UNIT 12 LINE AND SURF'ACE INTEGRALS

Structure
12.1 Introduction
0 bjeciives
Integration of a Vector
12.2.1 Line Integrals
12.2.2 Types of Line Integrals
12.2.3 Evaluation of Line Integrals
12.2.4 Path Independence - Comervative Fields
Double Integrals
12.3.1 Properties of Double Integrals
12.3.2 Evaluation of Double Integrals
12.3.3 Applications of Double Integrals
12.3.4 Change of Variables in Double Integrals
Transformation of Double Integrals into Line Integrals - Green's Theorem
Surface Integrals
Transformation of Surface Integrals into Line Integrals - Stoke's Theorem
Summary
SolutionsIAnswers
12.1 INTRODUCTION
In Unit 11, you have learnt about the differentiation of vectors and amved at the important
concepts of directional derivative, gradient, divergence and curl. In this unit, we shall talk
about integration of vector functions. In physics and engineering, we come across many
problems such as determining the trajectory of a particle when its equation of motion is
known or finding the potential due to an electric charge when the force acting on it is
known or to determine the total energy of electromagnetic wave flowing through a volume
when the electric field and magnetic induction field is known. All these problem lead us to
the evaluation of a line integral, i.e., the integration of a vector with respect to a scalar or
integrals i~ivolving scalar and vector products of vector or integration of vectors along a
curve or a line.
In this unit, we shall begin our discussion in section 12.2 with the definition of a line
integral and see that it is a natural generalisation of a definite integral.
Not all physical and engineering problem boil down to the evaluation of a line integral. .
Depending on the domain of integration we are also required to evaluate the double or
surface integrals. For instance, the area of a region inxy -plane, the volume beneath a
surface z = f (x, y) (> 0) and above a region R inxy -plane, the centre of gravity of a
. distribution of mass in the xy -plane, the moment of inertia of a mass in a region R in xy -
l plane about x and y axes are some of the geometrical and physical applicatiow of double
integrals. We shall discuss the concepts involving double integrals and their evaluation,
I
along with change of variables in double integrals in section 12.3. Double integrals over a
plane region may be transformed into the line integrals over the boundaly of the region and
conversely. This is achieved through the Green's theorem in the plane and will form the
subject of our discussion in section 12.4. Section 12.5 is devoted to the discussion of
surface integrals.
I .
The transformation of surface integrals into line integrals and conversely is done through
Stoke's Theorem, which will form our subject matter for section 12.6. In this section, we
I shall also take up somd applications of the Stoke's theorem and give another physical
interpretation of Curl.
Objectives
After going through this unit, you should be able to
*
integrate a vector with respect to a scalar and solve problems based on it,
*
define a line integral, state various types of it and evaluate it,
vector Calculus
*
compute double integrals and state the conditions uuder which the order of
integration can be changed,
*
explain the need of change of variables in double integrals and evaluation of
double integrals by change of variables,
*
outline methodfconditions of transfonnation of double integral into line
integral and converjely,
*
solve prnhlerns based on Green's theorcrn,
*
define a surface integral and transform it into line integral,
*
outline the representation of curl in tenns of line integral, and
*
use Green's theorem and Stoke's theorem to relevant physical situations and
solve problems based on them.
12.2 INTEGRATION OF A VECTOR
In Unit 11, you have leanlt to differentiate a vector w.r. to a scalar. You also hiow that
integration is the inverse process of differentiation. If F (t) and f (t) be two vector functions
of a scalar variable t, connected by the relation
then we say that F (t) is integral off (t) and write
This gives an indefinite integral of f(r).
We can also add an arbitrary co~lstant vector C on the right hand side of Equation (12.2) and
write it as
This is becduse
d
( F ) + C ) = f [.: zC = U ]
dt
While solving problems, this constant C can be detennined using the give11 initial
conditions. Also, the dimension of C is that of F(t).
You also hiow from calculus, that for scalar fu~lctioil f (I), the definite integral
can be defined as the limit of a sum. Here we integrate along x - axis from a to b and the
integral f is a function defined at each point between a and b.
