Engineering Mathematics 2

MATH1145
Lecture No4:
Ordinary Differential equations (ODE) - Part 1
Prof Gianluca Tozzi
Professor of Industrial Engineering

e-mail: [email protected]

Office: P147 (Pembroke South)

Drop in: Monday 2-4pm (in person or teams)

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 Differential Equations – basic definitions
The Differential Equations (DE) are equations where, instead of
algebraic variables, the unknown variables are functions and their
derivatives (1st, 2nd, …., nth order)

Mathematical functions describe a particular variation of a physical

property/parameter with respect to an independent variable.
Independent variables in most of our engineering problems can be time
(time variation) or space (spatial variation)

For example, take the function y(t) or y(x).

Y is called a dependent variable expressed as a function of the
independent variables (t - time) or dimension (x - space).
The function y(t) or y(x) describes the variation of parameter y with time (t)
and spatial dimension (x) respectively.

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 Differential Equations – basic definitions
The Differential Equations (DE) are equations where, instead of
algebraic variables, the unknown variables are functions and their
derivatives (1st, 2nd, …., nth order)

Remember:
Derivatives express
the rate of variation of
a quantity (slope of
function or lower
order derivative)
&
Integrals express the
accumulation of a
quantity over a
specific domain (area
between the curve
and the axis of the
independent variable)
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 Differential Equations – basic definitions
The Differential Equations (DE) are equations where, instead of
algebraic variables, the unknown variables are functions and their
derivatives (1st, 2nd, …., nth order)

Remember:

The operation producing the various derivatives is called differentiation.

Integration is the reverse operation of differentiation, i.e.

𝑑𝑓 𝑥
න 𝑑𝑥
ⅆ𝑥 = 𝑓 𝑥 or 𝑓 𝑥 + 𝐶 (check that it has the same derivative!)

If we integrate the derivative of a function f(x), we get back the function f(x) …
but also any similar function increased by a random constant C.
In other words, a whole family of similar functions can have the same
derivative. So the operation of integration is more complicated, because it
produces a family of possible outcomes!
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 Differential Equations – basic definitions
What happens if the function y is unknown?
Apparently, we need to determine the unknown function, if we want to define
our problem precisely.

What is the role of the Differential Equations in all this?

Differential equations express the variation and the interactions of an
unknown function that govern the behaviour of a system.
Very important equations that apply in every natural and engineering system!

In other words:
We can say that differential equations describe all the procedures in the world
around as that involve change…
i.e. all the physical procedures!

Because our world is a system of continuous change, evolution!

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 Differential Equations – basic definitions
Different symbols used for derivatives in D.E. –
all of them are equivalent
ⅆ𝑦 𝑡 ⅆ2 𝑦 𝑡 ⅆ𝑛 𝑦 𝑡
1) , 2
,… ,
ⅆ𝑡 ⅆ𝑡 ⅆ𝑡 𝑛
2) 𝑦ሶ 𝑡 , 𝑦(𝑡)
ሷ (Practical for up to 2nd derivative)
(Practical for up to 3rd or 4th derivative)
3) 𝑦 ′ 𝑡 , 𝑦 ′′ 𝑡 , 𝑦 ′′′ 𝑡 , 𝑦 ′′′′ 𝑡 , …
Alternative formulation can be: 𝑦 (𝑛)′ 𝑡
Sometimes it is easier not to repeat the independent variable,
i.e.: ⅆ𝑦 ⅆ2 𝑦
, 2 , … 𝑦,ሶ 𝑦,ሷ … 𝑦 ′ , 𝑦 ′′
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ⅆ𝑡 ⅆ𝑡
 Differential Equations – basic definitions
Types of Differential Equations
If there is only one independent variable in the problem
examined, the differential equation produced is called an
Ordinary Differential Equation – ODE.

