os Engineering Mathematics: Vector Calculus a Gey VECTOR CALCULUS Vector Fields [Kroyszig,p.375-378} ‘A vector fel isa function FRY SR" =] F(a,y) = u(x, y)i + oles yll «2 independent variables, «Fis 22 component vector (1,2) in 20 where each ‘components a scalar function of, y. m=3) F(2,y,2) ula, ys 2)i+ ue, y, 2) + wla,y. 2) ‘© S independent variables 2, y, 2 ‘© Fisa3 component vector (u, 0,10) in 3D where each ‘components a scalar function of x,y 1 Engineering Mathematics: Vector Calculus Physical examples of vector feds are fore fields (0g, due to ‘gravity o electrical charge) and velocity fields (eg, due to air or ‘uid fom) Example ‘A tank of watorisstrad so thatthe water rotates around a central point. The velocity ofthe water at any point inthe tank s given by the vector fed v RS + RS where very ntok wi ‘has no i: component because the rotation is planar ‘Sketching Vector Fields “The vector fied can be sketched by assigning to each point (x,y, 2) a vector F represented by an arow whose tll sat (ay,2).Engineering Mathematics: Vector Caloulus 13 Exercise 1 ‘Sketch the 2-cimensional velocity fold vi-aj (es) = class egercise We have sketched the vectors weaebe ky, vont ycto)= -) voe)= 2 veyo)= J L van. ivy Engineering Mathematics: Vector Calculus 14 Exercise? “The gravitational force of attraction ofthe earth (mass M) on a mass ris given by the vector ld GMm Fr) =-- where r= i + a + 2k, 7 = [rl Skoteh the vector fel Solution As ey, Tent a8 Gred El: p: (Gos is BF gr (Ee, §Engineering Mathematics: 18 Engineering Mathematics: Vector Calculus 16 Divergence of a Vector Field (Kreyszig, 402-406] Let P:R? + IR® be a vector fleld with F(x,ys2) = Filet, y.2)i + Fola.y,2)5 + Faltsys2)k ‘The divergence of F (civ Fy is ve =(2 ~ lar err Ox Note: V - F isa scalar Exercise 3 RR Lot F(x, y.2) = o7yi + 2) + 2yzk. Calculate V -F. Solution & Sy wes & G'yo+ & ) +B Cre eas oe 2 Aayt OF 2y > ny The av, TF ef & vector Feld Fimeasures te fendeney of a, fluid be duenge t9 0 veckw e049 Physical interpretation of V + F IFF is the velocity Feld of a fui, then V - F ata point P ‘measures the tendency ofthe fd to diverge away from P (i V-F > 0), orto accumulate towards P (t'V “F< 0) vP>O source at P veP=-fh yk ab :| aes Cur ofa Vector Feld [Kreyscs, 406-408] Let F sR? + R® be a vector fil with F(e,u.2) = Filey 2)it Falosy 2) + Boe. y 2k The cut of F (curl Fis ee feetee ote Sees k ae oe Note: V x F is vector eld Tre curt OXF — This Mensues the bodeney hectare Rad te couse tation Physical Interpretation of Ux F IF isthe velocity field of uid in a take, Drop a smal twig into the lake, Then Vx F measures how quickly and in what orientation the twig rotates as it moves. rection of twig changes as it travels twig does not rotate as it travels| xaciso4 Let F(x, 9,2) VxF. Solution var \ ui ¢ & & & | Be by BF ay wae ery 2 & cys) 4 geo | 5 den 2207, _ [aoe 2H = (aasdh- (1-9) eae ok = (radi - Carre) sepsenaianoesas eases al ie baie rip Ac : Lat ba emus handy squan + yi | =fey) 1 bi are Jeb a agin in the 2 pane. ut Lat dit; = 6.r)5y represent a small subregion of The double imogealof f overR is IL flay) aR = in Sle yORy _ F(x) dy de Engineering Mathematics: Vector Calculus ‘Tho area ofa rogion R in tho zry-plane