NT of MATHEMATICS and STATISTICS

EGE OF SCIENCE AND MATHEMATICS, MSU-ILIGAN INSTITUTE OF TECHNOLOGY

A Commission on Higher Education - Center of Excellence

MODULE 1: Line Integrals

and Multiple Integrals

Department of Mathematics and Statistics

[email protected]

1st Sem. A.Y. 2020-21

DEPARTMENT
.
of MATHEMATICS and STATISTICS
COLLEGE OF SCIENCE AND MATHEMATICS, MSU-ILIGAN INSTITUTE OF TECHNOLOGY
A Commission on Higher Education - Center of Excellence
 .

DMS Department of
MATHEMATICS
and STATISTICS

 Content

LINE INTEGRALS AND MULTIPLE INTEGRALS

Line Integrals
Double Integrals in Cartesian Coordinates
Center of Mass and Moments of Inertia
Double Integrals in Polar Coordinates and Applications
Triple integrals in Cartesian Coordinates and Applications
Triple integral in Cylindrical Coordinates and Applications
Triple integral in Spherical Coordinates

Module 1: Line Integrals and Multiple Integrals DMS 1/99

 .

DMS Department of
MATHEMATICS
and STATISTICS

 Line Integrals

In this chapter, we will discuss a new type of integrals, namely, line

integrals and multiple integrals. We extend the concept of a definite
integral to double and triple integrals of functions of two or three variables
in this chapter. These concepts are then used to compute volumes, surface
areas, masses, and centroids of more general regions than we were able to
previously consider. In particular, a double integral of a positive function is
a volume, which is the limit of sums of volumes of rectangular columns.

We will find out that polar coordinates are useful in computing double
integrals over some types of regions. Similarly, we will see that the
cylindrical and spherical coordinates considerably simplify the computation
of triple integrals over certain types of solid regions.

Module 1: Line Integrals and Multiple Integrals DMS 2/99

 .

DMS Department of
MATHEMATICS
and STATISTICS

 Line Integrals
To motivate the definition of the integral of a real-valued function f
Z b
f (x) dx,
a

we use the concept of area. Here, we will use the physical concept of work
−
*
to motivate the integral of a vector-valued function F . Note that

W = F · d,

where W is the work done by the force F acting on an object and d is the
displacement. In this section, we consider a work done by a force
−
*
F (x, y) = M (x, y)ı̂ + N (x, y)̂

moving along a plane curve C.

Module 1: Line Integrals and Multiple Integrals DMS 3/99
 .

DMS Department of
MATHEMATICS
and STATISTICS

 Line Integrals

Definition 1.1
−
*
Let C : R(t) = f (t)ı̂ + g(t)̂ be a plane curve lying inside an open disk
B ⊆ R2 , where f 0 and g 0 are continuous on the closed interval [a, b] ⊆ R.
Suppose a force field on B defined by
−
*
F (x, y) = M (x, y)ı̂ + N (x, y)̂,

where M and N are continuous on B is acting on an object moving along

−
*
C. Then the work done W by F along C is given by
Z bh i
W = M (f (t), g(t)) · f 0 (t) + N (f (t), g(t)) · g 0 (t) dt.
a

Module 1: Line Integrals and Multiple Integrals DMS 4/99

 .

DMS Department of
MATHEMATICS
and STATISTICS

 Line Integrals
The integral in Definition 1.1 is called a line integral. A common notation
for this integral is Z
M (x, y) dx + N (x, y) dy.
C
Note that Z b
−
* −
*
W = F (f (t), g(t)) · R 0 (t) dt.
a

Example 1.2
Suppose an object moves along the parabola y = x2 from the point
(−1, 1) to the point (2, 4). Find the total work done if the motion is
−
*
caused by the force field F (x, y) = (x2 + y 2 )ı̂ + 3x2 y̂. Assume the arc is
measured in inches and the force is measured in pounds.

Module 1: Line Integrals and Multiple Integrals DMS 5/99

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DMS Department of
MATHEMATICS
and STATISTICS

 Line Integrals
−
*
Solution : The plane curve C : R(t) = t ı̂ + t2x ̂, for t ∈ [−1, 2]. See
Figure 1.
y
(2, 4)

(−1, 1)

Figure:
3
Module 1: Line Integrals and Multiple Integrals DMS 6/99
 .

DMS Department of
MATHEMATICS
and STATISTICS

 Line Integrals

Let M and N be continuous functions of (x, y) on an open disk B ⊆ R2 .

−
*
Let C : R(t) = f (t)ı̂ + g(t)̂ be a plane curve lying inside B such that f 0
and g 0 are continuous on [a, b]. Then the line integral of
M (x, y) dx + N (x, y) dy over C is given by
Z
M (x, y)dx + N (x, y)dy
C
Z bh i
= M (f (t), g(t)) · f 0 (t) + N (f (t), g(t)) · g 0 (t) dt
a
Z b


= hM (f (t), g(t)), N (f (t), g(t))i · f 0 (t), g 0 (t) dt.
a

Module 1: Line Integrals and Multiple Integrals DMS 7/99

 .

DMS Department of
MATHEMATICS
and STATISTICS

 Line Integrals

Example 1.3
Evaluate the line integral
Z
(x2 + xy) dx + (y 2 − xy) dy
C

over the plane curve C consisting of the line y = x from the origin to the
point (2, 2).

Module 1: Line Integrals and Multiple Integrals DMS 8/99

 .

x DMS Department of
MATHEMATICS
and STATISTICS

 Line Integrals x = 2y + 1

Solution : The plane curve C is shown in Figure 2 and is given by

−
*
R(t) = t ı̂ + t ̂,
(−3, −2)
for t ∈ [0, 2].
y
(2, 2)

Figure:
y
Module 1: Line Integrals and Multiple Integrals
(2, 4) DMS 9/99
 .

DMS Department of
MATHEMATICS
and STATISTICS

 Line Integrals
−
*
Then R 0 (t) = ı̂ + ̂ and
Z
(x2 + xy) dx + (y 2 − xy) dy
C
Z Z 2
2
2 2 2 2
2
2

2 3 16
= [(t + t ) · 1 + (t − t ) · 1] dt = 2t dt = 3t  = .
0 0 0 3

Definition 1.4
−
*
We say that a curve C : R(t) = f (t)ı̂ + g(t)̂ for t ∈ [a, b] is smooth if f 0 and g 0
are continuous on [a, b]. If a plane curve C is consists of finite number of smooth
curves, then we say that C is sectionally smooth.

If a plane curve C consisting of n smooth curves C1 , C2 , C3 , . . ., Cn is

sectionally smooth, then we write
C = C1 + C2 + C3 + · · · + Cn .

Module 1: Line Integrals and Multiple Integrals DMS 10/99

 .

DMS Department of
MATHEMATICS
and STATISTICS

 Line Integrals

Example 1.5
Let C be the curve consisting of the line segment from (−3, −2) to (1, 0)
and the first quadrant arc of the circle x2 + y 2 = 1 from (1, 0) to (0, 1).
Show that C is sectionally smooth.

Solution : Let C1 be the line segment from (−3, −2) to (1, 0) and C2 be
the arc in the first quadrant of the circle x2 + y 2 = 1 from (1, 0) to (0, 1).
An equation of the line through (−3, −2) to (1, 0) is given by x = 2y + 1.
Hence, we have
−
*
C1 : R(t) = (2t + 1) ı̂ + t ̂, t ∈ [−2, 0] and
−
* p
C2 : R(t) = t ı̂ + 1 − t2 ̂, t ∈ [0, 1].
A sketch of the curve C is shown in Figure 3.
Module 1: Line Integrals and Multiple Integrals DMS 11/99
 .

DMS Department of
MATHEMATICS
and STATISTICS

 Line Integrals
y

x2 + y 2 = 1

x = 2y + 1

(−3, −2)

y
Figure: (2, 2)

We see that C = C1 + C2 and both C1 and C2 are smooth curves.

