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OF MATHEMATICS IN
THE ENGINEERING
DISCIPLINES
THE APPLICATION
OF MATHEMATICS IN
THE ENGINEERING
DISCIPLINES
DAVID REEPING
KENNETH J. REID
The Application of Mathematics in the Engineering Disciplines
10 9 8 7 6 5 4 3 2 1
This text serves two purposes. First, it is the companion text to Introduc-
tory Engineering Mathematics within the General Engineering and K-12
Engineering Education book series. Introductory Engineering Mathemat-
ics introduces some of the math concepts we see often in engineering,
including useful trigonometry, calculus, and functions. This text assumes a
level of understanding of mathematics at the level of a high school senior,
plus a bit from the introductory text. The second purpose of this text is
to introduce additional useful mathematical concepts that we see in engi-
neering problem solving: specifically, matrices and differential equations.
The concepts are introduced by examples rather than strict mathematical
derivation. Accordingly, the text probably wouldn’t be an effective substi-
tute for a course in differential equations, but it does intend to illustrate
how differential equations can be used and applied. Consider this text to be
a companion to such a course, or an introduction for someone interested in
exploring “why might differential equations be useful?” We use examples
drawn from engineering practice to illustrate the use of mathematics in
engineering, such as engineering failures both old and new. We hope you
see a broad coverage of mathematical concepts and develop an apprecia-
tion for how they apply to engineering. Perhaps this can give a new lens
through which to view engineering successes (and failures).
KEYWORDS
List of figures ix
List of tables xiii
Acknowledgments xv
Chapter 1 Modeling Systems in Engineering 1
Chapter 2 Differential Equations in Engineering 29
Chapter 3 Describing Systems Using Mathematics 55
Chapter 4 Analyzing Failure in Systems 81
About the Authors 127
Index 129
List of Figures
Figure 3.15. Sample plot of the output where the spring overpowers
the dashpot. 71
Figure 3.16. Pole-zero plot for the mass spring damper. 72
Figure 3.17. Sample plot of the output of the mass damper system. 73
Figure 3.18. Moving the poles closer and closer to the
unstable region. 74
Figure 3.19. Simple poles versus multiple poles on the
imaginary axis. 77
Figure 3.20. Cascade connection. 77
Figure 3.21. Parallel connection. 78
Figure 3.22. An example of a mix between cascade and parallel. 78
Figure 3.23. Implementing the systems in cascade connection. 79
Figure 4.1. Parabolic and hyperbolic representations of cables. 84
Figure 4.2. Diagram of the U10 plate and internal forces. 91
Figure 4.3. Free body diagram of the U10 gusset plate. 92
Figure 4.4. 3-4-5 Triangle. 92
Figure 4.5. Computing Cosine from 3-4-5 Triangle. 93
Figure 4.6. Finding the relevant forces to sum in the x direction
(in gray). 94
Figure 4.7. Finding the relevant forces to sum in the y direction
(in gray). 96
Figure 4.8. Demonstration of how a moment is calculated. 97
Figure 4.9. Illustration of Poisson’s ratio. 99
Figure 4.10. Stress–strain curve for a metal. 100
Figure 4.11. Illustration of shear 100
Figure 4.12. Forces acting upon a bolt in opposite directions. 102
Figure 4.13. Shear on the U10 plate. 102
Figure 4.14. An example of a distributed load. 105
Figure 4.15. Triangle created using the function f ( x ) = x on the
interval [0,1]. 106
Figure 4.16. Placement of the centroid. 108
Figure 4.17. A distributed load on a 6 ft long beam. 110
Figure 4.18. Resolution of a distributed load into a single force. 111
Figure 4.19. Breaking a load into pieces to simplify calculations. 111
Figure 4.20. Nonlinear distributed load on a 7 m beam 112
List of Figures • xi
Modeling Systems
in Engineering
up with a model to predict what will happen. That way, we can make an
accurate prediction of the results without having to collect more data.
This is particularly attractive once you start talking about outrageously
expensive, time-intensive massive experiments that may or may not be
feasible to run in real life. In the cases of real-world data, no perfect
model exists, we can only aim to create and improve the models to a
degree they are useful.
