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& HYDRODYNAMICS
TABLES OF MATHEMATICAL
FORMULAE
January 2013
Algebra
Factoring Polynomials
x2 y 2 = (x + y)(x y)
x3 + y 3 = (x + y)(x2 xy + y 2 )
x3 y 3 = (x y)(x2 + xy + y 2 )
Binomial Theorem
(x + y)2 = x2 + 2xy + y 2
(x y)2 = x2 2xy + y 2
(x + y)3 = x3 + 3x2 y + 3xy 2 + y 3
(x y)3 = x3 3x2 y + 3xy 2 y 3
n(n 1) n2 2
(x + y)n = xn + nxn1 y +
x
y + + nxy n1 + y n
2!
Quadratic Formula
2
If ax + bx + c = 0, then x =
xm/n = n xm
ln(xy) = ln x + ln y
ln(xn ) = n ln x
b2 4ac
2a
xm
= xmn
xn
(xm )n = xmn
x1/n = n x
ln(x/y) = ln x ln y
ln m
lnn m =
ln n
Geometry
Geometric Formulae
Area and Circumference
1
1
Area of a triangle is bh or bc sin A
2
2
2
Area of a circle is r
Circumference of a circle is 2r
1
Area of a sector of a circle is r2 (arc length is r)
2
2
Area of a sphere is 4r
Curved suface area of a cylinder is 2rh
Volume
4 3
r
3
Volume of a cylinder is r2 h
1
Volume of a cone is r2 h
3
Volume of a sphere is
Distance
(x2 x1 )2 + (y2 y1 )2
Lines
y2 y1
x2 x1
Equation of line through P1 (x1 , y1 ) with slope m: y y1 = m(x x1 )
Circles
Equation of a circle with centre (h, k) and radius r: (x h)2 + (y k)2 = r2
Trigonometry
radians = 180
1 =
rad
180
1 rad =
180
Important Angles
radians
sin
cos
tan
30
1
2
3
2
45
3
2
2
1
2
sin
cos
1
cosec =
sin
1
cos
cot =
=
tan
sin
sec =
1
cos
1 + tan2 = sec2
1 + cot2 = cosec2
sin() = sin()
cos() = cos()
60
90
3
1
Fundamental Identities
tan =
tan(x + y) =
sin2 + cos2 = 1
tan x + tan y
1 tan x tan y
tan(x y) =
tan x tan y
1 + tan x tan y
1
[cos(x y) cos(x + y)]
2
1
cos x cos y = [cos(x + y) + cos(x y)]
2
(
)
(
)
x+y
xy
sin x + sin y = 2 sin
cos
2
2
)
(
)
(
xy
x+y
cos
cos x + cos y = 2 cos
2
2
1
[sin(x + y) + sin(x y)]
2
1
cos x sin y = [sin(x + y) sin(x y)]
2
(
)
(
)
x+y
xy
sin x sin y = 2 cos
sin
2
2
(
)
(
)
x+y
xy
cos x cos y = 2 sin
sin
2
2
sin x sin y =
sin x cos y =
Hyperbolic Functions
Fundamental Identities
1
sinh x = (ex ex )
2
sinh x
tanh x =
cosh x
1
sechx =
cosh x
1
cosh x = (ex + ex )
2
1
cosech x =
sinh x
1
cosh x
coth x =
=
tanh x
sinh x
sinh(x) = sinh(x)
cosh(x) = cosh(x)
cosh2 x sinh2 x = 1
tanh2 x + sech2 x = 1
coth2 x cosech2 x = 1
sinh(x + y) = sinh x cosh y + cosh x sinh y
tanh(x + y) =
tanh x + tanh y
1 + tanh x tanh y
tanh(x y) =
arcsinh x = ln x +
(
arccosh x = ln x +
arctanh x =
x2 + 1
)
)
x2 1
1 1+x
ln
2 1x
tanh x tanh y
1 tanh x tanh y