Therefore, C is sectionally smooth.
Module 1: Line Integrals and Multiple Integrals DMS 12/99
 .

DMS Department of
MATHEMATICS
and STATISTICS

 Line Integrals
Theorem 1.6
If the curve C consisting of curves C1 , C2 , . . ., Cn is sectionally smooth, then the
line integral of M (x, y) dx + N (x, y) dy over C is defined by
Z n Z
X 
M (x, y)dx + N (x, y)dy = M (x, y)dx + N (x, y)dy .
C k=1 Ck

Example 1.7
Evaluate the line integral over the given curve:
Z
(x2 y) dx + (x + y) dy,
C

where C consist of the line segment from the origin to (0, −1) and then the line
y = −1 from (0, −1) to (1, −1).
Module 1: Line Integrals and Multiple Integrals DMS 13/99
 .

x DMS Department of
MATHEMATICS
and STATISTICS

 Line Integrals
Solution : Let C = C1 + C2 , where C1 is the line segment from the origin to
(0, −1) and C2 is the line segment from (0, −1) to (1, −1). A sketch of the curve
C is shown in Figure 4.
y

(1, −1)

Figure:

Then
−
* −
*
C1 : R(t) = −t ̂, t ∈ [0, 1] and C2 : R(t) = t ı̂ − ̂, t ∈ [0, 1].
2
Module 1: Line Integrals and Multiple Integrals DMS 14/99
 .

DMS Department of
MATHEMATICS
and STATISTICS

 Line Integrals
Thus,
−0
* −
*
R (t) = −̂, and R 0 (t) = ı̂.
Hence,
Z Z
(x2 y) dx + (x + y) dy = (x2 y) dx + (x + y) dy
C C1
Z
+ (x2 y) dx + (x + y) dy
C2
Z 1n o
= [02 (−t)] · 0 + (0 − t) · (−1) dt
0
Z 1n o
+ [t2 (−1)] · 1 + (t − 1) · 0 dt
0
Z 1 Z 1 1
2 1 2

1 3 1 1 1
= t dt − t dt = 2 t − 3 t  = − =
0 0 0 2 3 6
Module 1: Line Integrals and Multiple Integrals DMS 15/99
 .

DMS Department of
MATHEMATICS
and STATISTICS

 Line Integrals
We now extend the concept of line integrals to three dimensions.

Let M , N and R be continuous functions of (x, y, z) on an open ball B ⊆ R3 .

−
*
Let C : R(t) = f (t)ı̂ + g(t)̂ + h(t)k̂ be a plane curve lying inside B such that
f 0 , g 0 and h0 are continuous on [a, b]. Then the line integral of
M (x, y, z) dx + N (x, y, z) dy + R(x, y, z) dz
over C is given by
Z
M (x, y, z)dx + N (x, y, z)dy + R(x, y, z) dz
C
Z b h
= M (f (t), g(t), h(t)) · f 0 (t)
a
+ N (f (t), g(t), h(t)) · g 0 (t)
i
+ R(f (t), g(t), h(t)) · h0 (t) dt.

Module 1: Line Integrals and Multiple Integrals DMS 16/99

 .

DMS Department of
MATHEMATICS
and STATISTICS

 Line Integrals

Theorem 1.8
If the curve C consisting of curves C1 , C2 , . . ., Cn is sectionally smooth,
then the line integral of

M (x, y, z) dx + N (x, y, z) dy + R(x, y, z) dz

over C is defined by
Z
M (x, y, z)dx + N (x, y, z)dy + R(x, y, z)dz
C
n Z !
X
= M (x, y, z)dx + N (x, y, z)dy + R(x, y, z)dz
k=1 Ck

Module 1: Line Integrals and Multiple Integrals DMS 17/99

 .

DMS Department of
MATHEMATICS
and STATISTICS

 Line Integrals

Example 1.9
In each of the following, evaluate the line integral over the given curve:
Z
1 (x + y) dx + (y + z) dy + (x + z) dz
C
C: the line segment from the origin to the point (1, 2, 4)
Z
2 (2xy) dx + (6y 2 − xz) dy + (10z) dz
C
C: the line segment from the origin to the point (0, 0, 1); then the
line segment from (0, 0, 1) to (0, 1, 1); then the line segment from
(0, 1, 1) to (1, 1, 1)

Module 1: Line Integrals and Multiple Integrals DMS 18/99

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DMSDepartment of
MATHEMATICS
and STATISTICS

 Line Integrals
Solution :
1 The curve C is given by
y−2 z−4
x−1= = ,
2 4
−
*
that is, C : R(t) = (t + 1)ı̂ + (2t + 2)̂ + (4t + 4)k̂, t ∈ [−1, 0]. Thus,
−
*0
R (t) = ı̂ + 2̂ + 4k̂. Hence,
Z Z 0n
(x + y) dx + (y + z) dy + (x + z) dz = [(t + 1) + (2t + 2)] · 1
C −1
o
+ [(2t + 2) + (4t + 4)] · 2 + [(t + 1) + (4t + 4)] · 4 dt
Z 0h i
= (3t + 3) + [(12t + 12) + (20t + 20) dt
−1
Z 0
0  35 35
= (35t + 35)dt = 35 2
2 t + 35t = − + 35 =
−1 −1 2 2
Module 1: Line Integrals and Multiple Integrals DMS 19/99
 .

DMS Department of
MATHEMATICS
and STATISTICS

 Line Integrals
2 Let C1 be the line segment from the origin to the point (0, 0, 1), C2 be the
line segment from (0, 0, 1) to (0, 1, 1), and C3 be the line segment from
(0, 1, 1) to (1, 1, 1). Then
−
*
C1 : R 1 (t) = tk̂, t ∈ [0, 1];
−
*
C2 : R 2 (t) = t̂ + k̂, t ∈ [0, 1];
−
*
C3 : R 3 (t) = t ı̂ + ̂ + k̂, t ∈ [0, 1].
−
* −
* −
*
Hence, R 01 (t) = k̂, R 02 (t) = ̂, R 03 (t) = ı̂. Thus,
Z Z 1 n
(2xy) dx + (6y 2 − xz) dy + (10z) dz = (2 · 0 · 0) · 0
C1 0
o Z 1
1  2
+ (6 · 02 − 0 · t) · 0 + (10 · t) · 1 dt = 10t dt = 5t  = 5;
0 0

Module 1: Line Integrals and Multiple Integrals DMS 20/99

 .

DMS Department of
MATHEMATICS
and STATISTICS

 Line Integrals

Z
(2xy) dx + (6y 2 − xz) dy + (10z) dz
C2
Z n o Z 1
1
2
1
2
3
= (2 · 0 · t) · 0 + (6 · t − 0 · 1) · 1 + (10 · 1) · 0 dt = 6t dt = 2t  = 2;
0 0 0

and
Z
(2xy) dx + (6y 2 − xz) dy + (10z) dz
C3
Z n o Z 1
1 1 
= (2 · t · 1) · 1 + (6 · 12 − t · 1) · 0 + (10 · 1) · 0 dt = 2t dt = t2  = 1.
0 0 0

Module 1: Line Integrals and Multiple Integrals DMS 21/99

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DMS Department of
MATHEMATICS
and STATISTICS

 Line Integrals

Therefore,
Z
(2xy) dx + (6y 2 − xz) dy + (10z) dz
C
3 Z
X
= (2xy) dx + (6y 2 − xz) dy + (10z) dz
k=1 Ck

= 5 + 2 + 1 = 8.

Module 1: Line Integrals and Multiple Integrals DMS 22/99

 .

DMS Department of
MATHEMATICS
and STATISTICS

 Double Integrals in Cartesian Coordinates

In the single integral, we let f be a bounded real-valued function on [a, b]
and take any partition ∆ of [a, b],
Z b n
X
f (x) dx = lim f (ξi )∆i x .
a k∆k→0
i=1

Let f be a bounded real-valued function defined on a closed region R in

R2 .
Definition 2.1
A partition ∆ of R is formed by drawing a lines parallel to the coordinate
axis and obtain a network of rectangular subregions that cover R. The
norm of ∆, denoted by k∆k, is determined by the length of the longest
diagonal of a rectangular subregion of the partition.

