Trigonometry T15. 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 c1 cos(ωt) + c2 sin(ωt) = A sin(ωt + φ), where A = q c21 + c22 , φ = 2 arctan c1 c2 + A Hyperbolic Functions 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 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. 1. Product rule: (f (x)g(x))′ = f ′ (x)g(x) + f (x)g ′ (x) 2. Chain rule: f (g(x))′ = f ′ (g(x))g ′ (x) du du dx = dt dx dt Power Series P1. P2. P3. ∞ X xn x2 x3 ex = =1+x+ + + ··· , n! 2! 3! n=0 sin x = ∞ X (−1)n n=0 ∞ X n=0 P4. P5. P6. P7. ∞ X 1 = xn = 1 + x + x2 + x3 + · · · , 1 − x n=0 sinh x = P9. P10. 3 2n+1 cosh x = − π π <x< 2 2 −1 < x < 1 5 x2 x4 x2n =1+ + + ··· , (2n)! 2! 4! tanh x = x − 2 17 7 x3 + x5 − x + ··· , 3 15 315 f (x) = f (a) + f ′ (a)(x − a) + 4. 5. 6. −∞ < x < ∞ −∞ < x < ∞ − f ′ (x)g(x) − f (x)g ′ (x) f (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 −∞ < x < ∞ x x x =x+ + + ··· , (2n + 1)! 3! 5! n=0 ∞ X n=0 P8. −∞ < x < ∞ x2n x2 x4 =1− + − ··· , (2n)! 2! 4! x3 2 17 7 + x5 + x + ··· , 3 15 315 tan x = x + ∞ X −∞ < x < ∞ x3 x5 x2n+1 =x− + − ··· , (2n + 1)! 3! 5! (−1)n cos x = 3. Quotient rule: ( 1. 2. 3. 4. √ 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 π π <x< 2 2 f ′′ (a) f ′′′ (a) (x − a)2 + (x − a)3 + · · · 2! 3! Taylor Series with remainder: PN f (x) = RN +1 (x) = f (N +1) (ξ) (N +1)! n=0 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 2 b −4ac Quadratic formula: Roots of ax2 + bx + c = 0 are: x = −b± 2a a2 − b2 = (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 ) 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. I13. Z sec u du = ln | sec u + tan u| I14. Z csc u du = ln | csc u − cot u| I15. Z ³u´ du 1 = arctan a2 + u 2 a a I16. Z ³u´ du = arcsin a a2 − u2 Z Z u dv = uv − v du Standard Integrals I1. Z un du = un+1 , n+1 n 6= −1 I2. Z du = ln |u| u I3. Z eu du = eu I4. Integrals involving au + b au , a>0 a du = ln a Z cos u du = sin u Z u I5. I6. Z sin u du = − cos u I7. Z sec2 u du = tan u Z I8. I9. Z csc2 u du = − cot u sec u tan u du = sec u I10. Z csc u cot u du = − csc u I11. Z tan u du = − ln | cos u| I12. Z I17. √ cot u du = ln | sin u| 5 Z I18. (au + b)n du = Z I19. Z I20. Z I21. I22. Z I23. I24. I25. I26. Z 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 du 1 ¯ u ¯¯ = 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 105a3 ¢√ u2 du 2 ¡ 2 √ = au + b 8b − 4abu + 3a2 u2 15a3 au + b 6 Integrals involving u2 ± a2 Z I27. I28. Z I29. Z u2 ¯ ¯ 1 ¯¯ u − a ¯¯ du = ln¯ 2 −a 2a u + a¯ u du u 2 ± a2 2 ¯ ¯ = 1/2 ln ¯u2 ± a2 ¯ ¯ ¯ u du a ¯ u − a ¯¯ = u + ln¯¯ u 2 − a2 2 u + a¯ 2 I30. I31. Integrals involving Z I32. Z I33. I34. I35. I36. I37. u du = u2 ± a2 u 2 ± a2 u2 ± a2 p ¢3/2 1¡ 2 u u2 ± a2 du = u ± a2 3 √ ³u´ du 1 √ = arcsec a a u u2 − a2 √ Z u2 ± a2 du √ =∓ a2 u u 2 u 2 ± a2 Z I38. I39. √ p √ ¯ ¯ p du ¯ ¯ = ln¯u + u2 ± a2 ¯ u2 ± a2 Z ¯ p u2 du up 2 a2 ¯¯ ¯ √ = ln¯u + u2 ± a2 ¯ u ± a2 ∓ 2 2 u2 ± a2 ¯ ¯ Z ¯ 1 ¯ du u ¯ √ √ = ln¯¯ a u u2 + a2 a + u 2 + a2 ¯ Z Z p u2 ± a2 du = Z u2 I41. I42. I43. ³u´ u du = u − a arctan u 2 + a2 a ¯ ¯ Z ¯ u2 ¯ du 1 ¯ = ± 2 ln¯¯ 2 u(u2 ± a2 ) 2a u ± a2 ¯ Z I40. up 2 2 ¯ ¯ p a ¯ ¯ ln¯u + u2 ± a2 ¯ u2 ± a2 ± 2 7 ¯ p p ¢3/2 a2 u p u¡ 2 a4 ¯¯ ¯ u2 ± a2 du = u 2 ± a2 − u ± a2 ∓ ln¯u + u2 ± a2 ¯ 4 8 8 ¯ ¯ Z √ 2 ¯ a + √u2 + a2 ¯ p u + a2 ¯ ¯ du = u2 + a2 − a ln¯ ¯ ¯ ¯ u u Z √ 2 ³u´ p u − a2 du = u2 − a2 − a arcsec u a √ Z √ 2 ¯ ¯ p u ± a2 u 2 ± a2 ¯ ¯ du = − + ln¯u + u2 ± a2 ¯ u2 u Integrals involving I44. I45. I46. I47. I48. I49. I50. I51. I52. Z u2 √ a2 − u 2 Z p ³u´ up 2 a2 arcsin a2 − u2 du = a − u2 + 2 2 a Z p u du 2 2 √ =− a −u a2 − u2 Z p ¢3/2 1¡ 2 u a2 − u2 du = − a − u2 3 ¯ Z √ 2 ¯ a + √ a2 − u 2 p a − u2 ¯ du = a2 − u2 − a ln ¯ ¯ u u ¯ ¯ √ Z du 1 ¯¯ a + a2 − u2 ¯¯ √ = − ln ¯ ¯ 2 2 ¯ ¯ a u u a −u ¯ ¯ ¯ ¯ ¯ ³u´ p ¢3/2 a2 u p u¡ 2 a4 a − u2 + arcsin a2 − u2 du = − a2 − u2 + 4 8 8 a √ Z √ 2 ³u´ a − u2 a2 − u 2 du = − − arcsin u2 u a Z ³u´ 2 p a2 u du u 2 2 √ a −u + =− arcsin 2 2 a a2 − u 2 √ Z 2 a − u2 du √ =− a2 u u2 a2 − u2 Integrals involving trigonometric functions 8 I53. Z sin2 (au) du = u sin(2au) − 2 4a I54. Z cos2 (au) du = u sin(2au) + 2 4a 1 a cos3 (au) − cos(au) 3 ¶ µ sin3 (au) sin(au) − 3 ¶ Z sin3 (au) du = I56. Z 1 cos3 (au) du = a Z I57. I58. I59. I60. Z I61. Z I62. I63. I64. I65. I66. I67. I68. u 1 sin (au) cos (au) du = − sin(4au) 8 32a Z 1 tan2 (au) du = tan(au) − u a Z 1 cot2 (au) du = − cot(au) − u a 2 sec3 (au) du = sinn u du = − Z I70. Z I71. 2 1 1 sec(au) tan(au) + ln | sec(au) + tan(au) | 2a 2a 1 1 csc3 (au) du = − csc(au) cot(au) + ln | csc(au) − cot(au) | 2a 2a Z 1 u sin(au) du = 2 (sin(au) − au cos(au)) a Z 1 u cos(au) du = 2 (cos(au) + au sin(au)) a Z ¢ 1 ¡ u2 sin(au) du = 3 2au sin(au) − ( a2 u2 − 2 ) cos(au) a Z ¢ 1 ¡ u2 cos(au) du = 3 2au cos(au) + ( a2 u2 − 2 ) sin(au) a Z sin(a − b)u sin(a + b)u sin(au) sin(bu) du = − , a2 6= b2 2(a − b) 2(a + b) Z sin(a − b)u sin(a + b)u + , a2 6= b2 cos(au) cos(bu) du = 2(a − b) 2(a + b) Z cos(a − b)u cos(a + b)u sin(au) cos(bu) du = − − , a2 6= b2 2(a − b) 2(a + b) 9 1 n−1 sinn−1 u cos u + n n Z sinn−2 u du Integrals involving hyperbolic functions µ I55. Z I69. sinh2 (au) du = Z I72. Z I73. I74. sinh(au) du = Z sinh(au) cosh(bu) du = Z I75. Z I77. 