Contents

Integral Vector
Calculus
29.1 Line Integrals Involving Vectors

29.2 Surface and Volume Integrals

34

29.3 Integral Vector Theorems

54

Learning outcomes
In this Workbook you will learn how to integrate functions involving vectors. You will learn
how to evaluate line integrals i.e. where a scalar or a vector is summed along a line or
contour. You will be able to evaluate surface and volume integrals where a function
involving vectors is summed over a surface or volume. You will learn about some theorems
relating to line, surface or volume integrals i.e Stokes' theorem, Gauss' theorem and
Green's theorem.

Line Integrals
Involving Vectors

29.1

Introduction
28 considered the dierentiation of scalar and vector elds. Here we consider how to integrate
such elds along a contour of integration. Firstly, integrals along a line will be considered in a general
(non-vector) context. Subsequently, line integrals involving vectors will be considered. These can
integrate either to a scalar or to a vector depending on the form of integral used. Of particular
interest are the integrals of conservative vector elds.

Prerequisites
Before starting this Section you should . . .
"


Learning Outcomes
On completion you should be able to . . .

have a thorough understanding of the basic

techniques of integration
be familiar with the operators div, grad and
curl
nd the divergence, gradient or curl of a
vector or scalar eld

!



HELM (2005):
Workbook 29: Integral Vector Calculus

1. Line integrals
28 was concerned with evaluating an integral over all points within a rectangle or other shape
(or over a cuboid or other volume). In a related manner, an integral can take place over a line or
curve running through a two-dimensional (or three-dimensional) shape.

Line integrals in two dimensions

A line integral in two dimensions may be written as


F (x, y)dw
C

There are three main features determining this integral:

F (x, y)

This is the function to be integrated e.g. F (x, y) = x2 + 4y 2 .

This is the curve along which integration takes place. e.g. y = x2 or x = sin y
or

x = t 1; y = t2 . The last case is where x and y are expressed in terms

of a parameter t.
dw

This states the variable of the integration. Three main cases are dx, dy and ds.
Here s is arc length and so indicates position along the curve C.

 2

dy
2
2
dx.
ds may be written as ds = (dx) + (dy) or ds = 1 +
dx

A fourth case is when F (x, y) dw has the form: F1 dx + F2 dy. This is a combination of the cases
dx and dy.
The technique with a line integral is to express all quantities in an integral in terms of a single
variable. Often, if the integral is with respect to x or y, the curve C and the
function F may be expressed in terms of the relevant variable. If the integral is carried out
with respect to ds, normally everything is expressed in terms of x. If x and y are given in terms of
a parameter t, normally everything is expressed in terms of t.

HELM (2005):
Section 29.1: Line Integrals Involving Vectors

Example
1


x (1 + 4y) dx where C is the curve y = x2 , starting from x = 0, y = 0

Find
c

and ending at x = 1, y = 1.

Solution
As this integral concerns only points along C and the integration is carried out with respect to x,
y may be replaced by x2 . The limits on x will be 0 to 1. So the integral becomes

1

1






2
x(1 + 4y) dx =
x 1 + 4x dx =
x + 4x3 dx
C
x=0
x=0
 2

1 
x
1
3
=
+ x4 =
+ 1 (0) =
2
2
2
0

Example
2


Find

is the curve y = x2 , starting from

x (1 + 4y) dy where C
c

x = 0, y = 0 and ending at x = 1, y = 1. This is the same as Example 1 other

than dx being replaced by dy.

Solution
As this integral concerns only points along C and the integration is carried out with respect to y,
everything may be expressed in terms of y, i.e. x may be replaced by y 1/2 . The limits on y will
be 0 to 1. So the integral becomes

1

1


 1/2

1/2
x(1 + 4y) dy =
y (1 + 4y) dx =
y + 4y 3/2 dx
C


=

y=0

2 3/2 8 5/2
y + x
3
5

1
=
0

y=0

2 8
+
3 5


(0) =

34
15

HELM (2005):
Workbook 29: Integral Vector Calculus

Example
3


x (1 + 4y) ds where C is the curve y = x2 , starting from x = 0, y = 0

Find
c

and ending at x = 1, y = 1. Once again, this is the same as the previous

two examples other than the integration being carried out with respect to s, the
coordinate along the curve C.

Solution
As this integral 
is with respect to x, all parts of the integral can be expressed in terms of x, Along
 2


dy
2
dx = 1 + (2x)2 dx = 1 + 4x2 dx
y = x , ds = 1 +
dx
So, the integral is



1

1



3/2
2
2
x (1 + 4y) ds =
x 1 + 4x
1 + 4x dx =
x 1 + 4x2
dx
x=0

x=0

This can be evaluated using the transformation U = 1 + 4x2 so dU = 8xdx i.e.

When x = 0, U = 1 and when x = 1, U = 5.
The integral therefore equals

1




1 5
2 3/2
x 1 + 4x
dx =
U 3/2 dU
8
x=0
U =1
5


1 2
1
5/2
5/2
=

U
5 1 2.745
=
8 5
20
1

dx =

dU
.
8

Example
4


xy dx where, on C, x and y are given by x = 3t2 , y = t3 1 for t starting

Find
C

at t = 0 and progressing to t = 1.