Module 1: Line Integrals and Multiple Integrals DMS 23/99

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DMS Department of
MATHEMATICS
and STATISTICS

 Double Integrals in Cartesian Coordinates

Then we let ∆i A be the area of the rectangular subregion with length ∆i x
and width ∆i y; i.e. ∆i A = ∆i x ∆i y. We take a point (ξi , γi ) on the ith
rectangular subregion and formed the product

f (ξi , γi ) ∆i A = f (ξi , γi ) ∆i x ∆i y .

If there are n rectangular subregions, we have the sum

n
X n
X
f (ξi , γi ) ∆i A = f (ξi , γi ) ∆i x ∆i y .
i=1 i=1

Taking the limit of this sum as the norm k∆k approaches 0,

n
X n
X
lim f (ξi , γi ) ∆i A = lim f (ξi , γi ) ∆i x ∆i y .
k∆k→0 k∆k→0
i=1 i=1

Module 1: Line Integrals and Multiple Integrals DMS 24/99

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DMSDepartment of
MATHEMATICS
and STATISTICS

 Double Integrals in Cartesian Coordinates

In formal definition:
Definition 2.2
Let f be a function of the variables x and y defined on a closed
rectangular region R. The number L is said to be the double integral of f
over R if for any  > 0 there exists a δ > 0 such that for every partition ∆
for which k∆k < δ and for all possible selections of the point (ξi , γi ) in the
ith rectangle, i = 1, 2, . . . , n,
 
X n 
 
 f (ξi , γi )∆i A − L <  .
 
i=1

Module 1: Line Integrals and Multiple Integrals DMS 25/99

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DMS Department of
MATHEMATICS
and STATISTICS

 Double Integrals in Cartesian Coordinates

Definition 2.3
Let f be a function of the variables x and y defined on a closed region
R ⊆ R2 . We define the double integral of f over R by
ZZ n
X
f (x, y) dA = lim f (ξi , γi )∆i A,
k∆k→0
R i=1

provided the limit exists and the same for every choice of points (ξi , γi ) in
Ri , for each i = 1, 2, . . . , n.

Module 1: Line Integrals and Multiple Integrals DMS 26/99

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DMS Department of
MATHEMATICS
and STATISTICS

 Double Integrals in Cartesian Coordinates

Theorem 2.4
Let [a, b] be the closed interval, φ1 and φ2 be continuous functions on
[a, b] such that φ1 (x) ≤ φ2 (x) for all x ∈ [a, b]. If R is the closed region
given by

R = {(x, y) : a ≤ x ≤ b and φ1 (x) ≤ y ≤ φ2 (x)},

then ZZ Z bZ φ2 (x)
f (x, y) dA = f (x, y) dy dx.
a φ1 (x)
R

Module 1: Line Integrals and Multiple Integrals DMS 27/99

 .

DMS Department of
MATHEMATICS
and STATISTICS

 Double Integrals in Cartesian Coordinates

Theorem 2.5
Let [c, d] be the closed interval, γ1 and γ2 be continuous functions on [c, d]
such that γ1 (y) ≤ γ2 (y) for all y ∈ [c, d]. If R is the closed region given by

R = {(x, y) : c ≤ y ≤ d and γ1 (y) ≤ x ≤ γ2 (y)},

then ZZ Z d Z γ2 (y)
f (x, y) dA = f (x, y) dx dy.
c γ1 (y)
R

Module 1: Line Integrals and Multiple Integrals DMS 28/99

 .

DMS Department of
MATHEMATICS
and STATISTICS

 Double Integrals in Cartesian Coordinates

Theorem 2.6
Let k be a constant real number. If f is integrable on a closed region R,
then kf is also integrable on R and
ZZ ZZ
kf (x, y) dA = k f (x, y) dA.
R R

Theorem 2.7
If f and g are integrable on a closed region R, then f + g is also integrable
on R and
ZZ h i ZZ ZZ
f (x, y) + g(x, y) dA = f (x, y) dA + g(x, y) dA.
R R R

Module 1: Line Integrals and Multiple Integrals DMS 29/99

 .

DMS Department of
MATHEMATICS
and STATISTICS

 Double Integrals in Cartesian Coordinates

Theorem 2.8
If f is integrable on a closed region R such that R = R1 ∪ R2 ; the interiors of R1
and R2 are disjoint; and R1 and R2 are closed regions, then f is both integrable
on R1 and R2 and
ZZ ZZ ZZ
f (x, y) dA = f (x, y) dA + f (x, y) dA.
R R1 R2

Theorem 2.9
If f and g are integrable on a closed region R and f (x, y) ≤ g(x, y) for all
(x, y) ∈ R, then
ZZ ZZ
f (x, y) dA ≤ g(x, y) dA.
R R

Module 1: Line Integrals and Multiple Integrals DMS 30/99

 .

DMS Department of
MATHEMATICS
and STATISTICS

 Double Integrals in Cartesian Coordinates

Example 2.10
Evaluate the following iterated integral:
Z 1Z 1
xy(2y + 1) dy dx.
0 0

Solution :
Z 1Z 1 Z 1Z 1
xy(2y + 1) dy dx = (2xy 2 + xy) dy dx
0 0 0 0
Z 1 1 Z 1  Z 1
2 3 1 2  2 1
= 3 xy + 2 xy  dx = 3 x + 2 x dx = x dx
0 0 0 0
1 1

= 21 x2  =
0 2
Module 1: Line Integrals and Multiple Integrals DMS 31/99
 .

DMS Department of
MATHEMATICS
and STATISTICS

 Double Integrals in Cartesian Coordinates

Example 2.11
Evaluate the following iterated integral:
Z 1Z 1
|x − y| dx dy.
0 0

Solution : Note that 0 ≤ x ≤ 1 and 0 ≤ y ≤ 1. Then

Z 1 Z y Z 1
|x − y| dx = |x − y| dx + |x − y| dx.
0 0 y

Module 1: Line Integrals and Multiple Integrals DMS 32/99

 .

DMS Department of
MATHEMATICS
and STATISTICS

 Double Integrals in Cartesian Coordinates

Z y
1 For the integral |x − y| dx, we have 0 ≤ x ≤ y. Hence,
0
|x − y| = y − x and so
Z y Z y  y
1 2 
|x − y| dx = (y − x) dx = xy − 2 x 
0 0 0
2 1 2 1 2
=y − 2y = 2y .
Z 1
2 For the integral |x − y| dx, we have y ≤ x ≤ 1. Hence,
y
|x − y| = x − y and so
Z 1 Z 1  1
|x − y| dx = (x − y) dx = 2 x − xy 
1 2
y y y
1 1 2 2 1 1 2
= 2 −y− 2y +y = 2 −y+ 2y .

Module 1: Line Integrals and Multiple Integrals DMS 33/99

 .

DMS Department of
MATHEMATICS
and STATISTICS

 Double Integrals in Cartesian Coordinates

Thus,
Z 1 Z y Z 1
|x − y| dx = |x − y| dx + |x − y| dx
0 0 y
= 12 y 2 + 1
2 −y+ 1 2
2 y = 1
2 − y + y2.

Therefore,
Z 1Z 1 Z  1Z 1
|x − y| dx dy = |x − y| dx dy
0 0 0 0
Z 1  1
1 2 1 1 2

1 3 1 1 1 1
= 2 − y + y dy = 2 y − 2 y + 3 y  = 2 − 2 + 3 = 3 .
0 0

Module 1: Line Integrals and Multiple Integrals DMS 34/99

 .

DMS Department of
MATHEMATICS
and STATISTICS

 Double Integrals in Cartesian Coordinates

Example 2.12
Evaluate the double integral
ZZ
cos(x + y) dA,
R

where R is the region bounded by the lines y = x and x = π, and the

x-axis.
Solution : The region R is shown in Figure 5.

