1
CHAPTER 1 b
1.1 Webwillbillustratebtwobdifferentbmethodsbforbsolvingbthisbproblem:b(1)bseparationbofbvariables,bandb(2)
bLaplacebtransform.
dvb cb
=bgb−b vb
dt m
Separationbofbvariables:bSeparationbofbvariablesbgives
1
b c
b
bv
dvb=b dt
b
bgb−b
m
Thebintegralsbcanbbebevaluatedbas
b cb
lnb gb−b vb
mb
−
b
=btb+bC
bcb/bm
wherebCb=babconstantbofbintegration,bwhichbcanbbebevaluatedbbybapplyingbthebinitialbconditionbtobyield
b cb
lnb gb−b v(0)b
m
Cb = −
b cb/bm
whichbcanbbebsubstitutedbbackbintobthebsolution
b cb b cb
lnb gb−b vb lnb gb−b v(0)b
mb m
− b
=btb−
cb/bm cb/bm
Thisbresultbcanbbebrearrangedbalgebraicallybtobsolvebforbv,
vb=bv(0)e−(c/bm)tb +b
mgb
b
c
(
1−be−(cb/bm)tb )
wherebthebfirstbpartbisbthebgeneralbsolutionbandbthebsecondbpartbisbthebparticularbsolutionbforbthebconstantbfor
cingbfunctionbduebtobgravity.bForbthebcasebwhere,bv(0)b=b0,bthebsolutionbreducesbtobEq.b(1.10)
vb = b
mgb
b
c
(
1−be−(c/m)tb )
Laplacebtransformbsolution:bAnbalternativebsolutionbisbprovidedbbybapplyingbLaplacebtransformbtobthebdifferent
ialbequationbtobgive
g b cb
sVb(s)b−bv(0)b=b −b Vb(s)
s m
PROPRIETARYbMATERIAL.b ©bThebMcGraw-
HillbCompanies,bInc.b Allbrightsbreserved.b NobpartbofbthisbManualbmaybbebdisplayed,breproducedborbdistributedbinbanybf
ormborbbybanybmeans,bwithoutbthebpriorbwrittenbpermissionbofbthebpublisher,borbusedbbeyondbtheblimitedbdistributionbtob
teachersbandbeducatorsbpermittedbbybMcGraw-
Hillbforbtheirbindividualbcoursebpreparation.b IfbyoubarebabstudentbusingbthisbManual,byoubarebusingbitbwithoutbpermissio
n.
, 2
Solvebalgebraicallybforbthebtransformedbvelocity
PROPRIETARYbMATERIAL.b ©bThebMcGraw-
HillbCompanies,bInc.b Allbrightsbreserved.b NobpartbofbthisbManualbmaybbebdisplayed,breproducedborbdistributedbinbanybf
ormborbbybanybmeans,bwithoutbthebpriorbwrittenbpermissionbofbthebpublisher,borbusedbbeyondbtheblimitedbdistributionbtob
teachersbandbeducatorsbpermittedbbybMcGraw-
Hillbforbtheirbindividualbcoursebpreparation.b IfbyoubarebabstudentbusingbthisbManual,byoubarebusingbitbwithoutbpermissio
n.
, 3
Vb(s)b= v(0)
+
g (1)
sb+bcb/bm s(sb+bcb/bm)
Thebsecondbtermbonbthebrightbofbthebequalbsignbcanbbebexpandedbwithbpartialbfractions
g Ab B A(sb+bcb/bm)b+bBs
=b + =b (2)
s(sb+bcb/bm) s sb+bcb/bm s(sb+bcb/bm)
Bybequatingblikebtermsbinbthebnumerator,bthebfollowingbmustbhold
c
g b = b Ab 0b=b Asb+bBs
m
ThebfirstbequationbcanbbebsolvedbforbAb=bmg/c.bAccordingbtobthebsecondbequation,bBb=b–A,bsobBb=b–
mg/c.bSubstitutingbthesebbackbintob(2)bgives
g b=b
mgb/bcb b mgb/bc
−b
s(sb+bcb/bm) s sb+bcb/bm
ThisbcanbbebsubstitutedbintobEq.b1btobgive
v(0) mgb/bcb mgb/bc
Vb(s)b= +b −b
sb+bcb/bm s sb+bcb/bm
TakingbinversebLaplacebtransformsbyields
mgb mgb −(cb/bm)t
v(t)b=bv(0)e−(c/bm)tb +b +b e
c c
orbcollectingbterms
v(t)b=bv(0)e−(c/m)tb +b
mgb
b
c
(
1−be−(c/bm)tb )
1.2 Atbtb=b8bs,bthebanalyticalbsolutionbisb41.137b(Exampleb1.1).bThebrelativeberrorbcanbbebcalculatedbwith
analyticalb−bnumerical
absolutebrelativeberror = 100%
analytical
Thebnumericalbresultsbare:
absolute
step v(8)
b b b b b b b b b b b b b b b relativeb error
2 44.8700 9.074%
1 42.8931 4.268%
0.5 41.9901 2.073%
Theberrorbversusbstepbsizebcanbthenbbebplottedbas
PROPRIETARYbMATERIAL.b ©bThebMcGraw-
HillbCompanies,bInc.b Allbrightsbreserved.b NobpartbofbthisbManualbmaybbebdisplayed,breproducedborbdistributedbinbanybf
ormborbbybanybmeans,bwithoutbthebpriorbwrittenbpermissionbofbthebpublisher,borbusedbbeyondbtheblimitedbdistributionbtob
teachersbandbeducatorsbpermittedbbybMcGraw-
Hillbforbtheirbindividualbcoursebpreparation.b IfbyoubarebabstudentbusingbthisbManual,byoubarebusingbitbwithoutbpermissio
n.
