Vector Analysis: Department of Foundation Year, Institute of Technology of Cambodia

CHAPTER IV
VECTOR ANALYSIS
Department of Foundation Year,
Institute of Technology of Cambodia
2020–2021
CALCULUS II ITC 1 / 67
Contents
1 Vector-Valued Functions
2 Arc Length and Curvature
3 Vector Fields
4 Line Integrals
5 Conservative Vector Fields and Independence of Path
6 Green’s Theorem
7 Parametric Surfaces
8 Surface Integrals
9 Divergence Theorem
10 Stokes’s Theorem
Contents
3 Vector Fields
4 Line Integrals
6 Green’s Theorem
8 Surface Integrals
Path and Curve
A path in Rn is a continuous function r : I ⊂ R → Rn ,
r(t) = (x1 (t), . . . , xn (t)).
(r(t) is also called position vector).

A curve is the image of the path, that is, a subset of Rn .
Paths are also called parameterizations of curves, where the
parameter is the independent variable, t.
If I = [a; b], then the points r(a) and r(b) are called the
endpoints of the path r. In this case the path and also the curve
is said to be closed if r(a) = r(b).
A piecewise C 1 path r : [a, b] → Rn is simple if it is one-one on
[a; b] except possibly that r(a) may equal r(b).
Velocity and Acceleration
Definition 1
Let r(t) = (x1 (t), . . . , xn (t)) be a differentiable path. Then
r(t + ∆t) − r(t)

v(t) = r0 (t) = lim
∆t→0 ∆t
is called the velocity of r, and
q
kv(t)k = [x01 (t)]2 + · · · + [x0n (t)]2
is called the speed of r. If v is differentiable, then we call
a(t) = v0 (t)
the acceleration of r.
Properties
Theorem 1
Suppose that u and v are differentiable vector functions, f is a
differentiable real-valued function, and c is a scalar. Then
d
1 [u(t) ± v(t)] = u0 (t) ± v0 (t)
dt
d
2 [cu(t)] = cu0 (t)
dt
d
3 [f (t)u(t)] = f 0 (t)u(t) + f (t)u0 (t)
dt
d
4 [u(t)·v(t)] = u0 (t)·v(t) + u(t)·v0 (t)
dt
d
5 [u(t) × v(t)] = u0 (t) × v(t) + u(t) × v0 (t)
dt
d
6 [u(f (t)) = u0 (f (t))f 0 (t).
dt
Tangent Vectors and Normal Vectors
Definition 2
If v 6= 0, we call
v(t) r0 (t)
T(t) = = 0
kv(t)k kr (t)k
the unit tangent vector of the path r.
If T0 (t) 6= 0, we call
T0 (t)
N(t) =
kT0 (t)k
the principal unit normal vector at t.
We define
B=T×N
called binormal vector.
Figure: Tangent Vectors and Normal Vectors
Theorem 2
N is perpendicular to T for all t in I (the domain of the path r).
Theorem 3
Let r : [a, b] → Rn be a C 1 path and N(t) exists, then
a(t) = aT T(t) + aN N(t)
where
v·a
aT = a · T = (1)
kvk
kv × ak
q
aN = a·N= = kak2 − a2T (2)
kvk
aT and aN are called the tangential and normal component of

acceleration, respectively.
Contents
3 Vector Fields
4 Line Integrals
6 Green’s Theorem
8 Surface Integrals
Arc Length and Curvature
Figure: Arc Length in space
Theorem 4
Let r : [a, b] → Rn be a C 1 path. The length of the path is defined by
Z b
s= kr0 (t)kdt.
a
Definition 3
r : [a, b] → Rn be a C 1 path. For a ≤ t ≤ b, the arc length function
is given by Z t
s(t) = kr0 (u)kdu.
a
The arc length s is called the arc length parameter.
Example 4
Find the
√ length of the circular helix
r(t) = 22 (cos ti + sin tj + tk) where
0 ≤ t ≤ 6π.
Contents
3 Vector Fields
4 Line Integrals
6 Green’s Theorem
8 Surface Integrals
Vector Fields
Definition 5
A scalar field on Rn is a mapping f : D ⊂ Rn → R, x 7→ f (x).
A vector field on Rn is a mapping
F : D ⊂ Rn → Rn , x 7→ F(x) = (f1 (x), . . . , fn (x))
Note: Some common physical examples of vector fields are velocity

field, gravitational field, and electrical field.
Vector Fields
Definition 6
Let f (x) be a scalar field and F(x), x = (x1 , x2 , . . . , xn ), be a vector
field. The two functions are differentiable on D ⊂ Rn .
The del operator denoted by

