ENM4004-B Mathematical Methods and Application Pages F.1-F.

2 Academic Year 2022/2023

ENM5005-B Further Engineering Mathematics and Statistics Pages F.1-F.4 Formula Sheet

FORMULA SHEET
1. CALCULUS, COMPLEX NUMBERS, AND VECTORS

Integration & Differentiation (𝑐 is a constant of integration) Complex Numbers, where 𝑖 = √−1

𝑑𝑓 𝑧 = 𝑎 + 𝑏𝑖 = 𝑟(cos 𝜃 + 𝑖 sin 𝜃) = 𝑟𝑒 !"
' 𝑓(𝑥) 𝑑𝑥 𝑓(𝑥)
𝑑𝑥
De Moivre (powers)
+ !"#
+ 𝑐, 𝑛 ≠ −1 𝑥# 𝑛𝑥 #,$ 𝑧 # = [𝑟(cos 𝜃 + 𝑖 sin 𝜃)]#
#&$
$ $
= 𝑟 # [cos 𝑛𝜃 + 𝑖 sin 𝑛𝜃]
ln|𝑥| + 𝑐 − +$
+ Euler (roots)
$ $ $ !("&'())
𝑥 ln 𝑥 − 𝑥 + 𝑐 ln 𝑥 + 𝑧# = 𝑟#𝑒 # ,𝑘 = 0, … , 𝑛 − 1
- %&
+𝑐 𝑒 .+ 𝑎𝑒 .+ Differentiation Rules
.
/01 .+
− +𝑐 sin 𝑎𝑥 𝑎 cos 𝑎𝑥 Product Rule
.
23 24 25
189 .+ 𝑦 = 𝑢(𝑥)𝑣(𝑥) ⇨ 2+ = 𝑢 2+ + 𝑣 2+
+𝑐 cos 𝑎𝑥 −𝑎 sin 𝑎𝑥
.
Quotient rule
$
− . ln|cos 𝑎𝑥| + 𝑐 tan 𝑎𝑥 𝑎 sec ' 𝑎𝑥 5(+) 23 $ 25
𝑦 = 4(+) ⇨ 2+ = 4 $ H𝑣 2+ − 𝑢 2+I
24

/01: .+
.
+𝑐 sinh 𝑎𝑥 𝑎 cosh 𝑎𝑥 Chain Rule
23 23 27
189: .+
+𝑐 cosh 𝑎𝑥 𝑎 sinh 𝑎𝑥 𝑦 = 𝑓(𝑔(𝑥)), ⇨ 2+ = 26 2+
.

Integration by Parts Integration Formulas

𝑑𝑣 𝑑𝑢 1
'𝑢 𝑑𝑥 = 𝑢𝑣 − ' 𝑣 𝑑𝑥 '[𝑓(𝑥)]# 𝑓′(𝑥) 𝑑𝑥 = [𝑓(𝑥)]#&$ + 𝑐, 𝑛 ≠ −1.
𝑑𝑥 𝑑𝑥 𝑛+1
𝑓 ; (𝑥)
' 𝑢 𝑑𝑣 = 𝑢𝑣 − ' 𝑣 𝑑𝑢 ' 𝑑𝑥 = ln 𝑓(𝑥) + 𝑐, 𝑓(𝑥) > 0
𝑓(𝑥)
Integration Applications: region bounded by curve 𝑦 = 𝑓(𝑥) and lines 𝑥 = 𝑎, 𝑥 = 𝑏 with 𝑏 > 𝑎

Area, 𝑓(𝑥) ≥ 0, 𝐴 Arc length 𝐿 Mean value 𝑓 ∗ Surface of revolution about 𝑥-axis, 𝑆
< < < <
𝑑𝑓 ' 1 𝑑𝑓 '
= ' 𝑓(𝑥) 𝑑𝑥 = ' U1 + V W 𝑑𝑥 = 𝑏 − 𝑎 ' 𝑓(𝑥) 𝑑𝑥 = 2𝜋 ' 𝑥 U1 + V W 𝑑𝑥
𝑑𝑥 𝑑𝑥
. . . .

Centroid RMS value Volume of revolution about 𝑥-axis, 𝑉

< < <
1 1 <
𝑥̅ = ' 𝑥𝑓(𝑥) 𝑑𝑥, 𝑦\ = ' 𝑓 ' (𝑥) 𝑑𝑥 1 = 𝜋 ' 𝑓 ' (𝑥) 𝑑𝑥
𝐴 2𝐴 =] ' 𝑓 ' (𝑥) 𝑑𝑥
. . 𝑏−𝑎 .
.

