KIX1002:

ENGINEERING
MATHEMATICS II
WEEK 5: VOLUME INTEGRAL

Lecturer: Dr. Mo Kim Hung (Week 1 – 7)

Department of Civil Engineering
Email: [email protected]
Introduction
Defining integral of a function of three variables
through a region T of three-dimensional space.
General form of volume integral:
𝑛

lim
𝑛→∞
෍ 𝑓(𝑥𝑖 , 𝑦𝑖 , 𝑧𝑖 )∆𝑉𝑖 = ම 𝑓(𝑥, 𝑦, 𝑧) 𝑑𝑉
all ∆𝑉𝑖 →0 𝑖=1 𝑇
In terms of regular Cartesian coordinate, volume
integral can be written as:
𝑥=𝑎 𝑦=𝑔2 𝑥 𝑧=ℎ2 𝑥,𝑦

𝑉= න න න 𝑓 𝑥, 𝑦, 𝑧 𝑑𝑧 𝑑𝑦 𝑑𝑥
𝑥=𝑏 𝑦=𝑔1 𝑥 𝑧=ℎ1 𝑥,𝑦
Cylindrical and spherical coordinate

Cylindrical coordinate system:

𝑥 = 𝑟 cos 𝜙, 𝑦 = 𝑟 sin 𝜙, 𝑧 = 𝑧

Spherical coordinate system:

𝑥 = 𝑟 sin 𝜃 cos 𝜙, 𝑦 = 𝑟 sin 𝜃 sin 𝜙,
𝑧 = 𝑟 cos 𝜃
Transform from Cartesian coordinate to polar
coordinate using Jacobian, Recall Jacobian,

For cylindrical polar coordinates, 𝐽=

𝜕 𝑥, 𝑦, 𝑧
𝑥 = 𝑟 cos 𝜙, 𝑦 = 𝑟 sin 𝜙, 𝑧 = 𝑧 𝜕 𝑢, 𝑣, 𝑤
𝜕𝑥 𝜕𝑦 𝜕𝑧
cos 𝜙 sin 𝜙 0 𝜕𝑢 𝜕𝑢 𝜕𝑢
𝐽 = −𝑟 sin 𝜙 𝜕𝑥 𝜕𝑦 𝜕𝑧
𝑟 cos 𝜙 0 =𝑟 =
𝜕𝑣 𝜕𝑣 𝜕𝑣
0 0 1 𝜕𝑥 𝜕𝑦 𝜕𝑧
So, 𝑑𝑉 𝑜𝑟 𝑑𝑥𝑑𝑦𝑑𝑧 = 𝑟 𝑑𝑟 𝑑𝜙 𝑑𝑧 𝜕𝑤 𝜕𝑤 𝜕𝑤

𝑑𝑉 = 𝑑𝑥 𝑑𝑦 𝑑𝑧 = 𝐽 𝑑𝑢 𝑑𝑣 𝑑𝑤
For spherical polar coordinates,
𝑥 = 𝑟 sin 𝜃 cos 𝜙, 𝑦 = 𝑟 sin 𝜃 sin 𝜙, 𝑧 = 𝑟 cos 𝜃

sin 𝜃 cos 𝜙 sin 𝜃 sin 𝜙 cos 𝜃

𝐽 = 𝑟 cos 𝜃 cos 𝜙 𝑟 cos 𝜃 cos 𝜙 −𝑟 sin 𝜃 = 𝑟 2 sin 𝜃
−𝑟 sin 𝜃 sin 𝜙 𝑟 sin 𝜃 cos 𝜙 0

So, 𝑑𝑉 𝑜𝑟 𝑑𝑥𝑑𝑦𝑑𝑧 = 𝑟 2 sin 𝜃 𝑑𝑟 𝑑𝜃 𝑑𝜙

 Application of volume integral
VOLUME: To find the volume of space confined within 3-
d boundary.

Example:
Find the volume of the tetrahedron defined by 𝑥 ≥ 0, 𝑦 ≥
0, 𝑧 ≥ 0 and 𝑥 + 𝑦 + 𝑧 ≤ 1.
 𝑥=1 𝑦=1−𝑥 𝑧=1−𝑥−𝑦

𝑉= න න න 1 𝑑𝑧 𝑑𝑦 𝑑𝑥
𝑥=0 𝑦=0 𝑧=0

𝑥=1 𝑦=1−𝑥

= න න 1 − 𝑥 − 𝑦 𝑑𝑦 𝑑𝑥
𝑥=0 𝑦=0

𝑥=1
1 2
1
= න 1−𝑥 𝑑𝑥 = .
2 6
𝑥=0
Try:
Find volume of the irregular tetrahedron bounded
by the coordinate planes and the plane through
(2,0,0), (0,3,0) and (0,0,1).
Try:
Evaluate ‫ 𝑇׬ ׬ ׬‬6𝑧 2 𝑑𝑉 where T is the region
below 4x + y + 2z = 10 in the first octant.
[Ans: 625/2]
Application of volume integral (cont’d)
MASS:
𝑀 = ම 𝜌(𝑥, 𝑦, 𝑧) 𝑑𝑧 𝑑𝑦 𝑑𝑥

Example:
A water dam shown in figure has
width of 𝑥 = 100m
length of 𝑦 = 400m
depth of the reservoir is given 𝑧 = 40 − 𝑦/10m.