∂ ∂
∇= ,...,
∂x1 ∂xn
The gradient of a scalar field f is defined by

∂f ∂f
∇f = ,...,
∂x1 ∂xn
Vector Fields
The divergence of a vector field F(x) = (f1 (x), . . . , fn (x)),

x = (x1 , x2 , . . . , xn ), is defined by
∂f1 ∂fn
div F = ∇ · F = + ··· +
∂x1 ∂xn
For n = 3, the curl of a vector field F(x, y, z) = M i + N j + P k is

defined by
curl F(x, y, z) =∇ × F(x, y, z)

∂P ∂N ∂P ∂M ∂N ∂M
= − i− − j+ − k.
∂y ∂z ∂x ∂z ∂x ∂y
If curl F = 0, then F is said to be irrotational.
Vector Fields
Definition 7
A vector field F is called conservative if there exists a differentiable
function f such that F = ∇f . In this case f is called a potential
function of vector field F.
Theorem 5
Let F(x, y) = M i + N j be a C 1 vector field in R2 . Then F is
conservative if and only if
∂N ∂M
= .
∂x ∂y
Vector Fields
Example 8
Decide whether the vector field is conservative.
1 F(x, y) = x2 yi + xyj
2 F(x, y) = 2xi + yj
Example 9
Find a potential function for F(x, y) = 2xyi + (x2 − y)j
Vector Fields
Theorem 6
Let F(x, y, z) = M i + N j + P k be a C 1 vector field in R3 . Then F is
conservative iff
curl F(x, y, z) = 0.
That is, F is conservative iff
∂P ∂N ∂P ∂M ∂N ∂M
= , = , and =
∂y ∂z ∂x ∂z ∂x ∂y
Example 10
Find the potential function for
F(x, y, z) = 2xyi + (x2 + z 2 )j + 2yzk.
Curl of a vector field
Theorem 7
Let F(x, y, z) = M i + N j + P k be a C 2 vector field in R3 . Then
div(curl F) = 0.
Vector Fields
Theorem 8
Let f, g be two scalar fields, F, G be vector fields, and c ∈ R be
constant.
1 ∇(f + cg) = ∇f + c∇g
2 ∇ · (F + cG) = ∇ · F + c∇ · G
3 ∇ × (F + cG) = ∇ × F + c∇ × G
4 ∇(f g) = g∇(f ) + f ∇(g)
5 ∇ × (f G) = f ∇ × G + ∇f × G
6 ∇ · (F × G) = (∇ × F) · G − (∇ × G) · F
7 ∇ × (∇f ) = 0
8 ∇ · (∇ × F) = 0
9 ∇ × (∇ × F) = ∇(∇ · F) − ∇2 F where
∇2 F = (∇ · (∇f1 ), . . . , ∇ · (∇fn ))
Contents
3 Vector Fields
4 Line Integrals
6 Green’s Theorem
8 Surface Integrals
Line integral
Figure: Partitioning of curve C
C is a piecewise smooth curve of finite length

a = t0 < t1 < . . . < tn−1 < tn = b partition the curve C
∆sk is the length of ith subarc
t∗k is a point in the kth subarc
Line integral
Definition 11
Let r : [a, b] → Rn be a C 1 path and f (x) be a scalar field defined on
an open region containing the corresponding curve C. The scalar line
integral (or line integral) of f along the curve C is defined as
Z n
X
f ds = lim f (t∗k )∆sk
C all ∆sk →0
k=1
Theorem 9
Let C and f be defined as in Definition 11. The line integral of f along
C is Z Z b
f ds = f (r(t))kr0 (t)kdt
C a
Line Integral Over a Path
Theorem 10
Let C be a path composed of smooth curves C1 , C2 , . . . , Cn . If f is
continuous on C, then
Z Z Z Z
f ds = f ds + f ds + · · · + f ds.
C C1 C2 Cn
Example 12
Evaluate Z
2xds
C
where C consists of the arc C1 of the parabola y = x2 from (0, 0) to

