CHPATER 9

Vector Calculus

Contents
9.10 Double Integrals
9.11 Double Integrals in Polar Coordinates
9.12 Greens Theorem
9.13 Surface Integrals
9.14 Stokes Theorem
9.15 Triple Integrals
9.16 Divergence Theorem
9.17 Change of Variables in Multiple Integrals

9.10 Double Integrals

Recall from Calculus
Region of Type I
See the region in Fig 9.71(a)
R: a x b, g1(y) y g2(y)
Region of Type II
See the region in Fig 9.71(b)
R: c y d, h1(x) x h2(x)

Fig 9.71

Iterated Integral
For Type I:
b

g2 ( x )

a g ( x)
1

f ( x, y ) dy d x

b
a

For Type II:

d

h2 ( y )

c h ( y)
1

f ( x, y ) d x dy

d
c

g2 ( x )
g1 ( x )

h2 ( y )
h1 ( y )

f ( x, y ) dy d x

f ( x, y ) dx d y

(4)

(5)

THEOREM 9.12

Evaluation of Double Integrals

Let f be continuous on a region R.

(i) For Type I:
b g2 ( x )
f ( x, y)dA f ( x, y) dy d x
R

g1 ( x )

(ii) For Type II:

d h2 ( y )
f ( x, y)dA f ( x, y) d x dy
R

h1 ( y )

(6)
(7)

Note:
Volume =

f ( x, y )dA
R

where z = f(x, y)
is the surface.

Example 1
x 3 y
e
dA over the region bounded by y = 1,
Evaluate R
y = 2, y = x, y = x + 5. See Fig 9.73.
Solution
The region is Type II
2 5 y x 3 y
x 3 y
e dA e dx dy
R

2 x 3 y 5 y

e
1

dy (e5 2 y e 4 y ) dy

1 5 2 y 1 4 y

e
e
4
2
2771.64

2
1

1 9 1 8 1 7 1 4
e e e e
2
4
2
4

Fig 9.73

Example 2
y2

Evaluate R xe dA over the region in the first

quadrant bounded by y = x2, x = 0, y = 4.
Solution
From Fig 9.75(a) , it is of Type I

xe
R

y2

dA

2 4

0x

y2

xe dy dx

However, this integral can not be computed.

Fig 9.75(a)

Fig 9.75(b)

Example 2 (2)
Trying Fig 9.75(b), it is of Type II

xe
R

y2

dA

0 0
4x

y2

xe dx dy
y

y2

e
2

dy
0

1 y
ye dy e
02
4
41

4
0

1 16
(e 1)
4

Method to Compute Center of Mass

The coordinates of the center of mass are

My
Mx
x
, y
m
m

where

M y x ( x, y ) dA, M x y ( x, y ) dA

(10)

(11)
are the moments. Besides, (x, y) is a variable density
function.
R

Example 3
A lamina has shape as the region in the first quadrant
that is bounded by the y= sin x, y = cos x between x = 0
and x = 4. Find the center of mass if (x, y) = y.
Solution
See Fig 9.76.

Example 3 (2)
m y dA
R

/4
0

y
2
2

/4
0

cos x

sin x

y dy dx

cos x

dx
sin x

1 /4
(cos 2 x sin 2 x) dx
2 0
1

2 0

/4

cos 2 x dx sin 2 x
4

/4
0

Example 3 (3)
M y xy dA
R

/4 1
0

xy
2

/4
0

cos x

sin x xy dy dx

cos x

dx
sin x

1 /4
x cos 2 x dx
2 0
1
1

x sin 2 x cos 2 x
8
4

/4
0

16

Example 3 (4)
M x y dA
2

/4
0

cos x

sin x

y 2 dy dx

1 /4
(cos3 x sin 3 x) dx
3 0
1 /4
[cos x(1 sin 2 x) sin x(1 cos 2 x)] dx
3 0
1
1 3
1 3
sin x sin x cos x cos x
3
3
3

/4
0

5 24

18

Example 3 (5)
Hence
M y ( 2) / 16
x

0.29
m
1/ 4
M x (5 2 4) / 18
y

0.68
m
1/ 4

Moments of Inertia

I x y 2 ( x, y ) dA
R

I y x 2 ( x, y ) dA

(12)

are the moments of inertia about the x-axis and y-axis,

respectively.

Example 4
Refer to Fig 9.77. Find Iy of the thin homogeneous disk
of mass m.
Fig 9.77

Example 4 (2)
Solution
Since it is homogeneous, the density is the constant
(x, y) = m/r2.
I y x 2
R

m
m r r 2 x2 2
dA 2 2 2 x dy dx
2
r
r r r x

2m r 2 2
2 x r x 2 dx
r r
2mr 2 / 2
2
2

sin

cos
d

/
2

Example 4 (3)
mr 2 / 2
2

sin 2 d

/
2
2
mr 2 / 2
1 2

(1 cos 4 ) d mr

4 / 2
4

Radius of Gyration
Defined by

In Example 4,

I
Rg
m

Rg I y /m (mr 2 /4)m r / 2

(13)

9.11 Double Integrals in Polar Coordinates

Double Integral
Refer to the figure.

