Che Ban-Calculus 2 - NVH

HANOI UNIVERSITY OF TECHNOLOGY
NGUY N VN H
A COURSE
IN
CALCULUS
2
2009
Calculus 2 Chapter 1: Vector and Geometry of Space Nguyen Van Ho - 2009
3
Chapter 1
Vector and Geometry of Space
1.1 VECTORS
In this chapter we introduce vectors and coordinate system for three-dimensional space. We
will see that vectors provide simple descriptions of lines and planes in space.
We first choose in space a fixed point O (the origin) and three directed lines through O that
are perpendicular to each other, called the coordinate axes, labeled the x-axis, y-axis, and z-
axis. The direction of z-axis is determined by the right-hand-rule: If you curl the fingers of
your right hand around the z-axis in the direction of a 90
o
counterclockwise rotation from the
positive x-axis to the positive y-axis, then your thumb points the positive direction of the z-
axis. The three coordinate planes divide space into 8 octants. There is a one-to-one
correspondence between any point P in space and a triple ( ) , ,
P P P
x y z of real numbers, the
coordinates of P. See Figure 1.1.1
Figure 1.1.1: The coordinate axes Figure 1.1.2: Vector a = AB
A. VECTOR
The term vector is used to indicate a quantity that has both magnitude and direction (velocity,
force,...). A vector is used to be denoted by AB
or a ... See Figure 1.1.2.

DEFINITION 1.1.1 VECTOR AND COMPONENTS
A three-dimensional vector is an ordered triple
1 2 3
, , a = a a a of real numbers. The umbers
1 2 3
, , a a a are called the components of a.
PROPERTY 1.1.1
a. Given ( ) ( ) , , , , ,
A A A B B B
A x y z B x y z , then
, ,
B A B A B A
AB x x y y z z =
(1.1.1)
b. The length of the vector
1 2 3
, , a = a a a is
2 2 2
1 2 3
| | a = + + a a a (1.1.2)
4
DEFINITION 1.1.2 VECTOR ADDITION
If
1 2 3
, , a = a a a ,
1 2 3
, , = b b b b , then
1 1 2 2 3 3
, , a b + = + + + a b a b a b
DEFINITION 1.1.3 MULTIPLICATION A VECTOR BY A SCALAR
If
1 2 3
, , a = a a a , and c is a scalar (number), then
1 2 3
, , a = c ca ca ca
PROPERTY 1.1.2
If a, b, and c are vectors in space, k, l are scalars (numbers), then
a. a b b a + = +
b. ( ) ( ) a b c a b c + + = + +
c. a 0 a + = , where 0 is the zero vector
d. ( ) a a 0 + =
e. ( ) a b a b + = + k k k
f. ( )a a a + = + k l k l
g. ( ) ( ) a a = kl k l
h. 1 = a a
DEFINITION 1.1.4 STANDARD BASIC VECTORS
The vectors 1, 0, 0 , 0,1, 0 , 0, 0,1 i j k = = = are called the standard basic vectors
PROPERTY 1.1.3
If
1 2 3
, , a = a a a , then
1 2 3
a i j k = + + a a a
EXAMPLE 1.1.1
a. Given ( ) ( ) 1, 2, 2 , 2, 3, 0 A B , find , and | | AB = a a
Solution: 3, 5, 2 AB = = a

,
2 2 2
| | 3 ( 5) 2 38 AB = = + + = a

.
b. A 100-kG weight hangs from two wires as shown in Figure 1.1.3. Find the tensions
(forces) T
1
and T
2
in both wires and their magnitudes.
Figure 1.1.3: Figure 1.1.4:
Solution:
Look at Figure 1.1.4. Express first the forces in terms of their components, then equate the
total components to zero (balance the forces).
0 0 3 1
1 1 1 1 1 2 2
( | | cos 60 ) (| | cos30 ) ( | |) ( | |) = + = + T T i T j T i T j ,
0 0 3 1
2 2 2 2 2 2 2
(| | cos30 ) (| | cos 60 ) ( | |) ( | |) = + = + T T i T j T i T j,
5
1 2 1 2
25 3 75 and 25 3 25 + + = = + = + T T W 0 T i j T i j
B. DOT PRODUCT
DEFINITION 1.1.5 DOT PRODUCT
If
1 2 3
, , a = a a a and
1 2 3
, , b b b = b , then the dot product of a and b is the number a b given
by
1 1 2 2 3 3
a b a b a b = + + a b (1.1.3)
PROPERTY 1.1.4
If a, b, and c are vectors in space and k is a constant, then
a.
2
| | = a a a
b. = a b b a
c. ( ) + = + a b c a b a c
d. ( ) ( ) ( ) k k k = = a b a b a b
e. 0 = 0 a
THEOREM 1.1.1
a. If , 0 , is the angle between a, b, then
| | | | cos = a b a b (1.1.4)
1 1
1 1 2 2 3 3
2 2 2 2 2 2
2 3 2 3
cos
| | | |
a b a b a b
a a a b b b
+ +
= =
+ + + +
a b
a b
(1.1.5)
b. Vectors a and b are orthogonal if and only if
1 1 2 2 3 3
0 i.e. a a a 0 b b b = + + = a b (1.1.6)
Proof
Apply the Law of Cosines to a triangle:
2 2 2
| | | | | | 2 | | | | cos = + b- a a b a b .
On the other hand:
2 2 2
| | ( ) ( ) 2 | | | | 2 = = + = + = + b- a b- a b- a b b- b a - a b a a b b- a b a a a b - a b .
Therefore we obtain (1.1.4).
Figure 1.1.5
6
DEFINITION 1.1.6 DIRECTION ANGLES AND DIRECTION COSINES
a. The direction angles of a nonzero vector a are the angles , , and in the interval [0,]
that the vector a makes with the positive x- , y- , and z- axes.
b. The cosines of these direction angles, cos, cos, and cos are called the direction
cosines of the vector a.
It follows from (1.1.5) that
3 1 2
cos ; cos ; cos ;
| | | | | | | | | | | | | | | | | |
a a a

= = = = = =
a i a j a k
a i a a j a a k a
(1.1.7)
1 2 3
| | cos ; | | cos ; | | cos ; a a a = = = a a a (1.1.8)
Therefore | | cos , cos , cos = a a (1.1.9)
The of unit vector a : cos , cos , cos
| |
=
a
a
(1.1.10)
2 2 2
cos cos cos 1 + + = (1.1.11)
DEFINITION 1.1.7 SCALAR PROJECTION AND VECTOR PROJECTION
a. The scalar projection of a onto b (also called the component of a along b):
OP = comp | | cos
| |

= =
b
a b
a a
b
(1.1.12)
b. The vector projection of a onto b:
2
= proj
| | | | | |
OP

= =

b
a b b a b
a b
b b b
(1.1.13)
OP 0 > , = , 0 OP k k > b
OP 0 < , = , 0 OP k k < b
Figure 1.1.6: Projection

EXAMPLE 1.1.2
a. Find the scalar projection of 1, 2, 3 = a onto 2, 3, 1 = b .
b. The force (in newtons) 3, 2, 5 = F moves a particle from the point A(2, 1, 4) to the
point B(6, 3, 5) , (the length unit is meter). Find the work done.
c. Find the direction cosines of 2, 3,1 = a
7
c. Find the angle between 1, 3, 2 = a and 1, 2, 1 = b .
d. Find the unit vector of 2, 4, 4 = a .
e. Are 1, 3, 7 = a and 1, 2, 1 = b orthogonal?
f. Let 1, 4, 3 = a and 1, 1, 2 = b . Find the scalar and vector projections of b onto a and
of a onto b.
Answer: comp 9/ 6 =
b
a ;
9 9 18
proj , ,
6 6 6
=
b
a ; comp 9/ 26 =
a
b ;
9 36 27
proj , ,
26 26 26
=
a
b
C. C. CROSS PRODUCT
DEFINITION 1.1.8 CROSS PRODUCT
The cross product of a and b is a vector, denoted by a b, that satisfies
(i) a b is orthogonal to both vectors a and b.
(ii) The direction of a b is given by the right-hand rule (the fingers of the right hand curl
in the direction of a rotation through an angle less than 180
o
from a to b, then the thumb
points the direction of a b )
(iii) | | | || | sin = a b a b , where , 0 , is the angle between a, b (1.1.14)
Note that the condition (1.1.14) means that the magnitude (length) of a b is equal to the
area of the parallelogram determined by a and b. See Figure 1.1.7
Figure 1.1.7
PROPERTIES 1.1.5 CROSS PRODUCT
a. , , = = = i j k j k i k i j
b. = a b 0 if and only if a and b are parallel.
c. ( ) = b a a b
d. ( ) ( ) ( ) + = + a b c a b a c
e. ( ) ( ) k k = a b a b
f. ( ) ( ) ( )( ) k l kl = a b a b , where k and l are numbers
From these properties, it is easy to obtain the following component expression for the cross
product of two vectors
1 2 3
, , a = a a a and
1 2 3
, , b b b = b .
8
THEOREM 1.1.2 MATRIX EXPRESSION OF THE CROSS PRODUCT
If
1 2 3
, , a = a a a and
1 2 3
, , b b b = b , then the cross product of a and b is determined by
2 3 1 3 1 2
1 2 3
2 3 1 3 1 2
1 2 3
a a a a a a
a a a
b b b b b b
b b b
= = +
i j k
a b i j k
2 3 3 2 3 1 1 3 1 2 2 1
( ) ( ) ( ) a b a b a b a b a b a b = + + i j k
2 3 3 2 3 1 1 3 1 2 2 1
, , a b a b a b a b a b a b = (1.1.15)
Proof
1 2 3 1 2 3 1 2 3 1 2 3
, , , , ( ) ( ) a a a b b b a a a b b b = = + + + + a b i j k i j k . Apply properties 1.1.5.
EXAMPLE 1.1.3
a. Given 1, 3, 2 = a , 2, 4,1 = b , find a b , | | a b .
Answer: 11, 3,10 , 230 .
b. Find the area of the triangle ABC, A(2,8,12), B(4,5,8), C(1,4,10).
Answer: 285 / 2 .
c. Find the height AH of the triangle ABC, A(1,6,4), B(2,5,8), C(-1,4,0).
Answer:
| | 176 88
74 37 | |
BA BC
AH
BC
= = =

d. Prove that
( ) ( ) ( ) = a b c a c b a b c (1.1.16)
Hint: Apply (1.1.3) and (1.1.15).
D. D. SCALAR TRIPLE PRODUCT
DEFINITION 1.1.9 SCALAR TRIPLE PRODUCT
The scalar triple product of three vectors a, b, and c, denoted by ( , , ) a b c , is a number that
is defined by the scalar product of a and a b :
( , , ) a b c = ( ) a b c (1.1.17)
THEOREM 1.1.3 EXPRESSION OF THE SCALAR TRIPLE PRODUCT
a. Let
1 2 3
, , a = a a a ,
1 2 3
, , b b b = b , and
1 2 3
, , c c c = c .
Then the scalar triple product of three vectors a, b, and c is determined by the
determinant
9
1 2 3
1 2 3
1 2 3
( , , ) ( )
a a a
b b b
c c c
= = a b c a b c (1.1.18)
b. ( , , ) ( , , ) = b a c a b c , i.e., .( ) ( ) = b a c a b c (1.1.19)
c. ( , , ) ( , , ) ( , , ), i.e, ( ) ( ) ( ) = = = = a b c b c a c a b a b c b c a c a b (1.1.20)
Proof
The conclusion a. follows directly from (1.1.3), (1.1.15), and (1.1.16). The conclusions b. and
c. follow from the determinant properties.
EXAMPLE 1.1.4
Let 2, 1, 2 = a , 1, 3,1 = b , and 3, 2, 2 = c . Find ( , , ) a b c , ( , , ) b c a , ( , , ) b a c .
Answer: -5, -5, 5. These results justify (1.1.18) and (1.1.19).
PROPERTIES 1.1.6 SCALAR TRIPLE PRODUCT
a. The volume of the parallelepiped determined by the vectors a, b, and c is the magnitude
(absolute value) of their scalar triple product:
| ( , , ) | V = a b c (1.1.21)
b. The vectors a, b, and c are coplanar if and only if
( , , ) a b c = 0 (1.1.22)
Proof
a. (1.1.20) follows directly from (1.1.4) and (1.1.14):
( , , ) ( ) | | | ( ) | cos = = a b c a b c a b c , where , 0 , is the angle between a and b c .
The length | | b c is equal to the area of the parallelogram determined by b and c; the height
h of the parallelepiped is the magnitude of | | cos a . Figure 1.1.8 shows that when
0 / 2 : | | cos 0 ( ) 0 a a, b, c and when / 2 < : | | cos 0 ( ) 0 < < a a, b, c .
c. It is the consequence of a.
a) 0 / 2 : ( , , ) ( ) 0 = a b c a b c b) / 2 < : ( , , ) ( ) 0 = < a b c a b c
Figure 1.1.8: The parallelepiped determined by the vectors a, b, and c
10
EXAMPLE 1.1.5
Let 3, 3, 4 = a , 1, 3, 1 = b , and , 2, 4 k = c .
a. Find the volume of the parallelepiped determined by a, b, and c, if k = 5.
b. Determine k so that a, b, and c are coplanar.
c. Determine whether the points A(1, 0, 1), B(2, 4, 6), C(3, -1, 2), and D(6, 2, 8) lie in the
same plane.
Answer: a. 67; b. -22/9; c. Yes.
1.2 EQUATIONS OF LINES AND PLANES
A. EQUATIONS OF LINES
A line L is determined by a point
0 0 0 0
( , , ) P x y z on it and its direction vector , , a b c = v .
Let ( , , ) P x y z be an arbitrary point on L. Let , , OP x y z = = r

, and
0 0 0 0 0
, , OP x y z = = r

be
the position vectors of P and P
0
. Vector
0 0
P P = r - r
is parallel to v. Look at Figure 1.2.1.

Figure 1.2.1
The vector equations of L :
0
t = + r r v (1.2.1)
The parametric equations of L :
0 0 0
, , x x at y y bt z z ct = + = + = + (1.2.2)
(t is the parameter, t )
The symmetric equations of L :
0 0 0
x x y y z z
a b c

= = (1.2.3)
If one of a, b, or c = 0, these equations become, for instance if a = 0:
(The line lies in the plane
0
x x = that is parallel to the xy-plane)
0 0
0
y y z z
x x
b c

= = (1.2.4)
11
If two among a, b, or c = 0, these equations become, for instance if a = 0 and b = 0:
0 0
x x y y = = (1.2.5)
EXAMPLE 1.2.1
a. Find the vector equation and the parametric equations for the line that passes through
the point (3, 2, -1) and is parallel to the vector 2, 5, 1 = v .
At what points does the line passes through the xy-plane?
Solution:
The vector equation:
3 2 , 2 5 , 1 (3 2 ) ( 2 5 ) ( 1 ) t t t t t t = + = + + + r i j k
The parametric equations:
3 2 , 2 5 , 1 x t y t z t = = = + .
Put z = 0 1 1, 3, 0 t x y z = = = =
the line passes through the xy-plane at the point P(1, -3, 0).
b. Find the vector equation, the parametric equation, and the symmetric equation for the
line that passes through the points A(4, 3, 6), B(2, -5, 6). Is this line parallel to the line in
question a?
B. EQUATIONS OF PLANES
A plane P is determined by a point
0 0 0 0
( , , ) P x y z in it and its normal vector , , a b c = n .
Let ( , , ) P x y z be an arbitrary point in P. Let , , OP x y z = = r

, and
0 0 0 0 0
, , OP x y z = = r

be
the position vectors of P and P
0
. Vector
0 0
P P = r - r
is orthogonal to , , a b c = n and so we
have
The vector equations of P :
0 0
( ) 0 or = = n r r n r n r (1.2.6)
The scalar equation of P :
0 0 0
( ) ( ) ( ) 0 a x x b y y c z z + + = (1.2.7)
or : 0 ax by c z d + + + = (1.2.8)
where
0 0 0
( ) d ax by cz = + +
EXAMPLE 1.2.2
a. Find an equation of the plane that passes through A(1, 3, -4) and is orthogonal to BC
,
where B(-1, -3, 1), C(3, 4, -2).
Solution:
12
4, 7, 3 4( 1) 7( 3) 3( 1) 0 or 4 7 3 28 0 BC x y z x y z = = + + + = + + = n

b. Find an equation of the plane P that passes through points A(2, 1, -2), B(-2, -1, 2), and
C(3, 4, 1). Show that P passes through the origin.
Solution:
Let P(x, y, z) be an arbitrary point in the plane. Four points A, B, C, and P are coplanar, or
three vectors , BA
, AC
and AP
are coplanar. It follows from (1.1.21) that the equation of P is

