Trigonometry Trigonometric Functions T1. sin2 x + cos2 x = 1 T2. tan2 x + 1 = sec2 x T3. cot2 x + 1 = csc2 x T4. sin(x ± y) = sin x cos y ± cos x sin y T5. cos(x ± y) = cos x cos y ∓ sin x sin y T6. tan(x ± y) = tan x ± tan y 1 ∓ tan x tan y T7. x sin x tan( ) = 2 1 + cos x T8. sin(2x) = 2 sin x cos x T9. cos(2x) = cos2 x − sin2 x T10. sin2 x = 1/2(1 − cos(2x)) T11. cos2 x = 1/2(1 + cos(2x)) T12. ¡ sin x sin y = 1/2 cos(x − y) − cos(x + y)) T13. ¡ cos x cos y = 1/2 cos(x − y) + cos(x + y)) T14. ¡ sin x cos y = 1/2 sin(x − y) + sin(x + y)) 1 T15. c1 cos(ωt) + c2 sin(ωt) = A sin(ωt + φ), q where A = c21 + c22 , φ = 2 arctan c1 c2 + A Hyperbolic Functions T16. cosh x = ex + e−x 2 T17. sinh x = ex − e−x 2 T18. cosh2 x − sinh2 x = 1 T19. tanh2 x + sech2 x = 1 T20. coth2 x − csch2 x = 1 T21. sinh(x ± y) = sinh x cosh y ± cosh x sinh y T22. cosh(x ± y) = cosh x cosh y ± sinh x sinh y T23. tanh(x ± y) = tanh x ± tanh y 1 ± tanh x tanh y T24. sinh(2x) = 2 sinh x cosh x T25. cosh(2x) = cosh2 x + sinh2 x T26. ¡ sinh x sinh y = 1/2 cosh(x + y) − cosh(x − y)) T27. ¡ cosh x cosh y = 1/2 cosh(x + y) + cosh(x − y)) 2 ¡ sinh x cosh y = 1/2 sinh(x + y) + sinh(x − y)) T28. Power Series P1. P2. P3. ex = sin x = ∞ X xn x2 x3 =1+x+ + + ··· , n! 2! 3! n=0 ∞ X (−1)n n=0 ∞ X x3 x5 x2n+1 =x− + − ··· , (2n + 1)! 3! 5! (−1)n cos x = n=0 x3 2 17 7 + x5 + x + ··· , 3 15 315 tan x = x + P5. ∞ X 1 = xn = 1 + x + x2 + x3 + · · · , 1 − x n=0 ∞ X x2n x2 x4 =1+ + + ··· , (2n)! 2! 4! n=0 cosh x = P8. tanh x = x − P10. −∞ < x < ∞ − π π <x< 2 2 −1 < x < 1 ∞ X x2n+1 x3 x5 sinh x = =x+ + + ··· , (2n + 1)! 3! 5! n=0 P7. P9. −∞ < x < ∞ x2 x4 x2n =1− + − ··· , (2n)! 2! 4! P4. P6. −∞ < x < ∞ 2 17 7 x3 + x5 − x + ··· , 3 15 315 f (x) = f (a) + f 0 (a)(x − a) + −∞ < x < ∞ −∞ < x < ∞ − π π <x< 2 2 f 00 (a) f 000 (a) (x − a)2 + (x − a)3 + · · · 2! 3! Taylor Series with remainder: f (x) RN +1 (x) = = f PN (N +1) n=0 (ξ) (N +1)! f (n) (a) n! (x − a)n + RN +1 (x), (x − a)N +1 where for some ξ between a and x. Derivative formulas 3 1. Product rule: (f (x)g(x))0 = f 0 (x)g(x) + f (x)g 0 (x) 2. Chain rule: f (g(x))0 = f 0 (g(x))g 0 (x) du du dx = dt dx dt 3. Quotient rule: ( 4. 5. 6. f (x) 0 f 0 (x)g(x) − f (x)g 0 (x) ) = g(x) g(x)2 d cx cx dx (e ) = c · e d dx sin(cx) = c · cos(cx) d dx cos(cx) = −c · sin(cx) Algebra formulas 1. 2. 3. 