Complex Numbers
z = a + ib where a and b are real
e {z} = a and m {z} = b
i=
1;
|z| =
i2 = 1; i3 = i
a2 + b2
z = a ib
z+w =z+w
zw = z w
zn = zn
zz = |z|2
z = rcis = r(cos + i sin ) where r = |z| =
a2 + b2 and arg z =
r1
z1
=
[cis(1 2 )]
z2
r2
Eulers Formula:
ei = cos + i sin
De Moivres Theorem
If z = rcis and n is a positive integer,
z n = rn cis n
zk = r
1/n
cis
where k = 0, 1, 2, . . . , n 1
+ 2k
n
Vectors
b=
Unit Vector: a
a
|a|
k
a3
b3
j
a2
b2
a b = |a||b| cos
b
Scalar projection of a in the direction of b is a b
b b
b
Vector projection of a in the direction of b is (a b)
abc=bca
a b c = b a c
a (b c) = (a c)b (a b)c
Vector equation of a line through the point (x0 , y0 , z0 ) parallel to the vector (a, b, c) is
(x, y, z) = (x0 , y0 , z0 ) + t(a, b, c)
Equation of the plane with normal (a, b, c) is ax + by + cz = d
Velocity and acceleration of a particle r(t) is given by
v(t) = r (t) = x(t)i
+ y(t)j
+ z(t)k
and
a(t) =
r(t) = x
(t)i + y(t)j + z(t)k
tB
l=
tA
|r(t)| dt
Series
Geometric Series
a + ar + ar2 + ar3 + + arn1 =
S =
a
,
1r
a(1 rn )
,
1r
r = 1
if |r| < 1
1
1t
= 1 + t + t2 + t3 + t4 + ,
t2 t3 t4 t5
+ + ,
2
3
4
5
t3 t5 t7 t9
t + + ,
3
5
7
9
t2 t3 t4
1 + t + + + + ,
2! 3! 4!
t3 t5 t7 t9
t + + ,
3! 5! 7! 9!
t2 t4 t6 t8
1 + + ,
2! 4! 6! 8!
t3 t5 t7 t9
t + + + + + ,
3! 5! 7! 9!
t2 t4 t6 t8
1 + + + + + ,
2! 4! 6! 8!
( 1) 2 ( 1)( 2) 3
1 + t +
t +
t +
2!
3!
( 1)( 2)...( n + 1) n
+
t + ,
n!
ln(1 + t) = t
arctan t =
et =
sin t =
cos t =
sinh t =
cosh t =
(1 + t) =
Taylor Series
1
1
1
f (x) = f (x0 )+(xx0 )f (x0 )+ (xx0 )2 f (x0 )+ (xx0 )3 f (x0 )+ + (xx0 )n f (n) (x0 )+
2!
3!
n!
d
(u v) = u v + uv
dx
dx
( )
u
v
u v uv
v2
d
[f (g(x))] = f (g(x)) g (x)
dx
If y = f (x) then y
f (g(x)) g (x) dx =
u dv = uv
dy
dy du
=
dx
du dx
or
dy
x
dx
f (u) du
by setting u = g(x)
v du
Area between the two curves y = f (x) and y = g(x) on the interval [a, b] is
A=
a
|f (x) g(x)| dx
V =
a
R2 r2 dx
V =
c
8.1
R2 r2 dy
Chain Rules
10
8.2
Numerical Techniques
Trapezoidal Rule
f (x) dx =
a
h
(y0 + 2(y1 + y2 + y3 + + yn1 ) + yn )
2
Simpsons Rule
f (x) dx =
a
h
(y0 + 4(y1 + y3 + + y2n1 ) + 2(y2 + y4 + + y2n2 ) + y2n )
3
Newtons Method
xn+1 = xn
f (xn )
,
f (xn )
n = 0, 1, 2, . . .
Secant Method
xn+1 = xn
(k+1)
xi
for i = 1, 2, . . . , n
1
(k)
=
bi
aij xj
aii
j=1,j=i
k = 0, 1, . . .
for i = 1, 2, . . . , n
i1
n
1
(k+1)
(k)
bi
aij xj
aij xj
=
aii
j=1
j=i+1
k = 0, 1, . . .
