Useful Formulas

Orthogonality relations for trig functions (for m and n positive integers):

a

cos
0 a

mx nx cos a a mx nx sin a a nx mx sin a a

dx = dx = dx = 0,

0, if m = n a 2 , if m = n 0, if m = n a 2 , if m = n for all m, n

sin
0 a

cos
0

Bessel equation of order m (for m integer): r(rR ) + (2 r2 m2 )R = 0, for 0 < r < a Eigenfunctions: Eigenvalues: R(r) = AJm (r) + BYm (r) mn =
jmn a

where Jm (jmn ) = 0

for m = 0, 1, 2, . . . and n = 1, 2, 3, . . . Orthogonality:

a 0

Jm (mn r) Jm (mq r) r dr = 0

when n = q

Legendre equation: (sin() ) + 2 sin() = 0, for 0 < < OR (1 x2 )y 2xy + 2 y = 0, for 1 < x < 1 (and x = cos ) Eigenfunctions: () = Pn (cos ) OR y (x) = Pn (x), where P0 (x) = 1, P1 (x) = x,
1 2 P2 (x) = 3 2x 2, . . .

(n + 1)Pn+1 (x) = (2n + 1)xPn (x) nPn1 (x) Eigenvalues: Orthogonality:

1

2 = 2 n = n(n + 1), n = 0, 1, 2, . . .

Pn (cos )Pm (cos ) sin d =

0 1

Pn (x) Pm (x) dx 0,
2 2n+1 ,

if m = n if m = n

Laplacian in cylindrical polar coordinates: u(r, ) = 1 r r r u r + 1 2u r2 2

Laplacian in spherical polar coordinates: u(r, , ) = 1 r2 r r2 u r + r2 1 sin sin u + r2 2u 1 2 sin 2

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Useful Formulas (contd)

Some integral identities: x sin(kx) dx = x cos(kx) dx = x2 sin(kx) dx = x2 cos(kx) dx = eax sin(kx) dx = eax cos(kx) dx = sin(kx) x cos(kx) k2 k cos(kx) x sin(kx) + k2 k 2x sin(kx) (2 k 2 x2 ) cos(kx) + k2 k3 2x cos(kx) (k 2 x2 2) sin(kx) + k2 k3 eax (a sin(kx) k cos(kx)) a2 + k 2 eax (a cos(kx) + k sin(kx)) a2 + k 2

Hyperbolic trig identities: sinh x = 1 x (e ex ) 2 cosh x = 1 x (e + ex ) 2

cosh2 x sinh2 x = 1 d sinh x = cosh x dx d cosh x = sinh x dx

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Useful Formulas (contd)

Laplace transform properties:

Denition: Linearity:

L (f (t)) = F (s) =
0

est f (t) dt

L (cf (t)) = cF (s) L (f (t) + g (t)) = L (f (t)) + L (g (t))

Derivatives:

L (f (t)) = f (0) + sF (s) L (f (t)) = f (0) sf (0) + s2 F (s) L (f (n) (t)) = f (n1) (0) sf (n2) (0) sn1 f (0) + sn F (s)

Shift: Heaviside:

L (eat f (t)) = F (s a) L (Hc (t)) =

ecs s

L (Hc (t)f (t)) = ecs F (s) Convolution: L

t 0

f (t t )g (t ) dt = F (s) G(s)

Common Laplace transforms:

f (t) 0 1 eat cosh(bt) sinh(bt) cos(bt) sin(bt)

F (s) 0 1 s 1 sa s s2 b 2 b s2 b 2 s s2 + b 2 b s2 + b 2

f (t) t tk eat cos(bt) eat sin(bt) eat tk

F (s) 1 s2 k! sk+1 sa s2 2as + a2 + b2 b s2 2as + a2 + b2 k! (s a)k+1

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