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Appendix A Hints and Answers to Selected Exercises

1 A First Look at Differential Equations
1.1 Modeling with Differential Equations
1.1.9 Exercises

1.1.9.29.

Hint.
Rewriting the differential equation as \(x' + a x - q(t) = 0\) and using the fact that
\begin{equation*} x'(t) = -a Ce^{-at} - a e^{-at} \int_{t_0}^t e^{as}q(s) \, ds + b(t), \end{equation*}
we see that
\begin{align*} x'(t) + a x(t) - q(t) & = -a Ce^{-at} - a e^{-at} \int_{t_0}^t e^{as}q(s) \, ds + q(t)\\ & + \; aCe^{-at} + ae^{-at} \int_{t_0}^t e^{as}q(s) \, ds - q(t)\\ & = 0. \end{align*}

1.1.9.31.

Hint.
Think about the limit of the interaction term as the number of prey becomes very large.

1.4 Analyzing Equations Numerically
1.4.6 Exercises

1.4.6.8.

Hint.
Hints for part (2):
  • For fixed \(i\) show that
    \begin{align*} a_{i + 1} & \leq (1 + s)a_i + t\\ & \leq (1 + s)[(1 + s)a_{i - 1}+ t] + t\\ & \leq (1 + s)\{ (1 + s)[(1 + s) a_{i - 2} + t]+ t\} + t\\ & \vdots\\ & \leq (1 + s)^{i+1}a_0 + [1 + (1 + s) + (1+s)^2 + \cdots + (1 + s)^i]t. \end{align*}
  • Now use a geometric sum to show that
    \begin{equation*} a_{i + 1} \leq (1 + s)^{i + 1} a_0 + \frac{t}{s}[(1 + s)^{i + 1} - 1] = (1 + s)^{i + 1} \left( \frac{t}{s} + a_0 \right) - \frac{t}{s}. \end{equation*}
  • Apply part (1) to derive
    \begin{equation*} a_{i + 1} \leq e^{(i + 1)s} \left( \frac{t}{s} + a_0 \right) - \frac{t}{s}. \end{equation*}

1.5 First-Order Linear Equations
1.5.8 Exercises

1.5.8.16.

Hint.
\(y = \dfrac{3 x^{4} + 8 x^{3} + 6 x^{2} + 12}{6 (x + 1)^2}\)

1.5.8.21.

Hint.
If \(x(t)\) is the amount of salt in the tank at time \(t\text{,}\) we know that \(x(0) = 10\text{.}\) The volume of the tank is \(V = 200 + 5t\text{.}\) We can model the amount of salt in the tank at time \(t\) with a differential equation,
\begin{align*} \frac{dx}{dt} & = \text{rate in} - \text{rate out}\\ & = 10(0.1) - 5 \frac{x}{V}\\ & = 1 - 5\frac{x}{200+ 5t}\\ & = 1 - \frac{x}{40 + t}. \end{align*}
The resulting equation
\begin{equation*} \frac{dx}{dt} + \frac{1}{40 + t}x = 1 \end{equation*}
is a first order linear differential equation. An integrating factor for this equation is given by
\begin{equation*} \mu(t) = \exp\left(\int \frac{1}{40 + t} \, dt\right) = 40 + t. \end{equation*}
Multiplying both sides of the differential equation by \(\mu(t)\text{,}\) we have
\begin{equation*} \frac{d}{dt} [(40 + t)x] = (40 + t) \frac{dx}{dt} + x = (40 + t)\left( \frac{dx}{dt} + \frac{1}{40 + t}x \right) = 40 + t. \end{equation*}
Integrating both sides of this equation, we obtain
\begin{equation*} (40 + t)x = 40t + \frac{t^2}{2} + C. \end{equation*}
Using the intial condition \(x(0) = 10\text{,}\) we can determine that \(C = 400\) or
\begin{equation*} x(t) = \frac{t^2 + 80t + 800}{2t + 80}. \end{equation*}
The tank is full at time \(t = 400/5 = 80\text{,}\) and the tank contains \(x(80) = 170/3 \approx 56.67\) kilograms of salt when the tank is full.

1.5.8.22.

Hint.
Divide the problem into two smaller problems—one that deals with the situation before retirement and one that deals with the problem after retirement.

1.5.8.25. Exact Differential Equations.

Hint.
For (e), rewrite the equation as
\begin{equation*} (y \, dx + x \, dy) + (-xy^2 \, dx + x^2 y^2 \, dy) = 0 \end{equation*}
and consider the integrating factor \(\mu(x, y) = 1/(xy)^2\text{.}\)

1.5.8.28.