4. √ 2 b −4ac Quadratic formula: Roots of ax2 + bx + c = 0 are: x = −b± 2a 2 2 a − b = (a − b)(a + b) a3 − b3 = (a − b)(a2 + ab + b2 ) and a3 + b3 = (a + b)(a2 − ab + b2 ) an − bn = (a − b)(an−1 + ban−2 + ... + bn−2 a + bn−1 ) Geometry formulas 1. area of a triangle of base b, height h: A = bh/2 2. volume of a sphere of radius r: V = 4πr3 /3 2. surface area of a sphere of radius r: V = 4πr2 4 Table of Integrals A constant of integration should be added to each formula. The letters a, b, m, and n denote constants; u and v denote functions of an independent variable such as x. Standard Integrals Z un du = I1. Z I2. un+1 , n+1 n 6= −1 du = ln |u| u Z eu du = eu I3. Z au du = I4. au , ln a a>0 Z I5. cos u du = sin u Z I6. sin u du = − cos u Z sec2 u du = tan u I7. Z csc2 u du = − cot u I8. Z I9. sec u tan u du = sec u Z I10. csc u cot u du = − csc u Z I11. tan u du = − ln | cos u| Z I12. cot u du = ln | sin u| 5 Z I13. sec u du = ln | sec u + tan u| Z I14. csc u du = ln | csc u − cot u| Z ³u´ du 1 arctan = a2 + u2 a a Z ³u´ du = arcsin a a2 − u2 Z Z u dv = uv − v du I15. √ I16. I17. Integrals involving au + b Z (au + b)n du = I18. Z I19. Z I20. Z I21. I22. Z I23. I24. Z I25. I26. n 6= −1 1 du = ln |au + b| au + b a u du u b = − 2 ln |au + b| au + b a a u du b 1 = 2 + ln |au + b| (au + b)2 a (au + b) a2 ¯ ¯ Z 1 ¯¯ u ¯¯ du = ln¯ u(au + b) b au + b ¯ √ 2(3au − 2b) u au + b du = (au + b)3/2 15a2 Z u du 2(au − 2b) √ √ = au + b 3a2 au + b √ u2 au + b du = Z (au + b)n+1 , (n + 1)a ¢ 2 ¡ 2 8b − 12abu + 15a2 u2 (au + b)3/2 3 105a ¢√ u2 du 2 ¡ 2 2 2 √ = 8b − 4abu + 3a u au + b 15a3 au + b 6 Integrals involving u2 ± a2 Z I27. ¯ ¯ du 1 ¯¯ u − a ¯¯ = ln u2 − a2 2a ¯ u + a ¯ Z ¯ ¯ u du = 1/2 ln ¯u2 ± a2 ¯ u2 ± a2 ¯ ¯ Z u2 du a ¯¯ u − a ¯¯ ln = u + u2 − a2 2 ¯u + a¯ Z ³u´ u2 du = u − a arctan u2 + a2 a ¯ ¯ Z ¯ u2 ¯ du 1 ¯ ¯ = ± ln u(u2 ± a2 ) 2a2 ¯ u2 ± a2 ¯ I28. I29. I30. I31. Integrals involving Z √ I32. Z I33. √ u2 ± a2 p u du = u2 ± a2 2 2 u ±a p ¢3/2 1¡ 2 u u2 ± a2 du = u ± a2 3 Z I34. I35. I36. I37. I38. I39. ¯ ¯ p du ¯ ¯ = ln¯u + u2 ± a2 ¯ u2 ± a2 Z ¯ p up 2 a2 ¯¯ u2 du ¯ √ = u ± a2 ∓ ln¯u + u2 ± a2 ¯ 2 2 2 2 u ±a ¯ ¯ Z ¯ du 1 ¯¯ u ¯ √ √ = ln¯ 2 2 2 2 a u u +a a+ u +a ¯ Z ³u´ du 1 √ = arcsec a a u u2 − a2 √ Z u2 ± a2 du √ =∓ 2 2 2 a2 u u u ±a √ Z p u2 ± a2 du = ¯ p up 2 a2 ¯¯ ¯ u ± a2 ± ln¯u + u2 ± a2 ¯ 2 2 7 Z I40. u2 ¯ p ¢3/2 a2 u p u¡ 2 a4 ¯¯ ¯ u ± a2 u2 ± a2 − ln¯u + u2 ± a2 ¯ ∓ 4 8 8 ¯ ¯ Z √ 2 ¯ a + √u2 + a2 ¯ p u + a2 ¯ ¯ 2 2 du = u + a − a ln¯ ¯ ¯ ¯ u u Z √ 2 ³u´ p u − a2 du = u2 − a2 − a arcsec u a √ √ Z ¯ ¯ p u2 ± a2 u2 ± a2 ¯ 2 ± a2 ¯¯ + ln u + du = − u ¯ u2 u p u2 ± a2 du = I41. I42. I43. Integrals involving Z p I44. a2 − u2 du = Z √ I45. √ a2 − u2 ³u´ up 2 a2 a − u2 + arcsin 2 2 a p u du = − a2 − u2 a2 − u2 Z p ¢3/2 1¡ 2 u a2 − u2 du = − a − u2 3 ¯ Z √ 2 ¯ a + √a2 − u2 p a − u2 ¯ du = a2 − u2 − a ln ¯ ¯ u u ¯ ¯ √ Z 1 ¯¯ a + a2 − u2 ¯¯ du √ = − ln ¯ ¯ ¯ a ¯ u u a2 − u2 I46. I47. I48. Z I49. I50. I51. I52. u2 p ¯ ¯ ¯ ¯ ¯ ³u´ ¢3/2 a2 u p u¡ 2 a4 a − u2 + a2 − u2 + arcsin 4 8 8 a √ Z √ 2 ³u´ a − u2 a2 − u2 du = − − arcsin u2 u a Z ³u´ up 2 a2 u2 du √ =− a − u2 + arcsin 2 2 a a2 − u2 √ Z du a2 − u2 √ =− a2 u u2 a2 − u2 a2 − u2 du = − Integrals involving trigonometric functions 8 Z I53. sin2 (au) du = u sin(2au) − 2 4a cos2 (au) du = u sin(2au) + 2 4a Z I54. Z 1 sin (au) du = a µ cos3 (au) − cos(au) 3 3 I55. Z 1 cos (au) du = a 3 I56. µ sin3 (au) sin(au) − 3 Z sin2 (au) cos2 (au) du = I57. Z tan2 (au) du = I58. Z sec3 (au) du = I60. csc3 (au) du = − u sin(au) du = 1 (sin(au) − au cos(au)) a2 u cos(au) du = 1 (cos(au) + au sin(au)) a2 Z I63. Z I64. u2 sin(au) du = ¢ 1 ¡ 2au sin(au) − ( a2 u2 − 2 ) cos(au) a3 u2 cos(au) du = ¢ 1 ¡ 2au cos(au) + ( a2 u2 − 2 ) sin(au) 3 a Z I65. Z I66. sin(au) sin(bu) du = sin(a − b)u sin(a + b)u − , 2(a − b) 2(a + b) a2 6= b2 cos(au) cos(bu) du = sin(a − b)u sin(a + b)u + , 2(a − b) 2(a + b) a2 6= b2 Z I67. Z I68. 1 tan(au) − u a 1 1 csc(au) cot(au) + ln | csc(au) − cot(au) | 2a 2a Z I62. 1 u − sin(4au) 8 32a 1 1 sec(au) tan(au) + ln | sec(au) + tan(au) | 2a 2a Z I61. ¶ 1 cot2 (au) du = − cot(au) − u a I59. Z ¶ sin(au) cos(bu) du = − cos(a − b)u cos(a + b)u − , 2(a − b) 2(a + b) 9 a2 6= b2 Z 1 n−1 sin u du = − sinn−1 u cos u + n n Z n I69. sinn−2 u du Integrals involving hyperbolic functions Z I70. sinh(au) du = Z sinh2 (au) du = I71. 1 u sinh(2au) − 4a 2 Z I72. cosh(au) du = Z cosh2 (au) du = I73. Z I74. sinh(au) cosh(bu) du = 1 cosh(au) a 1 sinh(au) a u 1 + sinh(2au) 2 4a cosh ((a + b) u) cosh ((a − b) u) + 2(a + b) 2(a − b) Z I75. sinh(au) cosh(au) du = 1 cosh(2au) 4a Z I76. tanh u du = ln(cosh u) Z sech u du = arctan(sinh u) = 2 arctan (eu ) I77. Integrals involving exponential functions Z ueau du = I78. eau (au − 1) a2 Z ¢ eau ¡ 2 2 a u − 2au + 2 3 a Z Z 1 n au n n au un−1 eau du u e du = u e − a a u2 eau du = I79. I80. Z I81. eau sin(bu) du = eau (a sin(bu) − b cos(bu)) a2 + b2 10 Z eau cos(bu) du = I82. eau (a cos(bu) + b sin(bu)) a2 + b2 Integrals involving inverse trigonometric functions Z I83. arcsin Z I84. arccos Z I85. arctan ³u´ a ³u´ a ³u´ a ³u´ du = u arcsin a du = u arccos du = u arctan + ³u´ a ³u´ a − − p a2 − u2 p a2 − u2 ¢ a ¡ 2 ln a + u2 2 Integrals involving inverse hyperbolic functions Z I86. arcsinh ³u´ a du = u arcsinh ³u´ a − p u2 + a2 I87. Z arccosh ³u´ a Z I88. arctanh ¡u¢ √ u2 − a2 ¡ ¢ √ = u arccosh ua + u2 − a2 du = u arccosh ³u´ a a − du = u arctanh ³u´ a + arccosh ¡u¢ arccosh ¡u¢ a a ¢ a ¡ 2 ln a − u2 2 Integrals involving logarithm functions Z I89. ln u du = u(ln u − 1) · Z I90. un ln u du = un+1 ¸ ln u 1 − , n + 1 (n + 1)2 11 n 6= −1 > 0; < 0. Wallis’ Formulas I91. Z π/2 sinm x dx = 0 = R π/2 0 cosm x dx (m−1)(m−3)...(2 or 1) m(m−2)...(3 or 2) k, where k = 1 if m is odd and k = π/2 if m is even. Z I92. π/2 sinm x cosn x dx = 0 (m − 1)(m − 3) . . . (2 or 1)(n − 1)(n − 3) . . . (2 or 1) k, (m + n)(m + n − 2) . . . (2 or 1) where k = π/2 if both m and n are even and k = 1 otherwise. Gamma Function Z ∞ Γ(x) = tx−1 e−t dt, x>0 0 Γ(x + 1) = xΓ(x) Γ ( 1/2) = Γ(n + 1) = n!, √ π if n is a non-negative integer Fourier Series f (x) = ∞ nπx nπx ´ a0 X ³ an cos + + bn sin 2 L L n=1 12 where 1 an = L 1 L bn = Z 1 L a0 = Z L f (x) dx, −L L f (x) cos nπx dx, L f (x) sin nπx dx. L −L Z L −L f (x) = ∞ X cn eniπx/L n=−∞ where 1 cn = 2L Z L f (x)e−niπx/L dx. −L Bessel Functions ν = arbitrary real number; n = integer 1. Definition. x2 y 00 + xy 0 + (λ2 x2 − ν 2 )y = 0 has solutions y = yν (λx) = c1 Jν (λx) + c2 J−ν (λx), where Jν (t) = (ν 6= n), ∞ X (−1)m tν+2m . 2ν+2m m! Γ(ν + m + 1) m=0 2. General Properties. J−n (t) = (−1)n Jn (t); J0 (0) = 1; Jn (0) = 0, 3. Identities. d ν (a) [t Jν (t)] = tν Jν−1 (t). dt (b) d J0 (t) = −J1 (t). dt d −ν [t Jν (t)] = −t−ν Jν+1 (t); dt 13 (n ≥ 1). (c) d Jν (t) dt = 1/2 (Jν−1 (t) − Jν+1 (t)) = Jν−1 (t) − νt Jν (t) = νt Jν (t) − Jν+1 (t) . (d) Recurrence Relation. Jν+1 (t) = 2ν Jν (t) − Jν−1 (t) t 4. Orthogonality. Solutions yν (λ0 x), yν (λ1 x), . . . , yν (λn x), . . . of the differential system x2 y 00 + xy 0 + (λ2 x2 − ν 2 )y = 0, x1 ≤ x ≤ x2 ¯ µ ¶¯ d ¯ ak yν (λxk ) − bk yν (λx) ¯ = 0, k = 1, 2 ¯ dx x=xk have the orthogonality property: Z x2 xyν (λn x)yν (λm x) dx = 0, (m 6= n) x1 and Z x2 x1 xyν2 (λm x) dx = " µ ¶2 #x2 ¡ 2 2 ¢ 2 d 1 2 2 λm x − ν yν (λm x) + x yν (λm x) , 2λ2m dx x1 5. Integrals. Z (a) tν Jν−1 (t) dt = tν Jν (t) + C Z (b) t−ν Jν+1 (t) dt = −t−ν Jν (t) + C Z (c) t J0 (t) dt = tJ1 (t) + C Z (d) t3 J0 (t) dt = (t3 − 4t)J1 (t) + 2t2 J0 (t) + C Z (e) t2 J1 (t) dt = 2tJ1 (t) − t2 J0 (t) + C Z (f) t4 J1 (t) dt = (4t3 − 16t)J1 (t) − (t4 − 8t2 )J0 (t) + C 14 (m = n) . α 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 Zeros and Associated Values of Bessel Functions j0,α J00 (j0,α ) j1,α J10 (j1,α ) 2.40483 -0.519147 3.83170 -0.402760 5.52008 0.340265 7.01559 0.300116 8.65373 -0.271452 10.1735 -0.249705 11.7915 0.232460 13.3237 0.218359 14.9309 -0.206546 16.4706 -0.196465 18.0711 0.187729 19.6159 0.180063 21.2116 -0.173266 22.7601 -0.167185 24.3525 0.161702 25.9037 0.156725 27.4935 -0.152181 29.0468 -0.148011 30.6346 0.144166 32.1897 0.140606 33.7758 -0.137297 35.3323 -0.134211 36.9171 0.131325 38.4748 0.128617 40.0584 -0.126069 41.6171 -0.123668 43.1998 0.121399 44.7593 0.119250 46.3412 -0.117211 47.9015 -0.115274 49.4826 0.113429 51.0435 0.111670 52.6241 -0.109991 54.1856 -0.108385 55.7655 0.106848 57.3275 0.105374 58.9070 -0.103960 60.4695 -0.102601 62.0485 0.101293 63.6114 0.100035 15 Table of Laplace Transforms f (t) ≡ L−1 {F (s)} (t) F (s) ≡ L {f (t)} (s) Z L1. f (t) ∞ F (s) = e−st f (t) dt 0 L2. 1, H(t), U (t) 1 s L3. U (t − a) e−as s L4. L5. tn n! (n = 1, 2, 3, . . .) ta sn+1 Γ(a + 1) sa+1 (a > −1) 1 s−a L6. eat L7. sin(ωt) L8. cos(ωt) s s2 + ω 2 L9. f 0 (t) sF (s) − f (0) L10. f 00 (t) s2 F (s) − sf (0) − f 0 (0) L11. tn f (t) s2 ω + ω2 (−1)n F (n) (s) (n = 1, 2, 3, . . .) L12. eat f (t) F (s − a) L13. eat L−1 {F (s + a)} F (s) RP L14. 0 f (t + P ) = f (t) 16 e−st f (t) dt 1 − e−sP Table of Laplace Transforms f (t) ≡ L−1 {F (s)} (t) F (s) ≡ L {f (t)} (s) L15. f (t)U (t − a) e−as L {f (t + a)} L16. f (t − a)U (t − a) e−as F (s) Z t f (z) dz F (s) s f (z)g(t − z) dz F (s)G(s) L17. 0 Z t L18. 0 L19. Z f (t) t ∞ F (z) dz s L20. ¢ 1 ¡ at e −1 a 1 s (s − a) L21. tn eat , n = 1, 2, 3, . . . n! (s − a)n+1 L22. eat − ebt a−b 1 (s − a)(s − b) L23. aeat − bebt a−b s (s − a)(s − b) L24. sinh(ωt) L25. cosh(ωt) s s2 − ω 2 L26. sin(ωt) − ωt cos(ωt) 2ω 3 (s2 + ω 2 )2 L27. t sin(ωt) L28. sin(ωt) + ωt cos(ωt) s2 (s2 ω − ω2 2ωs + ω 2 )2 2ωs2 + ω 2 )2 (s2 17 Table of Laplace Transforms f (t) ≡ L−1 {F (s)} (t) F (s) ≡ L {f (t)} (s) L29. b sin(at) − a sin(bt) ab(b2 − a2 ) 1 (s2 + a2 )(s2 + b2 ) L30. cos(at) − cos(bt) b2 − a2 s (s2 + a2 )(s2 + b2 ) L31. a sin(at) − b sin(bt) a2 − b2 s2 (s2 + a2 )(s2 + b2 ) L32. e−bt sin(ωt) ω (s + b)2 + ω 2 L33. e−bt cos(ωt) s+b (s + b)2 + ω 2 L34. 