corresponds to the case where f(a, y) = 1 weaste= [far 4 Example: Mass of a Region “The mass of a region Rin tho .ry-plane with mass density per unit area p(y) is given byfSSeugeeueenaegeuuaeuwuawaewaweie eee ee ee - - 13 “Engineering Mathematics: Vector Calculus _ 142 Double integrals Over General Regions ‘The domain determines the terminals and order of integration, + Vorcal Stips ‘region can be described by vral sigs it ge) Sy S Ma) agasd for some functions (2) and A(x vt | In this case we integrate with respect oy fs | Engineering Mathematics: Vector Calculus «© Horizontal Stips ‘A region can be described by horizontal strips i “ Aly) ( gy) S e = a for some functions g(y) and hy) (Rody oo aay) =H) al. In this caso we intograte with respect to fs Note: Some domains can be described using both vertical or horizontal trips. In his case, both orders of integration are possible. e.9. crcl, elipse, rectangle tiangla.Engineering Mathematics: Vector Calculus Exercise 5 pick where Js the region bounded by the ines y = 0, y = 2? and r=1 Solution ‘The region F can be described using vertical or horizontal sips. 144 Engineering Mathematics: Vector Calculus 4 (1) Using vertical strips: osys ocastEngineering Mathematics: Vector Calculus = wy (2) Using horizontal strips: yeas osy sl \\ arate f Srey “J. eee, Engineering M Exercise 6 Let Rbe the region enclosed by the curves y = 2°, y = 2~ 2 and y = 0. Caloulate the area of R. Solution ling, heat bigs Fjsxes 29 osys4 | (odes “Cl feTey f “ ” wang vereat ships ole Nengthg af cunen nee Ste bonne wos Ysa Def | pee oc yslEngineering Mathematics: Vector Calculus SF Sy My ef dyde = 2 (les dnay a ois wT oe 0 tg - fo aye dy ae captin os Been «(e“T. esKey A eeEngineering Mathematics: Vector Calculus Engraning Matonates:Votr Calcae 121 ir fecal Jor cos oD byte Exercise 8 . On aye By changing the order of integration, evaluate : j [yee le a cou(24) dedy pr © eowcet) he ee OU : : xx ’cos x *) Seton Vor The regan of integration ' 0, OS@<2" andzeR P(r,8,2)x ercos® avin a> # Cylindrical coordinates are an extension of polar coordinates to 3 dimensions. 1 P¥ isthe projection of P(r, 0,2) onto the ry-pane. ‘¢ rand 8 are measured for P* asin polar coorcinates. ls the z-coordinate of P. Gon Engineering Mathematics: Vector Calculus 138 Engineering Mathematics: Vector Calculus 1.39 | “The Jacobian determinant is Hr, 9,2) | cos@ —rsind 0 | 0 0 7 | coed —rane | | sind rose cos? 8+ sin? @ ‘The integral becomes: Aff, tevwentedyas= fff F00.0,2)rdraoas where F(r.8,2) = f(rcos8,rsin 8, 2).TUTTTTTITITTTTTTo ooo coo ooo aa [seers ncanae a] [__ tet wa aa cerita see [ffbtae= ff ed adeae Find the volume ofthe solid region V which les inside the cevlindor x? + y? the parabolois solution fae aa? a0 ee cae4 Yeed pyr ArdeEngineering Mathematics: actor Calculus 142 Engineering Mathematics: Vector Calculus 143 ‘Spherical Coordinates ‘The spherce! coordinate system (r,, ) is defined by the change of variables 2 = reos8sing . y= rsindsing | 2 = reosp aro, where 20, OSOSm md0<0<2r + ris measured fom the onginO to P. ‘© is measured from the positive 2-axs to OP. '* 0's measured anticlockwise from the postive x-axis to OP’, the projection of OP onto the ry-plane. eta p searEngineering Mathematics: Vector Calculus 144 Engineering Mathematics: Vector Calculus 145; ‘The Jacobian determinant J(r, 0) is | ar oe | 35 a0 | = | % ov} Or ab 00 | | a: a: a: | a 3 | cosBsing reos#cosé —rsin@sind = | sindsing rsin@cosd reosdsind >) cosd = rsing 0 | reosOcosé —rsin@sing : 08 sin dcosd rcos@sin | cossing —rsindyind + rsind| a : sindsing reosOsing = cosg(r? cos? Osin dcos $+ r? sin? Asin d cos 4) rsin o(rcos? @sin® 6 + rsin? Osin? 6) = rin peos? g +r? sin’ 6 = rsing The integral becomes See S(e,y, 2)dedyde Sih. F(r,6,0)r? sin bdrdédd where F(r, 9,0) = f(rcos@sin gd, rsin Osin 6,1-cos 9).Engineering Mathematics: Vector Calculus Engineering Mathematics: Vector Calculus Exercise 13, It Dis the lower hemisphere of radius 1 centred atthe origin, [fy e622 jw value are a ar stun crn, Din dec an ogre) ws pt 2 QE Hh, gayyprter™ \MS, exp (Cay 42) av rane np ad de > 1 “onde Coes dussecheParametrizations of Curves (Kreyszia, 9982-389} ‘curve C'in RS i gen bya set of ports Gt), vO), 208) Considering ry and = as functions of t denotes a parametrization of the curve. The parametrization defines an ‘orientation on Cin the direction of increasing t ‘We can write the curve Cas a vector function a(t) = a(t)i + w(t + 210k with endpoints at xo = r(a) and = r(b) acdEngineering Mathematics: Vector Calculus 1.49 Engineering Mathematics: Vector Calculus 1:50 ne) Parametize te saghtine om te pono = (2, 20) ee eo the point x1 = (x1, 11,21) x = (0,6) (x1, ta) . ts (20,120) VE Solution ramet ® Solution ye ~ Cie : a yoeg fe Aparameterzaton is f 1, a) Be HOH 2c) acts! 2) : “oe fe ctsb] wm | wree of CS (or safe = ie | nent Bad woosEngineering Mathematics: Vector Calculus 152 Exercise 17 1 = 1, oriented anticlockwise. 2 Paramotize the ellipse > + Solution [A paramotrization, starting at (a, 0), cots acest cts west Ye Teeewuuunuwmuuunbueu aaa dade Engineering Mathematics: Vector Calculus Engineering Mathematics: Vocor Caeuts 164 Rather shan Line Integrals (Kreyszig, 417) fn ¢ G97. Let be a curve with parametrization —< Halt + uO) OK aod endpoints atx» = ra) and x: = (H). aC ECE stort end Woden te the negate bg C tbe f fle.y.2)ds a «ds de * pelea 20) VEO VO [ Seen) fat tp dt I Examples ie -f «If pis tne mass density per unitlength at any point (x,y, =) ‘na piece of wire bent into the shape ofthe curve C, then the ‘mass ofthe wire is given by Length = UP + ep + Pat vine flee * Poca, 0,0) geet icEngineering Mathematics: Vector Calculus 155 Engineering Mathematics: Vector Calculus 156 Now aecost , yesint ) 2 -at Exercise 18 iL 3 aa ee ais-sint, yiscost, B=2 Consider tho hex with parametrization _— = a +t up apc’ = jatt + cos*t Let be he oom (1, 0,0) (140,45). An Tl densit nit oath ofthe co il es us 2 the mass deny per engin ofthe cl is, plore me . a. Length = [ds =f Peay yar ear" at pat 42s e o > ye dt calculate the length and mass of the col ' Solution . 