In the same manlier, we can define for a scalar variable t, the definite integral of a vector
function F (1) as the limit of a sum. We can write
iab F (t) dt = l i ~n [ F (tl) 6 tl + F (h) 6 t2 + . . . + F (t,,) 6 t,,] , i = 1, 2, ..., n
6 t i + 0
where the ranges of integration a 5 t 5 b has been divided into n sub ranges corresponding
to increments Br,, 6t2, . . . , Bt, of the variable t and r,, t2 , . . . , t, are values o f t lying
respectively in these sub-ranges. Further in the limit n -, m, as the number of sub-ranges
increases indefinitely, each of the increment 6 t tends to zero. The sum on the right hand
side which its, of course, a vector sum tends to a definite finite limit, which is the definite
integral of function F (t).
A simple example of vector integration is illustrated by a particle of unit mass moving
under gravity with constant acceleration g. Let r denote the position-vector of the particle at
time r. Then from Newton's second law of motion, the equation of motion is
Now if we wish to find the trajectrey of the particle during its motion, i.e., if we wish to find
r in tenns of r , then we integrate Equation (12.3) and obtain
where V, is the initial velocity (corresponding to t = 0). A second integration yeilds
where r, is the initial position of the particle.
Thus by interpretation of a vector with respect to a scalar, we could determine the trajectory
of the particle when equation of motion is known.
You may note that in relations (12.4) and (12.5), and r have the dimensions of velocity
dt
and position respectively. Therefore, the arbitrary constant vector V, in relation (12.4) has
the dimension of velocity and r, in equation (12.5) has the dimension of position.
Note that in the above example, the particle was moving with constant accelerationg. In
practice, it may happen that the force acting on the particle or the system may also be
function (scalar or vector) of the scalar variable. For example, a transverse electromagnetic
2 n
A
wave pr opo~at i n~ inx - direction may have an electric field E = En cos , (ct - x) k
2 n
A
and a magnetic induction field B = Bo cos - (ct - x) k . If E is the electric permitivity
A
and p is magnetic permeability of space, then energy flowing through a volume V per unit
1 time is given by
If T be the time period for total energy flowing through volume V during one complete
cvcle of electro-magnetic oscillation, then
-
T
Total energy =l U dt
0
V V 2 2 n
= &lo
E: ms2 (ct - x) dt + - 5 B: cos - (ct - x) dt
I A , 2 o A
I
( . : E' - E. E and B' = B. B
)
L i e and Surface Integrals
T
K
sin 4 - (ct - x )
= V ( E E : + p~:).I. I + A
4 IC
4 - c
A
Vector Calculus
and
1
= -V ( E E ~ + p
4
Note that in the above integration for the calculation of total energy, we have used
E = E . E , the dot product of vectors. It may also happen that the integration of vectors
may involve cross product of vectors.
A A A
We may wish to evaluates A x dr from t = 0 to t = 1 where A = xy i - z j + x2k and
3
x = t 2, y = 2t, z = 1 .
A A A
Here r = t 2 i + 2 t j + r 3k
A A A
A - x y i - z j + g k
A A A
= 2 t 3 i - t 3 j + t 4k
A A A
:. A x dr 5
i j k
2t3 - t 3 t 4
2 dt 2dt 3t2dt
A A A
= - ( 3 t S + 2t 4) dt i - 4 r 5 &j + ( 4 t 3 + 2t 4) dt k
1 1 A 1
: . J A r dr = i s o - ( 3 t 5 + 2 t 4 ) & + j l - 4 t 5 & + k l ( 4 t 3 + 2t 4) dt
0 0
t 6 t S
A A 1 A
= - 1 ( 1 x + 2 5 ] l o i - 1 4 g l o j + I t 4 + ~ t 5 1 o k
1 A 4 A 7 A
= - ( T + g ) i - - j + - k 6 5
9 A 2 A 7 A
= - - i - - j + - k
10 3 5
From the above example you must have observed that vector iutegration involving dot
product or crass product of vectors, essentially reduces to determining the integral of a
scalar with respect to a scalar.
b
Recall that in a definite integrals f ( x) dx, we integrate along x - axis from a to hand the
a
integral f is a Eunction defined at each point between a and h. However, in many physical
problems, you inay observe that a particle may iiot be moving along a lir~e but alorig a curve
in space, e.g., if we wish to calculate the work done by a force in moving a particle along
the curve C from positionA to position B, then the ordinary integration (indefinite or
definite) involving vectors will not provide the result. Such problems lead us to the
consideration of line integrals or curve integrals.
12.2.1 Line Integrals
The concept of a line integral is a simple and natural generalization of the concept of a
definite integral
In the line integral we do not integrate the integrand alongx - axis from a to h; instead, we
integrate along a curve in plane or in space and the integrand is a function defined at the
points of that curve. We can define a line integml in a way similar to that of a definite
integral.