9 8 5 0 x y z + = . The coordinates of the origin O(0, 0, 0) satisfy the equation of P. It means
that P passes through the origin O.
c. Find the point P at which the line 4 2 , 2 3 , 1 2 x t y t z t = = = + intersects the plane
8 6 9 0 x y z + + = .
Answer: P(1, -5/2, 2).
d. Fnd the formula for the distance d from a point
1 1 1 1
( , , ) P x y z to the plane P
0 ax by c z d + + + = .
Solution:
Let
0 0 0 0
( , , ) P x y z be a point in the plane P. The normal vector of P is , , a b c = n . The
distance d is equal to the magnitude of the scalar projection of
0 1 1 0 1 0 1 0
, , P P x x y y z z =
onto , , a b c = n :
0 1 0 1 0 1 0
0
2 2 2
| | | ( ) ( ) ( ) |
| |
PP a x x b y y c z z
d comp PP
a b c
+ +
= = =
+ +
n
n
n
.
Since,
0 0 0 0
0 P ax by c z d + + + = P , then
1 1 1
2 2 2
| | ax by cz d
d
a b c
+ + +
=
+ +
(1.2.9)
1.3 CYLINDERS AND QUADRATIC SURFACES
DEFINITION 1.3.1 CYLINDERS
A cylinder is a surface that consists of all lines (called rulings) that are parallel to a given
line and pass through a given plane curve.
By rotation it can be supposed that the rulings are parallel to one axis.
EXAMPLE 1.3.1
a. The surface
2
z x = (the equation does not involve y) is a parabolic cylinder. The rulings
are parallel to the y-axis and pass through the parabola
2
z x = in the xz-plane
13
b. The surface
2 2
4 x y + = (the equation does not involve z) is a circular cylinder. The
rulings are parallel to the z-axis and pass through the circle
2 2
4 x y + = in the xy-plane
c. Determine the surface
2 2
4 1 z x + =
DEFINITION 1.3.2 QUADRATIC SURFACES
A quadratic surface is the graph of a second-degree equation
2 2 2
0 Ax By Cz Dxy Exz Fyz Gx Hy Iz J + + + + + + + + + = .
By translation and rotation it can be brought into one of two standard forms
2 2 2
0 Ax By Cz J + + + = or
2 2
0 Ax By Iz + + =
EXAMPLE 1.3.2
a. Ellipsoid
2 2 2
2 2 2
1
x y z
a b c
+ + = (1.3.1)
b. Elliptic paraboloid
2 2
2 2
z x y
c a b
= + (1.3.2)
Circular paraboloid: If a = b
b. Hyperbolic paraboloid
2 2
2 2
z x y
c a b
= (1.3.3)
d. Hyperboloid of one sheet
2 2 2
2 2 2
1
x y z
a b c
+ = (1.3.4)
e. Hyperboloid of two sheets
2 2 2
2 2 2
1
x y z
a b c
+ = (1.3.5)
f. Cone
2 2 2
2 2 2
z x y
c a b
= + (1.3.6)
1.4 CYLINDRICAL AND SPHERICAL COORDINATES
A. CYLINDRICAL COORDINATES
DEFINITION 1.4.1 CYLINDRICAL COORDINATES
A point ( , , ) P x y z in the space can be represented by the ordered triple ( , , ) r z , where
( , ) r are polar coordinates of the projection of P onto the xy-plane. The ordered triple
( , , ) r z is called the cylindrical coordinates of P.
14
Figure 1.4.1 Cylindrical coordinates
To convert from cylindrical to rectangular coordinates we use the equations:
cos , sin , x r y r z z = = = (1.4.1)
To convert from rectangular to cylindrical coordinates we use the equations:
2 2 2
, tan ,
y
r x y z z
x
= + = = (1.4.2)
EXAMPLE 1.4.1
a. Equation z = kr represents a cone
2 2 2 2
( ) z k x y = + .
b. Equation r = k represents a cylinder
2 2 2
x y k + = .
c. Equation = k represents a plane tan y x = .
d. Find the rectangular coordinates of the point with cylindrical coordinates (3, 2 / 3, 5)
Answer: ( 3/ 2, 3 3 / 2, 5)
B. SPHERICAL COORDINATES
DEFINITION 1.4.1 SPHERICAL COORDINATES
A point ( , , ) P x y z in the space can be represented by the ordered triple ( , , ) , where is
the same angle as in cylindrical coordinates, , 0 , is the angle between the positive z-
axis and OP
, and , 0, s the distance from the origin O to P. The ordered triple ( , , )

is called spherical coordinates of P.
Figure 1.4.2 Spherical coordinates
To convert from spherical to rectangular coordinates we use the equations:
15
sin cos , sin sin , cos x y z = = = (1.4.3)
To convert from rectangular to spherical coordinates we use the equations:
2 2 2 2
, tan , cos
y z
x y z
x
= + + = =
(1.4.4)
EXAMPLE 1.4.2
a. Equation , 0 k k = > , represents a sphere
2 2 2 2
x y z k + + = .
b. Equation , 0 2 , k k = represents a plane tan y x = .
c. What does the equation , 0 , k k = < < represent?
d. What does the equation sin , 0 , k k = < < represent?
d. Find the rectangular coordinates of the point with spherical coordinates (4, / 3, / 6)
Answer:
( )
1, 3, 2 3
EXERCISES
1.1 Find the angle between a diagonal of a cube and a diagonal of one of its faces.
1.2 Find the angle between a diagonal of a cube and one of its edges.
1.3 Prove
a. The Cauchy-Schwarz Inequality: | | | || | a b a b
b. The Triangle Inequality for vectors: | | | | | | + + a b a b
c. The Parallelogram Law:
( )
2 2 2 2
| | | | 2 | | | | + + = + a b a b a b
1.4 Suppose that a, b, and c are all nonzero vectors such that | | | | = + c a b b a . Show that c
bisects the angle between a and b.
1.5 Given the points A(1, 0, 0), B(0, 1, 0), C(0, 0, 1), S(1, 1, 1), and H(, , ). Show that
SABC is a regular tetrahedron and H is its center.
1.6 A molecule of methane, CH
4
, is structured with the four hydrogen atoms at the vertices of
a regular tetrahedron and the carbon atom at the center. Show that the angle between the lines
that joint the carbon atom to two of the hydrogen atoms is about 109.5
o
.
1.7 Let P be a point not on the line L that passes through the points A and B. Show that the
distance from P to L is
| |
| |
AP AB
d
AB
=

.
Calculate the distance, if P(1,1,1), A(0,6,8), B(-1,4,7).
16
1.8 Let D be a point not on the plane P that passes through the points A, B, and C. Show that
the distance from D to P is
( )
AD AB AC
d
AB AC

=

Calculate this distance, if D(1,2,2), A(0,4,-1), B(-1,2,3), C(-3,2,5).
1.9 Given M(0, 1, -2), N(1, 3, 4), A(-2, 4, -1), B(-3, 1, 3), and C(3, 2, 5).
a. Find the equation of the plane P that contains A, B, and C.
b. Find the equation of the line that goes through M and is perpendicular to P.
c. Find the equation of the line L
1
that goes through A and B.
d. Find the equation of the line L
2
that goes through M and is parallel to L
1
.
e. Determine the distance from M to P
f. Determine the distance between L
1
and L
2
.
g. Find the volume of the parallelepiped determined from M, A, B, and C
h. Find the volume of the tetrahedron MABC
i. Find the distance between L
1
and L
3
, the line goes through M and N.
1.10 Prove that
a. ( ) ( ) 2( ) + = a b a b a b
b. ( ) ( ) ( ) = a b c a c b a b c
c. ( ) ( ) ( ) + + = a b c b c a c a b 0
1.11 Plot the point whose cylindrical coordinates are given. Then find the rectangular
coordinates of the point.
a. (4, / 3, 6)
b. (3, / 3, 5)
1.12 Plot the point whose spherical coordinates are given. Then find the rectangular
a. (5, / 3, / 4)
b. (7, 2 / 3, / 6)
1.13 Plot the point whose rectangular coordinates are given. Then find the cylindrical
a. (1, 1, 4)
b. (3/ 2, 3/ 2, 1)
1.14 Plot the point whose rectangular coordinates are given. Then find the spherical
a. (1, 1, 2)
b. ( 3, 3, 2)
1.15 Show that the equation
1 1 2 2 3 3
( )( ) ( )( ) ( )( ) 0 x a x b y a y b z a z b + + = represents a
sphere and find its center and radius, where
1 2 3 1 2 3
( , , ) ( , , ) a a a b b b are fixed.
17
ANSWERS
1.1 cos 2/ 6 and cos 0 = = .
1.2 cos 1/ 3 =
1.7 97 / 3
1.8 2/ 17
1.9 a. 10 26 17 107 0 x y z + = b.
1 2
10 26 17
x y z +
= =

c.
2 4 1
1 3 4
x y z + +
= =
d.
1 2
1 3 4
x y z +
= =
e. 115/ 1065 f. 355/ 26

i. L
3
:
1 2
1 2 6
x y z +
= = ; 83/ 777 d =
1.15
1
1 2 3 1 2 3 2
Radius | |, ( , , ), ( , , ) AB A a a a B b b b =

Calculus 2 Chapter 2: Vector Functions Nguyen Van Ho
18
Chapter 2
Vector Functions
2.1 VECTOR FUNCTIONS AND SPACE CURVES
DEFINITION 2.1.1 VECTOR FUNCTIONS
A vector-valued function, or vector function, is a function whose domain is a set D of
numbers, D , and whose range is a set of vectors.
A vector function can be expressed by
( ) ( ), ( ), ( ) ( ) ( ) ( ) t f t g t h t f t g t h t + + r i j k (2.1.1)
where ( ), ( ), and ( ) f t g t h t are real-valued functions called component functions, and t is real
variable taking values in the domain of r.
DEFINITION 2.1.2 LIMIT OF VECTOR FUNCTIONS
If r is defined by (2.1.1), then
lim ( ) lim ( ), lim ( ), lim ( ) lim ( ) lim ( ) lim ( )
t a t a t a t a t a t a t a
t f t g t h t f t g t h t

+ + r i j k (2.1.2)
DEFINITION 2.1.3 CONTINUITY OF VECTOR FUNCTIONS
Let r be defined by (2.1.1).
a. r is called to be continuous at t = a if ( ), ( ), and ( ) f t g t h t are continuous at t = a.
b. r is called to be continuous on an interval I if ( ), ( ), and ( ) f t g t h t are continuous on I.
We can consider the vector function r(t) as the position vector of the point
( ) ( ), ( ), ( ) P f t g t h t , i.e. OP r

. When the parameter t varies in I, the tip point P draws a
space curve C . Thus, any continuous vector function r(t) defines a continuous space curve C
(see Figure 2.1.1) with parametric equations
( ), ( ), ( ) x f t y g t z h t (2.1.3)
Figure 2.1.1 A space curve traced out by the tip of a position vector r(t)
19
EXAMPLE 2.1.1
a. Describe the curve defined by the vector function ( ) 1 2 , 2 , 2 3 t t t t + + r
Answer: The curve is a line that passes through the point (1, -2, 2) and is parallel to the
vector 2, 1, 3 v
b. Describe the curve defined by the vector function ( ) cos , sin , 2 t t t r
Answer: The curve is a circle
2 2
1 x y + in the plane z = 2.
c. Describe the curve defined by the vector function ( ) 2cos , 3sin , t t t t r
Answer: The curve spirals upward around the cylinder
2 2
1
4 9
x y
+ as t increases.
2.2 DERIVATIVES OF VECTOR FUNCTIONS
DEFINITION 2.2.1 DERIVATIVES OF VECTOR FUNCTIONS
The derivative of a vector function r is defined by
0
( ) ( )
( ) lim
h
d t h t
t
dt h
+

r r r
r (2.2.1)
if the limit exists. (See Figure 2.2.1)
As 0 h , the vector ( ) ( ) PQ t h t + r r
approaches a vector that lies on the tangent line of

C at P. So does ( ) t r .
Figure 2.2.1: ( ) ( ) PQ t h t + r r
DEFINITION 2.2.2 TANGENT VECTOR

If the vector function r(t) is differentiable, i.e. ( ) t r exists, then
a. The vector ( ) t r is called the tangent vector to the curve C, given by r(t), at P.
b. The unit tangent vector is defined by
( )
( )
( )
t
t
t
r
T
r
(2.2.2)
20
THEOREM 2.2.1
If ( ) ( ), ( ), ( ) ( ) ( ) ( ) t f t g t h t f t g t h t + + r i j k , then the limit (2.2.1) exists if and
only if the function ( ), ( ), and ( ) f t g t h t are differentiable and
( ) ( ), ( ), ( ) ( ) ( ) ( )
d
t f t g t h t f t g t h t
dt
+ +
r
r i j k (2.2.3)
Proof : It follows directly from the definition 2.2.1 and the definition of the derivative of real
functions.
EXAMPLE 2.2.1
a. Find ( ) t r and (0) r if
2 2
( ) (3 ) sin 4 ln( 2 1)
t
t t e t t t
+ + + + + r i j k .
Answer: (0) 4 2 + + r i j k
b. Find the unit tangent vector at t = 1, if
1
( ) cos 2 sin 2 (1 )
t
t t t e

+ + r i j k
Answer:
( 2sin 2) (2cos 2)
5
+ i j k
THEOREM 2.2.2 DIFFERENTIATION RULES
Suppose u(t) and v(t) are differentiable vector functions, c is a scalar, and f(t) is
differentiable real-valued function. Then
a.
j [
( ) ( ) ( ) ( )
d
t t t t
dt
+ + u v u v
b.
j [
( ) ( )
d
c t c t
dt
u u
c.
j [
( ) ( ) ( ) ( ) ( ) ( )
d
f t t f t t f t t
dt
+ u u u
d.
j [
( ) ( ) ( ) ( ) ( ) ( )
d
t t t t t t
dt
+ u v u v u v
e.
j [
( ) ( ) ( ) ( ) ( ) ( )
d
t t t t t t
dt
+ u v u v u v
f.
j [
( ( )) ( ) ( ( ))
d
f t f t f t
dt
u u (Chain Rule)
EXAMPLE 2.2.2
a. Let
2 3 3 2
( ) 2 , ( ) (1 ) sin
t
t t t e t t t t + + + u i j k v i j k . Find
j [
( ) ( )
d
t t
dt
u v by two ways:
apply Theorem 2.2.2.d. and direct calculation (calculate ( ) ( ) t t u v , then find its derivative) .
Answer:
3 3
2 12 (3sin cos )
t
t t e t t + + +
b. Show that if ( ) t c r (constant), then ( ) t r is orthogonal to ( ) t r .
21
Proof:
2
2
( ) ( ) ( ) t t t c r r r = constant. Then Theorem 2.2.2.d. implies 2 ( ) ( ) 0 t t r r , thus
( ) ( ) t t r r = 0, i.e. ( ) t r is orthogonal to ( ) t r .
Geometrically, this result says that if a curve lies on a sphere, then the tangent vector ( ) t r is
always perpendicular to the position vector ( ) t r .
2.3 INTEGRALS OF VECTOR FUNCTIONS
If r(t) is continuous on [a, b], we can define its integral in the same way as for real-valued
function.
DEFINITION 2.3.1 INTEGRAL OF VECTOR FUNCTIONS
Suppose ( ) ( ), ( ), ( ) ( ) ( ) ( ) t f t g t h t f t g t h t + + r i j k is continuous on [a, b], i.e. the
component functions ( ), ( ), and ( ) f t g t h t are continuous on [a, b]. Then we can define as for
scalar function: subdivide [a, b] in to n subintervals
0 1
by points ... .
n
a t t t b < < < Denote
the
1
[ , ], 1 .
i i i
t t t i n
Use the same notations , 1 ,

i
t i n for the lengths of the
subintervals. Choose
*
, 1 . Denote max{ ,1 }.
i i i
t t i n t i n Then
* * * *
0 0
1 1 1 1
( ) lim ( ) lim ( ) ( ) ( )
b
n n n n
i i i i i i i i
i i i i
a
t dt t t f t t g t t h t t

1 _ _ _
+ +
1
, , , ]

r r i j k
( ) ( ) ( )
b b b
a a a
f t dt g t dt h t dt
_ _ _
+ +

, , ,

i j k (2.3.1)
if the limit on the right hand side of (2.3.1) exists and does not depend on the division of the
interval [a, b] and on the choosing points
*
, 1 .
i i
t t i n
We can extend the Fundamental Theorem of Calculus to continuous vector functions as
follows:
( ) ( ) ( ) ( )
b
a
b
t dt t b a
a

r R R R (2.3.2)
where ( ) t R is an anti-derivative of r(t), that is, ( ) ( ) t t R r .
EXAMPLE 2.3.1
a. Evaluate
1
0
( ) t dt
r if
4 3/ 2 2
( ) 2
t
t t t e
+ r i j k
Answer:
2
2 2 1
5 5 2
e
+ i j k
22
b. Evaluate
/ 2
0
( ) t dt
if ( ) ( cos3 ) sin 4 ( )
t
t t t t t e + + + r i j k .
Answer:
2 2
/ 2
1
1
8 3 8
e
_ _
+

, ,
i k

c. Find
2 3
( ) if ( ) ( ) 4 ( ) and (0) 2 t t t t t t t + + + + r r i j k r i j
Answer:
2 3 2 4
2
1 2( 1)
2 3 2 4
t t t t
t
_ _
+ + + + +

, ,
i j k
2.4 ARC LENGTH OF SPACE CURVES
The length of a space curve is defined in the same way as for a plane curve.
DEFINITION 2.4.1 ARC LENGTH
Suppose the continuous space curve C is defined by a differentiable vector function on
[a,b], ( ) ( ), ( ), ( ) ( ) ( ) ( ) t f t g t h t f t g t h t + + r i j k . Moreover, ( ) f t , ( ) g t , and ( ) h t are
continuous on [a,b] and the curve is traversed exactly once when t increases from a to b. Then
the length of C is
j [ j [ j [
2 2 2
( ) ( ) ( ) ( )
b b
a a
L f t g t h t dt t dt + +

r (2.4.1)
PROPERTY 2.4.1
If we denote the arc length function of the curve C by the length of the part of C between
r(a) and r(t), a t b , by
j [ j [ j [
2 2 2
( ) ( ) ( ) ( ) ( )
t t
a a
s t f t g t h t dt t dt + +

r (2.4.2)
then
j [ j [ j [
2 2 2 ( )
( ) ( ) ( ) ( )
ds t
f t g t h t t
dt
+ + r (2.4.3)
EXAMPLE 2.4.1
a. Find the length of the circular helix ( ) cos , sin , , 0, 0 2 . t a t a t t a t > r
Answer:
2
2 1 a +
b. Find the arc length function of the circular helix ( ) cos , sin , , 0, 0. t a t a t t t a > r
Answer:
2
1 t a +
23
c. Find the length of the curve
2
( ) sin cos , cos sin , , 0 2 . t t t t t t t t t + r
Answer:
2
2 5
2.5 CURVATURE
Suppose that the space curve C, defined by a vector function ( ) t r , is smooth, that is r(t) is
differentiable and ( ) t r 0 . The unit tangent vector T(t), defined in (2.2.2), indicates the
direction of the curve:
( )
( )
( )
t
t
t
r
T
r
(2.5.1)
T(t) changes its direction less or more if C is fairly straight or twists more sharply. The
curvature of C at a given point is a measure of how quickly the curve changes direction at
that point. Thus we can define
DEFINITION 2.5.1 CURVATURE
The curvature of a curve is defined by
d
ds

T
(2.5.2)
where T is the unit tangent vector and s is the arc length function
The formula (2.5.1) can be expressed by
/
/
/ /
d dt
d d dt
ds ds dt ds dt

T
T T
Noting (2.4.3), we obtain
( )
( )
t
t
T
r
(2.5.3)
EXAMPLE 2.5.1
a. Show that the curvature of the circle of radius a is 1/a.
Solution:
We can take the circle with equation defined by
( ) cos , sin , 0 , 0 2 . t a t a t t r Then
( ) sin , cos , 0 ; ( ) ; t a t a t t a r r so
( )
( ) sin , cos , 0 ;
( )
t
t t t
t
r
T
r
24
( ) cos , sin , 0 ; ( ) 1. t t t t T T Therefore ( ) / ( ) 1/ t t a T r .
b. Determine the curvature of the circular helix ( ) cos , sin , , 0 2 . t a t a t t t r
Answer:
2
1
a
a +
The following Theorem is more convenient for calculating the curvature.
THEOREM 2.5.1
The curvature of the curve given by the vector function r(t) is calculated from
3
( ) ( )
( )
( )
t t
t
t
r r
r
(2.5.4)
Proof
It follows from (2.4.3) and (2.5.1) that
( ) ( ) ( ) ( ) ( ) t t t s t t r r T T
( ) ( ) ( ) ( ) ( ) t s t t s t t + r T T
j [ j [
( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) t t s t t s t t s t t + r r T T T
j [ j [
2
( ) ( ) ( ) , becauseof s t t t T T T T 0
j [ j [ j [
2 2 2
( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) t t s t t t s t t t s t t r r T T T T T ,
because 1 T and then T T , by Example 2.2.2.b.
Now, (2.5.4) follows from (2.5.3).
COROLLARY OF THEOREM 2.5.1
The curvature of a plane curve with equation ( ) y f x is calculated from
j [
3/ 2
2
( )
( )
1 ( )
f x
x
f x
+
(2.5.5)
Proof
Apply (2.5.4), noting that the plane curve ( ) y f x can be given by a vector function
( ) , ( ), 0 . x x f x r
EXAMPLE 2.5.2
a. Show that the curvature of the circle of radius a is 1/a, applying (i) (2.5.4) , (ii) (2.5.5) .
b. Find the curvature of the curve sin y x at the point with 0 x and at / 2 x .
Answer: (0) 0; ( / 2) 1
25
d. Find the curvature of the curve
2
1 y x + at A(0, 1), B(1, 2), and C(2, 5).
Answer:
3/ 2 3/ 2
(0) 2, (1) 2/ 5 , and (2) 2/17 .
2.6 NORMAL AND BINORMAL VECTORS
Suppose that the space curve C, defined by a vector function ( ) t r , is smooth. Note that ( ) t T
is the unit tangent vector of the curve C. Then ( ) t T and ( ) t T are orthogonal, T T , by
Example 2.2.2.b.
DEFINITION 2.6.1 NORMAL AND BINORMAL VECTORS. NORMAL PLANE
a. The unit vector of ( ) t T , denoted by N(t),
( )
( )
| ( ) |
t
t
t
T
N
T
(2.6.1)
The vector N(t) is called the unit normal vector.
b. The vector
( ) ( ) ( ) t t t B T N (2.6.2)
is perpendicular to both ( ) t T and ( ) t N . ( ) t B is called the binormal vector.
DEFINITION 2.6.2 NORMAL PLANE AND OSCULATING PLANE
a. The plane determined by N(t) and ( ) t B at the point ( ) P t C , is called the normal
plane of C at ( ) P t .
b. The plane determined by N(t) and ( ) t T at the point ( ) P t C , is called the osculating
plane of C at ( ) P t .
c. The circle, that lies in the osculating plane of C at ( ) P t , has the same unit tangent vector
( ) t T , lies on the concave side of C , and has radius 1/ ( ) t , it means that has the same
curvature ( ) t as C at ( ) P t , is called the osculating circle of C at ( ) P t . (See Figure 2.6.1)
Figure 2.6.1
The normal plane is orthogonal to the tangent vector ( ) t T , while the osculating plane is
the one that comes closest to containing the part of C near the point ( ) P t .
EXAMPLE 2.6.1
Find the radius and graph the osculating circle of the curve 2sin y x at ( / 2, 2) P .
26
Solution:
3/ 2
2
2sin
( )
1 4cos
x
x
x