Eulers Method
Given y = f (x, y), y(x0 ) = y0 ,
yn+1 = yn + hf (xn , yn ),
11
n = 0, 1, 2, . . .
Taylors Method
Given y = f (x, y), y(x0 ) = y0 ,
yn+1 = yn + hyn +
8.2.1
h2
y ,
2 n
n = 0, 1, 2, . . .
Runge-Kutta Methods
h
(k1 + k2 )
2
k2 = f (xn +
h
k1 )
2
h
k2 )
2
k4 = f (xn + h, yn + hk3 )
yn+1 = yn +
h
(k1 + 2k2 + 2k3 + k4 )
6
u(x0 ) = u0 ,
v = g(x, u, v),
v(x0 ) = v0 ,
These can be solved approximately by using the following second order Runge-Kutta scheme
k1 = f (xn , un , vn ),
l1 = g(xn , un , vn ),
h
(k1 + k2 ),
2
vn+1 = vn +
12
h
(l1 + l2 ).
2
8.2.2
Polynomial Interpolation
Lagrange Form
pn (x) =
fi Li (x)
i=0
where
Li (x) =
(x xj )
(x
i xj )
j=0,j=i
8.2.3
(m + 1)
m
xi
xi
xi 2
. . .
i=0
i=0
i=0
xi 2
xi 3
. . .
i=0
i=0
i=0
i=0
xi 2
i=0
xi 3
i=0
xi 4
. . .
i=0
xi n
xi n+1
xi n+2
i=0
.
.
.
m
i=0
xi n
i=0
xi n+1
xi n+2 . . .
i=0
i=0
13
xi 2n
fi
i=0
a1
xi fi
i=0
m
2
a2
xi fi
i=0
=
.
an
n
x f
a0
i=0
8.3
Table of Integrals
Function
Integral
xn
1
xn+1 , n = 1
n+1
ex
ex
eax+b
1 ax+b
e
a
1
x
ln |x|
ax
1 x
a
ln a
ln x
x ln x x
sin x
cos x
cos x
sin x
tan x
ln | cos x|
cosec2 x
cot x
sec2 x
tan x
cot x
ln | sin x|
sec x tan x
sec x
cosec x cot x
cosec x
1 1 + sin x
ln
= ln | sec x + tan x|
2 1 sin x
1 1 cos x
ln
= ln |cosec x cot x|
2 1 + cos x
sec x
cosec x
arcsin x
x arcsin x +
arccos x
x arccos x
arctan x
x arctan x
sinh x
cosh x
cosh x
sinh x
14
1 x2
1 x2
1
ln(1 + x2 )
2
Continued:
Function
Integral
tanh x
ln cosh x
coth x
ln | sinh x|
sech2 x
tanh x
cosech2 x
coth x
sech x tanh x
sech x
cosech x coth x
cosech x
sech x
2 arctan ex
x
e 1
x
ln tanh = ln x
2
e
+
1
x
1
a+x
1
arctanh =
ln
, if |x| < a
cosech x
a2
1
x2
x2
2a
ax
x
1
x+a
1
arccoth =
ln
, if |x| > a
1
+ a2
2a
xa
x
1
arctan
a
a
a2 x2
arcsin
2
x a2
arccosh
x
a
2
x + a2
arcsinh
x
a
x
a
1 2
1
x
x x + a2 + a2 arcsinh
2
2
a
1 2
1
x
x x a2 a2 arccosh
2
2
a
1 2
1
x
x a x2 + a2 arcsin
2
2
a
x2 + a2
x2 a2
a2 x 2
15
Continued:
Function
sinm x cosn x
Integral
sinm+1 x cosn1 x
n1
+
sinm x cosn2 x dx
m+n
m+n
sinm1 x cosn+1 x m 1
+
sinm2 x cosn x dx
m+n
m+n
sin ax sin bx
2(a b)
2(a + b)
cos ax cos bx
sin ax cos bx
eax sin bx
eax
(a sin bx b cos bx)
a2 + b2
eax cos bx
eax
(a cos bx + b sin bx)
a2 + b2
n x
x e
tan x
n
sec x
2(a b)
2(a + b)
x e n
n x
xn1 ex dx
1
tann1 x
n1
tann2 x dx
1
n2
secn2 x tan x +
n1
n1
16
secn2 x dx
Laplace Transforms
Function
Laplace Transform
f (t)
F (s) =
1
s
n!