Solution
Everything can be expressed in terms of t, the parameter. Here x = 3t2 so dx = 6t dt. The limits
on t are t = 0 and t = 1. The integral becomes



1

1
2
3
xy dx =
3t (t 1) 6t dt =
(18t6 18t3 ) dt
t=0
t=0
C

1
18 9
18 7 18 4
27
=
=
t t
0=
7
4
7
2
14
0

HELM (2005):
Section 29.1: Line Integrals Involving Vectors

Key Point 1
A line integral is normally evaluated by expressing all variables in terms of one variable.
In general

f (x, y) ds =

f (x, y) dy =

f (x, y) dx

Task
2

For F (x, y) = 2x + y , nd

F (x, y) dx,

F (x, y) dy and

where C is the line y = 2x from (0, 0) to (1, 2).

F (x, y) ds
C

Express each integral as a simple integral with respect to a single variable and hence evaluate each
integral:
Your solution

Answer

1
7
(2x + 4x2 ) dx,
,
3
x=0

Find

F (x, y) dx,

7
(2x + 4x2 ) 5 dx,
5
3
x=0

14
(y + y ) dy,
,
3
y=0

Task

F (x, y) dy and

F (x, y) ds where F (x, y) = 1 and C

C

is the curve y = 12 x2 14 ln x from (1, 12 ) to (2, 2 14 ln 2).

Your solution

HELM (2005):
Workbook 29: Integral Vector Calculus

Answer



2
1 dx = 1,
1

21/4 ln 2

1 dy =

1/2
2

(x +
1

3 1
ln 2,
2 4

1
3 1
) dx = + ln 2.
4x
2 4

Task

Find

F (x, y) dx,
C

F (x, y) dy and

F (x, y) ds where F (x, y) = sin 2x and

C is the curve y = sin x from (0, 0) to ( , 1).

2

Your solution

Answer

/2
sin 2x dx = 1,

2 sin x cos2 x dx =

0
/2

sin 2x
0

/2

2
3

(1 + cos2 x dx Using the substitution u = 1 + cos2 x gives 23 (2 2 1).

2. Line integrals of scalar products

F dr, referred to at the end of the previous sub-section, occur in applications

Integrals of the form

such as the following.

B
r
A
v

S (current position)
vT

Figure 1
HELM (2005):
Section 29.1: Line Integrals Involving Vectors

Consider a cyclist riding along the road from A to B (Figure 2). Suppose it is necessary to nd the
total work the cyclist has to do in overcoming the wind.
The work done is proportional to the component of the wind speed in the direction travelled i.e.
proportional to v r

The total work done over AB is approximately
v r, where the summation is carried out over
all r

all small elements making up AB.

In the limit r 0, the total work done over AB is lim

r0

all v r =

v r.
A

This is an example of the integral along a specic line of the scalar product of a vector eld and
a vector describing the contour. The term scalar line integral is often used for integrals of this
form but the role of the vector v should not be forgotten. The vector dr may be considered to be
dx i + dy j + dz k.
Multiplying out the scalar product,
in three dimensions,
the scalar line integral of the vector F




along contour C is given by
F dr and equals {Fx dx + Fy dy + Fz dz} in three dimensions
C
C


( {Fx dx + Fy dy} in two dimensions.)
C

If the contour
 C has its start
and end pointsin the same positions i.e. it represents a closed contour,
rather than

the symbol
C

F dr .

is used, i.e.
C

As before, to evaluate the line integral, express the path and the function F in terms of either x, y
and z, or in terms of a parameter t. Note that in examples t often represents time.

Example
5


{2xy dx 5x dy} where C is the curve y = x3 with x varying from x = 0

Find
C

to x = 1.

Solution
It is possible to split this integral into two dierent integrals and express the rst term as a function
of x and the second term as a function of y. However, it is also possible to express everything in
terms of x. Note that on C, y = x3 so dy = 3x2 dx and the integral becomes

1

1




3
2
{2xy dx 5x dy} =
(2x4 15x3 ) dx
2x x dx + 5x 3x dx =
x=0
0
C

1
2 5 15 4
2 15
67
=
=
x x
0=
5
4
5
4
20
0

HELM (2005):
Workbook 29: Integral Vector Calculus

Key Point 2

F dr may be expressed as

An integral of the form

{Fx dx + Fy dy + Fz dz}. Knowing the

expression for the path C, every term in the integral can be further expressed in terms of one of
the variables x, y or z or in terms of a parameter t and hence integrated.
If an integral is two-dimensional there are no terms involving z.


F dr evaluates to a scalar.
The integral
C

Example 6
Three paths from (0, 0) to (1, 2) are dened by
(a) C1 : y = 2x
(b) C2 : y = 2x2
(c) C3 : y = 0 from (0, 0) to (1, 0) and x = 1 from (1, 0) to (1, 2)


Sketch each path and nd F dr, where F = y 2 i + xyj, along each path.

Solution




 2

dy
y dx + xydy . Along y = 2x,
= 2 so dy = 2dx. Then
(a) F dr =
dx

1





(2x)2 dx + x (2x) (2dx)
F dr =
C1

x=0
1

=

4x + 4x

8
8x dx = x2
3

dx =

=
0

8
3

y
2

A(1, 2)
y = 2x
C1
1

Figure 2(a)

HELM (2005):
Section 29.1: Line Integrals Involving Vectors

Solution (contd.)




