Harvard College

Math 21a: Multivariable Calculus

Formula and Theorem Review

Tommy MacWilliam, 13
[email protected]
December 15, 2009

Contents
Table of Contents
9 Vectors and the Geometry of Space
9.1 Distance Formula in 3 Dimensions .
9.2 Equation of a Sphere . . . . . . . .
9.3 Properties of Vectors . . . . . . . .
9.4 Unit Vector . . . . . . . . . . . . .
9.5 Dot Product . . . . . . . . . . . . .
9.6 Properties of the Dot Product . . .
9.7 Vector Projections . . . . . . . . .
9.8 Cross Product . . . . . . . . . . . .
9.9 Properties of the Cross Product . .
9.10 Scalar Triple Product . . . . . . . .
9.11 Vector Equation of a Line . . . . .
9.12 Symmetric Equations of a Line . .
9.13 Segment of a Line . . . . . . . . . .
9.14 Vector Equation of a Plane . . . . .
9.15 Scalar Equation of a Plane . . . . .
9.16 Distance Between Point and Plane
9.17 Distance Between Point and Line .
9.18 Distance Between Line and Line . .
9.19 Distance Between Plane and Plane
9.20 Quadric Surfaces . . . . . . . . . .
9.21 Cylindrical Coordinates . . . . . .
9.22 Spherical Coordinates . . . . . . . .

.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.

5
5
5
5
5
5
5
6
6
6
6
6
6
7
7
7
7
7
7
8
8
8
8

10 Vector Functions
10.1 Limit of a Vector Function . . . . . . . . . . . . . .
10.2 Derivative of a Vector Function . . . . . . . . . . .
10.3 Unit Tangent Vector . . . . . . . . . . . . . . . . .
10.4 Derivative Rules for Vector Functions . . . . . . . .
10.5 Integral of a Vector Function . . . . . . . . . . . . .
10.6 Arc Length of a Vector Function . . . . . . . . . . .
10.7 Curvature . . . . . . . . . . . . . . . . . . . . . . .
10.8 Normal and Binormal Vectors . . . . . . . . . . . .
10.9 Velocity and Acceleration . . . . . . . . . . . . . .
10.10Parametric Equations of Trajectory . . . . . . . . .
10.11Tangential and Normal Components of Acceleration
10.12Equations of a Parametric Surface . . . . . . . . . .

.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.

9
9
9
9
9
9
9
10
10
10
10
10
10

.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.

11 Partial Derivatives
11.1 Limit of f (x, y) . . . . . . . . . . . . .
11.2 Strategy to Determine if Limit Exists .
11.3 Continuity . . . . . . . . . . . . . . . .
11.4 Definition of Partial Derivative . . . .
11.5 Notation of Partial Derivative . . . . .
11.6 Clairauts Theorem . . . . . . . . . . .
11.7 Tangent Plane . . . . . . . . . . . . . .
11.8 The Chain Rule . . . . . . . . . . . . .
11.9 Implicit Differentiation . . . . . . . . .
11.10Gradient . . . . . . . . . . . . . . . . .
11.11Directional Derivative . . . . . . . . .
11.12Maximizing the Directional Derivative
11.13Second Derivative Test . . . . . . . . .
11.14Method of Lagrange Multipliers . . . .

.
.
.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.
.
.

10
10
11
11
11
11
11
11
12
12
12
12
12
12
12

12 Multiple Integrals
12.1 Volume under a Surface . . . . . . . . . . . .
12.2 Average Value of a Function of Two Variables
12.3 Fubinis Theorem . . . . . . . . . . . . . . . .
12.4 Splitting a Double Integral . . . . . . . . . . .
12.5 Double Integral in Polar Coordinates . . . . .
12.6 Surface Area . . . . . . . . . . . . . . . . . . .
12.7 Surface Area of a Graph . . . . . . . . . . . .
12.8 Triple Integrals in Spherical Coordinates . . .

.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.

13
13
13
13
13
13
13
13
14

.
.
.
.
.
.
.
.
.
.
.

14
14
14
14
14
14
14
14
14
15
15
15

14 Appendix A: Selected Surface Paramatrizations

14.1 Sphere of Radius . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.2 Graph of a Function f (x, y) . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.3 Graph of a Function f (, r) . . . . . . . . . . . . . . . . . . . . . . . . . . .