The double integral is

g 2 ( )

f (r , ) dA g ( )
R

f (r , )r dr d

Refer to the figure.

The double integral is

f (r , ) dA
R

b h2 ( r )

a h (r )
1

f (r , )r d dr

Example 1
Refer to Fig 9.83. Find the center of mass where
r = 2 sin 2 in the first quadrant and is proportional
to the distance from the pole.
Fig 9.83

Example 1 (2)
Solution
We have: 0 /2, = kr, then
m k | r | dA k
R

/2 r
0

2 sin 2

/2
0

2 sin 2

(r )r dr d

8 /2 3
d k sin 2 d
3 0

8 /2
k (1 cos 2 2 ) sin 2 d
3 0
8 1
1 3
k cos 2 cos 2
3 2
6

/2
0

16
k
9

Example 1 (3)
Since x = r cos and M y k x | r | dA
R
then

My

/2
0

4k
4k

2 sin 2

/2
0

/2
0

64k

sin 4 2 cos d
16 sin 4 cos 4 cos d

/2
0

r cos dr d k
3

sin 4 cos5 d

/2 r
0

cos

2 sin 2

d
0

Example 1 (4)
64

/2
0

64k

sin 4 (1 sin 2 ) 2 cos d

/2
0

(sin 4 2 sin 6 sin 8 ) cos d

1 5
2 7
1 9

64k sin sin sin

7
9
5

Similarly, y = r sin , then

Mx

/ 2 2 sin 2 2
k0 0
r sin

51k / 315 32
xy

16k / 9
35

/2
0

512

k
315

512
dr d
k
315

Change of Variables
Sometimes we would like to change the rectangular
coordinates to polar coordinates for simplifying the
question. If 0 g1 ( ) r g 2 ( ), ,
and 0 2 then

g 2 ( )

f ( x, y) dA g ( )

f (r cos , r sin )r dr d (3)

Recall: x + y = r and

x2 y2 r

Example 2
Evaluate

0 x

8 x 2

1
2

5 x y

dy d x

Solution
From x y 8 x 2 , 0 x 2 the graph is shown in
Fig 9.84.
Using x2 + y2 = r2, then 1/(5 + x2 + y2 ) = 1/(5 + r2)

Fig 9.84

Example 2 (2)
Thus the integral becomes
2

0 x

8 x

1
2

dy dx

5 x y
/2
8
1
1 / 2 8 2r dr

r dr d
d
2
2
/4 0 5 r
2 /4 0 5 r
8
/2
1 /2
1
2
ln(5 r ) d (ln 13 ln 5) d
/4
0
2 /4
2
1
13

(ln 13 ln 15) ln
2
8
5
2 4

Example 3
Find the volume of the solid that is under
z 1 x 2 y 2 and above the region bounded by
x2 + y2 y = 0. See Fig 9.85.
Solution
Fig 9.85

Example 3 (2)
We find that

V 1 x 2 y 2 dA
R

2
and the equations become z 1 r
and r = sin .
Now

V 1 r dA 2
2

/2

sin

(1 r 2 )1/ 2 r dr d

2 /2
[1 (1 sin 2 )3 / 2 ] d
3 0

Example 3 (3)
2 /2
2 /2
2
3/ 2
[1 (cos ) ] d [1 cos3 ] d
3 0
3 0
2 /2
[1 (1 sin 2 ) cos ] d
3 0
2
1 3
sin sin
3
3

/2
0

4
0.60
3 9

Area
If f(r, ) = 1, then the area is

A dA
R

g 2 ( )

r dr d

g ( )
1

9.12 Greens Theorem

Along Simply Closed Curves
For different orientations for simply closed curves,
please refer to Fig 9.88.

Fig 9.88(a)

Fig 9.88(b)

Fig 9.88(c)

Notations for Integrals Along Simply Closed Curves

We usually write them as the following forms

i C P( x, y)dx Q( x, y )dy,
j c P( x, y)dx Q( x, y )dy,
i C F ( x, y)ds,
where i Cand j Crepresents in the positive and negative
directions, respectively.

THEOREM 9.13

Greens Theorem in the Plane

IF P, Q, P/y, Q/x are continuous on R, which is

bounded by a simply closed curve C, then
Q P
i C Pdx Qdy x y dA
R
Partial Proof
For a region R is simultaneously of Type I and Type
II,
R : g1 ( x) y g 2 ( x), a x b
R : h1 ( y ) x h2 ( y ), c y d

Fig 9.89(a)

Fig 9.89(b)

Partial Proof
Using Fig 9.89(a), we have
b g 2 ( x ) P
P
dA
dy dx
a g1 ( x ) y

y
R
b

[ P ( x, g 2 ( x)) P ( x, g1 ( x))] dx
a

P ( x, g1 ( x)) dx P ( x, g 2 ( x)) dx
P ( x, y ) dx
C

Partial Proof
Similarly, from Fig 9.89(b),
d h2 ( y )Q
Q
x dA c h2 ( y ) x dx dy
R
d

[Q (h2 ( y ), y ) Q (h1 ( y ), y )] dy
c

Q(h2 ( y ), y ) dy Q(h1 ( y ), y ) dy
= i P( x, y )dx
C

From (2) + (3), we get (1).