We’ll start nice and easy by creating and interpreting a common mathe-
matical model to make approximations of functions; however, the process
of generating a mathematical model generalizes to just about any model-
ing challenge. Much like learning a second language, there is a learning
curve in translating English to Math. Luckily, there are some tricks that we
can use to ease into these translations.
valid and applicable, and that the work is progressing toward a use-
ful and meaningful solution(s).
4. Test your model. Once we go through all the trouble of creating
this work of art, we should determine if it works in the context
that you’re tasked to model. We should ask ourselves the following
questions:
a. Does our model match any known values given in the problem?
b. Do our predictions make sense?
c. What are we assuming to make this model work? Did we
assume too much?
Distance = ( xS − xA )2 + ( yS − yA )
2
Distance from Start to Airport ( xA − xS ) + ( yA − yS )
2 2
t Airport = =
Average Speed sAVG
∞
fa (t ) = ∑cn (t − a)n
n=0
Note we said approximation; the old saying, “if it’s too good to be
true, it probably is,” certainly applies here. The disclaimer here is the
“centered at a” portion, hence the subscript a in f a (t ).
f ( n) ( a )
cn =
n!
6 • THE APPLICATION OF MATHEMATICS IN THE ENGINEERING
1 cn + 1
= lim
r n → ∞ cn
1
Notice r is the radius of convergence, not .
r
f ( t ) = 0.5t 3 + 0.5t 2 + 1
Derivative Evaluated at 1
f (t ) , starting function 2
f ′ ( t ) = 1.5t 2 + t 2.5
f ″ (t ) = 3t + 1 4
f ″′ ( x ) = 3 3
f ″″ ( t ) = 0 0
0
f ( n) ( t ) = 0
Modeling Systems in Engineering • 7
Following the format for the Taylor series, our center is 1—which is
the a value—and the coefficients are 2, 2.5, 4, 3, and 0 thereafter. This
means our Taylor series is,
∞
1 1 1 1
f1 ( t ) = ∑cn (t − 1)n = 2 + 2.5 ( t − 1) + 4 ( t − 1) + 3 ( t − 1)
0! 1! 2!
2
3!
3
n=0
f1 ( t ) = 2 + 2.5 ( t − 1) + 2 ( t − 1) + 0.5 ( t − 1)
2 3
***
A Maclaurin series may sound like it would be wildly different, but
it is only a special case of a Taylor series. Simply put, if we form a Taylor
series centered at zero ( a = 0 ), then it is a Maclaurin series—they are
practically synonyms.
Derivative Evaluated at 0
f (t ), starting function, = e t 1
f ′ (t ) = et 1
f ″ (t ) = et 1
f ″′ ( t ) = e t 1
f ( n) ( t ) = e t 1
8 • THE APPLICATION OF MATHEMATICS IN THE ENGINEERING
y ( n) ( 0 ) = 1 no matter what whole number n may be
Done! Now, where does this series represent e t ? In other words, what
is the radius of convergence? As engineers, it is crucial to know where
our approximations are valid; otherwise, mistakes are bound to happen.
Thankfully, we can easily find the radius using the ratio test for series:
1 cn + 1
= lim
r n → ∞ cn
1
1 ( n + 1)!
= lim
r n→ ∞ 1
n!
We do not need the absolute value signs, both quantities will always
be positive. Simplifying a bit gives us,
1 n!
= lim
r n → ∞ ( n + 1)!
Factorials are a little tricky to work with, but we can typically deal
with them by writing out what each factorial means:
1 n ( n − 1)( n − 2 )( 3)( 2 ) (1)
= lim
r n → ∞ ( n + 1)( n )( n − 1)( n − 2 ) (3)(2)(1)
From our last line, we can see almost all the terms will cancel, leaving
us with a fraction with a denominator heading toward infinity. This means,
1
lim =0
n→ ∞ n+1
Modeling Systems in Engineering • 9
We are not quite done, we need to remember the equality from the
beginning:
1
=0
r
1
∫−1 e − t
2
dt
Since this integral has bounds, we know we just need to find the area.
Go ahead and try to integrate the function, you will make absolutely no
progress unless you use some advanced tricks. We have a trick of our own,
the Taylor series. Using the Taylor series for e t , we easily construct the
Taylor series for e − t .