+
( / 2) 2 and 1/ 2 . See Figure 2.6.2
- -/2 /2
-2
-1.5
-1
-0.5
0.5
1
1.5
2
x
y
Figure 2.6.2
2.7 MOTION IN SPACE: VELOCITY AND ACCELERATION
Suppose a particle moves on a smooth space curve C, defined by a vector function ( ) t r . The
velocity vector v(t) is defined from
0
( ) ( )
( ) lim ( )
t
t t t
t t
t

+

r r
v r (2.7.1)
The speed is, see (2.4.3),
| ( ) | | ( ) |
ds
t t
dt
v r (2.7.2)
The acceleration vector a(t) is
( ) ( ) ( ) t t t a v r (2.7.3)
EXAMPLE 2.7.1
a. Find the velocity and acceleration vectors and speed of a particle with position vector
3 2
( ) 2 , , 3
t
t t e t r
Answer:
3 3 6 2
( ) 2, 3 , 6 , ( ) 0, 9 , 6 , | ( ) | 4 9 36
t t t
t e t t e t e t + + v a v .
b. A moving particle starts at an initial position (0) 2, 3, 4 r with initial velocity
(0) 1, 5, 4 v . Find its velocity and position at time t if
2 2
( ) 2, ,
t
t t e a . Find its
speed at t = 1.
Answer:
3 2
( ) 2 1, 5, 4 ,
3 2
t
t e
t t + + v
4 2
2
( ) 2, 3, 4 ,
12 4
t
t e
t t t + + + r
2
256 ( 8)
| (1) | 9
9 4
e
+ + v
c. An object with mass m and that moves in an elliptical path in the plane xOy with constant
angular speed has position vector ( ) cos sin t a t b t + r i j. Find the force acting on
27
the object and show that it is directed toward the origin. (Such a force is called a
centripetal force).
EXERCISES
1. Show that the curve with parametric equations cos , sin , x t t y t t z t lies on the
cone
2 2 2
x y z +
2. Show that the curve with parametric equation
2 2
1, 1 2 , 1 3 x t y t z t + passes
through the points A(0, 3, -2), B(8, 7, -26), and C(0, -1, -2) but not D(3, -3, -2).
3. Try to sketch the curve of intersection of the circular cylinder
2 2
1 x y + and parabolic
cylinder
2
z x . Then find the parametric equations for this curve.
4. Suppose that u and v are vector functions that possess limits as
0
t t . Prove
a.
0 0 0
lim ( ) ( ) lim ( ) lim ( )
t t t t t t
t t t t

1 1

1 1
] ]
u v u v
b.
0 0 0
lim ( ) ( ) lim ( ) lim ( )
t t t t t t
t t t t

1 1

1 1
] ]
u v u v
5. Find the unit tangent vector, the normal vector, and the binormal vector at the point with
the given value of t.
a.
2 3
2
3
( ) , , t t t t r , t = 1. b.
2 2 2
( ) sin , cos , , 0
t t t
t e t e t e t r
6. The curves
1
( ) sin , cos 1, 2 t t t t r and
2 2
2
( ) , , 2 t t t t t + r intersect at the origin.
Find the angle of intersection.
7. Find the derivative of ( ) ( ) t t u v and ( ) ( ) t t u v if
2 2 2
( ) , , , ( ) sin , cos 2 ,
t t t
t t e e e t t t t

+ u v
8. Prove that
a.
j [ j [
( ) ( ) ( ) ( )
d
t t t t
dt
r r r r
b.
j [ ( ) j [
( ) ( ) ( ) ( ) ( ) ( )
d
t t t t t t
dt
r r r r r r
c.
j [
1
( ) ( ) ( )
( )
d
t t t
dt t
r r r
r
9. Find the curvature and the equation of the osculating circle of the ellipse
2 2
9 4 36 x y +
at the points (2, 0) and (0, 3).
28
10. Find the velocity vector, acceleration vector, and speed of a moving particle with the
given position function.
a. ( ) 2 , ,
t t
t t e e
r . b. ( ) cos , sin ,
t
t e t t t r
11. A force 20 N acts directly upward from the xy-plane on an object with mass 4 kg. The
object starts at the origin with initial velocity (0) 1, 2, 2 v . Find its position function
and its speed at time t.
12. Find the curvature of the trajectory in Exercise11.
13. A projectile is fired from the ground with angle of elevation , initial position at the
origin, and initial speed
0
v . Suppose that air resistance is negligible and the only external
force is due to gravity, find the position vector ( ) ( ) ( ) t x t y t + r i j of the projectile.
What value of maximizes the horizontal distance traveled and what is the maximum
height in this case? Determine these values if
0
98 / v m s .
Answers
3.
2
cos , sin , cos x t y t z t .
5. a.
2 2 1 1 2 2 2 1 2
3 3 3 3 3 3 3 3 3
, , ; , , ; , , .
b.
5 1 2 2 2 1 2 4
3 3 3
5 5 3 5 3 5 3 5
, , ; , , 0 ; , ,

9.
2 2 2 2
81 3 5 16 2
9 4 4 3 9
, ( 2.5) ; , ( ) x y x y + + + .
11.
2
5
2
( ) , 2 , 2 t t t t t + r ;
2
| ( ) | 25 20 9 t t t + + v

Calculus 2 Chapter 3: Double Integrals Nguyen Van Ho - 2009
29
Chapter 3
DOUBLE INTEGRALS
3.1 DEFINITIONS AND PROPERTIES
We extend the definite integral of one variable functions to double integral of two variable
functions. Double integrals give us to compute areas, masses,..., and center of plane regions.
DEFINITION 3.1.1 DOUBLE INTEGRAL
Let ( , ) f x y be defined on the domain D,
2
[ , ] [ , ] D G a b c d . Divide the rectangle G
into sub-domains (sub-rectangles) by lines
0 1 2
...
m
a x x x x b < < < < and
0 1 2
...
n
c y y y y d < < < <
Denote
1
,1 ,
i i i
x x x i m

1
,1 ,
j j j
y y y j n
and
* *
,
1 1
( , )
m n
m n i j i j
i j
S f x y x y

(3.1.1)
where
*
1
[ , ], 1 ,
i i i
x x x i m

*
1
[ , ], 1 ,
j j j
y y y j n

and with convention
* * * *
( , ) 0, if ( , )
i j i j
f x y x y D
Denote
,
max{ , :1 ,1 }
m n i j
x y i m j n
If there exists a unique and finite limit
, ,
* *
,
0 0
1 1
lim lim ( , )
m n m n
m n
m n i j i j
i j
S f x y x y L

(3.1.2)
then the limit is called double integral of ( , ) f x y on the domain D and denoted by
( , ) or ( , )
D D
f x y dA f x y dxdy

Therefore we can write
( , ) = ( , )
D D
f x y dA f x y dxdy

=
,
* *
0
1 1
lim ( , )
m n
m n
i j i j
i j
f x y x y

(3.1.3)
THEOREM 3.1.1 EXISTENCE CONDITION FOR DOUBLE INTEGRAL
If ( , ) f x y is continuous on the domain D,
2
[ , ] [ , ] D G a b c d , then the double
integral defined in (3.1.3) exists.
PROPERTY 3.1.1 DOUBLE INTEGRALS
Suppose double integrals of ( , ) f x y , ( , ) g x y exist on the domains D,
1 2
, D D , where
1 2
, D D do
not overlap except perhaps on their boundary, and
1 2
D D D .k is a constant.
a. ( , ) = ( , )
D D
k f x y dxdy k f x y dxdy

, (k is a constant). (3.1.4)
30
b. [ ( , ) ( , )] = ( , ) ( , )
D D D
f x y g x y dxdy f x y dxdy g x y dxdy + +

(3.1.5)
c. ( , ) ( , ) ( , ) ( , )
D D
f x y g x y f x y dxdy g x y dxdy

(3.1.6)
d.
1 2
( , ) = ( , ) ( , )
D D D
f x y dxdy f x y dxdy f x y dxdy +

(3.1.7)
e. = Area( )
D
dxdy D
(3.1.8)
f. ( , ) on .Area( ) ( , ) .Area( )
D
m f x y M D m D f x y dxdy M D
(3.1.9)
PROPERTY 3.1.2 VOLUMES AND AREA - DOUBLE INTEGRALS
a. Let S be a solid that lies above domain D in the xy-plane and under a surface with
equation ( , ), ( , ) 0 on z f x y f x y D . Then the volume V of S can be expressed by double
integral
( , )
D
V f x y dxdy
(3.1.10)
b. Let S be a solid that is determined by two surfaces: upper surface with equation
2
( , ), ( , ) z f x y x y D and lower surface with equation
1
( , ), ( , ) . z f x y x y D Then the
volume V of S can be expressed by double integral
2 1
[ ( , ) ( , )]
D
V f x y f x y dxdy
(3.1.11)
c. In (3.1.10), if ( , ) 1 on f x y D then we obtain the area A of D:
D
A dxdy
(3.1.12)
From the definition and Property 3.1.1.f of double integral we obtain the following properties.
PROPERTY 3.1.3 MIDPOINT RULE FOR DOUBLE INTEGRALS
If the domain D is closed and ( , ) f x y is continuous on the domain D, then there exist a point
0 0
( , ) x y D so that
0 0
( , ) ( , ).Area( )
D
f x y dxdy f x y D
(3.1.13)
PROPERTY 3.1.4 APPROXIMATE CALCULATION
The double integral can be approximately calculated by
* *
1 1
( , ) ( , )
m n
i j i j
i j
D
f x y dxdy f x y x y

(3.1.14)
31
3.2 ITERATED INTEGRALS
Suppose that ( , ) f x y is continuous on the domain D. Double integral can be evaluated by
calculating two single integrals, as shown below.
CASE 1 If D is a rectangle,
2
[ , ] [ , ] D a b c d , then
( , ) ( , ) ( , )
b d d b
D a c c a
f x y dxdy f x y dy dx f x y dx dy

] ]

(3.2.1)
EXAMPLE 3.2.1
a. Evaluate I =
2
( ) where [0,1] [0, 2]
D
x x y dxdy D +
in two ways:
1 2
2
0 0
( ) x x y dy dx

+

]

and
2 1
2
0 0
( ) x x y dx dy

+

]

Answer: 7/6.
b. Find the volume of the solid S bounded by three coordinates planes, the elliptic
paraboloid
2 2
32 ( 4 ) z x y + , and the planes x = 1, y = 1.
Answer:
1 1
2 2
0 0
91
(32 4 )
3
V x y dy dx

]

CASE 2 If { }
2
1 2
( , ) : ( ) ( ), D x y x y x a x b , then
2
1
( )
( )
( , ) ( , )
x b
D a x
f x y dxdy f x y dy dx

]

(3.2.2)
EXAMPLE 3.2.2
a. Find the mass of a plane lamina D that is bounded by two parabolas
2 2
3 , 8 , y x y x + and has mass density function ( , ) 1 x y y + .
Solution:
Two parabolas
2 2
3 and 8 y x y x + intersect at
1 2
( 2, 12) and (2, 12) M M . That is
{ }
2 2
( , ) : 3 8 , 2 2 D x y x y x x + . Therefore
2
2
8 2
2 3
704
( , ) (1 )
5
x
D x
M x y dxdy y dy dx
+

+

]

b. Find the volume of the tetrahedron T bounded by the coordinate planes and the plane
3 3 x y z + + .
Solution:
32
The base D of T in the xy-plane is
3
( , ) : 0 , 0 3
3
x
D x y y x

' )

.
The equation of the upper surface is 3 3 z x y . Therefore (3 3 ) 3/ 2
D
V x y dxdy
CASE 3 If { }
2
1 2
( , ) : ( ) ( ), D x y y x y c y d , then
2
1
( )
( )
( , ) ( , )
y d
D c y
f x y dxdy f x y dx dy

]

(3.2.3)
EXAMPLE 3.2.3
Evaluate I =
2
D
x y dxdy
, where D is bounded by 1, 1, 2, and 0 xy y y x .

Solution:
{ }
1
( , ) : 0 , 1 2
y
D x y x y .
2
1
6
D
I x y dxdy
Note: If the domain D is complicated, we divide D into sub-domains that belong to one of the
cases 1, 2, 3, and apply (3.1.7) of Property 3.1.1.d.
3.3 CHANGE OF VARIABLES IN DOUBLE INTEGRALS
In Chapter 7 (Calculus 1) we have a formula for change variable: if f is continuous on an
interval [ , ] a b , ( ) x t is continuous on [ , ] o | , the range of x(t) belongs to [ , ] a b , and
( ) , ( ) x a x b o | , then
( ) ( ) ( ) ( )
b
a
f x dx f x t x t dt
|
o

(3.3.1)
How a change of variables ( , ) x y to ( , ) u v affects a double integral?
Suppose a 1-1 transformation T from
uv
D in uv-plane to
xy
D in xy-plane is defined by
differentiable functions ( , ), ( , ) x x u v y y u v , or in vector function: 0 x y + + r i j k . A small
rectangle S of sides , u v in uv-plane becomes a small parallelogram S in xy-plane with
secant vectors:
0 , 0
u v
x y x y
u u u v v v
u u u v v v
_ _
+ + + +

, ,
r r
a r i j k b r i j k
33
The area of S: ( ) A S u v . The area of S: ( ) | | | |
u v
A S u v a b r r , where
/ / 0
/ / 0
u v
x y x x
u u u v
x u y u
x y y y
x v y v
v v u v

i j k
r r k k
The Jacobian of the transformation T is defined by
( , )
( , )
x x
x y x y x y
u v
J
y y u v u v v u
u v

(3.3.2)
Therefore
( , )
( ) | |
( , )
x y x y x y
A S J u v u v u v
u v u v v u

(3.3.3)
PROPERTY 3.5.1 CHANGE OF VARIABLE IN A DOUBLE INTEGRAL
uv
D in the uv-plane to
xy
D in the xy-plane is defined by
differentiable functions ( , ), ( , ) x x u v y y u v . Suppose ( , ) f x y is continuous on
xy
D . Then
( )
( )
( , ) ( , ), ( , ) | |
( , )
( , ), ( , )
( , )
xy uv
uv
D D
D
f x y dx dy f x u v y u v J du dv
x y
f x u v y u v du dv
u v
(3.3.4)
EXAMPLE 3.3.1
a. Evaluate the plane area limited by the ellipse
2 2
2 2
1, 0, 0.
x y
a b
a b
+ > >
Solution:
Change variables:
2 2
0
, ; 1
0
uv
a
x y
u v J ab D D u v
b a b
+
( )
uv
D D
A D dxdy ab dudv ab t

b. Evaluate
( ) /( ) x y x y
D
e dxdy
+
, where D is the trapezium with vertices (0, -1), (1, 0), (0, -2)
and (2, 0). (Hint: Use the change of variable , u x y v x y + )
Solution:
34
Use the change of variable , u x y v x y + . Then , where
uv uv
D D D is the trapezium
with vertices (-2, 2), (2, 2), (1, 1) and (-1, 1).
1
, ; | |
2 2 2
u v u v
u x y v x y x y J
+
+
( )
2
( ) /( ) / / 1
1
1 3
| | | |
2 4
uv
v
x y x y u v u v
D D v
e dxdy e J dudv dv e J dudv e e
+

c. Evaluate
D
y dxdy
, where D is bounded by the x-axis, and the parabolas

2
4 4 y x
and
2
4 4 y x + such that 0. y (Hint: Use the change of variable
2 2
, 2 x u v y uv )
Solution:
[0, 1] [0, 1]
uv
D D .
( )
2 2 2 2
, 2 4 x u v y uv J u v + 2 | | 2
uv
D D
y dxdy uv J dudv

3.4 DOUBLE INTEGRALS IN POLAR COORDINATES
Remind that cos , sin x r y r u u
cos sin
( , )
sin cos ( , )
r
x y
J r
r r
u u
u u u
(3.4.1)
Therefore, as given in Section 3.3,
( ) ( , ) cos , sin
xy r
D D
f x y dx dy f r r rdrd

u
u u u (3.4.2)
CASE 1 If the domain D is a polar rectangle, { } ( , ) : , D r a r b u o u | , then
( , ) ( cos , sin )
b
D a
f x y dxdy f r r r dr d
|
o
u u u

]

( cos , sin )
b
a
f r r d r dr
|
o
u u u

]

(3.4.3)
CASE 2 If { }
1 2
( , ) : ( ) ( ), D r r r r u u u o u | , then
2
1
( )
( )
( , ) ( cos , sin )
r
D r
f x y dxdy f r r r dr d
u
|
o u
u u u

]

(3.4.4)
EXAMPLE 3.4.1
a. Evaluate I =
2 2
( 2 )
D
x y dxdy +
, where D is the domain in the first quadrant and bounded

by two circles
2 2
1 x y + and
2 2
16 x y + .
35
Solution:
I =
/ 2 4
2 2 2 2
0 1
( 2 ) (1 sin )
D
x y dxdy r r dr d

+ +

]

t
u u
/ 2 4
3
0 1
3 cos 2 765
2 16
r dr d

]

t
u
u t .
b. Evaluate I =
( )
2 2
2
D
x y dxdy + +
, where D is the domain bounded by the circle

2 2
2 x y y + .
Solution:
The polar equation of the circle
2 2
2 x y y + is 2sin , 0 . r u u t
I =
( )
2sin 3
2sin
2 2 2
0
0 0 0
16
2 (2 ) 2
3 9
D
r
x y dxdy r r dr d r d

_
+ + + + +

,
] ]

t u t
u
u u t
3.5 APPLICATION OF DOUBLE INTEGRALS
3.5.1. AREA AND VOLUME
See (3.1.10)-(3.1.12), Property 3.1.2.
EXAMPLE 3.5.1
a. Find the volume of the solid inside both the cylinder
2 2
4 x y + and the ellipsoid
2 2 2
4 4 64 x y z + +
Solution :
{ } ( , ) : 2, 0 2 D r r u u t
( )
2 2
2 2 2
0 0
64
2 64 4( ) 4 16 8 3 3
3
D
V x y dx dy r rdr d
t
t
u