15
15
15
15

13 Vector Calculus
13.1 Line Integral . . . . . . . . . . . . . . .
13.2 Fundamental Theorem of Line Integrals
13.3 Path Independence . . . . . . . . . . .
13.4 Curl . . . . . . . . . . . . . . . . . . .
13.5 Conservative Vector Field Test . . . . .
13.6 Divergence . . . . . . . . . . . . . . . .
13.7 Greens Theorem . . . . . . . . . . . .
13.8 Surface Integral . . . . . . . . . . . . .
13.9 Flux . . . . . . . . . . . . . . . . . . .
13.10Stokes Theorem . . . . . . . . . . . .
13.11Divergence Theorem . . . . . . . . . .

.
.
.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.

.
.
.
.
.
.
.
.
.
.
.

14.4
14.5
14.6
14.7
14.8

Plane Containing P, ~u, and ~v

Surface of Revolution . . . .
Cylinder . . . . . . . . . . .
Cone . . . . . . . . . . . . .
Paraboloid . . . . . . . . . .

.
.
.
.
.

.
.
.
.
.

.
.
.
.
.

.
.
.
.
.

.
.
.
.
.

.
.
.
.
.

.
.
.
.
.

.
.
.
.
.

.
.
.
.
.

.
.
.
.
.

15 Appendix B: Selected Differential Equations

15.1 Heat Equation . . . . . . . . . . . . . . . . . .
15.2 Wave Equation (Wavequation) . . . . . . . . .
15.3 Transport (Advection) Equation . . . . . . . .
15.4 Laplace Equation . . . . . . . . . . . . . . . .
15.5 Burgers Equation . . . . . . . . . . . . . . . .

.
.
.
.
.

.
.
.
.
.

.
.
.
.
.

.
.
.
.
.

.
.
.
.
.

.
.
.
.
.

.
.
.
.
.

.
.
.
.
.

.
.
.
.
.

.
.
.
.
.

.
.
.
.
.

.
.
.
.
.

.
.
.
.
.

.
.
.
.
.

.
.
.
.
.

.
.
.
.
.

.
.
.
.
.

.
.
.
.
.

.
.
.
.
.

.
.
.
.
.

.
.
.
.
.

.
.
.
.
.

.
.
.
.
.

.
.
.
.
.

.
.
.
.
.

.
.
.
.
.

.
.
.
.
.

.
.
.
.
.

.
.
.
.
.

.
.
.
.
.

.
.
.
.
.

.
.
.
.
.

.
.
.
.
.

15
15
15
16
16

.
.
.
.
.

16
16
16
16
16
16

9
9.1

Vectors and the Geometry of Space

Distance Formula in 3 Dimensions

The distance between the points P1 (x1 , y1 , z1 ) and P2 (x2 , y2 , z2 ) is given by:
p
|P1 P2 | = (x2 x1 )2 + (y2 y1 )2 + (z2 z1 )2

9.2

Equation of a Sphere

The equation of a sphere with center (h, k, l) and radius r is given by:
(x h)2 + (y k)2 + (z l)2 = r2

9.3

Properties of Vectors

If ~a, ~b, and ~c are vectors and c and d are scalars:

~a + ~b = ~b + ~a
~a + (~b + ~c) = (~a + ~b) + ~c
c(~a + ~b) = c~a + c + ~b
(cd)~a = c(d~a)

9.4

~a + 0 = ~a
~a + ~a = 0
(c + d)~a = c~a + d~a

Unit Vector

A unit vector is a vector whose length is 1. The unit vector ~u in the same direction as ~a is
given by:
~a
~u =
|~a|

9.5

Dot Product
~a ~b = |~a||~b| cos
~a ~b = a1 b1 + a2 b2 + a3 b3

9.6

Properties of the Dot Product

Two vectors are orthogonal if their dot product is 0.