Module 1: Line Integrals and Multiple Integrals DMS 35/99

 .

DMS Department of
MATHEMATICS
and STATISTICS

 Double Integrals in Cartesian Coordinates

y
(π, π)

y=x
x=π
R

Figure:

Then
Module 1: Line Integrals and Multiple Integrals DMS 36/99
 .

DMS Department of
MATHEMATICS
and STATISTICS

 Double Integrals in Cartesian Coordinates

Example 2.13
Evaluate the double integral
ZZ p
x2 4 − y 2 dA,
R

where R is the region bounded by the circle x2 + y 2 = 4.

Module 1: Line Integrals and Multiple Integrals DMS 37/99

 .

DMS Department of
MATHEMATICS
and STATISTICS

 Double Integrals in Cartesian Coordinates

Example 2.14
Evaluate the double integral
ZZ
y2
dA,
x2
R

where R is the region bounded by the lines y = x and y = 2 and the

hyperbola xy = 1.

Module 1: Line Integrals and Multiple Integrals DMS 38/99

 .

DMS Department of
MATHEMATICS
and STATISTICS

 Double Integrals in Cartesian Coordinates

Example 2.15
In the following iterated integrals, draw the region of integration and
reverse the order of integration to evaluate the integral.
Z 4Z 2
(a)
√
sin πy 3 dy dx
0 x
Z 1Z 1
2
(b) ex dx dy
0 y

Module 1: Line Integrals and Multiple Integrals DMS 39/99

 .

DMS Department of
MATHEMATICS
and STATISTICS

 Center of Mass and Moments of Inertia

Recall: Systems of Units

System Length Force Mass Acceleration

British feet(ft) pound(lb) slug ft/sec2
SI meter(m) Newton(N) kilogram(kg) m/sec2
CGS centimeter(cm) dyne gram(g) cm/sec2

Module 1: Line Integrals and Multiple Integrals DMS 40/99

 .

DMS Department of
MATHEMATICS
and STATISTICS

 Center of Mass and Moments of Inertia

1 Discrete: Horizontal rod with negligible weight and thickness

n particles located at xi (i = 1, 2, . . . , n) from the origin and its mass
is mi kgs
mi xi is the moment of mass of the ith particle with respect to the
Xm
origin and M0 = mi xi is the moment of the system with respect to
i=1
the origin
a point x, called the center of mass, is a point on the rod that makes
the system balanced; that is, xM = M0 or
M0
x=
M

Module 1: Line Integrals and Multiple Integrals DMS 41/99

 .

DMS Department of
MATHEMATICS
and STATISTICS

 Center of Mass and Moments of Inertia

2 Homogeneous: rigid horizontal rod having a continuously distributed

mass
mass is directly proportional to its length; that is, m = kx
the constant k is called the linear density of the rod
3 Non-homogeneous: linear density varies along the rod
A rod of length L meters has its left endpoint at the origin. If ρ(x)
kg/m is the linear density at a point x meters from the origin, where
ρ is continuous on [0, L], then the total mass of the rod is M
kilograms, where Z L
M= ρ(x) dx.
0

Module 1: Line Integrals and Multiple Integrals DMS 42/99

 .

DMS Department of
MATHEMATICS
and STATISTICS

 Center of Mass and Moments of Inertia

Definition 3.1
A rod of length L meters has its left endpoint at the origin and ρ(x) kg/m
is the linear density at a point x meters from the origin, where ρ is
continuous on [0, L]. The moment of mass of the rod with respect to the
origin is M0 kilograms-meters, where
Z L
M0 = xρ(x) dx.
0

The center of mass of the rod is the point x, where

M0
x= .
M

Module 1: Line Integrals and Multiple Integrals DMS 43/99

 .

DMS Department of
MATHEMATICS
and STATISTICS

 Center of Mass and Moments of Inertia

Example 3.2
The length of a rod is 20 cm and the linear density of the rod at a point x
centimeters from one end is 3x + 2 g/cm. Find the center of mass of the
rod.

Example 3.3
The measure of the linear density at a point of a rod varies directly as the
third power of the measure of the distance of the point from one end. The
length of the rod is 4 ft and the linear density is 2 slugs/ft at the center.
Find the center of mass of the rod.

Module 1: Line Integrals and Multiple Integrals DMS 44/99

 .

DMS Department of
MATHEMATICS
and STATISTICS

 Center of Mass and Moments of Inertia

Example 3.4
The linear density of a rod varies directly as the distance from a point in
the rod to an external point in the line of the rod and 32 m from the right
end which has linear density equal to 5 kg/m. Find the center of mass of
the rod if it is 5 m long.

Suppose that a flat plate (called a lamina) with constant mass density
(mass per unit area) ρ is in the shape of a region R bounded by the curve
y = f (x), the x axis, and the lines x = a and x = b. Suppose also that
the function f is continuous on [a, b] and f (x) ≥ 0 for all x ∈ [a, b]. Then
we have the following definitions:

Module 1: Line Integrals and Multiple Integrals DMS 45/99

 .

DMS Department of
MATHEMATICS
and STATISTICS

 Center of Mass and Moments of Inertia

Definition 3.5
If Mx is the moment of R with respect to the x-axis and My is the
moment of R with respect to the y-axis, then
Z b Z b
1 2
Mx = 2ρ [f (x)] dx and My = ρ xf (x) dx.
a a

The mass M of the lamina is the product of its area density and its area,
that is, Z b
M = ρA = ρ f (x) dx.
a
If (x, y) is the centroid of the plane region R, then

My Mx
x= and y = .
M M
Module 1: Line Integrals and Multiple Integrals DMS 46/99
 .

DMS Department of
MATHEMATICS
and STATISTICS

 Center of Mass and Moments of Inertia

Note that
Z b Z b Z b
ρ xf (x) dx xf (x) dx xf (x) dx
My a
x= = Z b
= Za b
= a
M A
ρ f (x) dx f (x) dx
a a
Z b Z b Z b
2 2
1
2ρ [f (x)] dx 1
2 [f (x)] dx 1
2 [f (x)]2 dx
Mx a a a
y= = Z b
= Z b
= .
M A
ρ f (x) dx f (x) dx
a a
Notice the cancellation of ρ. Hence, for a lamina with constant mass
density we may write
My Mx
x= and y =
A A
where Z Integrals
Module 1: Line Integrals and Multiple Z DMS 47/99
 .

DMS Department of
MATHEMATICS
and STATISTICS

 Center of Mass and Moments of Inertia

Theorem 3.6
If a line is an axis of symmetry of the plane region R, the centroid of R
lies on that line.
If the lamina, with constant mass density (mass per unit area) ρ, is in the
shape of a region R bounded by the curves y = f (x), y = g(x), and the
lines x = a and x = b. Suppose also that the functions y = f (x) and
y = g(x) are continuous functions on [a, b] and f (x) ≥ g(x) for all
x ∈ [a, b]. Then we have the following:

Module 1: Line Integrals and Multiple Integrals DMS 48/99

 .

DMSDepartment of
MATHEMATICS
and STATISTICS

 Center of Mass and Moments of Inertia

Definition 3.7
If Mx is the moment of R with respect to the x-axis and My is the
moment of R with respect to the y-axis, then
Z b Z b
1 2 2
Mx = 2ρ [f (x) − g (x)] dx and My = ρ x[f (x) − g(x)] dx.
a a

The mass M of the lamina is the product of its area density and its area,
that is, Z b
M = ρA = ρ [f (x) − g(x)] dx.
a
If (x, y) is the centroid of the plane region R, then

My Mx
x= and y = .
M M
Module 1: Line Integrals and Multiple Integrals DMS 49/99
 .