Consider a curve C in space havingA and B as the initial and tenninal points. We may
~ i o c md surfnu ~nt egnl ~
represent C in parametric form as
A A A
r ( s ) = x ( s ) i + y ( s ) j + z ( s ) k , ( a s s s b )
-
where s is the arc length of C andA and B correspond to s = a and s = b respectively (see
Figure 12.1)
Figure 12. 1 : ne directed curve C from A to B
We assume that r (s) is continuous and h s a continuous.first derivative different from the
zero vector for all s under consideration. Then C has a unique tangent at each of its point.
Such a curve C is called a smooth curve.
Let w (x, y, z) be a scalar function which is defined at each point of C, and is a continuous
function of s.
We divide the curve C, f pmA to B, in an arbitrary manner into n portions. Let
Po(=A), P,, - . , P n - ,, P n (= B)
be the end points of these portions and let
be the corresponding values of s (see Figure 12.2).
Let the length of each of these portions is
%en we evaluate w at each point ( xk , yk , zk ) in 6Sk and consider the sum
We define the integral of w (x, y, z) over curve C fromA to B to be limit of the sum as the
subdivision of C is refined so that number of subdivisions becomes very large and the
largest 6 sk approaches zero, i.e.,
whenever the limit on the right-hand side in equation (12.7) exists, we call it line integral of
w(gy,z) along C fromA to B and denote it as
Note that since w is continuous and C is smooth, the limit on the right hand side of
equation (12.7) exists and is independent of the choice of subdivision of C.
Moreover, if w (x, y, r) I 1, w is a constant function whose value is 1, t henj w (x, y, z)
C
gives the length of curve C fromA to B.
Figure 12.2 : Sub-division of C
Vector Calculus
The concept of the line integral can be extended to vector integration and we get different
types of line integrals depending upon
i) vector element 6sl , 6s2, . . . , b,, and performing vector addition, keeping
w (1, y, z) as a scalar function:
ii) taking function W (r) instead of scalar function and also taking vector
elements bl , b 2 , . . . , b,, . Then products of W with 6sk can be either
dot products or vector products and this in turn gives rise to two types of line
integrals.
We shall now take up various types of line integrals.
12.2.2 Types of Line Integrals
The following types of line integrals exist :
i)
When w (x, y, z) is a scalar function defined at each point curve C fmmA to B, which
is divided into parts
b l , 6s,, . . . , 6sn
along the curve, then
defines a line integral in ordinary calculus.
ii)
When w (x, y, z) is a scalar function defined at each point of the curve C fromA to B ,
which is divided into n parts of vector elemellts 6sl , 6s2 , . . . , 6sn along the curve C
and perform vector addition, then
defines a line integral, where value is a vector.
iii) When W (x, y, z) is a vector function defined at each point of the curve C fromA to B,
which is divided into n parts of vector elements 6 sl , 6 st , . . . , 6 s, along the curve
C and the product of W (xk , yk , z k ) in &sk in dot product of vector, then
defines a line integral, whose value is a scalar.
Moreover, if r is a position vector of a point on curve C, then ds - dr and in the limit
when each sub-interval tends to be zero, a!! = dr ; therefore the last three line integrals
may also be written as
curve consisting oE finitely
I w( x , y , z ) dr , S ~ ( x , y , z ) . & and S w( x, y, z) x dr
respectively.
In all the above line integrals, it is assumed that the path of integration is piecewive smooth.
Cz For a line integral over a closed path C, the symbol
f ( instead of S
C
is sometimes used in the literature.
From the definition of line integral, it follows that the following properties are valid for line
Figure 12.3 : Formula (c)
integrals :
(a) s k w d r - k s w d r (k Constant)
C C
(orientation of C is the same in all the three integlals).
,
I (c)
$ w ds = w ds + S w dr, where the path C is subdivided into
1 C Cl c2
two arcs C1
and C,, which have the same orientation as C.
Note that if the sense of integration along a curve C is reversed, the value of the line integral
is multiplied by -1.