 2

dy
y dx + xydy . Along y = 2x2 ,
= 4x so dy = 4xdx. Then
(b)
F dr =
dx

1 



 
 2 2
F dr =
2x dx + x 2x2 (4xdx)
x=0
1

C2

12 5
12x dx =
x
5

=
0

=
0

12
5

y
A(1, 2)
2
y = 2x2
C2
x

Figure 2(b)
(c) As the contour C3 , has two distinct parts with dierent equations, it is necessary to break the
full contour OA into the two parts, namely OB and BA where B is the point (1, 0). Hence

B

A


F dr =
F dr +
F dr
O

C3

Along OB, y = 0 so dy = 0. Then

1



B

 2
F dr =
0 dx + x 0 0 =
O

0dx = 0

x=0

Along AB, x = 1 so dx = 0. Then

2



B

 2
F dr =
y 0 + 1 y dy =
A

y=0

1
ydy = y 2
2

2
= 2.
0

F dr = 0 + 2 = 2

Hence
C3

y
A(1, 2)
2

x=1
C3

y=0

Figure 2(c)

10

HELM (2005):
Workbook 29: Integral Vector Calculus

Key Point 3
In general the value of the line integral depends on the path of integration as well as the end points.

Example
7


O

F dr, where F = y 2 i + xyj (as in Example 6) and the path from A

Find
A

to O is the straight line from (1, 2) to (0, 0), that is the reverse of C1 in Example
6(a). 
Deduce
F dr, the integral around the closed path C formed by the parabola
C

y = 2x2 from (0, 0) to (1, 2) and the line y = 2x from (1, 2) to (0, 0).

Solution
Reversing the path swaps the limits of integration, this results in a change of sign for the value of
the integral.

O

A
8
F dr =
F dr =
3
A
O
12
The integral along the parabola (calculated in (iii) above) evaluates to
, then
5



4
12 8
= 0.267
F dr =
F dr +
F dr =
5
3
15
C
C2
C4

Example 8
Consider the vector eld
F = y 2 z 3 i + 2xyz 3 j + 3xy 2 z 2 k
Let C1 and C2 be the curves from O = (0, 0, 0) to A = (1, 1, 1), given by
C1 : x = t,
C2 : x = t,

y = t,
y = t2 ,

z=t
z = t2

(0 t 1)
(0 t 1)

(a) Evaluate the scalar integral of the vector eld along each path.

F dr where C is the closed path along C1 from
(b) Find the value of
C

O to A and back along C2 to O.

HELM (2005):
Section 29.1: Line Integrals Involving Vectors

11

Solution
(a) The path C1 is given in terms of the parameter t by x = t, y = t and z = t. Hence
dx
dy
dz
dy
dz
dr
dx
=
=
= 1 and
=
i+ j+ k =i+j+k
dt
dt
dt
dt
dt
dt
dt
Now by substituting for x = y = z = t in F we have
F = t5 i + 2t5 j + 3t5 k
dr
Hence F
= t5 + 2t5 + 3t5 = 6t5 . The values of t = 0 and t = 1 correspond to the
dt
start and end point of C1 and so these are the required limits of integration. Now
 1

1

1


dr
5
F dr =
F dt =
6t dt = t6 = 1
dt
0
0
C1
0
For the path C2 the parameterisation is x = t2 , y = t and z = t2 so
Substituting x = t2 , y = t and z = t2 in F we have
F = t8 i + 2t9 j + 3t8 k and F

F dr =
C2

1
9

10t dt = t
0

C1

dr
= 2t9 + 2t9 + 6t9 = 10t9
dt
1

10

=1
0

(b) For the closed path C






F dr =
F dr
C

dr
= 2ti + j + 2tk.
dt

F dr = 1 1 = 0

C2

Summary
Vector Field Path Line Integral
F
C1
1
F
C2
1
F
closed
0
Note that the line integral of F is 1 for both paths. This would hold for any path from (0, 0, 0) to
(1, 1, 1). The eld F is an example of a conservative vector eld; these are discussed in detail in
the next subsection.


F dr, the vector eld F may be the divergence of a scalar eld or the curl of a vector
In
C

eld.

12

HELM (2005):
Workbook 29: Integral Vector Calculus

Task

Consider the vector eld

G = xi + (4x y)j
Let C1 and C2 be the curves from O = (0, 0, 0) to A = (1, 1, 1), given by
C1 : x = t,
C2 : x = t2 ,

y = t,
y = t,

z=t
z = t2

(0 t 1)
(0 t 1)

G dr of each vector eld along each

(a) Evaluate the scalar integral

path.


G dr where C is the closed path along C1 from

(b) Find the value of

C

O to A and back along C2 to O.