Hint.
  1. If \(y = y_1 + 1/v\text{,}\) then \(y' = y_1' - v'/v^2\text{.}\) Substituting into our original equation, we obtain
    \begin{equation*} y' = y_1' - \frac{v'}{v^2} = p + q y_1 + r y_1^2 - \frac{v'}{v^2}. \end{equation*}
    On the other hand,
    \begin{align*} y' & = p + q \left(y_1 + \frac{1}{v} \right) + r \left(y_1 + \frac{1}{v} \right)^2\\ & = p + q y_1 + \frac{q}{v} + r y_1^2 + \frac{2r y_1}{v} + \frac{r}{v^2}\\ & = y_1' + \frac{q}{v} + \frac{2r y_1}{v} + \frac{r}{v^2}. \end{align*}
    Therefore,
    \begin{equation*} - \frac{v'}{v^2} = \frac{q}{v} + \frac{2r y_1}{v} + \frac{r}{v^2}, \end{equation*}
    which is just the first-order linear equation
    \begin{equation*} v' + [q(t) + 2 r(t) y_1(t)]v = - r(t). \end{equation*}
  2. \begin{equation*} y = t + \frac{1}{C - t} \end{equation*}
  3. \begin{equation*} y(t) = \frac{1}{C \cos t - \sin t} + \sin t \end{equation*}
  4. \begin{equation*} y(t) = 2 + \frac{1}{C e^t - 1} \end{equation*}

1.6 Existence and Uniqueness of Solutions
1.6.5 Exercises

1.6.5.1.

Hint.
  1. There exists a unique solution to \(y' = y^2 + y^3\text{,}\) \(y(0) = 1\text{,}\) since \(f(t, y) = y^2 + y^3\) and \(\partial f(t, y)/\partial y = 2y + 3y^2\) are continuous at the point \((0, 1)\text{.}\)
  2. The Existence and Uniqueness Theorem does not apply to \(y' = \sqrt[4]{y}\text{,}\) \(y(1) = 0\text{,}\) since \(f(t, y) = \sqrt[4]{y}\) is not continuous at \((1, 0)\text{.}\)
  3. There exists a unique solution to \(y' = \sqrt[4]{y}\text{,}\) \(y(1) = 1\text{,}\) since \(f(t, y) = \sqrt[4]{y}\) and \(\partial f(t, y)/\partial y = y^{-3/4}/4\) are both continuous at the point \((1, 1)\text{.}\)
  4. The Existence and Uniqueness Theorem does not apply to \(x' = t/(x^2 - 4)\text{,}\) \(x(0) = 2\text{,}\) since \(f(t, x) = t/(x^2 - 4)\) is not continuous at \((0, 2)\text{.}\)
  5. There exists a unique solution to \(x' = t/(x^2 - 4)\text{,}\) \(x(2) = 0\text{,}\) since \(f(t, x) = t/(x^2 - 4)\) and \(\partial f(t, x)/\partial x = - 2tx/(x^2 - 4)^2\) are both continuous at the point \((2, 0)\text{.}\)
  6. There exists a unique solution to \(y' = x \sin y\text{,}\) \(y(0) = 0\text{,}\) since \(f(x, y) = x \sin y\) and \(\partial f(x, y)/\partial y = x \cos y\) are both continuous at the point \((0, 0)\text{.}\)
  7. The Existence and Uniqueness Theorem does not apply to \(y' = 1/(t - 1) y + 2t\text{,}\) \(y(1) = 1\text{,}\) since \(f(t, y) = 1/(t - 1) y + 2t\) is not continuous at \((1, 1)\text{.}\)

1.6.5.3.

Hint.
(b) Make sure that the derivative of \(y(t)\) exists at \(t = t_0\text{.}\)

3 Linear Systems
3.2 Planar Systems
3.2.6 Exercises

3.2.6.10.

Hint.
Assume that your solution must be of the form
\begin{equation*} {\mathbf x}_p = \begin{pmatrix} a_2 t^2 + a_1 t + a_0 \\ b_2 t^2 + b_1 t + b_0. \end{pmatrix} \end{equation*}
This is called the method of undetermined coefficients.

4 Second-Order Linear Equations
4.1 Homogeneous Linear Equations
4.1.6 Exercises

4.1.6.32.