+

]

.
b. Find the volume of the solid bounded by two paraboloids
2 2
3 z x y and
2 2
1 z x y + .
Solution:
2 2
2 2 2 2 2
0 0
[(3 ) ( 1)] (4 2 ) 4
D
V x y x y dx dy r r dr d

+

]

t
u t .
c. Find the area of one loop of the four-leaved rose cos 2 r u
Solution:
36
-1 -0.5 0.5 1
-1
-0.5
0.5
1
x
y
r 1
r =cos(2)
{ } ( , ) : 0 cos 2 , / 4 / 4 D r r u u t u t .
/ 4 cos 2
/ 4 0
/ 8
D
A dx dy r dr d
t u
t
u t

]

d. Find the volume of the solid between two paraboloids
2 2
3( ) z x y + ,
2 2
z x y + , and
inside the cylinder
2 2
2y x y + .
Solution :
{ } ( , ) : 0 2sin , 0 D r r u u u t
2sin
2 2 2 2 2
0 0
[(3( ) ( )] 2 . 3
D
V x y x y dx dy r r dr d
t u
u t

+ +

]

.
e. Find the volume of the solid above the cone
2 2
z x y + and below the sphere
2 2 2
1 x y z + + .
Answer:
{ }
( , ) : 2 / 2, 0 2 D r r u u t ;
2 1
1
3 2
V
_

,
t
3.5.2. DENSITY AND MASS
Suppose a thin plate or a lamina occupies a region D on the xy-plane and its mass density at a
point (x, y) in D is given by ( , ) x y . Suppose ( , ) x y is continuous in D. This means that
0
( , ) lim
m
x y
A
c
(3.5.1)
where A is the area of an cneighborhood G
c
of (x, y) , and m is the mass of G
c
.
The total mass of the lamina is
( , )
D
m x y dx dy
(3.5.2)
37
EXAMPLE 3.5.2
a. Find the mass of the lamina that occupies the region D bounded by
2
, 2, x y y x and
has the density ( , ) x y x
Solution
2
2 2
1
y
D y
m x dx dy x dx dy
+

]

( )
2
2 4
1
1 36
4 4
2 5
y y y dy
+ +
b. Find the mass of the lamina that occupies the part of the disk
2 2
1 x y + in the first
quadrant if the density at ( , ) x y is proportional to its distance from the x-axis.
Answer: k/3, where k is the proportional coefficient.
c. Find the mass of a triangular lamina with vertices (0, 0), (1, 0), and (0, 2) if the density
is ( , ) 1 3 x y x y + +
Answer: 8/ 3 m
3.5.3. MOMENTS AND CENTER OF MASS
Suppose a thin plate or a lamina occupies a region D on xy-plane. Its mass density at a point
(x, y) in D is given by ( , ) x y .
The moment about the x-axis of the lamina is determined by
. ( , )
x
D
M y x y dx dy
(3.5.3)
The moment about the y-axis of the lamina is determined by
. ( , )
y
D
M x x y dx dy
(3.5.4)
The center of mass ( , ) x y of the lamina is determined by
( , ) . ( , )
,
( , ) ( , )
y
x D D
D D
x x y dx dy y x y dx dy
M
M
x y
m m
x y dx dy x y dx dy

(3.5.5)
Note:
The moment M
x
(M
y
) measures the tendency of the lamina to rotate about the x-axis (about
the y-axis)
.
The center of mass is the point where a single particle of mass m would have the
same moments as the mass lamina.
EXAMPLE 3.5.3
Find the center of mass of the laminas given in Example 3.5.2
38
a. D is bounded by
2
, 2, x y y x and has the density ( , ) ; 36/ 5 x y x m :
2
2 2
1
45
.
8
y
x
D y
M y x dx dy y x dx dy
+

]

;
423
.
28
y
D
M x x dx dy
; ( )
2115 225
, ,
1008 288
x y
_

,
d. The lamina occupies the part of the disk
2 2
1 x y + in the first quadrant and the
density at ( , ) x y is proportional to its distance from the x-axis. / 3 m k .
Answer: ( , )
16
x
D
k
M y x y dx dy
t
; ( , )
8
y
D
k
M x x y dx dy
; ( )
3 3
, ,
8 16
x y
_

,
t
c. The lamina is a triangle with vertices (0, 0), (1, 0), and (0, 2) and the density is
( , ) 1 3 x y x y + + . 8/ 3 m
Answer:
3 11
( , ) ,
8 16
x y
_

,
3.5.4. MOMENT OF INERTIA
The moment of inertia about the x-axis of the lamina is determined by
2
( , )
x
D
I y x y dx dy
(3.5.6)
The moment of inertia about the y-axis of the lamina is determined by
2
( , )
y
D
I x x y dx dy
(3.5.7)
The moment of inertia about the origin of the lamina is determined by
( )
2 2
0
( , )
x y
D
I x y x y dx dy I I + +
(3.5.8)
EXAMPLE 3.5.4
Find the moments of inertia
0
, , and
x y
I I I of a disk D with density
2 2
( , ) x y x y + , center
the origin, and radius a.
Answer:
By the symmetry,
5 5
0
0
2
, then ;
5 2 5
x y x y
I a a
I I I I I
t t
.
3.5.5. SURFACE AREA
Let S be a surface
2
( , ), ( , ) , z f x y x y D where ( , ) f x y has continuous partial
derivatives.
39
How can we define and determine the area of S? As usually, we divide S into patches
i j
S by
the planes perpendicular to the x-axis and the y-axis. See Figure below. The area ( )
i j
A S of
i j
S
is approximated by the area ( )
i j
A T of a parallelogram
i j
T on the tangent plane at some point
( )
, , ( , )
i j i j i j i j
P x y f x y S with two sides determined by tangent vectors a
i
and b
j
in the
direction of the x-axis and the y-axis, respectively:
, 0, ( , )
i i x i j i
x f x y x a , 0, , ( , )
j j y i j j
y f x y y b
Clearly,
0 ( , ) ( , ), ( , ), 1
0 ( , )
i j i x i j i i j x i j y i j
j y i j j
x f x y x x y f x y f x y
y f x y y

i j k
a b
Therefore
2 2
, ,
( ) ( ) 1 ( , ) ( , )
i j i j i j x i j y i j i j
A S A T f x y f x y x y + +
] ]
a b
and the surface area, A(S), of S is determined from
j [
2
2
( ) 1 ( , ) ( , )
x y
D
A S f x y f x y dx dy + +
]
(3.5.9)
EXAMPLE 3.5.5
a. Evaluate the surface area of the plane z ax by c + + that is limited by the cylinder
2 2
2 2
1, 0, 0.
x y
p q
p q
+ > >
Answer:
2 2 2 2
( ) 1 1
D
A S a b dx dy pq a b + + + +
t
b. Show that the surface area of the sphere of radius a is
2
( ) 4 A S a t .
c. Evaluate the surface area of the paraboloid
2 2
( ), 0 , 0, 0. z a x y z h a h + > >
Answer: ( )
3/ 2
2
1 4 1
6
ah
a

+
]
t
40
EXERCISES
1. Evaluate the double integral of the function f (x, y) on the domain D. Find the average
value of f on the domain D.
a.
2 2
2 f x y + , { } ( , ) : 0 1, 1 2 D x y x y
b.
2
3 f x y , D is the triangle ABC, A(1, 3), B(3, 5), C(5, 0) .
c.
2
f x y , D is the quadrilateral ABEF, A(0, 3), B(2, 5), E(4, 3) and F(3, 1) .
d.
2
f x y , D is bounded by x- and y-axis and the line going through A(1, 3) and
B(4, 1).
2. Find the volume of the solid S bounded by
2
2
8
2
x
z y , the planes 2 x and 2 y .
and the three coordinate planes.
3. Find the volume of the solid S in the first octant bounded by the cylinder
2
9 z y and
the plane 2 x .
4. Find the volume of the solid S lying under the elliptic paraboloid
2 2
/ 4 / 9 1 x y z + +
and above the square [ 1, 1] [ 2, 2] .
5. Find the volume of the solid S lying under the paraboloid
2 2
2z x y + and above the
region in the xy-plane bounded by
2
2 and y x y x .
6. Evaluate the double integral of the function f (x, y) on the domain D.
a. 2 f x y ,
{ }
2 2
( , ) : 4 D x y x y + .
b. cos f x y , D is bounded by
2
0, , and 1. y y x x
Answer: a. 0; b. (1 cos1) / 2 ;
7. Find the volume of the given solid.
a. Under the paraboloid
2 2
z x y + and above the region in the xy-plane bounded by
2 2
, y x x y .
b. Bounded by the cylinder
2 2
9 x z + , the plane 2 2 x y + , and the three coordinate
planes.
8. Find the center of mass of the lamina that occupies the region D and has the given
density function .
a. { }
2
( , ) : 1 1, 0 1 ; ( , ) D x y x y x y x
b.
{ }
2 2
( , ) : 1, 0, 0 ; ( , ) D x y x y x y x y ky + , k is a positive constant.
9. Find the area of the region D in the xy-plane, where
{ }
2 2
( , ) : 1 2 D x y x y y + .
10. Find the surface area of the part of the surface
2
3 4 z x y + that lies above the triangle
ABC in the xy-plane, O(0, 0), A(1, 2), B(1, 0) .
11. Find the surface area of the part of the plane 3 4 2 z x y + + that lies above the rectangle
[0, 5] [1, 4] D in the xy-plane.
41
12. Evaluate (3 4 )
D
x y dxdy +
, where D is bounded by , y x 2, y x 2 , y x 3 2 y x
using the transformation
1 1
3 3
( ), ( 2 ) x u v y v u + .
13. Evaluate the surface area of the ellipsoid
2 2 2
2 2
1, 0, 0, .
x y z
a b a b
a b
+
+ > >
ANSWERS
2. 24; 3. 36; 4. 166/27;
5. 108/35; 6. a. 0; b. (1 cos1) / 2 ;
7. a. 6/35; b.
9 1
arcsin(2/ 3) (11 5 27)
2 6
+ ;
8. a. (0, 1/2); b. (3/ 8, 3 /16) t ;
9.
3
3 2
+
t
; 10.
3/ 2
53 / 54 ;
11. 15 26 ; 12. 11/3
13. Case 1: b a >
2
2
2
2
2
1 1
( ) 4 arctan ; where 1 0
2
b
a
a
A S b
b

_
+ >

,
]
t
t o
o o
Case 2: b a <
2
2
2
2
2
1 1
( ) 4 ln , where 1 , 0 1
2 1
b
a
a
A S b
b
+
+ < <

]
o
t o o
o o
Calculus 2 Chapter 4: Triple Integrals Nguyen Van Ho - 2009
42
Chapter 4
TRIPLE INTEGRALS
4.1 DEFINITIONS AND PROPERTIES
We extend the double integral of two-variable functions to the triple integral of three-variable
functions. Triple integrals give us to compute volumes, masses,..., and center of solids.
DEFINITION 4.1.1 TRIPLE INTEGRAL
Let ( , , ) f x y z be defined on the domain D,
3
[ , ] [ , ] [ , ] D G a b c d s t . Divide the
rectangular box G into sub-boxes by planes
0 1 2
...
m
a x x x x b < < < < ,
0 1 2
...
n
c y y y y d < < < < and
0 1 2
...
p
s z z z z t < < < <
Denote
1
,1 ,
i i i
x x x i m

1
,1 ,
j j j
y y y j n

1
,1 ,
k k k
z z z k p

* * *
, ,
1 1 1
( , , )
p m n
m n p i j k i j kj
i j k
S f x y z x y z

(4.1.1)
where
*
1
[ , ], 1 ,
i i i
x x x i m

*
1
[ , ], 1 ,
j j j
y y y j n

*
1
[ , ], 1 ,
k k k
z z x k p

* * * *
( , ) 0, if ( , )
i j i j
f x y x y D , in convention.
Denote
, ,
max{ , , :1 ,1 ,1 }
m n p i j k
x y z i m j n k p
If there exists an unique and finite limit
, , ,
* * *
, ,
0 0
1 1 1
lim lim ( , , )
m n p m n
p m n
m n p i j k i j k
i j k
S f x y z x y z L

(4.1.2)
then the limit is called triple integral of ( , , ) f x y z on the domain D and denoted by
( , , ) or ( , , )
D D
f x y z dV f x y z dx dy dz

,
* * *
0
1 1 1
( , , ) ( , , ) lim ( , , )
m n
p m n
i j k i j k
i j k
D D
f x y z dV f x y z dx dy dz f x y z x y z

(4.1.3)
THEOREM 4.1.1 EXISTENCE CONDITION FOR DOUBLE INTEGRAL
If ( , , ) f x y z is continuous on the domain D,
3
[ , ] [ , ] [ , ] D G a b c d s t , then the triple
integral defined in (4.1.3) exists.
43
PROPERTY 4.1.1 TRIPLE INTEGRALS
Suppose that triple integrals of ( , , ) f x y z , ( , , ) g x y z exist on the domains D,
1 2
, D D ,
where
1 2
, D D do not overlap except perhaps on their boundary, and
1 2
D D D , and k is a
constant.
a. . ( , , ) ( , , )
D D
k f x y z dxdydz k f x y z dxdydz

b. [ ( , , ) ( , , )] ( , , ) ( , , )
D D D
f x y z g x y z dxdydz f x y z dxdydz g x y z dxdydz + +

(4.1.5)
c. ( , , ) ( , , ) on ( , , ) ( , , )
D D
f x y z g x y z D f x y z dxdydz g x y z dxdydz

(4.1.6)
d.
1 2
( , , ) ( , , ) ( , , )
D D D
f x y z dxdydz f x y z dxdydz f x y z dxdydz +

(4.1.7)
e. V( )
D
dxdydz D
(4.1.8)
f. ( , , ) on .V( ) ( , , ) .V( )
D
m f x y z M D m D f x y z dxdydz M D
(4.1.9)
PROPERTY 4.1.2 MIDPOINT RULE FOR TRIPLE INTEGRALS
If the domain D is closed and ( , , ) f x y z is continuous on the domain D, then there exist a
point
0 0 0
( , , ) x y z D so that
0 0 0
( , , ) ( , , ). ( )
D
f x y z dxdydz f x y z V D
(4.1.10)
PROPERTY 4.1.3 APPROXIMATE CALCULATION
The triple integral can be approximately calculated by
( , , )
D
f x y z dx dy dz
* * *
1 1 1
( , , )
p m n
i j k i j k
i j k
f x y z x y z

(4.1.11)
4.2 ITERATED INTEGRALS
Suppose that ( , , ) f x y z is continuous on the domain D. The triple integral (4.1.3) can be
evaluated by calculating three single integrals, as shown below.
CASE 1 If D is a rectangular box,
3
[ , ] [ , ] [ , ] D a b c d s t , then
( , , ) ( , , ) ( , , )
b d t b d t
D a c s a c s
f x y z dxdydz f x y z dz dy dx f x y z dz dy dx
_

, ]

(4.2.1)
44
CASE 2 If
[ }
2 3
1 2
( , , ) : ( , ) ( , ), ( , ) D x y z z x y z z x y x y G , then
2
1
( , )
( , )
( , , ) ( , , )
z x y
D G z x y
f x y z dxdydz f x y z dz dxdy

]

(4.2.2)
a. If [ }
2
1 2
( , ) : ( ) ( ), G x y y x y y x a x b then (4.2.2) can be written in detail as
2 1
1 1
( ) ( , )
( ) ( , )
( , , ) ( , , )
y x z x y b
D a y x z x y
f x y z dxdydz f x y z dz dy dx

(4.2.3)
b. If [ }
2
1 2
( , ) : ( ) ( ), G x y x y x x y c y d then (4.2.2) can be written in detail as
2 1
1 1
( ) ( , )
( ) ( , )
( , , ) ( , , )
x y z x y d
D c x y z x y
f x y z dxdydz f x y z dz dx dy

(4.2.4)
EXAMPLE 4.2.1
a. Evaluate I = ( ) where [0,1] [0, 2] [0, 3]
D
z x y dxdydz D +
Answer:
1 2 3
0 0 0
27
( ) ( )
2
D
I z x y dxdydz x y zdzdydx + +

b. Evaluate I = [ } where ( , , ) : 0, 0, 0 1
D
xy dxdydz D x y z x y z x y
Answer:
1 1 1
0 0 0
1
120
x y x
D
I xydxdydz xy dzdydx

c. Evaluate I = ( )
D
x y dxdydz +
, where
[ } ( , , ) : 4 5 ( ), 0 1, 0 2) D x y z x y z x y x y + + .
Answer: [ }
5 ( )
4
49
( ) ( ) , ( , ) : 0 1, 0 2
3
x y
D G x y
x y dxdydz x y dz dxdy G x y x y
+
+

+ +

]

4.3 CHANGE OF VARIABLES IN TRIPLE INTEGRALS
In Chapter 3 we have seen how a change of variables ( , ) x y to ( , ) u v affects a double integral.
uvw
D in uvw-space to
xyz
D in xyz-space is defined by
differentiable functions
T: ( , , ), ( , , ), ( , , ) x x u v w y y u v w z z u v w (4.3.1)
45
Similarly as in Section 3.3 of Chapter 3, The Jacobian of the transformation T is defined by
( , , )
( , , )
x x x
u v w
x y z y y y
J
u v w u v w
z z z
u v w

(4.3.2)
Therefore
( ) ( , , ) ( , , ), ( , , ), ( , , ) | |
xyz uvw
D D
f x y z dx dydz f x u v w y u v w z u v w J du dvdw

(4.3.3)
4.4 TRIPLE INTEGRALS IN CYLINDRICAL
AND SPHERICAL COORDINATES
Look at Section 1.4 in Chapter 1 for definitions of cylindrical coordinates and spherical
coordinates. See Figures 5.1.1 5.1.2.
To convert from rectangular to cylindrical coordinates and inversely, we use
2 2 2
, tan ,
y
r x y z z
x
+ (4.4.1)
cos , sin , x r y r z z (4.4.2)
Figure 5.1.1 Cylindrical coordinates
Note that the Jacobian, determined from (4.3.2) is
( , , )
( , , )
x y z
J r
z r
(4.4.3)
Therefore
dxdydz r drd dz (4.4.4)
To convert from rectangular to spherical coordinates and inversely, we use
46
2 2 2
2 2 2
, tan , cos
y z
x y z
x
x y z
+ +
+ +
(4.4.5)
sin cos , sin sin , cos x y z (4.4.6)
Figure 5.1.2 Spherical coordinates
Note that the Jacobian, determined from (4.3.2) is
2
( , , )
sin
( , , )
x y z
J

(4.4.7)
Therefore
2
sin dx dy dz d d d (4.4.8)
EXAMPLE 4.4.1
a. Evaluate
2 2
D
I x y dxdydz +
, where
[ }
2 2 2 2
( , , ) : 1, 1 5 D x y z x y x y z +
Answer:
2
2 1 5
2
0 0 1
46
15
r
I r dzdrd

b. Evaluate
( )
2 2
D
I x y dxdydz +
, where
[ }
2 2
( , , ) : 3 D x y z x y z + .
Answer:
2 3 3
3
0 0
243
10
r
I r dz dr d

c. Evaluate
2 2 2 3/ 2
( ) x y z
D
I e dxdydz
+ +
, where D is the ball of center (0, 0, 0) and radius a.

