + 12 t2 et .
8. The differential equation follows from application of Kirchhoff’s laws. With the given component values the
equation becomes
10−8 i

2 + 10−3 i
2 + 10i2 = E(t)

The auxiliary equation is

10−8 k 2 + 10−3 k + 10 = 0
from which k = −11 270, −88 730. Thus

i2 = Ae−11 270t + Be−88 730t

is the required complementary function.

9. The auxiliary equation is k 2 + 8k + 25 = 0 from which k = −4 ± 3j. The complementary function is then

i = e−4t (A cos 3t + B sin 3t)

For a particular integral try y = C cos 3t + D sin 3t which gives C = 18/13 and D = 14/13. Finally

18 14
i = e−4t (A cos 3t + B sin 3t) + cos 3t + sin 3t
13 13
Review Exercises 19

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1. (a) dx/dt = 2x, x1 dx = 2 dt from which ln |x| = 2t + c, i.e. x = Ae2t .
  3
(b) dx = 1+t dt. Thus x = 3 ln |1 + t| + c.
 dy 
(c) y2 = cos x dx, i.e. − y1 = sin x + x, so that y = sin−1
x+c .

2. General solution y = 2x + k. Applying y(0) = 3 so that k = 3, and y = 2x + 3.

3. In standard form
dx 1
+ x=2
dt t
The integrating factor
 1
µ=e t dt = eln t = t

Then 
xt = 2t dt = t2 + c

c
x=t+
t

2 dt
4. The integrating factor is µ = e = e2t . Then
  
4 cos t sin t
e2t x = e4t cos t dt = + e4t + k
17 17

and thus  
4 cos t sin t
x= + e2t + ke−2t
17 17

5. The complementary function is y = A cos 4x + B sin 4x. For a particular integral. try y = αx2 + βx + γ which
gives α = 1/16, β = 0, γ = −1/128. Then

x2 1
y = A cos 4x + B sin 4x + −
16 128

6. The complementary function is easily shown to be y = Ae−4x + Bex . For a particular integral try y = αxex
which results in α = 1/5. The general solution is

1
y = Ae−4x + Bex + xex
5
Applying the given conditions yields
39 x 11 −4x 1 x
y= e + e + xe
25 25 5

7. The auxiliary equation is k 2 + 16 = 0 so that k = ±4j. The general solution is

x = A cos 4t + B sin 4t

Applying the given conditions gives A = 12 and B = −5 so that the particular solution is x = 12 cos 4t − 5 sin 4t.
When t = π/2 x is then equal to 12.

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cot t dt
8. The integrating factor is µ = e = eln sin t = sin t. Then


x sin t = sin t cos 3t dt

1
= sin 4t − sin 2t dt
2
1 cos 4t cos 2t
= − + +K
2 4 2

Finally
cos 2t − 12 cos 4t + c
x=
4 sin t

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