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AY2018-19 Semester 1 MA1511 Engineering Calculus

MA1511 Engineering Calculus

Chapter 2 Multiple Integrals

2.1 Double Integrals over Rectangular Domains

Volume Under A Surface

We recall that the area under the graph of a continuous and positive function 𝑓 defined on the
𝑏
interval [𝑎, 𝑏] is given by the definite integral ∫𝑎 𝑓 (𝑥)𝑑𝑥 .

Analogously, for a continuous, positive function 𝑓(𝑥, 𝑦) defined over a rectangular domain
{(𝑥, 𝑦): 𝑎 ≤ 𝑥 ≤ 𝑏, 𝑐 ≤ 𝑦 ≤ 𝑑}, the volume under the surface is given by either one of the
following iterated integrals whose values are equal by virtue of Result 2.1A that follows.
b d d b

 f ( x, y) dydx,  f ( x, y) dxdy
a c c a

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AY2018-19 Semester 1 MA1511 Engineering Calculus

Computation of Iterated Integrals

b d d
To find   f ( x, y) dydx
a c
, we first calculate the “inner integral”  f ( x, y)dy
c

with respect to 𝑦, holding 𝑥 constant. This gives a function of 𝑥, say 𝑔(𝑥). Hence,
b d b


a c
f ( x, y) dydx   g ( x)dx
a

For example,
3 1 3 1

∫ ∫ 𝑥𝑦 + 𝑥 2 𝑑𝑦𝑑𝑥 = ∫ (∫ 𝑥𝑦 + 𝑥 2 𝑑𝑦) 𝑑𝑥
−3 0 −3 0

3 𝑦=1
𝑥𝑦 2
= ∫[ + 𝑥 2 𝑦] 𝑑𝑥
2 𝑦=0
−3
3
𝑥
= ∫ ( + 𝑥 2 ) 𝑑𝑥
2
−3
𝑥=3
𝑥2 𝑥3
=[ + ] = 18
4 3 𝑥=−3

d b b
Similarly, to find 
c a
f ( x, y) dx dy , we first calculate the “inner integral”  f ( x, y) dx
a

with respect to 𝑥, holding 𝑦 constant. This gives a function of 𝑦, say ℎ(𝑦). Hence,
b d d

  f ( x, y) dydx   h( y)dy
a c c

b d
It turns out that for any continuous function 𝑓, the two iterated integrals:   f ( x, y) dydx
a c
and

d b

  f ( x, y) dx dy
c a
are numerically equal.

Result 2.1A
Let f be a continuous function defined on the rectangular domain {(𝑥, 𝑦): 𝑎 ≤ 𝑥 ≤ 𝑏 , 𝑐 ≤ 𝑦 ≤
𝑑 }. Then
b d d b


a c
f ( x, y) dydx    f ( x, y) dx dy
c a

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AY2018-19 Semester 1 MA1511 Engineering Calculus

Remarks
1. In subsequent sections, we will consider double integrals over more general domains of
integration. A commonly used notation for the double integral of 𝑓(𝑥, 𝑦) over a domain 𝐷 is

  f ( x, y) dA
D

2. When 𝑓(𝑥, 𝑦) = 1,   f ( x, y) dA   1 dA 
D D
area of the region 𝐷.

More generally,  C
D
dA  C  area of the region 𝐷, for any constant 𝐶.

Using the technique demonstrated above, we can prove the following result (to be discussed in
Tutorial 2) which is a direct consequence of Result 2.1A.

Result 2.1B
Let f be defined on the rectangular domain {(𝑥, 𝑦): 𝑎 ≤ 𝑥 ≤ 𝑏 , 𝑐 ≤ 𝑦 ≤ 𝑑 }.
If 𝑓(𝑥, 𝑦) = 𝑎(𝑥) 𝑏(𝑦) for some continuous functions 𝑎(𝑥) and 𝑏(𝑦), then
b d
b  d 

a c
f ( x, y ) dydx    a( x ) dx   b( y ) dy 
a  c 

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AY2018-19 Semester 1 MA1511 Engineering Calculus

Video Example 2.1.1

Find the volume of the solid bounded by the surface
𝑧 = 9𝑥 2 𝑦 2 + 3
defined over the region { (𝑥, 𝑦): − 1 ≤ 𝑥 ≤ 1, 0 ≤ 𝑦 ≤ 2}
𝐴𝑛𝑠𝑤𝑒𝑟: 28

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AY2018-19 Semester 1 MA1511 Engineering Calculus

Remarks (Triple Integrals)

