Module 6,7

Vector Calculus
1. Elementary
2. Vector Product
3. Differentiation of Vectors
4. Integration of Vectors
5. Del Operator or Nabla (Symbol )
6. Polar Coordinates

1
2.1 Elementary Vector Analysis
Definition 2.1 (Scalar and vector)
Scalar is a quantity that has magnitude
but not direction.
For instance mass, volume, distance

Vector is a directed quantity, one with

both magnitude and direction.
For instance acceleration, velocity, force

2
We represent a vector as an arrow from the
origin O to a point A.

A A
OA or
a
O O

The length of the arrow is the magnitude of

the vector written as OA or a .

3
2.1.1 Basic Vector System

• Perpendicular to each other

• In the positive directions
Unit vectors , ,
of the axes
• have magnitude (length) 1

4
Define a basic vector system and form a
right-handed set, i.e

5
2.1.2 Magnitude of vectors
Let P = (x, y, z). Vector OP = p is defined by

OP = p = x i + y j + z k

= [x, y, z]
with magnitude (length)

OP = p = x +y +z
2 2 2

6
2.1.3 Calculation of Vectors

1. Vector Equation

Two vectors are equal if and only if the

corresponding components are equals
Let a = a1 i + a2 j + a3 k and b = b1 i + b2 j + b3 k .
Then
a = b  a1 = b1 , a2 = b2 , a3 = b3

7
2. Addition and Subtraction of Vectors

a  b = (a1  b1 )i + (a2  b2 ) j + (a3  b3 )k

3. Multiplication of Vectors by Scalars

If  is a scalar, then
 b = (b1 )i + (b2 ) j + (b3 )k

8
Example 2.1
Given p = 5i + j - 3k and q = 4i - 3j + 2k . Find

a) p + q
b) p - q
c) Magnitude of vector p

d) 2q - 10p

9
2.2 Vector Products
If a = a1 i + a2 j + a3 k and b = b1 i + b2 j + b3 k ,
~ ~ ~ ~ ~ ~ ~ ~
1) Scalar Product (Dot product)
a  b = a1b1 + a2b2 + a3b3
~ ~
or a . b =| a || b | cos ,  is the angle between a and b
~ ~ ~ ~

2) Vector Product (Cross product)

i j k
~ ~ ~

a  b = a1 a2 a3
~ ~
b1 b2 b3

=  a2b3 - a3b2  i -  a1b3 - a3b1  j +  a1b2 - a2b1  k

~ ~ ~

10
3) Application of Multiplication of Vectors
a) Given 2 vectors a and b , projection a onto b
is defined by
a .b
compb a = ~ ~ a
|b|
~

| a .b | b
length (l ) = ~ ~ compb a
|b|
~

b) The area of triangle

b
1
A = a b . a
2 ~ ~

11
c) The area of parallelogram
a
A= a xb b

d) The volume of tetrahedrone

a1 a2 a3 a b
1 1
V= a . b xc = b1 b2 b3 c
6 6
c1 c2 c3

e) The volume of parallelepiped

a1 a2 a3 a b
V = a . b x c = b1 b2 b3
c
c1 c2 c3

12
Example 2.3

Given a = 2 i + 3 j - k and b = i + 2 j + k ,
~ ~ ~ ~ ~ ~ ~ ~

determine a . b, a  b and the angle between a and b .

~ ~ ~ ~ ~ ~

13
2.4 Vector Differential Calculus
• Let A be a vector depending on parameter u,

A(u ) = a x (u ) i + a y (u ) j + a z (u ) k
~ ~ ~ ~

• The derivative of A(u) is obtained by

differentiating each component separately,

dA dax da y daz
~
= i+ j+ k
du du ~ du ~ du ~

14
• The nth derivative of vector A(u) is given by
~
dn A d n
a d n
a d n
az
~
n
= x
n ~
i+ n
y
j+ k.
n ~
du du du ~ du
dn A
• The magnitude of ~ is
n
du

n 2
 d ax   d a y   d az 
2 2
d A n n n
~
n
=  n  +  n  +  n 
du  du   du   du 

15
Example 2.4

If A = 3u 2 i - 2u j + 5 k
~ ~ ~ ~

hence
dA
~
=
du
d2 A
~
2
=
du

16
Example 2.5
The position of a moving particle at time t is given
by x = 4t + 3, y = t2 + 3t, z = t3 + 5t2. Obtain
• The velocity and acceleration of the particle.
• The magnitude of both velocity and acceleration
at t = 1.

17
Solution
• The parameter is t, and the position vector is
r(t ) = (4t + 3) i + (t 2 + 3t ) j + (t 3 + 5t 2 ) k .
~ ~ ~ ~

• The velocity is given by

dr
~
= 4 i + ( 2t + 3) j + (3t 2 + 10t ) k .
dt ~ ~ ~

• The acceleration is
d2 r
2
~
= 2 j + (6t + 10) k .
dt ~ ~

18
• At t = 1, the velocity of the particle is

d r (1)
~
= 4 i + ( 2(1) + 3) j + (3(1) 2 + 10(1)) k
dt ~ ~ ~

= 4 i + 5 j + 13 k .
~ ~ ~

and the magnitude of the velocity is

d r (1)
~
= 42 + 52 + 132
dt
= 210 .

19
• At t = 1, the acceleration of the particle is

d 2 r (1)
~
2
= 2 j + (6(1) + 10) k
dt ~ ~

= 2 j + 16 k .
~ ~

and the magnitude of the acceleration is

d 2 r (1)
~
= 22 + 16 2
dt 2

= 2 65.