1
The question is now arises is -How is a line integral evaluated ? We shall now answer this
question.
t
12.2.3 Evaluation of L i ~ e Integral
A line integral can be evaluated by reducing it to a definite integral. This reduction is quite
simple and is done by meam of representation of the path of integration C as follows :
If C is represented by
A A A
r ( s ) = x ( s ) i + y ( s ) j + z ( s ) k , a s s s b ,
where s is the a n length of C, then we can immediately write
the integral on the right being a definite integral. In applications, mostly representation of C
is of the form
r (t) = x (t) I + y ( t ) j + z (t) i ,
to s t s t,,
(where t is any parameter, or may easily be converted to this form. In this case, we can use
r [S (t)] = r (4,
so that x [s (t)] = x (t) and so on.
Then we can use
Here we assume that r (t) and i (t) are continuous and , i ' (t) * 0, in agreemen
assumptions mentioned in section 12.2.2.
~t with the
We now illustrate the theory discussed so far with the help of a few examples.
Example 1 :
valuates ( r + * + z f dr, where C is the a n of circular helix
C
s . n 8,
r ( t ) = cost i + s i n t j + 3 t k,
fromA (1, 0, 0) to B (1, 0, 6 rc).
L i e and Surface Integrals
Vector Calculus Solution :
A I
He re r ( t ) = cost i + s i n t j + 3t k,
:. ;(t) = - sin t ; + cos t + 3 i
NOW = VZ = dsin2 t + cos2 t + 9 =
dt
On C,
( ~ ~ + ~ ~ + z ~ ) ~ = [cos2t + sin2r + 9t 212 = ( 1 + 9t 2) 2
AlsoA (1, 0,O) and B (1, 0, 6 n) on C correspond to 0 5 t 5 2 x .
I
i
Thus, we have
Using the representative of C, sometimes it may be possible for us to eliminate two of the
three independent variables in the integrand of a line integral and then we call evaluate the
resultia&iefinite integral in which the remaining illdependent variable is the variable of
integration.
We illustrate this by the following example.
Example 2 :
Evaluate the line integral
f [ x ZYd x + (x-z)dy + x y z d z ]
where C is the arc of the parabola y =x2 in the plane z = 2 frorn A (0,0, 2) to
B (1, 132).
Solution :
Since on C, y = x and z = 2 (constant),
: . onC, dy = 2xa k and &= 0.
It follows that on C, the integral of the last term in the given integrand is zero.
B (1, 1, 2)
I L -
X
Figure 12. 4 : Path in Example 2.
Thus,
Li e nod Surface Lntegnds
( . . - y - ~ 2 and z a 2 o n C)
Let us now take up an example in which we consider integration of a line integral over
different paths with the same end points.
Example 3 :
Let C be the line segment fromA (0,O) to B (1, 1) and let f (x, y) = x + y '.
~val uat es f (x, y) dr when
C
(a) C is characterised byx - t, y = t, 0 s t s 1.
(b) C has parametric representationx = sin t, y = sint, 0 s t s 5 .
2
Solution :
( a ) I f x = t , y = t , O s t s 1,then
(b) If x = sin t, y = sin t, 0 s t s !!, then
2
'55
= ( si nt + sin2t) dcos2t + ccis2t dt
*
=
( si nt cost + sin2t ms t ) dt
In this case, you may notice that even though paths described by C were different, the value
of the line integral is the same. Is this always true ? Let us examine this by considering yet
another example.
Vector Calculus
Example 4 :
Evaluate
$ [ ( x 2 - y ) d r + b 2 - z ) d y + ( z 2 - x ) d z ]
C
where C is the curve from origin 0 to the pointA (1, 1, 1)
(a) along the straight line OA
2 3
(b) alongthecurvex = r, y = r , z = t , 0 s t 5; 1.
Solution :
(a)
Equation of line OA, joining0 (0, 0,O) andA (1, 1, I), is x = y = z.
For path OA,
$ [ ( x 2 - y ) & + ( y 2- z ) dy + ( z 2 - x ) dz]
C
1
(' . ' y = x and z = x, so that dy = dw and dz = &)
1
- - 3 x 3 x 2 1
I 3 2 1 0 = - r
(b) Along the curve x = t, y = t " z = t 3
dw = dt, dy = 2t dt , dz = 3 t 2 d t .
We get
$ ( x2- y) dw + ( y i - z ) dy + ( z 2 - X) dz
C
=$: [ ( t 2 - t 2 ) d t + ( t 4 - t 3 ) 2 t d t + ( t 6 - t ) 3 t 2 d t ]
= 2 [ $ - i ) + 3 ( ; - ; )
29
= - -
60
In this example, the integrands and the end points of the paths of i~itegration are the same,
but the values of the line integrals are different. This illustrates the important fact that
In general, the values of a line integral of a given function depends not only on the end
points but also on the geometric shape of thepath of integration.