Complementary Functions (ODEs) Vectors

;; ;
Linear 2 nd
order 𝑦 + 𝑃𝑦 + 𝑄𝑦 = 𝑓(𝑥), const. cof. Unit vectors 𝒊, 𝒋, 𝒌

Auxiliary Equation 𝑘 ' + 𝑃𝑘 + 𝑄 = 0 Scalar Product 𝒊 ∙ 𝒊 = 𝒋 ∙ 𝒋 = 𝒌 ∙ 𝒌 = 1 (else zero)

(# + ($ +
Real roots 𝑦 = 𝐴𝑒 + 𝐵𝑒 𝒂 ∙ 𝒃 = 𝑎𝑏 𝑐𝑜𝑠 𝜽
Repeated root 𝑦 = (𝐴 + 𝐵𝑥)𝑒 (+ Vector Product
Complex roots, 𝛼 ± 𝑖𝛽, 𝒊 × 𝒋 = 𝒌, 𝒋 × 𝒌 = 𝒊, 𝒌 × 𝒊 = 𝒋
𝑦=𝑒 >+ [𝐴
cos 𝛽𝑥 + 𝐵 sin 𝛽𝑥] Reverse Order Change Sign

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ENM4004-B Mathematical Methods and Application Pages F.1-F.2 Academic Year 2022/2023
ENM5005-B Further Engineering Mathematics and Statistics Pages F.1-F.4 Formula Sheet

2. TRIGONOMETRIC AND HYPERBOLIC IDENTITIES

Trigonometric
cos' 𝜃 + sin' 𝜃 = 1 1 + tan' 𝜃 = sec ' 𝜃 and 1 + cot ' 𝜃 = cosec ' 𝜃
sin 2𝜃 = 2 sin 𝜃 cos 𝜃 sin(𝐴 ± 𝐵) = sin 𝐴 cos 𝐵 ± cos 𝐴 sin 𝐵
cos 2𝜃 = cos' 𝜃 − sin' 𝜃 = 2 cos' 𝜃 − 1 = 1 − 2 sin' 𝜃 cos(𝐴 ± 𝐵) = cos 𝐴 cos 𝐵 ∓ sin 𝐴 sin 𝐵
' ?@9 " ?@9 A±?@9 C
tan 2𝜃 = $,?@9$ " tan(𝐴 ± 𝐵) = $∓?@9 A ?@9 C

- '( ,- )'( - '( &- )'( )

sin 𝜃 = , cos 𝜃 = , 𝑖 = √−1 sin,$ 𝑥 + cos,$ 𝑥 =
'! ' '

Sides 𝑎, 𝑏, 𝑐 . < E
𝑎' = 𝑏' + 𝑐 ' − 2𝑏𝑐 cos 𝐴
Triangle: Sine rule: = = , Cosine rule: 𝑏' = 𝑎' + 𝑐 ' − 2𝑎𝑐 cos 𝐵
Opp. angles 𝐴, 𝐵, 𝐶 189 A 189 C 189 F
𝑐 ' = 𝑎' + 𝑏' − 2𝑎𝑏 cos 𝐶
Hyperbolic
cosh' 𝑥 − sinh' 𝑥 = 1 1 − tanh' 𝑥 = sech' 𝑥
sinh 2𝑥 = 2 sinh 𝑥 cosh 𝑥 cosh 2𝑥 = cosh' 𝑥 + sinh' 𝑥 = 2 cosh' 𝑥 − 1
- & ,- )& - & &- )& 189: + - & ,- )& - $& ,$
sinh 𝑥 = , cosh 𝑥 = tanh 𝑥 = /01: + = - &&- )& = - $&&$
' '

3. NUMERICAL APPROXIMATION
Power Series
Maclaurin
+$ +* +!
𝑓(𝑥) = 𝑓(0) + 𝑥𝑓 ; (0) + '!
𝑓 ;; (0) + H!
𝑓 ;;; (0) + ⋯ + #!
𝑓 (#)(0) + ⋯
Taylor
I$ I* I!
𝑓(𝑥) = 𝑓(𝑎) + ℎ𝑓 ; (𝑎) + 𝑓 ;; (𝑎) + 𝑓 ;;; (𝑎) + ⋯ + 𝑓 (#)(𝑎) + ⋯ , ℎ = 𝑥 − 𝑎
'! H! #!
Binomial
#(#,$) #(#,$)(#,')
(𝑎 + 𝑏)# = 𝑎# + 𝑛𝑎#,$ 𝑏 + '!
𝑎#,' 𝑏' + H!
𝑎#,H 𝑏H + ⋯

