Poularikas A. D.

“Trigonometric and Hyperbolic Functions”

The Handbook of Formulas and Tables for Signal Processing.
Ed. Alexander D. Poularikas
Boca Raton: CRC Press LLC,1999

© 1999 by CRC Press LLC

 43
Trigonometry and
Hyperbolic
Trigonometry

43.1 Trigonometry
Angle • Relations of the Functions • Fundamental Identities
43.2 Hyperbolic Trigonometry
Hyperbolic Functions

43.1 Trigonometry

43.1.1 Angle
43.1.1.1 Radian

π 180
180o = π radians; 1o = radians; 1 radian = degrees
180 π

43.1.1.2 Right Angle

An angle of 90°
43.1.1.3 Trigonometric functions of an arbitary angle (see Figure 43.1)

sin α = y / r csc α = r / y

cos α = x / r sec α = r / x

tan α = y / x cot α = ctnα = x / y

ex sec α = sec α − 1 coversα = 1 − sinα

1
versα = 1 − cosα havα = versα
2

cisα = cosα + isinα = e ia , α in radians, i = −1

© 1999 by CRC Press LLC

 y

r
y
α

x x

FIGURE 43.1

43.1.2 Relations of the Functions

43.1.2.1 Relations

1 1
sin x = csc x =
csc x sin x

1 1
cos x = sec x =
sec x cos x
1 sin x
tan x = = sin 2 x + cos 2 x = 1
cot x cos x
1 cos x
cot x = = 1 + tan 2 x = sec 2 x
tan x sin x

*sin x = ± 1 − cos 2 x 1 + cot 2 x = csc 2 x

*tan x = ± sec 2 x − 1 *cos x = ± 1 − sin 2 x

*cot x = ± csc 2 x − 1 * sec x = ± tan 2 x + 1

sin x = cos(90 o − x ) = sin(180 o − x ) *csc x = ± cot 2 x + 1

cos x = sin(90 o − x ) = − cos(180 o − x )

tan x = cot (90 o − x ) = − tan(180 o − x )

cot x = tan(90 o − x ) = − cot (180 o − x )

x
csc x = cot − cot x
2
* The sign in front of the radical depends on the quadrant in which x falls.

43.1.3 Fundamental Identities

43.1.3.1 Fundamental Identities
Where a double sign appears in the following, the choice of sign depends upon the quadrant in which
the angle terminates.

© 1999 by CRC Press LLC

Reciprocal Relations

1 1 1
sinα = , cos α = , tan α =
csc α sec α cot α

1 1 1
cscα = , sec α = , cot α =
sin α cos α tan α

Product Relations

sin α = tan α cos α , cos α = cot α sin α

tan α = sin α sec α , cot α = cos α csc α

sec α = csc α tan α , csc α = sec α cot α

Quotient Relations

tan α cot α sin α

sin α = , cos α = , tan α =
sec α csc α cos α

sec α csc α cos α

csc α = , sec α = , cot α =
tan α cot α sin α

43.1.3.2 Pythagorian Relations

sin 2 α + cos 2 α = 1, 1 + tan 2 α = sec 2 α , 1 + cot 2 α = cos c 2 α

43.1.3.3 Angle-Sum and Angle-Difference Relations

sin(α + β) = sin α cos β + cos α sin β

sin(α − β) = sin α cos β − cos α sin β

cos(α + β) = cos α cos β − sin α sin β

cos(α − β) = cos α cos β + sin α sin β

tan α + tan β
tan(α + β) =
1 − tan α tan β

tan α − tan β
tan(α − β) =
1 + tan α tan β

cot β cot α − 1
cot(α + β) =
cot β + cot α

cot β cot α + 1
cot(α − β) =
cot β − cot α

© 1999 by CRC Press LLC

 sin(α + β)sin(α − β) = sin 2 α − sin 2 β = cos 2 β − cos 2 α

cos(α + β)cos(α − β = cos 2 α − sin 2 β = cos 2 β − sin 2 α

43.1.3.4 Double-Angle Relations

2 tan α
sin 2α = 2sin α cos α =
1 + tan 2 α

1 − tan 2 α
cos 2α = cos 2 α − sin 2 α = 2 cos 2 α − 1 = 1 − 2 sin 2 α =
1 + tan 2 α

