One Dimensional Wave Equation

The equation is y
t t
= a
2
y
xx
where

y Displacement T Tension
x Distqance a
2
= ---- = ---------------
t Time M Mass


Solution of Wave Equation by variable separable method


The Wave Equation is y
t t
= a
2
y
xx
----- (1)

Let y = X(x) T(t) be the solution of (1)

Now y
x
= X'T y
t
= XT'

Y
xx
= X''T y
t t
= XT''

(1) becomes XT'' = a
2
X''T

separating the variable,
2
X T
k
X a T
'' ''
= =


X'' kX = 0 and T'' a
2
kT = 0

( D
2
k ) X = 0 and ( D
2
a
2
k ) T = 0

Case1: Suppose k is positive i.e. k =
2


( D
2

2
) X = 0 and ( D
2
a
2

2
) T = 0

The auxiliary equation is

m
2

2
= 0

and

m
2
a
2

2
= 0

m = and m = a

the solution is

X = A e
x
+ B e
x
and T = C e
at
+ D e
at


the solution of (1) is y(x,t) = (A e
x
+ B e
x
) ( C e
at
+ D e
at
)

Case2: Suppose k is negative i.e. k =
2


( D
2
+
2
) X = 0 and ( D
2
+ a
2

2
) T = 0

The auxiliary equation is

m
2
+
2
= 0

and

m
2
+ a
2

2
= 0

m = i and m = i a

the solution is

X = A cos x + B sin x

and T = C cos at + D sin at

the solution of (1) is y(x,t) = (A cos x + B sin x

) ( C cos at + D sin at

)

Case3: Suppose k = 0

D
2
X = 0 and D
2
T = 0

X = Ax + B and T = Ct + B

the solution is y(x,t) = (Ax + B ) (Ct + B )



D' Alemberts solution of the wave equation

Let y
t
= D and y
x
= D'. Then the wave equation is ( D
2
a
2
D'
2
)y = 0 ----------(1)

The auxiliary equation is m
2
a
2
= 0 and m = a

Then the solution is y(x,t) = f(x+at) + g(xat) ----(2) where f and g are arbitrary functions.

Assume that at time t = 0, initial displacement y(x,0) = q(x) and initial velocity y
t
(x,0) =
v(x)

At time t = 0, (2) becomes y(x,0) = f(x) + g(x)

q(x) = f(x) + g(x) ------- (3)

Differentiate (2) w.r.t. t , we have y
t
(x,t) = a f'(x+at) a g'(xat)

When t = 0, y
t
(x,0) = a f'(x) a g'(x) -----------(4)

Integrating (4) between ( c, x ) w.r.t. x



( ) ( ) ( )
x x x
c c c
v x dx a f x dx a g x dx ' ' =
} } }


( ) ( ) ( )
x
c
v d af x ag x u u =
}


f(x) g(x) =
1
( )
x
c
v d
a
u u
}
----------------(5)

Adding (3) & (5)

f(x) =
( ) 1
( )
2 2
x
c
x
v d
a
q
u u +
}
--------- (6)

Subtracting (7) from (5)

( ) 1
( ) ( )
2 2
x
c
x
g x v d
a
q
u u =
}
--------- (7)

from (6), f(x+at) =
1 1
( ) ( )
2 2
x at
c
x at v d
a
q u u
+
+ +
}
-----------(8)

from (7), g(xat) =
1 1
( ) ( )
2 2
x at
c
x at v d
a
q u u

}
----------- (9)

Substitute (8) & (9) in (2)


y(x,t) =
1 1
( ) ( )
2 2
x at
c
x at v d
a
q u u
+
+ +
}
+
1 1
( ) ( )
2 2
x at
c
x at v d
a
q u u

}



y(x,t) =
1 1
( ) ( )
2 2
x at
c
x at v d
a
q u u
+
+ +
}
+
1 1
( ) ( )
2 2
c
x at
x at v d
a
q u u

+
}


y(x,t) =
1
( )
2
x at q + +
1 1
( ) ( )
2 2
x at
x at
x at v d
a
q u u
+

+
}



Note: If the string is at rest at t = 0, then initial velocity = 0. v(x) = 0

y(x,t) =
1
( )
2
x at q + +
1
( )
2
x at q

Example1: A tightly stretched string of length l with its fixed ends at x = 0, x = l
executes transverse vibrations. Motion is started with zero initial
velocity
by displacing the string into the form f(x) = k (x
2
x
3
). Find the deflection
at
any time t.

Solution: In the given problem, y(0,t) = 0, y(l,t) = 0, y(x,0) = q(x) = f(x) = k (x
2
x
3
)
y
t
(x,0) = v(x) = 0.

