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CROFT AND ANTHONY CROFT AND ROBERT DAVISON
MATHEMATICS FOR ENGINEERS DAVISON
Fifth edition
MATHEMATICS
ENGINEERS
MATHEMATICS FOR
Understanding key mathematical concepts and applying them successfully to solve problems are vital skills
FOR ENGINEERS
that all engineering students must acquire. Mathematics for Engineers introduces, teaches, develops and
nurtures those skills. Practical, informal and accessible, it begins with the foundations and gradually builds
upon this knowledge as it introduces more complex concepts. Learn everything you will need for your first year
engineering mathematics course, together with a wealth of introductory material for even more advanced
topics such as Laplace and Fourier transforms and partial differential equations.
Key features
• Applications of mathematics are drawn from a wide range of engineering areas: aeronautical, automotive,
FIFTH EDITION
chemical, civil, computer, electrical and electronic, manufacturing, materials, mechanical, production,
reliability, and systems engineering.
• Hundreds of interactive examples are provided in the context of various engineering disciplines, so you
are able to both engage with the problems and also see the relevance of the maths to your wider studies.
• A wealth of practice and revision exercises with solutions help test your knowledge.
• Key points and important results are highlighted throughout.
• Computer and calculator examples and exercises are incorporated in relevant sections.
• Specimen examination papers give further opportunity to practise.
• A foundation section gives you a firm base in arithmetic, the building block of many high-level
mathematical topics.
Brief contents
Contents ix
Publisher’s acknowledgements xv
Preface xvi
Using mathematical software packages xx
1 Arithmetic 1
2 Fractions 18
3 Decimal numbers 35
5 Basic algebra 57
9 Trigonometry 335
A01_CROF5939_04_SE_A01.QXD 10/1/18 3:58 PM Page viii
14 Vectors 669
15 Differentiation 740
17 Integration 826
Contents
Publisher’s acknowledgements xv
Preface xvi
Using mathematical software packages xx
1 Arithmetic 1
Block 1 Operations on numbers 3
Block 2 Prime numbers and prime factorisation 10
End of chapter exercises 17
2 Fractions 18
Block 1 Introducing fractions 20
Block 2 Operations on fractions 25
End of chapter exercises 33
3 Decimal numbers 35
Block 1 Introduction to decimal numbers 37
Block 2 Significant figures 42
End of chapter exercises 43
x Contents
5 Basic algebra 57
Block 1 Mathematical notation and symbols 59
Block 2 Indices 72
Block 3 Simplification by collecting like terms 88
Block 4 Removing brackets 91
Block 5 Factorisation 99
Block 6 Arithmetic of algebraic fractions 106
Block 7 Formulae and transposition 119
End of chapter exercises 133
9 Trigonometry 335
Block 1 Angles 337
Block 2 The trigonometrical ratios 341
Block 3 The trigonometrical ratios in all quadrants 352
A01_CROF5939_04_SE_A01.QXD 10/1/18 3:58 PM Page xi
Contents xi
14 Vectors 669
Block 1 Basic concepts of vectors 671
Block 2 Cartesian components of vectors 685
A01_CROF5939_04_SE_A01.QXD 10/1/18 3:58 PM Page xii
xii Contents
15 Differentiation 740
Block 1 Interpretation of a derivative 742
Block 2 Using a table of derivatives 755
Block 3 Higher derivatives 764
End of chapter exercises 769
17 Integration 826
Block 1 Integration as differentiation in reverse 828
Block 2 Definite integrals 840
Block 3 The area bounded by a curve 847
Block 4 Computational approaches to integration 857
Block 5 Integration by parts 867
Block 6 Integration by substitution 874
Block 7 Integration using partial fractions 885
Block 8 Integration of trigonometrical functions 888
End of chapter exercises 892
Contents xiii
xiv Contents
Lecturer Resources
For password-protected online resources tailored to support
the use of this textbook in teaching, please visit
www.pearsoned.co.uk/croft
A01_CROF5939_04_SE_A01.QXD 11/9/18 2:57 PM Page xv
Publisher’s acknowledgements
Preface
Audience
This book has been written to serve the mathematical needs of students engaged in a
first course in engineering or technology at degree level. Students of a very wide
range of these programmes will find that the book contains the mathematical
methods they will meet in a first-year course in most UK universities. So the book
will satisfy the needs of students of aeronautical, automotive, chemical, civil,
electronic and electrical, systems, mechanical, manufacturing, and production
engineering, and other technological fields. Care has been taken to include illustra-
tive examples from these disciplines where appropriate.