tn
sn+1
1
sa
a
2
s + a2
s
2
s + a2
a
s 2 a2
s
2
s a2
2a3
(s2 + a2 )2
eat
sin at
cos at
sinh at
cosh at
sin at at cos at
sin at + at cos at
2as2
(s2 + a2 )2
t sin at
2as
(s2 + a2 )2
2a2 s
s4 + 4a4
as2 2a3
s4 + 4a4
as2 + 2a3
s4 + 4a4
s3
s4 + 4a4
eas
s
sin at sinh at
cos at sinh at
sin at cosh at
cos at cosh at
H(t a)
(t a)
eas
a
2
ea /4t
2t t
1
2
ea /4t
t
J0 (2 at)
ea
ea s
s
1 a/s
e
s
17
est f (t) dt
9.1
est f (t) dt
Linearity
L[af (t) + bg(t)] = aF (s) + bG(s)
Theorem
1
L[f (at)] = F
a
( )
s
a
Dierentiation of a Transform
L[tn f (t)] = (1)n
dn F (s)
dsn
Dierentiation of a Function
[
dn f (t)
= sn F (s) sn1 f (0) sn2 f (0) sf (n2) (0) f (n1) (0)
dtn
18
Integration of a Function
Integration of a Transform
F (s)
s
f (u) du =
0
f (t)
=
t
F (u) du
s
Convolution Theorem
[
10
f ( )g(t ) d = F (s)G(s)
Fourier Series
nx
1
nx
+ bn sin
f (x) = a0 +
an cos
2
l
l
n=1
1
l
l
l
f (x) cos
nx
dx
l
f (x) sin
nx
dx
l
1
nx
f (x) = a0 +
an cos
2
l
n=1
where
2
an =
l
nx
dx
l
f (x) cos
0
for n = 0, 1, 2, . . .
bn sin
n=1
where
2
bn =
l
f (x) sin
0
nx
l
nx
dx for n = 1, 2, 3, . . .
l
19
11
Vector Calculus
Gradient
The gradient of a scalar function (x, y, z) is given by
i+
j+
k
x
y
z
Divergence
The divergence of a vector function F(x, y, z) = F1 (x, y, z)i + F2 (x, y, z)j + F3 (x, y, z)k is given
by
F=
F1 F2 F3
+
+
x
y
z
Curl
The curl of a vector function
F(x, y, z)
= F1 (x, y, z)i + F2 (x, y, z)j + F3 (x, y, z)k is given by
i
F=
x
F
1
=(
y
F2
k
z
F3
F3 F1
F2 F1
F3 F2
)i (
)j + (
)k
y
z
x
z
x
y
Directional Derivative
The directional derivative of f in the direction of the vector u is given by
df
b
= f u
du
Surface Normals
The normal to the surface F (x, y, z) = 0 is parallel to the vector
F =
F
F
F
i+
j+
k
x
y
z
20
Line Integral
Surface Integral
(x, y, z) dS =
S
F dr =
F n dS =
f dx + g dy + h dz
C
F1 n1 + F2 n2 + F3 n3 du dv
D
dx dy
(x, y, f (x, y))
=
b k|
|n
D
f
x
)2
f
y
)2
+ 1 dx dy
Q P
x
y
dx dy =
P dx + Q dy
C
where C is a simple closed curve, traversed anticlockwise, which bounds the region R in the xy
plane.