The D'Alemberts solution is y(x,t) =
1
( )
2
x at q + +
1
( )
2
x at q

=
( ) ( ) ( ) ( )
2 3 2 3 1
{ }
2
k x at x at x at x at + + +

=
2
k
{ 2x
2
+ 2a
2
t
2
2x
3
6xa
2
t
2
}

Example2: Using laplace transform method, solve the initial value problem
y
tt
= y
xx
; 0<x<1 and t>0 with the boundary conditions y(0,t) = 0, y(1,t) =
0,
y(x,0) = sintx and y
t
(x,0) = sintx.

Solution: Given equation is y
t t
= y
xx
-------------(1)

Taking laplace transform w.r.t. t , we have L{ y
t t
}= L { y
xx
}

s
2
Y s y(x,0) y
t
(x,0) = D
2
Y where D
2
=
2
2
d
dx
and L{y(x,t)} = Y(x,s) =
Y

( D
2
s
2
)Y = ( 1 s ) sin tx { using y(x,0) = sintx, y
t
(x,0) = sintx }

The auxiliary equation is m
2
s
2
= 0 and m = s

the complementary function is A e
sx
+ B e
sx


Particular Integral = (1s)
2 2
sin x
D s
t

=
( )
( )
2 2
1
sin
s
x
s
t
t

+


the solution is Y(x,s) = A e
sx
+ B e
sx
+
( )
( )
2 2
1
sin
s
x
s
t
t

+
----------(2)

taking laplace transform for the remaining boundary conditions, we get

L{ y(0,t) } = L{ 0 } Y(0,s) = 0 -----(3)

L{ y(1,t) } = L{ 0 } Y(1,s) = 0 -----(4)

Putting x = 0 and 1 in equation (2), we get

Y(0,s) = A + B and Y(1,s) = A e
s
+ B e
s
-------- (5)

Using (3), (4) in (5), we get A + B = 0
A e
s
+ B e
s
= 0

Solving we get A = B = 0

equation (2) becomes Y(x,s) =
( )
( )
2 2
1
sin
s
x
s
t
t

+


taking inverse laplace transform,

y(x,t) = sin tx
1
2 2 2 2
1
{ }
s
L
s a s a

+ +


= sin tx { costat
1
t
sin tt }

Example2: A string is stretched and fixed between two points (0,0) and (l,0).
Motion is started by displacing the string in the form k sin x
l
t
and
released from rest. At time t = 0. Find the displacement of any point of
the string at any time t using laplace transform.




Solution: Given equation is y
t t
= a
2
y
xx
-------------(1)

Given boundary conditions are y(0,t) = 0 and y(l,t) = 0, t > 0
y(x,0) = k sin x
l
t
and y
t
(x,0) = 0 0 s x s 1


Taking laplace transform on both sides of (1) w.r.t. t , we have L{ y
t t
}= a
2
L { y
xx
}

s
2
Y s y(x,0) y
t
(x,0) = a
2
D
2
Y where D
2
=
2
2
d
dx
and L{y(x,t)} = Y(x,s)
= Y

using the initial conditions,

( D
2

2
2
s
a
) Y =
2
sin
sk
x
a l
t
----------(2)

The auxiliary equation is m
2

2
2
s
a
= 0 m =
s
a


complementary function is
s s
x x
a a
Ae Be

+


Particular Integral =
2 2
2
2
1
sin
sk
x
s a l
D
a
t

`
)

=
2
2
sin
ks
x
l
a
s
l
t
t | |
+
|
\ .



the solution for (2) is Y(x,s) =
s s
x x
a a
Ae Be

+ +
2
2
sin
ks
x
l
a
s
l
t
t | |
+
|
\ .
--------(3)

taking laplace transform for the remaining boundary conditions, we get

L{ y(0,t) } = L{ 0 } Y(0,s) = 0 -----(4)

L{ y(1,t) } = L{ 0 } Y(1,s) = 0 -----(5)



when x = 0, x = l , equation (3) becomes

Y(0,s) = A + B and Y(l,s) =
s s
l l
a a
Ae Be

+

Using (4) & (5), we have A + B = 0


s s
l l
a a
Ae Be

+ = 0

Solving, we get A = B = 0

(3) becomes Y(x,s) =
2
2
sin
ks
x
l
a
s
l
t
t | |
+
|
\ .


Taking inverse laplace transform, y(x,t) =
1
2
2
sin
s
k x L
l
a
s
l
t
t

(
(
(
(
| |
+
(
|
\ .


= sin cos
a
k x t
l l
t t





Example3: Solve using laplace transform method u
xx
=
2
1
c
u
tt
cos et, 0 < x < , t
> 0
u(x,0) = u
t
(x,0) = u(0,t) = 0 and u is bounded as x .


