Integrals in cylindrical, spherical coordinates (Sect. 15.

7)

I Integration in spherical coordinates.

I Review: Cylindrical coordinates.
I Spherical coordinates in space.
I Triple integral in spherical coordinates.

Cylindrical coordinates in space.

z

Definition P

The cylindrical coordinates of a point z

P R3 is the ordered triple (r , , z)

defined by the picture. r y

x 0

Remark: Cylindrical coordinates are just polar coordinates on the

plane z = 0 together with the vertical coordinate z.

Theorem (Cartesian-cylindrical transformations)

The Cartesian coordinates of a point P = (r , , z) are given by
x = r cos(), y = r sin(), and z = z.
The cylindrical coordinates
p of a point P = (x, y , z) in the first and
fourth quadrant are r = x 2 + y 2 , = arctan(y /x), and z = z.
Integrals in cylindrical, spherical coordinates (Sect. 15.7)

I Integration in spherical coordinates.

I Review: Cylindrical coordinates.
I Spherical coordinates in space.
I Triple integral in spherical coordinates.

Spherical coordinates in R3
z
0

Definition
rho
The spherical coordinates of a point
P R3 is the ordered triple (, , ) y
defined by the picture. 0
x

Theorem (Cartesian-spherical transformations)

The Cartesian coordinates of P = (, , ) in the first quadrant are
given by x = sin() cos(), y = sin() sin(), and z = cos().

The spherical coordinates of P = (x, y , z) in the first quadrant

p are
p
2 2 2
 y   x + y2 
2
= x + y + z , = arctan , and = arctan .
x z
Spherical coordinates in R3
Example
Use spherical coordinates to express p
region between the sphere
2 2 2
x + y + z = 1 and the cone z = x 2 + y 2 .

Solution: (x = sin() cos(), y = sin() sin(), z = cos().)

z
2
z = 1 x y
2
The top surface is the sphere = 1.
The bottom surface is the cone:
q
cos() = 2 sin2 ()
2 2
z= x +y
cos() = sin(),
1/ 2
y

x 2 2
x + y = 1/2 so the cone is = .
4
n h i o
Hence: R = (, , ) : [0, 2], 0, , [0, 1] .
4

Integrals in cylindrical, spherical coordinates (Sect. 15.7)

I Integration in spherical coordinates.

I Review: Cylindrical coordinates.
I Spherical coordinates in space.
I Triple integral in spherical coordinates.
Triple integral in spherical coordinates

Theorem
If the function f : R R3 R is continuous, then the triple
integral of function f in the region R can be expressed in spherical
coordinates as follows,
ZZZ ZZZ
f dv = f (, , ) 2 sin() d d d.
R R

Remark:
I Spherical coordinates are useful when the integration region R
is described in a simple way using spherical coordinates.
I Notice the extra factor 2 sin() on the right-hand side.

Triple integral in spherical coordinates

Example
Find the volume of a sphere of radius R.

Solution: Sphere: S = { [0, 2], [0, ], [0, R]}.

Z 2 Z Z R
V = 2 sin() d d d,
0 0 0
hZ 2 ihZ ihZ R i
2
V = d sin() d d ,
0 0 0
 i R 3
h
V = 2 cos() ,

0 3
  R3
V = 2 cos() + cos(0) ;
3
4
hence: V = R 3 . C
3
Triple integral in spherical coordinates
Example
Use spherical coordinates to find the volume pbelow the sphere
2 2 2
x + y + z = 1 and above the cone z = x 2 + y 2 .
n h i o
Solution: R = (, , ) : [0, 2], 0, , [0, 1] .
4
The calculation is simple, the region is a simple section of a sphere.
Z 2 Z /4 Z 1
V = 2 sin() d d d,
0 0 0
hZ 2 ihZ /4 ihZ 1 i
2
V = d sin() d d ,
0 0 0
/4 i 3 1 
h
V = 2 cos()  ,
 
0 3 0
h 2 i1
V = 2 +1 V = (2 2). C
2 3 3

Triple integral in spherical coordinates

Example
2 2 2 3/2
Find the integral of f (x, y , z) = e (x +y +z ) in the region
R = {x > 0, y > 0, z > 0, x 2 + y 2 + z 2 6 1} using spherical
coordinates.
n h i h i o
Solution: R = 0, , 0, , [0, 1] . Hence,
2 2
ZZZ Z /2 Z /2 Z 1
3
I = f dv = e 2 sin() d d d,
R 0 0 0
hZ /2 i hZ /2 i hZ 1 i
3 2
I = d sin() d e d .
0 0 0

Use substitution: u = 3 , hence du = 32 d, so

h  i Z 1 eu ZZZ

2
I = cos() du f dv = (e 1). C
2 0 0 3 R 6
Triple integral in spherical coordinates
Example
Change to spherical coordinates and compute the integral
Z 2 Z 4x 2 Z 4x 2 y 2 p
I = y x 2 + y 2 + z 2 dz dy dx.
2 0 0
Solution: (x = sin() cos(), y = sin() sin(), z = cos().)
I Limits in x: |x| 6 2; z
2
I Limits in y : 0 6 y 6 4 x 2, so
the positive side of the disk
x 2 + y 2 6 4.
y
I Limits in pz: 2

0 6 z 6 4 x 2 y 2 , so a x
2

positive quarter of the ball

x 2 + y 2 + z 2 6 4.