DMS Department of
MATHEMATICS
and STATISTICS

 Center of Mass and Moments of Inertia

Remark 3.8
For a lamina with constant mass density, we have
My Mx
x= and y = ,
A A
where
Z b Z b
Mx = 1
2 [f 2 (x) − g 2 (x)] dx, My = x[f (x) − g(x)] dx, and
a a
Z b
A= [f (x) − g(x)] dx.
a

Module 1: Line Integrals and Multiple Integrals DMS 50/99

 .

DMS Department of
MATHEMATICS
and STATISTICS

 Center of Mass and Moments of Inertia

If the lamina, with constant mass density (mass per unit area) ρ, is in the
shape of a region R bounded by the curves

x = p(y), x = q(y), and the lines y = c and y = d.

Suppose also that the functions x = p(y) and x = q(y) be continuous

functions on [c, d] and

p(y) ≥ q(y) for all y ∈ [c, d].

Then we have the following:

Module 1: Line Integrals and Multiple Integrals DMS 51/99

 .

DMS Department of
MATHEMATICS
and STATISTICS

 Center of Mass and Moments of Inertia

Definition 3.9
If Mx is the moment of R with respect to the x-axis and My is the
moment of R with respect to the y-axis, then
Z d Z d
Mx = ρ y[p(y) − q(y)] dy and My = 1
2ρ [p2 (y) − q 2 (y)] dy.
c c

The mass M of the lamina is the product of its area density and its area,
that is, Z d
M = ρA = ρ [p(y) − q(y)] dy.
c
If (x, y) is the centroid of the plane region R, then

My Mx
x= and y = .
M M
Module 1: Line Integrals and Multiple Integrals DMS 52/99
 .

DMS Department of
MATHEMATICS
and STATISTICS

 Center of Mass and Moments of Inertia

Remark 3.10
Similarly, for a lamina with constant mass density, we have
My Mx
x= and y = ,
A A
where
Z d Z d
Mx = y[p(y) − q(y)] dy, My = 1
2 [p2 (y) − q 2 (y)] dy, and
c c
Z d
A= [p(y) − q(y)] dy.
c

Module 1: Line Integrals and Multiple Integrals DMS 53/99

 .

DMS Department of
MATHEMATICS
and STATISTICS

 Center of Mass and Moments of Inertia

Example 3.11
Draw a sketch of the graph and find the centroid of the region bounded
above by the parabola 4x2 = 36 − 9y and below by the x-axis.

Example 3.12
A region R is bounded by the parabola y = x2 and the line y = 4. Find
the area and the centroid of region R.

Module 1: Line Integrals and Multiple Integrals DMS 54/99

 .

DMS Department of
MATHEMATICS
and STATISTICS

 Center of Mass and Moments of Inertia

Example 3.13
Find the centroid of the following region R:
1 R is bounded by the curves y = x2 + 2 and y = x where 0 ≤ x ≤ 1
2 R is bounded by the curve y = x2 and the lines y = 1 and x = 2
3 R is bounded by the parabola y = x2 − 2x and the x-axis
4 R is bounded by the curves y − 1 = 0 and y + x2 = 2
5 R is bounded by the graphs of the curves y = x2 and y = x
6 R is bounded by the graphs of the curves y + 1 = 0 and y + x2 = 3.
7 R is bounded by y = x3 and y 2 = x.

Module 1: Line Integrals and Multiple Integrals DMS 55/99

 .

DMS Department of
MATHEMATICS
and STATISTICS

 Center of Mass and Moments of Inertia

Example 3.14
Let R be the region below the curve y = 4 − x2 , to the left of y = 3x and
above the x-axis. Find the centroid of the region R.

Example 3.15
Find the centroid of the region bounded by 2x − y + 3 = 0,
x + 2y − 6 = 0, and y = |x|.

Example 3.16
A region is bounded by the curve y = x2 and y = x + 2. Find the centroid
of the region on the first quadrant.

Module 1: Line Integrals and Multiple Integrals DMS 56/99

 .

DMS Department of
MATHEMATICS
and STATISTICS

 Center of Mass and Moments of Inertia

Now, consider a lamina in the shape of a plane region R whose mass

density varies throughout the plate (i.e., some areas of the plate are more
dense than others). Let ρ(x, y) be the mass density function of R. Then
the mass (M ) is given by
ZZ
M= ρ(x, y) dA.
R

Module 1: Line Integrals and Multiple Integrals DMS 57/99

 .

DMS Department of
MATHEMATICS
and STATISTICS

 Center of Mass and Moments of Inertia

The moment of R with respect to the y-axis My is given by
ZZ
My = x · ρ(x, y) dA
R

and the moment of R with respect to the x-axis Mx is given by

ZZ
Mx = y · ρ(x, y) dA.
R

The center of mass is the point (x, y) defined by

My Mx
x= and y= .
M M

Module 1: Line Integrals and Multiple Integrals DMS 58/99

 .

DMS Department of
MATHEMATICS
and STATISTICS

 Center of Mass and Moments of Inertia

Example 3.17
Find the center of mass of the lamina in the shape of the region bounded
by the graphs of y = x2 and y = 4, having mass density given by
ρ(x, y) = 1 + 2y + 6x2 .

Example 3.18
Find the mass and center of mass of the lamina with the given density:
1 bounded by y = x3 and y = x2 , ρ(x, y) = 4
2 bounded by y = x4 and y = x2 , ρ(x, y) = 4
3 bounded by x = y 2 and x = 1, ρ(x, y) = y 2 + x + 1
4 bounded by x = y 2 and x = 4, ρ(x, y) = y + 3
5 bounded by y = x2 (x > 0) and y = 4, and x = 0, ρ(x, y) = distance
from y-axis
Module 1: Line Integrals and Multiple Integrals DMS 59/99
 .

DMS Department of
MATHEMATICS
and STATISTICS

 Double Integrals in Polar Coordinates and Applications

We recall the area A(CS) of a circular sector of radius r which is given by

A(CS) = 12 θr2 ,

where θ is the radian measure of the central angle of the circular sector.
Now, consider the region R bounded by the circles r = r1 and r = r2 , and
by the rays θ = α and θ = β.
Let ∆ be the partition of R obtained by drawing rays through the origin
and concentric circles centered at the pole. See Figure 6.

Module 1: Line Integrals and Multiple Integrals DMS 60/99

 .

where θ is the radian measure of the central angle of the circular sector. DMS Department of

Now, consider the region R bounded by the circles r = r1 and r = r2 , and MATHEMATICS
and STATISTICS

by the rays θ = α and θ = β. Let ∆ be the partition of R obtained by 1

 Double Integrals
drawing rays in origin
through the PolarandCoordinates
concentric circlesand Applications
centered at the pole.
See Figure 4.2.
y
β

θi

θi−1
(ri , θi )

x
r1 r2
Figure 4.2:
Figure:
The
Module 1: Line Integrals and area
MultipleofIntegrals
the subregion ∆i A bounded by the rays θ DMS
= θi−1 and 61/99
 .

DMS Department of
MATHEMATICS
and STATISTICS

 Double Integrals in Polar Coordinates and Applications

The area of the subregion ∆i A bounded by the rays θ = θi−1 and θ = θi
and the circles r = ri−1 and r = ri is
1 1 1 h i
∆i A = (θi − θi−1 )ri2 − (θi − θi−1 )ri−1
2
= (θi − θi−1 ) ri2 − ri−1
2
2 2 2
1
∆i A = (θi − θi−1 )(ri − ri−1 )(ri + ri−1 ).
2
Let ri = 21 (ri + ri−1 ) and ∆i r = ri − ri−1 and ∆i θ = θi − θi−1 . Then
∆i A = ri ∆i r ∆i θ. Take the point (ri , θi ) in the ith subregion of R,
where θi−1 ≤ θi ≤ θi and the product f (ri , θi ) ∆i A. If there are n
subregions of R, the we have the sum
n
X n
X
f (ri , θi ) ∆i A = f (ri , θi )ri ∆i r ∆i θ .
i=1 i=1

Module 1: Line Integrals and Multiple Integrals DMS 62/99

 .