26 T @ ZX, = C10, e)2 ce) ay * C0, = FON) $0, og k a 3 wor = fra’ ot Cornbinsng f bs cpg, 20) oo Ge io = f Frwl-rwat fy ds ~ $4.8 +6 c aa S [ r20+ryo+Eeou ? Cia teres Feo, y2@) HHBEEEUTUUDUDNDEUoEHBTHnAanerenpeponnHnHnAreeeEngineoring Mathematics: Vector Calculus 161] | ___Engieering Mathematics: Vetor Calculus 162 Tre miyainte occur ct XECOHJ0D = LEO) fa me C91) Exercise 20 Smee yw =sint , yecost , BoE ‘A particle moves along the heli parameterized by then . (t) = sin ti + cost + tk zi neat, fe-aink Ua x(t) =sinti+ cost} Fee) = Eaost i - Esint J+ sintcost IS from xo = (0,10) x: = (0,1,2r) 5 a” Of te a 0.1.28) the applied force is (ey. 2) =e ~ 2x) tuk _ tn te work done bye re Work dere (Ede + i Rect) ID ARVO | ds TP (cost ht toirtt + sintcost JF [cate ® 5 : fe eyes ae . se swat) dt ™ eal gnabat res)Engineering Mathematics: Vector Calculus 183 A Some wot fh . ic rai Conservative Fields [Kroyszig,p.421-824] Avot pt eps Cy fous fra? \%B ‘for any two simple oriented curves C,, C2 with the same F(ey.2) = Rit Rj+ Fok bbe a vector field such that, F2 and Fy have continuous, first-order partial derivatives. Wie say that F isa conservative vector fl i fF ds path Indapendont. This is equivalent to 1. [Bde = Or any snp closed ce i) lo Wx P=0 Wrotihenal 3. F.= Vo forsome scalrtuncton g d)= Potential fancy Proporta Ow commemalare Preldn Tent for conservative fieldsWP is conservative, [., F - dr depends only onthe endpoints of C.wry? 2) 7B Letr(t) = (w(t), v(t), =(0) seca Fteoanae,F = Voant : [rae [voc = [drwy = olr(b)]- ofe(a) =o B)- 44) (B)- A) vend’ “start” Engineering Mathematics: Vector Calculus 164 - (eer) Exercise 21 Lot F(r,y) = sri-+ yj. Evaluate f,, Fd along () y= 2? from (0,0) 10 (1,1) (9 theme Ve 2 TKE=O > Fs conservative : - § Bad such that E20 Ge ( ff, ge 2 Box > Qed rod W) pais y Bey > gQ-apr ee as Baton (Derk 9 as G23 TSP 185Engineering Mathematics: Vector Calculus 1.86 \ fete = \ song) | ae ne LCs) ~ 1G) ~ A a pert ©) since the unit Gree « @& chord 2 fe bee: 0 (o Fis conn) “Clas tueretr: Deformins cdhether the veclov fad Fe Cxcooysn®,sny B conser vatue ar wok eS: Ca By Consider the vector Fels Engineering Mathematics: Vector Caleutus 187 Since. Fe Jd anc endpomts of caves ane the some, in pat © ond dy eo ete (as erat” Exorciso 22 F(x, u.2) = (22, cos ysin 2, sin yo08 2). Evaluate J. F -de where r(t)=(C + LeQet), O @=sinysin2: acy, % (DAs) gf Co* Ge dod + siysine ¢ Ce is 3% 7 +O Gy,29 2) ue cosy Sinz > Prsingsing +0, 9%2) |M +Clxy) (5) BV= HNYSINT dnt" o pentacst Ric DODD PVUDVVDVDDVDVON DDHMUUDDDDDDANDNM TTT “Engineering Mathematics: Vector Callus 169 "[Bdee alec] -460] hte cee Cyt) "shet™ £02 Giese? “end oe oe oy fons we { Fd a eee Fey) ee {3% 4 al ‘Surface Integrals [Kreyszig, p448-450] ton eo - £ + Sn@ sine) 2 -Can dy the surface integral of g over Sto be 2 - ff mowers = ff aout / Be H+ lade s i “. fF of & OH Gat har Risto ety pcg Ser bps By projecting vertically we turn the surface intogral of g over $ into @ double integral over the region Rin the ry-plane. | sean lerm = ¥g x sinceysnce) 4nd}Enginoering Mathomats: Vector Callus 170 Enginooring Mathomats: Vector Caleuus 171 Exercise 23 Let S be the porton ofthe cone = = V/22 9 tat ts Detwoon the panes 2— 1 and 2 ~ 2. Assume the mass density on tis nested cone is ven by p = 2/2, Find he (a) surace area of th truncated cone. 4 Examples (0) mass of tne uncated cone «The surtce area ofS omesponds tothe case where 9 = I Solution : z aoa fftas = ff f= ii raver If pis the mass density at any point (x,y, 2) on a sheet of ‘metal bent nto the shape ofthe surface S, then the mass of the sheets