Solution : Taking laplace transform for the given equation , we get

L[ u
xx
] =
2
1
c
L[ u
t t
] L[ cos et ]

D
2
U =
2
1
c
{ s
2
U s u(x,0) u
t
(x,0) }
2 2
s
s e +
where D
2
=
2
2
d
dx
and
L{u(x,t)} = U(x,s) =
U
Using the initial conditions u(x,0) = u
t
(x,0) = 0,



( D
2

2
2
s
c
) U =
2 2
s
s e +
-----(1)

The solution of (1) is U =
( )
2
2 2
s s
x x
c c
c
Ae Be
s s e

+ +
+
-----(2)

taking laplace transform for the remaining boundary conditions, we get

L{ u(0,t) } = L{ 0 } U(0,s) = 0 -----(3)

L { u(x,t) } = L{ 0 } U(x,s) = 0 as x

When x = 0, equation (2) becomes A + B +
( )
2
2 2
c
s s e +
= 0 ----- (3)

When x, equation (2) becomes A e

+ B e

+
( )
2
2 2
c
s s e +
= 0

A = 0

From (3) B =
( )
2
2 2
c
s s e +


equation (2) becomes U(x,s) =
( )
2
2 2
c
s s e +

s
x
c
e

+
( )
2
2 2
c
s s e +




Taking inverse laplace transform, u(x,t) = c
2
L
1
{
( )
2 2
1
s s e +

s
x
c
e

+
( )
2 2
1
s s e +
}


L
1
{
( )
2 2
1
s s e +
} =
( )
2 2 2
1
2 2 2
1
{ }
s s
L
s s
e
e e

+
+



=
1
2 2 2
1 1 s
L
s s e e

`
+
)


= { }
2
1
1 cos t e
e


Also we know that L
1
{ e
as
F(s) } = f(ta) H(ta) where H(ta) = 1, t>a
= 0, t<a

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


L
1
{
( )
2 2
1
s s e +

s
x
c
e

} =
x x
f t H t
c c
| | | |

| |
\ . \ .



=
2
1
1 cos ,
x x
t t
c c
e
e
| |
>
`
|
\ . )


= 0 ,
x
t
c
<


Example4: Solve u
xx
= u
tt
for 0 < x < , t>0 subject to u
x
(0,t) = 0, u(x,0) = e
x
,
u
t
(x,0) = 0 and u(x,t) 0 as x

Solution : Taking laplace transform for the given equation , we get

L[ u
xx
] = L[ u
t t
]

D
2
U = { s
2
U s u(x,0) u
t
(x,0) } where D
2
=
2
2
d
dx
and
L{u(x,t)} = U(x,s) = U
Using the initial conditions u(x,0) = u
t
(x,0) = 0,



( D
2
s
2
) U = s e
x
-----(1)

The solution of (1) is U(x,s) = A e
sx
+ B e
s x

2
1
x
s
e
s

-----(2)

Since u(x,t) 0 as x , U(x,s) 0 as

from equation (2), we have A = 0

Differentiate (2) w.r.t. x, we get U
x
(x,s) = s B e
s x
+
2
1
x
s
e
s

Since u
x
(0,t) = 0, taking laplace transform, U
x
(0,s) = 0



0 = s B +
2
1
s
s


B =
2
1
1 s


equation (2) becomes, U(x,s) =
2 2
1 1
sx x
e se
s s

+



taking inverse laplace transform, u(x,t) = L
1
2
1
1
sx
e
s

(
(

+ e
x
L
1
2
1
1 s
(
(

= f(tx) H(tx) + e
x
cosh t where H(tx) = 1,
t>x
= 0,
t<x

f(t) = L
1
{
2
1
1 s
}

= sinh (tx) + e
x
cosh t , t > x

= e
x
cosh t , t < x

OR

= e
t
cosh x , t > x
= e
x
cosh t , t < x


Example5: Solve using the laplace transform method u
xx
=
2
1
c
u
tt
, 0 < x < , t > 0
u(x,0) = u
t
(x,0) = 0, 0 < x < , u(0,t) = f(t) and u(x,t)0 as x .