F dS =
b dS =
Fn
F dV
Stokes Theorem
b dS =
Fn
I
C
F dr
Spherical :
dV = r dr d dz
21
dV = r2 sin dr d d
12
Statistics
P (A B) = P (A)P (B | A)
P (A B) = P (A) + P (B) P (A B)
( )
2 = np(1 p)
x
e
x!
n x
p (1 p)nx
x
2 =
d
(F (x)) = f (x)
dx
f (t)dt
xf (x) dx
(x )2 f (x) dx
1 x 2
1
Density of normal distribution: f (x) =
e 2 ( )
2
Sample mean: x
=
1
,
ba
for a < x b,
0,
otherwise.
n
1
xi
n i=1
n
1
Sample variance: s2 =
(xi x
)2 =
n 1 i=1
22
i=1
x2i
i=1
n(n 1)
)2
xi
Test Statistics
Central Limit Theorem: Z =
Test for single mean:
Test for two means: t =
s2p =
/ n
x
follows a tn1 distribution
s/ n
t=
x1 x2 (1 2 )
sp
1
n2
(n 1)s2
follows a 2n1 distribution
2
1
n1
p p
X
where p =
n
p(1 p)/n
x z/2
n
s
x tn1,/2
n
(n 1)s2 (n 1)s2
,
2n1,/2 2n1,1/2
(n 1)s2 (n 1)s2
,
2n1,/2 2n1,1/2
(x1 x2 ) z/2
1
1
+
n1 n2
if is known :
x z/2 1 +
1
n
if is unknown :
x tn1,/2 s 1 +
1
n
23
1
1
+
n1 n2
.00
.01
.02
.03
.04
.05
.06
.07
.08
.09
0.0
.5000
.5040
.5080
.5120
.5160
.5199
.5239
.5279
.5319
.5359
0.1
.5398
.5438
.5478
.5517
.5557
.5596
.5636
.5675
.5714
.5753
0.2
.5793
.5832
.5871
.5910
.5948
.5987
.6026
.6064
.6103
.6141
0.3
.6179
.6217
.6255
.6293
.6331
.6368
.6406
.6443
.6480
.6517
0.4
.6554
.6591
.6628
.6664
.6700
.6736
.6772
.6808
.6844
.6879
0.5
.6915
.6950
.6985
.7019
.7054
.7088
.7123
.7157
.7190
.7224
0.6
.7257
.7291
.7324
.7357
.7389
.7422
.7454
.7486
.7517
.7549
0.7
.7580
.7611
.7642
.7673
.7704
.7734
.7764
.7794
.7823
.7852
0.8
.7881
.7910
.7939
.7967
.7995
.8023
.8051
.8078
.8106
.8133
0.9
.8159
.8186
.8212
.8238
.8264
.8289
.8315
.8340
.8365
.8389
1.0
.8413
.8438
.8461
.8485
.8508
.8531
.8554
.8577
.8599
.8621
1.1
.8643
.8665
.8686
.8708
.8729
.8749
.8770
.8790
.8810
.8830
1.2
.8849
.8869
.8888
.8907
.8925
.8944
.8962
.8980
.8997
.9015
1.3
.9032
.9049
.9066
.9082
.9099
.9115
.9131
.9147
.9162
.9177
1.4
.9192
.9207
.9222
.9236
.9251
.9265
.9279
.9292
.9306
.9319
1.5
.9332
.9345
.9357
.9370
.9382
.9394
.9406
.9418
.9429
.9441
1.6
.9452
.9463
.9474
.9484
.9495
.9505
.9515
.9525
.9535
.9545
1.7
.9554
.9564
.9573
.9582
.9591
.9599
.9608
.9616
.9625
.9633
1.8
.9641
.9649
.9656
.9664
.9671
.9678
.9686
.9693
.9699
.9706
1.9
.9713
.9719
.9726
.9732
.9738
.9744
.9750
.9756
.9761
.9767
2.0
.9772
.9778
.9783
.9788
.9793
.9798
.9803
.9808
.9812
.9817
2.1
.9821
.9826
.9830
.9834
.9838
.9842
.9846
.9850
.9854
.9857
2.2
.9861
.9864
.9868
.9871
.9875
.9878
.9881
.9884
.9887
.9890
2.3
.9893
.9896
.9898
.9901
.9904
.9906
.9909
.9911
.9913
.9916
2.4
.9918
.9920
.9922
.9925
.9927
.9929
.9931
.9932
.9934
.9936
2.5
.9938
.9940
.9941
.9943
.9945
.9946
.9948
.9949
.9951
.9952
2.6
.9953
.9955
.9956
.9957
.9959
.9960
.9961
.9962
.9963
.9964
2.7
.9965
.9966
.9967
.9968
.9969
.9970
.9971
.9972
.9973
.9974
2.8
.9974
.9975
.9976
.9977
.9977
.9978
.9979
.9979
.9980
.9981
2.9
.9981
.9982
.9983
.9983
.9984
.9984
.9985
.9985
.9986
.9986
3.0
.9987
.9987
.9987
.9988
.9988
.9989
.9989
.9989
.9990
.9990
Table 1: The Cumulative Distribution Function P (Z z) for the Standard Normal Distribution
- positive values for Z [1].