Answer:
( )
3 4
1
3
a
e
4.5 APPLICATION OF TRIPLE INTEGRALS

4.5.1. VOLUME
( )
D
V D dx dy dz
(4.5.1)
47
EXAMPLE 4.5.1
a. Find the volume of the solid:
[ }
2 2 2 2
( , , ) :1 4, 0 1 D x y z x y z x y + + +
Answer:
2
2 2 1
0 1 0
21
2
r
V r dzdrd
+

b. Find the volume of the solid:
[ }
2 2 2 2 2 2
( , , ) : 1, ( 1) 1 D x y z x y z x y z + + + +
Answer:
3
2
2
2
2 1
0 0
1 1
5
12
r
r
V r dzdrd

c. Use spherical coordinates to find the volume of the solid that lies above the cone
2 2
z x y + and below the sphere
2 2 2
z x y z + +
Answer:
2 cos / 4
2
0 0 0
sin
8
V d d d

4.5.2. DENSITY AND MASS
Suppose a solid occupies a region D on the space and its mass density at a point (x, y, z) in D
is given by ( , , ) x y z . Suppose ( , , ) x y z is continuous in D. It means that
0
( , , ) lim
m
x y z
V
(4.5.2)
where V is the volume of an neighborhood G
of (x, y, z), and m is the mass of G
.
The total mass of the solid is
( , , )
D
m x y z dx dy dz
(4.5.3)
EXAMPLE 4.5.2
a. Find the mass of the solid D =
[ }
2
( , , ) : 0 2, 0 4 , 0 x y z y x y z y if the
density ( , , ) x y z x .
Answer: 2
b. Find the mass of the cube D = [0, ] [0, ] [0, ] a a a if the density is
2 2 2
x y z + + .
Answer:
5
a
4.5.3. MOMENTS, CENTER OF MASS, AND MOMENTS OF INERTIA
Suppose a solid occupies a region D on the space. Its mass density at a point (x, y, z) in D is
given by ( , , ) x y z .
48
The moment about the yz-plane, xz-plane, and xy-plane, of the solid is determined by
. ( , , )
yz
D
M x x y z dx dy dz
(4.5.4)
. ( , , )
xz
D
M y x y z dx dy dz
(4.5.5)
. ( , , )
xy
D
M z x y z dx dy dz
(4.5.6)
The center of mass ( , , ) x y z of the lamina is determined by
, ,
yz xy
xz
M M
M
x y z
m m m
(4.5.7)
If the density is constant, the center of mass is called the centroid of D.
The moment of inertia about the x-axis, y-axis, and z-axis are determined by
( )
2 2
( , , )
x
D
I y z x y z dx dy dz +
(4.5.8)
( )
2 2
( , , )
y
D
I x z x y z dx dy dz +
(4.5.9)
( )
2 2
( , , )
z
D
I x y x y z dx dy dz +
(4.5.10)
EXAMPLE 4.5.3
Find the center of mass of the cube given in Example 4.5.2.b
Answer: (7 /12, 7 /12, 7 /12) a a a
49
EXERCISES
4.1 Find the volume of the solid S bounded by four cylinders
2 2
3 , 8 , y x y x +
2 2
, and (1 ) z y z y + .
4.2 Find the volume of the solid, in the first octant, bounded by the coordinate planes and
between the planes 12 x y z + + , and 3 4 5 60 x y z + + .
4.3 Given
1 1 1
0 0
( , , )
y
x
f x y z dz dy dx

a. Rewrite the integral in other orders.
b. Evaluate the integral, if ( , , ) 1 2 f x y z x z + +
4.4 Find the moments of inertia of the cube D = [0, ] [0, ] [0, ] a a a if the density is k
(constant).
4.5 Find the mass and the moments of inertia of the solid bounded by the cylinder
2 2 2
x y a + and planes 0, z z h , (a >0, h > 0), if the mass density at a point M is
proportional to the distance from the xy-plane to M.
4.6 Find the mass and the moments of inertia of a ball of center 0 and radius a if the mass
density at a point M is proportional to the distance from the origin to M.
4.7 Find the volume of a solid bounded by the ellipsoid
2 2 2
2 2 2
1
x y z
a b c
+ +
4.8 Find the volume of the solid that lies above the cone / 3 and below the sphere
4cos . Determine its centroid.
4.9 Find the mass and center of mass of the solid S bounded by the paraboloid
2 2
4( ) z x y +
and the plane , 0, z a a > if S has the constant density K.
4.10 a. Find the centroid of a solid homogeneous hemisphere of radius a, and
b. Find the moment of inertia of the solid about a diameter of its base.
ANSWERS
4.1
4
260
15
+ ; 4.2 312; 4.3 2/15; 4.4
5
2
3 x y z
I I I ka
4.5
2
2 2 2 2 2 4 2
1 1 1
2 4 2 4
, ( ),
a
x y z
m k a h I I k a h h I k a h + .
4.6
4 6
4
9
,
x y z
m k a I I I k a . 4.7
4
3
abc ; 4.8 10 ; (0, 0, 2.1);
4.9
2
/ 8; (0, 0, 2 / 3); K a a 4.10 a.
3
0, 0, ;
8
a
_

,
b.
5
4 /15 K a ;
Calculus 2 Chapter 5: Line Integrals Nguyen Van Ho
50
Chapter 5
LINE INTEGRALS
5.1 LINE INTEGRALS
We extend the single integral over a curve C. Such integrals are called line integrals.
DEFINITION 5.1.1 LINE INTEGRALS ON PLANE
Let ( , ) f x y be defined on an open domain D that includes the curve C. Divide C into sub-
arcs that are labeled together with their lengths by , 1 ,
i
s i n and choose any points
* * *
( , )
i i i i
P x y s ,1 , j n see Figure 5.1.1, and form the sum
* *
1
( , )
n
n i j i
i
S f x y s
(5.1.1)
Figure 5.1.1
Denote max{ :1 }
n i
s i n . If there exists an unique and finite limit L
* *
0 0
1
lim lim ( , )
n n
n
n i j i
i
S f x y s L

(5.1.2)
then the limit is called line integral of ( , ) f x y on the curve C and denoted by
( , ) f x y ds
C
(5.1.3)
Therefore
* *
0 0
1
( , ) lim lim ( , )
n n
n
n i j i
i
f x y ds S f x y s

C
(5.1.4)
THEOREM 5.1.1 EXISTENCE CONDITION FOR LINE INTEGRALS
a. If the equation of the curve C is ( ), , y x a x b where ( ) x is continuous on the
interval [a, b], (we say that the curve is smooth) and ( , ) f x y is continuous on an open
domain D that contains C. Then the line integral defined by (5.1.4) exists and it is
evaluated from
51
( ) j [
2
( , ) , ( ) 1 ( )
b
a
f x y ds f x x x dx +

C
(5.1.5)
b. If the parametric equations of the curve C is ( ), ( ), , x x t y y t t o | where ( ) x t
and ( ) y t are continuous on [o, |], (we say that the curve is smooth), and ( , ) f x y is
continuous on the domain D that contains C. Then the line integral defined by (5.1.4)
exists and it is evaluated from
( ) j [ j [
2 2
( , ) ( ), ( ) ( ) ( ) f x y ds f x t y t x t y t dt
|
o
+

C
(5.1.6)
Note: We do not care about the direction of the curve. But we suppose always that a < b in
(5.1.5) and o < | in (5.1.6).
PROPERTY 5.1.1 LINE INTEGRALS
a. If C is a piecewise-smooth curve, that is, C is a union of a finite number of smooth
curves C
i
, 1 i m . Then
1 2 m
( , ) ( , ) ( , ) ( , ) f x y ds f x y ds f x y ds f x y ds + + +

C C C C
(5.1.7)
b. . ( , ) . ( , ) k f x y ds k f x y ds

C C
c.
j [
( , ) ( ) ( , ) ( , ) f x y g xy ds f x y ds g x y ds + +

C C C
(5.1.9)
d. ( , ) ( , ) on ( , ) ( , ) f x y g x y D f x y ds g x y ds

C C
C (5.1.10)
e. ( , ) on . ( ) ( , ) . ( ) m f x y M D m L f x y ds M L
C
C C C (5.1.11)
( ) L C = length of C .
f. If ( , ) x y is the linear mass density of a thin wire shaped like the curve C . Then the
mass of the wire is determined from
( , ) m x y ds
C
= (5.1.12)
The center of mass of the wire is located at the point ( , ) x y , where
1 1
( , ) , ( , ) x x x y ds y y x y ds
m m

C C
= = (5.1.13)
g. The length of C is determined from
( L ds
C
C) = (5.1.14)
52
EXAMPLE 5.1.1
a. Find the length, mass, and mass center of a thin wire shaped like the parabola
2
, 0 1 y x x , with linear mass density ( , ) x y x .
Solution:
i.
( )
1
2
0
2 5 ln 2 5
( 1 4
4
L ds x dx
+ +
+

C
C) = , by integration by parts. (5.1.15)
ii.
1
2
0
5 5 1
1 4
12
m x ds x x dx

+

C
=
iii.
( )
( )
1
2 2
0
3 18 5 ln 2 5
1 1 1
( , ) 1 4
16 5 5 1
x x x y ds x x dx J
m m m

+
]
+
C
=
( )
1
2 2
0
18 5 ln 2 5
1 4 , by integration by parts and (5.1.15)
64
J x x dx

+

+
' )

iv.
( )
1
2 2
0
1 1 1 25 5 1
( , ) . 1 4
10 5 5 1
y y x y ds x x x dx K
m m m
+
+
C
= = =
1
2 2
0
25 5 1
. 1 4 , by integration by parts
120
K x x x dx

+
+
' )

b. Evaluate
2
(1 ) I x x y ds + +
C
= , C: the circumference of the upper half of the unit disk.
Solution:
C = C
1
+ C
2
, C
1
= AOB, C
2
= ACB,
1
2
1
(1 ) 2 I x x y ds + +
C
= = ,
2
2
2
2 3
(1 ) I x x y ds + + +
t
C
,
8
3
I + t
DEFINITION 5.1.2 LINE INTEGRALS IN SPACE
Let ( , , ) f x y z be defined on an open domain D that contains a curve C in space. Divide C
into sub-arcs that are labeled together with their lengths by , 1 ,
i
s i n and choose any
points
* * * *
( , , )
i i i i i
M x y z s ,1 , j n and form the sum
* * *
1
( , , )
n
n i j i i
i
S f x y z s
(5.1.16)
53
Denote max{ :1 }
n i
s i n . If there exists an unique and finite limit
* * *
0 0
1
lim lim ( , , )
n n
n
n i j j i
i
S f x y z s

(5.1.17)
then the limit is called line integral of ( , , ) f x y z on the curve C and denoted by
( , , ) f x y z ds
C
(5.1.18)
* * *
0 0
1
( , , ) lim lim ( , , )
n n
n
n i j j i
i
f x y z ds S f x y z s

C
(5.1.19)
If the parametric equations of the curve C is ( ), ( ), ( ), , x x t y y t z z t t o |
where ( ) x t , ( ) y t and ( ) z t are continuous on [o, |], (we say that the curve is smooth),
and ( , , ) f x y z is continuous on an open domain D that contains C. Then the line
integral defined by (5.1.19) exists and it is evaluated from
( ) j [ j [ j [
2 2 2
( , , ) ( ), ( ), ( ) ( ) ( ) ( ) f x y z ds f x t y t z t x t y t z t dt
|
o
+ +

C
(5.1.20)
EXAMPLE 5.1.2
a. Find the mass of a thin wire shaped like the circular helix given by the equations
cos , sin , , 0 2 x a t y a t z t t t , with linear mass density
2
( , , ) x y z x z .
Solution:
2
2 2 2 2 2 2 2 2 2 2
0
( , , ) cos sin cos 1 1 m x y z ds x z ds a t t a t a t dt a a
t
t + + +

C C
b. Evaluate ( ) xy z ds +
C
, where C is the triangle OAB, (1,1, 0), (1,1,1) A B .
Solution:
9 2 2 5 3
( ) ( ) ( ) ( )
6
OA AB OB
I xy z ds xy z ds xy z ds xy z ds
+ +
+ + + + + +

C
5.2 LINE INTEGRALS OF VECTOR FIELDS
Firstly, let us explain the notions and terminologies of regions in
2
Simple region type I, see Figure 1. Simple region type II, see Figure 2.
Simple region: both of type I and type II, see Figure 5.4.1 and 5.4.2, Section 5.4
Union of finite simple regions type I and type II, see Figure 3,
1 2 3
D D D D .
54
Simply-connected region, see Figure 1, 2, and 3.
Not simply-connected region, see Figure 4.
Connected region, see Figure 1, 2, 3, and 4.
DEFINITION 5.2.1 VECTOR FIELD ON
2
Let
2
D . A vector field on D is a function F that assign to each point ( , ) x y D a two-
dimensional vector
( , ) ( , ), ( , ) ( , ) ( , ) x y P x y Q x y P x y Q x y + F i j (5.2.1)
DEFINITION 5.2.2 VECTOR FIELD ON
3
Let
3
D . A vector field on D is a function F that assign to each point ( , , ) x y z D a three-
dimensional vector
( , , ) ( , , ), ( , , ), ( , , ) ( , , ) ( , , ) ( , , ) x y z P x y z Q x y z R x y z P x y z Q x y z R x y z + + F i j k (5.2.2)
The air velocity vectors that indicate the wind speed and direction at points on D; the force
field that associates a force vector with each point in a region D (e.g. the gravitational force
field); the magnetic field... are examples for vector fields.
DEFINITION 5.2.3 THE WORK DONE BY A FORCE FIELD
Let
3
D . Let F be a force field, as given in (5.2.2), defined on an open
3
D that
contains a curve C given by a vector function
( ) ( ), ( ), ( ) , t x t y t z t t r o | .
The end points of C are ( ) ( ) ( ), ( ), ( ) and ( ), ( ), ( ) M x y z M x y z
o |
o o o | | | , according
to and t t o | , respectively. How can we determine the work W done by the force field F
in moving a particle along the curve C from to M M
o |
?
Divide C into small sub-arcs that are labeled together with their lengths by , 1 ,
i
s i n and
choose any points
* * * *
( , , )
i i i i i
M x y z s , corresponding to the parameter value
*
i
t ,1 j n .
The work done by the force F in moving a particle along the sub-arc
i
s , is approximately
* * * *
( , , ). ( )
i
i j i i
x y z t s F T , where
*
( )
i
t T is the unit tangent vector at
*
i
M , 1 i n . Form the sum
* * * *
1
( , , ). ( )
i
n
i j i i
i
x y z t s
F T (5.2.3)
55
Denote max{ :1 }
n i
s i n . If there exists an unique and finite limit
* * * *
0
1
lim ( , , ). ( )
i
n
i j i i
i
x y z t s
F T = I (5.2.4)
then the work Wis defined as the limit I .
DEFINITION 5.2.4 LINE INTEGRALS OF VECTOR FIELD ON
3
Let
3
D and let F be a vector field defined on
3
D that contains a curve C given by a
vector function ( ), . t t o | r Use the same method as for the above work problem, we
arrive to the limit (5.2.4) and define this limit as in (5.2.5) and call it as the line integral of F
along C from A to B and denoted by
* * * *
0
1
lim ( , , ). ( )
i
n
i j i i
i
d ds x y z t s

F r F T F T
C C
(5.2.5)
If the curve C is smooth and F is continuous on an open domain D that contains C,
then the line integral defined by (5.2.5) exists.
PROPERTY 5.2.1 EXPRESSION FOR LINE INTEGRALS OF VECTOR FIELD ON
3
a. ( , , ), ( , , ), ( , , ) , , d P x y z Q x y z R x y z dz dx dy dz

F r
C C
( , , ) ( , , ) ( , , ) P x y z dx Q x y z dy R x y z dz + +
C
(5.2.6)
b. If the curve C from A to B is given by a vector function
( ) ( ), ( ), ( ) t x t y t z t r , t o | ,
then
d
F r
C
( ) ( ) ( ) ( ), ( ), ( ) , ( ), ( ), ( ) , ( ), ( ), ( ) ( ), ( ), ( ) P x t y t z t Q x t y t z t R x t y t z t x t y t z t dt
|
o

( ) ( ) ( ) ( ), ( ), ( ) ( ) ( ), ( ), ( ) ( ) ( ), ( ), ( ) ( ) P x t y t z t x t Q x t y t z t y t R x t y t z t z t dt
|
o
+ +
]
(5.2.7)
c. Denote the curve Cfrom to A B by
AB
C and the curve C from to B A by
BA
C . Then
BA AB
d d

F r F r
C C
(5.2.8)
56
EXAMPLE 5.2.1
a. Evaluate d
F r
C
, where
1 x
e xy
+ F i j andC is given by
2 3
, 0 1. t t t + r i j
Solution:
1
11 1
8
x
d e dx xydy
e
+

F r
C C
b. Evaluate d
F r
C
, where
3
1
( )
x
ye x y
+ + F i j andC is given by
2
, 1 2. y x x
Solution:
3
7 2
1
27
( )
3 2
x
e e
d ye dx x y dy

+ + +

F r
C C
c. Find the work done by the force field
2
( , , ) x y z x xy yz + + F i j k in moving a particle
along the elliptic helix given by the equations cos , sin , 2 , x a t y b t z t t , a, b > 0,
i. From ( , 0, 0) A a to ( , 0, 2 ) B a t .
ii. From ( , 0, 2 ) B a t to ( , 0, 0) A a .
Solution:
i. ( , 0, 0) A a and ( , 0, 2 ) B a t are corresponding to 0 t and t t , respectively.
2 2
2
( ) 4
3
AB
d a b a b +
F r t
C
ii.
2 2
2
( ) 4
3
BA
d a b a bt

+

]
F r
C
d. The force exerted by an electric charge Q at the origin on a charge q at a point
( , , ) x y z with position vector , , x y z r is
3
/ | | Qq c F r r , where c is a constant. Find
the work done by the force as the particle moves from (1, 0, 0) A to (0, 1, / 2) B t .
i. Along a straight line.
ii. Along the helix
2
: cos , sin , , 0 x t y t z t t
t
C .
Solution:
i.
2
: 1 , , , 0 1 x t y t z t t
t
C ;
( )
2
3/ 2
2 2 2
4
1
1
1
xdx ydy zdz
W d Qq Qq
x y z
_
+ +

+ + +
,

F r
t
c c
C C
ii.
2
: cos , sin , , 0 x t y t z t t
t
C
2
4
1
1
1
d Qq
_

+
,
F r
t
c
C
57
5.3 THE FUNDAMENTAL THEOREM
FOR LINE INTEGRALS
The Fundamental Theorem (see Chapter 7, Calculus 1) shows that:
If ( ) f x is continuous on [a, b], then
( ) ( ) ( ) ( )
b
a
b
a
f x dx f x f b f a
(5.3.1)
We have the same result for line integral
DEFINITION 5.3.1 GRADIENT VECTOR FIELD
a. The gradient vector of ( , ) f f x y is defined by
f f
f
x y

+

i j (5.3.2)
b. The gradient vector of ( , , ) f f x y z is defined by
f f f
f
x y z

+ +

i j k (5.3.3)
THEOREM 5.3.1 THE FUNDAMENTAL THEOREM FOR LINE INTEGRALS
Let C be a smooth curve, in plane (or in space), given by ( ), . t t o | r Let f be a
differentiable function of two (or three) variables whose gradient vector f is
continuous on an open domain D that contains C. Then
( ) ( ) ( ) ( ) f d f f | o
r r r
C
(5.3.4)
Proof:
( ) ( ) ( )
f f f
f d x t y t z t dt
x y y

+ +

]

r
|
o C
( )
( ) ( )
( )
( ) ( )
df t
dt f f
dt

r
r r
|
o
| o .
DEFINITION 5.3.2 CONSERVATIVE VECTOR FIELD
A vector field F is called a conservative vector field if there is a scalar function f so that F is
the gradient of f
f F (5.3.5)
58
EXAMPLE 5.3.1
a. The vector field
3
/ | | K F r r in Example 5.2.1.c is conservative because (5.3.3) is
satisfied with
2 2 2
( , , ) / f x y z K x y z + + .
b. Show that the vector field
2
| |
e

r
F r is conservative: determine f such that f F ?