Your solution

HELM (2005):
Section 29.1: Line Integrals Involving Vectors

13

Answer
(a) The path C1 is given in terms of the parameter t by x = t, y = t and z = t. Hence
dx
dy
dz
dy
dz
dr
dx
=
=
= 1 and
=
i+ j+ k =i+j+k
dt
dt
dt
dt
dt
dt
dt
Substituting for x = y = z = t in G we have
G = ti + 3tj and G

dr
= t + 3t = 4t
dt

The limits of integration are t = 0 and t = 1, then

 1

1

1


dr
G dr =
G dt =
4tdt = 2t2 = 2
dt
C1
0
0
0
For the path C2 the parameterisation is x = t2 , y = t and z = t2 so

dr
= 2ti + j + 2tk.
dt

Substituting x = t2 , y = t and z = t2 in G we have



dr
G = t2 i + 4t2 t j and G
= 2t3 + 4t2 t
dt


1
1 4 4 3 1 2
4
G dr =
=
2t + 4t t dt = t + t t
2
3
2 0 3
0
C2





4
2
G dr =
G dr
G dr = 2 =
(b) For the closed path C
3
3
C
C1
C2

Example 9

Find


(x2 y) dr where C is the contour y = 2x x2 from (0, 0) to (2, 0).

Solution

Note that (x y) = 2xyi + x j so the integral is

2


2xy dx + x2 dy .

On y = 2x x2 , dy = (2 2x) dx so the integral becomes

2






2
2xy dx + x dy =
2x(2x x2 ) dx + x2 (2 2x) dx
x=0
C

2

2
2
3
3
4
(6x 4x ) dx = 2x x
=0
=
0

14

HELM (2005):
Workbook 29: Integral Vector Calculus

Task

F dr, where F = (x y)i + (x + y)j along each of the following

Evaluate
C

paths

(a) C1 : from (1, 1) to (2, 4) along the straight line y = 3x 2:

(b) C2 : from (1, 1) to (2, 4) along the parabola y = x2 :
(c) C3 : along the straight line x = 1 from (1, 1) to (1, 4) then along the
straight line y = 4 from (1, 4) to (2, 4).
Your solution

Answer

2
(a)
(10x 4) dx = 11,
1

(x + x2 + 2x3 ) dx =

(b)

(x 4) dx = 8

(1 + y) dy +

(c)

34
,
3

Task

For the function F and paths in the last Task, deduce

F dr for the closed

paths
(a) C1 followed by the reverse of C2 .
(b) C2 followed by the reverse of C3 .
(c) C3 followed by the reverse of C1 .
Your solution

HELM (2005):
Section 29.1: Line Integrals Involving Vectors

15

Answer
1
(a) ,
3

10
,
3

(b)

(c) 3.

Exercises

F dr, where F = 3x2 y 2 i + (2x3 y 1)j. Find the value of the line integral along

1. Consider
C

each of the paths from (0, 0) to (1, 4).

(b) y = 4x2

(a) y = 4x

(c) y = 4x1/2

(d) y = 4x3

2. Consider the vector eld F = 2xi + (xz 2)j + xyk and the two curves between (0, 0, 0) and
(1, 1, 2) dened by
C1 : x = t2 , y = t, z = 2t for 0 t 1.
C2 : x = t 1, y = 1 t, z = 2t 2 for 1 t 2.

F dr,

(a) Find


C1

F dr
C2

F dr where C is the closed path from (0, 0, 0) to (1, 1, 2) along C1 and back

(b) Find
C

to (0, 0, 0) along C2 .
3. Consider the vector eld G = x2 zi + y 2 zj + 13 (x3 + y 3 )k and the two curves between (0, 0, 0)
and (1, 1, 2) dened by
C1 : x = t2 , y = t, z = 2t for 0 t 1.
C2 : x = t 1, y = 1 t, z = 2t 2 for 1 t 2.

G dr,

(a) Find


C1

G dr
C2

G dr where C is the closed path from (0, 0, 0) to (1, 1, 2) along C1 and back

(b) Find
C

to (0, 0, 0) along C2 .


4. Find
F (dxi + dyj) along y = 2x from (0, 0) to (2, 4) for
C

(a) F = (x2 y)
(b) F = ( 12 x2 y 2 k)
Answers
1. All are 12.
2. 2,

5
,
3

0.

3. 0,

1
,
3

0.

4. 16, 16.

16

HELM (2005):
Workbook 29: Integral Vector Calculus

3. Conservative vector fields

For certain of the line integrals in the previous section, the integral depended only on the vector eld
F and the start and end points of the contour but not on the actual path of the contour between
the start and end points. However, for other line integrals, the result depended on the actual details
of the path of the contour.
Vector elds are classied according to whether the line integrals are path dependent or path independent. Those vector elds for which all line integrals between all pairs of points are path
independent are called conservative vector elds.
There are ve properties of conservative vector eld (P1 to P5). Since it is impossible to check the
value of every line integral over every path, it is possible to use these ve properties (and in particular
property P3 below to determine whether a vector eld is conservative. They are also used to simplify
calculations with conservative vector elds.

B
P1 The line integral
F dr depends only on the end points A and B and is independent of
A

the actual path taken.


F dr = 0 for all C.

P2 The line integral around any closed curve is zero. That is

C

P3 The curl of a conservative vector eld F is zero i.e. F = 0.

P4 For any conservative vector eld F , it is possible to nd a scalar eld such that = F .
Then,
F dr = (B) (A) where A and B are the start and end points of contour C.
C

P5 All gradient elds are conservative. That is, F = is a conservative vector eld for any
scalar eld .