2
∞
1
et = ∑ n! t n
n=0
Now replace t by −t 2 .
∞
1
∑ n! ( −t 2 )
n
e−t =
2
n=0
Done! Now we have Taylor series for e − t without putting forth much
2
effort. Let’s replace the e − t in the integral with its Taylor series.
2
∞
1
∫−1 n∑= 0 n! ( −t 2 )
1 1 n
∫−1 e − t
2
dt = dt
10 • THE APPLICATION OF MATHEMATICS IN THE ENGINEERING
We can write out a few terms in the series to get an idea of what the
area may be:
∞
1 1 1 1
∫−1 n∑= 0 n! ( −t 2 )
1 n 1
dt = ∫−1 1 − t 2 + 2 t 4 − 6 t 6 + 24 t 8 + … dt
Now we integrate,
1 1 1 1
∫−1 1 − t 2 + 2 t 4 − 6 t 6 + 24 t 8 + … dt
1
1 1 5 1 7 1 9 …
= x − t3 + t − t + t +
3 10 42 216
−1
1 3 1 5 1 7 1 9 …
1 − 1 + 1 − 1 + 1 +
3 10 42 216
1 1 1 1
− −1 − ( −1)3 + ( −1)5 − ( −1)7 + ( −1)9 + …
3 10 42 216
≈ 1.4950
3 2 4 –1
about 2” 2×4 2 rows
–7 4 2 8
about 4” 4 columns
x1 + x2 + x3 = 1
1 1 1 1
2 x1 + 2 x2 + 2 x3 = 2 2 2 2 2
We can write this as a matrix!
3x + 3x + 3x = 3
1 2 3
3 3 3 3
How is this possible? Let’s break down how a matrix is set up. First,
each row corresponds to one equation. That means our first equation is
represented in the top row, the second goes below the first, the third below
the second, and so on.
first equation first equation
second equation To matrix form second equation
third equation third equation
Now what about the columns? Well, the number of columns is depen-
dent on the number of variables we’re working with: the total number of
columns equals the number of variables on the left hand side of the equa-
tion plus column(s) for the solution(s). If an equation has four variables,
you’ll have four columns plus one column. Let’s take a look.
12 • THE APPLICATION OF MATHEMATICS IN THE ENGINEERING
3 x1 + 2 x2 + 5 x3 = 3 3 2 5 3
1 4 2 2
x1 + 4 x2 + 2 x3 = 2 To matrix form
x + 5x − 9 x = 7 1 5 −9 7
1 2 3
x1 x2 x3 #
Easy enough, we just peel away the numbers in front of each variable
and place them in their correct spots in the matrix (remember to treat any
subtraction as the addition of a negative number). It’s easy enough to trans-
form a system into matrix form when all the variables are lined up with
each other (this makes the whole process much smoother). If a variable is
missing from one equation, but appears in another equation, place a 0 in
its spot in the matrix. For example,
5 x1 + 2 x2 = 3 5 x1 + 2 x2 = 3 5 2 3
= x1 missing in the second equation
0 1 5
x2 = 5 0 x1 + x2 = 5
Equation 1 Equation 2
Equation 2 → Equation 1
Equation 3 Equation 3
Table 1.4. Summary of elementary row operations
2 1 1 2 2 1 1 2 2 −2 1 1 1 1
=
−4 1 1 −4 −4
↑ ↓ = > 1 1 = 1− 2 1− 2
2 2 1 1 ↓+
We can multiply any row by a number other We can swap two rows at any point. We can multiply one row by a nonzero
than zero; it will not affect your answer at number and then add it to another row.
all.
Modeling Systems in Engineering • 13
14 • THE APPLICATION OF MATHEMATICS IN THE ENGINEERING
is the same as
Coefficients of Equation 1 Coefficients of Equation 2
Coefficients of Equation 2 → Coefficients of Equation 1
Coefficients of Equation 3 Coefficients of Equation 3
Equation 1 Row 1
+ Equation 2 is the same as + Row 2
= New Equation 1 = New Row 1
( x + y + z = 1) [1 1 1 1]
+ ( x + 2 y − z = 5) is the same as + [1 2 − 1 5]
= 2 x + 3 y + 0 z = 6 = [2 3 0 6]
1. All nonzero rows (rows with at least one nonzero element) are
above any rows of all zeroes (all zero rows, if any, belong at the
bottom of the matrix).