Aims
There are two main aims of this book.
Firstly, we wish to provide a readable, accessible and student-friendly introduc-
tion to mathematics for engineers and technologists at degree level. Great care has
been taken with explanations of difficult concepts, and wherever possible statements
are made in everyday language, as well as symbolically. It is the use of symbolic
notation that seems to cause many students problems, and we hope that we have
gone a long way to alleviate such problems.
Secondly, we wish to develop in the reader the confidence and competence to
handle mathematical methods relevant to engineering and technology through an
interactive approach to learning. You will find that the book encourages you to take
an active part in the learning process – this is an essential ingredient in the learning
of mathematics.
A01_CROF5939_04_SE_A01.QXD 10/1/18 3:58 PM Page xvii
Preface xvii
Learning mathematics
In mathematics almost all early building blocks are required in advanced work. New
ideas are usually built upon existing ones. This means that, if some early topics are
not adequately mastered, difficulties are almost certain to arise later on. For example,
if you have not mastered the arithmetic of fractions, then you will find some aspects
of algebra confusing. Without a firm grasp of algebra you will not be able to perform
the techniques of calculus, and so on. It is therefore essential to try to master the full
range of topics in your mathematics course and to remedy deficiencies in your prior
knowledge.
Learning mathematics requires you to participate actively in the learning process.
This means that in order to get a sound understanding of any mathematical topic it is
essential that you actually perform the calculations yourself. You cannot learn math-
ematics by being a spectator. You must use your brain to solve the problem, and you
must write out the solution. These are essential parts of the learning process. It is not
sufficient to watch someone else solve a similar problem, or to read a solution in a
book, although these things of course can help. The test of real understanding and
skill is whether or not you can do the necessary work on your own.
xviii Preface
by the pencil icon. Make sure you have to hand scrap paper, pens or pencils and a
calculator. Interactive examples contain ‘empty boxes’ and ‘completed boxes’. An
empty box indicates that a calculation needs to be performed by you. The corres-
ponding completed box on the right of the page contains the calculation you should
have performed. When working through an interactive example, cover up the com-
pleted boxes, perform a calculation when prompted by an empty box, and then
compare your work with that contained in the completed box. Continue in this way
through the entire example. Interactive examples provide some help and structure
while also allowing you to test your understanding.
Sets of exercises are provided regularly throughout most blocks. Try these exer-
cises, always remembering to check your answers with those provided. Practice
enhances understanding, reinforces the techniques, and aids memory. Carrying out a
large number of exercises allows you to experience a greater variety of problems,
thus building your expertise and developing confidence.
Content
The content of the book reflects that taught to first-year engineering and technology
students in the majority of UK universities. However, particular care has been taken
to develop algebraic skills from first principles and to give students plenty of oppor-
tunity to practise using these. It is our firm belief, based on recent experience of
teaching engineering undergraduates, that many will benefit from this material
because they have had insufficient opportunity in their previous mathematical edu-
cation to develop such skills fully. Inevitably the choice of contents is a compro-
mise, but the topics covered were chosen after wide consultation coupled with
many years of teaching experience. Given the constraint of space we believe our
choice is optimal.
Preface xix
One of the main developments influencing the learning and teaching of engineering
mathematics in recent years has been the widespread availability of sophisticated
computer software and its adoption by many educational institutions.
As engineering students, you will meet a range of software in your studies. It is
also highly likely that you will have access to specialist mathematical software.