20
2.4.1 Differentiation of Two Vectors
If both A
~
(u) and B(u)
~
are vectors, then

d dA
a) (c A) = c ~
du ~ du
d dA dB
b) ( A+ B ) = ~ + ~
du ~ ~ du du
d dB dA
c) ( A . B ) = A . ~ + ~ .B
du ~ ~ ~ du du ~
d dB dA
d) ( A  B) = A  ~ + ~  B
du ~ ~ ~ du du ~

21
2.4.2 Partial Derivatives of a Vector

• If vector A~ depends on more than one

parameter, i.e

A(u1 , u2 ,, un ) = a x (u1 , u2 ,, un ) i

~ ~

+ a y (u1 , u2 , , un ) j
~

+ a z (u1 , u2 ,, un ) k
~

22
• Partial derivative of A~ with respect to u1 is
given by

A a x a y a z
= ~
i+ j+ k,
u1 u1 ~ u1 ~ u1 ~
2 A
 a 2
 2a y
 2
az
~
= x
i+ j+ k
u1u2 u1u2 ~ u1u2 ~ u1u2 ~
e.t.c.

23
Example 2.6
If F = 3uv2 i + (2u 2 - v) j + (u 3 + v 2 ) k
~ ~ ~ ~

then
F
~
= 3v 2 i + 4u j + 3u 2 k ,
u ~ ~ ~

F 2 F
~
= 6uv i - j + 2v k , ~
= 4 j + 6u k ,
v ~ ~ ~ u 2
~ ~

2 F 2 F 2 F
~
= 6u i + 2 k , ~
= ~
= 6v i
v 2 ~ ~ uv vu ~

24
Exercise 2.1
If F = 2u 2 v i + (3u - v 3 ) j + (u 3 + 3v 2 ) k
~ ~ ~ ~

then
F F
~
= , ~
=
u v
2 F 2 F
~
= , ~
=
u 2
v 2

 F
2
 F
2
~
= , ~
=
uv vu

25
2.5 Vector Integral
Calculus
• The concept of vector integral is the same as
the integral of real-valued functions except that
the result of vector integral is a vector.
If A(u ) = a x (u ) i + a y (u ) j + a z (u ) k
~ ~ ~ ~

then
b b

a ~
A(u ) du =  a x (u ) du i
a ~
b b
+  a y (u ) du j +  a z (u ) du k .
a ~ a ~

26
Example 2.7
If F = (3t 2 + 4t ) i + (2t - 5) j + 4t 3 k ,
~ ~ ~ ~
3
calculate  F dt.
1 ~

Answer
3 3 3 3
 F dt =  (3t + 4t ) dt i +  (2t - 5) dt j +  4t 3 dt k
2
1 ~ 1 ~ 1 ~ 1 ~

= [t 3 + 2t 2 ]13 i + [t 2 - 5t ]13 j + [t 4 ]13 k

~ ~ ~

= 42 i - 2 j + 80 k .
~ ~ ~

27
Exercise 2.2
If F = (t 3 + 3t ) i + 2t 2 j + (t - 4) k ,
~ ~ ~ ~
1
calculate 0 ~
F dt.

Answer
1 1 1 1
 F dt =  (t + 3t ) dt i +  2t dt j +  (t - 4) dt k
3 2
0 ~ 0 ~ 0 ~ 0 ~

=
=
7 2 7
= i + j- k.
4~ 3 ~ 2 ~

28
2.6 Del Operator Or Nabla (Symbol )

• Operator  is called vector differential operator,

defined as

   
 =  i + j + k .
 x ~ y ~ z ~ 

29
2.6.1 Grad (Gradient of Scalar
Functions)
• If  x,y,z is a scalar function of three variables
and  is differentiable, the gradient of  is
defined as
  
grad  =  = i+ j+ k.
x ~ y ~ z ~
* is a scalar function
*  is a vector function

30
Example 2.8
If  = x 2 yz 3 + xy 2 z 2 , determine grad  at P = (1,3,2).

Solution
Given  = x 2 yz 3 + xy 2 z 2 , hence

= 2 xyz 3 + y 2 z 2
x

= x 2 z 3 + 2 xyz 2
y

= 3x 2 yz 2 + 2 xy 2 z
z

31
Therefore,
  
 = i+ j+ k
x ~ y ~ z ~
= (2 xyz 3 + y 2 z 2 ) i + ( x 2 z 3 + 2 xyz 2 ) j
~ ~

+ (3 x 2 yz 2 + 2 xy 2 z ) k .
~

At P = (1,3,2), we have
 = (2(1)(3)( 2) 3 + (3) 2 (2) 2 ) i + ((1) 2 (2) 3 + 2(1)(3)( 2) 2 ) j
~ ~

+ (3(1) 2 (3)( 2) 2 + 2(1)(3) 2 (2)) k .

~

= 84 i + 32 j + 72 k .
~ ~ ~

32
Exercise 2.3

If  = x 3 yz + xy 2 z 3 ,
determine grad  at point P = (1,2,3).

33
Solution

Given  = x 3 yz + xy 2 z 3 , then

=
x

=
y

=
z
 Grad  =  = 
At P = (1,2,3),  = 126 i + 111 j + 110 k .
~ ~ ~

34
2.6.1.1 Grad Properties
If A and B are two scalars, then

1) ( A + B ) = A + B
2) ( AB ) = A(B ) + B(A)

35
2.6.2 Directional
Derivative
Directiona l derivative of  in the direction of a is
~

d
= a . grad
ds ~
dr
where a = ~ ,
~
dr
~

which is a unit vecto r in the direction of d r .