2 tan α cot 2 α − 1
tan 2α = , cot 2α =
1 − tan 2 α 2 cot α

43.1.3.5 Multiple-Angle Relations

sin 3α = 3 sin α − 4 sin 3 α

cos 3 α = 4 cos3 α − 3 cos α

sin 4 α = 4 sin α cos α − 8 sin 3 α cos α

cos 4 α = 8 cos4 α − 8 cos2 α + 1

sin 5 α = 5 sin α − 20 sin 3 α + 16 sin 5 α

cos 5 α = 16 cos5 α − 20 cos3 α + 5 cos α

sin 6α = 32 cos5 α sin α − 32 cos3 α sin α + 6 cos α sin α

cos 6 α = 32 cos6 α − 48 cos4 α + 18 cos2 α − 1

sin n α = 2 sin(n − 1)α cos α − sin(n − 2)α

cos n α = 2 cos(n − 1) α cos α − cos(n − 2) α

3 tan α − tan 3 α
tan 3 α =
1 − 3 tan 2 α

4 tan α − 4 tan 3 α
tan 4 α =
1 − 6 tan 2 α + tan 4 α

tan(n − 1) α + tan α
tan nα =
1 − tan(n − 1) α tan α

43.1.3.6 Function-Product Relations

1 1
sin α sin β = cos(α − β) − cos(α + β)
2 2
1 1
cos α cos β = cos(α − β) + cos(α + β)
2 2

© 1999 by CRC Press LLC

 1 1
sin α cos β = sin(α + β) + sin(α − β)
2 2
1 1
cos α sin β = sin(α + β) − sin(α − β)
2 2

43.1.3.7 Function-Sum and Function-Difference Relations

1 1
sin α + sin β = 2sin (α + β)cos (α − β)
2 2
1 1
sin α − sin β = 2 cos (α + β)sin (α − β)
2 2

1 1
cos α + cos β = 2 cos (α + β)cos (α − β)
2 2
1 1
cos α − cos β = −2 sin (α + β)sin (α − β)
2 2

sin(α + β) sin(α − β)
tan α + tan β = , tan α − tan β =
cos α cos β cos α cos β

sin(α + β) sin(β − α )
cot α + cot β = , cot α − cot β =
sin α sin β sin α sin β

1
tan (α + β)
sin α + sin β 2 sin α + sin β 1
= = cot (β − α )
sin α − sin β tan 1 (α − β) cos α − cos β 2
2
sin α + sin β 1 sin α − sin β 1
= tan (α + β). = tan (α − β)
cos α + cos β 2 cos α + cos β 2

43.1.3.8 Half-Angle Relations

α 1 − cos α α 1 + cos α
sin =± , cos =±
2 2 2 2

α 1 − cos α 1 − cos α sin α

tan =± = =
2 1 + cos α sin α 1 + cos α

α 1 + cos α 1 + cos α sin α

cot =± = =
2 1 − cos α sin α 1 − cos α

43.1.3.9 Power Relations

1 1
sin 2 α = (1 − cos 2α ), sin 3 α = (3 sin α − sin 3α )
2 4
1
sin 4 α = (3 − 4 cos 2α + cos 4α )
8

© 1999 by CRC Press LLC

 1 1
cos 2 α = (1 + cos 2α ), cos 3 α = (3 cos α + cos 3α )
2 4

1
cos 4 α = (3 + 4 cos 2α + cos 4α )
8

1 − cos 2α 1 + cos 2α
tan 2 α = , cot 2 α =
1 + cos 2α 1 − cos 2α
43.1.3.10 Exponential Relations (a in radians)

e ia = cos α + i sin α , i = −1

eia − e − ia eia + e − ia
sin a = , cos a =
2i 2

 eia − e − ia   e2ia − 1
tan a = −i  ia − ia 
= −i  2ia 
e +e   e + 1

43.1.3.11 Relations of Trigonometric Functions

Function sinα cosα tanα cotα secα cscα

tan α 1 ± sec 2 a − 1 1
sinα sinα ± 1 − cos 2 α
± 1 + tan 2 α ± 1 + cot 2 α sec α cscα
1 cot α
cosα cos α
1 ± csc 2 α − 1
± 1 − sin 2 α
± 1 + tan 2 α ± 1 + cot 2 α sec α csc α

sin α ± 1 − cos 2 α 1 1
tanα tan α ± sec 2 α − 1
± 1 − sin α 2
cos α cot α ± csc 2 α − 1
cos α 1 1
cotα ± 1 − sin 2 α cot α
tan α ± csc 2 α − 1
sin α ± 1 − cos α 2
± sec 2 α − 1

1 1 csc α
secα ± 1 + cot 2 α sec α
cos α ± 1 + tan 2 α
± 1 − sin α 2
cot α ± csc 2 α − 1

1 1 ± 1 + tan 2 α sec α
cscα ± 1 + cot 2 α csc α
sin α ± 1 − cos α 2
tan α ± sec 2 α − 1

Note: The choice of sign depends upon the quadrant in which the angle terminates.