~a ~b = ~b ~a
(c~a) ~b = c(~a ~b) = ~a (c~b)

~a ~a = |~a|2
~a (~b + ~c) = ~a ~b + ~a ~c
0 ~a = 0

9.7

Vector Projections

Scalar projection of ~b onto ~a:

comp~a ~b =

~a ~b
|~a|

Vector projection of ~b onto ~a:

~a ~b
|~a|

proj~a ~b =

9.8

~a
|~a|

Cross Product

~a ~b = (|~a||~b| sin )~n

where ~n is the unit vector orthogonal to both ~a and ~b.
~a ~b = ha2 b3 a3 b2 , a3 b1 a1 b3 , a1 b2 a2 b1 i

9.9

Properties of the Cross Product

Two vectors are parallel if their cross product is 0.

~a ~b = ~b ~a
(c~a) ~b = c(~a ~b) = ~a (c~b)
~a (~b + ~c) = ~a ~b + ~a ~c
(~a + ~b) ~c = ~a ~c + ~b ~c

9.10

Scalar Triple Product

The volume of the parallelpiped determined by vectors ~a, ~b, and ~c is the magnitude of their
scalar triple product:
V = |~a (~b ~c)|
~a (~b ~c) = ~c (~a ~b)

9.11

Vector Equation of a Line

~r = ~r0 + t~v

9.12

Symmetric Equations of a Line

x x0
y y0
z z0
=
=
a
b
c
where the vector ~c = ha, b, ci is the direction of the line.
The symmetric equations for a line passing through the points (x0 , y0 , z0 ) and (x1 , y1 , z1 )
are given by:
x x0
y y0
z z0
=
=
x1 x0
y1 y0
z1 z0
6

9.13

Segment of a Line

The line segment from ~r0 to ~r1 is given by:

~r(t) = (1 t)~r0 + t~r1

9.14

for 0 t 1

Vector Equation of a Plane

~n (~r ~r0 ) = 0

where ~n is the vector orthogonal to every vector in the given plane and ~r ~r0 is the vector
between any two points on the plane.

9.15

Scalar Equation of a Plane

a(x x0 ) + b(y y0 ) + c(z z0 ) = 0

where (x0 , y0 , z0 ) is a point on the plane and ha, b, ci is the vector normal to the plane.

9.16

Distance Between Point and Plane

|ax1 + by1 + cz1 + d|

a2 + b 2 + c 2
|P~Q ~n|
d(P, ) =
|~n|

D=

where P is a point, is a plane, Q is a point on plane , and ~n is the vector orthogonal to

the plane.

9.17

Distance Between Point and Line

d(P, L) =

|P~Q ~u|
|~u|

where P is a point in space, Q is a point on the line L, and ~u is the direction of line.

9.18

Distance Between Line and Line

d(L, M ) =

|(P~Q) (~u ~v )|
|~u ~v |

where P is a point on line L, Q is a point on line M , ~u is the direction of line L, and ~v is

the direction of line M .

9.19

Distance Between Plane and Plane

d=

|e d|
|~n|

where ~n is the vector orthogonal to both planes, e is the constant of one plane, and d is the
constant of the other. The distance between non-parallel planes is 0.

9.20

Quadric Surfaces

Ellipsoid:
Elliptic Paraboloid:
Hyperbolic Paraboloid:
Cone:
Hyperboloid of One Sheet:
Hyperboloid of Two Sheets:

9.21

x2 y 2 z 2
+ 2 + 2 =1
a2
b
c
x2 y 2
z
= 2+ 2
c
a
b
2
x
y2
z
= 2 2
c
a
b
z2
x2 y 2
= 2+ 2
c2
a
b
2
2
y
z2
x
+ 2 2 =1
a2
b
c
x2 y 2 z 2
2 2 + 2 =1
a
b
c

Cylindrical Coordinates

To convert from cylindrical to rectangular:

x = r cos

y = r sin

z=z

To convert from rectangular to cylindrical:

r 2 = x2 + y 2

9.22

tan =

y
x

z=z

Spherical Coordinates

To convert from spherical to rectangular:

x = sin cos

y = sin sin

z = cos

To convert from rectangular to spherical:

2 = x2 + y 2 + z 2

tan =
8

y
x

cos =

10
10.1

Vector Functions
Limit of a Vector Function
D
E
lim ~r(t) = lim f (t), lim g(t), lim h(t)
ta

10.2

ta

ta

ta

Derivative of a Vector Function

~r(t + h) ~r(t)
d~r
= ~r 0 (t) = lim
h0
dt
h
0
0
0
~r (t) = hf (t), g (t), h0 (t)i