1. For a function 𝑓(𝑥, 𝑦, 𝑧) of three variables defined on a domain of the form
{(𝑥, 𝑦, 𝑧): 𝑎 ≤ 𝑥 ≤ 𝑏 , 𝑐 ≤ 𝑦 ≤ 𝑑, , 𝑓 ≤ 𝑧 ≤ 𝑔 },
we can compute an iterated triple integral such as
𝑔 𝑑 𝑏

∫ ∫ ∫ 𝑓 (𝑥, 𝑦, 𝑧) 𝑑𝑥𝑑𝑦𝑑𝑧
𝑓 𝑐 𝑎

d b
by first evaluating the inner double integral   f ( x, y, z) dxdy which is a function of 𝑧,
c a
g
say 𝑘 (𝑧) , and then calculating  k ( z) dz .
f

2. Result 2.1A can be extended to triple integrals: the order of integration for an iterated
triple integral does not matter. For example,

𝑔 𝑑 𝑏 𝑑 𝑔 𝑏

∫ ∫ ∫ 𝑓 (𝑥, 𝑦, 𝑧) 𝑑𝑥𝑑𝑦𝑑𝑧 = ∫ ∫ ∫ 𝑓(𝑥, 𝑦, 𝑧) 𝑑𝑥𝑑𝑧𝑑𝑦

𝑓 𝑐 𝑎 𝑐 𝑓 𝑎

Note that there are a total of 6 different ways given by the order in which we perform
the integration.

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AY2018-19 Semester 1 MA1511 Engineering Calculus

2.2 Double Integrals over General Domains

Type I Domain {(𝒙, 𝒚): 𝒂 ≤ 𝒙 ≤ 𝒃, 𝒈(𝒙) ≤ 𝒚 ≤ 𝒉(𝒙)}

The double integral

  f ( x, y) dA
D
is given by

b h( x )

  f ( x, y) dA    f ( x, y) dydx
D a g ( x)

Type II Domain {(𝒙, 𝒚): 𝒄 ≤ 𝒚 ≤ 𝒅, 𝒈(𝒚) ≤ 𝒙 ≤ 𝒉(𝒚)}

The double integral

  f ( x, y) dA
D
is given by

d h( y )


D
f ( x, y) dA    f ( x, y) dxdy
c g ( y)

Dr NG Wee Seng
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AY2018-19 Semester 1 MA1511 Engineering Calculus

Video Example 2.2.1

  xy dA , where 𝐷 is the region in the first quadrant bounded by the curves 𝑦 = 𝑥 3

2
Find
D

and 𝑦 = √𝑥.
5
Answer:
77

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AY2018-19 Semester 1 MA1511 Engineering Calculus

Change of Order of Integration

Domains which are of both types I and II are not uncommon. An example of such a domain is
the shown below.

When a given iterated integral is difficult or even impossible to compute and the domain of integration
is both of type I and type II, we change the order of integration.

To change the order of integration

Step 1 Sketch the domain of integration
Step 2 If the given iterated integral is of type I, rewrite it as a Type II integral.
If the given iterated integral is of type II, rewrite it as a Type I integral.

Using the above region as an example, the double integral

∬ 𝑓 (𝑥, 𝑦)𝑑𝐴
𝐷

can be found by computing one of the following iterated integrals, whichever is possible or
more efficient to calculate.
2 𝑥3 8 2

(Type I) ∫ ∫ 𝑓 (𝑥, 𝑦) 𝑑𝑦𝑑𝑥 OR (Type II) ∫ ∫ 𝑓 (𝑥, 𝑦) 𝑑𝑥𝑑𝑦

0 0 0 𝑦 1/3

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AY2018-19 Semester 1 MA1511 Engineering Calculus

Video Example 2.2.2

Determine and sketch the region of integration of

 

 
0 y
sin x 2 dx dy

Hence, evaluate this integral.

Answer: 1

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AY2018-19 Semester 1 MA1511 Engineering Calculus

2.3 Double Integrals in Polar Coordinates

Polar Coordinates

Take any point 𝑃(𝑥, 𝑦) (other than the origin O) in the coordinate plane. Let 𝑟 be the length of the
line segment 𝑂𝑃 , and let 𝛼 (0 ≤ α ≤ π) be the angle made between OP and the positive 𝑥 –
axis. Then, 𝑃(𝑥, 𝑦) can be represented by the ordered pair (𝑟, 𝜃) where

α if 𝑦 ≥ 0
𝜃={
−α if 𝑦 < 0

The origin O, also known as the pole, has polar coordinates (0, 𝜃) for any 𝜃.