Triple integral in spherical coordinates

Example
Change to spherical coordinates and compute the integral
Z 2 Z 4x 2 Z 4x 2 y 2 p
I = y x 2 + y 2 + z 2 dz dy dx.
2 0 0

Solution: (x = sin() cos(), y = sin() sin(), z = cos().)

z
2
I Limits in : [0.];
I Limits in : [0, /2];

2 y
I Limits in : [0, 2].

x
2 I The function to integrate is:
f = 2 sin() sin().
Z Z /2 Z 2
2 sin() sin() 2 sin() d d d.


I =
0 0 0
Triple integral in spherical coordinates
Example
Change to spherical coordinates and compute the integral
Z 2 Z 4x 2 Z 4x 2 y 2 p
I = y x 2 + y 2 + z 2 dz dy dx.
2 0 0
Z Z /2 Z 2
2 sin() sin() 2 sin() d d d.


Solution: I =
0 0 0
hZ ihZ /2 ihZ 2 i
I = sin() d sin2 () d 4
d ,
0 0 0

 hZ /2
i 5 2 
 1
I = cos() 1 cos(2) d  ,

0 0 2 5 0

1 h  1 /2 i 25 24
I =2 0 sin(2) I = . C

2 2 2 0 5 5

Triple integral in spherical coordinates

Example Z 2 Z /3 Z 2
Compute the integral I = 32 sin() d d d.
0 0 sec()

Solution: Recall: sec() = 1/ cos().

Z /3  2 
3
I = 2  sin() d,
0 sec()

Z /3 
3 1 
I = 2 2 sin() d
0 cos3 ()

In the second term substitute: u = cos(), du = sin() d.

/3  Z 1/2
h  du i
I = 2 23 cos() + .

0 1 u3
Triple integral in spherical coordinates

Example Z 2 Z /3 Z 2
Compute the integral I = 32 sin() d d d.
0 0 sec()

/3  Z 1/2
h 
3 du i
Solution: I = 2 2 cos() + .

0 1 u3

h  1  Z 1 i h  u 2 1 i
3 3
I = 2 2 + 1 u du = 2 4 ,

2 2 1/2

1/2

h 1 2 1
i h 1 2

i h8 3i
I = 2 4 + u  = 2 4 + 1 2 = 2
2 1/2 2 2 2

We conclude: I = 5. C

Triple integral in spherical coordinates (Sect. 15.7)

Example
Use spherical coordinates to find the volume of the region outside
the sphere = 2 cos() and inside the half sphere = 2 with
[0, /2].

Solution: First sketch the integration region.

I = 2 cos() is a sphere, since
z
2 2 2 2 rho = 2
= 2 cos() x +y +z = 2z 2

x 2 + y 2 + (z 1)2 = 1.
2 y
I = 2 is a sphere radius 2 and x
2
rho = 2 cos ( 0 )
[0, /2] says we only consider
the upper half of the sphere.
Triple integral in spherical coordinates (Sect. 15.7)
Example
Use spherical coordinates to find the volume of the region outside
the sphere = 2 cos() and inside the sphere = 2 with
[0, /2].
Z 2 Z /2 Z 2
Solution: V = 2 sin() d d d.
0 0 2 cos()
z
2 rho = 2 Z /2  3 2
 
1
V = 2 sin() d
3

0 2 cos()
2 y
2 Z /2 h
x rho = 2 cos ( 0 )
2 3
i
V = 8 sin() 8 cos () sin() d.
3 0

16 h /2  Z /2 i
3
V = cos() cos () sin() d .

3 0 0

Triple integral in spherical coordinates (Sect. 15.7)

Example
Use spherical coordinates to find the volume of the region outside
the sphere = 2 cos() and inside the sphere = 2 with
[0, /2].

16 h /2  Z /2 i
3
Solution: V = cos() cos () sin() d .

3 0 0

Introduce the substitution: u = cos(), du = sin() d.

Z 0  u 4 0 i 16 
16 h 3
i 16 h 1
V = 1+ u du = 1+ = 1 .

3 3 4 1 3 4

1

16 3
V = V = 4. C
3 4