Solution : Taking laplace transform for the given equation , we get

L[ u
xx
] =
2
1
c
L[ u
t t
]

D
2
U =
2
1
c
{ s
2
U s u(x,0) u
t
(x,0) } where D
2
=
2
2
d
dx

and
L{u(x,t)} = U(x,s) =
U
Using the initial conditions u(x,0) = u
t
(x,0) = 0,



( D
2

2
2
s
c
) U = 0 -----(1)

The solution of (1) is U =
s s
x x
c c
Ae Be

+ -----(2)

taking laplace transform for the remaining boundary conditions, we get

L{ u(0,t) } = L{ f(t) } U(0,s) = F(s) ------(3)

L { u(x,t) } = L{ 0 } U(x,s) = 0 as x ------(4)

Using (4) in (2), we get A = 0

Using (3) in (2), we get B = F(s)

(2) becomes U = ( )
x
s
c
e F s

Taking inverse laplace transform, u(x,t) = L
1 ( )
x
s
c
e F s

`
)



= ( ) ( )
x x
f t H t
c c
where H(t
x
c
) = 1 t >
x
c


= 0 t<
x
c

Example6: Using laplace transform, solve a
2
y
xx
= y
tt
, 0 < x < l, t>0 subject to
Y = 0 at x = 0, t>0 and Ey
x
= p at x = l, y = y
t
(x,0) = 0, 0<x< l





Solution : Taking laplace transform of the given equation , we have L{ y
t t
}= a
2
L { y
xx

}

s
2
Y s y(x,0) y
t
(x,0) = a
2
D
2
Y where D
2
=
2
2
d
dx
and L{y(x,t)} = Y(x,s)
= Y

using the initial conditions,

( D
2

2
2
s
a
) Y = 0
the solution is Y =
s s
x x
a a
Ae Be

+ -----------(1)

Given y(0,t) = 0 Taking Laplace Transform, we get Y(0,s) = 0

Using this in (1), we get A + B = 0 or B = A -----------(i)

Also given that
( ) ,
y p
l t
x E
c
=
c
Taking Laplace Transform, we get ( , )
d p
Y l s s
dx E
= ------
(ii)

Differentiating (1) w.r.t. x, we get

( , )
s s
x x
a a
d s s
Y x s Ae Be
dx a a

=

using the results (i) and (ii), we get

s s
l l
a a
p As
s e e
E a
| |
= +
|
\ .



Therefore A =
2 2
2 cosh 2 cosh
ap ap
and B
sl sl
Es Es
a a

=

Therefore (1) becomes Y(x,s) =
2
2 cosh
ap
sl
Es
a

s s
x x
a a
e e
| |

|
\ .


Taking inverse laplace transform, y(x,t) =
ap
E
L
1
2
sinh
cosh
x
s
a
l
s s
a


`

)
-----------------(2)


The poles of F(s) are given by s
2
cosh
l
s
a
= 0

Here s = 0 is a pole of order 1 and cosh
l
s
a
= 0
(2 1)
2
il n
s
a
t +
=



s = (2 1)
2
i
n a
l
t + , n is
integer



Res { e
st
F(s) ; s = 0 } =
0
( )
st
s
s e F s
Lt

=
2
0
sinh
cosh
st
s
x
s e s
a
l
s s
a
Lt

=
x
a




Res ( ) ; (2 1)
2
t
i
F s e s n a
l
t

= +
`
)
=
(2 1)
2
(2 1) ( )
2
st
i
s n a
l
i
s n a e F s
l
Lt
t
t
+
| |
+ +
|
\ .



=
(2 1)
2
2
(2 1)
2
(2 1) (2 1)
sinh
2 2
(2 1)
cosh
2
a
i n t
l
i n a
s
l
i n ax i n a
e s
la l
l
i n a
s
a
l
Lt
t
t
t t
t
+
+

+ + | | | |
+
| |
\ . \ .
+ | |
|
\ .





=
(2 1)
2
2
2 2 2
4
sin(2 1)
2 (2 1)
a
i n t
l
i l e a
n x
al n a
t
t
t
+

+
+

(2 1)
2
1
sinh
a
s i n
l
l l
s
a a
Lt
t +




=
(2 1)
2
2
2 2 2
4
sin(2 1)
2 (2 1)
a
i n t
l
i l e
n x
l n a
t
t
t
+

+
+

( ) sinh 2 1
2
a
l a
l i n
a l
t
(
+
(




=
(2 1)
2
2
2 2 2
4
sin(2 1)
2 (2 1)
a
i n t
l
i l e
n x
l n a
t
t
t
+

+
+

( ) sin 2 1
2
a
l i n
t (
+
(





=
( ) ( )
( )
( )
2 1
2
2
2
4
sin 2 1
2
1 2 1
a
i n t
l
n
l
e n x
l
n a
t
t
t
+
+
+




Example7: Prove that the solution of the wave equation u
xx
=
2
1
c
u
tt
in the strip
|x|sl, t>0 satisfying the boundary conditions
( ) , 0, 0
u
l t t
x
c
= >
c
and the
initial condition u(x,0) = ax, ( , 0)
u
x
t
c
c
= 0, |x|<l is
ax ac
1 2
sinh sec
x l
L s s h s
c c


`
)