(1, 1) followed by the line segment C2 from (1, 1) to (0, 0).
Example 13
Find the mass of a spring in the shape of
the circular
√ helix
r(t) = 22 (cos ti + sin tj + tk) where
0 ≤ t ≤ 6π and the density of the spring is
ρ(x, y, z) = 1 + z.
Line Integrals of Vector Fields
Figure: At each point on C, the force in the direction of motion is (F · T)T.
C is a piecewise smooth curve of finite length

F is a vector field defined on C
r is a position vector along C
T is a unit tangent vector
Definition 14 (Line Integral of a Vector Field)

Let F be a continuous vector field defined on a smooth curve C given
by
r(t), a ≤ t ≤ b.
The vector line integral or (line integral) of F on C is given by
Z Z
F · dr = F · Tds
C C
Z b
= F(r(t)) · r0 (t)dt.
a
Example 15
Find the work done by the force field
1 1 1
F(x, y, z) = − xi − yj + k
2 2 4
on a particle as it moves along the helix
given by
r(t) = cos ti + sin tj + tk
from the point (1, 0, 0) to (−1, 0, 3π).
Line integrals in Differential Form
Theorem 11 (Line integrals in Differential Form)

If F(x) = (f1 (x), . . . , fn (x)), x = (x1 , . . . , xn ), and C is given by
r(t) = (x1 (t), . . . , xn (t)), then
Z Z
F · dr = f1 dx1 + · · · + fn dxn .
C C
Example 16
Let C be the circle of radius 3 given by
r(t) = 3 cos ti + 3 sin tj, 0 ≤ t ≤ 2π.

Z
Evaluate the integrals y 3 dx + (x3 + 3xy 2 )dy.
C
Contents
3 Vector Fields
4 Line Integrals
6 Green’s Theorem
8 Surface Integrals
Fundamental Theorem of Line Integrals
Theorem 12 (Fundamental Theorem of Line Integrals)
Suppose F is a continuous conservative vector field on R in the sense
that F = ∇f for a continuously differentiable function f . If
r(t), t ∈ [a, b], is a parameterisation of a smooth curve C in R, then
Z Z
F · dr = ∇f · dr = f (r(b)) − f (r(a)).
C C
Example 17
Z
Evaluate F · dr, where C is a piecewise smooth curve from (1, 1, 0)
C
to (0, 2, 3) and
F(x, y, z) = 2xyi + (x2 + z 2 )j + 2yzk.
Figure: R1 is connected. R2 is not connected.
Definition 18
A region R of Rn is said to be connected if any two points in R can be
joined by a piecewise smooth curve lying entirely within the region R.
Theorem 13 (Independent of Path and Conservative Vector Fields)

If F is continuous on an open connected region, then the line integral
Z
F · dr is independent of path if and only if F is conservative.
C
Example 19
For the force field given by
F(x, y, z) = ex cos yi − ex sin yj + 2k

R
show that C F · dr is independent of path, and calculate the work done
by F on an object moving along a curve C from (0, π/2, 1) to (1, π, 3).
Theorem 14 (Equivalent conditions)

If F is a C 1 vector field in an open connected region R, and let C be a
piecewise smooth curve in R. The following conditions are equivalent.
1 F is conservative. That is, F = ∇f for function f .
Z
2 F · dr is independent of path.
ZC
3 F · dr = 0 for every closed curve C in R.
C
Example 20
Z
Evaluate F · dr, where F(x, y) = (y 3 + 1)i + (3xy 2 + 1)j and C1 is
C1
the semicircular path from (0, 0) to (2, 0).
Contents
3 Vector Fields
4 Line Integrals
6 Green’s Theorem
8 Surface Integrals
Green’s Theorem
Figure: Not simply connected
Figure: Simply connected
Definition 21
A plane region R is simply connected if every simple closed curve in
R encloses only points that are in R.
Green’s Theorem
Theorem 15 (Green’s theorem)