DMS Department of
MATHEMATICS
and STATISTICS

 Double Integrals in Polar Coordinates and Applications

Taking the limit of this sum as the norm k∆k of ∆ approaches 0, we have
n
X n
X
lim f (ri , θi ) ∆i A = lim f (ri , θi )ri ∆i r ∆i θ .
k∆k→0 k∆k→0
i=1 i=1
If this limit exists, then we write
ZZ n
X
rf (r, θ) dr dθ = lim f (ri , θi )ri ∆i r ∆i θ. (1)
k∆k→0
R i=1

If R is the region bounded by r = φ1 (θ), r = φ2 (θ), θ = α and θ = β,

where φ1 (θ) and φ2 (θ) are functions such that φ1 (θ) ≤ φ2 (θ) and
α ≤ β(see Figure 7), then we can write the double integral above by
ZZ Z β Z φ2 (θ)
rf (r, θ) dr dθ = rf (r, θ) dr dθ. (2)
α φ1 (θ)
R

Module 1: Line Integrals and Multiple Integrals DMS 63/99

 α ≤ β(see Figure 4.3), then we can write the double integral above by .

DMS Department of
ZZ Z β Z φ2 (θ)
MATHEMATICS
and STATISTICS

rf (r, θ) dr dθ = rf (r, θ) dr dθ. (4.5) 1

 Double Integrals
R in Polar Coordinates and Applicationsα φ1 (θ)

y
β

θi

θi−1
r1 (ri , θi )

α
r2
x
Figure 4.3:
Figure:
If R is the region bounded by θ = ψ1 (r), θ = ψ2 (r), r = a and
Module 1: Line Integrals and Multiple Integrals DMS 64/99
 .

DMS Department of
MATHEMATICS
and STATISTICS

 Double Integrals in Polar Coordinates and Applications

If R is the region bounded by θ = ψ1 (r), θ = ψ2 (r), r = a and r = b,

where ψ1 (r) and ψ2 (r) are functions such that ψ1 (r) ≤ ψ2 (r) and
a ≤ b(see Figure 8), then we can write the double integral by
ZZ Z bZ ψ2 (r)
rf (r, θ) dθ dr = rf (r, θ) dθ dr. (3)
a ψ1 (r)
R

Module 1: Line Integrals and Multiple Integrals DMS 65/99

 .

DMS Department of
MATHEMATICS
and STATISTICS

 Double Integrals in Polar Coordinates and Applications

84 CHAPTER 4. MULTIPLE INTEGRAL

ψ2 θi

θi−1
(ri , θi )

ψ1
x
a b
Figure:
Figure 4.4:
Module 1: Line Integrals and Multiple Integrals DMS 66/99
 .

DMS Department of
MATHEMATICS
and STATISTICS

 Double Integrals in Polar Coordinates and Applications

Example 4.1
Let R be the region bounded by the circles x2 + y 2 = 4 and x2 + y 2 = 16.
Draw the region R and evaluate the double integral
ZZ
2 2
ex +y dA
R

using polar coordinates.

Module 1: Line Integrals and Multiple Integrals DMS 67/99

 .

DMS Department of
MATHEMATICS
and STATISTICS

 Double Integrals in Polar Coordinates and Applications

Example 4.2
Let R be the region in the first quadrant bounded by the circle
x2 + y 2 = 4. Draw the region R and evaluate the double integral
ZZ
y
p dA
x2 + y 2
R

using polar coordinates.

Module 1: Line Integrals and Multiple Integrals DMS 68/99

 .

DMS Department of
MATHEMATICS
and STATISTICS

 Double Integrals in Polar Coordinates and Applications

Example 4.3
Find the volume of the solid bounded by the paraboloid z = 4 − r2 , the
cylinder r = 1 and the polar plane.

Example 4.4
Find the volume of the solid bounded by the paraboloid z = r2 and below
the plane z = 2r sin θ.

Module 1: Line Integrals and Multiple Integrals DMS 69/99

 .

DMS Department of
MATHEMATICS
and STATISTICS

 Double Integrals in Polar Coordinates and Applications

We will now consider the area of a portion of a surface.

Theorem 4.5
Let f , fx and fy be continuous on the closed region R in the xy-plane.
The area σ of the surface z = f (x, y) that lies over R, is given by
ZZ q
σ= fx2 (x, y) + fy2 (x, y) + 1 dx dy.
R

Module 1: Line Integrals and Multiple Integrals DMS 70/99

 .

DMS Department of
MATHEMATICS
and STATISTICS

 Double Integrals in Polar Coordinates and Applications

Example 4.6
Find the area of the portion of the surface of the sphere x2 + y 2 + z 2 = 36
that lies within the cylinder x2 + y 2 = 9.

Example 4.7
Find the area of the portion of the cone x2 + y 2 = z 2 that is inside the
cylinder x2 + y 2 = 2x.

Example 4.8
Find the area of the portion of the surface xy = az in the first octant that
lies inside the cylinder x2 + y 2 = a2 .

Module 1: Line Integrals and Multiple Integrals DMS 71/99

 .

DMS Department of
MATHEMATICS
and STATISTICS

 Triple integrals in Cartesian Coordinates and Applications

Let f be a continuous function of x, y and z defined on region S (the

region S is a closed solid in R3 ). A partition ∆ of S is formed by drawing
planes parallel to the coordinate planes and obtain a network of
rectangular boxes. Let ∆ be a partition of S with n number of boxes. The
norm k∆k of ∆ is defined to be the length of the longest diagonal of some
boxes. Let ∆i V be the volume of the ith rectangular box with dimension
∆i x, ∆i y and ∆i z; i.e. ∆i V = ∆i x ∆i y ∆i z. Take the point (ξi , γi , µi )
in ith rectangular box and form the product f (ξi , γi , µi ) ∆i V . Since there
are n boxes, we have the sum
n
X n
X
f (ξi , γi , µi ) ∆i V = f (ξi , γi , µi ) ∆i x ∆i y ∆i z . (4)
i=1 i=1

Module 1: Line Integrals and Multiple Integrals DMS 72/99

 .

DMS Department of
MATHEMATICS
and STATISTICS

 Triple integrals in Cartesian Coordinates and Applications

Taking the limit of (4), as the norm k∆k approaches 0, we have

n
X n
X
lim f (ξi , γi , µi ) ∆i V = lim f (ξi , γi , µi ) ∆i x ∆i y ∆i z .
k∆k→0 k∆k→0
i=1 i=1

If this limit exists, we write

n
X ZZZ
lim f (ξi , γi , µi ) ∆i V = f (x, y, z) dV. (5)
k∆k→0
i=1 S

Module 1: Line Integrals and Multiple Integrals DMS 73/99

 .

DMS Department of
MATHEMATICS
and STATISTICS

 Triple integrals in Cartesian Coordinates and Applications

Example 5.1
Evaluate the following iterated triple integrals:
Z 1 Z x Z x+xy
1 xy dz dy dx
0 0 1
Z 1Z xZ 1
2 (x2 + yz) dz dy dx
0 0 xy

Example 5.2
ZZZ
Evaluate (x2 + z 2 ) dV , S is the solid bounded by the tetrahedron
S
formed by the planes 12x + 20y + 15z = 60 and the coordinate planes.

Module 1: Line Integrals and Multiple Integrals DMS 74/99

 .

DMSDepartment of
MATHEMATICS
and STATISTICS

 Triple integrals in Cartesian Coordinates and Applications

Example 5.3
ZZZ
Evaluate x dV , S is the tetrahedron bounded by the planes
S
x + y + 3z = 6, x = 0, y = 0 and z = 0.

Example 5.4
ZZZ
Evaluate xyz dV , S is the solid in the first octant bounded by the
S
cylinders x2 + y 2 = 4 and x2 + z 2 = 4.

Module 1: Line Integrals and Multiple Integrals DMS 75/99

 .