10.3

Unit Tangent Vector

T (t) =

10.4

~r 0 (t)
|~r 0 (t)|

Derivative Rules for Vector Functions

d
[~u(t) + ~v (t)] = ~u 0 (t) + ~v 0 (t)
dt
d
[c~u(t)] = c~u 0 (t)
dt
d
[f (t)~u(t)] = f 0 (t) ~u(t) + f (t)~u 0 (t)
dt
d
[~u(t) ~v (t)] = ~u 0 (t) ~v (t) + ~u(t) ~v 0 (t)
dt
d
[~u(t) ~v (t)] = ~u 0 (t) ~v (t) + ~u(t) v 0 (t)
dt
d
[~u(f (t))] = f 0 (t) ~u 0 (f (t))
dt

10.5

Integral of a Vector Function

Z

Z
~r(t) dt =

10.6

Z
f (t) dt,

Z
g(t) dt,

Arc Length of a Vector Function

Z
L=

|r 0 (t)| dt


h(t) dt

10.7

Curvature
|T~ 0 (t)|
dT~
=| |=
ds
|~r 0 (t)|
|~r 0 (t) ~r 00 (t)|
=
|~r 0 (t)|3
(x) =

10.8

|f 00 (x)|
[1 + (f 0 (x))2 ]3/2

Normal and Binormal Vectors

~ 0
~ (t) = T (t)
N
|T~ 0 (t)|
~
~ (t)
B(t)
= T~ (t) N

10.9

Velocity and Acceleration

~v (t) = ~r 0 (t)
~a(t) = ~v 0 (t) = ~r 00 (t)

10.10

Parametric Equations of Trajectory

1
x = (v0 cos )t y = (v0 sin )t gt2
2

10.11

Tangential and Normal Components of Acceleration

~
~a = v 0 T~ + v 2 N

10.12

Equations of a Parametric Surface

x = x(u, v) y = y(u, v) z = z(u, v)

11
11.1

Partial Derivatives
Limit of f (x, y)

If f (x, y) L1 as (x, y) (a, b) along a path C1 and f (x, y) L2 as (x, y) (a, b) along
a path C2 , then lim(x,y)(a,b) f (x, y) does not exist.

10

11.2

Strategy to Determine if Limit Exists

1. Substitute in for x and y. If point is defined, limit exists. If not, continue.

2. Approach (x, y) from the x-axis by setting y = 0 and taking limxa . Compare this
result to approaching (x, y) from the y-axis by setting x = 0 and taking limya . If these
results are different, then the limit does not exist. If results are the same, continue.
3. Approach (x, y) from any nonvertical line by setting y = mx and taking limxa . If
this limit depends on the value of m, then the limit of the function does not exist. If
not, continue.
4. Rewrite the function in cylindrical coordinates and take limra . If this limit does not
exist, then the limit of the function does not exist.

11.3

Continuity

A function is continuous at (a, b) if

lim

f (x, y) = f (a, b)

(x,y)(a,b)

11.4

Definition of Partial Derivative

fx (a, b) = g 0 (a) where g(x) = f (x, b)

f (a + h, b) f (a, b)
h0
h
To find fx , regard y as a constant and differentiate f (x, y) with respect to x.
fx (a, b) = lim

11.5

Notation of Partial Derivative

fx (x, y) = fx =

11.6

f
=
f (x, y) = Dx f
x
x

Clairauts Theorem

If the functions fxy and fyx are both continuous, then

fxy (a, b) = fyx (a, b)

11.7

Tangent Plane
z z0 = fx (x0 , y0 )(x x0 ) + fy (x0 , y0 )(y y0 )

11

11.8

The Chain Rule

dz
z dx z dy
=
+
dt
x dt
y dt

11.9

Implicit Differentiation
F
dy
x
= F
dx
y

11.10

Gradient
f (x, y) = hfx (x, y), fy (x, y)i

11.11

Directional Derivative
D~u f (x, y) = f (x, y) ~u

where ~u = ha, bi is a unit vector.

11.12

Maximizing the Directional Derivative

The maximum value of the directional derivative D~u f (x) is |f (x)| and it occurs when ~u
has the same direction as the gradient vector f (x).