In many applications, the integrands of the line integrals are of the form
I f ( x, Y, z) - , dr f ( x , y , z ) J - d o r f (x, y, z)%
ds ds ds
d dz
where -, 2 and - are the derivatives of the functions occumng in the parametric
ds ds ds
representation of the path of integration. Then we simply write
and similar expressions in the other two cases,
For sums of these types of integrals along the same path C, we adopt the notation
In many cases, the functionsf, g, h are components fi, f2? f3 of a vector function
Then
/ .
the expression in parenthesis on the right being the dot product of the vector f and the unit
tangent vector -
1
where r (s) represents the path of the iiitegratio~l of the line iiiteral. Therefore,
where& = dxi + d y j + d z k .
Now iff represents a force whose point of application moves along a curve
[
from a pointA to a point B in space, then
represents the work done by the force f in moving a particle from point A to point B along
the curve C.
1
The representation in equation (1211), i.e.,J f . dl ds emphasises the fact that the work
3 c 'fs
done by the force f is the value of the line integral along the curve of the tangential
i
1 component of the force fieldf.
t
Let us consider an example illustrating the work done by a force.
Example 5 :
A variable forcep acts on a particle and the particle is displaced along a given path C
in space. Find the work done by forcep in this displacement.
Solution :
Let the given path C be characterised by the equation r (t), to s t s tl.
Now the work done W by force p in any displacement along the path C is given hy
the line integral
the integration being taken in the sense of displacement.
Lime and Surface Integrals
vector Calculus
Here a+ a + = - & = v &
&
where v is the velocity of the particle. Then work W becomes
where to and tl are the initial and final values oft.
Furthermore, by Newton's second law
mi ' = p p = m i ,
when m is the mass of the particle. Substituting this value of p in the line integral for
W , we get
=- Work done = gain in kinetic energy in moving from initial point to the final
point.
Thus the basic law in mechanics has been reinforced through the line integral
concept.
You may now try the following exercises.
If F = ( 3 x 2 + 6 y ) ; - 1 4 y z j +2 0 x z 2 k ,evaluatetheLineintegralJF.dr
from (0, 0,0) to (1,l;l) along the following paths C :
( 9 x = t , y=12,z=13,
(ii)
The straight line from (0, 0, 0) to (1,0,O); then to (1, 1, 0) and then to (1,1,1),
and
(iii)
The straight line giving (0, 0,O) to (1, 1,l).
Find the work done in moving a partical once round' the ci rcl e2 + y2 = 9 in the
X 0 Y plane if the field of force, given by
In example 3 yau have noticed that the value of the line integral between the same end
pointsA and B jbined by two different paths was the same, where as in Example 4, we
found that the value of line integral between the same end points joined by two different
paths was unequal. Let us now study the condition under which the value of the line integral
between two pointsA and B is independent if the path joining them.
12.2.4 Path Independence - Conservative Fields ~ l n ~ and s W ~ ~ U lmtegmh
Let F be a vector field with components F,, F2, F3 and F,, F2, F3 be continuous throughout
some c o ~ e c t e d region D.
Consider two pointsA and B in D. Suppose that C is any piecewise smooth curve joiningA
and B given by
If there exists a differentiable function f such that
then along C, f = f [x (t), y (t), z (t)] is a function'of t and
We thus have
Now integrating F . dr along C fromA to B, we get
The value of the integral [ f (B) - f (A) ] does not depend on the path C at all. This result is
analogue'of the First Fundamental Theorem of Integral Calculus (see Block 2), viz.,
two points of D can be joined
by a broken line of finitely
many linear segments all of
which belong to D.
The only difference is that we have V f . & in place off ' (x) cix. This analogy suggests that
if we define a function f by the rule
Vector Caleulus
then it will also be true that Vf = F (12.14)
This result Vf = F is indeed true when the right- hand side of relation (12.13) is path-
independent. Thus
n
A necessary and sufficient condition for the integrals F - dr to be independent of rheycrb
A
joining thepointsA and B in some connected region D is ilzat tlzere exists a differentiable
function of such that
throughout D, where components f i , fi , f3 of vectorfield F am continuous throughout D
and then
When F is a force such that the work-integral fromA to B is the same for all paths, the field
is said to bc conservative. Using the above result, we call say that
A force field F is conservaiive i f and only i f it is a gradienr field, i.e., F = Vj; for some
differentiable function f
A function f (x, y, z) that has the property that its gradient gives the force vactor F is called a
potential bnction. Sometimes a minus sign is introduced, e.g., the electric intensity of a
field is the negative of the potential gradient in the field.