Solution : Taking laplace transform for the given equation , we get

L[ u
xx
] =
2
1
c
L[ u
t t
]

D
2
U =
2
1
c
{ s
2
U s u(x,0) u
t
(x,0) } where D
2
=
2
2
d
dx

and
L{u(x,t)} = U(x,s) =
U
Using the initial conditions u(x,0) = ax and u
t
(x,0) = 0,



( D
2

2
2
s
c
) U =
2
sa
x
c
-----(1)




The auxiliary equation is m
2

2
2
s
c
= 0 m =
s
c


the complementary function is
s s
x x
c c
Ae Be

+


Particular Integral =
2
2
2
2
sa
x
c
s
D
c

=
1
2 2 2
2 2 2
1
c c D sa
x
s s c

(
| |

| (
\ .





=
ax
s



the solution of (1) is U =
s s
x x
c c
Ae Be

+ +
ax
s
--------(2)

Applying laplace transform to the condition
( ) , 0
u
l t
x
c
=
c
, we get
( ) , 0
U
l s
x
c
=
c
----(i)

Differentiate (2) w.r.t. x

( , )
s s
x x
c c
U s s a
x s Ae Be
x c c s

c
= +
c
---------------(3)

using the conditions (i) in (3), we get


2
sl sl
c c
ac
Ae Be
s

= -------------------(ii)


2
sl sl
c c
ac
Ae Be
s

= ------------------(iii)

Multiply (ii) by
sl
c
e and (iii) by
sl
c
e

, we get


A B
2
2
sl sl
c c
ac
e e
s
=

A B
2
2
sl sl
c c
ac
e e
s

=

Subtracting, we get B
2 2
2
sl sl sl sl
c c c c
ac
e e e e
s
( (
=
( (






B sinh
2sl
c
=
2
sinh
ac sl
s c



2 B sinh
sl
c
cosh
sl
c
=
2
sinh
ac sl
s c



B =
2
sech
2
ac sl
c s


Multiplying (ii) by
sl
c
e

and (iii) by
sl
c
e and proceeding as before, we get



A =
2
sech
2
ac sl
c s


(2) becomes U(x,s) =
2
sec
2
sx sx
c c
ax ac sl
h e e
s s c
(

(




=
2
sinh sec
ax ac x l
s h s
s s c c



u(x,t) = ax ac
1 2
sinh sec
x l
L s s h s
c c


`
)
-------------------------(4)


consider
1
2
sinh
cosh
x
s
c
L
l
s s
c

`

)
= sum of residues of ( )
st
e F s


Here s = 0 is a pole of order 1.
Also cosh
l
s
c
= 0 s = ( ) 2 1 , 0,1, 2,....
2
c
n i n
l
t + = are the poles.


Res { ( )
st
e F s ; s = 0 } =
0 s
Lt

(s-0) F(s)



=
0 s
Lt

sinh
x
s
c
s

0 s
Lt

cosh
st
e
l
s
c



=
x
c
{ since
0 s
Lt

sinh
1
s
s
= }





Let F(s) =
( )
( )
s
s
|

where
2
sinh
( ) ( ) cosh
st
x
e s
l
c
s and s s
s c
| = =


Res{ F(s) ; s = (2 1)
2
c
n i
l
t + } =
k
s s
Lt

( )
( )
k
k
s
s
|
'



=
(2 1)
2
ic
s n
l
Lt
t
+
2
sinh
sinh
st
x
e s
c
s
l l
s
c c



=
(2 1)
2
2 2
4
(2 1)
ict
n
l
l e
c n
t
t
+

+

(2 1)
sinh
2
(2 1)
sinh
2
x c n i
c l
l c n i
c l
t
t
+ (
(

+ (
(




=
2 2
4
(2 1)
l
c n t

+

sin(2 1)
2
sin(2 1)
2
n x
l
n
t
t
+
+

(2 1)
2
ict
n
l
e
t
+



=
2 2
4
(2 1)
l
c n t

+
sin (2n+1)
2
x
l
t

(2 1)
2
ict
n
l
e
t
+



Similarly, Res{ F(s) ; s = (2 1)
2
c
n i
l
t + } =
2 2
4
(2 1)
l
c n t

+
sin (2n+1)
2
x
l
t

(2 1)
2
ict
n
l
e
t
+



(4) becomes

u(x,t) = ax ac { Res (s=0) +
0
Re ( (2 1) )
2
n
i
s s c n
l
t

=
= +

+
0
Re ( (2 1) )
2
n
i
s s c n
l
t

=
= +

}



u(x,t) = ax ac
(2 1) (2 1)
2 2
2 2
0
4 ( 1)
sin(2 1)
(2 1) 2
ict ict n
n n
l l
n
x l
n x e e
c c n l
t t
t
t