Two software packages that are particularly useful for engineering mathematics,
and which are referred to on occasions throughout this book, are Matlab and Maple.
There are others, and you should enquire about the packages that have been made
available for your use. A number of these packages come with specialist tools for
subjects such as control theory and signal processing, so you will find them useful in
other subjects that you study.
Common features of all these packages include:
• the facility to plot two- and three-dimensional graphs;
• the facility to perform calculations with symbols (e.g. a2, x + y, as opposed to
just numbers) including the solution of equations.
In addition, some packages allow you to write computer programs of your own that
build upon existing functionality, and enable the experienced user to create powerful
tools for the solution of engineering problems.
The facility to work with symbols, as opposed to just numbers, means that these
packages are often referred to as computer algebra systems or symbolic processors.
You will be able to enter mathematical expressions, such as (x + 2)(x - 3) or
t - 6
2
, and subject them to all of the common mathematical operations:
t + 2t + 1
simplification, factorisation, differentiation, integration, and much more. You will be
able to perform calculations with vectors and matrices. With experience you will
find that lengthy, laborious work can be performed at the click of a button.
Discovering Diverse Content Through
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to the poor unfortunate object of her resentment. You are at liberty,
certainly, to say what you please.
It has been confidently affirmed by most excellent judges (tho’ the
best may be mistaken) that I have grown very handsome lately. Pray
that I may have grace not to be vain. Yet, ah! who can read the
stories of Pamela, or Joseph Andrews, or Susannah and the three
Elders, and not perceive what a dangerous snare beauty is? Beauty
is like the grass, that groweth up in the morning and is withered
before night. Mary! Anne! Do not be vain of your beauty!!!!!
I keep a cat. Amid the strange collection of strange animals with
which I am surrounded, I think it necessary to have some meek
well-looking being, that I may keep my social affections alive. Puss,
like her master, is a very gentle brute, and I behave to her with all
possible politeness. Indeed, a cat is a very worthy animal. To be
sure, I have known some very malicious cats in my lifetime, but then
they were old—and besides, they had not nearly so many legs as
you, my sweet Pussy. I wish, Puss! I could break you of that
indecorous habit of turning your back front to the fire. It is not frosty
weather now.
N. B.—If ever, Mary, you should feel yourself inclined to visit me at
Cambridge, pray do not suffer the consideration of my having a cat
to deter you. Indeed, I will keep her chained up all the while you
stay.
I was in company the other day with a very dashing literary lady.
After my departure, a friend of mine asked her her opinion of me.
She answered: “The best I can say of him is, that he is a very gentle
bear.” What think you of this character?
What a lovely anticipation of spring the last three or four days have
afforded. Nature has not been very profuse of her ornaments to the
country about Cambridge; yet the clear rivulet that runs through the
grove adjacent to our College, and the numberless little birds
(particularly robins) that are singing away, and above all, the little
lambs, each by the side of its mother, recall the most pleasing ideas
of pastoral simplicity, and almost soothe one’s soul into congenial
innocence. Amid these delightful scenes, of which the uncommon
flow of health I at present possess permits me the full enjoyment, I
should not deign to think of London, were it not for a little family,
whom I trust I need not name. What bird of the air whispers me
that you too will soon enjoy the same and more delightful pleasures
in a much more delightful country? What we strongly wish we are
very apt to believe. At present, my presentiments on that head
amount to confidence.
