Module 13: Laplace Transforms- Part II

Overview

Module 13 covers Sections 7.4-7.6 of the textbook.

The content includes:

Derivatives of Transforms

Integrals of Transforms

The Convolution

Delta Functions

Impulsive Forces

Key terms:

The Convolution Page 2

Di↵erentiation of Tranforms Page 4
Integration of Tranforms Page 5
Translation on the t- Axis Page 6
Dirac Delta Function Pages 10
Impulse Page 10
Impulsive Forces Page 11

1
The Convolution

The convolution of two piecewise continuous functions f and g is

defined as:
Z t
f (t) ⇤ g(t) = f (⌧ )g(t ⌧ ) d⌧.
0

Example 1. Find the convolution of cos(t) and sin(t).

Solution.

The convolution of cos(t) and sin(t) is

Z t
(cos t) ⇤ (sin t) = cos(⌧ ) sin(t ⌧ ) d⌧
0

Use the trigonometric identity

1
cos A sin B = [sin(A + B) sin(A B)],
2

to obtain

1
(cos t) ⇤ (sin t) = t sin t.
2

2
 The convolution satisfies the following properties:

f (t) ⇤ g(t) = g(t) ⇤ f (t) L {f (t) ⇤ g(t)} = L {f (t)} · L {g(t)}

1
f (t) ⇤ g(t) = L {F (s) · G(s)}

Example 2. Use the convolution to compute

⇢
1 2
L
(s 1)(s2 + 4)

Solution. We have

⇢
1 2 1
L =L {F (s) · G(s)},
(s 1)(s2 + 4)

1 2
where F (s) = ) f (t) = et , and G(s) = ) g(t) = sin(2t).
s 1 s2 + 4

Using the inverse of the convolution,

⇢
1 2
L = f (t) ⇤ g(t) = g(t) ⇤ f (t)
(s 1)(s2 + 4)
Z t Z t
t ⌧ t ⌧
= sin(2⌧ ) e d⌧ = e sin(2⌧ ) e d⌧
0 0

⇢
1 2 2 1 2
) L = et sin(2t) cos(2t).
(s 1)(s2 + 4) 5 5 5

3
Di↵erentiation of Transforms

If f (t) is piecewise continuous,

1
L {tf (t)} = F 0 (s) f (t) = L 1
{F 0 (s)}
t

By repeating the formula for t2 , t3 , . . . , tn , we obtain

L {tn f (t)} = ( 1)n F (n) (s)

Example 3. Compute

⇢ ✓ ◆
1 1
(a) L t2 sin(kt) (b) L 1 tan
s

Solution.

4
Integration of Transforms

If f (t) is piecewise continuous,

⇢ Z 1 ⇢Z 1
f (t) 1
L = F( )d f (t) = tL F( )d
t s s

Example 4. Compute

⇢ ⇢
sinh(t) 1 2s
(a) L (b) L
t (s2 1)2

Solution.

5
Translation on the t-Axis

as 1 as
L {u(t a) f (t a)} = e F (s) L {e F (s)} = u(t a) f (t a)

The function u(t a) f (t a) is discontinuous at t = a and is determined

by 8
>
>
<f (t a), t a,
u(t a)f (t a) =
>
>
:0, t < a.

6
Example 5. Compute L {f (t)} if

8
>
>
< t2 , t 3,
f (t) =
>
>
:0, t < 3.

Solution.

7
Example 6. A mass that weighs 32 lb (mass m = 1 slug) is attached to the
free end of a long, light spring that is stretched 1 ft by a force of 4 lb (k = 4
lb/ft). The mass is initially at rest in its equilibrium position. Beginning
at time t = 0 (seconds), an external force f (t) = cos(2t) is applied to the
mass, but at time t = 2⇡ this force is turned o↵ (abruptly discontinued) and
the mass is allowed to continue its motion unimpeded. Find the resulting
position function x(t) of the mass.
Solution. The mass-and-spring system has parameters m = 1, c = 0 (no
dashpot), k = 4, and is subjected to an external force

8
>
>
<cos(2t), t < 2⇡,
f (t) =
>
>
:0, t 2⇡.