In the case of multi-variable functions, partial derivatives can

be defined with respect to each variable, and the differential
equation is called a Partial Differential Equation – PDE.
(We will examine these in Term 2)
Examples of such multi-variable functions can be:
f(x,t) – a variation in space (1D) and time
f(x,y) or f (x,y,z) – a variation in the 2D or 3D space
f (x,y,z,t) – a variation in 3D space and time
etc
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 Differential Equations – basic definitions
Types of Differential Equations
𝑎𝑛 𝑦 (𝑛)′ 𝑥 + 𝑎𝑛−1 𝑦 (𝑛−1)′ 𝑥 + ⋯ + 𝑎1 𝑦 ′ 𝑥 + 𝑎0 𝑦(𝑥) = 𝑝 𝑥
If a DE can be written as a 1st order polynomial with respect to
the unknown function y(x) and with respect to its derivatives
y(i)’ (where i = 1 to n) the differential equation is called a
Linear Ordinary Differential Equation – Linear ODE.
Any ODE which cannot be written in the above form, is a Non-
Linear ODE. Typical examples include DE types where the
function or its derivaties are not just added but multiplied,
exposed into a power, or are into the origin of a trigonometric
function, an exponential etc. Examples of non-linear terms:
𝑦′ 𝑥 𝑦 𝑥 , 𝑦2 𝑥 , 𝑦(𝑥), cos 𝑦(𝑥) , 𝑒 𝑦(𝑥)

More complicated to solve compared to the Linear ODEs…

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 Differential Equations – basic definitions
Types of Differential Equations
𝑎𝑛 𝑦 (𝑛)′ 𝑥 + 𝑎𝑛−1 𝑦 (𝑛−1)′ 𝑥 + ⋯ + 𝑎1 𝑦 ′ 𝑥 + 𝑎0 𝑦(𝑥) = 𝑝 𝑥

Co-efficients ai can be constant numbers or can be also

functions of the independent variable, i.e. ai(x).
In the second case, the DE is still linear, but the solutions might
be more complicated compared to the ones with constant
coefficients.
In this module, we will mainly examine ODEs with constant
coefficients, which are quite typical for many engineering
problems

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 Differential Equations – basic definitions
Types of Differential Equations
𝑎𝑛 𝑦 (𝑛)′ 𝑥 + 𝑎𝑛−1 𝑦 (𝑛−1)′ 𝑥 + ⋯ + 𝑎1 𝑦 ′ 𝑥 + 𝑎0 𝑦(𝑥) = 𝑝 𝑥

The highest n-derivative in the ODE, defines the order of the

ODE.
Most of the problems we will examine are going to be simple
1st or 2nd order, some limited examples can involve 3rd of 4th
order.
𝑎1 𝑦 ′ 𝑥 + 𝑎0 𝑦 𝑥 = 𝑝 𝑥 1st order
𝑎2 𝑦 ′′ 𝑥 + 𝑎1 𝑦 ′ 𝑥 + 𝑎0 𝑦(𝑥) = 𝑝 𝑥 2nd order

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 Differential Equations – basic definitions
Types of Differential Equations
𝑎𝑛 𝑦 (𝑛)′ 𝑥 + 𝑎𝑛−1 𝑦 (𝑛−1)′ 𝑥 + ⋯ + 𝑎1 𝑦 ′ 𝑥 + 𝑎0 𝑦(𝑥) = 𝑝 𝑥

If all the terms of the above DE contain the function or a

derivative of it, i.e. if the LHS term p(x) = 0, then the ODE is
called a Homogeneous ODE.
𝑎𝑛 𝑦 (𝑛)′ 𝑥 + 𝑎𝑛−1 𝑦 (𝑛−1)′ 𝑥 + ⋯ + 𝑎1 𝑦 ′ 𝑥 + 𝑎0 𝑦(𝑥) = 0

If p(x) ≠ 0, then we have the non-homogeneous or

complete form of the ODE.

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 Differential Equations – basic definitions
How do we form a differential equation?

Characteristic ODEs for each particular engineering

problem are formed by considering the physical
phenomenon and by applying the mathematical
relationships expressing the relevant physical laws.