Let us consider the following example.
Example 6 :
Find the work done when a force
moves a particle in thexy -plane from (0,O) to (1, 1) along the parabola y2 = x. 1s the
work done different when the path is the straight line y = x ?
Solution :
The parabola y2 = x has a parametric representation
From (0,O) to (1,1), variation oft is 0 s t s 1.
:. Work done along the parabola
We can similarly find the work done when the particle move from (0,O) to ( 1, l ) along
y = x. In this case also we find that the work done is
I
as obtained earlier. This is because, we notice that
1
That is, the field F is coilservative and the work done does not depend
I
You rriay now attempt the following exercise.
If I$ = 2 x y ' z + x 'y, evaluate
D
where C is the curvex = t, y = fi , z = t5 from t = 0 to t = 1.
on the path followed.
IfA = r y ; - 3 + x 2 i and C i st hecumex = t$ y = 21, z = t 3f mm
r = 0 to r = 1, evaluate J A x dr.
C
E 5.
Suppose
*
F = i ( e Xc os y + y z ) + j ( m - eXs i l l y) + k (xy + z )
Is F conservative ? If so, find f such that F = Of.
Li e md Surface Integrals
Vector Calculus
is a part of the region and
bounded means that the
region can be endosed in a
circle of sufficiently large,
but tinite radius.
So far we have perfomed integration along a line or a CUNe. But as we have mentioned
earlier, there are many physical situation where we are reguired to find i n t e ~ l for areas
and volumes. For example, determination of moment of inertia and coordinates of centre o*
gravity of a continuous matter. Solution of these problems involve integrals where we have
to &-, integration with respect to more than one variable. Such integrals a n called multiple
integrals. We shall, in the next section, discuss only double integrals, in which the integrals
is a function of two variables.
12.3 DOUBLE INTEGRALS
Consider a function f (x, y) which is defined for all (4 y) in a closed bounded regioll R of
xy - plane.
The definition of double integral can be given in q~lite a similar manner as that of a definite
integral of a single variable.
We subdivide the region R into sub-regions (see Figure 12.5). These sub-regions can be
arbitrary or can be rectangles obtained by drawing lines parallel to x and y axes.
Y
(a) Subdivision oPR in arbitrary manner (b) Subdivision ofR by drawing parallel to
x and y axes
Figure 12.5
We number these subdivision, which are within R, from 1 to n. In each sub-region, we
choose a point, say (x, , y , ) in the Ph sub-region, and then form the sum
n
' f ( ~ k , yk) AAk,
k- 1
where A Ak is the area of the sub-regions.
In a completely independent manner, we increase the number of sub-regions such that the
area of the largest sub-region tends to zero as n appmaches infinity (In the case of
rectangles as sub-regions, we can say that the length of the maximum diagonal of the
rectangles approaches zero as n approaches infinity). In this way, we obtain a sequence of
real numbersf,, fi , . . . ,f, , . . . . We know that iff (x, y) is continuous in R and region R is
bounded by finitely many smooth curves, then this sequence converges and its limit is
independent of the choice of sub-divisions and corresponding points (xb y,).
This limit is called the double integral off (x, y) over the region R and is denoted by the
symbol
S$ f ( *, y) d or SSf ( x, y) &dy
R R
n
Thus JJI(x,Y) a - em f (xb yk) AA,
R
n- m
k- 1
The continuity of the integrand is a sufficient condition for the existence of the double
integral, but not a necessary one, and the limit in question exists for many discontinuous
functions as well.
Pmm the de f di on~ it follows that double htegnls enjoy pmpefiies which an quite similar
to
Ofdefioite infegmls of functions of a single variable. mese pmpe*ies hold for the
sums from which integrals are defined. We shall state some of thest algebraic properties
that are useful in computations and applications.
123.1 Properties of Double Integrals
Let f and g be the function of x and y, which are defined and are continuous in a region R,
then
i ) JJkf ( x, y) d* - k J J f ( x , ~) d * (k is a constant)
R R
iii) $$ f(x,y) a 0
R !
