where c is an arbitrary constant.

If we have an initial
condition such as F(ℓ) = mω2 (ℓ + r ), we find that

ρ A0 ω2 (ℓ + r )2
c= + mω2 (ℓ + r ). ⊠
2

Example 3.2. A falling object attached to a parachute

experiences a downward gravitational force of mg and
an upward drag of mkv 2 , where g is the force due to
gravity, k is a positive constant, and v(t) is its velocity
at time t.

OHP 11
 mkv²

mg

Thus we have
dv
m = mg − mkv 2
dt
or
dv dv
= g − kv 2 ⇔ 2
= dt.
dt g − kv
Using partial fractions, this may be written as
dv dv
√ + √ = 2 dt.
g − gkv g + gkv

OHP 12
 √
Setting ω = gk, this leads to

1
[− ln(g − ωv) + ln(g + ωv)] = 2t + c̃
ω
or
g + ωv
= ce2ωt , c = eωc̃ .
g − ωv
Some algebra then yields

g(ce2ωt − 1)
v(t) = 2ωt
.
ω(ce + 1)

If we assume that v(0) = 0, we obtain c = 1 so that

g(e2ωt − 1)
v(t) = .
ω(e2ωt + 1)
√
As t → ∞, we see that v(t) → g/ω = g/k, the
terminal velocity.

OHP 13
 ⊠

§4 First order linear equations

Recall that a first order linear o.d.e. is an equation of
the form
P0 (x)y ′ + P1 (x)y = G(x).
Dividing by P0 (x) yields
dy
+ p(x)y = g(x), (I.2)
dx
where p(x) = P1 (x)/P0 (x) and g(x) = G(x)/P0 (x).

OHP 14
If g is the zero function, then the linear o.d.e. is said to
be homogeneous.

In the homogeneous case, the equation is separable and

we have
dy
= − p(x) dx.
y
Solving this equation yields ln(y) = −P(x) + c̃, where
R
P(x) = p(x) dx and c̃ is some arbitrary constant.

This solution may be written as y(x) = ce−P(x) , where

c = ec̃ is an arbitrary constant. All solutions have to
be of this form and is called the general solution of the
homogeneous equation.

Theorem I.1. The general solution of the equation

dy
+ p(x)y = 0
dx
is given by
Z
y(x) = ce−P(x) , where P(x) = p(x) dx (I.3)

and c is an arbitrary constant.

OHP 15