24
df
90%
95%
97.5%
99%
99.5%
99.9%
3.078
6.314
12.706
31.821
63.657
318.309
1.886
2.920
4.303
6.965
9.925
22.327
1.638
2.353
3.183
4.541
5.841
10.215
1.533
2.132
2.777
3.747
4.604
7.173
1.476
2.015
2.571
3.365
4.032
5.893
1.440
1.943
2.447
3.143
3.708
5.208
1.415
1.895
2.365
2.998
3.500
4.785
1.397
1.860
2.306
2.897
3.355
4.501
1.383
1.833
2.262
2.822
3.250
4.297
10
1.372
1.812
2.228
2.764
3.169
4.144
11
1.363
1.796
2.201
2.718
3.106
4.025
12
1.356
1.782
2.179
2.681
3.055
3.930
13
1.350
1.771
2.160
2.650
3.012
3.852
14
1.345
1.761
2.145
2.625
2.977
3.787
15
1.341
1.753
2.132
2.603
2.947
3.733
16
1.337
1.746
2.120
2.584
2.921
3.686
17
1.333
1.740
2.110
2.567
2.898
3.646
18
1.330
1.734
2.101
2.552
2.879
3.611
19
1.328
1.729
2.093
2.540
2.861
3.580
20
1.325
1.725
2.086
2.528
2.845
3.552
21
1.323
1.721
2.080
2.518
2.831
3.527
22
1.321
1.717
2.074
2.508
2.819
3.505
23
1.319
1.714
2.069
2.500
2.807
3.485
24
1.318
1.711
2.064
2.492
2.797
3.467
25
1.316
1.708
2.060
2.485
2.788
3.450
26
1.315
1.706
2.056
2.479
2.779
3.435
27
1.314
1.703
2.052
2.473
2.771
3.421
28
1.313
1.701
2.048
2.467
2.763
3.408
29
1.311
1.699
2.045
2.462
2.756
3.396
30
1.310
1.697
2.042
2.457
2.750
3.385
40
1.303
1.684
2.021
2.423
2.705
3.307
50
1.299
1.676
2.009
2.403
2.678
3.262
60
1.296
1.671
2.000
2.390
2.660
3.232
80
1.292
1.664
1.990
2.374
2.639
3.195
100
1.290
1.660
1.984
2.364
2.626
3.174
200
1.286
1.653
1.972
2.345
2.601
3.132
1.282
1.645
1.960
2.326
2.576
3.090
25
References
[1] Vining, G.G. and Kowalski, S.M., Statistical Methods for Engineers, 3rd ed., Brooks/Cole,
2011.
[2] Stewart, J., Calculus, 7th ed., (International Metric Version), Brooks/Cole, 2012.
[3] Burden, R.L., and Faires, J.D., Numerical Analysis, 8th ed., Brooks/Cole, Pacic Grove,
2005.
26