+ +
=
(

+ +
` (
+
)

u(x,t) = ax ac
2 2
0
8 ( 1)
sin(2 1) cosh(2 1)
2 2 (2 1)
n
n
x l ict
n x n
c l l c n
t t
t

=

+ +
`
+
)

Another Method to find the Residue:




Res{ F(s) ; s = s
n
= (2 1)
2
c
n i
l
t + } =
n
s s
Lt

(s s
n
) e
st
F(s)



=
(2 1)
2
2
2 2 2
4
sinh (2 1)
(2 1) 2
c
n it
l
l e xc
n i
c n c l
t
t
t
+
(
+
(
+


n
s s
Lt

( )
cosh
n
s s
l
s
c

=
(2 1)
2
2
2 2 2
4 sin (2 1)
2
(2 1)
c
n it
l
x
i l e n
l
c n
t
t
t
+
+
+

sinh (2 1)
2
c
l c
l n i
c l
t
(
+
(




=
(2 1)
2
2
2 2 2
4 sin (2 1)
2
(2 1)
c
n it
l
x
i l e n
l
c n
t
t
t
+
+
+

sin(2 1)
2
c
il n
t
+



=
2 2
( 1) 4
sin(2 1) cos(2 1)
(2 1) 2 2
n
l c
n x n t
c n l l
t t
t

+ +
+
(the real
part)


Example8: An infinitely long string having one end at x = 0 is initially at rest on the
x-axis. the end x = 0 undergoes a periodic transverse displacement
described by A
0
sinet, t>0. Find the displacement of any point on the
string at any time t.


Solution: The transverse displacement of the string is described by the PDE

U
xx
=
2
1
c
u
t t
-------------(1)
Taking laplace transform for the given equation , we get

L[ u
xx
] =
2
1
c
L[ u
t t
]

D
2
U =
2
1
c
{ s
2
U s u(x,0) u
t
(x,0) } where D
2
=
2
2
d
dx

and
L{u(x,t)} = U(x,s) =
U
Using the initial conditions u(x,0) = 0 and u
t
(x,0) = 0, we get

( D
2

2
2
s
c
) U = 0 -----(2)

The auxiliary equation is m
2

2
2
s
c
= 0 m =
s
c


the solution of (2) is U(x,s) =
s s
x x
c c
Ae Be

+ -----------------(3)

since the displacement U(x,s) is bounded as x , we get A = 0

also u(0,t) = A
0
sinet U(0,s) =
0
2 2
A
s
e
e +


using this in (3), we get B =
0
2 2
A
s
e
e +


(3) becomes U(x,s) =
0
2 2
A
s
e
e +

x
s
c
e

taking inverse laplace transform, we get




u(x,t) = A
0

x
H t
c
| |

|
\ .

x
f t
c
| |

|
\ .
where
x
H t
c
| |

|
\ .
= 1 t >
x
c


= 0 t <
x
c

= A
0
sin e
x
t
c
| |

|
\ .
, t >
x
c
f(t) =
1
2 2
sin L t
s
e
e
e

=
`
+
)

= 0 , t <
x
c




Example9: If the function u(x,t) satisfies the following PDE u
xx
=
2
1
c
u
tt
+ k,
0 < x < l, t>0 Subject to the boundary conditions u(0,t) = u
x
(l,t) = 0, t > 0
and the initial conditions u(x,0) = u
t
(x,0) = 0, 0 < x < l.

Solution: Taking laplace transform and using the initial conditions, we get

( D
2

2
2
s
c
) U =
k
s
-----(1)


the solution of (1) is U(x,s) =
s s
x x
c c
Ae Be

+
2
3
kc
s
-----------------(2)

Taking laplace transform to the boundary conditions, we get (i) U(0,s)=0 (ii) U
x
(l,s) = 0

Applying (i) in (2), we get A + B =
2
3
kc
s
------------(iii)

Differentiate (2) w.r.t. x, we get U
x
(x,s) =
s s
x x
c c
sA sB
e e
c c

------------(3)

Applying (ii) in (3), we get
s s
l l
c c
sA sB
e e
c c

= 0 ---------(iv)

Solving (iii) and (iv) we get

A =
2
3
2
cosh
sc
l
kc e
s
s
l
c

and B =
2
3
2
cosh
sc
l
kc e
s
s
l
c



(2) becomes u(x,s) =
2 2
3 3
cosh ( )
cosh
s
l x
kc kc
c
s
s s
l
c

taking inverse laplace transform formula

u(x,t) = kc
2

1
3
cosh
cosh
l x
s
c
L
l
s s
c

`

)
kc
2

1
3
1
L
s

`
)



= kc
2
{sum of residues at the poles s = 0 of order 3 and s = (2 1)
2
ic
n
l
t
+ } kc
2

2
2
t



Res { F(s) ; s = 0 } =
0 s
Lt

2
3
2
1
( 0) ( )
(3 1)!
st
d
s e F s
ds

=
1
2
0 s
Lt

2
cosh sinh cosh sinh
cosh cosh cosh
t st
l x l x l x l l x l
te s e s s s
d
c c c c c c
l l l
ds
s s s
c c c


+
`

)


again differentiating and applying the limit, we get

Res{e
st
F(s) ; s = 0 } =
1
2
2 2
2
l x l
t
c c

| | | |
+
`
| |
\ . \ .