1 − cos(ωt) ω2 s(s2 + ω 2 ) L35. ωt − sin(ωt) L36. δ(t − a) e−sa L37. δ(t − a)f (t) f (a)e−sa ω3 + ω2 ) s2 (s2 a > 0, s > 0 a > 0, s > 0 Partial fraction decomposition (PFD) of N (x)/D(x): Let N (x) be a polynomial of lower degree than another polynomial D(x). 1. Factor D(x) into a product of distinct terms of the form (ax + b)r or (ax2 + bx + c)s , for some integers r > 0, s > 0. For each term (ax + b)r the PFD A1 Ar of N (x)/D(x) contains a sum of terms of the form (ax+b) + · · · + (ax+b) r for 2 s some contstants Ai , and for each term (ax + bx + c) the PFD of N (x)/D(x) B1 x+C1 Bs x+Cs contains a sum of terms of the form (ax 2 +bx+c) + · · · + (ax2 +bx+c)s . for some (x) constants Bi , Cj . N D(x) is the sum of all these. 2. The next step is to solve for these A’s, B’s, C’s occurring in the numerators. Cross multiply both sides by D(x) and expand out the resulting polynomial identity for N (x) in terms of the A’s, B’s, C’s. Equating coefficients of powers of x on both sides gives rise to a linear system of equations for the A’s, B’s, C’s which you can solve. 18 Table of Fourier Transforms Complex Fourier Integral: f (t) = 1 2π Z ∞ Cω eiωt dω, −∞ where Cω = F (ω) = F {f (t)} (ω) = fˆ(ω) = a > 0 everywhere it appears) F −1 {F (ω)} = 1 2π R∞ −∞ F (ω)eiωt dω R∞ −∞ f (t)e−iωt dt. (In the table F {f (t)} = R∞ −∞ F1. f (t) F (ω) F2. e−at H(t) 1 a+iω F3. eat H(−t) + e−at H(t) 2a a2 +ω 2 F4. −eat H(−t) + e−at H(t) if − k < t < 0 c b if 0 < t < m 0 otherwise −2iω a2 +ω 2 F5. 1 iω © f (t)e−iωt dt (b − c) + ceiωk − be−iωm 2k ω F6. k(H(t + a) − H(t − a)) F7. f (t − t0 ) e−iωt0 F (ω) F8. eiω0 t f (t) F (ω − ω0 ) F9. f (kt) 1 ω |k| F ( k ) F10. f (−t) F (−ω) F11. F (t) 2πf (−ω) 19 sin(aω) ª Table of Fourier Transforms F −1 {F (ω)} = 1 2π R∞ −∞ F (ω)eiωt dω F {f (t)} = R∞ −∞ f (t)e−iωt dt 2a a2 +ω 2 F12. e−a|t| F13. e−at F14. 1 a2 +t2 π −a|ω| ae F15. f (n) (t) (n = 0, 1, 2, 3, ...) (iω)n F (ω) F16. tn f (t) (n = 0, 1, 2, 3, ...) in F (n) (ω) F17. R∞ −∞ pπ 2 f (u)g(t − u)du F18. f (t)g(t) F19. δ(t) 2 −ω 4a ae F (ω)G(ω) 1 2π R∞ −∞ F (x)G(ω − x)dx 1 20 Last modified 11-15-2006 by Prof A. M. Gaglione and Prof. W. D. Joyner. 21