Last Sunday, Middleton and I set off at one o’clock on a ramble. We
sauntered on, chatting and contemplating, till to our great surprise
we came to a village seven miles from Cambridge. And here at a
farmhouse we drank tea. The rusticity of the habitation and the
inhabitants was charming; we had cream to our tea, which though
not brought in a lordly dish, Sisera would have jumped at. Being
here informed that we could return to Cambridge another way, over
a common, for the sake of diversifying our walk, we chose this road,
“if road it might be called, where road was none,” though we were
not unapprized of its difficulties. The fine weather deceived us. We
forgot that it was a summer day in warmth only, and not in length;
but we were soon reminded of it. For on the pathless solitude of this
common, the night overtook us—we must have been four miles
distant from Cambridge—the night, though calm, was as dark as the
place was dreary: here steering our course by our imperfect
conceptions of the point in which we conjectured Cambridge to lie,
we wandered on “with cautious steps and slow.” We feared the bog,
the stump, and the fen: we feared the ghosts of the night—at least,
those material and knock-me-down ghosts, the apprehension of
which causes you, Mary (valorous girl that you are!), always to peep
under your bed of a night. As we were thus creeping forward like the
two children in the wood, we spy’d something white moving across
the common. This we made up to, though contrary to our supposed
destination. It proved to be a man with a white bundle. We enquired
our way, and luckily he was going to Cambridge. He informed us that
we had gone half a mile out of our way, and that in five minutes
more we must have arrived at a deep quagmire grassed over. What
an escape! The man was as glad of our company as we of his—for, it
seemed, the poor fellow was afraid of Jack o’ Lanthorns—the
superstition of this county attributing a kind of fascination to those
wandering vapours, so that whoever fixes his eyes on them is forced
by some irresistible impulse to follow them. He entertained us with
many a dreadful tale. By nine o’clock we arrived at Cambridge,
betired and bemudded. I never recollect to have been so much
fatigued.
Do you spell the word scarsely? When Momus, the fault-finding God,
endeavoured to discover some imperfection in Venus, he could only
censure the creaking of her slipper. I, too, Momuslike, can only fall
foul on a single s. Yet will not my dear Mary be angry with me, or
think the remark trivial, when she considers that half a grain is of
consequence in the weight of a diamond.
I had entertained hopes that you would really have sent me a piece
of sticking plaister, which would have been very convenient at that
time, I having cut my finger. I had to buy sticking plaister, etc. What
is the use of a man’s knowing you girls, if he cannot chouse you out
of such little things as that? Do not your fingers, Mary, feel an odd
kind of titillation to be about my ears for my impudence?
On Saturday night, as I was sitting by myself all alone, I heard a
creaking sound, something like the noise which a crazy chair would
make, if pressed by the tremendous weight of Mr. Barlow’s
extremities. I cast my eyes around, and what should I behold but a
Ghost rising out of the floor! A deadly paleness instantly overspread
my body, which retained no other symptom of life but its violent
trembling. My hair (as is usual in frights of this nature) stood upright
by many degrees stiffer than the oaks of the mountains, yea, stiffer
than Mr. ——; yet was it rendered oily-pliant by the profuse
perspiration that burst from every pore. This spirit advanced with a
book in his hand, and having first dissipated my terrors, said as
follows: “I am the Ghost of Gray. There lives a young lady” (then he
mentioned your name), “of whose judgment I entertain so high an
opinion, that her approbation of my works would make the turf lie
lighter on me; present her with this book, and transmit it to her as
soon as possible, adding my love to her. And, as for you, O young
man!” (now he addressed himself to me) “write no more verses. In
the first place your poetry is vile stuff; and secondly” (here he
sighed almost to bursting), “all poets go to —ll; we are so intolerably
addicted to the vice of lying!” He vanished, and convinced me of the
truth of his last dismal account by the sulphurous stink which he left
behind him.
His first mandate I have obeyed, and, I hope you will receive safe
your ghostly admirer’s present. But so far have I been from obeying
his second injunction, that I never had the scribble-mania stronger
on me than for these last three or four days: nay, not content with
suffering it myself, I must pester those I love best with the blessed
effects of my disorder.
Besides two things, which you will find in the next sheet, I cannot
forbear filling the remainder of this sheet with an Odeling, though I
know and approve your aversion to mere prettiness, and though my
tiny love ode possesses no other property in the world. Let then its
shortness recommend it to your perusal—by the by, the only thing in
which it resembles you, for wit, sense, elegance, or beauty it has
none.
AN ODE IN THE MANNER OF ANACREON.[24]
Are you quite asleep, dear Mary? Sleep on; but when you awake,
read the following productions, and then, I’ll be bound, you will
sleep again sounder than ever.