~

36
Example 2.9
Compute the directiona l derivative of  = x 2 z + 2 xy 2 + yz 2
at the point (1,2,-1) in the direction of the vector
A = 2i +3 j - 4k.
~ ~ ~ ~

37
Solution
Directional derivative of  in the direction of a
~
d
= a . grad
ds ~
   A
where grad =  = i+ j+ k and a = ~ .
x ~ y ~ z ~ ~
A
~

Given  = x 2 z + 2 xy 2 + yz 2 , hence
 = (2 xz + 2 y 2 ) i + (4 xy + z 2 ) j + ( x 2 + 2 yz ) k .
~ ~ ~

38
At (1,2,-1),
 = (2(1)( -1) + 2(2) 2 ) i + (4(1)( 2)
~

+ (-1) 2 ) j + ((1) 2 + 2(2)( -1)) k .

~ ~

= 6 i + 9 j - 3k .
~ ~ ~

Also, given A = 2 i + 3 j - 4 k , then

~ ~ ~ ~

A = 2 2 + 32 + (-4) 2
~

= 29 .

39
 A 2 3 4
Therefore, a = ~
= i+ j- k.
~
A 29 ~ 29 ~ 29 ~
~

dφ
Then, = a . 
ds ~
 2 3 4 
= i+ j- k  .(6 i + 9 j - 3 k )
 29 ~ 29 ~ 29 ~  ~ ~ ~

 2   3   4 
= (6) +  (9) +  - (-3)
 29   29   29 
51
=  9.470462 .
29

40
2.6.3 Unit Normal Vector
Equation  (x, y, z) = constant is a surface equation.
Since  (x, y, z) = constant, the derivative of  is
zero; i.e.
d = d r .grad  = 0
~

 d r grad  cos = 0
~

 cos = 0
  = 90 .

41
• This shows that when  (x, y, z) = constant,
grad   d r .
~

y grad 

ds

• Vector grad  =   is called normal vector to the

surface  (x, y, z) = constant

42
Unit normal vector is denoted by


n= .
~ 

Example 2.10

Calculate the unit normal vector at (-1,1,1)

for 2yz + xz + xy = 0.

43
Solution
Given 2yz + xz + xy = 0. Thus
 = ( z + y ) i + ( 2 z + x ) j + ( 2 y + x ) k .
~ ~ ~

At (-1,1,1),  = (1 + 1) i + (2 - 1) j + (2 - 1) k
~ ~ ~

= 2 i+ j + k
~ ~ ~

and  = 4 + 1 + 1 = 6 .
 The unit normal vector is
2 i + j+ k
 1
n= = = (2 i + j + k )
~ ~ ~

~  6 6 ~ ~ ~

44
2.6.4 Divergence of a Vector
If A = a x i + a y j + a z k , the divergence of A is
~ ~ ~ ~ ~

defined as
div A = . A
~ ~

   
=  i + j + k .(a x i + a y j + a z k )
 x ~ y ~ z ~  ~ ~ ~

a x a y a z
 div A = . A = + + .
~ ~ x y z

45
Example 2.11
If A = x 2 y i - xyz j + yz 2 k ,
~ ~ ~ ~

determine div A at point (1,2,3).

~

Answer
a x a y a z
div A = . A = + +
~ ~ x y z
= 2 xy - xz + 2 yz.
At point (1,2,3),
div A = 2(1)( 2) - (1)(3) + 2(2)(3)
~

= 13.

46
Exercise 2.4

If A = x 3 y 2 i + xy 2 z j - yz 3 k ,
~ ~ ~ ~

determine div A at point (3,2,1).

~

a x a y a z
Answer div A = . A = + +
~ ~ x y z
=
At point (3,2,1),
div A = 
~

= 114 .

47
Remarks
A is a vector function, but div A is a scalar function.
~ ~

If div A = 0, vector A is called solenoid vector .

~ ~

48
2.6.5 Curl of a Vector
If A = a x i + a y j + a z k , the curl of A is defined by
~ ~ ~ ~ ~

curl A =   A
~ ~

   
=  i + j + k   (a x i + a y j + a z k )
 x ~ y ~ z ~  ~ ~ ~

i j k
~ ~ ~

  
 curl A =   A = .
~ ~ x y z
ax ay az

49
Example 2.12

If A = ( y 4 - x 2 z 2 ) i + ( x 2 + y 2 ) j - x 2 yz k ,
~ ~ ~ ~

determine curl A at (1,3,-2).

~

50
Solution i j k
~ ~ ~

  
curl A =   A =
~ ~ x y z
y4 - x2 z 2 x2 + y2 - x 2 yz

   2 2 
=  (- x yz ) - ( x + y )  i
 2

 y z ~
  4 2 2 
-  (- x yz ) - ( y - x z )  j
2

 x z ~
 2  4 2 2 
+  ( x + y ) - ( y - x z )  k
2

 x y ~
= - x 2 z i - (-2 xyz + 2 x 2 z ) j + (2 x - 4 y 3 ) k .
~ ~ ~

51
At (1,3,-2),
curl A = -(1) 2 (-2) i - (-2(1)(3)( -2) + 2(1) 2 (-2)) j
~ ~ ~

+ (2(1) - 4(3) 3 ) k
~

= 2 i - 8 j - 106 k .
~ ~ ~

Exercise 2.5
If A = ( xy 3 - y 2 z 2 ) i + ( x 2 + z 2 ) j - x 2 yz 2 k ,
~ ~ ~ ~

determine curl A at point (1,2,3).

~

52
Answer
curl A = (- x 2 z 2 - 2 z ) i - (-2 xyz 2 + 2 y 2 z ) j
~ ~ ~

+ (2 x - 3 xy 2 + 2 yz 2 ) k .
~

At (1,2,3), curl A = -15 i + 12 j + 26 k .

~ ~ ~ ~

Remark
A is a vector function and
~

curl A is also a vector function.