Example 10
The following vector elds were considered in the Examples of the previous subsection.
1. F 1 = y 2 i + xyj

2. F 2 = 2xi + 2yj

3. F 3 = y 2 z 3 i + 2xyz 3 j + 3xy 2 z 2 k

4. F 4 = xi + (4x y) j
Determine which of these vector elds are conservative e.g. by referring to the
answers given in the solution. For those that are conservative nd a scalar eld
such that F = and use property P4 to verify the line integrals found.
Solution
1. Two dierent values were obtained for line integrals over the paths C1 and C2 . Hence,
by P1, F 1 is not conservative. [It is also possible to reach this conclusion by nding that
F = yk = 0.]

HELM (2005):
Section 29.1: Line Integrals Involving Vectors

17

Solution
2. Both line integrals from (0, 0) to (4, 2) had the same value i.e. 20 and for the closed path the
line integral was 0. This alone does not mean that F 2 is conservative as there could be other untried
paths giving dierent values. So by using P3


 i

j
k









 = i(0 0) j(0 0) + k(0 0) = 0

F 2 = 

 x y z 




 2x 2y 0 
As F 2 = 0, P3 gives that F 2 is a conservative vector eld.

Now, nd a such that F 2 = . Then

i+
j = 2xi + 2yj.
x
y
Thus

= 2x = x2 + f (y)
x

= x2 + y 2 (+ constant)

= 2y = y 2 + g(x)
y

(4,2)

(4,2)
F 2 dr =
() dr = (4, 2) (0, 0) = (42 + 22 ) (02 + 02 ) = 20.
Using P4:
(0,0)

(0,0)

3. The fact that line integrals by two dierent paths between the same start and end points is
consistent with F 3 being a conservative eld. So too is the fact that the integral around a closed
path is zero. However, neither fact can be used to conclude that F 3 is a conservative eld. This
can be done by showing that
 F 3 = 0.
 i

j
k









 = (6xyz 2 6xyz 2 )i (3y 2 z 2 3y 2 z 2 )j + (2yz 3 2yz 3 )k = 0.

Now, 
y
z 
 x


 2 3

3
2
2
 y z 2xyz 3xy z 
As F 3 = 0, P3 gives that F 3 is a conservative eld.
To nd that satises = F 3 , it is necessary to satisfy

= xy 2 z 3 + f (y, z)
= y2z3

3
2 3
= xy z + g(x, z)
= 2xyz
= xy 2 z 3

2 2
2 3
= 3xy z = xy z + h(x, y)
z

(1,1,1)

F 3 dr = (1, 1, 1) (0, 0, 0) = 1 0 = 1.

Using P4:
(0,0,0)

18

HELM (2005):
Workbook 29: Integral Vector Calculus

Solution
4. As the integral along C1 is 2 and the integral along C2 (same start and end points but dierent
intermediate points) is 43 , F4 is not a conservative eld.
Note that F 4 = 4k = 0 so this is an independent conclusion that F 4 is not conservative.

Engineering Example 1
Work done moving a charge in an electric field
Introduction
If a charge, Q, is moved through an electric eld, E, from A to B, then the work
required is given by the line integral

B
WAB = Q
E dl
A

Problem in words
Compare the work done in moving a charge through an electric eld via two dierent paths.
Mathematical statement of problem
For a eld E given by
E =
=
=

Q
r
40 r2
xi + yj + zk
Q

2
2
40
+y +z )
x2 + y 2 + z 2
Q(xi + yj + zk)
(x2

40 (x2 + y 2 + z 2 ) 2

with Q = 108 C (the eld given by a single charge), nd the work done in bringing a charge of q
= 1010 C from the point A = (10, 10, 0) to the point B = (1, 1, 0) (where the dimensions are in
metres)
(a) by the straight line y = x, z = 0
(b) by the straight line pair via C = (10, 1, 0)
Mathematical analysis
(a) Here Q/(40 ) = 90 so
E=

90[xi + yj]
3

(x2 + y 2 ) 2

HELM (2005):
Section 29.1: Line Integrals Involving Vectors

19

as z = 0 over the region of interest. The work done

WAB = Q
A

= 1010

E dl

B

90
3

(x2 + y 2 ) 2

[xi + yj] [dxi + dyj]

Using y = x, dy = dx

10

90

WAB = 10

{x dx + x dx}
3
(2x2 ) 2
90

1010
x3 2x dx
10 (2 2)


90 1010 1 2

x dx
2
10
1

9 109
1

x
2
10

1
9 109

x1
2
10
9
9 10

[1 0.1]
2
5.73 109 J
x=10

1

=
=
=
=
=
=

y
A
a
b
B

Figure 3
The path comprises two straight lines from A = (10, 10, 0) to B = (1, 1, 0) via C = (10, 1, 0) (Figure
3).
20

HELM (2005):
Workbook 29: Integral Vector Calculus

The rst part of the path is A to C where x = 10, dx = 0 and y goes from 10 to 1.