V) ' $J ~( x, Y) d.4 -J$~(x, Y) d* +$$~(x, Y) a.
R Rl R2
Which hold when R is the union of two non overlapping regions R, and R, as s h o k i n
Figure 12.6 and is called domain-activity property.
Further more, there exists at least one point (xo, yo) in R such that
whereA is area of R and this is called mean-value theorem for double integrals.
Let us now take up the evaluation of the doubre integrals.
123.2 Evaluation of D-eegrals
Iff (x, y) is continuous on the rectangular region R given by
a s x s b , c s y s 4
then by drawing lines parallel to x and y axes, the double integrals over rectangles can
always be calculated as itegratid (or reported ) integrals and
d b b d
$$f(x~Y)d* - $ s f b y ) &dy - $ $f(x,y) d y h (12.15)
R y - c x - a x - a y - c
,
This means that we can evaluate a double integral by integrating one variable at a time
(treating the other variab1.e as constant), using the integration techniques we already know
for function of a single variable.
Further, we may calculate the double integral over a rectangle by integrating in either order
(as per our conveniance).
Cornidea the following example.
Example 7 :
Calculate
wheref(x,y) - I - 6xZy and R : O s x s 2 ,
-1 s y s 1.
Solntion :
Li e and Surface Integrals
Using equation (12. IS), we can write
Vector Chlculus
Reversing the order of integration gives the same answer (you may check it for yourself).
Let us now consider double integral for bounded non-rectangular regions.
In such regions R, the double integral may be evaluated by two successive integration again,
but the method will be as follows :
Suppose first we draw lines parallel to y - axis and that R can be described by the
inequalities of the form
a s x s b , g ( x ) s y s h ( x ) (Figure 12.7(a)) '(1 2.6)
0 0
(a) (b)
Figure 12.7 : Evaluation of a double integral
so that y = g (x) and y = h (x) represent the boundary of R. Then
In this case, we first integrate the line integral
keepingx fixed, i.e., treatingx as a constant. The result of this integration will be a function
of x, say F (x). IntegratingF (x) overx from a to b , we then obtain the value of the double
integral in equation (12.17).
Next, if we draw lines parallel to x -axis and the region R can be described by the
inequalities of the form
c s Y 5 d , p b ) s 1 s4Cv)
(Figure 12.7 (b)) (12.18)
then we obtain
We now integrate first overx ( treatingy as a constant) and then integrate with respect t oy
LhemdSurfaceIntegrals
resulting the function of y from c to d.
If the region R cannot be represented by inequalities of the type (12.16) or (1218) but can
be subdivided into finitely many portions which have that property, we may integrate
f (x, y) over each position separately and add the results of these integrals, this will give us
the value of the double integral off (x, y) over the region R.
In the equivalence of double integrals into repeated or iterated integrals, we have assumed
that f (x, y) is uniformly continuous and bounded over R and
is bounded and integrable from a to b with respect to x alongwith
is bounded and integrable from c to d with respect toy.
Iff (x, y) for discontinuities within R or on its boundary, it may happen that the two
integrals given by equations (12.17) and (12.19) are not equal. Let us try to understand this
point through the following example.
Example 8 :
Show that
I
P X-Y dy r J l d y $ ' X-y P
$0 0 ( x +y)) 0 0 ( x+y) )
Solution :
1 1 1 1
R.H.S. =$ dy$ P =$ dy$ ( X + Y ) - 2~ & =so1 4$1 [ 2-4 &
0 O( x+y) ) 0 0 (x +y)3 O ( X + Y ) ~ ( x+y) I
1 1
=so1 I--+- x+Y (x+y12 lldy=s: 0 C- +L+L- L l+y (l +yy y y z ) 9 = ~ O ~ d y 1
Sometimes it may happen that we are required to change the order of integration in a double
integral for which limits are given. In such a case, first of all we ascertain from the given
limits of the region R of integration. Knowing the region of integration, we then put the
limits for integration in the reverse orders. We illustrale it through the following example.
Vector Galculus
Example 9 :
Change the order of integration in the integral
Solution :
The given limits show that the regionR of integration is bounded by the curves
x = 0 ; x = a c o s a
y = x t a n a and y=m
Now y = x tan a is a line through the origin and y = is a circle of radius
a and centre at origin and they intersect at the point (a cos a , a sin a). IIence the
region R is the shaded region OAB as shown in Figure 12.8.