1 sinh(au) a u 1 + sinh(2au) 2 4a cosh ((a + b) u) cosh ((a − b) u) + 2(a + b) 2(a − b) sinh(au) cosh(au) du = I76. Z 1 u sinh(2au) − 4a 2 cosh(au) du = cosh2 (au) du = 1 cosh(au) a 1 cosh(2au) 4a tanh u du = ln(cosh u) sech u du = arctan(sinh u) = 2 arctan (eu ) Integrals involving exponential functions Z I78. eau (au − 1) a2 ¢ eau ¡ 2 2 a u − 2au + 2 a3 Z Z 1 n un eau du = un eau − un−1 eau du a a Z I79. I80. I81. ueau du = Z u2 eau du = eau sin(bu) du = eau (a sin(bu) − b cos(bu)) a2 + b2 10 Z I82. eau cos(bu) du = Wallis’ Formulas eau (a cos(bu) + b sin(bu)) a2 + b2 I91. Integrals involving inverse trigonometric functions I83. Z I84. Z Z I85. arcsin ³u´ arccos ³u´ arctan a a ³u´ a du = u arcsin ³u´ du = u arccos ³u´ du = u arctan a + p − p a ³u´ a − a2 − Z π/2 sinm x dx = 0 u2 = R π/2 0 cosm x dx (m−1)(m−3)...(2 or 1) m(m−2)...(3 or 2) k, a2 − u 2 where k = 1 if m is odd and k = π/2 if m is even. ¢ a ¡ 2 ln a + u2 2 I92. Z π/2 sinm x cosn x dx = 0 Integrals involving inverse hyperbolic functions Z I86. arcsinh ³u´ a du = u arcsinh ³u´ a − p (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. u 2 + a2 I87. Gamma Function Z I88. arccosh ³u´ Z a du arctanh = u arccosh = u arccosh ³u´ a ¡u¢ a ¡u¢ a √ u2 − a2 √ + u2 − a2 − arccosh arccosh ¡u¢ a ¡u¢ a > 0; Γ(x) = < 0. Z ∞ tx−1 e−t dt, x>0 0 Γ(x + 1) = xΓ(x) ¢ a ¡ du = u arctanh + ln a2 − u2 a 2 ³u´ Γ ( 1/2) = Γ(n + 1) = n!, √ π if n is a non-negative integer Integrals involving logarithm functions Z I89. I90. Z Fourier Series ln u du = u(ln u − 1) un ln u du = un+1 · ¸ 1 ln u , − n + 1 (n + 1)2 11 n 6= −1 f (x) = ∞ a0 X ³ nπx ´ nπx + + bn sin an cos 2 L L n=1 12 where 1 L a0 = 1 L Z 1 bn = L Z an = Z (c) L f (x) dx, −L L f (x) cos nπx dx, L f (x) sin nπx dx. L −L L −L d Jν (t) = 1/2 (Jν−1 (t) − Jν+1 (t)) dt = Jν−1 (t) − νt Jν (t) = νt Jν (t) − Jν+1 (t) . (d) Recurrence Relation. Jν+1 (t) = f (x) = ∞ X 4. Orthogonality. Solutions yν (λ0 x), yν (λ1 x), . . . , yν (λn x), . . . of the differential system cn eniπx/L n=−∞ where cn = 1 2L Z x2 y ′′ + xy ′ + (λ2 x2 − ν 2 )y = 0, x1 ≤ x ≤ x2 µ ¶¯¯ d ¯ ak yν (λxk ) − bk = 0, k = 1, 2 yν (λx) ¯ ¯ dx L f (x)e−niπx/L dx. −L x=xk have the orthogonality property: Z x2 xyν (λn x)yν (λm x) dx = 0, Bessel Functions x1 ν = arbitrary real number; n = integer and Z x2 1. Definition. x2 y ′′ + xy ′ + (λ2 x2 − ν 2 )y = 0 has solutions y = yν (λx) = c1 Jν (λx) + c2 J−ν (λx), where x1 (ν 6= n), 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 (m 6= n) xyν2 (λm x) dx = " µ ¶2 #x2 ¡ 2 2 ¢ 2 d 1 2 2 , λ x − ν y (λ x) + x y (λ x) m ν m m ν 2λ2m dx x1 ∞ X (−1)m tν+2m Jν (t) = . ν+2m m! Γ(ν + m + 1) 2 m=0 2. General Properties. 2ν Jν (t) − Jν−1 (t) t (n ≥ 1). 