C
E dl
WAC = Q
A

1
90
10
= 10
[xi + yj] [0i + dyj]
3
2
y=10 (100 + y ) 2

1
90y dy
10
= 10
3
2
10 (100 + y ) 2

101
45 du
10
= 10
substituting u = 100 + y 2 , du = 2y dy
3
2
u=200 u

101
3
10
u 2 du
= 45 10
200


1 101
= 45 1010 2u 2
200


2
2
10

= 45 10

= 2.59 1010 J
101
200
The second part is C to B, where y = 1, dy = 0 and x goes from 10 to 1.

1
90
10
[xi + yj] [dxi + 0j]
WCB = 10
3
2
x=10 (x + 1) 2

1
90x dx
10
= 10
3
2
10 (x + 1) 2

2
45 du
10
= 10
substituting u = x2 + 1, du = 2x dx
3
u=101 u 2

2
3
10
u 2 du
= 45 10
101


1 2
= 45 1010 2u 2
101


2
2
10

= 5.468 109 J
= 45 10
2
101
The sum of the two components WAC and WCB is 5.73 109 J. Therefore the work done over the
two routes is identical.
Interpretation
In fact, the work done is independent of the route taken as the electric eld E is a conservative
eld.

HELM (2005):
Section 29.1: Line Integrals Involving Vectors

21

Example 11

(2,1)

1. Show that I =


(2xy + 1)dx + (x2 2y)dy is independent of the

(0,0)

path taken.
2. Find I using property P1.
3. Find I using property P4.



4. Find I =
(2xy + 1)dx + (x2 2y)dy where C is
C

(a) the circle x2 + y 2 = 1

(b) the square with vertices (0, 0), (1, 0), (1, 1), (0, 1).

Solution

(2,1)

1. The integral I =

(2xy + 1)dx + (x 2y)dy may be re-written

2

(0,0)
2

F dr where
C

F = (2xy + 1)i + (x 2y)j.



i
j
k 









= 0i + 0j + 0k = 0
Now F = 
y
z 
 x




 2xy + 1 x2 2y 0 
As F = 0, F is a conservative eld and I is independent of the path taken between (0, 0)
and (2, 1).
2. As I is independent of the path taken from (0, 0) to (2, 1), it can be evaluated along any
such path. One possibility is the straight line y = 12 x. On this line, dy = 12 dx. The integral
I becomes

(2,1)


I =
(2xy + 1)dx + (x2 2y)dy
(0,0)
2 

1
1
(2x x + 1)dx + (x2 4x) dx
=
2
2
x=0

2
3
1
( x2 x + 1)dx
=
2
0 2

2
1 3 1 2
=
x x +x =41+20=5
2
4
0

22

HELM (2005):
Workbook 29: Integral Vector Calculus

Solution (contd.)
3. If F = then

= 2xy + 1 = x2 y + x + f (y)
x

= xy 2 z 3 .

= x2 2y = x2 y y 2 + g(x)
y
These are consistent if = x2 y + x y 2 (plus a constant which may be set equal to zero).
So I = (2, 1) (0, 0) = (4 + 2 1) 0 = 5
4. As F is a conservative eld, all integrals around a closed contour are zero.

Exercises
1. Determine whether the following vector elds are conservative
(a) F = (x y)i + (x + y)j
(b) F = 3x2 y 2 i + (2x3 y 1)j
(c) F = 2xi + (xz 2)j + xyk
(d) F = x2 zi + y 2 zj + 13 (x3 + y 3 )k


2. Consider the integral
F dr with F = 3x2 y 2 i + (2x3 y 1)j. Noting that F is a conservative
C


vector eld, nd a scalar eld so that = F . Hence evaluate the integral
F dr where
C

C is an integral with start-point (0, 0) and end point (1, 4).

3. For the following conservative

vector elds F , nd a scalar eld such that = F and


F dr for the contours C indicated.
hence evaluate the I =
C

(a) F = (4x3 y 2x)i + (x4 2y)j; any path from (0, 0) to (2, 1).
(b) F = (ex + y 3 )i + (3xy 2 )j; circle x2 + y 2 = 1.
(c) F = (y 2 + sin z)i + 2xyj + x cos zk; any path from (1, 1, 0) to (2, 0, ).
(d) F =

1
i + 4y 3 z 2 j + 2y 4 zk; any path from (1, 1, 1) to (1, 2, 3).
x

Answers
1. (a) No, (b) Yes, (c) No, (d) Yes
2. x3 y 2 y,

12

3. (a) x4 y x2 y 2 , 11;

(b) ex + xy 3 , 0;

HELM (2005):
Section 29.1: Line Integrals Involving Vectors

(c) xy 2 + x sin z, 1;

(d) ln x + y 4 z 2 ,143

23

4. Vector line integrals

It is also possible to form the integrals

f (x, y, z) dr and

F (x, y, z)dr. Each of these integrals

C

evaluates to a vector.


f (x, y, z) dr becomes
Remembering that dr = dx i + dy j + dz k, an integral of the form
C






f (x, y, z)dx i +
f (x, y, z) dy j +
f (x, y, z)dz k. The rst term can be evaluated by
C

expressing y and z in terms of x. Similarly the second and third terms can be evaluated by expressing
all terms as functions of y and z respectively. Alternatively, all variables can be expressed in terms
of a parameter t. If an integral is two-dimensional, the term in z will be absent.

Example 12

xy 2 dr where C represents the contour y = x2 from (0, 0)

Evaluate the integral

C

to (1, 1).