Note:
If the curves are more complicated such as Fig 9.90,
we can still decompose R into a finite number of
subregions which we can deal with.
Fig 9.90

Example 1
2
2
(
x

y
) d x (2 y x) dy
Evaluate C

where C is shown in Fig 9.91.

Example 1 (2)
Solution
If P(x, y) = x2 y2, Q(x, y) = 2y x, then
P / y 2 y and Q / x 1
Thus
2
2
(
x

y
) dx (2 y x) dy

(1 2 y ) dA
R

x2

x2

0x

(1 2 y ) dy dx

11
( y y ) 3 dx ( x x x x ) dx
0
0
x
420
1

Example 2
y3

Evaluate C ( x 3 y ) d x (2 x e ) dy
where C is the circle (x 1)2 + (y 5)2 = 4 shown in Fig
9.92.
5

Example 2 (2)
Solution
3
y
We have P(x, y) = x5 + 3y and Q( x, y ) 2 x e
then
P/y 3,
Q/x 2
Hence

C ( x

y3

3 y ) dx (2 x e ) dy (2 3) dA dA
R

Since the area of this circle is 4, we have

C (x

y3

3 y ) dx ( 2 x e ) dy 4

Example 3
Find the work done by F = ( 16y + sin x2)i + (4ey +
3x2)j along C shown in Fig 9.93.

Example 3 (2)
Solution
We have W Fdr
C

(16 y sin x ) dx (4e 3 x ) dy

C
Hence from Greens theorem
2

W (6 x 16) dA
R

In view of R, it is better handled in polar coordinates,

since R: 0 r 1, / 4 3 / 4

Example 3 (3)
W

3 / 4

/4
3 / 4

/4
3 / 4

/4

0 (6r cos 16)r dr d

(2r 3 cos 8r 2 ) d
0

(2 cos 8) d 4

Example 4
The curve is shown in Fig 9.94. Greens Theorem is
no applicable to the integral
y
x
C x 2 y 2 dx x 2 y 2 dy

since P, Q, P/x, Q/y are not continuous at the

region.

Fig 9.94

Region with Holes

Greens theorem cal also apply to a region with holes.
In Fig 9.95(a), we show C consisting of two curves C1
and C2. Now We introduce cross cuts as shown is Fig
9.95(b), R is divided into R1 and R2. By Greens
theorem:
Q P
Q P
Q P
x y dA x y dA x y dA
R
R1
R2
P dx Q dy P dx Q dy
C1

P dx Q dy
C

C2

(4)

Fig 9.95(a)

Fig 9.95(b)

The last result follows from that fact that the line
integrals on the crosscuts cancel each other.

Example 5
y
x
C x 2 y 2 d x x 2 y 2 dy
where C = C1 C2 is shown in Fig 9.96.
Evaluate

Solution
Because
P ( x, y )

y
x
, Q ( x, y ) 2
2
2
x y
x y2

P
y2 x2
Q
y 2 x2
2
,
2
2 2
y ( x y )
x ( x y 2 ) 2

Example 5 (2)
are continuous on the region bounded by C, then
y
x
C x 2 y 2 dx x 2 y 2 dy

y 2 x2
y 2 x2
2
2
dA 0
2 2
2 2
(x y )
R (x y )

Fig 9.96

Conditions to Simply the Curves

As shown in Fig 9.97, C1 and C2 are two
nonintersecting piecewise smooth simple closed
curves that have the same orientation. Suppose that P
and Q have continuous first partial derivatives such
that P/y = Q/x in the region R bounded between
C1 and C2, then we have

C P dx Q dy C
1

C P dx Q dy C
1

P dx Q dy 0

P dx Q dy

Fig 9.97

Example 6
Evaluate the line integral in Example 4.
Solution
We find P = y / (x2 + y2) and Q = x / (x2 + y2) have
continuous first partial derivatives in the region
bounded by C and C. See Fig 9.98.

Fig 9.98

Example 6 (2)
Moreover,
P
y2 x2
Q
2

2 2
y ( x y )
x
we have

y
x
y
x
C x 2 y 2 dx x 2 y 2 dy C x 2 y 2 dx x 2 y 2 dy

Example 6 (3)
Using x = cos t, y = sin t, 0 t 2 , then
y
x
C x 2 y 2 dx x 2 y 2 dy

2
0
2
0
2
0

[ sin t ( sin t ) cos t (cos t )] dt

(sin 2 t cos 2 t ) dt
dt 2

Note: The above result is true for every piecewise

smooth simple closed curve C with the region in its
interior.