43.1.3.12 Identities Involving Principal Values

Arc sin x + Arc cos x = π / 2

Arc tan x + Arc cot x = π / 2

If α = Arcsinx, then

x
sinα = x , cosα = 1 – x 2 , tan α =
1 − x2

1 1 1 − x2
csc α = , sec α = , cot α =
x 1 − x2 x

© 1999 by CRC Press LLC

If α = Arccosx, then

1 − x2
sinα = 1 − x 2 , cos α = x , tan α =
x
1 1 x
csc α = , sec α = , cot α =
1− x 2 x 1 − x2

If α = Arctanx, then

x 1
sinα = , cos α = tan α = x
1+ x 2
1 + x2 ,

1 + x2 1
csc α = sec α = 1 + x 2 , cot α =
x x

43.1.3.13 Plane Triangle Formulae

In the following, A, B, and C denote the angles of any plane triangle, a, b, c, the corresponding opposite
1
sides, and s = (a + b + c).
2
Radius of inscribed circle:

(s − a)(s − b)(s − c)
r=
s

Radius of circumscribed circle:

a b c
R= = =
2 sin Α 2 sin B 2 sin C

Law of sines:

a b c
= =
sin A sin B sin C

Law of cosines:

b2 + c2 − a2
a 2 = b 2 + c 2 − 2 bc cos A, cos A =
2bc
c2 + a2 − b2
b 2 = c 2 + a 2 − 2 ca cos B, cos B =
2ca
a2 + b2 − c2
c 2 = a 2 + b 2 − 2 ab cos C , cos C =
2 ab

© 1999 by CRC Press LLC

Law of tangents:

1 1
tan ( B − C ) tan (C − A)
b−c 2 c−a 2
= , =
b + c tan 1 ( B + C ) c + a tan 1 (C + A)
2 2

1
tan ( A − B)
a−b 2
=
a + b tan 1 ( A + B)
2

Half-angle formulae:

1 r 1 r 1 r
tan A = , tan B = , tan C =
2 s−a 2 s−b 2 s−c

1 (s − b)(s − c) 1 s( s − a )
sin A = , cos A =
2 bc 2 bc

1 (s − c)(s − a) 1 s( s − b )
sin B = , cos B =
2 ca 2 ca

1 (s − a)(s − b) 1 s( s − c )
sin C = , cos C =
2 ab 2 ab

Area:

1 1 1
K= bc sin A = ca sin B = ab sin C
2 2 2

a 2 sin B sin C b 2 sin C sin A c 2 sin A sin B

K= = =
2 sin A 2 sin B 2 sin C

abc
K = s(s − a)(s − b)(s − c) = rs =
4R

Mollweide’s formulae:

1 1
sin ( B − C ) sin (C − A)
b−c 2 c−a 2
= , =
a 1 b 1
cos A cos B
2 2

1
sin ( A − B)
a−b 2
=
c 1
cos C
2

© 1999 by CRC Press LLC

Newton’s formulae:

1 1
cos ( B − C ) cos (C − A)
b+c 2 c+a 2
= , =
a 1 b 1
sin A sin B
2 2

1
cos ( A − B)
a+b 2
=
c 1
sin C
2

43.1.3.14 Solution of Right Triangles

a) Given acute angle A and opposite leg a.

B = 90o − A, b = a / tan A = a cot A, c = a / sin A = a csc A

b) Given acute angle A and adjacent leg b.

B = 90 o − A, a = b tan A, c = b / cos A = b sec A

c) Given acute angle A and hypotenuse c.