11.13

Second Derivative Test

Let D = fxx (a, b)fyy (a, b) (fxy (a, b))2 .

1. If D > 0 and fxx (a, b) > 0 then f (a, b) is a local minimum.
2. If D > 0 and fxx (a, b) < 0 then f (a, b) is a local maximum.
3. If D < 0 and fxx (a, b) > 0 then f (a, b) is a not a local maximum or minimum, but
could be a saddle point.

11.14

Method of Lagrange Multipliers

To find the maximum and minimum values of f (x, y, z) subject to the constraint g(x, y, z) =
k:
1. Find all values of x, y, z and such that
f (x, y, z) = g(x, y, z) and g(x, y, z) = k
2. Evaluate f at all of these points. The largest is the maximum value, and the smallest
is the minimum value of f subject to the constraint g.
12

12
12.1

Multiple Integrals
Volume under a Surface
ZZ
V =

f (x, y) dx dy
D

12.2

Average Value of a Function of Two Variables

favg

1
=
A(R)

ZZ
f (x, y) dx dy
R

12.3

Fubinis Theorem
Z bZ

ZZ

f (x, y) dA =

12.4

Splitting a Double Integral

b

Z
c

h(y) dy

g(x) dx

g(x)h(y) dA =

Double Integral in Polar Coordinates

Z bZ

ZZ

f (x, y) dA =

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

12.6

f (x, y) dx dy

ZZ

12.5

f (x, y) dy dx =
a

Surface Area
ZZ
|~ru ~rv | dA

A(S) =
D

where a smooth parametric surface S is given by ~r(u, v) = hx(u, v), y(u, v), z(u, v)i.

12.7

Surface Area of a Graph

ZZ
A(S) =

1+
D

13

z
x

2


+

z
y

2

12.8

Triple Integrals in Spherical Coordinates

d

ZZZ

f (x, y, z) dV =

13
13.1

f ( sin cos , sin sin , cos )2 sin d d d

Vector Calculus
Line Integral
Z

F~ d~r =

13.2

F~ (~r(t)) ~r 0 (t)dt

Fundamental Theorem of Line Integrals

Z
f d~r = f (~r(b)) f (~r(a))
C

13.3
R
C

Path Independence

F~ d~r is independent of path in D if and only if

R
C

F~ d~r = 0 for every closed path C in

D.

13.4

Curl
curl(F~ ) = F~

13.5

Conservative Vector Field Test

F~ is conservative if curl F~ = 0 and the domain is closed and simply connected.

13.6

Divergence
div(F~ ) = F

13.7

Greens Theorem
Z

F~ d~r =

13.8

ZZ

curl(F~ ) dx dy

Surface Integral
ZZ

ZZ
f (~r(u, v))|~ru ~rv | dA

f (x, y, z) dS =
S

14

13.9

Flux
ZZ

~=
F~ dS

ZZ

13.10

Stokes Theorem
Z

F~ d~r =

ZZ

13.11

Divergence Theorem
~=
F~ dS

ZZZ

14.1

~
curl(F~ ) dS

ZZ

14

F~ (~ru ~rv ) dA

div(F~ ) dV

Appendix A: Selected Surface Paramatrizations

Sphere of Radius
~r(u, v) = h cos u sin v, sin u sin v, cos vi

14.2

Graph of a Function f (x, y)

~r(u, v) = hu, v, f (u, v)i

14.3

Graph of a Function f (, r)
~r(u, v) = hv cos u, v sin u, f (u, v)i

14.4

Plane Containing P, ~u, and ~v

~ + s~u + t~v
~r(s, t) = OP

14.5

Surface of Revolution
~r(u, v) = hg(v) cos u, g(v) sin u, vi

where g(z) gives the distance from the z-axis.

14.6

Cylinder
~r(u, v) = hcos u, sin u, vi

15

14.7

Cone
~r(u, v) = hv cos u, v sin u, vi

14.8

Paraboloid

~r(u, v) = h v cos u, v sin u, vi

15
15.1

Appendix B: Selected Differential Equations

Heat Equation
ft = fxx

15.2

Wave Equation (Wavequation)

ftt = fxx

15.3

Transport (Advection) Equation

fx = ft

15.4

Laplace Equation
fxx = fyy

15.5

Burgers Equation
fxx = ft + f fx

16