9.13 Surface Integrals

DEFINITION 9.11

Surface Area

Let f be a function with continuous first derivatives

fx, fy on a closed region. Then the area of the surface
over R is given by
A( S ) 1 [ f x ( x, y )]2 [ f y ( x, y )]2 d A
R

(2)

Example 1
Find the surface area of portion of x2 + y2 + z2 = a2 and is
above the xy-plane and within x2 + y2 = b2, where 0 < b
< a.
Solution
If we define z f ( x, y ), f ( x, y ) a 2 x 2 y 2
then
x
y
f x ( x, y )
, f y ( x, y )
2
2
2
a x y
a2 x2 y 2
2
Thus
a
2
2
1 [ f x ( x, y )] [ f y ( x, y )] 2
2
2
a

y
a
A( S ) 2
dA
2
2
a x y
R
where R is shown in Fig 9.103.

Fig 9.103

Example 1 (2)
Change to polar coordinates:
A( S ) a
a

2
0
2
0

(a 2 r 2 ) 1/ 2 r dr d

(a

2 1/ 2 b
r ) 0d

a(a a b )
2

2
0

2a (a a 2 b 2 )

Differential of Surface Area

The function
dS 1 [ f x ( x, y )]2 [ f y ( x, y )]2 dA

is called the differential of surface area.

DEFINITION 9.12

Surface Integral

Let G be a function of three variables defined over a

region of space containing the surface S. Then the
surface integral of G over S is given by

G ( x, y, z ) dS lim
S

P 0

*
*
*
G
(
x
,
y
,
z
k k k )Sk
k 1

(4)

Method of Evaluation

G ( x, y, z ) dS
S

G ( x, y, f ( x, y )) 1 [ f x ( x, y )] [ f y ( x, y )] dA
2

where we define z = f(x, y) is the equation of S

projects onto a region R of the xy-plane.

(5)

Projection of S Into Other Planes

If we define y = g(x, z) is the equation of S projects
onto a region R of the xz-plane, then
G ( x, y, z ) dS
(6)
S
G ( x, g ( x, z ), z ) 1 [ g x ( x, z )]2 [ g z ( x, z )]2 dA
R

Similarly, if x = h(y, z) is the equation of S projects

onto a region R of the yz-plane, then
G ( x, y, z ) dS
S
(7)
G (h( y, z ), y, z ) 1 [hy ( y, z )]2 [hz ( y, z )]2 dA
R

Mass of a Surface
Let (x, y, z) be the density of a surface, then the
mass m of the surface is
m ( x, y, z ) dS
S

(8)

Example 2
Find the mass of the surface of z = 1 + x2 + y2 in the
first octant for 1 z 5 if the density at a point is
proportional to its distance from the xy-plane.
Solution
The projection graph is shown in Fig 9.104.
Now, since (x, y, z) = kz and z = 1 + x2 + y2, then

m kz dS
S

k (1 x y ) 1 4 x 4 y dA
2

Fig 9.104

Example 2

(2)

Change to polar coordinates

/2

m k

k
k

/2
0

(1 r 2 ) 1 4r 2 r dr d

[r (1 4r 2 )1/ 2 r 3 (1 4r 2 )1/ 2 ] dr d

1
1 2
1
2 3/ 2
2 3/ 2
2 5/ 2
(
1

4
r
)

r
(
1

4
r
)

(
1

4
r
)
12
12
120

/2
2

3/ 2
5/ 2

k 5(17)
17
3

19.2k

2 12
120 40

2
0

Example 3
2
xz
dS , where S is the portion of
Evaluate S
y = 2x2 + 1 in the first octant bounded by x = 0, x = 2, z
= 4 and z = 8.
Solution
The projection graph on
the xz-plane is shown in
Fig 9.105.

Example 3

(2)

Let y = g(x, z) = 2x2 + 1. Since gx(x, z) = 4x and

gz(x, z) = 0, then

xz dS
2

2 8

0 4

2z
0

xz 2 1 16 x 2 dz dx
2

448 2
2 1/ 2
x 1 16 x dx
x(1 16 x ) dx

0
3
3
4

28
(1 16 x 2 )3 / 2
9

2
0

28 3 / 2
[65 1] 1627.3
9

Orientable Surface
A surface is said to be orientable or an oriented
surface if there exists a continuous unit normal vector
function n, where n(x, y, z) is called the orientation
of the surface.
Eg: S is defined by g(x, y, z) = 0, then
n = g / ||g||
(9)
g g
g
where g i j k is the gradient.
x
y
z

Fig. 9.106

Fig 9.107

Example 4
Consider x2 + y2 + z2 = a2, a > 0. If we define
g(x, y, z) = x2 + y2 + z2 a2, then
g 2 xi 2 yj 2 zk , || g || 4 x 2 4 y 2 4 z 2 2a

Thus the two orientations are

x
y
z
x
y
z
n i j k , n1 n i j k
a a
a
a a a
where n defines outward orientation, n1 = n defines
inward orientation. See Fig 9.108.