Let R be a simply connected region with a piecewise smooth boundary
C, oriented counterclockwise (that is, C is traversed once so that the
region R always lies to the left). If M and N have continuous first
partial derivatives in an open region containing R then
I ZZ
∂N ∂M
M dx + N dy = − dA
C R ∂x ∂y
Example 22
Use
Z Green’s theorem to evaluate the line integral
y 3 dx + (x3 + 3xy 2 )dy where C is the path from (0, 0) to (1, 1) along
C
the graph of y = x3 and from (1, 1) to (0, 0) along the graph of y = x.
Green’s Theorem
Theorem 16
If a vector field F = M i + N j is conservative and C is a closed curve,
then I
M dx + N dy = 0.
C
Example 23
Evaluate the line integral
Z
y 3 + 3xy 2 dy
C
where C is defined as in Example 22.
Green’s Theorem
Theorem 17 (Line integral for area)

Let R is a plane region bounded by a piecewise smooth simple closed
curve C, oriented counterclockwise, then the area of R is given by
I
1
A= xdy − ydx.
2 C
Example 24
x2 y 2
Use a line integral to find the area of the ellipse + 2 = 1.
a2 b
Green’s Theorem
Figure: C3 , C4 : y = 0, 1 ≤ x ≤ 3.
Example 25
Let R be a region inside the ellipse x2 /9 + y 2Z/4 = 1 and outside the
circle x2 + y 2 = 1. Evaluate the line integral 2xydx + (x2 + 2x)dy
C
where C = C1 + C2 is the boundary of R.
Contents
3 Vector Fields
4 Line Integrals
6 Green’s Theorem
8 Surface Integrals
Parametric Surfaces
Definition 26 (Definition of Parametric Surface)

Let x, y and z be functions of u and v that are continuous on a domain
D in the uv-plane. The set of points (x, y, z) given by
r(u, v) = x(u, v)i + y(u, v)j + z(u, v)k
is called a parametric surface. The equations
x = x(u, v), y = y(u, v) and z = z(u, v)
are the parametric equations for the surface.
Example 27
Identify and sketch the parametric surface given by
r(u, v) = 3 cos ui + 3 sin uj + vk where 0 ≤ u ≤ 2π and 0 ≤ v ≤ 4.
Parametric Surfaces
Example 28
Identify and sketch the parametric surface S given by
r(u, v) = sin u cos vi + sin u sin vj + cos uk
where 0 ≤ u ≤ π and 0 ≤ v ≤ 2π.
Example 29
Write a set of parametric equations for the cone given by
p
z = x2 + y 2 .
Normal Vectors and Tangent Planes
Let S be a smooth parametric sur-

face
r(u, v) = x(u, v)i+y(u, v)j+z(u, v)k
defined over an open region D in

the uv-plane. Let (u0 , v0 ) be a point
in D. A normal vector at the point
(x0 , y0 , z0 ) = (x(u0 , v0 ), y(u0 , v0 ), z(u0 , v0 ))

is given by

i j k
∂y
∂x ∂z
N = ru (u0 , v0 )×rv (u0 , v0 ) = ∂u ∂u ∂u .
∂x ∂y ∂z
∂v ∂v ∂v
Example 30
Find an equation of the tangent plane to the paraboloid given by
r(u, v) = ui + vj + (u2 + v 2 )k at the point (1, 2, 5).
Area of a parametric surface

Let S be a smooth parametric surface
defined over an open region D in the uv-plane. If each point on the

surface S corresponds to exactly one point in the domain D, then the
surface area of is given by
ZZ ZZ
Surface area = dS = kru × rv kdA
S D
∂x ∂y ∂z ∂x ∂y ∂z
where ru = ∂u i + ∂u j + ∂u k and rv = ∂v i + ∂v j + ∂v k.
Example 31
Find the surface area of the unit sphere given by
r(u, v) = sin u cos vi + sin u sin vj + cos uk
where the domain D is given by 0 ≤ u ≤ π and 0 ≤ v ≤ 2π.
Example 32
Find the surface area of the torus given by
r(u, v) = (2 + cos u) cos vi + (2 + cos u) sin vj + sin uk
where the domain D is given by 0 ≤ u ≤ 2π and 0 ≤ v ≤ 2π.
Contents
3 Vector Fields
4 Line Integrals
6 Green’s Theorem
8 Surface Integrals
Surface Integral
S is a surface given by
z = g(x, y)
R is a projection of S onto
xy-plane
∆Si is a partition of S
(xi , yi , zi ) ∈ Si
Surface Integral
Definition 33
Let f be a function of three variables defined in a region in space
containing a surface S. The surface integral of f over S is
ZZ n
X
f (x, y, z)dS = lim f (xi , yi , zi )∆Si .
S k∆k→0
i=1
Surface Integral
Theorem 18 (Evaluating a surface integral)