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 Differential Equations – basic definitions
How do we solve a differential equation?
There are various standard methods, depending on
the ODE type, which require some experience.
A solution to the ODE below, would be a function
y(x), which should satisfy the equation.
𝑎𝑛 𝑦 (𝑛)′ 𝑥 + 𝑎𝑛−1 𝑦 (𝑛−1)′ 𝑥 + ⋯ + 𝑎1 𝑦 ′ 𝑥 + 𝑎0 𝑦(𝑥) = 𝑝 𝑥

More on solutions to ODEs in the next lecture...

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 End of philosophy and theory…
some examples now…
Motion:
Change of location (X) of the object with time, i.e. x(t)
𝑥 𝑡
0 ∞

Velocity: the rate of variation of location with time, i.e. first derivative of
location with respect to time
ⅆ𝑥 𝑡
𝑣 𝑡 =
ⅆ𝑡

Acceleration: the rate of variation of velocity with time, i.e. first

derivative of velocity with respect to time, or 2nd derivative of location
ⅆ𝑣 𝑡 ⅆ2 𝑥 𝑡
a 𝑡 = =
ⅆ𝑡 ⅆ𝑡 2
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 Example No1 – motion opposed by friction force:
Car moving at the speed of 100 km/h is forced to stop completely using the
brakes (friction coefficient =0.55). If we ignore the air resistance or other kind
of friction/energy loss in the system, how is the car velocity changing and how
much distance is required for a complete stop?

xfinal = ?

v0 = 100 km/h vfinal = 0 km/h

x0 = 0 m

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 Example No1 – solution:
Car moving at the speed of 100 km/h is forced to stop completely using the
brakes (friction coefficient =0.55). If we ignore the air resistance or other kind
of friction/energy loss in the system, how the car’s velocity is changing and
how much distance is required for a complete stop?

T =  mg

W = mg
2nd Newton’s Law of motion:
𝑑2𝑥 𝑡 𝑑𝑣 𝑡
ΣFx = 𝑚a 𝑡 → −𝜇𝑚𝑔 = 𝑚 (𝑜𝑟 𝑚 )
𝑑𝑡 2 𝑑𝑡
𝑑2𝑥 𝑡 𝑑𝑣 𝑡
= −𝜇𝑔 𝑜𝑟 = −𝜇𝑔
𝑑𝑡 2 𝑑𝑡
Very easy form of ODE, easy to solve by direct integration, once for velocity:

𝑑2𝑥 𝑡 𝑑𝑥 𝑡
‫׬‬ ⅆ𝑡 = = 𝑣 𝑡 = ‫ ׬‬−𝜇𝑔 ⅆ𝑡 = − 𝜇𝑔 𝑡 + 𝐶1
𝑑𝑡 2 𝑑𝑡
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 Example No1 – solution:
Car moving at the speed of 100 km/h is forced to stop completely using the
brakes (friction coefficient =0.55). If we ignore the air resistance or other kind
of friction/energy loss in the system, how is the car’s velocity changing and
how much distance is required for a complete stop?

xfinal = ?

v0 = 100 km/h vfinal = 0 km/h

x0 = 0 m
Expression for velocity: 𝑣 𝑡 = ‫ ׬‬−𝜇𝑔 ⅆ𝑡 = − 𝜇𝑔 𝑡 + 𝐶1

Integrate once more for location:

ⅆ𝑥 𝑡 1
න 𝑣 𝑡 ⅆ𝑡 = න ⅆ𝑡 = 𝑥 𝑡 = න(− 𝜇𝑔 𝑡 + 𝐶1) ⅆ𝑡 = − 𝜇𝑔𝑡 2 + 𝐶1𝑡 + 𝐶2
ⅆ𝑡 2

What happens with the 2 random constants C1 and C1?