The density of the water can be approximated by 𝜌(𝑧) = 𝑎 − 𝑏 × 𝑧

where a = 998 kgm-3 and b = 0.05 kgm-4
i.e. at the surface (𝑧 = 0) the water has density 998 kgm-3
(corresponding to a temperature of 20˚C) while 40m down i.e. z = −40,
the water has a density of 1000 kgm−3 (corresponding to the lower
temperature of 4˚C.
Find the total mass of water in the reservoir.
 100 400 0

𝑀= න න න 𝑎 − 𝑏𝑧 𝑑𝑧 𝑑𝑦 𝑑𝑥
𝑥=0 𝑦=0 𝑧= 𝑦 −40
10

100 400 0
𝑏
= න න 𝑎𝑧 − 𝑧 2 𝑑𝑦 𝑑𝑥
2 𝑦
𝑧= −40
𝑥=0 𝑦=0 10

100 400
𝑦 𝑏 𝑦 2
= න න 0−𝑎 − 40 + − 40 𝑑𝑦 𝑑𝑥
10 2 10
𝑥=0 𝑦=0

100 400
𝑎 2 𝑏 3
= න 40𝑎𝑦 − 𝑦 + 𝑦 − 2𝑏𝑦 2 + 800𝑏𝑦 𝑑𝑥
10 600 𝑦=0
𝑥=0

100 100
320000 320000
= න 8000𝑎 + 𝑏 𝑑𝑥 = 8000𝑎𝑥 + 𝑏𝑥 = 7.989 × 108 kg
3 3 𝑥=0
𝑥=0
Application of volume integral (cont’d)
CENTRE OF MASS
The expressions for the center of mass (𝑥,ҧ 𝑦,
ത 𝑧)ҧ of a
solid of density 𝜌(𝑥, 𝑦, 𝑧) are given below:
‫𝑥 𝜌 ׬‬, 𝑦, 𝑧 𝑥 𝑑𝑉
𝑥ҧ =
‫𝑥(𝜌 ׬‬, 𝑦, 𝑧) 𝑑𝑉
‫𝑥 𝜌 ׬‬, 𝑦, 𝑧 𝑦 𝑑𝑉
𝑦ത =
‫𝑥(𝜌 ׬‬, 𝑦, 𝑧) 𝑑𝑉
‫𝑥 𝜌 ׬‬, 𝑦, 𝑧 𝑧 𝑑𝑉
𝑧ҧ =
‫𝑥(𝜌 ׬‬, 𝑦, 𝑧) 𝑑𝑉
If density does not vary with position, then
‫𝑉𝑑 𝑥׬‬ ‫𝑉𝑑 𝑦׬‬ ‫𝑉𝑑 𝑧׬‬
𝑥ҧ = 𝑦ത = 𝑧ҧ =
‫𝑉𝑑 ׬‬ ‫𝑉𝑑 ׬‬ ‫𝑉𝑑 ׬‬
Example:
A uniform tetrahedron is enclosed by the planes 𝑥 = 0,
𝑦 = 0, 𝑧 = 0 and 𝑥 + 𝑦 + 𝑧 = 4. Find the volume and
the position of the center of mass.
4 4−𝑥 4−𝑥−𝑦

𝑉= න න න 𝑓 𝑥, 𝑦, 𝑧 𝑑𝑧 𝑑𝑦 𝑑𝑥
𝑥=0 𝑦=0 𝑧=0
4 4−𝑥 4 4−𝑥
4−𝑥−𝑦
= න න 𝑧 𝑧=0 𝑑𝑦 𝑑𝑥 = න න (4 − 𝑥 − 𝑦) 𝑑𝑦 𝑑𝑥
𝑥=0 𝑦=0 𝑥=0 𝑦=0
4 4−𝑥 4
1 2 1 2
= න 4𝑦 − 𝑥𝑦 − 𝑦 𝑑𝑥 = න 8 − 4𝑥 + 𝑥 𝑑𝑥
2 𝑦=0
2
𝑥=0 𝑥=0
1 3 4 64 32
= 8𝑥 − 2𝑥 2 + 𝑥 = 32 − 32 + = .
6 𝑥=0 6 3
 4 4−𝑥 4−𝑥−𝑦