Let S be a surface with equation z = g(x, y) and let R be its projection
onto the xy-plane. If g, gx and gy are continuous on R and f is
continuous on S then the surface integral of f over S is
ZZ ZZ q
f (x, y, z)dS = f (x, y, g(x, y)) 1 + [gx (x, y)]2 + [gy (x, y)]2 dA.
S R
Surface Integral
Example 34
Evaluate the surface integral
ZZ
(y 2 + 2yz)dS
S
where S is the first-octant portion of the plane 2x + y + 2z = 6.
Example 35
Evaluate the surface integral
ZZ
(x + z)dS
S
where S is the first-octant portion of the cylinder y 2 + z 2 = 9 between

x = 0 and x = 4.
Surface Integral
Parametric Surfaces and Surface Integrals

For a surface S given by the vector-valued function
defined over a region D in the uv-plane, then the surface integral of

f (x, y, z) over S is given by
ZZ ZZ
f (x, y, z)dS = f (x(u, v), y(u, v), z(u, v))kru (u, v)×rv (u, v)kdA.
S D
Example 36
Evaluate the problem in Example 35 by using parametric form.
Surface Integral
Definition 37 (Oriented surface)

A surface S is orientable or two-sided if it has a unit normal vector
N that varies continuously over S, that is, if the components of N are
continuous at each point (x, y, z) on S.
Surface Integral
Definition 38 (Flux integral)

Let F(x, y, z) = M i + N j + P k, where M, N and P have continuous
first derivatives on the surface S oriented by a unit vector N. The flux
integral of F across S is given by
ZZ
F · NdS.
S
Surface Integral
Geometrically, a flux integral is the surface integral over S of the

normal vector component of F. If the fluid has density ρ(x, y, z) at
(x, y, z), then the flux integral
ZZ
ρF · NdS
S
gives the mass of the fluid flowing across S per unit time.
Theorem 19
If F(x, y, z) = M i + N j + P k is a continuous vector field in a region
that contains a smooth oriented surface S given by z = g(x, y) and R is
its projection onto the xy-plane, then
ZZ ZZ
F · NdS = (−M gx − N gy + P )dA.
S R
Surface Integral
Example 39
Let S be the portion of the
paraboloid
z = g(x, y) = 4 − x2 − y 2
lying above the xy-plane, oriented

by an upward unit normal vector.
A fluid of constant density ρ is
flowing through the surface S
according to the vector field
F(x, y, z) = xi + yj + zk.
Find the rate of mass flow through

S.
Surface Integral
Theorem 20
For an oriented surface S given by the vector-valued function
defined over a region D in the uv-plane, then

ZZ ZZ
F · NdS = F · (ru × rv )dA.
S D
Contents
3 Vector Fields
4 Line Integrals
6 Green’s Theorem
8 Surface Integrals
Divergence Theorem
Theorem 21 (Divergence Theorem)

Let Q be a solid region bounded by a closed surface S oriented by a
unit normal vector directed outward from Q. If F is a vector field
whose component functions have continuous first partial derivatives in
Q, then ZZ ZZZ
F · NdS = div FdV.
S Q
Divergence Theorem
Example 40
Let Q be the solid region bounded
by the coordinate planes and the
plane 2x + 2y + z = 6, and let
F(x, y, z) = xi + y 2 j + zk. Find
ZZ
F · NdS
S
where S is the surface of Q.
Divergence Theorem
Example 41
Let Q be the solid region between
the paraboloid
z = 4 − x2 − y 2
and the xy-plane. Verify the

Divergence Theorem for
F(x, y, z) = 2zi + xj + y 2 k.
Divergence Theorem
Example 42
Let Q be the solid region bounded
by cylinder x2 + y 2 = 4, the plane
x + z = 6, and the xy-plane. Find
ZZ
F · NdS
S
where S is the surface of Q and