Fig 9.108

Computing Flux
We have

flux (Fn) dS
S

See Fig 9.109.

(10)

Example 5
Let F(x, y, z) = zj + zk represent the flow of a liquid.
Find the flux of F through the surface S given by that
portion of the plane z = 6 3x 2y in the first octant
oriented upward.
Solution
Refer to the figure.

Example 5

(2)

We define g(x, y, z) = 3x + 2y + z 6 = 0. Then a unit

normal with a positive k component (it should be
upward) is
g
3
2
1
n

i
j
k
|| g ||
14
14
14
1
Thus
flux (Fn) dS
3 z dS

14 S
S
With R the projection of the surface onto the xy-plane,
1
we have
flux
3(6 3 x 2 y )( 14 dA)

14 R

2 33 x / 2

0 0

(6 3 x 2 y ) dy dx 18

9.14 Stokes Theorem

Vector Form of Greens Theorem
If F(x, y) = P(x, y)i + Q(x, y)j, then

curl F F
x
P

y
0

k
Q P

k
z x y
0

Thus, Greens Theorem can be written as

C Fdr C FT ds (curl F)k dA

R

(1)

THEOREM 9.14

Stokes Theorem

Let S be a piecewise smooth orientable surface bounded

by a piecewise smooth simple closed curve C. Let
F(x, y, z) = P(x, y, z)i + Q(x, y, z)j + R(x, y, z)k be a
vector field for which P, Q, R, are continuous and have
continuous first partial derivatives in a region of 3-space
containing S. If C is traversed in the positive direction,
then
) n dS
Fd r (FT) dS (curl F
C

where n is a unit normal to S in the direction of the

orientation of S.

Example 1
Let S be the part of the cylinder z = 1 x2 for 0 x
1, 2 y 2. Verify Stokes theorem if F = xyi + yzj
+ xzk.
Fig 9.116

Example 1 (2)
Solution
See Fig 9.116.
Surface Integral: From F = xyi + yzj + xzk, we find
i

curl F
x
xy

y
yz

yi zj xk
z
xz

If x y z z x 1 0 defines the cylinder,

g
2 xi k
the upper normal is n

g
4x2 1

Example 1 (3)
2 xy x
Therefore (curl F n)dS
dS
2
4x 1
S
S
Using (5) of Sec 9.13 :
2 xy x
4 x 2 1 dS (2 xy x)dA
S
R
1 2

(2 xy x)dydx (4 x)dx 2

0 2
0

(7)

Example 1 (4)
Line Integral : we write
C

C1 C2

C3 C4

on C1 : x 1, z 0, dx 0, dz 0,
so

C y (0) y (0)dy 0 0
1

on C2 : y 2, z 1 x 2 , dy 0, dz 2 x,
so

2 xdx 2(1 x 2 )0 x(1 x 2 )(2 xdx)

11
(2 x 2 x 2 x )dx
15
2

Example 1 (5)
on C3 : x 0, z 1, dx 0, dz 0,
so

C 0 ydy 0 2
3

ydy 0

on C4 : y 2, z 1 x , dy 0, dz 2 x,
so

C 2 xdx 2(1 x
4

)0 x(1 x )(2 xdx)

19
(2 x 2 x 2 x )dx
0
15
11
19
Hence xydx yzdy xzdz 0 0 2
C
15
15
which agrees with (7).
1

Example 2
Evaluate

C zdx xdy ydz

where C is the trace of the cylinder x2 + y2 = 1 in the

plane y + z = 2. Orient C counterclockwise as viewed
from above. See Fig 9.117.

Fig 9.117

Example 2 (2)
Solution
If F zi xj yk , then

curl F
x
z

y
x

i jk
z
y

The given orientation of C corresponding to an upward

orientation of the surface S.

Example 2 (3)
Thus if g(x, y, z) = y + z 2 = 0 defines the plane, then
the upper normal is

g
1
1
n

j
k
g
2
2
Hence from (2),
1
1

CF dr (i j k ) ( 2 j 2 k ) dS
S
2 dS 2 2dA 2
S

9.15 Triple Integrals

DEFINITION 9.13

The Triple Integral

Let F be a function of three variables defined over a

Closed region D of space. Then the triple integral of F
over D is given by

F ( x, y, z )dV lim
D

P 0

*
*
*
F
(
x
,
y
,
z
k k k )Vk
k 1

(1)

Evaluation by Iterated Integrals:

If the region D is bounded above by z f 2 ( x, y )
and is bounded below by z f1 ( x, y ), then

F ( x,y,z )dV f ( x, y ) F ( x,y,z )dz dA

f2 ( x, y )

Thus, if R is a Type I region then

b g2 ( x )

f2 ( x, y )

F ( x,y,z )dV a g ( x ) f ( x, y ) F ( x,y,z )dzdydx

D

See Fig 9.123.