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 Differential Equations – basic definitions
Initial and boundary conditions
So far, we have proven that the solution of an ODE
which is essentially an integration, produces a
number of unknown, random constants…
The number of arbitrary constants is equal to the
order of the ODE!
As a result, from the solution process, we get an
infinite family of solutions, not one!
All of these functions – for every random value of the
constants Ci, are solutions of the ODE, but only one
is the correct one! How we identify this?
For a n-order ODE, we need n additional conditions!
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 Differential Equations – basic definitions
Initial and boundary conditions
For a n-order ODE, we need n additional conditions!
These are offered by the problem examined, in the form of the
Initial or boundary conditions.
Initial condition problems:
It happens to know the values of the function and the number of
its derivatives we need at a particular point x = x0 – and then
this is enough to predict the variation forward
Boundary condition problems:
It happens to know the values of the function and/or some of its
derivatives at the boundaries [x=a, x=b] framing the problem,
and we can then determine the variation in between.

Let’s see this applied to our example!

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Example No1 – solution:
Car moving at the speed of 100 km/h is forced to stop completely using the
brakes (friction coefficient =0.55). If we ignore the air resistance or other kind
of friction/energy loss in the system, how is the car’s velocity changing and
how much distance is required for a complete stop?

xfinal = ? 𝑣 𝑡 = − 𝜇𝑔 𝑡 + 𝐶1
1
𝑥 𝑡 = − 𝜇𝑔𝑡 2 + 𝐶1𝑡 + 𝐶2
2
v0 = 100 km/h vfinal = 0 km/h
x0 = 0 m
Constants C1 and C2 generated by integration are determined by initial conditions:
At t = 0, v0 = 100 km/h = 27.78 m/s → 𝐶1 = 27.78
At t = 0, x0 = 0 → 𝐶2 = 0
Expression for velocity:
𝑣 𝑡 = − 0.55 x 9.81 𝑡 + 27.78 (𝑚/𝑠) Vfinal = 0, t = 5.149 sec
Expression for location:
1
𝑥 𝑡 = − 0.55 x 9.81𝑡 2 + 27.78𝑡 (𝑚) t = 5.149 sec, xfinal = 71.52 m
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 Example No2 – motion opposed by air resistance:
Car moving at the speed of 100 km/h, is left rolling without a gear on. If we
consider now the air resistance, but ignore any or other kind of friction/energy
loss in the system, how the car’s velocity is changing now and how much
distance can travel until it stops completely? Mass is m = 1700kg.

xfinal = ?

x0 = 0 m v0 = 100 km/h vfinal = 0 km/h

Air resistance (or drag force) on any object is proportional to the density of the fluid
(air) and the relative flow velocity between the object and the fluid.

For simplicity, in our example we can assume that the drag force is proportional to
the travel velocity
𝐹𝑑 = 𝑐𝑣, with taking the value 𝑐 = 50 N s/m

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 Example No2 – opposed by air resistance:
Car moving at the speed of 100 km/h, is left rolling without a gear on. If we
consider now the air resistance, but ignore any or other kind of friction/energy
loss in the system, how the car’s velocity is changing now and how much
distance can travel until it stops completely? Mass is m = 1700kg.

Fd = cv(t) v(t)→

ⅆ𝑣 𝑡
2nd Newton’s Law of motion: ΣFx = 𝑚a 𝑡 → −𝑐𝑣(𝑡) = 𝑚
ⅆ𝑡
Different type of ODE, with 2 terms now v(t) and dv(t)/dt:
ⅆ𝑣 𝑡 𝑐
+ 𝑣 𝑡 =0 (Homogeneous ODE)
ⅆ𝑡 𝑚

Method No1: We can still be solved by integration, if we separate the variables:

1 𝑐
ⅆ𝑣 𝑡 = − ⅆ𝑡 →
𝑣(𝑡) 𝑚
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 1 𝑐 Then apply integration on both sides:
න ⅆ𝑣 𝑡 = න − ⅆ𝑡 →
𝑣(𝑡) 𝑚
ln(x) differentiation and integration:
ⅆ𝑙𝑛 𝑥 1 1
= → න ⅆ𝑥 = ln(𝑥) 𝑒 𝑥 function property:
ⅆ𝑥 𝑥 𝑥
𝑒 𝑎 +𝑏 = 𝑒 𝑎 𝑒 𝑏
𝑐 𝑐
− 𝑡 + 𝐶1
ln 𝑣 𝑡 = − 𝑡 + 𝐶1 → 𝑣 𝑡 = 𝑒 𝑚 →
𝑒 𝑒𝑚
Because 𝑒 ln(𝑥) = 𝑥 , we apply the exponential function on both sides, to get rid of the ln function
𝑐 𝑐
𝑣 𝑡 = 𝑒 𝐶1 𝑒 𝑚𝑡
−
= 𝐶2 − 𝑡
𝑒 𝑚
Constant C2 can be determined by initial conditions: for t = 0, v(0) = v0 = C2 = 27.78 m/s

Integrate once more for location:

𝑐
−𝑚𝑡 𝑣0 − 𝑐 𝑡
𝑥 𝑡 = න 𝑣 𝑡 ⅆ𝑡 = න 𝑣0 𝑒 ⅆ𝑡 =− 𝑒 𝑚 + 𝐶3
𝑐/𝑚
𝑣0
Constant C3 again from initial conditions: for t = 0, x(0) = 0, 𝐶3 =
𝑐/𝑚
𝑚𝑣0 𝑐
−𝑚𝑡
𝑥 𝑡 = (1− 𝑒 )
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𝑐
The (natural) exponential function, ex – properties:
It is a power function (of the form ax), based on the Euler’s
constant e=2.71828 (base of the natural logarithms), which has
the additional property that the slope of the function is the function
itself. I.e. (𝑒 𝑥 )′ = 𝑒 𝑥 .
Positive exponential functions (𝑒 𝑥 ) increase
Negative exponential functions (𝑒 −𝑥 ) decay

𝑒 −𝑥 (-1, e) (1, e) 𝑒𝑥

(0, 1)
& ln1 = 0
Tends to zero Tends to zero
asymptotically… asymptotically…
lim 𝑒 𝑥 = 0 lim 𝑒 −𝑥 = 0
𝑥→−∞ 𝑥→∞
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The (natural) exponential function, ex – properties:
The exponential functions usually have an additional growth or
decay parameter, e.g. 𝑒 𝑎𝑥 𝑜𝑟 𝑒 −𝑎𝑥
If a>1 the growth/decay is accelerated and if a<1 slows down.

𝑒 −𝑥 (-1, e) (1, e) 𝑒𝑥
(0, 1)
& ln1 = 0
Tends to zero Tends to zero
asymptotically… asymptotically…
lim 𝑒 𝑥 = 0 lim 𝑒 −𝑥 = 0
𝑥→−∞ 𝑥→∞

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 Example No2 – opposed by air resistance:
Car moving at the speed of 100 km/h, is left rolling without a gear on. If we
consider now the air resistance, but ignore any or other kind of friction/energy
loss in the system, how the car’s velocity is changing now and how much
distance can travel until it stops completely? Mass is m = 1700kg.

Fd = cv(t) v(t)→

ⅆ𝑣 𝑡
2nd Newton’s Law of motion: ΣFx = 𝑚a 𝑡 → −𝑐𝑣(𝑡) = 𝑚
ⅆ𝑡
Different type of ODE, with 2 terms now v(t) and dv(t)/dt:
ⅆ𝑣 𝑡 𝑐 𝑑𝑣 𝑡 𝑐
+ 𝑣 𝑡 = 0 (Homogeneous ODE) or else: =− 𝑣 𝑡
ⅆ𝑡 𝑚 𝑑𝑡 𝑚
Method No2: We can use try an exponential function as the solution, because:
𝑑𝑓 𝑥 The exponential function
𝑖𝑓 𝑓 𝑥 = 𝑒 𝑥 , 𝑡ℎ𝑒𝑛 𝑑𝑥
= 𝑒𝑥 = 𝑓 𝑥 !
alone, or multiplied with a
𝑑𝑓 𝑥 constant c, is unaffected by
𝑖𝑓 𝑓 𝑥 = 𝑐𝑒 𝑥 , 𝑡ℎ𝑒𝑛 = 𝑐𝑒 𝑥 = 𝑓 𝑥 !
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𝑑𝑥 the differentiation!
 Also remember that, if the power is not just x, but a function of x, the chain rule applies:
𝑑𝑓 𝑥
𝑖𝑓 𝑓 𝑥 = 𝑐𝑒 𝒂𝑥 , 𝑡ℎ𝑒𝑛 𝑑𝑥
= (𝒂𝑥)′𝑐𝑒 𝒂𝑥 = 𝒂 𝑓 𝑥 If  is a constant

or in the most general case:

If the power of
ⅆ𝑓 𝑥 ⅆ𝑔 𝑥 𝑔 𝑥 ⅆ𝑔 𝑥 the exponential
𝑖𝑓 𝑓 𝑥 = 𝑐𝑒 𝑔 𝑥 , 𝑡ℎ𝑒𝑛 =𝑐 𝑒 = 𝑓 𝑥
ⅆ𝑥 ⅆ𝑥 ⅆ𝑥 is actually a
function g(x)
In our example:
If we assume that
ⅆ𝑣 𝑡 𝑐
=− 𝑣 𝑡 𝑣 𝑡 = 𝐶1𝑒 𝒂𝑡
ⅆ𝑡 𝑚 𝑐
Then we can observe from the ODE that: 𝒂=−
So, our solution will be: 𝑚
𝑐 And the constant C1 will be calculated from the
− 𝑡
𝑣 𝑡 = 𝐶1𝑒 𝑚 known initial conditions:
Same as with method no1! At t = 0, we know that v(0) = v0 = 27.78 m/s
But also at t = 0, our solution becomes:
𝑐
− 0
𝑣 0 = 𝐶1𝑒 𝑚 = 𝐶1𝑒 0 = 𝐶1 𝑥 1 = 𝐶1 So C1= v0 = 27.78 m/s !
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 Example No2 – motion opposed by air resistance:
Car moving at the speed of 100 km/h, is left rolling with the engine turned off. If
we consider now the air resistance, but ignore any or other kind of
friction/energy loss in the system, how the car’s velocity is changing now and
how much distance can travel until it stops completely? Mass is m = 1700kg

Fd = cv(t) v(t)→

ⅆ𝑣 𝑡 𝑐
ODE: + 𝑣 𝑡 =0 (Homogeneous ODE)
ⅆ𝑡 𝑚
𝑐
− 𝑡
𝑚𝑣0 𝑐
− 𝑡
𝑣 𝑡 = 𝑣0 𝑒 𝑚 𝑥 𝑡 = (1− 𝑒 𝑚 )
𝑐
Note: This function is an exponential decay, so it can only drop asymptotically
close to zero, but cannot ever be zero!

See the plotted function, following…

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 𝑐
− 𝑡
𝑚𝑣0 𝑐
− 𝑡
𝑣 𝑡 = 𝑣0 𝑒 𝑚 𝑥 𝑡 = (1− 𝑒 𝑚 )
𝑐

Matlab script:

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 𝑐
− 𝑡
𝑚𝑣0 𝑐
− 𝑡
𝑣 𝑡 = 𝑣0 𝑒 𝑚 𝑥 𝑡 = (1− 𝑒 𝑚 )
𝑐

Note that:
According to this
mathematical solution,
the car will never stop
completely, because there
is not any additional term
that can bring velocity
down to zero!

Explanation:
The reason is that we
have ignored other factors
that absorb energy in
reality, like friction!
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 𝑐
− 𝑡 𝑚𝑣0 𝑐
− 𝑡
𝑣 𝑡 = 𝑣0 𝑒 𝑚 𝑥 𝑡 = (1− 𝑒 𝑚 )
𝑐
How long it will take for the car to stop?
Note: This function is an exponential decay, so it can only
t = tf , v(tf) = 0?? drop asymptotically close to zero, but cannot ever be zero!
So let’s calculate as the time of the a final speed at 1% of
the initial, vf = 0.01v0 ~ Plot the function to observe this!
𝑐 𝑐 ln(𝑥) function property:
− 𝑡𝑓 − 𝑡𝑓
𝑣𝑓 = 𝑣0 𝑒 𝑚 → 𝑙𝑛𝑣𝑓 = 𝑙𝑛 𝑣0 𝑒 𝑚 → ln(𝑎 × 𝑏) = 𝑙𝑛𝑎 + 𝑙𝑛𝑏