Solution
This is a two-dimensional integral so the term in z will be absent.


xy 2 dr
I =

C
=
xy 2 (dxi + dyj)



C
2
xy dx i +
xy 2 dy j
=
C

C1

1
2 2
=
x(x ) dx i +
y 1/2 y 2 dy j
x=0
1

y=0
1

x5 dx i +
y 5/2 dy j
0
0
1
1


1 6
2 7/2
=
i+ x
j
x
6
7
0
0
1
2
i+ j
=
6
7
=

24

HELM (2005):
Workbook 29: Integral Vector Calculus

Example

13
Find I =

xdr for the contour C given parametrically by x = cos t, y = sin t,

C

z = t starting at t = 0 and going to t = 2, i.e. the contour starts at

(1, 0, ) and nishes at (1, 0, ).

Solution

x(dxi + dyj + dzk).

The integral becomes

C

Now, x = cos t, y = sin t, z = t so dx = sin t dt, dy = cos t dt and dz = dt. So

I =

cos t( sin t dti + cos t dtj + dtk)

2

2

2
2

cos t sin t dt i +
cos t dt j +
cos t dt k
0
0
0





2
1 2
1 2

sin 2t dt i +
(1 + cos 2t) dt j + sin t
k
2 0
2 0
0

2
2
1
1
1
i +
j + 0k
cos 2t
t + sin 2t
4
2
2
0
0
0i + j = j
0

=
=
=
=

F dr can be evaluated as follows. The vector eld F = F1 i + F2 j + F3 k

Integrals of the form

C

and dr = dx i + dy j + dz k so


 i j k 






F dr =  F1 F2 F3  = (F2 dz F3 dy)i + (F3 dx F1 dz)j + (F1 dy F2 dx)k




 dx dy dz 
= (F3 j F2 k)dx + (F1 k F3 i)dy + (F2 i F1 j)dz
There are a maximum of six terms involved in one such integral; the exact details may dictate which
form to use.

HELM (2005):
Section 29.1: Line Integrals Involving Vectors

25

Example 14

(x2 i + 3xyj) dr where C represents the curve y = 2x2

Evaluate the integral

from (0, 0) to (1, 2).

Solution
Note that the z component of
 F and dz are both zero.
 i

j
k




 2

So F dr =  x 3xy 0  = (x2 dy 3xydx)k




 dx dy 0 




2
and (x i + 3xyj) dr = (x2 dy 3xydx)k
C

Now, on C, y = 2x2 so dy = 4xdx and

2
(x i + 3xyj) dr =
{x2 dy 3xydx}k
C

C1

 2
=
x 4xdx 3x 2x2 dx k

x=0
1
=
2x3 dxk
0

1
1 4
= x k
2
0
1
= k
2

26

HELM (2005):
Workbook 29: Integral Vector Calculus

Engineering Example 2
Force on a loop from a magnetic field
Introduction
A current in a magnetic eld is subject to a force given by
F = J B = I dl B
where the current can be regarded as having magnitude I and owing (positive charge) in the
direction given by the vector dl. The force is known as the Lorentz force and is responsible for the
workings of an electric motor. If current ows around a loop, the total force on the loop is given by
the integral of F around the loop, i.e.


F = (I dl B) = I (B dl)
where the closed path of the integral represents one circuit of the loop.
z
y

Figure 4
Problem in words
A current of 1 A ows around a circuit in the shape of the unit circle in the Oxy plane. A eld of 1
G in the positive z-direction is present. Find the total force on the circuit loop.
Mathematical statement of problem
Choose an origin at the centre of the circuit and use polar coordinates to describe the position of
any point on the circuit and the length of a small element.
Calculate the line integral around the circuit representing the force using the given values of current
and magnetic eld.
Mathematical analysis
The circuit is described by
x = cos y = sin z = 0
with
dl = sin d i + cos d j
B = Bk
HELM (2005):
Section 29.1: Line Integrals Involving Vectors

27

since B is constant. Therefore, the force on the circuit is given by



F = IB k dl = k dl
(since I=1A and B=1G)
where



i
j
k


0
0
1
k dl = 
 sin d cos d 0



= cos i sin j d










So

F =

=


cos i sin j d

=0

sin i cos j

2
=0

= (0 0) i (1 1) j = 0
Hence there is no net force on the loop.
Interpretation
At any given point of the circle, the force on the point opposite is of the same magnitude but opposite
direction, and so cancels, leaving a zero net force.