(2)

Fig 9.123

Applications
Volume :
If F ( x, y, z ) 1, then the volume of
the solid D is

V dV
D

Mass :
If ( x, y, z ) is density, then the mass
of the solid D is m ( x, y, z )dV
D
First Moment :
M xy z ( x, y, z )dV ,
D

M xz y ( x, y, z )dV , M yz x ( x, y, z )dV
D

Center of Mass :
The coordintaes of the center of mass are
M yz
M xy
M xz
x
,y
,z
m
m
m
Centroid :
If ( x, y, z ) is constant, the center of
mass is called the centroid.

Second Moment :
I x ( y 2 z 2 ) ( x, y, z )dV ,
D

I y ( x 2 z 2 ) ( x, y, z )dV
D

I z ( x 2 y 2 ) ( x, y, z )dV
D

Radius of Gyration :
If I is a moment of inertia of the solid about a given axis,
then the radius of gyration is
I
Rg
m

Example 1
Find the volume of the solid in the first octant
bounded by z = 1 y2, y = 2x and x = 3.
Fig 9.125(a)
Fig 9.125(b)

Example 1 (2)
Solution
Referring to Fig 9.125(a), the first integration with
respect to z is from 0 to 1 y2. From Fig 9.125(b), we
see that the projection of D in the xy-plane is a region of
Type II. Hence
1 3

V dV
D

1 y 2

0 y/2 0

1 3

dzdxdy

0 y/2

(1 y 2 )dxdy

3
1
1
1 3
15
2
( x yx )
dy 3 3 y y y dy
0
0
y/2
2
2
8
1

Example 2
Change the order of integration in
6 4 2 x / 3 3 x / 2 3 y / 4
F ( x, y, z )dzdydx

0 0

to dydxdz.
Fig 9.126(a)

Fig 9.126(b)

Example 2 (2)
Solution
As in Fig 9.126(a), the region D is the solid in the first
octant bounded by the three coordinates and the plane
2x + 3y + 4x = 12. Referring to Fig 9.126(b) and the
table, we have
6 4 2 x / 3 3 x / 23 y / 4

0 0

F ( x, y, z )dzdydx

3 62 z 4 2 x / 3 4 z / 3

0
0 0

F ( x, y, z )dydxdz

Example 2 (3)
Order

1st
2nd
x 3y
dzdydx 0 to 3
0 to 4 2 x / 3
2 4
2x 4z
dydxdz 0 to 4
0 to 6 2 z
3
3

3rd
0 to 6
0 to 3

Cylindrical Coordinates
Refer to Fig 9.127.

Conversion of Cylindrical Coordinates to

Rectangular Coordinates

Thus between the cylindrical coordinates (r, , z) and

rectangular coordinates (x, y, z), we have
x = r cos , y = r sin , z = z

(3)

Example 1
Convert (8, /3, 7) in cylindrical coordinates to
rectangular coordinates.
Solution
From (3)
x 8cos( / 3) 4,

y 8sin( / 3) 4 3
z7

Conversion of Rectangular Coordinates to

Cylindrical Coordinates

Also we have
y
r x y , tan , z z
x
2

(4)

Example 4
Convert ( 2, 2,1) in rectangular coordinates to
cylindrical coordinates.
Solution
2
2
2
2
r ( 2 ) ( 2 ) 4, tan
1, z 1
2
If we take r 2, together with the fact x 0, y 0,
we take 3 / 4.

Fig 9.128

Triple Integrals in Cylindrical Coordinates

See Fig 9.129.
We have

F (r , , z )dV f ( r , ) F (r , , z ) dA
f 2 ( r , )

g 2 ( )

f 2 ( r , )

g ( ) f ( r , ) F ( x, y, z )rdzdrd

Fig 9.129

Example 5
A solid in the first octant has the shape determined by
the graph of the cone z = (x2 + y2) and the planes z = 1,
x = 0 and y = 0. Find the center of the mass if the
density is given by (r, , z) = r.
Solution

m rdV

0 r r (rdzdrd )

1
2 1 2

3
0 r z r drd 0 0 (r r )drd 24

2 1 2

2 1 1

Fig 9.130

Example 5 (2)
M xy zrdV

2 1 1

0 r

zr 2 dzdrd

1 2 1 2 4

r drd (r r )drd
0
0 2
2 0 0
30
r
Similarly, we have
2 1 z

21

M xz r sin dV
2

M yz r cosdV
2

1
0 r r sin dzdrd 20

2 1 1 3

1
0 r r cosdzdrd 20

2 1 1 3

Example 5 (3)
Hence
1 / 20
1 / 20
/ 30
x
0.38, y
0.38, z
0.8
/ 24
/ 24
/ 24

Spherical Coordinates
See Fig 9.131.