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 J0′ (j0,α ) j1,α J1′ (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 Table of Laplace Transforms f (t) ≡ L−1 {F (s)} (t) L1. f (t) Z 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! sn+1 (n = 1, 2, 3, . . .) ta Γ(a + 1) sa+1 (a > −1) L6. eat 1 s−a L7. sin(ωt) ω s2 + ω 2 L8. cos(ωt) s s2 + ω 2 L9. f ′ (t) sF (s) − f (0) L10. f ′′ (t) s2 F (s) − sf (0) − f ′ (0) L11. tn f (t) (n = 1, 2, 3, . . .) (−1)n F (n) (s) L12. eat f (t) F (s − a) L13. eat L−1 {F (s + a)} L14. 15 F (s) ≡ L {f (t)} (s) F (s) RP 0 f (t + P ) = f (t) 16 −st e f (t) dt 1 − e−sP Table of Laplace Transforms f (t) ≡ L−1 {F (s)} (t) Table of Laplace Transforms F (s) ≡ L {f (t)} (s) f (t) ≡ L−1 {F (s)} (t) F (s) ≡ L {f (t)} (s) 1 (s2 + a2 )(s2 + b2 ) L15. f (t)U (t − a) e−as L {f (t + a)} L29. b sin(at) − a sin(bt) ab(b2 − a2 ) L16. f (t − a)U (t − a) e−as F (s) L30. cos(at) − cos(bt) b2 − a2 s (s2 + a2 )(s2 + b2 ) f (z) dz F (s) s L31. a sin(at) − b sin(bt) a2 − b2 s2 (s2 + a2 )(s2 + b2 ) f (z)g(t − z) dz F (s)G(s) L32. e−bt sin(ωt) ω (s + b)2 + ω 2 L33. e−bt cos(ωt) s+b (s + b)2 + ω 2 1 s (s − a) L34. 1 − cos(ωt) ω2 s(s2 + ω 2 ) ω3 s2 (s2 + ω 2 ) Z L17. L18. Z t 0 t 0 f (t) t L19. L20. Z ¢ 1 ¡ at e −1 a ∞ F (z) dz s L21. tn eat , n = 1, 2, 3, . . . n! (s − a)n+1 L35. ωt − sin(ωt) L22. eat − ebt a−b 1 (s − a)(s − b) L36. δ(t − a) e−sa s (s − a)(s − b) L37. δ(t − a)f (t) f (a)e−sa at L23. ae − be a−b bt L24. sinh(ωt) ω s2 − ω 2 L25. cosh(ωt) s s2 − ω 2 L26. sin(ωt) − ωt cos(ωt) 2ω 3 (s2 + ω 2 )2 L27. t sin(ωt) 2ωs (s2 + ω 2 )2 L28. sin(ωt) + ωt cos(ωt) 2ωs2 (s2 + ω 2 )2 17 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 some contstants Ai , and for each term (ax2 + bx + c)s the PFD of N (x)/D(x) Bs x+Cs B1 x+C1 contains a sum of terms of the form (ax2 +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 Table of Fourier Transforms Complex Fourier Integral: f (t) = 1 2π Z ∞ F 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∞ −∞ −iωt f (t)e F {f (t)} = R∞ −∞ 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. F5. F6. f (t)e−iωt dt −2iω a2 +ω 2 −at −e H(−t) + e H(t) if − k < t < 0 c b if 0 < t < m 0 otherwise 1 iω © ª (b − c) + ceiωk − be−iωm 2k ω k(H(t + a) − H(t − a)) 1 2π R∞ −∞ F (ω)eiωt dω F {f (t)} = R∞ −∞ f (t − t0 ) e−iωt0 F (ω) F8. eiω0 t f (t) F (ω − ω0 ) F9. f (kt) ω 1 |k| F ( k ) F10. f (−t) F (−ω) F11. F (t) 2πf (−ω) 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. 2 R∞ −∞ f (u)g(t − u)du F18. f (t)g(t) F19. δ(t) 2 −ω 4a ae pπ F (ω)G(ω) 1 2π R∞ −∞ F (x)G(ω − x)dx 1 sin(aω) F7. 19 {F (ω)} = dt. (In the table F1. at −1 20 Last modified 11-15-2006 by Prof A. M. Gaglione and Prof. W. D. Joyner. 21