A WISH WRITTEN IN JESUS WOOD, FEBRUARY 10, 1792.[25]
Lo! through the dusky silence of the groves,
Thro’ vales irriguous, and thro’ green retreats,
With languid murmur creeps the placid stream
And works its secret way.
I have written too long a letter. Give me a hint, and I will avoid a
repetition of the offence.
It’s a compensation for the above-written rhymes (which if you ever
condescend to read a second time, pray let it be by the light of their
own flames) in my next letter I will send some delicious poetry lately
published by the exquisite Bowles.
To-morrow morning I fill the rest of this sheet with a letter to Anne.
And now, good-night, dear sister! and peaceful slumbers await us
both!
S. T. Coleridge.
But as the Gods have not made me a drawer (of anything but
corks), you must accept the will for the deed.
You never wrote or desired your sister to write concerning the bodily
health of the Barlowites, though you know my affection for that
family. Do not forget this in your next.
Is Mr. Caleb Barlow recovered of the rheumatism? The quiet ugliness
of Cambridge supplies me with very few communicables in the news
way. The most important is, that Mr. Tim Grubskin, of this town,
citizen, is dead. Poor man! he loved fish too well. A violent
commotion in his bowels carried him off. They say he made a very
good end. There is his epitaph:—
This morning I went for the first time with a party on the river. The
clumsy dog to whom we had entrusted the sail was fool enough to
fasten it. A gust of wind embraced the opportunity of turning over
the boat, and baptizing all that were in it. We swam to shore, and
walked dripping home, like so many river gods. Thank God! I do not
feel as if I should be the worse for it.
I was matriculated on Saturday.[31] Oath-taking is very healthy in
spring, I should suppose. I am grown very fat. We have two men at
our college, great cronies, their names Head and Bones; the first an
unlicked cub of a Yorkshireman, the second a very fierce buck. I call
them Raw Head and Bloody Bones.
As soon as you can make it convenient I should feel thankful if you
could transmit me ten or five pounds, as I am at present cashless.
Pray, was the bible clerk’s place accounted a disreputable one at
Oxford in your time? Poor Allen, who is just settled there, complains
of the great distance with which the men treat him. ’Tis a childish
University! Thank God! I am at Cambridge. Pray let me hear from
you soon, and whether your health has held out this long campaign.
I hope, however, soon to see you, till when believe me, with
gratitude and affection, yours ever,
S. T. Coleridge.
from grievances that are the growth of all times and places and not
peculiar to this age, which authors call this critical age, and divines
this sinful age, and politicians this age of revolutions. An
acquaintance of mine calls it this learned age in due reverence to his
own abilities, and like Monsieur Whatd’yecallhim, who used to pull
off his hat when he spoke of himself. The poet laureate calls it “this
golden age,” and with good reason,—
Pope, in his “Dunciad,” makes it this leaden age, but I choose to call
it without an epithet, this age. Many things we must expect to meet
with which it would be hard to bear, if a compensation were not
found in honest endeavours to do well, in virtuous affections and
connections, and in harmless and reasonable amusements. And why
should not a man amuse himself sometimes? Vive la bagatelle!
I received a letter this morning from my friend Allen. He is up to his
ears in business, and I sincerely congratulate him upon it—
occupation, I am convinced, being the great secret of happiness.
“Nothing makes the temper so fretful as indolence,” said a young
lady who, beneath the soft surface of feminine delicacy, possesses a
mind acute by nature, and strengthened by habits of reflection. ’Pon
my word, Miss Evans, I beg your pardon a thousand times for
bepraising you to your face, but, really, I have written so long that I
had forgot to whom I was writing.
Have you read Mr. Fox’s letter to the Westminster electors? It is quite
the political go at Cambridge, and has converted many souls to the
Foxite faith.