Conversion of Spherical Coordinates to Rectangular

and Cylindrical Coordinates

We have
From spherical coordinates ( , , )
to rectangular coordinates ( x, y, z ) :
x sin cos , y sin sin , z cos
From spherical coordinates ( , , )
to cylindrical coordinates (r , , z ) :
r sin , , z cos

(5)

(6)

Example 6
Convert (6, /4, /3) in spherical coordinates to
rectangular and cylindrical coordinates.
Solution
( , , ) (6, / 4, / 3)

3 2
3 6
x sin cos
, y sin sin
2
2
z cos 3 2

r sin 3 2, , z cos 3 2
3

Inverse Conversion
y
x y z , tan
x
z
cos
x2 y2 z 2
2

(7)

Triple Integrals in Spherical Coordinates

See Fig 9.132.

 We have

F ( , , )dV
D

g 2 ( )

f 2 ( , )

g ( ) f ( , )
1

F ( , , ) 2 sin ddd

Example 7
Find the moment of inertia about the z-axis of the
homogeneous solid bounded between the spheres
x2 + y2 + z2 = a2 and x2 + y2 + z2 = a2, a < b
Fig 9.133

Example 7

(2)

Solution
If (, , ) = k is the density, then

I z ( x y )kdV . From (5), we have

2

x y sin , x y z
The equations of the spheres are a, b.
2

Then I z k

2 b

0 a

sin ( sin ddd )

2

Example 7
k

2 b

0 a
0

(3)
4 sin 3 ddd

5 3 b
sin dd
5
a

5
2

k 5

5
2
(b a )
(1 cos ) sin dd
0
0
5
5
k 5
1 3
5 2
(b a ) cos cos d
0
5
3
0

4k 5
8k 5
5 2
(b a ) d
(b a 5 )
0
15
15

9.16 Divergence Theorem

Another Vector Form of Greens Theorem
Let F(x, y) = P(x, y)i + P(x, y)j be a vector field, and
let T = (dx/ds)i + (dy/ds)j be a unit tangent to a
simple closed plane curve C. If n = (dy/ds)i (dx/ds)j
is a unit normal to C, then

(F n)ds C Pdy Qdx

P Q

x y
R

P Q
dA x y dA

 that is,

C (F n)ds div FdA

(1)

The result in (1) is a special case of the divergence or

Gauss theorem.

THEOREM 9.15

Divergence Theorem

Let D be a closed and bounded region on 3-space with

a piecewise smooth boundary S that is oriented outward.
Let F(x, y, z) = P(x, y, z)i + Q(x, y, z)j + R(x, y, z)k be
a vector field for which P, Q, and R are continuous
and have continuous first partial derivatives in a region
of 3-space containing D. Then

(F gn)dS div F dV
S

(2)

Example 1
Let D be the region bounded by the hemisphere
2

x y ( z 1) 9,1 z 4, and
the plane z 1. Verify the divergence theorem if
F xi yj ( z 1)k.
Solution
The closed region is shown in Fig 9.140.

Fig 9.140

Example 1 (2)
Triple Integral:
Since F = xi + yj + zk, we see div F = 3. Hence

div F dV 3 dV dV 54
D

(10)

Surface Integral:
We write S = S1 + S2, where S1 is the hemisphere and
S2 is the plane z = 1.
If S1 is a level surfaces of g(x, y) = x2 + y2 + (z 1)2, then
a unit outer normal is

Example 1 (3)
g
xi yj ( z 1)k
x
y
z 1
n
2
i j
k
2
2
g
3 3
3
x y ( z 1)
2

x
y ( z 1)
Now F n
3
3 3
3

3
dA
and so F n ds (3)
2
2
9

S1
R
9

2 3

2 1 / 2
(
9

r
) rdrd 54

Example 1 (4)
On S 2 , n k so that F n z 1.
But since z 1, ( z 1)dS 0.
S2

Hence, we see that (F n)dS 54

S

Example 2
IF F = xyi + y2zj + z3k, evaluate S (F n)dS, where S is
the unit cube defined by 0 x 1, 0 y 1, 0 z 1.
Solution
We see div F = F = x + 2yz + 3z2. Then

S (F n)dS ( y 2 yz 3z

)dV

1 1 1

( y 2 yz 3 z

0 0 0

) dxdydz

Example 2 (2)
1 1

2
(
y

2
yz

3
z
)dydz

0 0

y
2
2 1
( y z 3 yz ) dz
0 2
0
1

1
z 1 2
2
3 1
( z 3 z )dz ( z z ) 2
0 2
2 2
0
1

9.17 Change of Variables in Multiple Integrals

Introduction
If f is continuous on [a, b], x = g(u) and
dx = g(u) du, then
b

a f ( x)dx c

f ( g (u )) g ' (u )du

(1)

where c = g(a), d = g(b).