න 𝑥 𝑑𝑉 = න න න 𝑥 𝑑𝑧 𝑑𝑦 𝑑𝑥
𝑥=0 𝑦=0 𝑧=0
4 4−𝑥 4 4−𝑥
4−𝑥−𝑦
= න න 𝑥𝑧 𝑧=0 𝑑𝑦 𝑑𝑥 = න න 4 − 𝑥 − 𝑦 − 0 𝑑𝑦 𝑑𝑥
𝑥=0 𝑦=0 𝑥=0 𝑦=0
4 4−𝑥 4
1 2 1 3
= න 4𝑥𝑦 − 𝑥2𝑦 − 𝑥𝑦 𝑑𝑥 = න 8𝑥 − 4𝑥 2 + 𝑥 𝑑𝑥
2 𝑦=0
2
𝑥=0 𝑥=0
4
4 3 1 4 256 32
= 4𝑥 2 − 𝑥 + 𝑥 = 64 − + 32 =
3 8 0
3 3

‫ 𝑉𝑑 𝑥׬‬32/3
𝑥ҧ = = =1
‫𝑉𝑑 ׬‬ 32/3
By symmetry, 𝑦ത = 𝑧ҧ = 1, center of mass is at (1,1,1).
Try:
Determine the mass and coordinates of the
centre of gravity of the unit cube with the
density 𝜌(x,y,z) = x + 2y + 3z.
Application of volume integral (cont’d)
MOMENT OF INERTIA
𝐼 = Mass × Distance2 or 𝐼 = 𝑚𝑑 2

The moment of inertia of an object about the z-axis:

𝐼𝑧 = න 𝜌 𝑥, 𝑦, 𝑧 (𝑥 2 + 𝑦 2 )𝑑𝑉
𝑉

Similarly, moment of inertia about the x-axis and y-axis:

𝐼𝑥 = න 𝜌 𝑥, 𝑦, 𝑧 𝑧 2 + 𝑦 2 𝑑𝑉
𝑉

𝐼𝑦 = න 𝜌 𝑥, 𝑦, 𝑧 𝑥 2 + 𝑧 2 𝑑𝑉
𝑉
Example:
Find the moment of inertia of a uniform sphere of mass M and
radius a about a diameter.

A sphere of radius 𝑎 has volume 4𝜋𝑎3 /3, so that its density is

3𝑀/4𝜋𝑎3 . Then the moment of inertia of the sphere about the 𝑧
axis is
3𝑀 2 + 𝑦 2 ) 𝑑𝑥 𝑑𝑦 𝑑𝑧
𝐼= ම(𝑥
4𝜋𝑎3
𝑉
Transforming to spherical polar coordinates (recall 𝑥 =
𝑟 sin 𝜃 cos 𝜙, 𝑦 = 𝑟 sin 𝜃 sin 𝜙, 𝑧 = 𝑟 cos 𝜃 and 𝑑𝑥 𝑑𝑦 𝑑𝑧 =
𝑟 2 sin 𝜃 𝑑𝑟 𝑑𝜃 𝑑𝜙)
3𝑀 2 sin2 𝜃 cos 2 𝜙 + 𝑟 2 sin2 𝜃 sin2 𝜙 𝑟 2 sin 𝜃 𝑑𝜙 𝑑𝜃 𝑑𝑟
𝐼= ම 𝑟
4𝜋𝑎3
𝑉
 3𝑀 2 sin2 𝜃 cos 2 𝜙 + 𝑟 2 sin2 𝜃 sin2 𝜙 𝑟 2 sin 𝜃 𝑑𝜙 𝑑𝜃 𝑑𝑟
𝐼= ම 𝑟
4𝜋𝑎3
𝑉

3𝑀 2 sin2 𝜃 𝑟 2 sin 𝜃 𝑑𝜙 𝑑𝜃 𝑑𝑟
= ම 𝑟
4𝜋𝑎3
𝑉
𝑎 𝜋 2𝜋
3𝑀 4 3
= න න න 𝑟 sin 𝜃 𝑑𝜙 𝑑𝜃 𝑑𝑟
4𝜋𝑎3
𝑟=0 𝜃=0 𝜙=0
𝑎 𝜋 2𝜋
3𝑀 4 3
= න 𝑟 𝑑𝑟 න sin 𝜃 𝑑𝜃 න 𝑑𝜙
4𝜋𝑎3
𝑟=0 𝜃=0 𝜙=0
𝑎 𝜋
3𝑀 1 5 1 3𝜃 2𝜋
= 𝑟 − cos 𝜃 + 𝑐𝑜𝑠 𝜙 𝜙=0
4𝜋𝑎3 5 𝑟=0
3 𝜃=0
3𝑀 8 5
= 𝜋𝑎
4𝜋𝑎3 15
2
= 𝑀𝑎2
5
Try:
Find the moment of inertia of a right circular
homogenous cone about the z-axis. The
cone has a base radius R, height H and the
total mass m.