F(x, y, z) =
(x2 + sin z)i + (xy + cos z)j + ey k.
Contents
3 Vector Fields
4 Line Integrals
6 Green’s Theorem
8 Surface Integrals
Stokes’s Theorem
Theorem 22 (Strokes’s theorem)

Let S be an oriented surface with
unit normal vector N, bounded by
a piecewise smooth simple closed
curve C with a positive orientation.
If F is a vector field whose
component functions have
continuous first partial derivatives
on an open region containing S and
C, then
I ZZ
F · dr = (curl F)·NdS.
C S
Stokes’s theorem
Example 43
Let C be the oriented triangle lying
in the plane 2x + 2y + z = 6.
Evaluate I
F · dr
C
where F(x, y, z) = −y 2 i + zj + xk.
Stokes’s theorem
Example 44
Let S be the portion of the
paraboloid z = 4 − x2 − y 2 lying
above the xy-plane, oriented
upward. Let C be its boundary
curve in the xy-plane, oriented
counterclockwise. Verify Strokes’s
Theorem for
F(x, y, z) = 2zi + xj + y 2 k
by evaluating the surface integral

and the equivalent line integral.

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CHAPTER IV

Department of Foundation Year,

Institute of Technology of Cambodia

A path in Rn is a continuous function r : I ⊂ R → Rn ,

r(t) = (x1 (t), . . . , xn (t)).

(r(t) is also called position vector).

r(t + ∆t) − r(t)

is called the speed of r. If v is differentiable, then we call

Figure: Tangent Vectors and Normal Vectors

a(t) = aT T(t) + aN N(t)

aT and aN are called the tangential and normal component of

Figure: Arc Length in space

Note: Some common physical examples of vector fields are velocity

The gradient of a scalar field f is defined by

The divergence of a vector field F(x) = (f1 (x), . . . , fn (x)),

For n = 3, the curl of a vector field F(x, y, z) = M i + N j + P k is

curl F(x, y, z) =∇ × F(x, y, z)

If curl F = 0, then F is said to be irrotational.

F(x, y, z) = 2xyi + (x2 + z 2 )j + 2yzk.

Figure: Partitioning of curve C

C is a piecewise smooth curve of finite length

where C consists of the arc C1 of the parabola y = x2 from (0, 0) to

Figure: At each point on C, the force in the direction of motion is (F · T)T.

C is a piecewise smooth curve of finite length

Definition 14 (Line Integral of a Vector Field)

r(t) = cos ti + sin tj + tk

from the point (1, 0, 0) to (−1, 0, 3π).

Theorem 11 (Line integrals in Differential Form)

r(t) = 3 cos ti + 3 sin tj, 0 ≤ t ≤ 2π.

F(x, y, z) = 2xyi + (x2 + z 2 )j + 2yzk.

Figure: R1 is connected. R2 is not connected.

Theorem 13 (Independent of Path and Conservative Vector Fields)

F(x, y, z) = ex cos yi − ex sin yj + 2k

Theorem 14 (Equivalent conditions)

Figure: Not simply connected

Figure: Simply connected

Theorem 15 (Green’s theorem)

where C is defined as in Example 22.

Theorem 17 (Line integral for area)

Definition 26 (Definition of Parametric Surface)

r(u, v) = x(u, v)i + y(u, v)j + z(u, v)k

is called a parametric surface. The equations

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

are the parametric equations for the surface.

r(u, v) = sin u cos vi + sin u sin vj + cos uk

where 0 ≤ u ≤ π and 0 ≤ v ≤ 2π.

Let S be a smooth parametric sur-

r(u, v) = x(u, v)i+y(u, v)j+z(u, v)k

defined over an open region D in

(x0 , y0 , z0 ) = (x(u0 , v0 ), y(u0 , v0 ), z(u0 , v0 ))

Area of a parametric surface

r(u, v) = x(u, v)i + y(u, v)j + z(u, v)k

defined over an open region D in the uv-plane. If each point on the

r(u, v) = sin u cos vi + sin u sin vj + cos uk

where the domain D is given by 0 ≤ u ≤ π and 0 ≤ v ≤ 2π.

r(u, v) = (2 + cos u) cos vi + (2 + cos u) sin vj + sin uk

where the domain D is given by 0 ≤ u ≤ 2π and 0 ≤ v ≤ 2π.

Theorem 18 (Evaluating a surface integral)