given by : nase = ff olen sas Projecting J onto the 2y-plane gives the region R: . §f cata) Te RT dbde cf 4 ‘I onnalar regionpitts eee EE I) Surface, aca = Engineering Mathematics: Vector Calculus ay Gry)? ie dydx = FalfSp dude vc > fi (area of washer) : 2 (CATT) 3nT ar Using lar Coordinates a v ( ye er 4x dyde im) rece gre | aydbe = raed prerea | eat? Or ecam ; Mess = al’ a Teebp ante fut ded b2 nt cfcostesin’'® dede Weg (© Ceos@an®>~ cee af Lat ee ae C = & (a%-4) is Lecest® de cosas [e209Calculus ey. 174 Flux Across a Surface [kreyszig, p449-447] Let $ be a smooth oriented surface defined by = = f(r.) ‘Assume the oriontation of is such thatthe unit normal vector fi (on $ is upward. Let F(z,y,.2) = Rit Bb + Fok be a vector fl. We define the Mux integral of F over S to be fe ads = I. Fife — Fafy + Feduder where [isthe region formed by projecting $ onto the xy-plane. 1FV Is the velocity feld ofa moving fui, then [feves 's the fluc of v across 5, which isthe net volume of fluid per unit time, flowing across S in the direction of fi DOUUDEEPDPUDEUDUDUNDDIDT PHO hooPTUDDDDADAV ADAMANT DAA Engineering Mathematics: Vector Calculus 178 Engineering Mathematics: Vector Calculus um Exercise 24 Let $'be the part ofthe plane 2e—2y+2=6 that les above the triangle inthe ry-plane that is bounded by the lings y = 0,4°= Land y = 2r. Assume Sis oriented with its Unit normal ft upwards, ee [f-wis- [ff rrr Prat) ae Find the fc ofthe vector fold F(x,y,2) = i+ yj +k across S, 2VRDADDADTAT HNO U DDO OD daa d da Engineering Mathematics: Vector Calculus Exercise 25 Let be the unit sphere etyptatal cient witht unit normal quwards. Find the fux ofthe vector fold P(x, 2) = 2K across S. Solution “The unit normals upwards on the upper hemisphere and ‘downwards on the lower hemisphere, so calculate the flux across ‘ach hemisphere separate. + Gpper herwephee ce capper busaphoe, Suc defined by afop= Ties 1.80 The componente of Engineering Mathematics: Vector Calculus 131 Projecting S;, onto tho ry-piane, we obtain F. ce Bowe Feo, Reo, feet fe A wpoordls, the flax acres Si Mee-bas -ff, Osun SAyt Fy ages > Jf, atayde 7 t,! wf dye Co cee 3 ere, YEFSING dydus redo ose SI os OS at || | GUHA COOOONNRe hdd bab Hay peers seve wif my foes a ii4é=éséé eye ws 4 r ~phre N - = o pe Ty HTT se) 1S ssor20 my} ay sprOTHESP St ox BeeIpe GP yt . Lypeype = Bowyer woop MH corn melt SM anda 27+ ve S04) VA ns ae te E+ Ue = ooh or ite op ae) ee aoe (Oi Se) sP8F I] ‘SmnajeD JOmeA SSTEMBEN GUTDSIBUSaonnnannnenddada 14 WHanHHOOOOHASDIOSD Engineering Mathematics: Vector Calculus Gauss’ Divergence Theorem [Kreys2ig, p 452-457] Let S be a smaath dosed surface oriented with the outward unit normal. Let Fit Pj + Pik Frys bea vector field such that FF and F have cantnuous {uscd paral derivatives onthe sod region V bounded by S WO fe sas [ff veer Seadoo ute) qe Inthe example above Vs a sold cube, and its surface $ consists ofthe six facas of. The outward normal vectors fare each lerthogonal to one ofthe faces ofthe cube, ve hry ' ' : | Exercise 28, 4 Let S be the sutac ofthe cube V dtd by o< <1 | oc y <1 faxtatege oot O< 2 <1 require’ @ at Ffsent cose os HORT vir 5 orienta whe outward unit norma. Let < faces toe F(x,ys) =o t y+ Pk So, re Theo a ce