~

53
2.7 Polar Coordinates
• Polar coordinate is used in calculus to
calculate an area and volume of small
elements in easy way.

• Lets look at 3 situations where des Cartes

Coordinate can be rewritten in the form of
Polar coordinate.

54
2.7.1 Polar Coordinate for Plane (r, θ)

x = r cos
y
y = r sin 
ds
dS = r dr d
d


x

55
2.7.2 Polar Coordinate for Cylinder (, , z)

z x =  cos
ds y =  sin 
dv z=z
z

y dS =  d dz
  dV =  d d dz

56
2.7.3 Polar Coordinate for Sphere (r, , 
z
x = r sin  cos
r y = r sin  sin 
z = r cos

y

dS = r 2 sin  d d
x dV = r 2 sin  dr d d

57
Example 2.13 (Volume Integral)
Calculate 
V ~
F dV where F = 2 i + 2 z j + y k
~ ~ ~ ~

and V is a space bounded by z = 0, z = 4

and x 2 + y 2 = 9.
z

4 -

 
3 y
3
x

58
Solution
Since it is about a cylinder, it is easier if we use
cylindrical polar coordinates, where

x =  cos , y =  sin  , z = z, dV =  d d dz
where 0    3, 0    2 , 0  z  4.

59
2.8 Line Integral
Ordinary integral  f (x) dx, we integrate along
the x-axis. But for line integral, the integration is
along a curve.
 f (s) ds =  f (x, y, z) ds

A B
r
~

r+ d r
O ~ ~

60
2.8.1 Scalar Field, V Integral

If there exists a scalar field V along a curve C,

then the line integral of V along C is defined by

Vdr
c ~

where d r = dx i + dy j + dz k .
~ ~ ~ ~

61
Example 2.14

If V = xy 2 z and a curve C is given by

x = 3u, y = 2u , z = u ,
2 3

then find Vdr

c ~
along C
from A = (0,0,0) to B = (3,2,1).

62
Solution
Given V = xy 2 z
= (3u )( 2u 2 ) 2 (u 3 ) = 12u 8 .
And, d r = dx i + dy j + dz k
~ ~ ~ ~

= 3 du i + 4u du j + 3u 2 du k .
~ ~ ~

At A = (0,0,0), 3u = 0, 2u 2 = 0, u 3 = 0,
 u = 0.
At B = (3,2,1), 3u = 3, 2u 2 = 2, u 3 = 1,
 u = 1.

63
 B u =1
 V d r =  (12u 8 )( 3du i + 4udu j + 3u 2 du k )
A ~ u =0 ~ ~ ~
1 1 1
=  36u du i +  48u du j +  36u10du k
8 9
0 ~ 0 ~ 0 ~

 
1 1
9 1  24 10   36 11 
= 4u i +  u  j +  u  k
0
~
5  0 ~  11  0 ~
24 36
= 4i + j+ k.
~ 5 ~ 11 ~

64
Exercise 2.6
If V = x 2 yz 2 and the curve C is given by
x = 4u, y = 3u 3 , z = 2u 2 ,
calculate  V d r along the curve C
c ~

from A = (0,0,0) to B = (4,3,2).

Answer
B 384 768
A V d r~ = 5 ~i +144 ~j + 11 k~ .

65
2.8.2 Vector Field, F Integral
~
Let a vector field F = Fx i + Fy j + Fz k
~ ~ ~ ~
and d r = dx i + dy j + dz k .
~ ~ ~ ~
The scalar product F . d r is written as
~ ~

F . d r = ( Fx i + Fy j + Fz k ).(dx i + dy j + dz k )
~ ~ ~ ~ ~ ~ ~ ~

= Fx dx + Fy dy + Fz dz.

66
If a vector field F is along the curve C ,
~

then the line integral of F along the curve C

~

from a point A to another point B is given by

 F. d r =  F
c ~ ~ c
x dx +  Fy dy +  Fz dz.
c c

67
Example 2.15

Calculate  F . d r from A = (0,0,0) to B = (4,2,1)

c ~ ~

along the curve x = 4t , y = 2t 2 , z = t 3 if

F = x 2 y i + xz j - 2 yz k .
~ ~ ~ ~

68
Solution
Given F = x 2 y i + xz j - 2 yz k
~ ~ ~ ~

= (4t ) 2 (2t 2 ) i + (4t )(t 3 ) j - 2(2t 2 )(t 3 ) k

~ ~ ~

= 32t 4 i + 4t 4 j - 4t 5 k .
~ ~ ~

And d r = dx i + dy j + dz k
~ ~ ~ ~

= 4 dt i + 4t dt j + 3t 2 dt k .
~ ~ ~

69
Then
F . d r = (32t 4 i + 4t 4 j - 4t 5 k )( 4 dt i + 4t dt j + 3t 2 dt k )
~ ~ ~ ~ ~ ~ ~ ~

= (32t 4 )( 4dt ) + (4t 4 )( 4tdt ) + (-4t 5 )(3t 2 dt )

= 128t 4 dt + 16t 5 dt - 12t 7 dt
= (128t 4 + 16t 5 - 12t 7 ) dt.

At A = (0,0,0), 4t = 0, 2t 2 = 0, t 3 = 0,
 t = 0.
and, at B = (4,2,1), 4t = 4, 2t 2 = 2, t 3 = 1,
 t = 1.

70
 B t =1
  F . d r =  (128t + 16t - 12t )dt
4 5 7
A ~ ~ t =0
1
128 5 8 6 3 8 
= t + t - t 
 5 3 2 0
128 8 3
= + -
5 3 2
23
= 26 .
30

71
Exercise 2.7

If F = xy 2 i - yz j + 3x 2 z k ,
~ ~ ~ ~

calculate  F . d r
c ~ ~

from A = (0,0,0) to B = (1,2,3) on the

curve x = t , y = 2t 2 , z = 3t 3 .