2. The leading coefficient (which is the first nonzero number from
the left) of a nonzero row is always strictly to the right of the lead-
ing coefficient of the row above it.
3. All entries in a column below a leading entry are zeroes.
* # #
0 * #
0 0 *
MATRIX MULTIPLICATION
Imagine we had a number in front of the matrix (we’ll call it n) like so:
a b
A = n
c d
a b na nb
A =n =
c d nc nd
m×n
n× p
AB = C m×p
(3 × 2) 1 5 3 rows
0 7
−1 3
2 columns
***
Now, how do we multiply? For this, we need to use dot product. Let’s
jump into an example and skip the theory so it is as basic as it can be.
Multiply a 2 × 2 matrix with a 2 × 2 and see what happens.
1 3 0 1
2 5 5 6
Look at this, we’ve taken the first row and considered the two col-
umns in the second matrix. What do we do with these?
1 3 0 1
2 5 5 6
Imagine taking the row and rotating it by taking the leftmost number
on top and stacking the other numbers below it. This stack should be the
same orientation as the columns.
1
1 3 →
3
With these, we will multiply horizontally and then add the products
together vertically. In other words, multiply what is in the bubbles, and add
the result of the bubbles:
Modeling Systems in Engineering • 17
1 0
3 5
1 × 0 = 0
0 + 15 = 15
3 × 5 = 15
1 1
3 6
1 × 1 = 1
1 + 18 = 19
3 × 6 = 18
15 19
? ?
Now we do that same thing for the second row, it will be the exact
same procedure.
1 3 0 1
2 5 5 6
Here, we will multiply across, add those results together, and place the
sum in the correct position in the matrix.
2 0
5 5
2 × 0 = 0
0 + 25 = 25
5 × 5 = 25
18 • THE APPLICATION OF MATHEMATICS IN THE ENGINEERING
2 1
5 6
2 × 1 = 2
2 + 30 = 32
5 × 6 = 30
1 3 0 1 15 19
2 5 5 6 = 25 32
What happens if we switch the two matrices and try to multiply? Try this
problem
0 1 1 3
5 6 2 5 = ?
1 0 0
AA −1
= A A= I = 0 1 0
−1
0 0 1
I1 = [1] 1 0 1 0 0 1 0 0 0
I2 =
0 1 I3 = 0 1 0 0 1 0 0
I4 =
0 0 1 0 0 1 0
0 0 0 1
AX = B
X = A−1 B
but figuring out what A−1 B turns out to be can be quite tedious. This is
where technology comes in. After entering the known values of A and B,
the line of MATLAB code to retrieve the solution is just:
>> X = inv(A) × B
1.3 DETERMINANTS
a b
A=
c d
det(A) = a b = ad − bc
c d
20 • THE APPLICATION OF MATHEMATICS IN THE ENGINEERING
In the example above, the matrix is two by two, which has a conve-
nient formula for the determinant. How did we get it?
a b a b
−
c d c d
a b c
d e f
g h i
a b c
d e f = aci − afh − bdi + bfg + cdh − ceg
g h i
The boxed numbers will be their own matrix, so now we have these
determinants:
e f d f d e
h i g i g h
e f d f d e
a b c
h i g i g h
+ − +
− + −
+ − +
e f d f d e
+a −b +c
h i g i g h
Let’s put it all together in an expression for the determinant of the 3 × 3
matrix.
a b c
e f d f d e
d e f =a −b +c
h i g i g h
g h i
= 1[( 7 )( 2 ) − ( 3)(8 )] − 4 [( 6 )( 2 ) − (8 )( 2 )]
+ 5[( 6 )( 3) − ( 7 )( 2 )]
(7) = 1[( 7 )( 2 ) − ( 3)(8 )] − 4 [( 6 )( 2 ) − (8 )( 2 )] Like before, it becomes
arithmetic.
+ 5[( 6 )( 3) − ( 7 )( 2 )]
= [14 − 24 ] − 4 [12 − 16 ] + 5[18 − 14 ]
= −10 − 4 [ −4 ] + 5[ 4 ]
= −10 + 16 + 20
= 26 After all the
1 4 5 multiplication and
6 7 8 = 26 subtraction, we find
2 3 2 that the determinant
is 26.