Hint.
  1. Observe that
    \begin{align*} a x_1'' + b_1' + cx_1 & = a \left(\frac{-b}{2a}\right)^2e^{-bt/2a} + b \left( \frac{-b}{2a} \right) e^{-bt/2a} + c e^{-bt/2a}\\ & = e^{-bt/2a} \left( \frac{b^2}{4a} - \frac{b^2}{2a} + c \right)\\ & = e^{-bt/2a} \left( \frac{-b^2 + 4ac}{4a} \right)\\ & = 0. \end{align*}
  2. If \(y = v(t) x_1(t) = v(t) e^{-bt/2a}\) is a solution to our differential equation, then
    \begin{align*} a y'' + b y' + cy & = a (v''x_1 + 2 v'x_1' + vx_1'' ) + b(v' x_1 + v x_1') + cv x_1\\ & = a v''x_1 + 2a v'x_1' + bv' x_1 + v(a x_1'' +b x_1' + c x_1)\\ & = a v'' e^{-bt/2a} + \left[2a \left( \frac{-b}{2a} \right) e^{-bt/2a} + b e^{-bt/2a} \right] v'\\ & = a v'' e^{-bt/2a}\\ & = 0. \end{align*}
    Since \(a \neq 0\text{,}\) we know that \(v'' = 0\text{.}\) Hence, \(v(t) = c_1 + c_2 t\text{.}\)

4.1.6.33.

Hint.
  1. \begin{align*} x'' + px' + qx & = (v''x_1 + 2 v' x_1' + vx_1'') + p(v'x_1 + vx_1') + q(vx_1)\\ & = x_1 v'' + 2v' x_1' + p x_1 v' + v (x_1'' + p x_1' + q x_1)\\ & = x_1 v'' +(2x_1' + px_1)v' \\ & = 0. \end{align*}
  2. If \(u = v'\text{,}\) then \(x_1 u' +(2x_1' + px_1)u= 0\text{.}\)
  3. If \(x_1(t) = 1/t\text{,}\) then
    \begin{equation*} 2 t^2 x_1'' + 3t x_1' - x_1 = 2 t^2 \left(\frac{2}{t^3}\right) + 3t \left(\frac{-1}{t^2}\right) - \frac{1}{t} = 0. \end{equation*}
    If we assume that \(x = v/t\) is a second solution, then
    \begin{equation*} 2 t^2 x'' + 3t x' - x = 2tv'' - v' = 0. \end{equation*}
    If we let \(u = v'\text{,}\) then a solution of \(2tu' - u = 0\) is \(u = \sqrt{t}\) and \(v = \int \sqrt{t} \, dt = 2 t^{3/2} / 3\text{.}\) Therefore, the second solution to our equation is
    \begin{equation*} x = \frac{v}{t} = \frac{2}{3} \sqrt{t}. \end{equation*}

4.1.6.38. Euler Equations.

Hint.
Show that
\begin{align*} \frac{dy}{dt} & = \frac{dx}{dt} \frac{dy}{dx}\\ \frac{d^2y}{dt^2} & = \left( \frac{dx}{dt} \right)^2 \frac{d^2y}{dx^2} + \frac{d^2x}{dt^2} \frac{dy}{dx}. \end{align*}

4.2 Forcing
4.2.7 Exercises

4.2.7.25.

Hint.
Suppose that that \(f(t)\) and \(g(t)\) are linearly dependent on an interval \(I = (a, b)\text{.}\) Then one function is a multiple of the other, say \(f(t) = c g(t)\text{.}\) Thus, \(f'(t) = cg'(t)\text{.}\)
\begin{equation*} W(f, g)(t) = \det \begin{pmatrix} f(t) & g(t) \\ f'(t) & g'(t) \end{pmatrix} = f(t) g'(t) - f'(t) g(t) = c g(t) g'(t) - cg'(t) g(t) = 0. \end{equation*}
Conversely, suppose that
\begin{equation*} W(f, g)(t) = \det \begin{pmatrix} f(t) & g(t) \\ f'(t) & g'(t) \end{pmatrix} = 0, \end{equation*}
for all \(t\) in \((a, b)\text{.}\) If \(g = 0\text{,}\) then \(0 f = g\) and the two functions are linearly dependent. Assume that \(g(t_0) \neq 0\) for some \(t_0\) in \((a, b)\text{.}\) Since \(g\) is differentiable, it must also be continuous and there is some interval \((c, d)\) contained in \((a, b)\) such that \(t_0 \in (c, d)\) and \(g\) does not vanish on this interval. Therefore,
\begin{equation*} \frac{d}{dt} \left( \frac{f}{g} \right) = \frac{f' g - f g'}{g^2} = - \frac{W(f,g)}{g^2} = 0, \end{equation*}
and \(f/g\) is constant on the interval \((c, d)\text{.}\) Thus, \(f(t_0) = c g(t_0)\) and \(f'(t_0) = c g'(t_0)\text{.}\) Since \(f\) and \(cg\) are both solutions to the differential equation \(y'' + p y' + q y = 0\) and have the same initial condition, \(f(t) = cg(t)\) for all \(t \in (a, b)\) by the existence and uniqueness theorem. Consequently, \(f\) and \(g\) are linearly dependent.

4.2.7.26.