The positive 𝑥-axis is called the polar axis and (𝑟, 𝜃) is the polar coordinates of the point 𝑃.

Some examples of points in both rectangular (Cartesian) coordinates and polar coordinates are given
in the table below.

Cartesian coordinates Polar Coordinates

A(1, 1) 𝜋
A (√2, )
4
B(-1, 1) 3𝜋
B (√2, )
4
C(-1, -1) 3𝜋
C(√2, − 4 )
D(1, -1) 𝜋
D(√2, − 4 )

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AY2018-19 Semester 1 MA1511 Engineering Calculus

Conversion between Polar and Rectangular Coordinates

Let a point 𝑃(𝑥, 𝑦) have polar coordinates (𝑟, 𝜃)
It can be shown easily that
𝑥 = 𝑟cos𝜃 , 𝑦 = 𝑟sin𝜃 and 𝑟 2 = 𝑥 2 + 𝑦 2
𝜋 𝟓√𝟑 5
For example, the point in polar coordinates (5, − ) has Cartesian coordinates ( ,− ) using
6 𝟐 2
𝜋
the above formulae for 𝑥 and 𝑦 with 𝑟 = 5 and 𝜃 = − 6.

Graphs of Polar Equations (Polar Curves)

The graph of a polar equation 𝑟 = 𝑓(𝜃) , or implicity 𝑓(𝑟, 𝜃) = 0, consists of points (𝑟 , 𝜃 )
satisfying the given equation.

For example, the graph of 𝑟 = 𝑎 (𝑎 > 0) is a circle centered at the origin O(0, 0) and having a radius
of 𝑎 , since every point in this graph has the same distance 𝑎 from the origin.

Video Example 2.3.1

Find the Cartesian equation of the polar curve 𝑟 = 𝑎 cos 𝜃 (𝑎 > 0).
𝑎 𝑎2
Answer:(𝑥 − 2)2 + 𝑦 2 = 4

Polar Rectangles
A polar rectangle is a region described in polar coordinates by inequalities of the form

𝑎 ≤ 𝑟 ≤ 𝑏 and 𝛼 ≤ 𝜃 ≤ 𝛽, where 0 ≤ 𝛽 − 𝛼 ≤ 2𝜋.

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AY2018-19 Semester 1 MA1511 Engineering Calculus

A special case when 𝑎 = 0 gives a sector of a circle centered at O and radius 𝑏 :

Double Integrals in Polar Coordinates

The integral,   f ( x, y) dA
D
over a domain bounded by two polar curves can be computed in polar

coordinates using the following result.

Result 2.3A
Let 𝑓 be a continuous function defined on the domain 𝐷, in polar coordinates :
𝐷 = {(𝑟, 𝜃): 𝑔(𝜃) ≤ 𝑟 ≤ ℎ(𝜃) and 𝛼 ≤ 𝜃 ≤ 𝛽 }, where 0 ≤ 𝛽 − 𝛼 ≤ 2𝜋.
Then,
 h ( )

  f ( x, y) dA    f (r cos , r sin  ) rdrd

D g( )

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AY2018-19 Semester 1 MA1511 Engineering Calculus

A special case in which 𝑔(𝜃) = 0 is presented in result 2.3B

Result 2.3B
Let 𝑓 be a continuous function defined on the domain 𝐷, in polar coordinates :
𝐷 = {(𝑟, 𝜃): 0 ≤ 𝑟 ≤ ℎ(𝜃) and 𝛼 ≤ 𝜃 ≤ 𝛽 }, where 0 ≤ 𝛽 − 𝛼 ≤ 2𝜋.
Then,
 h ( )

 
D
f ( x, y) dA  

 f (r cos , r sin  ) rdrd
0

An example of a domain of the above kind is the region enclosed by a semi-circle centred at O and of
radius 𝑎, and the 𝑥 −axis, as shown below. This region can be defined by the inequalities
0 ≤ 𝑟 ≤ 1 and 0 ≤ 𝜃 ≤ 𝜋

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AY2018-19 Semester 1 MA1511 Engineering Calculus

Video Example 2.3.2

Calculate the volume of the solid bounded between the surface 𝑧 = 1 − 𝑥 2 − 𝑦 2 and the 𝑥 − 𝑦
plane, 𝑧 = 0
𝜋
Answer : 2

End of Chapter 2

“Mathematics consists in proving the most obvious thing in the least obvious way.”
— George Polya

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