)



=
2 2
2 2
2
2 2 2
t x lx
c c
+ (or coefficient of
1
s
in the laurents
series expansion)



Res { e
st
F(s) ; s = s
n
} =
( )
( )
n
n
h s
k s '
where h(s) =
3
cosh
st
e l x
s
s c

and k(s) = cosh

l
s
c



=
3 3 3 3
3
(2 1)
exp (2 1) cosh
2 2
(2 1) ( ) (2 1)
sinh
8 2
ic l x n ic
n t
l c l
n i c l l n ic
l c c l
t t
t t
+
+
` `
) )
+ +
`
)



=
2
3 3 2
2 1 2 1
8 exp cosh ( )
2 2
2 1
(2 1) sinh
2
n n
l ict i l x
l l
n
i n c i
t t
t t
+ + ( (

( (

+ (
+
(




=
2
3 3 2
2 1 2 1
8 exp cos ( )
2 2
(2 1) sin(2 1)
2
n n
l ict l x
l l
n c n
t t
t
t
+ + ( (

( (

+ +



=
( )
2
3 3 2
2 1 2 1
1 8 cos cos ( )
2 2
(2 1)
n n n
l ct l x
l l
n c
t t
t
+ + ( (

( (

+








the required solution is

u(x,t) = kc
2
{
2 2
2 2
2
2 2 2
t x lx
c c
+ } kc
2

2
2
t
+ kc
2

( )
2
3 3 2
2 1 2 1
1 8 cos cos ( )
2 2
(2 1)
n n n
l ct l x
l l
n c
t t
t
+ + ( (

( (

+



=
( )
( )
( )
( )
2
3 3
0
1
8 2 1 2 1
2 cos cos )
2 2 2
2 1
n
n
kx kl n n
x l ct l x
l l
n
t t
t

=

+ +
+
+

Example10: The end x = 0 of an elastic bar is free while a constant longitudinal
force F
0
per unit area acts longitudinally at length x = l. The bar is
initially at rest and it is unstrained. Find the displacement u(x,t) in the
bar.

Solution : Given boundary conditions are 0
u
x
c
=
c
at x = 0 and
0
u
E F
x
c
=
c
at x = l


Also u = 0 at t = 0 and 0
u
t
c
=
c
at t = 0

The transverse displacement of the string is described by the PDE

U
xx
=
2
1
c
u
t t
-------------(1)
Taking laplace transform for the given equation , we get

L[ u
xx
] =
2
1
c
L[ u
t t
]

D
2
U =
2
1
c
{ s
2
U s u(x,0) u
t
(x,0) } where D
2
=
2
2
d
dx

and
L{u(x,t)} = U(x,s) =
U
Using the initial conditions u(x,0) = 0 and u
t
(x,0) = 0, we get

( D
2

2
2
s
c
) U = 0 -----(2)

The auxiliary equation is m
2

2
2
s
c
= 0 m =
s
c


the solution of (2) is U(x,s) =
s s
x x
c c
Ae Be

+ -----------------(3)





Taking laplace transform for the boundary conditions 0
u
x
c
=
c
at x = 0 &
0
u
E F
x
c
=
c
at x
= l,
We get (0, ) 0
d
U s
dx
= (i) and
0
1
( , )
F d
U l s
dx E s
= .(ii)

Diff (3) w.r.t. x, we get


( , )
s s
x x
c c
d sA sB
U x s e e
dx c c

= + ---------------(4)

using (i) in (4), we get A = B

using (ii) in (4), we get
0
.
s s
l l
c c
F sA sB
e e
c c E s

+ =


2
0
sinh
.
F As s
l
c c E s
= { since A = B }


A =
0
2
.
2 sinh
F c
s
Es l
c


(3) becomes U(x,s) =
0
2
cosh
.
sinh
x
s
F c
c
l
E
s s
c




u(x,t) = { }
1 0
.
( )
F c
L F s
E



=
0
. F c
E
{ sum of residues of
2
cosh
sinh
st
x
e s
c
l
s s
c
} -----------------------(5)