***
Modeling Systems in Engineering • 23
It is worth repeating that we are able to expand from any outside row
or column of the matrix as long as we follow the procedure (and the sign
chart!). While it is possible and “mathematically legal” to expand from
these other places, people usually tend to pick one spot and stick with it.
a b c a b c a b c
d e f d e f d e f
g h i g h i g h i
We have one more tool to solve systems of equations. Unlike the matrix
method, we can solve for one variable at a time. Suppose we have the fol-
lowing system of equations:
3x + 4 y + 7 z = 1
2x + 5y + z = 3
2 x + 4 y + 14 z = 0
Now, let’s set up the determinant of the matrix that goes along with it
and solve it, we’ll call it Δ.
3 4 7
∆= 2 5 1
2 4 14
5 1 2 1 2 5
=3 −4 +7
4 14 2 14 2 4
= 3( 70 − 4 ) − 4 ( 28 − 2 ) + 7 (8 − 10 )
∆ = 80
Once we know the value of the determinant, the solution to each piece
is represented by a formula, involving this special value, Δ.
∆x ∆y ∆z
x= y= z=
∆ ∆ ∆
24 • THE APPLICATION OF MATHEMATICS IN THE ENGINEERING
From here, we need to define Δ x; let’s set up the formula using these
constants and involve them in the determinant:
3x + 4 y + 7 z = 1
2x + 5y + z = 3
2 x + 4 y + 14 z = 0
3 4 7
2 5 1
∆=
2 4 14
x y z
1 4 7
∆x = 3 5 1
0 4 14
1 4 7
5 1 3 1 3 5
∆x = 3 5 1 =1 −4 +7
4 14 0 14 0 4
0 4 14
= ( 70 − 4 ) − 4 ( 42 ) + 7 (12 )
∆ x = −18
and we find:
∆x 18 9
x= =− = −
∆ 80 40
We can do the same procedure with y and z, the only change with the
determinants is which row we replace with the coefficients.
Modeling Systems in Engineering • 25
3 1 7 3 4 1
∆y = 2 3 1 ∆z = 3 5 3
2 0 14 2 4 0
1. Take all of the coefficients of each variable in the system and make
a determinant out of them. The columns will be the different vari-
ables and each row will be a different equation. This will be your
most important determinant, the Δ value.
ax + by + cz = 0 a b c
dx + ey + fz = 0 ∆ = d e f
gx + hy + iz = 0 g h i
2. Set up the Δ determinant for each variable by taking the free coef-
ficients (whatever each function is equal to) and replacing the
variable’s column with those coefficients. This process is shown
with Δ x below:
equation 1 = 1 1 b c
equation 2 = 2 so, ∆ x = 2 e f
equation 3 = 3 3 h i
3. Using the values for each Δ, use the easy formula to instantly get
the solution!
∆some variable
some variable =
∆
26 • THE APPLICATION OF MATHEMATICS IN THE ENGINEERING
= [ 3 + 2 ] − [1 − 2 ] − [ 2 + 6 ] = 5 + 1 − 8 = −2
= [ 4 ] − [ −4 ] + 3[ 2 + 6 ] = [ 4 ] − [ −4 ] + 3[8 ] = 32
We would like to know the voltage drop across R7. Three equations are
needed to describe this circuit. Using nodal analysis, we can model the
circuit in terms of the three significant places that the voltage changes,
v1 , v2 , and v3. Since the drop occurs off of v3, that’s the voltage we seek.