2 2 2 2 2 2 2
( ) ( ) | |
1
( , , ) , ,
2
x y z x y z
f x y z e f x y z e e
+ + + +

r
F r
DEFINITION 5.3.3 INDEPENDENT OF PATH
If F is a continuous vector field on a domain D, we say that the line integral d
F r
C
is
independent of path if
1 2
d d

F r F r
C C
for any two curves C
1
and C
2
in D that have the
same initial and terminal points.
THEOREM 5.3.2
d
F r
C
is independent of path in D if and only if
0 d
F r
C *
for any closed path C
*
in D.
Proof: Clearly.
THEOREM 5.3.3
Let ( , ) ( , ) P x y Q x y + F i j be a vector field in an open connected domain D.
Then d
F r
C
is independent of path in D if and only if F is conservative .
Proof:
If : It follows from (5.3.4), Theorem 5.3.1.
Only if: Take the case of
2
. Suppose the line integral of ( , ) ( , ) P x y Q x y + F i j is
independent of path.
Denote for fixed point ( , ) A a b .
59
( , )
AB BC
f x y d d d +

F r F r F r
C C C
Consider firstly the curve C as ABC in Figure 5.3.1, where ( , ) A a b ,
1
( , ) B x y , ( , ) C x y . Because
AB
d
F r
C
does not depend on x, then
( , )
BC
f x y
d d
x x x

F r F r
C C
1
( , ) ( , )
BC
x
x
Pdx Qdy P x y dx P x y
x x
_

+

,

C
.
Consider secondly the curve C as ABC in Figure 5.3.2, where ( , ) A a b ,
1
( , ) B x y , ( , ) C x y .
Because
AB
d
F r
C
does not depend on y, then
( , )
BC
f x y
d d
y y y

F r F r
C C
1
( , ) ( , )
BC
y
y
Pdx Qdy Q x y dy Q x y
y x
_

+

,

C
.
Therefore f F .
Figure 5.3.1 Figure 5.3.2
5.4 GREENS THEOREM
Consider a domain D in the xy-plane that is bounded by a simple closed curve C. The positive
direction of the curve is chosen so that D is always on the left when a point traverses C in
this direction. Denote by C
+
the positively oriented.
THEOREM 5.4.1 GREENS THEOREM
Let ( , ) ( , ) P x y Q x y + F i j , where ( , ) P x y and ( , ) Q x y have continuous partial
derivatives on an open region G that contains D, where D is a closed region bounded by
a piecewise-smooth and simple closed curve C. Then
( , ) ( , )
( , ) ( , )
D
Q x y P x y
d P x y dx Q x y dy dxdy
x y
_
+

,

F r
+ +
C C
(5.4.1)
Proof :
(For the special case when D is a simple region, i.e. D is both of type I and type II, see
Figures 5.4.1 and 5.4.2 below.)
60
4
3
( )
( )
( , ) ( , )
x y d
D
c x y
Q x y Q x y
dxdy dx dy
x x
_

,

, see Figure 5.4.2,
3 3 4 4
: ( ), : ( ) x x y x x y C C ,
j [ j [ ( )
4 3
( ), ( ),
d
c
Q x y y Q x y y dy
j [ j [
4 3
( ), ( ), ( , )
d c
c d
Q x y y dy Q x y y dy Q x y dy +

+
C
Then
( , )
D
Q x y
dxdy
x
( , ) Q x y dy
+
C
(5.4.2)
( , )
D
P x y
dxdy
y
2
1
( )
( )
( , )
y x b
a y x
P x y
dy dx
y
_
,

, see Figure 5.4.1,
1 1 2 2
: ( ), : ( ) y y x y y x C C ,
j [ j [ ( )
2 1
, ( ) , ( )
b
a
P x y x P x y x dx
j [ j [
2 1
, ( ) , ( ) ( , )
a b
b a
P x y x dx P x y x dx P x y dx +

+
C
Then
( , )
D
P x y
dxdy
y
( , ) P x y dx
+
C
(5.4.3)
Adding (5.4.2) and (5.4.3), we obtain (5.4.1).
Figure 5.4.1 Figure 5.4.2 Figure 5.4.3
NOTE: The Greens Theorem can be extended to the case where D is not simply-connected
region as given in Figure 5.4.3. In this case, the closed curve C is not simple.
COROLLARY 5.4.1 OF GREENS THEOREM
a. The area of a domain D in G is determined by (5.4.1) if
( , ) ( , )
1
Q x y P x y
x y

.
For example
1
( )
2
A D xdy ydx xdy ydx
+ + +
C C C
(5.4.4)
b. Let ( , ) ( , ) P x y Q x y + F i j , where ( , ) P x y and ( , ) Q x y have continuous partial
derivatives on an open simply-connected region G and that
( , ) ( , ) Q x y P x y
x y

throughout G (5.4.5)
Then
61
(i) For any simple closed path C in G that bounds a region D
( , ) ( , ) 0 P x y dx Q x y dy +
C
(5.4.6)
(ii) ( , ) ( , ) d P x y dx Q x y dy +

F r
C C
is independent of path in G. (5.4.7)
(iii) F is a conservative vector field, it means that there is a scalar function f so that
f F (5.4.8)
EXAMPLE 5.4.1
a. Evaluate
2
( sin ) x x dx xy dy + +
+
C
where C is OABO , (1, 0), (0,1). A B
Solution:
2
( sin ) x x dx xy dy + +
+
C
=
1
6
D
ydxdy
b. Evaluate
2 2
( 2 ) (2 3 )
x
e yx dx xy y dy +
+
C
where C is the circle
2 2
2. x y +
Solution:
2 2
( 2 ) (2 3 )
x
e yx dx xy y dy +
+
C
=
2 2
2( ) 4
D
x y dxdy t +
.
c. Using the line integral to show that the area enclosed by the ellipse
2 2
2 2
1 is
x y
ab
a b
+ t .
d. Evaluate
2
2 2
( / 2) sin( ) ( / 2)
x x y
xy y e e dx x ye xy dy

+ + + + +
]
]
C
where : , 0 1. OA y x x C
Answer:
3 1
2 2
cos(1) cos( )
e
e +
e. Evaluate
2
(sin 2 ) (2 cos ) y x dx y x y dy + +
+
C
where C is the curve
2 2
1 x xy y + + .
Answer: 0.
We define now two operations that can be performed on vector field F and that have
important applications in vector calculus to fluid flow and electricity and magnetism:
one, curl F , produces a vector field and the other, divF , produces a scalar field; both concern
with differentiation.
62
5.5 CURL
DEFINITION 5.5.1 VECTOR DIFFERENTIAL OPERATOR DEL
The vector differential operator del denoted formally by
x y z

+ +

i j k (5.5.1)
is defined as when it operates on a scalar function ( , , ) f f x y z it gives the gradient of f:
x y z
f f f
f f f f f
x y z x y z
_
+ + + + + +

,
i j k i j k i j k (5.5.2)
DEFINITION 5.5.2 CURL OF VECTOR FIELDS
Let ( , , ) ( , , ) ( , , ) ( , , ) x y z P x y z Q x y z R x y z + + F F i j k be a vector field. Define
curl F F (5.5.3)
curl
R Q P R Q P
x y z y z z x x y
P Q R

_ _ _
+ +

,
, ,
F F
i j k
i j k
(5.5.4)
EXAMPLE 5.5.1
a.
2 2 2
2 5 ; curl ? x z yxz y z + F i j k F
2 2 2
curl
2 5
x y z
x z xyz y z

i j k
F F
( ) ( ) ( )
2 2 2 2
10 4 0 2 0 2 (5 2 ) 2 yz xyz x yz yz x x yz + + + + + i j k i j k
b.
3 2 2 3
( ) ( ) ( 2 ) ; curl ? x y z x yz x y + + + + F i j k F
Answer:
2 3 2
curl (6 ), ( 2 ), (2 3 ) y y y x x y z + F
c.
3 2 2 2 3
2 3 ; curl ? xy z x y z x y + + F i j k F
Answer: curl F 0 .
63
EXAMPLE 5.5.2 CONNECTION BETWEEN THE CURL VECTOR AND ROTATIONS
Let B be a rigid body rotating about the z-axis.
The rotation can be described by the vector e w k , wheree is the angular speed of B. Let
, , x y z r be the position vector of P. Let v be the tangential speed of P.
Let u be the angle between the z-axis and vector , , x y z OP r

.
sin sin , sin sin , d OP d u u e e u u r v r w r and . Oz OP v
Therefore
v w r
0 0 y x
x y z
e e e +
i j k
v w r i j curl 2 2
0
x y z
y x

i j k
v k w e
e e
It shows that curl v and w have the same direction and | curl | 2 2 | | v w e .
It means that the higher the angular speed the greater the curl of the tangential speed.
DEFINITION 5.5.3
If curl F 0 , then F is called irrotational.
THEOREM 5.5.1
If ( , , ) f f x y z has continuous second-order partial derivatives, then
curl ( ) f 0 (5.5.5)
Proof
Since
f f f
f
x y z

+ +

i j k , then by (5.5.4),
64
curl ( ) ( )
x y z
f f
x y z
f f f

i j k
( ) ( ) ( )
zy yz xz zx yx yx
f f f f f f + + i j k 0,
because , ,
zy yz xz zx yx yx
f f f f f f , see Theorem in Section 8.4, Calculus 1.
COROLLARY 5.5.1 OF THEOREM 5.5.1
If ( , , ) ( , , ) ( , , ) P x y z Q x y z R x y z + + F i j k is a conservative vector field, where
, , P Q and R have continuous partial derivatives, then curl F 0 , (F is irrotational).
Proof
Since F is a conservative vector field, f F , by (5.3.5). Then (5.5.5) implies that curl F 0 .
The converse statement of the Corollary 5.5.1 is also true if D is simply-connected. We can
combine these statements in the following theorem.
THEOREM 5.5.2
Let ( , , ) ( , , ) ( , , ) P x y z Q x y z R x y z + + F i j k be defined on a simply-connected domain
D. Let , , P Q and R have continuous partial derivatives on D. Then
F is conservative curl F 0 (5.5.6)
EXAMPLE 5.5.3
a. Show that
2 3 2 3 2 2 2 2
(2 2 ) (3 1/ )
y y y
e z xe z yz xe z y z + + + + F i j k is conservative.
Determine f such that . f F
Solution
It is conservative, because
2 3 2 3 2 2 2 2
curl 0 0 0
2 2 3 1/
y y y
x y z
e z xe z yz xe z y z

+ +

+ +
i j k
F F i j k 0 .
Then there exists a scalar function f such that . f F Thus
2 3 2 3 2 2 2 2
, 2 2 , 3 1/
y y y
x y z
f e z f xe z yz f xe z y z + +
2 3 2 3
( , , ) ( , , ) ( , )
y y
x
f x y z f x y z dx e z dx xe z g y z +

2 3
( , )
y
xe z g y z +
65
2 3 2 3
( , , ) 2 ( , ) 2 2 ( , ) 2
y y
y y y
f x y z xe z g y z xe z yz g y z yz + +
2
( , ) ( , ) 2 ( )
y
g y z g y z dy yz dy y z h z +

2 3 2 3 2
( , , ) ( , ) ( )
y y
f x y z xe z g y z xe z y z h z + + +
2 2 2 2 2 2
2
1
( , , ) 3 ( ) 3
y y
z
f x y z xe z y h z xe z y
z
+ + +
2
1 1
( ) ( ) h z h z C
z z
+
Therefore
2 3 2 2 3 2
1
( , , ) ( )
y y
f x y z xe z y z h z xe z y z C
z
+ + + + + . You can verify that . f F
b. Verify wherther the vector fields F given in Example 5.5.1.a and b are conservative.
c. Show that the vector field F given in Example 5.5.1.c is conservative. Determine f such
that f F ?
d. Show that the vector field F below is conservative. Determine f so that . f F
2 2 2
3
2
2 4 2 4
2 4
2 ; ; 2
1 1
x y x y z
y z
xye x e ze
y z y z

+ +
+ + + +
F
5.6 DIVERGENCE
DEFINITION 5.6.1 DIVERGENCE
Let ( , , ) ( , , ) ( , , ) P x y z Q x y z R x y z + + F i j k , and / , / , / P x Q y R z exist, then the
divergence of F is a scalar function defined by
div
P Q R
x y z

+ +

F (5.6.1)
Using the symbol of the gradient operator del we can write symbolically the divergence as
the dot product
div .
P Q R
x y z

+ +

F F (5.6.2)
EXAMPLE 5.6.1
a.
2 2 3 4
(2 ) ( ) (2 4 )
y
x e y z xy xz x yz + + + + F i j k
Then
2 3
div 4 3 16
y
xe xy yz + + F
b.
2 3 2 2
( ) ( ) ( )
x x z
xe x z e y yz zx ye

+ + + + F i j k
Then
2 2 2
div (1 ) 2 3 2
x x z
e x xz e y z x ye

+ + + F
66
THEOREM 5.6.1
Let ( , , ) ( , , ) ( , , ) P x y z Q x y z R x y z + + F i j k , and P, Q, R have continuous second-order
partial derivatives, then
div(curl ) 0 F (5.6.3)
Proof
Apply (5.5.3) and (5.6.1).
EXAMPLE 5.6.2
a.
2 2
10 , , 2
z
xy yz yz x e zx yx + F . Evaluate divF .
Answer: div x y z + + F
b.
2 2
10 4 , , 2 yz xyz x yz G . Evaluate divG.
c.
2 3 2
6 , 2 , 2 3 y y y x x y z G . Evaluate divF .
The reason for the name divergence is from the context of fluid (or gas) flow. If F is the
velocity of a fluid, then divF represents the net rate of change of the mass of the fluid
flowing from the point ( , , ) x y z per unit volume, i.e. divF measures the tendency of the fluid
to diverge from the point ( , , ) x y z . If div 0, F then F is said to be incompressible.
5.7 VECTOR FORM OF GREENS THEOREM
Consider a vector field on the plane ( , ) ( , ) P x y Q x y + F i j . Then
curl ; curl
0
Q P Q P
x y z x y x y
P Q
_

,
i j k
F k F k (5.7.1)
Then the formula (5.4.1) of Greens Theorem can be rewritten in the vector form
( ) ( ) ( , ) ( , ) curl
D
d ds P x y dx Q x y dy dxdy +

F r F T F k
+ + +
C C C
(5.7.2)
Formula (5.7.2) expresses the integral of the tangential component of F along the closed
curve C
+
as the double integral of the vertical component of curl F over the domain D
enclosed by C
+
.
What about the integral of the normal component of F along the closed curve C
+
?
67
If the vector equation of C
+
is
( ) ( ) ( ) t x t y t t b o + r i j ,
then the unit tangent vector T is
( )
( ) 1
( ) ( ) ( ) ,
( ) ( )
t
t x t y t
t t
+

r
T i j
r r
and the unit outward normal vector n is (note that n is perpendicular to T and to k)
1
( ) ( ), ( ) , 0 0, 0, 1
( )
t x t y t
t

n Tk
r
1 ( ) ( )
( ) ( ) 0
( ) ( )
0 0 1
y t x t
x t y t
t t

i j k
i j
r r
It is easy to provide the following calculations
j [
( ) ( ) | ( ) | ds t t t dt
|
o

F n F n r
+
C
( ) ( )
1
( ), ( ) ( ) ( ), ( ) ( ) | ( ) |
( )
P x t y t y t Q x t y t x t t dt
t
|
o

]
r
r
( ) ( ) ( ), ( ) ( ) ( ), ( ) ( ) P x t y t y t Q x t y t x t dt
|
o

]
, by Green's formula
D
P Q
Qdx Pdy dxdy
x y
_
+ +

,

+
C
.
Therefore
div ( , )
D
ds x y dxdy

F n F
+
C
(5.7.3)
Formula (5.7.3) expresses the integral of the normal component of F along the closed curve
C
+
in the xy-plane as the double integral of divF over the domain D enclosed by C
+
.
68
EXERCISES
5.1 Evaluate
4
, xy ds
C
where C is the right half of the circle
2 2
16 x y + .
5.2 Find the mass and the center of mass of a thin wire of shape of the upper half of the unit
circle
2 2
1. x y + The density is
2
1 x y + .
5.3 Show that the line integral d
F r
C
is independent of path and evaluate the integral.
a.
2 2
2 sin , cos 3 x y x y y F , C is any path from ( 1, 0) to (5,1).
b.
2
2 cos cos , sin sin x y y x x y x F , C is any path from (0, 0) to (1,1).
5.4 Find the work done by the force field in moving an object.
a.
2 3 3 2
, , x y x y F from (0, 0) to (2,1) A B , by any path.
b. , , , y xy xyz F from (0, 0, 0) to (1, 2, 3) A B on a straight line .
5.5 Evaluate the line integral by two methods: directly and using Greens Theorem.
a.
2 3
xy dx x dy +
+
C
, C is the rectangle with vertices (0, 0), (2, 0), (2, 3), and (0, 3)
b. 2
y y
e dx xe dy +
+
C
,C is the circumference of the square with vertices (0, 0), (1, 0),
(1,1), and (0,1)
c.
2
( ) (2 cos )
x
y e dx x y dy + + +
+
C
, C is the boundary of the region enclosed by the
parabolas
2 2
and y x x y
5.6 Let
2 2
( , ) ( , )
y x
P x y Q x y
x y
+
+
+
i j
F i j .
a. Show that
( , ) ( , ) Q x y P x y
x y

in \ {(0, 0)} D
b. Show that
1
d
F r
C
and
2
d
F r
C
, where C
1
and C
2
are the lower half and upper half
of the circle ( )
2 2
1 from ( 1, 0) to 1, 0 x y + , are not the same. Does this contradict
(5.4.7)?
5.7 Find the curl and the divergence of the vector
a. ; xy yz zx + + F i j k
b. sin cos ;
x x
e y e y z + + F i j k
c.
2 2 2 2 2 2 2 2 2
;
x y z
x y z x y z x y z
+ +
+ + + + + +
F i j k
69
d. ;
yz xz xy
xe ye ze + + F i j k
5.8 Determine whether or not the vector field is conservative. If it is conservative, find the
function f such that . f F
a. ; xy yz zx + + F i j k
b. ; x y z + + F i j k
c.
2 2
2 ( 2 ) ; xy x yz y + + + F i j k
d. ;
x z y
e e e + + F i j k
e. ;
xz xz xz
yze e xye + + F i j k
5.9 Evaluate the integrals ds
F T
+
C
and ds
F n
+
C
a.
2
xy y + F i j , C
+
:
2 2
2 0 x y y + .
b.
2 2 2 2
x y x y
ye xe
+ +
+ F i j , C
+
:
2 2
1 x y + . Answer: e , 0.
c.
2 2
4 ( 2 ) xy x y + + F i j , C
+
:
2 2
2 0, 0, and 0, 0 2 x y x y y x +
5.10 Prove that
a. curl ( ) curl curl + + F G F G;
b. curl ( ) curl ( ) f f f + F F F .
ANSWERS
5.1
6
2
4
5
;
5.2
8 3(5 16)
; ( , ) 0,
3 8(3 8)
m x y
t
t
t
_ +
+