Here the poles are (i) s = 0 is a pole of order 3 (ii) s =
n ic
l
t
, n = 1, 2,


Res { ( )
st
e F s ; s = 0 } = coefficient of
1
s
in the expansion of ( )
st
e F s

=
2 2 2 2 4 4 2 2 4 4
2 2 4 2 4
1
1 ..... 1 ... 1 ...
1! 2! 2! 4! .3! .5!
st s t x s x s c l s l s
s c c ls c c

+ + + + + +
` ` `
) ) )


=
2 2 2
2 2
.3! 2! .2!
c l t x
l c c

+ +
`
)




Res { ( )
st
e F s ; s = s
n
} =
( )
( )
n
n
h s
K s '
where h(s) =
2
cosh
st
e x
s
s c
and k(s) = sinh
l
s
c




=
2 2 2
2
exp cosh .
cosh
l
c
n ict x n ic
l c l
n c l n ic
l c l
t t
t t
| |
|
\ .

=
2 2
exp cos
cos
n ct n x
l i
l l
n c n
t t
t t
| |

|
\ .


=
( )
2 2
1
cos cos
n
l
n n
ct x
n c l l
t t
t

(5) becomes

u(x,t) =
( )
2 2
0
2 2
1
cos cos
2 2 6
n
l
F c x t c l n n
ct x
E lc l c n c l l
t t
t

+
`

)






Example11: A semi infinite string is stretched along the positive half of a horizontal
x-axis with its end x = 0 ties at the origin and with its end x = 0 ties at
the origin and with its distant end looped around a vertical support that
exerts no vertical force on the loop. The string is initially supported at
rest along the x-axis. At time t = 0, the support is removed and the
string moves under the action of gravity. Obtain the displacement
u(x,t) at any position x, at any time t.

Solution : We know that the wave equation for a long string under its weight is

u
t t
= c
2
u
xx
g , g is gravitational force

Given initial and boundary conditions are

i. u(x,0) = 0 ii.u
t
(x,0) = 0 iii. u(0,t) = 0 iv. u
x
0 as x


Taking laplace transform and using the initial conditions (i) & (ii), we get

( D
2

2
2
s
c
) U =
2
g
c s
where U = U(x,s) = L{u(x,t)}

The solution is U(x,s) =
s s
x x
c c
Ae Be

+
3
g
s


From (iii) U(0,s) = 0 and from (iv) U
x
0 as x

Using this in the solution , we get A + B =
3
g
s
and A = 0

the solution becomes U(x,s) =
3
g
s

s
x
c
e

3
g
s

u(x,t) = g { H
x
t
c
| |

|
\ .
f
x
t
c
| |

|
\ .

2
2
t
}

= g
2
1
2
x
t
c
| |

|
\ .
, t >
x
c


= 0 , t <
x
c





Hints to find the initial and boundary conditions:

1. The end x = 0 and x = l is fixed. Then u(0,t)=0 and u(l,t)=0

2. An infinitely long string. Then u is bounded as x

3. The end x=0 undergoes a displacement f(t). Then u(0,t)=f(t)

4. The end x = 0 is free. Then
( ) 0, 0
u
t
x
c
=
c


5. The string is initially at rest. Then u(x,0)=0 and
( ) , 0 0
u
x
t
c
=
c

6. At the end x = l , a constant force F
0
acts longitudinally
( )
0
,
F u
l t
x E
c
=
c



Procedure to solve the wave equation

1. Write the wave equation

2. Write the initial and boundary conditions

3. Take laplace transform on both sides of the wave equation and use the initial
conditions

4. Now we get ordinary differential equation

5. Solve the ODE

6. Using the boundary conditions(after taking LT), find the constants

7. Take inverse laplace transform for the above mentioned solution


Important Results and formula

sin iu = i sinh u sin
1
( 1)
2
n
n t
| |
+ =
|
\ .


sin u = i sinh ( iu )

sinh iu = i sinu

cosh iu = cos u



L
1
{ F(s) } =
1
( )
2
l i
st
l i
e F s ds
i t
+

}
= sum of residues of e
st
F(s)


L[ u(x,t) ] = U(x,s)


( ) , ( , )
d
L u x t U x s
x dx
c (
=
(
c



( )
2 2
2 2
, ( , )
d
L u x t U x s
x dx
( c
=
(
c




( ) | | , ( , ) ( , 0) L u x t s L u x t su x
t
c (
=
(
c

= s U(x,s) u(x,0)


( ) | |
2
2
2
, ( , ) ( , 0) ( , 0)
t
L u x t s L u x t su x u x
t
( c
=
(
c

= s
2
U(x,s) s u(x,0) u
t
(x,0)