Numerical Differentiation: difference formula, equi-spaced points 𝑥! , step ℎ, function values 𝑓! = 𝑓(𝑥! )

Forward Backward Central Central (2nd derivative)

6'"# ,6' 6' ,6')# 6'"# ,6')# 6'"# ,'6' &6')#
𝑓′(𝑥! ) ≈ I
𝑓′(𝑥! ) ≈ I
𝑓′(𝑥! ) ≈ 'I
𝑓′′(𝑥! ) ≈ I$
<
Numerical Integration: 𝐼 = ∫. 𝑓(𝑥) 𝑑𝑥, equi-spaced points 𝑥! = 𝑎 + 𝑖ℎ, step size ℎ
<,.
Trapezium rule, 𝑁 subintervals, ℎ = J
ℎ
𝐼 ≈ 𝑇J = [𝑓(𝑥K ) + 2[𝑓(𝑥$ ) + 𝑓(𝑥' ) + ⋯ + 𝑓(𝑥J,$ )] + 𝑓(𝑥J )]
2
<,.
Simpson’s rule, 2𝑁 subintervals, ℎ = 'J
ℎ
𝐼 ≈ 𝑆'J = [𝑓(𝑥K ) + 4𝑓(𝑥$ ) + 2𝑓(𝑥' ) + ⋯ + 2𝑓(𝑥'J,' ) + 4𝑓(𝑥'J,$ ) + 𝑓(𝑥'J )]
3

Mean & Standard Deviation (𝑛 samples 𝑥$ , … , 𝑥# ) Newton-Raphson method

# # Solution of 𝑓(𝑥) = 0, given initial estimate 𝑥K

1 1
𝜇 = € 𝑥! , 𝜎 = ] €(𝑥!' − 𝜇' ) 𝑓(𝑥# )
𝑛 𝑛 𝑥#&$ = 𝑥# − ; , 𝑛 = 0,1,2, …
!L$ !L$ 𝑓 (𝑥# )

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4. LAPLACE TRANSFORMS
O

Definition: for function 𝑦 = 𝑓(𝑡), 𝐹(𝑠) = 𝐿{𝑓(𝑡)} = ' 𝑒 ,MN 𝑓(𝑡) 𝑑𝑡

K
Common Laplace Transforms

𝑓(𝑡) 𝐹(𝑠) 𝑓(𝑡) 𝐹(𝑠)

$
1 Dirac 𝛿(𝑡 − 𝑎) 𝑒 ,.M
M
$ - )%+
𝑡 M$
Heaviside 𝐻(𝑡 − 𝑎)
M

#! √)
𝑡# M !"# √𝑡 *
'M $
$ #!
𝑒 .N M,.
𝑡 # 𝑒 .N (M,.)!"#

. .
sin 𝑎𝑡 M $ &.$
𝑒 <N sin 𝑎𝑡 (M,<)$ &.$

M M,<
cos 𝑎𝑡 M $ &.$
𝑒 <N cos 𝑎𝑡 (M,<)$ &.$

. .
sinh 𝑎𝑡 M $ ,.$
𝑒 <N sinh 𝑎𝑡 (M,<)$ ,.$

M M,<
cosh 𝑎𝑡 M $ ,.$
𝑒 <N cosh 𝑎𝑡 (M,<)$ ,.$

Linearity First Shift [Frequency Shift]

𝛼𝑓(𝑡) + 𝛽𝑔(𝑡) 𝛼𝐹(𝑠) + 𝛽𝐺(𝑠) 𝑒 .N 𝑓(𝑡) 𝐹(𝑠 − 𝑎)

Time Scaling Second Shift [Time Shift]
$ M
𝑓(𝑎𝑡) .
𝐹 H. I 𝑓(𝑡 − 𝑎)𝐻(𝑡 − 𝑎) 𝑒 ,.M 𝐹(𝑠)