B 61
Answer  A
F .d r = 7
~ ~ 168
.

72
* Double Integral *

Example 2.16
Given f ( x, y ) = 4 - y 2 in region R bounded
by a straight line x = 0, y = x and y = 2.
Find  f ( x, y ) dA in both order integrals.
R

 = 2
Answer f ( x , y ) dA 4 unit .
R

73
Example 2.17
Using double integral, find the area of a region
bounded by y = 5 - x 2 and y = x + 3.
1
Answer The area of the region = 4 unit .
2

74
Example 2.18
Evaluate a solid which is bounded by
z = 16 - x 2 - y 2 and z = 2.
Stated  f ( x, y, z ) dV as integral in order dz dydx.

75
Example 2.19
Describe  f ( x, y, z ) dV as integral in order
dz dy dx if S is a solid which is bounded by
z = 0, z = x, and y 2 = 4 - 2 x.

76
2.9 Volume Integral

2.9.1 Scalar Field, F Integral

If V is a closed region and F is a scalar field in

region V, volume integral F of V is

 FdV = 
V V
Fdxdydz

77
Example 2.20
Scalar function F = 2 x defeated in one cubic that
has been built by planes x = 0, x = 1, y = 0, y = 3,
z = 0 and z = 2. Evaluate volume integral F of the
cubic.
z
2

O 3 y
1
x

78
Solution
2 3 1
 FdV =   
V z =0 y =0 x =0
2 xdxdydz
1
2 x 
3
2
= 2     dydz
z =0 y =0
 2 0
2 3 1
= 2  dydz
z =0 y =0 2
3
1 2
= 2.  [ y ] dz
2 z =0 0
2
=  = 0 = 6
2
3dz 3[ z ]
z =0

79
2.9.2 Vector Field, F Integral
~

If V is a closed region and F, vector field in region

~
V, Volume integral F of V is
~

x2 y2 z2
 F dV =   
V ~ x1 y1 z1
F dzdydx
~

80
Example 2.21

Evaluate

V ~
F dV, where V is a region bounded by
x = 0, y = 0, z = 0 and 2x + y + z = 2, and also
given F = 2z i + y k
~ ~ ~

81
Solution
If x = y = 0, plane 2x + y + z = 2 intersects z-axis at z = 2.
(0,0,2)

If x = z = 0, plane 2x + y + z = 2 intersects y-axis at y = 2.

(0,2,0)

If y = z = 0, plane 2x + y + z = 2 intersects x-axis at x = 1.

(1,0,0)

82
 z
2
2x + y + z = 2

O y
2
y = 2 (1 - x)
x 1

We can generate this integral in 3 steps :

1. Line Integral from x = 0 to x = 1.

2. Surface Integral from line y = 0 to line y = 2(1-x).
3. Volume Integral from surface z = 0 to surface
2x + y + z = 2 that is z = 2 (1-x) - y

83
Therefore,
1 2 (1- x ) 2 (1- x ) - y
 F dV =  
V ~ x =0 y =0  z =0
F dzdydx
~

1 2 (1- x ) 2 (1- x ) - y
=   ( 2 z i + y k ) dzdydx
x =0 y =0 z =0 ~ ~



2 1
= i+ k
3~ 3~

84
Example 2.22
Evaluate

V ~
F dV where F = 2 i + 2 z j + y k
~ ~ ~ ~
and V is region bounded by z = 0, z = 4 and

x2 + y2 = 9 z

4 -

 
3 y
3
x

85
Using polar coordinate of cylinder,

x =  cos ; y =  sin  ; z = z ;
dV = ρdρddz

where

0    3, 0    2 , 0  z  4

86
Therefore,

V ~
F dV =  (2 i + 2 z j + y k )dxdydz
V ~ ~ ~
2
dddz
4 3
=   (2 i + 2 z j +  sin  k ) 
z =0 =0 =0 ~ ~ ~



= 72 i + 144 j
~ ~

87
Exercise 2.8

88
2.10 Surface Integral
2.10.1 Scalar Field, V Integral

If scalar field V exists on surface S, surface

integral V of S is defined by

 Vd S =  V n dS
S ~ S ~

where
S
n=
~ S

89
Example 2.23
Scalar field V = x y z defeated on the surface
S : x2 + y2 = 4 between z = 0 and z = 3 in the
first octant.
Evaluate
 Vd S
S ~

Solution
Given S : x2 + y2 = 4 , so grad S is

S S S
S = i+ j+ k = 2x i + 2 y j
x ~ y ~ z ~ ~ ~

90
Also,

S = (2 x )2 + (2 y )2 = 2 x 2 + y 2 = 2 4 = 4

Therefore,
2x i + 2 y j
S 1
n= = = ( x i + y j)
~ ~
~ S 4 2 ~ ~

Then,
1
S V n~ dS = S xyz  2 ( x i~ + y ~j )dS
1
=  ( x 2 yz i + xy 2 z j )dS
2 ~ ~

91
Surface S : x2 + y2 = 4 is bounded by z = 0 and z = 3
that is a cylinder with z-axis as a cylinder axes and
radius,  = 4 = 2.