CHAPTER 1 b
1.1 Webwillbillustratebtwobdifferentbmethodsbforbsolvingbthisbproblem:b(1)bseparationbofbvariables,bandb(2)
bLaplacebtransform.
dvb cb
=bgb−b vb
dt m
Separationbofbvariables:bSeparationbofbvariablesbgives
1
b c
b
bv
dvb=b dt
b
bgb−b
m
Thebintegralsbcanbbebevaluatedbas
b cb
lnb gb−b vb
mb
−
b
=btb+bC
bcb/bm
wherebCb=babconstantbofbintegration,bwhichbcanbbebevaluatedbbybapplyingbthebinitialbconditionbtobyield
b cb
lnb gb−b v(0)b
m
Cb = −
b cb/bm
whichbcanbbebsubstitutedbbackbintobthebsolution
b cb b cb
lnb gb−b vb lnb gb−b v(0)b
mb m
− b
=btb−
cb/bm cb/bm
Thisbresultbcanbbebrearrangedbalgebraicallybtobsolvebforbv,
vb=bv(0)e−(c/bm)tb +b
mgb
b
c
(
1−be−(cb/bm)tb )
wherebthebfirstbpartbisbthebgeneralbsolutionbandbthebsecondbpartbisbthebparticularbsolutionbforbthebconstantbfor
cingbfunctionbduebtobgravity.bForbthebcasebwhere,bv(0)b=b0,bthebsolutionbreducesbtobEq.b(1.10)
vb = b
mgb
b
c
(
1−be−(c/m)tb )
Laplacebtransformbsolution:bAnbalternativebsolutionbisbprovidedbbybapplyingbLaplacebtransformbtobthebdifferent
ialbequationbtobgive
g b cb
sVb(s)b−bv(0)b=b −b Vb(s)
s m
PROPRIETARYbMATERIAL.b ©bThebMcGraw-
HillbCompanies,bInc.b Allbrightsbreserved.b NobpartbofbthisbManualbmaybbebdisplayed,breproducedborbdistributedbinbanybf
ormborbbybanybmeans,bwithoutbthebpriorbwrittenbpermissionbofbthebpublisher,borbusedbbeyondbtheblimitedbdistributionbtob
teachersbandbeducatorsbpermittedbbybMcGraw-
Hillbforbtheirbindividualbcoursebpreparation.b IfbyoubarebabstudentbusingbthisbManual,byoubarebusingbitbwithoutbpermissio
n.
, 2
Solvebalgebraicallybforbthebtransformedbvelocity
PROPRIETARYbMATERIAL.b ©bThebMcGraw-
HillbCompanies,bInc.b Allbrightsbreserved.b NobpartbofbthisbManualbmaybbebdisplayed,breproducedborbdistributedbinbanybf
ormborbbybanybmeans,bwithoutbthebpriorbwrittenbpermissionbofbthebpublisher,borbusedbbeyondbtheblimitedbdistributionbtob
teachersbandbeducatorsbpermittedbbybMcGraw-
Hillbforbtheirbindividualbcoursebpreparation.b IfbyoubarebabstudentbusingbthisbManual,byoubarebusingbitbwithoutbpermissio
n.
, 3
Vb(s)b= v(0)
+
g (1)
sb+bcb/bm s(sb+bcb/bm)
Thebsecondbtermbonbthebrightbofbthebequalbsignbcanbbebexpandedbwithbpartialbfractions
g Ab B A(sb+bcb/bm)b+bBs
=b + =b (2)
s(sb+bcb/bm) s sb+bcb/bm s(sb+bcb/bm)
Bybequatingblikebtermsbinbthebnumerator,bthebfollowingbmustbhold
c
g b = b Ab 0b=b Asb+bBs
m
ThebfirstbequationbcanbbebsolvedbforbAb=bmg/c.bAccordingbtobthebsecondbequation,bBb=b–A,bsobBb=b–
mg/c.bSubstitutingbthesebbackbintob(2)bgives
g b=b
mgb/bcb b mgb/bc
−b
s(sb+bcb/bm) s sb+bcb/bm
ThisbcanbbebsubstitutedbintobEq.b1btobgive
v(0) mgb/bcb mgb/bc
Vb(s)b= +b −b
sb+bcb/bm s sb+bcb/bm
TakingbinversebLaplacebtransformsbyields
mgb mgb −(cb/bm)t
v(t)b=bv(0)e−(c/bm)tb +b +b e
c c
orbcollectingbterms
v(t)b=bv(0)e−(c/m)tb +b
mgb
b
c
(
1−be−(c/bm)tb )
1.2 Atbtb=b8bs,bthebanalyticalbsolutionbisb41.137b(Exampleb1.1).bThebrelativeberrorbcanbbebcalculatedbwith
analyticalb−bnumerical
absolutebrelativeberror = 100%
analytical
Thebnumericalbresultsbare:
absolute
step v(8)
b b b b b b b b b b b b b b b relativeb error
2 44.8700 9.074%
1 42.8931 4.268%
0.5 41.9901 2.073%
Theberrorbversusbstepbsizebcanbthenbbebplottedbas
PROPRIETARYbMATERIAL.b ©bThebMcGraw-
HillbCompanies,bInc.b Allbrightsbreserved.b NobpartbofbthisbManualbmaybbebdisplayed,breproducedborbdistributedbinbanybf
ormborbbybanybmeans,bwithoutbthebpriorbwrittenbpermissionbofbthebpublisher,borbusedbbeyondbtheblimitedbdistributionbtob
teachersbandbeducatorsbpermittedbbybMcGraw-
Hillbforbtheirbindividualbcoursebpreparation.b IfbyoubarebabstudentbusingbthisbManual,byoubarebusingbitbwithoutbpermissio
n.