The function f (t) can be written as

f (t) = (1 u(t 2⇡)) cos(2t) = cos(2t) u(t 2⇡) cos(2t).

The equation corresponding to the system is

x00 + 4x = cos(2t) cos(2t) u(t 2⇡), x(0) = x0 (0) = 0.

8
Step 1. Use Laplace Transforms to solve for L {x(t)} = X(s):

L {x00 + 4x} = L {cos(2t) u(t 2⇡) cos(2t)}

L {x00 } + L {4x} = L {cos(2t)} L {u(t 2⇡) cos(2t)}

s
[s2 X sx(0) x0 (0)] + 4X = 2 L {u(t 2⇡) cos(2(t 2⇡))}
s + 22
s s
(s2 + 4)X = 2 e 2⇡s
·
s + 22 s2 + 2 2

s 2⇡s s
) X= e · .
(s2 + 4)2 (s2 + 4)2
Step 2. Partial Fraction Decomposition: The rational expressions are al-
ready well-factorized.
1
Step 3. Use Inverse Transforms to solve for x(t) = L {X(s)}:

⇢ ⇢
1 1 s 1 2⇡s s
x(t) = L {X(s)} = L L e ·
(s2 + 4)2 (s2 + 4)2

Therefore, the solution of the intial value problem is

1 1
x(t) = t sin(2t) u(t 2⇡) · (t 2⇡) · sin(2t)
4 4

9
Delta Functions and Impulsive Forces
The Dirac delta function or delta function corresponding to a 0
is defined by 8
>
>
<+1, t = a,
a (t) =
>
>
:0, t 6= a.

The term “Dirac” in Dirac delta function refers to the British theoretical
physicist Paul A. M. Dirac (1902–1984).

Other notaions:

(t) = 0 (t), a (t) = (t a)

The Laplace trasnform:

as 1 as
L { a (t)} = e L e = a (s)

Impulse is a measure of the change in momentum of an object when a

force is applied over a short time interval. It is defined mathematically
as the integral of force with respect to time:

Z
J= F (t) dt,

J represents impulse, measured in Newton-seconds (N s),

10
 F (t) is the force applied as a function of time,

the integration is over the duration the force is applied.

An impulsive force is a force that acts over a very short time in-
terval, often approaching zero, but with a large magnitude, creating a
significant change in momentum in that short time.

Due to its short duration and high intensity, impulsive forces are com-
monly represented using the Dirac delta function (t), which captures
the essence of an instantaneous e↵ect:

F (t) = p a (t),

p represents the magnitude of the impulse, and

t = a indicates the force acting sharply at that moment.

Example 7. A mass m = 1 is attached to a spring with constant k = 4; there

is no dashpot. The mass is released from rest position with x(0) = 3. At
the instant t = 2⇡, the mass is struck with a hammer, providing an impulse
p = 8. Determine the motion of the mass.
Solution. The equation corresponding to the system is

x00 + 4x = 8 2⇡ (t), x(0) = 3, x0 (0) = 0.

11
Step 1. Use Laplace Transforms to solve for L {x(t)} = X(s):

L {x00 + 4x} = L {8 2⇡ (t)}

[s2 X sx(0) x0 (0)] + 4X = 8e 2⇡s

(s2 + 4)X 3s = 8e 2⇡s

s 2⇡s 1
) X =3· 8e · .
s2 + 4 s2 + 4
Step 2. Partial Fraction Decomposition: The rational expressions are al-
ready well-factorized.
1
Step 3. Use Inverse Transforms to solve for x(t) = L {X(s)}:

⇢ ⇢
1 1 s 1 2⇡s 1
x(t) = L {X(s)} = 3 · L 8L e ·
s2 + 4 s2 + 4

Therefore, the solution of the intial value problem is

x(t) = 3 cos(2t) + 4 u2⇡ (t) sin(2t)

12