So, we will use polar coordinate of cylinder to find

the surface integral.
z
3

O
2 y

2
x

92
Polar Coordinate for Cylinder
x =  cos  = 2 cos 
y =  sin  = 2sin 
z=z
dS = ρ d dz


where 0    (1st octant) and 0 z3
2

93
Using polar coordinate of cylinder,

x yz = ( 2 cos ) ( 2 sin  ) z = 8 z cos  sin 

2 2 2

xy 2 z = (2 cos )( 2 sin  )2 ( z ) = 8 z sin 2  cos

From
1
S ~ =  + z j )dS =  Vd S
2 2
V n dS ( x yz i xy
2S ~ ~ S ~

94
Therefore,
1 2 3
S ~ 2  =0 z =0
=   +  cos j )(2)dzd
2 2
Vd S (8 z cos sin i 8 z sin
~ ~
 3
1 2 2 1 2 2 
= 8 2
 2 z cos  sin  i + z sin  cos  j  d
0 ~ 2 ~ 0


9 2 9 2 
= 8 2
 2 cos  sin  i~ + 2 sin  cos  ~j  d
0

9 2  2
= 8   cos  sin  i + sin 2  cos  j  d
2 0  ~ ~

 cos3  sin  sin 3  cos  2
= 36  i+ j
 3( - sin  ) ~ 3(cos  ) ~
0

= 12( i + j )
~ ~

95
Exercise 2.9

If V is a scalar field where V = xyz 2 , evaluate

S
V d S for surface S that region bounded by x 2 + y 2 = 9
~

between z = 0 and z = 2 in the first octant.

Answer : 24( i + j )
~ ~

96
2.10.2 Vector Field, F Integral
~

If vector field F defeated on surface S, surface

~
integral F of S is defined as
~

 F . d S =  F . n dS
S ~ ~ S ~ ~

S
where n =
~ S

97
Example 2.24

Vector field F = y i + 2 j + k defeated on surface

~ ~ ~ ~

S : x 2 + y 2 + z 2 = 9 and bounded by x = 0, y = 0, z = 0 in
the first octant.
Evaluate S ~
F .d S .
~

98
Solution
Given S : x 2 + y 2 + z 2 = 9 is bounded by x = 0, y = 0,
z = 0 in the 1st octant. This refer to sphere with center
at (0,0,0) and radius, r = 3, in the 1st octant.
z
3

O y
3
3

99
So, grad S is
S S S
S = i+ j+ k
x ~ y ~ z ~
= 2x i + 2 y j + 2z k ,
~ ~ ~

and
S = (2 x ) 2 + (2 y ) 2 + (2 z ) 2
= 2 x2 + y2 + z2
= 2 9 = 6.

100
 2x i + 2 y j + 2z k
S
 n= =
~ ~ ~

~ S 6
1
= ( x i + y j + z k ).
3 ~ ~ ~

Therefore,

 F . d S =  F . n dS
S ~ ~ S ~ ~

1
= ( y i + 2 j + k )   (x i + y j + z k ) dS
S ~ ~ ~
 3 ~ ~ ~

1
=  (xy + 2 y + z ) dS .
3 S

101
Using polar coordinate of sphere,

x = r sin  cos  = 3sin  cos 

y = r sin  sin  = 3sin  sin 
z = r cos  = 3cos 
dS = r 2 sin  d d = 9sin  d d

where 0   ,   .
2

102
 1 2 2
  F . d S =   [(3 sin  cos )(3 sin  sin  )
S ~ ~ 3  =0  =0
+ 2(3 sin  sin  ) + 3 cos ][9 sin  ]d d
 

= 9  [3 sin 3  sin  cos

2 2

 =0  =0

+ 2 sin 2  sin  + sin  cos ]dd



 3 
= 9 1 + 
 4 

103
Exercise 2.9

Evaluate  F  d S on S , where F = x i + 2 z j + y k
~ ~ ~ ~ ~ ~
S

and S is a surface of the region bounded by

x 2 + y 2 + z 2 = 4, x = 0, y = 0 and z = 0 in the 1st octant.

 
Answer : 8  + 1
6 

104
2.11 Green’s Theorem
If c is a closed curve in counter-clockwise on
plane-xy, and given two functions P(x, y) and
Q(x, y),

 Q P 
S  x - y  dx dy = c( P dx + Q dy)

where S is the area of c.

105
Example 2.25
Prove Green's Theorem for

 c
[( x 2 + y 2 )dx + ( x + 2 y )dy ]
which has been evaluated by boundary that defined as
x = 0, y = 0 and x 2 + y 2 = 4 in the first quarter.
y
Solution x2 + y2 = 22
2
C2
C3

x
O C1 2

106
 Given  c
[( x 2 + y 2 )dx + ( x + 2 y )dy ] where
P = x 2 + y 2 and Q = x + 2 y. We defined curve c
as c1 , c2 and c3.
i) For c1 : y = 0, dy = 0 and 0  x  2

c1 + = c1 
 + )dx + ( x + 2 y )dy 
2 2
( Pdx Qdy ) ( x y
2
=  x 2dx
0
2
1 3 8
= x  = .
 3 0 3

107
ii) For c2 : x 2 + y 2 = 4 ,in the first quarter from (2,0) to (0,2).
This curve actually a part of a circle.
Therefore, it's more easier if we integrate by using polar
coordinate of plane,

x = 2 cos  , y = 2sin  , 0   
2
 dx = -2sin  d , dy = 2 cos  d .

108

c2

( Pdx + Qdy) =  ( x 2 + y 2 )dx + ( x + 2 y )dy
c2



=  [(( 2 cos ) 2 + (2 sin  ) 2 )( -2 sin  d )

2

+ (( 2 cos + 2(2 sin  ))( 2 cos d )]



=  (-8 sin  + 4 cos2  + 8 sin  cos )d

2

0


=  (-8 sin  + 2 + 2 cos 2 + 8 sin  cos )d

2

 

= 8 cos + 2 + sin 2 + 4 sin  2 2
0

= -8 +  + 4 =  - 4.