𝑐 𝑚 𝑚 𝑣0
𝑙𝑛𝑣𝑓 = 𝑙𝑛𝑣0 − 𝑡𝑓 → 𝑡𝑓 = 𝑙𝑛𝑣0 − 𝑙𝑛𝑣𝑓 = 𝑙𝑛 = 156.58 sec
𝑚 𝑐 𝑐 𝑣𝑓
ln(𝑥) function property:
𝑎
ln = 𝑙𝑛𝑎 − 𝑙𝑛𝑏
𝑏

How long distance the car will cover until it stops?

For t = tf = 156.58 sec:
𝑚𝑣0 𝑐
− 𝑡
𝑥 𝑡 = 1 − 𝑒 𝑚 = 935 𝑚
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 Example No3 – combination of No1 and No2
The same car again, moving at the speed of 100 km/h, but now stopped by the
combined action of braking and air resistance. How much difference does this
make to the differential equation of the system?

Fd = cv(t) v(t)→

T =  mg
W = mg
ⅆ𝑣 𝑡
2nd Newton’s Law of motion: ΣFx = 𝑚a 𝑡 → −𝜇𝑚𝑔 − 𝑐𝑣(𝑡) = 𝑚
ⅆ𝑡
An ODE, with 2 terms v(t) and dv(t)/dt plus a constant term:
ⅆ𝑣 𝑡 𝑐
+ 𝑣 𝑡 = −𝜇𝑔 (Non-homogeneous ODE)
ⅆ𝑡 𝑚
The solution of the non-homogeneous ODE consists of the previous solution
of the homogeneous, plus an additional term to eliminate the constant RHS
term, which is called a “particular integral”:
𝑐
−𝑚𝑡 𝑚𝜇𝑔 We will show the procedure in Lecture No5, for now
𝑣 𝑡 = 𝐶2 𝑒 − how can we check that this is a solution to the ODE?
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𝑐
 Question:
𝑐
−𝑚𝑡 𝑚𝜇𝑔
Can you can prove that the function 𝑣 𝑡 = 𝐶2 𝑒 −
𝑐
ⅆ𝑣 𝑡 𝑐
is a solution of the ODE: + 𝑣 𝑡 = −𝜇𝑔 ?
ⅆ𝑡 𝑚

Solution:
• We put the solution we want to check into the ODE and calculate the terms:
𝑐 𝑐 𝑐
𝑑𝑣 𝑡 𝑑 −𝑚𝑡 𝑚𝜇𝑔 𝑑 −𝑚𝑡 𝑑 𝑚𝜇𝑔 𝑐 −𝑚𝑡
𝑑𝑡
= 𝑑𝑡 𝐶2 𝑒 − 𝑐 = 𝑑𝑡
𝐶2 𝑒 + 𝑑𝑡 − 𝑐 = − 𝑚 𝐶2𝑒 + 0

𝑐 𝑐
𝑐 𝑐 −𝑚𝑡 𝑚𝜇𝑔 𝑐 −𝑚𝑡
𝑚
𝑣 𝑡 = 𝑚
𝐶2 𝑒 − 𝑐 = 𝑚 𝐶2𝑒 − 𝜇𝑔

• Adding together the above terms of the ODE, we get:

ⅆ𝑣 𝑡 𝑐 𝑐 𝑐
−𝑚𝑡 𝑐 𝑐
−𝑚𝑡
+ 𝑣 𝑡 = − 𝐶2𝑒 + 𝐶2𝑒 − 𝜇𝑔 = 0 − 𝜇𝑔 = −𝜇𝑔
ⅆ𝑡 𝑚 𝑚 𝑚
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Constant C2 is determined again by the same initial conditions (for t = 0, v(0) = v0 )
but now we have:
𝑐
−𝑚0 𝑚𝜇𝑔 𝑚𝜇𝑔
𝑣0 = 𝐶2 𝑒 − → 𝐶2 = 𝑣0 +
𝑐 𝑐
So the complete function for the velocity is now:

𝑚𝜇𝑔 − 𝑐 𝑡 𝑚𝜇𝑔
𝑣 𝑡 = (𝑣0 + )𝑒 𝑚 −
𝑐 𝑐
The integration for the location is giving:
𝑚 𝑚𝜇𝑔 − 𝑐 𝑡 𝑚𝜇𝑔
𝑥 𝑡 = න 𝑣 𝑡 ⅆ𝑡 = − (𝑣0 + )𝑒 𝑚 − 𝑡 + 𝐶3
𝑐 𝑐 𝑐
𝑚 𝑚𝜇𝑔
for t = 0, x(0) = 0, 𝐶3 = (𝑣0 + )
𝑐 𝑐
𝑚 𝑚𝜇𝑔 𝑐
−𝑚𝑡 𝑚𝜇𝑔
so x(t) is: 𝑥 𝑡 = (𝑣0 + )(1− 𝑒 )− 𝑡
𝑐 𝑐 𝑐
t = tf , v(tf) = 0 What is the difference now in tf and xf?
𝑚 𝑣0 𝑐
𝑡𝑓 = 𝑙𝑛(1 + ) We will plot and compare the functions
𝑐 𝑚𝜇𝑔
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for v(t) and x(t), for examples 1 and 3..
 Example No1 – solution:
Car moving at the speed of 100 km/h is forced to stop completely using the
brakes (friction coefficient =0.55). If we ignore the air resistance or other kind
of friction/energy loss in the system, how the car’s velocity is changing and
how much distance is required for a complete stop?

T =  mg

W = mg
𝑑𝑣 𝑡
ODE: = −𝜇𝑔
𝑑𝑡

Expression for velocity: 𝑣 𝑡 = − μg 𝑡 + 𝑣0 (𝑚/𝑠)

1
Expression for location: 𝑥 𝑡 = − μg 𝑡 2 + 𝑣0 𝑡 (𝑚)
2

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 Example No3 – solution
The same car again, moving at the speed of 100 km/h, but now stopped by the
combined action of braking and air resistance. How much difference does this
make to the differential equation of the system?

Fd = cv(t) v(t)→

T =  mg
W = mg
ⅆ𝑣 𝑡 𝑐
ODE: + 𝑣 𝑡 = −𝜇𝑔 (Non-homogeneous ODE)
ⅆ𝑡 𝑚

𝑚𝜇𝑔 − 𝑐 𝑡 𝑚𝜇𝑔
𝑣 𝑡 = (𝑣0 + )𝑒 𝑚 −
𝑐 𝑐

𝑚 𝑚𝜇𝑔 𝑐
−𝑚𝑡 𝑚𝜇𝑔
𝑥 𝑡 = (𝑣0 + )(1− 𝑒 )− 𝑡
𝑐 𝑐 𝑐
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 Comparison between tutorial Example No1 (blue line)
and No3 (green line)

Matlab script:

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 Question for further practicing (To be discussed in Lecture No5):
A sailing boat of mass m is initially at rest, i.e.
v(0) = 0. At time t = 0, a strong wind arises of
magnitude Vo = 10 m/s.

Assume that the force of the wind on the sails

in the direction of travel is given by
Fw(t) = Cw[Vo - v(t)].
(Cw is the coefficient for the wind action).

Assume also that the viscous drag of the

water on the boat is given by Fd(t) = Cdv(t)
(Cd is the coefficient for water’s drag force)

a) Develop the differential equation of motion for the sailing boat:

a1) In terms of the boat’s velocity v(t)
a2) In terms of the boat’s travel distance x(t)
b) Try to characterise and solve the differential equation of case a1.

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