Have you seen the Siddons this season? or the Jordan? An
acquaintance of mine has a tragedy coming out early in the next
season, the principal character of which Mrs. Siddons will act. He has
importuned me to write the prologue and epilogue, but, conscious of
my inability, I have excused myself with a jest, and told him I was
too good a Christian to be accessory to the damnation of anything.
There is an old proverb of a river of words and a spoonful of sense,
and I think this letter has been a pretty good proof of it. But as
nonsense is better than blank paper, I will fill this side with a song I
wrote lately. My friend, Charles Hague[33] the composer, will set it to
wild music. I shall sing it, and accompany myself on the violin. Ça
ira!
Cathloma, who reigned in the Highlands of Scotland about two
hundred years after the birth of our Saviour, was defeated and killed
in a war with a neighbouring prince, and Nina-Thoma his daughter
(according to the custom of those times and that country) was
imprisoned in a cave by the seaside. This is supposed to be her
complaint:—
How long will ye round me be swelling,
O ye blue-tumbling waves of the sea?
Not always in caves was my dwelling,
Nor beneath the cold blast of the Tree;
O turtle-eyed affection!
If thou be present—who can be distrest?
Pain seems to smile, and sorrow is at rest:
No more the thoughts in wild repinings roll,
And tender murmurs hush the soften’d soul.
But I will not proceed at this rate, for I am writing and thinking
myself fast into the spleen, and feel very obligingly disposed to
communicate the same doleful fit to you, my dear sister. Yet permit
me to say, it is almost your own fault. You were half angry at my
writing laughing nonsense to you, and see what you have got in
exchange—pale-faced, solemn, stiff-starched stupidity. I must
confess, indeed, that the latter is rather more in unison with my
present feelings, which from one untoward freak of fortune or other
are not of the most comfortable kind. Within this last month I have
lost a brother[35] and a friend! But I struggle for cheerfulness—and
sometimes, when the sun shines out, I succeed in the effort. This at
least I endeavour, not to infect the cheerfulness of others, and not to
write my vexations upon my forehead. I read a story lately of an old
Greek philosopher, who once harangued so movingly on the miseries
of life, that his audience went home and hanged themselves; but he
himself (my author adds) lived many years afterwards in very sleek
condition.
God love you, my dear Anne! and receive as from a brother the
warmest affections of your
S. T. Coleridge.
There is no meaning in the lines, but we both agreed they were very
pretty. If you see Mr. Hussy, you will not forget to present my
respects to him, and to his accomplished daughter, who certes is a
very sweet young lady.
God bless you and your grateful and affectionate
S. T. Coleridge.
XXI. TO G. L. TUCKETT.[40]
Henley, Thursday night, February 6 [1794].
Dear Tuckett,—I have this moment received your long letter! The
Tuesday before last, an accident of the Reading Fair, our regiment
was disposed of for the week in and about the towns within ten
miles of Reading, and, as it was not known before we set off to what
places we would go, my letters were kept at the Reading post-office
till our return. I was conveyed to Henley-upon-Thames, which place
our regiment left last Tuesday; but I am ordered to remain on
account of these dreadfully troublesome eruptions, and that I might
nurse my comrade, who last Friday sickened of the confluent
smallpox. So here I am, videlicet the Henley workhouse.[41] It is a
little house of one apartment situated in the midst of a large garden,
about a hundred yards from the house. It is four strides in length
and three in breadth; has four windows, which look to all the winds.
The almost total want of sleep, the putrid smell, and the fatiguing
struggles with my poor comrade during his delirium are nearly too
much for me in my present state. In return I enjoy external peace,
and kind and respectful behaviour from the people of the
workhouse. Tuckett, your motives must have been excellent ones;
how could they be otherwise! As an agent, therefore, you are
blameless, but your efforts in my behalf demand my gratitude—that
my heart will pay you, into whatever depth of horror your mistaken
activity may eventually have precipitated me. As an agent, you stand
acquitted, but the action was morally base. In an hour of extreme
anguish, under the most solemn imposition of secrecy, I entrusted
my place and residence to the young men at Christ’s Hospital; the
intelligence which you extorted from their imbecility should have
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