DMS Department of
MATHEMATICS
and STATISTICS

 Triple integral in Cylindrical Coordinates and Applications

Let P (x, y, z) be a point in the three-dimensional Euclidean space R3 . We
say that P has rectangular coordinates (x, y, z).

Definition 6.1
The cylindrical coordinate representation of a point P (x, y, z) in the
rectangular coordinates is (r, θ, z), where r and θ are the polar coordinates
of the projection of P on a polar plane and z is the directed distance from
this polar plane to P . See Figure 9.

Given a point P (x, y, z) in rectangular coordinate. If P (r, θ, z) is the

cylindrical coordinates of P , then
y
x = r cos θ, y = r sin θ, z = z, r2 = x2 + y 2 , and tan θ = if x 6= 0.
x

Module 1: Line Integrals and Multiple Integrals DMS 76/99

 .

DMS Department of
MATHEMATICS
and STATISTICS

 Triple
2.13. integral
CYLINDRICAL in Cylindrical
AND SPHERICAL Coordinates and Applications
COORDINATES 47

P (x, y, z)
P (r, θ, z)

O y
r
θ

x
Figure: Cylindrical Coordinates
Figure 2.11: Cylindrical Coordinates
Module 1: Line Integrals and Multiple Integrals DMS 77/99
 .

DMSDepartment of
MATHEMATICS
and STATISTICS

 Triple integral in Cylindrical Coordinates and Applications

Example 6.2
In each of the ff., find an equation in cylindrical coordinates.
1 x2 − y 2 = 9
2 9x2 + 4y 2 = 36
3 x2 + y 2 = z 2
4 x2 + y 2 = 3z

Example 6.3
In each of the ff. equations in cylindrical coordinates, find an equation in
rectangular coordinates.
1 r = 2 cos θ
2 r = 3 + 2 cos θ
3 z 2 cos3 θ = r3
Module 1: Line Integrals and Multiple Integrals DMS 78/99
 .

DMS Department of
MATHEMATICS
and STATISTICS

 Triple integral in Cylindrical Coordinates and Applications

Let f be a continuous function of x, y and z(f is a function of r, θ and z

in cylindrical coordinates) defined on region S (the region S is a closed
solid in R3 ). A cylindrical partition ∆ of S is formed by drawing planes
through z-axis, planes parallel to the polar plane(i.e. xy-plane) and
right-circular cylinders having z-axis as the axis and obtain a network of
“curve rectangles”. See Figure 10.

Module 1: Line Integrals and Multiple Integrals DMS 79/99

 .

DMS Department of
MATHEMATICS
and STATISTICS

 Triple integral in Cylindrical Coordinates and Applications

88 CHAPTER 4. MULTIPLE INTEGRAL

zi (ri , θi , z i )

zi−1
∆i z

ri
ri−1 ∆i r θi
θi−1
(ri , θi , 0)
∆i θ
Figure 4.5:
Figure:
Let ∆ be a cylindrical partition of S with n subregions. Let ∆i V be
the volume of the ith subregion. The norm k∆k of ∆ is the length of the
Module 1: Line Integrals and Multiple Integrals DMS 80/99
 .

DMS Department of
MATHEMATICS
and STATISTICS

 Triple integral in Cylindrical Coordinates and Applications

Let ∆ be a cylindrical partition of S with n subregions. Let ∆i V be the

volume of the ith subregion. The norm k∆k of ∆ is the length of the
longest diagonal of the subregions. The area of the base of the ith
subregion is 21 (ri + ri−1 ) ∆i r ∆i θ units. Hence,
∆i V = 21 (ri + ri−1 ) ∆i r ∆i θ ∆i z. Take the point (ri , θi , z i ) in the ith
subregion, where ri = 21 (ri + ri−1 ), θi−1 ≤ θi ≤ θi and zi−1 ≤ z i ≤ zi .
Form the product f (ri , θi , z i ) ∆i V = f (ri , θi , z i ) ∆i r ∆i θ ∆i z and since
there are n subregions, we obtain the sum
n
X n
X
f (ri , θi , z i ) ∆i V = f (ri , θi , z i ) ∆i r ∆i θ ∆i z .
i=1 i=1

Module 1: Line Integrals and Multiple Integrals DMS 81/99

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 Triple integral in Cylindrical Coordinates and Applications

Taking the limit of the sum as the norm k∆k of ∆ approaches 0, we have
n
X n
X
lim f (ri , θi , z i ) ∆i V = lim f (ri , θi , z i ) ∆i r ∆i θ ∆i z .
k∆k→0 k∆k→0
i=1 i=1

If the limit above exists, we write

ZZZ n
X
f (r, θ, z) dV = lim f (ri , θi , z i ) ∆i V, (6)
k∆k→0
S i=1

or
ZZZ n
X
f (r, θ, z) rdr dθ dz = lim f (ri , θi , z i ) ∆i r ∆i θ ∆i z. (7)
k∆k→0
S i=1

Module 1: Line Integrals and Multiple Integrals DMS 82/99

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DMS Department of
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 Triple integral in Cylindrical Coordinates and Applications

We call the triple integral in (6) and (7) triple integral in cylindrical
coordinates. A triple integral in cylindrical coordinates can be evaluated by
an iterated integral. For example, let S be the region in R3 bounded by
the planes θ = α and θ = β with α ≤ β, by the cylinders r = f1 (θ) and
r = f2 (θ) defined on [α, β] with f1 (θ) ≤ f2 (θ) and by the surfaces
z = g1 (r, θ) and z = g2 (r, θ), where g1 and g2 are functions defined on a
region R in the polar plane bounded by the curves r = f1 (θ), r = f2 (θ),
θ = α and θ = β and g1 (r, θ) ≤ g2 (r, θ).

Then the iterated integral is

ZZZ Z βZ f2 (θ) Z g2 (r,θ)
f (r, θ, z) dV = rf (r, θ, z) dz dr dθ.
α f1 (θ) g1 (r,θ)
S

We remark that dV = dx dy dz = rdr dθ dz.

Module 1: Line Integrals and Multiple Integrals DMS 83/99
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DMS Department of
MATHEMATICS
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 Triple integral in Cylindrical Coordinates and Applications

The other five iterated integrals in cylindrical coordinates are
ZZZ Z b Z f2 (r) Z g2 (r,θ)
f (r, θ, z) dV = rf (r, θ, z) dz dθ dr,
a f1 (r) g1 (r,θ)
S
ZZZ Z bZ f2 (r) Z g2 (r,z)
f (r, θ, z) dV = rf (r, θ, z) dθ dz dr,
a f1 (r) g1 (r,z)
S
ZZZ Z b Z f2 (z) Z g2 (r,z)
f (r, θ, z) dV = rf (r, θ, z) dθ dr dz,
a f1 (z) g1 (r,z)
S
ZZZ Z b Z f2 (z) Z g2 (θ,z)
f (r, θ, z) dV = rf (r, θ, z) dr dθ dz, and
a f1 (z) g1 (θ,z)
S
ZZZ Z β Z f2 (θ) Z g2 (θ,z)
f (r, θ, z) dV = rf (r, θ, z) dr dz dθ.
α f1 (θ) g1 (θ,z)
S

Module 1: Line Integrals and Multiple Integrals DMS 84/99

 .

DMS Department of
MATHEMATICS
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 Triple integral in Cylindrical Coordinates and Applications

Example 6.4
Evaluate the integral
Z π Z 2 cos θ Z r sin θ
4
r2 cos θ dz dr dθ.
0 2 sin θ 0

Example 6.5
Use cylindrical coordinate to evaluate the integral
Z √
3Z 9−x2 Z 2p
x2 + y 2 dz dy dx.
0 0 0

Module 1: Line Integrals and Multiple Integrals DMS 85/99

 .

DMS Department of
MATHEMATICS
and STATISTICS

 Triple integral in Cylindrical Coordinates and Applications

Example 6.6
Use cylindrical coordinate to evaluate the integral
Z 1 Z √1−x2 Z √1−x2 −y2
z
p dz dy dx.
0 0 0 x + y2
2

Example 6.7
Find the volume of the solid bounded by the paraboloid x2 + y 2 + z = 1
and the xy-plane.