109
iii) For c3 : x = 0, dx = 0, 0  y  2

c3 + = c3 
 + )dx + ( x + 2 y )dy 
2 2
( Pdx Qdy ) ( x y
0
=  2 y dy
2

2 0
=  y 
2

= -4.
8 16
  ( Pdx + Qdy ) = + ( - 4) - 4 =  - .
c 3 3

110
  Q P 
b) Now, we evaluate S  x - y  dxdy
Q P
where = 1 and = 2 y.
x y
Again,because this is a part of the circle,
we shall integrate by using polar coordinate of plane,
x = r cos  , y = r sin 

where 0  r  2, 0    and dxdy = dS = r dr d .
2

111
  Q P 
S  x - y  dx dy = S (1 - 2 y ) dx dy
 2
=  (1 - 2 r sin  ) r dr d
2

 =0 r =0
2

1 2 2 3 
=   r - r sin   d
2


 =0 2 3 0

 16 
=   2 - sin   d
2

=0
 3 


 16 2
= 2 + cos 
 3 0
16
= - .
3

112
Therefore,
 Q P 
 C ( Pdx + Qdy ) = S  x - y  dx dy
16
= - .
3
LHS = RHS
 Green's Theorem has been proved.

113
2.12 Divergence Theorem (Gauss’ Theorem)

If S is a closed surface including region V in

vector field F
~

 div F dV =  F . d S.
V ~ S ~ ~

f x f y f z
div F = + +
~ x y z

114
Example 2.26

Prove Gauss' Theorem for vector field,

F = x i + 2 j + z 2 k in the region bounded by
~ ~ ~ ~

planes z = 0, z = 4, x = 0, y = 0 and x 2 + y 2 = 4
in the first octant.

115
Solution z
4 S2

S4
S5
O
2 y
S3
2 S1
x

116
For this problem, the region of integration is bounded
by 5 planes :

S1 : z = 0
S2 : z = 4
S3 : y = 0
S4 : x = 0
S5 : x 2 + y 2 = 4
To prove Gauss' Theorem, we evaluate both  div F dV
V ~

and 
S ~
F.d S,
~

The answer should be the same.

117
1) We evaluate V
div F dV . Given F = x i + 2 j + z 2 k .
~ ~ ~ ~ ~

So,
  
div F = ( x ) + (2) + ( z 2 )
~ x y z
= 1 + 2 z.
Also, 
V
div F dV =  (1 + 2 z ) dV .
~ V

The region is a part of the cylinder. So, we integrate by using

polar coordinate of cylinder ,
x =  cos ; y =  sin  ; z = z
dV =  d  d  dz

where 0    2, 0    , 0  z  4.
2

118
Therefore,
 2 4
 (1 + 2 z ) dV =    (1 + 2 z )  dzd  d 
2

V  =0  =0 z =0
 2
=   [ z + z 2 ]04 d  d
2

 =0  =0
 2
=  (20 ) d  d
2

 =0 =0


= [10 2 ]02 d
2

 =0


= (40) d
2

 =0

= 40 02


= 20 .
  div F dV = 20 .
V ~

119
2) Now, we evaluate 
S ~
F . d S =  F . n dS .
~ S ~ ~

i) S1 : z = 0, n = - k , dS = rdrd
~ ~

 F = x i + 2 j + 0k
~ ~ ~ ~

 F . n = ( x i + 2 j ).( - k ) = 0
~ ~ ~ ~ ~

  S1 ~
F . n dS = 0.
~

120
ii) S2 : z = 4, n = k , dS = rdrd
~ ~

 F = x i + 2 j + (4) 2 k = x i + 2 j + 16 k
~ ~ ~ ~ ~ ~ ~

 F . n = ( x i + 2 j + 16 k ).( k ) = 16.
~ ~ ~ ~ ~ ~


Therefore for S2 , 0  r  2, 0   
2
 2
  F . n dS =   16 rdrd
2

S2 ~ ~  =0 r =0

=
= 16 .

121
iii) S3 : y = 0, n = - j, dS = dxdz
~ ~

 F = x i + 2 j + z2 k
~ ~ ~ ~

 F . n = ( x i + 2 j + z 2 k ).( - j )
~ ~ ~ ~ ~ ~

= -2.
Therefore for S3 , 0  x  2, 0  z  4
2 4
  F . n dS = 
S3 ~ ~ x =0 z =0
( -2) dzdx
=
= -16.

122
iv) S4 : x = 0, n = - i , dS = dydz
~ ~

 F = 0 i + 2 j + z2 k = 2 j + z2 k
~ ~ ~ ~ ~ ~

 F . n = (2 j + z 2 k ).( - i ) = 0.
~ ~ ~ ~ ~

  F . n dS = 0.
S4 ~ ~

123
v) S5 : x 2 + y 2 = 4, dS =  d dz

S5 = 2 x i + 2 y j and S 5 = 4
~ ~

2x i + 2 y j
S 5
n= =
~ ~
~ S 5 4
1
=
( x i + y j ).
2 ~ ~

By using polar coordinate of cylinder :

x =  cos  , y =  sin  , z = z
where for S5 :

 = 2, 0    , 0  z  4, dS = 2d dz
2

124
 1 1 
 F . n = ( x i + 2 j + z k ). x i + y j 
2
~ ~ ~ ~ ~
2 ~ 2 ~
1 2
= x +y
2
1
= (  cos ) 2 + (  sin  )
2
= 2 cos2  + 2 sin  ; kerana  = 2.
= 2(cos2  + sin  ).
 4
  F . n dS =   ( 2)(cos2  + sin  )( 2) d dz
2

S5 ~ ~  =0 z =0

=
= 16 + 4 .

