 Solution

Take the spatial interval $0<x<L$ with $L>0$, and write $v=|c|>0$. A separated nonzero solution satisfiesThe zero-endpoint Dirichlet boundary conditions rule out nonzero solutions for $\lambda \le 0$: linear or hyperbolic spatial factors cannot vanish at both ends. For $\lambda >0$, they give $X_n=\sin (n\pi x/L)$ and ${\lambda }_n=(n\pi /L{)}^2$, $n\ge 1$. The temporal factors solve $T_n^{\prime \prime }+{\omega }_n^2{T}_n=0$, with the fixed-end standing wave frequencies ${\omega }_n=n\pi v/L$. Superposition givesThe constants are arbitrary subject to the convergence and regularity required of the solution. For initial displacement $f$ and initial velocity $g$, their Fourier sine series give $A_n=(2/L){\int }_0^{L}f(x)\sin (n\pi x/L)dx$ and $B_n=(2/(L{\omega }_n)){\int }_0^{L}g(x)\sin (n\pi x/L)dx$. Smooth compatible data give classical solutions; weaker data have the corresponding energy interpretation. A negative printed $L$ describes the interval with endpoints reversed and gives the same modes after using its positive length.