28

HELM (2005):
Workbook 29: Integral Vector Calculus

Engineering Example 3
Magnetic field from a line current
Introduction
A charge Q, moving at a steady velocity v produces a magnetic eld given by
Q0
(v r)
4r2
where 0 is the permeability of free space (4107 H m1 ), r is the distance from the point of
interest, P , to the line current and r is a unit vector along r.
If, instead of a single charge, a current is used, then it is necessary to integrate over all charges in
the current. So, the total magnetic eld due to the current is given by

D

D
0 I dl r
dB =
B=
4
r2
C
C
dB =

where Idl is the continuous form of Qv and the current extends from C to D. Note that the eld
is perpendicular to both the current and the line from the current to P .
Problem in words
Find the magnetic eld strength (or magnetic ux density), measured in tesla (T), due to a current
I directed vertically downwards, starting at z = c and ending at z = d. What is the eld 1 m from
the current when c = 5 m, d = 10 m and I = 1 A?
Mathematical statement of problem

z
dl

r
h

h2 + z 2
P

Figure 5
Here
Idl = Ikdz
i.e. dl = k dz (pointing downwards). Imagine (without loss of generality) a point P a distance h
from the line current and a distance z below a typical line element of the current. The increment of
eld is given by
dB =

0 I
dl r
4(h2 + z 2 )

where h2 + z 2 is the distance of P from the typical element. Since dl = k dz and r is a unit
vector, the magnitude of the vector product is
|dl r| = sin dz =

h dz
h2 + z 2

HELM (2005):
Section 29.1: Line Integrals Involving Vectors

29

and is in a direction which (by the right-hand-rule) points OUT of the page to the right of the
line and IN to it on the left. Knowing the direction of the eld, now calculate the magnitude: the
increment of eld is given by
dB =

0 I
0 I
h dz

=
h(h2 + z 2 )3/2 dz
2
2
2
2
4(h + z ) h + z
4

so that the total eld at a point is

c
0 I
h(h2 + z 2 )3/2 dz
B=
4
z=d
Mathematical analysis
This integral can be evaluated by means of the substitution z = h tan u where
z = h tan u dz = h sec2 u du
z=c
u = tan1 (c/h) = uc
z = d
u = tan1 (d/h) = ud
Substituting into the total eld integral gives


0 I uc
B =
h(h2 sec2 u)3/2 h sec2 u du
4 ud


0 I uc cos u du
=
4 ud
h


uc
0 I
sin u
=
4h 
ud

0 I
d/h
c/h

=
+
4h
1 + (c/h)2
1 + (d/h)2


d
0 I
c

+
=
4h
(h2 + c2 )
(h2 + d2 )

as

sin(tan1 y) = 

1 + y2

and B = B where is a unit vector in a circumferential direction around the line current. Now if
I = 1 A, c = 5 m, d = 10 m and h = 1 m the magnetic eld becomes


10
5
7
+
B = 10
= 1.98 107 T = 1.98 milli-gauss.
26
101
Interpretation
Note that if c and d then


d
0 I
c
0 I
0 I

+

[2] =
B =
4h
4h
2h
(h2 + c2 )
(h2 + d2 )
i.e. the eld lines are circles around the line current and the magnetic eld strength is inversely
proportional to the distance of the point of interest P from the current.
A scalar or vector involved in a vector line integral may itself be a vector derivative as this next
Example illustrates.
30

HELM (2005):
Workbook 29: Integral Vector Calculus

Example 15

( F ) dr where F is the vector x2 i + 2xyj + 2xzk

Find the vector line integral

C

and C is the curve y = x2 , z = x3 from x = 0 to x = 1 i.e. from (0, 0, 0) to

(1, 1, 1).

Solution
As F = x2 i + 2xyj + 2xzk, F = 2x + 2x + 2x = 6x.
The integral




( F ) dr =
6x(dxi + dyj + dzk)
C
C






6x dx i +
6x dy j +
6x dz k
=
C

The rst term is

6x dx i =
C

6x dx i = 3x

x=0

1
2

i = 3i
0

In the second term, as y = x2 on C, dy may be replaced by 2x dx so

1


1

1


2
3
6x dy j =
6x 2x dx j =
12x dx j = 4x j = 4j
C

x=0
3

0
2

In the third term, as z = x on C, dz may be replaced by 3x dx so


1

1

1


9 4
9
2
3
6x dz k =
6x 3x dx k =
18x dx k = x k = k
2
2
x=0
0
C
0


9
On summing, ( F ) dr = 3i + 4j + k.
2
C

HELM (2005):
Section 29.1: Line Integrals Involving Vectors

31

Task

f dr where f = x2 and C is

Find the vector line integral

C

(a) the curve y = x1/2 from (0, 0) to (9, 3).

(b) the line y = x/3 from (0, 0) to (9, 3).

Your solution

Answer

9
1
243
(x2 i + x3/2 j)dx = 243i +
j,
(a)
2
5
0

(b)
0

1
243
(x2 i + x2 j)dx = 243i +
j.
3
2

Task

F dr when C represents the contour y =

Evaluate the vector line integral

C

4 4x, z = 2 2x from (0, 4, 2) to (1, 0, 0) and F is the vector eld (x z)j.

Your solution

Answer

1
1
{(4 6x)i + (2 3x)k} = i + k
2
0

32

HELM (2005):
Workbook 29: Integral Vector Calculus

Exercises
( F ) dr in the case where F = xi + xyj + xy 2 k and

1. Evaluate the vector line integral

C

C is the contour described by x = 2t, y = t2 , z = 1 t for t starting at t = 0 and going to

t = 1.
2. When C is the contour y = x3 , z = 0, from (0, 0, 0) to (1, 1, 0), evaluate the vector line
integrals


{(xy)} dr
(a)
C




(b)
(x2 i + y 2 k) dr
C

Answers
7
1. 4i + j 2k,
3
2. (a) 0,
(b) k

HELM (2005):
Section 29.1: Line Integrals Involving Vectors

33