Hint.
  1. We can rewrite \(2 t^2 y'' + 3ty' - y = 0\) as
    \begin{equation*} y'' + \frac{3}{2t} y' - \frac{1}{2t^2} y = 0. \end{equation*}
    Since \(p(t) = 1/2t\text{,}\) Abel’s Theorem tells us that
    \begin{equation*} W[y_1, y_2](t) = c \exp\left( - \int \frac{3}{2t} \, dt \right) = c \exp\left( - \frac{3}{2} \ln t \right) = ct^{-3/2}. \end{equation*}
  2. Since \(y_1\) and \(y_2\) are solutions to our differential equation, we know that
    \begin{gather*} y_1'' + p(t) y_1' + q(t) y_1 = 0\\ y_2'' + p(t) y_2' + q(t) y_2 = 0. \end{gather*}
    Multiplying the first equation by \(y_2\) and the second equation by \(y_1\) and subtracting, we obtain
    \begin{equation} (y_1 y_2'' - y_1'' y_2) + p(t) (y_1 y_2' - y_1' y_2) = 0.\tag{4.2.5} \end{equation}
    If
    \begin{equation*} W(t) = W(y_1, y_2)(t) = y_1 y_2' - y_1' y_2, \end{equation*}
    then
    \begin{equation*} W' = y_1 y_2'' - y_1'' y_2, \end{equation*}
    and equation (4.2.5) becomes
    \begin{equation*} W' + p(t) W = 0. \end{equation*}
    This equation is separable with solution
    \begin{equation*} W(t) = c \exp\left( - \int p(t) \, dt \right). \end{equation*}

4.2.7.27.

Hint.
  1. If \(y_p = u_1y_1 + u_2 y_2\text{,}\) then
    \begin{gather*} y_p' = u_1' y_1 + u_1 y_1' + u_2' y_2 + u_2 y_2' = u_1 y_1' + u_2 y_2'\\ y_p'' = u_1' y_1' + u_1 y_1'' + u_2' y_2' + u_2 y_2''. \end{gather*}
    Substituting these expressions into equation (4.2.6), we have
    \begin{align*} y_p'' + p y_p' + q y_p & = ( u_1' y_1' + u_1 y_1'' + u_2' y_2' + u_2 y_2'') + p(u_1 y_1' + u_2 y_2')\\ & + q(u_1y_1 + u_2 y_2)\\ & = u_1[y_1'' + p y_1' +q y_1] + u_2[y_2'' + p y_2' +q y_2] + u_1' y_1' + u_2' y_2'\\ & = u_1' y_1' + u_2' y_2'\\ & = f(t). \end{align*}
  2. If we solve the system
    \begin{align*} u_1'(t) y_1(t) + u_2'(t) y_2(t) & = 0\\ u_1'(t) y_1' (t)+ u_2'(t) y_2'(t) & = f(t). \end{align*}
    for \(u_1'\) and \(u_2'\text{,}\) we obtain
    \begin{align*} u_1'(t) & = \frac{- y_2(t) f(t)}{W[y_1, y_2](t)}\\ u_2'(t) & = \frac{y_1(t) f(t)}{W[y_1, y_2](t)}. \end{align*}
  3. Integrate the two equations from part (2).
  4. The general solution to the homogeneous equation \(y'' + 4y = 0\) is
    \begin{equation*} y_h = c_1 \cos 2t + c_2 \sin 2t. \end{equation*}
    To find a particular solution, assume that the solution has the form
    \begin{equation*} y_p = u_1(t) \cos 2t + u_2(t) \sin 2t. \end{equation*}
    By part (2)
    \begin{align*} u_1'(t) & = -3 \cos t\\ u_2'(t) & = \frac{3}{2} \csc t - 3 \sin t. \end{align*}
    Integrating, we obtain
    \begin{align*} u_1(t) & = -3 \sin t\\ u_2(t) & = \frac{3}{2} \ln| \csc t - \cot t| + 3 \cos t. \end{align*}
    Therefore,
    \begin{align*} y_p(t) & = u_1(t) y_1(t) + u_2(t) y_2(t)\\ & = -3 \sin t \cos 2t + \left[\frac{3}{2} \ln| \csc t - \cot t| + 3 \cos t\right] \sin 2t, \end{align*}
    and the general solution is
    \begin{align*} y & = y_h + y_p\\ & = c_1 \cos 2t + c_2 \sin 2t -3 \sin t \cos 2t + \left[\frac{3}{2} \ln| \csc t - \cot t| + 3 \cos t\right] \sin 2t. \end{align*}

4.3 Sinusoidal Forcing
4.3.5 Exercises

4.3.5.2.

Hint.
Assume the complex solution has form \(y_c = A e^{3it}\text{.}\)

4.3.5.12.

Hint.
Assume the complex solution has form \(y_c = A e^{3it}\text{.}\)

5 Nonlinear Systems
5.3 More Nonlinear Mechanics
5.3.6 Exercises