+
,
;
5.3 a. 25sin1 1. ; b. cos1 sin1.
5.4 a. 8/3; b. 41/6;
5.5 a. 6; b. e 1; c. 1/3
5.6 b. and t t . No (why?)
5.7 a. 0; 3t ; b. 2 ; 0; e t c. ; 16/ 3; t
Calculus 2 Chapter 6: Surface Integrals Nguyen Van Ho
70
Chapter 6
SURFACE INTEGRALS
In this chapter two kinds of surface integrals are taken into consideration: surface integrals of
scalar functions and surface integrals of vector fields
6.1 SURFACE INTEGRALS OF SCALAR FUNCTIONS
PROBLEM 6.1.1 SURFACE MASS
Suppose the differentiable function
2
( , ), ( , ) , z z x y x y D define a smooth surface S in
space. Suppose the mass density of the surface is determined by ( , , ), ( , , ) . S x y z x y z
How can we define and determine the mass of S? As usually, we divide S into patches
i j
S by the
planes perpendicular to the x-axis and the y-axis. See Figure 6.1.1. The area ( )
i j
A S of
i j
S is
approximated by the area ( )
i j
i j
T on the tangent plane at some point
, ,
, , ( , )
i j i j i j i j
P x y z x y S with two sides determined by tangent vectors a
i
and b
j
in the direction
of the x-axis and the y-axis, respectively:
, 0, ( , )
i i x i j i
x z x y x a , 0, , ( , )
j j y i j j
y z x y y b
Figure 6.1.1
Clearly,
0 ( , ) ( , ), ( , ),1
0 ( , )
i j i x i j i i j x i j y i j
j y i j j
x z x y x x y z x y z x y
y z x y y

i j k
a b (6.1.1)
Therefore
2 2
, ,
( ) ( ) 1 ( , ) ( , )
i j i j i j x i j y i j i j
A S A T z x y z x y x y + +
] ]
a b , (6.1.2)
71
the mass of
i j
S is approximated by
, ,
, ,
( ) , , ( , ) ( )
i j i j i j i j
m S x y z x y A S
, ,
2 2
, , ( , ) 1 ( , ) ( , )
i j i j x i j y i j i i
x y z x y z x y z x y x y + +
] ]
and the mass of S is approximated by
, ,
2 2
,
, , ( , ) 1 ( , ) ( , )
i j
x y z x y z x y z x y x y

+ +
] ] 1
]
(6.1.3)
Denote
max( , )
i j
x y (6.1.4)
The mass of S is defined by the limit
, ,
2 2
0
,
lim , , ( , ) 1 ( , ) ( , )
i j
x y z x y z x y z x y x y

+ +
] ] 1
]
(6.1.5)
if the limit exists and is independent of the way of dividing S and choosing the points
i j
P .
DEFINITION 6.1.1 SURFACE INTEGRALS
Suppose the differentiable function
2
( , ), ( , ) , z z x y x y D define a smooth surface S in
space. Suppose ( , , ) f f x y z is defined on S. By the same way provided in Problem 6.1.1 with
( , , ) x y z replaced by ( , , ) f f x y z we arrive to the sum and limit
, ,
2 2
,
, , ( , ) 1 ( , ) ( , )
i j
f x y z x y z x y z x y x y

+ +
] ] 1
]
(6.1.6)
, ,
2 2
0
,
lim , , ( , ) 1 ( , ) ( , )
i j
f x y z x y z x y z x y x y

+ +
] ] 1
]
(6.1.7)
If the limit (6.1.5) exists and is independent of the way of dividing S and choosing the points
i j
P ,
then we denote the limit by
( , , )
S
f x y z dS
(6.1.8)
and it is called the surface integral of ( , , ) f f x y z over the surface S.
Therefore
, ,
2 2
0
,
( , , ) lim , , ( , ) 1 ( , ) ( , )
S
i j
f x y z dS f x y z x y z x y z x y x y

+ +
] ] 1
]
(6.1.9)
It follows from (6.1.7) that the surface integral can be expressed by the double integral
72
, , j [
2
2
( , , ) , , ( , ) 1 ( , ) ( , )
x y
D
f x y z dS f x y z x y z x y z x y dx dy

+ +
] 1
]

S
(6.1.10)
The definition and (6.1.4) result to the expression for the mass of a surface S with mass density
( , , ) x y z :
, , j [
2
2
( ) ( , , ) , , ( , ) 1 ( , ) ( , )
x y
D
m x y z dS x y z x y z x y z x y dx dy

+ +
] 1
]

S
S = (6.1.11)
From the existence condition for double integrals we obtain the following Theorem:
THEOREM 6.1.1 EXISTENCE CONDITION FOR SURFACE INTEGRALS
Let
2
( , ), ( , ) z z x y x y D be the equation of the surface S . Suppose z has continuous
partial derivative on D. Suppose ( , , ) f f x y z is defined on S and , , , , ( , ) f f x y z x y is
continuous on D. Then the surface integral (6.1.8) exists.
PROPERTY 6.1.1
1. ( ) dS A
S
S
2. . ( , , ) . ( , , ) , constant. k f x y z dS k f x y z dS k

S S
3.
j [
1 2 1 2
( , , ) ( , , ) ( , , ) ( , , ) . f x y z f x y z dS f x y z dS f x y z dS + +

S S S
4. If S is a union,
1 2
S =S S , where
1 2
and S S intersect maybe only along their
boundaries then
1 2
( , , ) ( , , ) ( , , ) . f x y z dS f x y z dS f x y z dS +

S S S
5. If S is a piecewise-smooth surface, that is
1
...
k
S =S S where
1
,...,
k
S S are smooth
surfaces and intersect only along their boundaries then
1
( , , ) ( , , ) ( , , ) .
k
f x y z dS f x y z dS f x y z dS + +

S S S
6. Suppose the mass density of the surface S is determined by ( , , ), ( , , ) . S x y z x y z

Then the mass m and the center of mass ( , , ) x y z of the surface S are determined from
( , , ) m x y z dS
S
1 1 1
. ( , , ) , . ( , , ) , . ( , , ) x x x y z dS y y x y z dS z z x y z dS
m m m

S S S
(6.1.12)
73
EXAMPLE 6.1.1
Evaluate the surface integral.
a. I =
2
, where is the surface 2 6 3 , 0 2, 0 2 xy dS z x y x y +
S
S
Solution:
2 2
2
0 0
1036
1 24 36
27
I xy dS xdx y y dy + +

S
b.
2 2 2 2 2 2
( ) , where is the surface , 4 I x y dS z x y x y + + +
S
S
Solution:
, ,
2 2 2 2
1 391 17
( ) 1 4 4
60
D
I x y x y dx dy
+
+ + +
t
c. I =
2
, where is the surface 1 2 3 , 0 3, 0 2 x yz dS z x y x y + +
S
S
Solution:
3 2
2 2 2 2
0 0
(1 2 3 ) 1 2 3 171 14 I x yz dS dx x y x y dy + + + +

S
d.
2
, where is the surface 4 , 0 2, 0 2 x dS y x z x z +
S
S
Solution:
, ,
2 2
2 2
0 0
1
1 (2 ) 4 33 33 17 17
6
x dS dx x x dz + +

S
e. Find the center of mass of a thin hemisphere of radius a and constant mass density k.
Solution:
The surface can be determined by:
2 2 2 2 2 2
( ) , ( , ) : z a x y x y D x y a + +
, ,
2
2
2 2 2
( , , ) 2
D
a
m k x y z dS k dS k dxdy ka
a x y

+

t
S S
( , , ) 0 y x y z dS

S
, ( , , ) 0 x x y z dS

S
,
3
( , , ) z x y z dS ka
t
S
, , , , , , , 0, 0, / 2 x y z a
PARAMETRIC SURFACE
Suppose S is determined by a vector equation of two parameters u and v:
2
( , ) ( , ), ( , ), ( , ) , ( , ) u v x u v y u v z u v u v D r (6.1.13)
74
The area ( )
i j
A S of
i j
S is approximated by the area ( )
i j
i j
T determined by
two vectors
i u
u r and
j v
v r :
, ,
( ) ( ) | | | |
i j i j i u j v u v i j
A S A T u v u v r r r r (6.1.14)
where
, , , , ,
u v
x y z x y z
u u u v v v

r r (6.1.15)
Therefore
, , ( , , ) ( , ), ( , ), ( , ) | |
u v
D
f x y z dS f x u v y u v z u v du dv
]
r r
S
(6.1.16)
EXAMPLE 6.1.2
a. Show that (6.1.10) is a particular form of (6.1.16)
Solution:
The equation
2
( , ), ( , ) , z z x y x y D of the surface S may be regarded as a parametric
equation with parameters x, y:
2
( , ) , , ( , ) , ( , ) x y x y z x y x y D r r . Then
2 2
1, 0, , 0,1, , 1 0 , ,1 , | | 1
0 1
i j k
r r r r r r
x x y y x y x x y x y x y
y
z z z z z z z
z
+ + .
b. Evaluate
, , I x yz dS +
S
, where S is determined by the parametric equations
2 2
, , , 1, 0, 0. x uv y u v z u v u v u v + +
Solution:
2 2
, , ,1,1 , , , ,1, 1 , | | 2 ( ) 2
u v u v
x y z x y z
v u u v
u u u v v v

+ +
]

r r r r
2 2 2 2 2 2
16 3 6
( ) 2 ( ) 2 , where : 1, 0, 0.
30
D
I uv u v u v dudv D u v u v
+ + + +
]
c. Show that the surface area of a sphere of radius a is
2
4 a t , using surface integral in two ways:
i. Equation of the sphere:
2 2 2 2
x y z a + + .
ii. The Parametric Equation of the sphere:
2
( , ) sin cos , sin sin , cos ; [0, ], [0, 2 ], | | sin a a a a
| u
| u | u | u | | t u t | r r r r
75
6.2 SURFACE INTEGRALS OF VECTOR FIELDS
DEFINITION 6.2.1 ORIENTED SURFACES
Consider an orientable (two-sided) surface S that has a tangent plane at any point except at
boundary points. There are two unit normal vectors at each points:
1
n and
2 1
n n . If it is
possible to choose a unit normal vector n at every such point ( , , ) x y z so that it varies
continuously over S , then S is called an oriented surface. One choice of n provides S with an
orientation.
For the closed surface (the boundary of a solid region) the positive orientation is defined as the
normal vectors point outward from the solid.
Note that the Mobius surface has only one side!
Mobius surface
DEFINITION 6.2.2 SURFACE INTEGRALS OF VECTOR FIELDS
Let ( , , ), ( , , ), ( , , ) P x y z Q x y z R x y z F be defined on an oriented surface S with unit normal
vector n, then surface integral of F over S is defined as the surface integral of the normal
component of F
d dS

F S F n
S S
(6.2.1)
This integral is called the flux of F across the oriented surface S.
PROPERTY 6.2.1
1. d d
+

F S F S
S S
, where S
+
and S

denote two different sides of S.
2. , constant. k d k d k

F S F S
S S
3. , ,
1 2 1 2
d d d + +

F F S F S F S
S S S
4. If S is a union of two surfaces,
1 2
S =S S , where
1 2
and S S intersect maybe only
along their boundaries then
1 2
. d d d +

F S F S F S
S S S
76
GRADIENT, TANGENT PLANE, AND NORMAL LINE
Suppose that the smooth surface S in space is defined by the differentiable function
2
( , ), or, ( , , ) ( , ) 0, ( , ) z z x y g x y z z z x y x y D .
Suppose S is a smooth surface with equation ( , , ) g x y z k . Let
0 0 0
( , , ) P x y z be a point on S .
Let C be a curve on S and passes through the point P. The curve C is described by a continuous
vector function ( ) ( ), ( ), ( ) . t x t y t z t r Let
0
t be the parameter value corresponding to P:
, ,
0 0 0 0 0 0
( ), ( ), ( ) ( , , ) P x t y t z t x y z . Since C is on S , any point , , ( ), ( ), ( ) x t y t z t must satisfy the
equation of S:
( ( ), ( ), ( )) g x t y t z t k
Then
0 ( ) 0
g dx g dy g dz
g t
x dt y dt z dt

+ +

r
, ,
0 0 0 0 0 0 0 0 0 0
at ( ), ( ), ( ) ( , , ) : ( , , ) ( ) P x t y t z t x y z g x y z t r
But
0
( ) t r is the tangent vector to C at P, then the gradient vector
0 0 0
( , , ) g x y z is perpendicular
to any curve C on S passing through P. Thus the gradient vector
0 0 0
( , , ) g x y z is
perpendicular to the tangent plane to the surface S at P.
Therefore the equation of the tangent plane at the point
0 0 0
( , , ) P x y z is
0 0 0 0 0 0 0 0 0 0 0 0
( , , )( ) ( , , )( ) ( , , )( ) 0
x y z
g x y z x x g x y z y x g x y z z x + + (6.2.2)
and the equation of the normal line to S at
0 0 0
( , , ) P x y z is
0 0 0
0 0 0 0 0 0 0 0 0
( ) ( ) ( )
( , , ) ( , , ) ( , , )
x y z
x x y x z x
g x y z g x y z g x y z

(6.2.3)
EXPRESSION 6.2.1 OF SURFACE INTEGRALS
a. Suppose that S is determined by ( , ) z z x y or ( , , ) ( , ) 0, g x y z z z x y
2
( , ) x y D ,
and is upward oriented. It means that the z-component of the unit normal vector n is positive.
(see Figure 6.2.1 below). Let ( , , ), ( , , ), ( , , ) P x y z Q x y z R x y z F be defined on S. Then
, , , ,
2
2
( , ), ( , ), 1
| |
1 ( , ( ,
x y
x y
z x y z x y
g
g
z x y z x y

+ +
n
j [
2
2
1 ( , ) ( , )
x y
dS z x y z x y dx dy + +
]
(6.2.4)
Therefore (6.2.1) has the expression as the double integral below
, , , , , , , , ( , ) ( , ) , , ( , ) , , ( , )
x y
D
dS P x y z x y z x y Q x y z x y z R x y z x y dx dy +
]
F n
S
(6.2.5)
77
b. Suppose S is oriented by the downward unit normal vector n, (see Figure 6.2.2), then
, , , ,
2
2
( , ), ( , ), 1
| |
1 ( , ( ,
x y
x y
z x y z x y
z x y z x y
+ +
a b
n
a b
,
j [
2
2
1 ( , ) ( , )
x y
dS z x y z x y dx dy + +
]
, see (6.2.4)
, , , , , , , , ( , ) ( , ) , , ( , ) , , ( , )
x y
D
dS P x y z x y z x y Q x y z x y z R x y z x y dx dy +
]
F n
S
(6.2.6)
You can write similarly the expressions for the surface integrals if S is given by an equation of
the form
2 2
( , ), ( , ) or ( , ), ( , ) x x y z y z D y y x z x z D
EXPRESSION 6.2.2 OF SURFACE INTEGRALS
Let S be the oriented smooth surface in space.
Let ( , , ), ( , , ), ( , , ) P x y z Q x y z R x y z F be the vector field defined on S.
Let the unit normal vector of S be expressed by the direction cosines, (see 1.1, Chapter 1)
cos , cos , cos , o | n (6.2.7)
Then
( , , ), ( , , ), ( , , ) cos , cos , cos P x y z Q x y z R x y z o | F n
( , , ) cos ( , , ) cos ( , , ) cos P x y z Q x y z R x y z + + o | (6.2.8)
Therefore (6.2.1) can be expressed as below
, , , , , , , , cos , , cos , , cos d dS P x y z Q x y z R x y z dS + +
]
F S F n o |
S S S
(6.2.9)
Remark
To evaluate the integral in the right hand side of (6.2.9), we need to divide the surface S
into sub-surfaces that can be expressed by one of the following equations:
2 2 2
( , ), ( , ) or ( , ), ( , ) or ( , ), ( , )
xy yz xz
z z x y x y D x x y z y z D y y x z x z D
78
If S has the equation ( , ), ( , )
y z
x x y z y z D then
, ,
, ,
, ,
( , ), , if 0
2
, , cos 0 if
2
( , ), , if
2
yz
yz
D
D
P x y z y z dydz
P x y z dS
P x y z y z dydz
t
o
t
o o
t
o t
<

'
<
S
(6.2.10)
x z
y y x z x z D then
, ,
, ,
, ,
, ( , ), if 0
2
, , cos 0 if
2
, ( , ), if
2
xz
xz
D
D
Q x y x z z dxdz
Q x y z dS
Q x y x z z dxdz
t
|
t
| |
t
| t
<

'
<
S
(6.2.11)
x y
z z x y x y D then
, ,
, ,
, ,
, , ( , ) if 0
2
, , cos 0 if
2
, , ( , ) if
2
xy
xy
D
D
R x y z x y dxdy
R x y z dS
R x y z x y dxdy
t
t

t
t
<

'
<
S
(6.2.12)
EXAMPLE 6.2.1
a. Evaluate I = d
F S
S
, where , , x y z F
and S is the upper half-sphere, upward oriented,
2 2 2 2
16 , 16 z x y x y +
Solution
Apply (6.2.5), I
, , , ,
2 2 2 2
( 2 ) ( 2 ) 16 16 384
D D
x x y y x y dx dy x y dx dy

+ + +
]

t
b. Evaluate I = d
F S
S
, where / , / , 2 F x z y z z
and S is the upper surface, upward oriented, of
2 2 2 2
4 , 2 z x y x y +
79
Solution
Apply (6.2.5),
I
, ,
2 2
2 2 2 2
( 2 ) ( 2 ) 4 2 (8ln 2 2)
4 4
D
x y
x y x y dx dy
x y x y
_ _
+
1

, , ]
t
c. Find the flux of the vector field , , x z y F outward through the sphere
2 2 2 2
x y z a + + .
Solution
For the upper half of the sphere,
2 2 2 2 2 2
1
: , ( , ) : z a x y x y D x y a + S , apply (6.2.5):
1
d
F S
S
, ,
2 2 2
2 2 2 2 2 2
D
x y
x a x y y dx dy
a x y a x y
_ _

1 +

1

, , ]
2
2 2 2
2
D
x
y dx dy
a x y
_
+

,
For the lower half of the sphere,

2 2 2 2 2 2
2
: , z a x y x y a + S , apply (6.2.6):
2
d
F S
S
, ,
2 2 2
2 2 2 2 2 2
D
x y
x a x y y dx dy
a x y a x y
_ _
1 +

1

, , ]
2
2 2 2
2
D
x
y dx dy
a x y
_

,
1 2
3
4
3
a
d d d +

F S F S F S
t
S S S
d. A fluid with density k flows with velocity , 1, y z v . Find the rate of flow upward through
the paraboloid S :
2 2 2 2
9 ( ) / 4, 36 z x y x y + + .
Solution
The rate of flow upward through the paraboloid S is, applying (6.2.5),
R =
2 2
1 9 162
2 2 4
D
x y x y
k d k y dxdy k
_ + _ _
+
1
, ,
, ]

v S t
S
e. Find the flux of the vector field , 2 , 3 x y z F outward through the cube
3
[ 1, 2] .
Solution:
Apply (6.2.10) (6.2.12) to six faces of the cube:
For the face S
1
:
2
1
2, ( , ) [ 1, 2] , / 2, 0, z x y D o | t
1 1 1
3 3 2 6 9 54 F S
S S D
d z dxdy dxdy