B = 90 o − A, a = c sin A, b = c cos A

d) Given legs a and b.

c = a2 + b2 , tan A = a / b, B = 90 o − A

e) Given hypotenuse c and leg a.

b = (c + a)(c − a), sin A = a / c, B = 90 o − A

43.1.3.15 Solution of Oblique Triangles

a) Given sides b and c and included angle A.
Nonlogarithmic solution

a 2 = b 2 + c 2 − 2bc cos A, cos B = (c 2 + a 2 − b 2 ) / 2ca,

cos C = (a 2 + b 2 − c 2 ) / 2 ab

Logarithmic solution

1 1 1 b−c 1
( B + C ) = 90 o − A, tan ( B − C ) = tan ( B − C ).
2 2 2 b+c 2

1 1 1 1
B= ( B + C) + ( B − C ), C = ( B + C ) − ( B − C ).
2 2 2 2

© 1999 by CRC Press LLC

 1
a = (b sin A) / sin B, K= bc sin A
2

Check. A + B + C = 180°, or use Newton’s formula or law of sines.

b) Given angles B and C and included side a.

A = 180 o − ( B + C ), b = (a sin B) / sin A,

a 2 sin B sin C
c = (a sin C ) / sin A, K=
2 sin A

Check. a = bcosC + ccosB, or use Newton’s formula or law of tangents.

c) Given sides a and c and opposite angle A.

sin C = (c sin A) / a, B = 180 o - (A + C),

1
b = (a sin B)/sin A, K= acsin B
2

Check. a = bcosC + ccosB, or use Newton’s formula or law of tangents.

Note. In this case there may be two solutions, for C may have two values: C1 < 90° and C2 = 180° –
C1 > 90°. If A + C2 > 180°, use only C1.
d) Given the three sides a,b,c.
Nonlogarithmic solution

cos A = (b 2 + c 2 − a 2 ) / 2 bc, cos B = (c 2 + a 2 − b 2 ) / 2ca,

cos C = (a 2 + b 2 − c 2 ) / 2 ab

Logarithmic solution

1 (s − a)(s − b)(s − c)
s= (a + b + c), r= ,
2 s
1 r 1 r 1 r
tan A = , tan B = , tan C = ,
2 s−a 2 s−b 2 s−c

K = s(s − a)(s − b)(s − c)

Check. A + B + C = 180°.

43.2 Hyperbolic Trigonometry

43.2.1 Hyperbolic Functions

43.2.1.1 Geometrical Defintions (see Figure 43.2)
Let O be the center, A the vertex, and P any point of the branch B′AB of a rectangular hyperbola. Set
OM = x, MP = y, OA = a, and

© 1999 by CRC Press LLC

FIGURE 43.2

area O PAP ′
u= .
a2

Then hyperbolic sine of u = sinhu = y/a,

hyperbolic cosine of u = coshu = x/a.
43.2.1.2 Exponential Defintions

1 u
hyperbolic sine of u = sinh u = (e − e − u )
2
1 u
hyperbolic cosine of u = cosh u = (e + e − u )
2
sinh u e u − e − u
hyperbolic tangent of u = tanh u = =
cosh u e u + e − u
1 1 1
csc hu = , sec hu = , coth u =
sinh u cosh u tanh u

43.2.1.3 Fundamental Identities

sinh(−u) = − sinh u, csc h( −u) = − csc hu

cosh(−u) = cosh u, sec h( −u) = sec hu

tanh(−u) = − tanh u, coth(−u) = − coth u

cosh 2 u − sinh 2 u = 1 tanh 2 u + sec h 2 u = 1

coth 2 u − csc h 2 u = 1 csc h 2 u − sec h 2 u = csc h 2 u sec h 2 u

© 1999 by CRC Press LLC

 sinh(u + v) = sinh u cosh v + cosh u sinh v

sinh(u − v) = sinh u cosh v − cosh u sinh v

cosh(u + v) = cosh u cosh v + sinh u sinh v

cosh(u − v) = cosh u cosh v − sinh u sinh v

tanh u + tanh v
tanh(u + v) =
1 + tanh u tanh v

tanh u − tanh v
tanh(u − v) =
1 − tanh u tanh v

sinh(u + v)sinh(u − v) = sinh 2 u − sinh 2 v = cosh 2 u − cosh 2 v

cosh(u + v)cosh(u − v) = sinh 2 u + cosh 2 v = cosh 2 u + sinh 2 v

1 1
sinh u cosh v = sinh(u + v) + sinh(u − v)
2 2
1 1
cosh u sinh v = sinh(u + v) − sinh(u − v)
2 2
1 1
cosh u cosh v = cosh(u + v) + sinh(u − v)
2 2
1 1
sinh u sinh v = cosh(u + v) − cosh(u − v)
2 2