If we write J(u) = dx/du, then we have
b

a f ( x)dx c

f ( g (u )) J (u )du

(2)

Double Integrals
If we have
x= f(u, v), y = g(u, v)
(3)
we expect that a change of variables would take the
form F ( x, y )dA F ( f (u , v), g (u , v)) J (u , v )dA' (4)

where S is the region in the uv-plane, and R is the

region in the xy-plane.

Example 1
Find the image of the region S shown in Fig 9.146(a)
under the transformations x = u2 + v2, y = u2 v2.
Solution
Fig 9.146(a)
Fig 9.146(b)

Example 1 (2)
S1 : v 0, then
x u 2 v 2 u 2 , y u 2 v 2 u 2 , then y x
(u , v ) (1,0) to (2,0) ( x, y ) (1,1) to (4,4)
S 2 : u 2 v 2 4, then x 4
(u , v ) (2,0) to (

5
2,

3
2)

( x, y ) (4,4) to (4,1)

S3 : u 2 v 2 1, then y 4
(u , v ) (

5
2,

See Fig 9.146(b).

3
2)

to (1,0) ( x, y ) (4,1) to (1,1)

Some of the Assumptions

1. The functions f, g have continuous first partial
derivatives on S.
2. The transformation is one-to-one.
3. Each of region R and S consists of a piecewise
smooth simple closed curve and its interior.
4. The following determinant is not zero on S.

x
u
y
u

x
v x y x y
y u v v u
v

(7)

 Equation (7) is called the Jacobian of the

transformation T and is denoted by (x, y)/(u, v).
Similarly, the inverse transformation of T is denoted
by T-1. See Fig 9.147.

 If it is possible to solve (3) for u, v in terms of x, y,

then we have
u = h(x,y), v = k(x,y)
(8)
The Jacobian of T-1 is
u u
(u , v) x y

(9)
( x, y ) v v
x y
( x, y ) (u , v)
and
1
(10)
(u , v) ( x, y )

Example 2
The Jacobian of the transformation
x = r cos , y = r sin
is
x x
( x, y ) r cos r sin

r
( r , ) y y sin r cos
r

THEOREM 9.6

Change of Variables in a
Double Integral

If F is continuous on R, then
( x, y )
F ( x, y ) d A F ( f (u, v), g (u, v)) (u, v) d A (11)
R
S

Example 3
Evaluate

sin( x 2 y) cos( x 2 y)dA

R

over the region R in Fig 9.148(a).

Fig 9.148(a) Fig 9.148(b)

Example 3 (2)
Solution
We start by letting u = x + 2y, v = x 2y.
S1 : y 0, then u x, v x or u v
( x, y ) (2 ,0) to (0,0) (u , v) (2 ,2 ) to (0,0)
S2 : x 0, then u 2 y, v 2 y or u v
( x, y ) (0,0) to (0, ) (u , v) (0,0) to (2 ,2 )
S3 : x 2 y 2 , then u 2
( x, y ) (0, ) to (2 ,0) (u , v) (2 ,2 ) to (2 ,2 )
See Fig 9.148(b).

Example 3 (3)
The Jacobian matrix is
x
( x, y ) u

(u , v) y
u

x 1 1
v 2 2 1
y 1
1
4

v 4
2

Example 3 (4)
Thus
1
sin( x 2 y ) cos( x 2 y )dA sin u cos v 4 dA'
R
S
u
1 2 u
1 2
sin u cos vdvdu sin u sin v du
4 0 u
4 0
u
1 2 2
1 2

sin udu (1 cos 2u )du

2 0
4 0
2

Example 4
Evaluate

xydA over the region R in Fig 9.149(a).

R

Fig 9.149(a)

Fig 9.149(b)

Example 4 (2)
Solution
The equations of the boundaries of R suggest
u = y/x2, v = xy
(12)
The four boundaries of the region R become u = 1, u =
4, v = 1, v = 5. See Fig 9.149(b).
The Jacobian matrix is
( x, y )
1
x2
1

(u , v ) ( x , y )
3y
3u
(u , v)

Example 4 (3)
Hence

1
1 4 5v
xydA v 3u dA' 3 1 1 u dvdu
R
S
4
41
1 4 v2 5

du 4 du 4 ln u 4 ln 4
1
1 u
3 2u 1
1

Triple Integrals
Let x = f(u, v, w), y = g(u, v, w), z = h(u, v, w)
be a one-to-one transformation T from a region E in
the uvw-space to a region in D in xyz-space. If F is
continuous in D, then

F ( x, y, z )dV
D

( x, y , z )
F ( f (u , v, w), g (u , v, w), h(u , v, w))
dV '
(ui, v, w)
E

x x x
u v w
( x, y, z ) y y y
where

(u , v, w) u v w
z z z
u v w
Please verify that if
x sin cos , y sin sin , z x cos
( x, y , z )
then
2 sin
(u , v, w)

(13)