Derivative Rules Transform Derivative Rules

𝑑𝑓 𝑑# 𝐹
𝑓 ; (𝑡) = 𝑠𝐹(𝑠) − 𝑓(0) 𝑡 # 𝑓(𝑡) (−1)# , 𝑛 = 1,2, …
𝑑𝑡 𝑑𝑠 #
O
𝑑' 𝑓 ' 𝑓(𝑡)
𝑓 ;; (𝑡)
= ' 𝑠 𝐹(𝑠) − 𝑠𝑓(0) − 𝑓′(0) ' 𝐹(𝑢) 𝑑𝑢
𝑑𝑡 𝑡
M

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5. FOURIER SERIES AND TRANSFORMS

Fourier Series of 𝑓(𝑡) of period 𝑇
O
𝑎K 2𝑛𝜋 2𝑛𝜋
𝑓(𝑡) = + € ‰𝑎# cos V 𝑡W + 𝑏# sin V 𝑡WŠ , 𝑛 = 1,2, …
2 𝑇 𝑇
#L$
Coefficients:
Q Q Q
' ' '
2 2 2𝑛𝜋 2 2𝑛𝜋
𝑎K = ' 𝑓(𝑡) 𝑑𝑡, 𝑎# = ' 𝑓(𝑡) cos V 𝑡W 𝑑𝑡, 𝑏# = ' 𝑓(𝑡) sin V 𝑡W 𝑑𝑡
𝑇 𝑇 𝑇 𝑇 𝑇
Q Q Q
, , ,
' ' '

Fourier Transforms

Transform Inverse Transform

O O
1
Complex Transform 𝑓 ̅(𝜔) = ' 𝑓(𝑡)𝑒 ,RSN 𝑑𝑡 𝑓(𝑡) = ̅
' 𝑓(𝜔)𝑒 RSN
𝑑𝜔
2𝜋
,O ,O
O O
1
Sine Transform 𝑓M̅ (𝜔) = 2 ' 𝑓(𝑡) sin 𝜔𝑡 𝑑𝑡 𝑓(𝑡) = ' 𝑓M̅ (𝜔) sin 𝜔𝑡 𝑑𝜔
𝜋
K K
O O
1
Cosine Transform 𝑓E̅ (𝜔) = 2 ' 𝑓(𝑡) cos 𝜔𝑡 𝑑𝑡 𝑓(𝑡) = ' 𝑓E̅ (𝜔) cos 𝜔𝑡 𝑑𝜔
𝜋
K K

Fourier Integral representation of 𝑓(𝑡)

O O O
1 1
𝑓(𝑡) = '[𝑎(𝜔) cos 𝜔𝑡 + 𝑏(𝜔) sin 𝜔𝑡] 𝑑𝜔, 𝑎(𝜔) = ' 𝑓(𝑡) cos 𝜔𝑡 𝑑𝑡, 𝑏(𝜔) = ' 𝑓(𝑡) sin 𝜔𝑡 𝑑𝑡
𝜋 𝜋
K ,O ,O

Useful Integrals for Fourier Series and Fourier Transforms

Sine Forms Cosine Forms

cos 𝑎𝑡 sin 𝑎𝑡
' sin 𝑎𝑡 𝑑𝑡 = − +𝑐 ' cos 𝑎𝑡 𝑑𝑡 = +𝑐
𝑎 𝑎
𝑡 cos 𝑎𝑡 sin 𝑎𝑡 𝑡 sin 𝑎𝑡 cos 𝑎𝑡
' 𝑡 sin 𝑎𝑡 𝑑𝑡 = − + ' +𝑐 ' 𝑡 cos 𝑎𝑡 𝑑𝑡 = + +𝑐
𝑎 𝑎 𝑎 𝑎'

𝑡' 2𝑡 2 𝑡' 2𝑡 2
' 𝑡 ' sin 𝑎𝑡 𝑑𝑡 = − cos 𝑎𝑡 + ' sin 𝑎𝑡 + H cos 𝑎𝑡 + 𝑐 ' 𝑡 ' cos 𝑎𝑡 𝑑𝑡 = sin 𝑎𝑡 + ' cos 𝑎𝑡 − H sin 𝑎𝑡 + 𝑐
𝑎 𝑎 𝑎 𝑎 𝑎 𝑎
𝑏 sin 𝑎𝑡 − 𝑎 cos 𝑎𝑡 𝑏 cos 𝑎𝑡 + 𝑎 sin 𝑎𝑡
' 𝑒 <N sin 𝑎𝑡 𝑑𝑡 = 𝑒 <N +𝑐 ' 𝑒 <N cos 𝑎𝑡 𝑑𝑡 = 𝑒 <N +𝑐
𝑎' + 𝑏 ' 𝑎' + 𝑏 '

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