1 1
sinh u + sinh v = 2 sinh (u + v)cosh (u − v)
2 2
1 1
sinh u − sinh v = 2 cosh (u + v)sinh (u − v)
2 2
1 1
cosh hu + cosh v = 2 cosh (u + v)cosh (u − v)
2 2
1 1
cosh hu − cosh v = 2 sinh (u + v)sinh (u − v)
2 2

1
2 tanh u
2 tanh u
sinh u = =
2 1 1 − tanh 2 u
1 − tanh u
2
1
1 + tanh 2 u
2 = 1
cosh u =
2 1 1 − tanh 2 u
1 − tanh u
2

© 1999 by CRC Press LLC

 1
1 + tanh u
sinh u + cos u = 2
1
1 − tanh u
2

sinh(u + v)
tanh u + tanh v =
cosh u cosh v

sinh(u − v)
tanh u − tanh v =
cosh u cosh v

sinh(u + v)
coth u + coth v =
sinh u sinh v

sinh(v − u)
coth u − coth v =
sinh u sinh v

sinh 2u = 2 sihu cosh u

cosh 2u = cosh 2 u + sinh 2 u = 2 cosh 2 u − 1 = 1 + 2 sinh 2 u

2 tanh u
tanh 2u =
1 + tanh 2 u

sinh 3u = 3 sinh u + 4 sinh 3 u

cosh 3u = 4 cosh 3 u − 3 cosh u

3 tanh u + tanh 3 u
tanh 3u =
1 + 3 tanh 2 u

1 1
sinh u = ± (cosh u − 1)
2 2

1 1
cosh u = (cosh u + 1)
2 2
1 cosh u − 1 sinh u
tan u = =
2 sinh u cosh u + 1

43.2.1.4 Inverse Hyperbolic Functions*

sinh −1 x = log e ( x + x 2 + 1)

cosh −1 x = log e( x ± x 2 − 1 ), x ≥ 1. The plus sign is used for the principal value.

© 1999 by CRC Press LLC

 1+ x 2
log, 
1
tanh −1 x = , x <1
2  1− x

1 ± 1 + x2 
csc h −1 x = log e   . The plus sign is used if x > 0, the minus sign if x < 0.
 x 

1 ± 1 − x2 
sec h −1 x = log e   , 0 < x ≤ 1. The plus sign is used for the principal values.
 x 

x + 1
log e 
1
coth −1 x = , x2 > 1
2  x − 1

* sinh–1, cosh–1. etc., are sometimes replaced by arg sinh, arg cosh, etc., i.e., sinh–1x = arg sinhx.
43.2.1.5 Relations with Circular Functions

sinh iu = i sin u, sinh u = −i sin iu

cosh iu = cos u, cosh u = cos iu

tanh iu = i tan u, tanh u = −i tan iu

sinh(u + iv) = sinh u cos v + i cosh u sin v

sinh(u − iv) = sinh u cos v − i cosh u sin v

cosh(u + iv) = cosh u cos v + i sinh u sin v

cosh(u − iv) = cosh u cos v − i sinh u sin v

sinh 2u + i sin 2v
tanh(u + iv) =
cosh 2u + cos 2v

sinh 2u − i sin 2v
tanh(u − iv) =
cosh 2u + cos 2v

sinh 2u − i sin 2v
coth(u + iv) =
cosh 2u − cos 2v

sinh 2u + i sin 2v
coth(u − iv) =
cosh 2u − cos 2v

sinh u + π i = i cosh u, cosh u + π i = i sinh u

1 1
 2   2 
sinh(u + π i) = − sinh u, cosh(u + π i) = − cosh u

sinh(u + 2 π i) = sinh u, cosh(u + 2 π i) = cosh u

e u = cosh u + sinh u, e − u = cosh u − sinh u

e i u = cos u + i sin u, e − iu = cos u − i sin u

© 1999 by CRC Press LLC

43.2.1.6 Special Values of Hyperbolic Functions

π 3π
x 0 i πi i ∞
2 2
sinh x 0 i 0 −i ∞

cosh x 1 0 −1 0 ∞

tanh x 0 ∞i 0 −∞i 1

csc h x ∞ −i ∞ i 0

sec h x 1 ∞ −1 ∞ 0

coth x ∞ 0 ∞ 0 1

© 1999 by CRC Press LLC