hl (60 2 Use Gauss theorem to fn the fx oF F across RAS = (f iN) Solution Vp. 8G? 4 8 gf + EP) cansayere Using Geass? Themen the flex 's (Gob AS= Cu (ax 4ay4@2) da dy doeHUH UMN MHDTDOOH RHODA TDD IIAIIIID Seeeeeeraaee WE BAS YOST, crceprinattle = fs EET, sin2e agde as 7 Cael, 3° oO Vestn “Uasfecd Gees’ Caren” pe Engineering Mattes: Vector alee rw vo «dk ‘Stokes’ Theorem [Kreyszig, p 469-468] Let S'be an oriented smooth open surface bounded by the curve CC. Let C be oriented by the right-hand rule, Le. anticlockwise i the unit normal ion S's upwards, and clockwise if is downwards, Let F(0,y,2) = Rit Bj + Fok bea vector field such that Fy. Fy and Fy have continuous firstorder partial derivatives on $ - Joss [fcorn-nes Then Creulation of F. It measures the extent to which the corresponding ud motion is a rotation around C’ng Mathematics: Vector Calculus 1.90 Simplest Surfaces ‘Accurve C’can bound many diferent surfaces S. We can apply ‘Stokes theorem to any ofthese surfaces, provided their orientation satises the right hand rule. 3 (he HD iB tr= fff (oxe)-aas= ff (oe) nas “ff, (ae) AdsUDO ODDDUUTTAAHH HDA D ADDON A DDD DOD Engineering Mathematics: Vector Calculus 191 Exercise 28 _Vority Stokes’ theorem forthe case where F(2,y,2) = (42 ~ y)i + daj + 2% and S isthe part of the surface 2 = 1. forwhich x > 0,y > Oanda? + y? <4 Let (the boundary of S) be oriented as shown. 4 Cfo 8) ao! », Solution + Sc a : oo ee Gy ese AS \s sg 1 bo Ba be oy age ovac [fox Bae (¢ G bas ee . ak. = GAy + Gye os § ic upsards of = dye = Grea of Re Projecting $ onto the ry-plane gives the quarter disk Ri: &, P4ont)-AA = Qeos oe 198 Wingering Mahone. Vt Cakes 1.96 Exercise 29 Let S be the part ofthe paraboloid = = 2? + that is below test =A Lt tw tether ‘and C’be the curve that bounds S. Let owen, F(2,y,2) = ayia} + 7k 2 pp Te yt gee © J ~ dade “fae Using Stokes’ theorem, evaluate J[fjvxe)-nas Solution = -3 Ths [Fass (Fades | fact [Lede * $C 4 eeu)-g ; ak The tomdory curve & SS Ce xiyte 4 t+ As Bis dasnwardsg'on S) the ight Cond oe zen Cte be dodouse 1 2 Stoke's Theswen is vem ed |Engineering Mathematics: Vector Caloulus 1.98 ___Engineering Mathematics: Vector Coleus 197 “Reemeberize Cum oo 2 Qeask oe a, tt , oc tear Use Stokes’ theorem to find the work done by the force Thon F(e,u2) = (x-+224)i+ Se) + yak a> HBINe I= acest , &'=0 a —teostsnt y+ qeosty’ + 16k ber eines tre . » lane 2 = E a ‘Solution Using Stokes “beovns S§,@x£)-Bds- [Fae 4 : at 4 = S* Rev ngyeoe geal de ae Bint cast - Feast dk Cnet Pale & Letiat- Roose Dt eae Bounding curve GY eyes = 4, a2. : ~ [st = sinat-2¢]), atl eRe’ Theorem onthe Symphit sur fee bounded. by Cyokich © the disk Ss: xP yis 4 es2 ~All Le v«sawer woe HOP HAO O PDD TAAee fs BC ve onenked anliclockoste , by toe, Liqht-hand wile oe mast overt S so that A wpoards Se defned by z+ forxp=2, 50 fre itpe Prjecting $ onb We Ty plone. ques Be ego~ Rye dick vadus 2 centineel of Be acya F-G>| : 2 £ RB : airing) Me root x gel . 199 auunuuanuuuaunuHsuuunnseneneereeeooe ____Enginoering Mathematics: Vector Caleulus Engineering Mathematics: Vector Calculus Using Stoke? Theorem [Ede = (5Ox8) 4 as *(),@-a ds 5p # [fp -Gh-ah xe dy or %& © upsards on § [Se3 dyde = Bh Spdyde = 8x hoof & s law 1.100