125
Finally,

S ~
F.d S =  F.d S + F.d S + F.d S + F.d S + F.d S
~ S1 ~ ~ S2 ~ ~ S3 ~ ~ S4 ~ ~ S5 ~ ~

= 0 + 16 - 16 + 0 + 16 + 4
= 20 .
  F . d S = 20 .
S ~ ~

LHS = RHS
 Gauss' Theorem has been proved.

126
2.13 Stokes’ Theorem

If F is a vector field on an open surface S and

~
boundary of surface S is a closed curve c,
therefore

 curl F  d S =  F  d r
S ~ ~ c~ ~

i j k
~ ~ ~

  
curl F =   F =
~ ~ x y z
fx fy fz

127
Example 2.27

Surface S is the combination of

i) a part of the cylinder x 2 + y 2 = 9 between z = 0
and z = 4 for y  0.
ii) a half of the circle with radius 3 at z = 4, and
iii) plane y = 0

If F = z i + xy j + xz k , prove Stokes' Theorem

~ ~ ~ ~

for this case.

128
Solution
z
S3 S2
4

S1
C2
O y
3
x 3 C
1

We can divide surface S as

S1 : x 2 + y 2 = 9 for 0  z  4 and y  0
S 2 : z = 4, half of the circle with radius 3
S3 : y = 0

129
We can also mark the pieces of curve C as
C1 : Perimeter of a half circle with radius 3.
C2 : Straight line from (-3,0,0) to (3,0,0).

Let say, we choose to evaluate  curl F  d S

S ~ ~
first.

Given F = z i + xy j + xz k
~ ~ ~ ~

130
So,
i j k
~ ~ ~
  
curl F =
~ x y z
z xy xz

     
=  ( xz ) - ( xy )  i +  ( z ) - ( xz )  j
 y z  ~  z x ~
  
+  ( xy ) - ( z )  k
 x y  ~
= (1 - z ) j + y k
~ ~

131
By integrating each part of the surface,

(i ) For surface S1 : x 2 + y 2 = 9,
S1 = 2 x i + 2 y j
~ ~

and S1 = (2 x ) + (2 y )
2 2

= 2 x2 + y2 = 6

132
Then ,

2x i + 2 y j
S1 1
n= = = ( x i + y j)
~ ~
~ S1 6 3 ~ ~

and

  1 1 
curl F  n =  (1 - z ) j + y k    x i + y j 
~ ~  ~ ~
3 ~ 3 ~
1
= y (1 - z ).
3

133
By using polar coordinate of cylinder ( because
S1 : x 2 + y 2 = 9 is a part of the cylinder),

x =  cos  , y =  sin  , z = z
dS =  d dz
where
 = 3, 0     dan 0  z  4.

134
Therefore,
1
curl F  n = y (1 - z )
~ ~ 3
1
=   sin  1 - z 
3
= sin  (1 - z ) ; because  = 3

Also, dS = 3 d dz

135
 
S1
curl F  d S =
~ ~ 
S1
curl F  n dS
~ ~

  sin  (1 - z )  d dz
4
= 3
z =0 =0

= 3 (1 - z )  - cos   0 dz
4

0
4
= 3 (1 - z )(1 - ( -1)) dz
0

= -24

136
 S2 : z = 4 , normal vector unit to the
(ii) For surface
surface is n = k .
~ ~

By using polar coordinate of plane ,

y = r sin  , z = 4 dan dS = r dr d
where 0  r  3 and 0     .

137

~ ~

 ~

curl F  n =  (1 - z ) j + y k   k
~  ~

= y = r sin 
 
S2
curl F  d S =
~ ~ 
S2
curl F  n dS
~ ~
3 
=  
r =0 =0
( r sin  )( rdrd )
3 
=  
r =0 =0
r 2 sin  d dr

= 18

138
(iii) For surface S3 : y = 0, normal vector unit
to the surface is n = - j .
~ ~
dS = dxdz
The integration limits : -3  x  3 and 0 z 4

So,

curl F  n = ((1 - z ) j + y k )  ( - j )
~ ~ ~ ~ ~

= z -1

139
Then,


S3
curl F . d S =  curl F . n dS
~ ~ S3 ~ ~
3 4
=  ( z - 1) dzdx
x =-3 z =0

=
= 24.
 S
curl F . d S =  curl F . d S +
~ ~ S1 ~ ~ 
S2
curl F . d S +
~ ~ 
S3
curl F . d S
~ ~

= -24 + 18 + 24
= 18.

140
Now, we evaluate  F . d r for each pieces of the curve C.
C ~ ~

i) C1 is a half of the circle.

Therefore, integration for C1 will be more easier if we use
polar coordinate for plane with radius r = 3, that is

x = 3cos  , y = 3sin  dan z=0

where 0     .

141
 F = z i + xy j + xz k
~ ~ ~ ~

= (3cos  )(3sin  ) j
~

= 9sin  cos  j
~

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

= -3sin  d i + 3cos  d j .
~ ~

142
From here,
F . d r = 27sin  cos  d . 2
~ ~

  F . d r =  27sin  cos  d 2
C1 ~ ~ 0

=  -9 cos  
3
0

= 18.

143
ii) Curve C2 is a straight line defined as
x = t, y = 0 and z = 0, where - 3  t  3.
Therefore, F = z i + xy j + xz k
~ ~ ~ ~

= 0.
~

  F . d r = 0.
C2 ~ ~

144
  F.d r =
C ~ ~  C1 ~
F.d r +
~  C2 ~
F.d r
~

= 18 + 0
= 18.
We already show that

 S
curl F . d S =
~ ~  C ~
F.d r
~

 Stokes' Theorem has been proved.

145