For the face S
2
:
2
1
1, ( , ) [ 1, 2] , / 2, , z x y D o | t t
80
2 2 1
3 3 ( 1) 3 9 27 F S
S S D
d z dxdy dxdy

......
i
6
1
162
i
d d

F S F S
S S
f. Find the flux of the vector field 2 , 2 3 , 3 x y y z z x + + + F outward through the triangular
pyramid OABC, (0, 0, 0), (1, 0, 0), (0,1, 0), (0, 0,1) O A B C .
Answer:
i
4
1
1 1 1
2 1
6 3 2
i
d d

F S F S
S S
EXAMPLE 6.2.2 THE ELECTRIC FIELD
Suppose an electric charge Q is located at the origin. According to Coulombs Law, the electric
force F exerted by the charge Q on a charge q located at ( , , ) M x y z is
3
( ) , where , ,
| |
qQ
x y z
c
F r r r
r
(6.2.13)
where c is a constant.
The force exerted by the charge Q (located at the origin) on a unit chart, q = 1, located at any
point
3
( , , ), ( , , ) M x y z x y z , is called the electric field of Q:
3
( ) , where , ,
| |
Q
x y z
c
E r r r
r
(6.2.14)
Find the electric flux of E given in (6.2.14) outward through the sphere S:
2 2 2 2
x y z a + + .
Solution
Method 1
On the sphere S:
2 2 2 2
3 3
( ) , , , where
Q Q
x y z x y z a
a a
c c
+ + E r r .
By the same way in calculating the flux in Example 6.2.1 b:
For the upper half of the sphere,
2 2 2 2 2 2
1
: , ( , ) : z a x y x y D x y a + S ,
apply (6.2.5),
1
2 2 2
3
2 2 2 2 2 2
D
Q x y
d x y a x y dx dy
a
a x y a x y
_ _

1 +

1

, , ]

E S
c
S
2 Q tc
For the lower half of the sphere,
2 2 2 2 2 2
2
: , z a x y x y a + S ,
apply (6.2.6),
81
, ,
2
2 2 2
3
2 2 2 2 2 2
D
Q x y
d x y a x y dx dy
a
a x y a x y
_ _
1 +

1

, , ]

E S
c
S
2 Q tc .
Therefore the electric flux of E given in (6.2.11) through the sphere S:
2 2 2 2
x y z a + + is
4 d Q
E S tc
S
(6.2.15)
Method 2
Note that, E have the same direction as the unit outward normal vector n of the sphere S
2 2 2 2
x y z a + + , see (6.2.14).
Therefore
3 3 2 2
( ) | | on the sphere
| | | | | |
E r n r n r
r r r
Q Q Q Q
a
c c c c
,
and
2
Q
d dS dS
a

E S E n
c
S S S
2
2 2
Area( ) 4 4
Q Q
a Q
a a

c c
t tc S .
From (6.2.15), Q can be expressed by the electric flux as below
0
1
4
Q d d

E S E S c
tc
S S
(6.2.16)
where
2 2 2
0
1
8.8546 10 C / Nm
4
c
tc

(6.2.17)
Formula (6.2.16) gives a result of Gausss Law, one of the important laws of electrostatics. The
Law says that the net charge enclosed by any closed surface S is expressed by (6.2.16).
6.3 STOKES THEOREM
Looking back formula (5.7.2) in Chapter 5, for the vector field F in the plane
, , , , ( , ) ( , ) curl
D
d ds P x y dx Q x y dy dxdy +

F r F T F k
+ + +
C C C
(6.3.1)
Because k is the unit normal vector of the upper side of surface D on the xy-plane, the above
formula can be rewrite in surface integral sense as below
, , ( , ) ( , ) d ds P x y dx Q x y dy +

F r F T
+ + +
C C C
82
, , , , curl curl
D D
dxdy dS

F k F n (6.3.2)
This formula says that the line integral around the boundary C

of D of the tangential
component of F is equal to the surface integral of the normal component of the curl of F
across the D.
We have also the same conclusion for the vector field F in the space as given in the Theorem by
Stokes that we accept.
THEOREM 6.3.1 STOKES THEOREM
Let S be an oriented piecewise-smooth surface that is bounded by a simple, closed,
piecwise-smooth curve C
+
, where the positive direction of C coincides with the direction
of n in the right hand rule sense. Let F be a vector field with components having
continuous partial derivatives on an open region in
3
that contains S. Then
, , d ds

F r F T
+ +
C C
= ( , , ) ( , , ) ( , , ) P x y z dx Q x y z dy R x y z dz + +
+
C
curl curl d dS

F S F n
S S
(6.3.3)
COROLLARY 6.3.1
If curl F 0 , then F is conservative and 0 d
F r
C
for any closed curve C.
Proof
If curl F 0 , then by (6.3.3), 0 d
F r
+
C
for any closed curve C. Therefore, by Corollary 5.4.1,
F is conservative.
Remark
This Corollary is the converse statement of Corollary 5.5.1, from which follows Theorem 5.5.2
EXAMPLE 6.3.1
a. Evaluate d
F r
+
C
where
2
, , F y x yz and C
+
is the intersection of the cylinder
2 2
1 x y + and the plane 1 x y z + + . The direction of C
+
coincides with the positive direction
of the z-axis.
Solution
83
Method 1: Direct calculation of the line integral.
The parametric equations of C
+
: cos , sin , 1 cos sin , 0 2 x t y t z t t t t .
, ,
2
2
0
( ) ( ) ( ) ( ) ( ) ( ) ( ) d y t x t x t y t y t z t z t dt
t
+ +

F r
+
C
2
3 2
0
sin cos sin (1 cos sin )(1 cos sin ) 2 t t t t t t t dt
t
t + +
]
.
Method 2: Apply StokesTheorem
2
2
, , curl / / / , 0, (1 2 ) y x xz x y z z y
y x yz
+
i j k
F F
d
F r
+
C
curl curl F S F n
S S
d dS

, apply (6.2.5) where 1 z x y ,
j [
(1 ) ( 1) 0( 1) (1 2 )
D
x y y dxdy + + +
2 1
0 0
(2 ) (2 cos sin ) 2
D
x y dxdy d r r rdr
t
u u u t + +

.
b. Evaluate curl dS
F n
S
where , , yz xz xy F and S is the upper part, upward
oriented, of the sphere
2 2 2
25 x y z + + that lies inside the cylinder
2 2
9 x y + .
Solution
Method 1:
Direct calculation of the surface integral:
, , curl 0, 2 , 2 yz xz xy y z F F
2 2
2 2
curl curl 0 ( 2 ) 2 25 72
25
D
y
d dS y x y dxdy
x y

+ 1
1
]

F S F n t
S S
Method 2: Apply StokesTheorem
The parametric equations of the boundary C
+
of S : 3cos , 3sin , 4, 0 2 x t y t z t t
2
0
curl [ ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( )] 72 d d y t z t x t x t z t y t x t y t z t dt + +

F S F r
t
t
+
C
S
c. Use Stockes Theorem to evaluate d
F r
+
C
where
84
2 2 2
, , x y y z z x + + + F and C is the triangle with vertices (1, 0, 0), (0, 1, 0), (0, 0, 1),
oriented counterclockwise as viewed from above.
Solution:
2 2 2
curl / / / 2 , 2 , 2
i j k
F x y z z x y
x y y z z x

+ + +
The equation of the plane containing the triangle:
{ } 1 or 1 , ( , ) ( , ) : 0 1 , 0 1 x y z z x y x y D x y y x x + + .
Applying (6.2.4) and (6.3.3), we obtain
j [
curl 2(1 ) 2 2 2 1
D D
d dS x y x y dxdy dxdy

F r F n
+
C
S
6.4 THE DIVERGENCE THEOREM
Formula (5.7.3) in Chapter 5 expresses the integral of the normal component of F along the
closed curve C
+
in the xy-plane as the double integral of divF over the domain D enclosed by
the curve
div ( , )
D
ds x y dxdy

F n F
+
C
(6.4.1)
Note that C
+
is the positively oriented boundary of the domain D in the xy-plane. The following
theorem gives the similar result for the vector field F in space, the domain D in space, and the
boundary surface S of D with positive orientation, i.e. with outward orientation.
THEOREM 6.4.1 THE DIVERGENCE THEOREM
Suppose that D is a simple solid region (or D is a finite union of simple solid regions), and
S is its boundary surface positively oriented, and ( , , ), ( , , ), ( , , ) F P x y z Q x y z R x y z is
a vector field where ( , , ), ( , , ), and ( , , ) P x y z Q x y z R x y z have continuous partial derivatives
on an open region that contains D. Then
div F S F n F
S S D D
P Q R
d dS dxdydz dxdydz
x y z
_
+ +

,

(6.4.2)
We accept the Theorem.
It follows from the Midpoint Rule For Triple Integrals, see Property 4.1.2 of Chapter 4, and the
Divergence Theorem that, there exist a point
0 0 0 0
( , , ) M x y z in D so that the flux of F across
outward the surface S can be express by
0
div div ( ) V( ) F S F n F F
S S D
d dS dxdydz M D

(6.4.3)
where V(D) denotes the volume of D.
85
If D is a ball of a given center ( , , ) M x y z and of a radius a then from (6.4.3) and the continuity
of divF , by the hypotheses of the Divergence Theorem,
0
1
div ( ) lim
V( )
F F S
S
a
M d
D
(6.4.4)
This equation says that divF at a given point ( , , ) M x y z , div ( ) F M , is the net rate of outward
flux per unit volume at M. If div ( ) 0 F M > , M is called a source. If div ( ) 0 F M < , M is called a
sink.
EXAMPLE 6.4.1
a. Find the flux of the vector field , , x z y F outward through the sphere
2 2 2 2
x y z a + + .
Solution
We have done the direct calculation in Example 6.2.1b and obtained
3
4
3
F S
S
a
d
t

.
Let us calculate it applying (6.4.2). Since , , then div 1 F F x z y and obtain easily that result:
3
4
div Volume( )
3
F n F
S D D
a
dS dxdydz dxdydz D
t

b Find the flux of the vector field , 2 , 3 x y z F outward through the cube
3
[ 1, 2] .
Solution
The direct calculation in Example 6.2.1d gives 162 F S
S
d
.
Let us calculate it applying (6.4.2). Since , 2 , 3 then div 6 F F x y z and we obtain easily the
same result:
3
div 6 6 Volume( ) 6 3 162 F n F
S D D
dS dxdydz dxdydz D

c. Find the flux of the vector field 2 , 2 3 , 3 x y y z z x + + + H outward through the triangular
pyramid OABC, (0, 0, 0), (1, 0, 0), (0,1, 0), (0, 0,1) O A B C .
Solution
Example 6.2.1.f gives 1. d
F S
S
We can obtain easily the result applying (6.4.2):
2 , 2 3 , 3 x y y z z x + + + F , then div 6 F , and then
1 1
div 6 6 Volume( ) 6 1
3 2
D D
dS dxdydz dxdydz D
_

,

F n F
S
86
EXERCISES
6.1 Find the area of
a. The ellipse cut from the plane z cx by the cylinder
2 2
1 x y + .
b. The surface
2
2ln 15 0 x x y z + above the square :1 2, 0 1, D x y in the
xy-plane.
c. The part of the paraboloid
2 2
z x y + which lies under the plane 6 z .
6.2 Evaluate the surface integral.
a. I =
2 2 2 2 2
( ) , where is the surface (hemisphere) 4, 0 x z y z dS x y z z + + +
S
S
b. , where is the surface with parametric equations I xyz dS
S
S
2 2
, , , ( , ) : 1, 0. x uv y u v z u v u v D u v u v + +
c.
2 2 2 2 2
, where : I y dS x y z a + +
S
S .
d. , I z dS
S
where S is the closed surface that contains the cylinder
2 2 2
x y a + and
the planes 0 and , 0. z z y a a + >
e. , where is the surface with parametric equations I yz dS
S
S
2 2
, , , 1 x uv y u v z u v u v + + .
6.3 Use Stockes Theorem to evaluate
a. curl dS
F n
S
, where
2 2 2
, ,
yz xz xy
x e y e z e F and S is the hemisphere with equation
2 2 2
4, 0 x y z z + + , oriented upward.
b. The work done by the force field
2 2 2
, , F
x y z
x z y x z y + + + when a particle moves
under its influence around the close edge of the part of the sphere
2 2 2
4 x y z + + that lies in the
first octant, in a counterclockwise direction as viewed from above.
6.4 Use the Divergence Theorem to evaluate F S
S
d
a.
2 3 2 2
1
3
, sin , F z x y z x z y + +
S is the upward oriented top half of the sphere
2 2 2
1 x y z + + .
b.
2 4 2 3 2 2
, 4 sin , 2 z y x y z x z y + + F and S is the outward oriented surface of the cube
3
[ 1, 1] .
87
c.
2 2 3 2
, 7 , 3 z x z y z y + F and S is the outward oriented surface of the sphere
2 2 2 2
x y z a + + .
d.
2
, 3 , 3 xy y zy F and S is the outward oriented surface of the tetrahedron with
vertices (0, 0, 0), (1, 0, 0), (0, 1, 0), and (0, 0, 1) .
e.
2 2 2 3
6 , 3 , 2
z
xy x e z F and S is the outward oriented surface of the solid bounded by
the cylinder
2 2
4 x y + and the planes 1, x and 2 x .
f.
5 2 3 4
10
3
, , 5 x x y zy F and S is the outward oriented surface of the solid bounded by
the paraboloid
2 2
1 z x y and the plane 0 z .
6.5 Use the Divergence Theorem to evaluate
a.
2 2 2
(2 3 4 ) x y z dS + +
S
, S is the sphere
2 2 2 2
x y z a + + .
b.
2 2 2
2 2 2
2 4
16 81 625
x y z
dS
x y z
+ +
+ +
S
, S is the ellipsoid
2 2 2
1
4 9 25
x y z
+ + .
c.
3 2 2 2
, 2 , , 6
z
dS x y e y z +
F n F
S
,
is S the outward oriented surface of the solid bounded by
2 2
4, 1, 2. x y z z +
6.6 Verify that the Stokes Theorem is true for the given vector field F and surface S .
a.
2 2 2 2
3 , 4 , 6 , is the part of 9, 9, oriented downward. F S y z x z x y x y + +
b. , , , is the part of 1, 0, 0, 0, oriented downward. F S y z x x y z x y z + +
6.7 Verify that the Divergence Theorem is true for the given vector field F on the domain D .
a.
3
3 , 4 , 6 , is the cube [0,1] . F xy y xz D
b.
2 2 2
, , 3 , is the region bounded by and 9. F x xy xz D z x y z +
c.
2 2
, , , is the region bounded by 4, 1 and 4. xy zy xz D x y z z + F
d.
2 2 2 2
, , , 0, and is the ball . F ax ay az a D x y z a > + +
6.8 Use Stockes Theorem to evaluate curl dS
F n
S
a.
2
, , 2
x
e yz y z z F , S is the part of the hemisphere
2 2 2
9, 0, x y z x + + that lies
inside the cylinder
2 2
4 y z + , oriented in the direction of the positive x-axis.
88
b.
2
, , , xyz xy x yz F S consists of the top and the four sides but not the bottom of the
cube
3
[0, 1] , oriented outward.
ANSWERS
6.1 a.
2
1 c t + ; b. 3 2ln 2 + ; c. 62 / 3 t
6.2 a. 16 I t ; b.
23 6 16 69 6 128
280 105 840
I

; c.
4
4
3
a t ; d.
, ,
3
3
2
2 a t +
6.3 a. 0; b. 16;
6.4 a. 13 / 20 t (Hint: Add the disk oriented downward)
b. 16. c.
5
4 a t ; d. 1/3; e. 144t ; f. 5 /12 t
6.5 a.
4
12 a t ; b. 4560t ; c. 144t
6.8 a. 4t ; b. 1/2 ;
REFERENCES
[1] James Stewart, CALCULUS, Fourth edition, Brooks/Cole, 1999.
[2] George B. Thomas, Jr., CALCULUS, Pearson Education, Inc., 2006.
A COURSE IN CALCULUS 2 NGUY N VN H
1
CONTENTS
CHAPTER 1 VECTORS AND GEOMETRY OF SPACE 3
1.1 Vectors 3
A. Vectors 3
B. Dot Product 5
C. Cross Product 7
D. Scalar Triple Product 8
1.2 Equations of Lines and Planes 10
A. Equations of Lines 10
B. Equations of Planes 11
1.3 Cylinders and Quadratic Equations 12
1.3 Cylindrical and Spherical Coordinates 13
A. Cylindrical Coordinates 13
B. Spherical Coordinates 14
Exercises 15
CHAPTER 2 VECTOR FUNCTIONS 18
2.1 Vector Functions and Space Curves 18
2.2 Derivatives of Vector Functions 19
2.3 Integrals of Vector Functions 21
2.4 Arc Length of Space Curves 22
2.5 Curvature 23
2.6 Normal and Binormal Vectors 25
2.7 Motions in Space. Velocity and Acceleration 26
Exercises 27
CHAPTER 3 DOUBLE INTEGRALS 29
3.1 Definitions and Properties 29
3.2 Iterated Integrals 31
3.3 Change of Variables in Double Integrals 32
3.4 Double Integrals in Polar Coordinates 34
3.5 Application of Double Integrals 35
1. Area and Volume 35
2. Density and Mass 36
3. Moment and Center of Mass 37
A COURSE IN CALCULUS 2 NGUY N VN H
2
4. Moment of Inertia 38
5. Surface Area 38
Exercises 40
CHAPTER 4 TRIPLE INTEGRALS 42
4.1 Definitions and Properties 42
4.2 Iterated Integrals 43
4.3 Change of Variables in Triple Integrals 44
4.4 Triple Integrals in Cylindrical Coordinates 45
4.5 Application of Triple Integrals 46
4.5.1. Volume 46
4.5.2. Density and Mass 47
4.5.3. Moments, Center of Mass, and Moment of Inertia 47
Exercises 49
CHAPTER 5 LINE INTEGRALS 50
5.1 Line Integrals 50
5.2 Line Integrals of Vector Fields
53
5.3 The Fundamental Theorem
56
5.4 Greens Theorem
59
5.5 Curl 62
5.6 Divergence 65
5.7 Vector Form of Greens Theorem 66
Exercises 68
CHAPTER 6 SURFACE INTEGRALS 70
6.1 Surface Integrals 70
6.2 Surface Integrals of Vector Fields
75
6.3 Stokes Theorem
81
6.4 The Divergence Theorem
84
Exercises 86
REFERENCES 88

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HANOI UNIVERSITY OF TECHNOLOGY

or a ... See Figure 1.1.2.

Figure 1.1.6: Projection

is parallel to v. Look at Figure 1.2.1.

are coplanar. It follows from (1.1.21) that the equation of P is

, and , 0, s the distance from the origin O to P. The ordered triple ( , , )

e. 115/ 1065 f. 355/ 26

approaches a vector that lies on the tangent line of

DEFINITION 2.2.2 TANGENT VECTOR

Use the same notations , 1 ,

, where D is bounded by 1, 1, 2, and 0 xy y y x .

, where D is bounded by the x-axis, and the parabolas

, where D is the domain in the first quadrant and bounded

, where D is the domain bounded by the circle

, where D is the ball of center (0, 0, 0) and radius a.

4.5 APPLICATION OF TRIPLE INTEGRALS

of (x, y, z), and m is the mass of G

6. Suppose the mass density of the surface S is determined by ( , , ), ( , , ) . S x y z x y z

For the lower half of the sphere,

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