We can use a technique called nodal analysis, a technique where we
write equations for the voltages at each node, then solve the system of
simultaneous equations. Note in the above example, the nodes are labeled
v1, v2, and v3. We won’t go into the theory behind finding these equations,
but using nodal analysis, we find the following:
v1 − 12 v1 v1 − v2
+ + =0
5 10 5
v2 − v1 v2 − v3 v2
+ + =0
5 5 10
v3 − v2 v3
+ = 0
5 5
28 • THE APPLICATION OF MATHEMATICS IN THE ENGINEERING
This system of equations (on the left, below) can be transformed into
a matrix by transferring the coefficients (bottom right):
5v1 − 2 v2 = 24 5 −2 0 24
−2 5 −2 0
−2 v1 + 5v2 − 2 v3 = 0 To matrix form
− v2 + 2 v3 = 0 0 −1 2 0
We know:
We will simply use the three formulas to solve for each determinant:
∆v2 = 96 32 = 3V ;
∆v3 = 48 32 = 1.5V
***
The take-away message of matrices is that understanding matrices
conceptually is the key to knowing how to formulate the problem such
that software can understand it. While there is certainly a place for the
careful application of row operations, using them for practical problems is
usually not efficient.
Index
A Determinants, 19–23
Airport locations, mathematical Differential equations
model of, 3–4 convolution, 51–53
Algebraic equation, 34–35 defined, 29
Alternating current (AC) vs. direct integral transforms, 40–41
current (DC), 119 Laplace transform, 41–51
Aluminum and alloys, 101 solutions to, 31
American Association of State “typical”, 29–39
Highway Officials (AASHO), Differential operator, 30–31
102, 103 solving higher order equation
American Society of Civil using inspection, roots of,
Engineers (ASCE), 90 34–35
Angular frequency, 83 Direct current (DC), alternating
Axial force, finding, 96–98 current (AC) vs., 119
Distributed load, 105
B nonlinear, 112–113
Bridge 9340. See I-35 West replacing, 109–113
Mississippi Bridge Dot product, 16
Ductile iron, 101
C
Cables, modeling of, 83–89 E
Cascade connection, 77–79 Elastic modulus. See Young
“Centered at a”, meaning of, 5 modulus
Centroid, 106–109 Elasticity, 98
Complementary solution, 39 Electrical system
Concentration, 108 design of, 118–122
Control engineering, 80 Laplace transforms, 48–51
Controls, concept of, 76–80 Elementary functions, 9
Convolution, 51–53, 58 Elementary row operations,
Cramer’s rule, 23–28 13, 14
Engineering mathematics. See
D Systems, and mathematics
Delta function, 42 Equilibrium, requirements for,
Derivative operator, 30–31 90–98
130 • Index
F I
Failure analysis I-35 West Mississippi Bridge,
electrical system, design of, 89–90
118–122 structural loads, 105–113
I-35 West Mississippi Bridge, U10 plate
89–90 finite element analysis of,
finite element analysis of U10 113–118
plate, 113–118 material properties of,
material properties of U10 98–101
plate, 98–101 requirements for equilibrium
requirements for equilibrium in in, 90–98
U10 plate, 90–98 strength of materials, 101–105
strength of materials, U10 Identity matrix, 18–19
plate, 101–105 Impulse function, 42
structural loads, 105–113 Impulse response, 55–59
real-world problem, knee Initial value problems, 32–33
replacement, 122–125 Integral transforms, 40–41
Tacoma Narrows Bridge, 81–82
cables, modeling of, 83–89 K
simple harmonic motion, 83 Knee replacement, 122–125
Failure by shear, 100 materials common in, 126
Fibrous cartilage, 122–123
Finite element analysis (FEA), L
113–118 Laplace, Pierre-Simon, 41–42
Forced factoring, 46 Laplace transforms, 41–44
Fracture, 100 electrical system, 48–51
Free body diagram, 82 mechanical system, 47–48
Free coefficients, 25–27 more difficult, 45–47
Frequency, 83 simple, 44–45
Fundamental Theorem of Ligaments, 123–124
Calculus, 112 Linearity, 44, 46
G
Galloping Gertie. See Tacoma M
Narrows Bridge Maclaurin series, 5–10
Gauss–Jordan Elimination Marginal stability, 74–76
method, 14 Mass spring damper system,
General solution, 31–32 65–74
GeoGebra, 114 MATLAB, 12, 82
Graph. See Network Matrices, defined, 10
Gusset plate. See U10 plate Matrix multiplication, 15–18
properties of, 18–19
H Mechanical system, Laplace
Harmonic motion, 83 transforms, 47–48
Homogeneous differential Menisci, 123
equation, 31 Modeling systems
Hyaline cartilage, 122 of airport locations, 3–4
Index • 131
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