Example 6.8
Find the volume of the solid bounded by the cylinder x2 + y 2 = 2y, the
paraboloid x2 + y 2 = 2z and the xy-plane.
Module 1: Line Integrals and Multiple Integrals DMS 86/99
 .

DMS Department of
MATHEMATICS
and STATISTICS

 Triple integral in Spherical Coordinates

Definition 7.1
The spherical coordinate representation of a point P (x, y, z) in the
rectangular coordinates is (ρ, θ, φ), where ρ = |OP |, θ is the radian
measure of the polar angle of the projection of P on the polar plane, and
φ is the nonengative radian measure of the smallest angle measured from
the positive side of the z−axis to the line OP . See Figure 11.

Module 1: Line Integrals and Multiple Integrals DMS 87/99

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DMS Department of
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 Triple integral in Spherical Coordinates

48 CHAPTER 2. VECTORS IN R3

P (x, y, z)
P (ρ, θ, φ)
φ
ρ
O y
r
θ

x
Figure: Spherical Coordinates
Figure 2.12: Spherical Coordinates
Module 1: Line Integrals and Multiple Integrals DMS 88/99
 .

DMS Department of
MATHEMATICS
and STATISTICS

 Triple integral in Spherical Coordinates

Place the rectangular coordinate system and the spherical coordinate

system together as shown in Figure 12. From Figure 12, we see that

x = |OQ| cos θ, y = |OQ| sin θ, and , z = |QP |.

Now, since OQ = ρ sin φ and QP = ρ cos φ, we get

x = ρ cos θ sin φ, y = ρ sin θ sin φ and z = ρ cos φ.

Also, squaring x, y and z above and adding we get

x2 + y 2 + z 2 = ρ2 .

Module 1: Line Integrals and Multiple Integrals DMS 89/99

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Figure 2.12: Spherical Coordinates DMS Department of

MATHEMATICS
and STATISTICS

Place the rectangular coordinate system and the spherical coordi- 1

nateTriple
 systemintegral
together in Spherical
as shown Coordinates
in Figure 2.13.
z

P (x, y, z)
z
P (ρ, θ, φ)
φ
ρ
y
O y
r
x θ
Q
x
Figure: Rectangular and Spherical Coordinates
Figure 2.13: Spherical Coordinates
Module 1: Line Integrals and Multiple Integrals DMS 90/99
 .

DMS Department of
MATHEMATICS
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 Triple integral in Spherical Coordinates

Example 7.2
In each of the ff., find an equation in spherical coordinates.
1 x2 + y 2 + z 2 − 9z = 0
2 x2 + y 2 = z 2
3 x2 + y 2 = 2z

Module 1: Line Integrals and Multiple Integrals DMS 91/99

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DMS Department of
MATHEMATICS
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 Triple integral in Spherical Coordinates

Example 7.3
In each of the ff. equations in spherical coordinates, find an equation in
rectangular coordinates.
1 ρ=4
π
2 θ=
3
3 ρ = 9 sec φ
4 ρ = tan θ
5 ρ = 9 sin φ sin θ + 3 cos φ

Module 1: Line Integrals and Multiple Integrals DMS 92/99

 .

DMS Department of
MATHEMATICS
and STATISTICS

 Triple integral in Spherical Coordinates

Let f be a continuous function of x, y and z(f is a function of ρ, θ and φ

in spherical coordinates) defined on region S (the region S is a closed solid
in R3 ). A spherical partition ∆ of S is formed by drawing planes
containing z-axis, spheres with centers at the origin and circular cones
having vertices at the origin. A typical subregion is shown in Figure 13.

Module 1: Line Integrals and Multiple Integrals DMS 93/99

 .

Let f be a continuous function of x, y and z(f is a function of ρ,

θ and φ in spherical coordinates) defined on region S (the region S is a
DMS Department of
MATHEMATICS
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closed solid in R3 ). A spherical partition ∆ of S is formed by drawing
planes containing z-axis, spheres with centers at the origin and circular 1

 Triple integral in Spherical Coordinates

cones having vertices at the origin. A typical subregion is shown in Figure
4.6.
z

ρi

(ρi , θi , z i )
ρi−1 φi−1

φi
∆i φ

θi
∆i θ (ρi , θi , 0)
∆i ρ θi−1
x
Figure:
Figure 4.6:
Module 1: Line Integrals and Multiple Integrals DMS 94/99
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DMS Department of
MATHEMATICS
and STATISTICS

 Triple integral in Spherical Coordinates

Let ∆ be a partition of S with n subregions. Let ∆i V be the volume of the ith
subregion. We will approximate the volume ∆i V by considering it as a
rectangular parallelepiped with dimensions ρi sin φi ∆i θ, ρi ∆i φ and ∆i ρ, where
(ρi , θi , φi ) is a point in the ith subregion.

Hence,




∆i V = ρi sin φi ∆i θ ρi ∆i φ ∆i ρ = ρ2i sin φi ∆i ρ ∆i θ ∆i φ
h i
and formed the product f (ρi , θi , φi ) ρ2i sin φi ∆i ρ ∆i θ ∆i φ . Since there are n
subregions, we obtain the sum
n
X h i Xn
f (ρi , θi , φi ) ρ2i sin φi ∆i ρ ∆i θ ∆i φ = ρ2i sin φi f (ρi , θi , φi ) ∆i ρ ∆i θ ∆i φ .
i=1 i=1

Module 1: Line Integrals and Multiple Integrals DMS 95/99

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DMS Department of
MATHEMATICS
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 Triple integral in Spherical Coordinates

Taking the limit of the sum as the norm k∆k approaches 0, we have
n
X
lim ρ2i sin φi f (ρi , θi , φi ) ∆i ρ ∆i θ ∆i φ .
k∆k→0
i=1

If this limit exists, we write

ZZZ n
X
ρ2 sin φ f (ρ, θ, φ) dV = lim ρ2i sin φi f (ρi , θi , φi ) ∆i V, (8)
k∆k→0
S i=1

where ∆i V = ∆i ρ ∆i θ ∆i φ and dV = ρ2 sin φ dρ dθ dφ.

We call the integral in (8) triple integral in spherical coordinates. Triple
integrals in spherical coordinates can be written as an iterated integrals.
We note that dV = dx dy dz = ρ2 sin φ dρ dθ dφ.
Module 1: Line Integrals and Multiple Integrals DMS 96/99
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DMS Department of
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 Triple integral in Spherical Coordinates

Example 7.4
Evaluate the integral
Z 2π Z π Z 2
ρ3 sin φ dρ dφ dθ.
0 0 0

Example 7.5
Evaluate the integral
Z π Z φ Z a csc θ
2
ρ3 sin2 θ sin φ dρ dθ dφ.
π π
4 4
0

Module 1: Line Integrals and Multiple Integrals DMS 97/99

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DMS Department of
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 Triple integral in Spherical Coordinates

Example 7.6
Evaluate the integral
Z 2 Z √4−y2 Z √4−x2 −y2
1
p dz dx dy
0 0 0 x + y2 + z2
2

using spherical coordinates.

Example 7.7
Evaluate the integral
Z 2 Z √
4−x2 Z √4−x2 −y2 p
z 4 − x2 − y 2 dz dy dx
0 0 0

using spherical coordinates.

Module 1: Line Integrals and Multiple Integrals DMS 98/99
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DMS Department of
MATHEMATICS
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 Triple integral in Spherical Coordinates

Example 7.8
Find the volume of the solid inside the sphere

x2 + y 2 + z 2 = 4z

and above the cone x2 + y 2 = z 2 .

Example 7.9
Find the volume of the solid inside the sphere

x2 + y 2 + z 2 = 2z

and above the paraboloid x2 + y 2 = z.

Module 1: Line Integrals and Multiple Integrals DMS 99/99