When we have to integrate with respect to x first, i.e., along a horizantal
Y
strip parallel tox -axis, we see that the starting point of all the strips is
X - a ms a
the same line. They all start from the line x = 0, but some of the strips end
/ at the line OA, while other end on the circular arc-. The line of division
' w - x u n a
(or demarcatibn) is the line CA given by
. . .
. . :: .
c 1 . ' . . , A(acosa,asina)
y = a sin a
. . . . . . .
Hence region OAB must be subdivided into two sub-regions : OAC and
. . CAB.
V I \ -A Now region OAC is bounded by the curves x = 0, x = y cot a , y = 0
0
andy = a sin a.
Figure 12.8 : Region R
The region OAC is bounded by the curves x = 0 , x = w,
y = a s i n a , and y = a .
Hence on changing the order of integration, the given double integral becomes
You may now try the following exercise.
E6.
Describe the region of integration and evaluate the following integrals :
Double integrals have various geometrical and physical applications. We take up these
applications in the next sub-section.
123.3 Application of Double Integrals
The area A of a region R in the xy -plane is given by the double integral
Recall that while defining the double integral, we had framed the sum
a
FJI = Z f ( - %, ~ k ) AAk
k- 1
In this sum, if we consider a rectangular parallelopiped with base AAk and altitude
f ( xk , yk ), then f ( xk , yk ) A A, represents the volume of the parallelopiped and hence the
volume V beneath the surface z = f (x, y) (> 0) and above a region R in the xy -plane, as
shown in Figure 12.9, is
lJ =$$ R f ( x , ~ ) d r d ~
Further, iff (x, y) be the density (mass per unit area) of a distribution of mass in thexy -
plane and if M is the.total mass in region R, then
M = $$f(x.y) m d ~
R
From mechanics, we know that the coordinatesz, of the centre of gravity
'.of the mass (of density f (x, y) in region R is given by
Figure 12.9
Thus, the coordinates of centre of gravity of a mass is another application of double
Similarly, the moments of inertia I, and Iy of the mass in R about x and y axes,
respectively, are
1, =$I R y 2 f(x,y)&dy and IY =$ $ * 2 f ( x , ~) &d ~,
Which are again double integrals.
Let us now take up a few examples.
Find the volume of the prism whose base is the triangle in the xy -plane bounded by
x -axis and the lines y = x and x = 1 and whose top lies in the plane
z = f(x,y) = 3- x -y.
For any x between 0 and 1, the variabley may very fromy =Q toy = x (parallels to
y-axis yields these equalities), see Figure 12.10.
(a) Prism with a triangular base i n the (b) hkgration l i b of) I->(%, y) dy h
v -piam
r - 0 y - 0
Figure 12.10 ,
Line sad SurZaa Integrals
: Double Integral as a Volume
Vector Calculus
Figure 12.11
If we draw lines parallel to x-axis to determine the limits of integration; it is seen
Lie andSurfacclnteflds
that we must divide region R into the regionR1 and R2 as shown in the Figure 12.12
(a) and then we may calculate the area as
On the other hand, reveming the order of integration (by drawing lines parallel t oy -
axis), the required area is (see Figure 12.12 (b)).
Clearly the area given by Equation (12.21) is simpler as it is easier to calculate. In
practice one would bother to write the integral only in this form. Evaluation of
integral (Eqn. 21) yields
Let us take up a physical applimtion in our next example.
Example 12 :
A thin plate of uniform (constant) thickness and density 6 (x, y) is bounded
by y = x, y = 2 - x and x - axis. Find the centre of mass of the plate
if 6(x,y)- 1 +2x+y.
Solution :
The line y = 2 - x cuts x - axis atA (2,O). The lines y = x and y = 2 - x
intersect at B (1, 1).
The given plate is OAB as shown in Figure 12.13.
By drawing lines parallel to x -axis, the whole plate is characterized by
Figure 12.13 :Given Plate
R : O s x s 2 and x s y s 2 - x
Mass of the plate = M = $1 6 (x, y) dr dy
R
2
2 - x
=J X - o l y + 2 q + ~ ( dx
2 y - x
vector Cekdus
First Moment,
First Moment,
- 2 ~ 4 - 1 6 0 - 8
Hence, the centre of mass is (Z, 3 where
- X I - Mx m - 1 , y - % = m , - 3
M 6%) M (-%)
Li e and Surface Integrals
Let f (x, y) = 1 be the density of mass in the region
Find the centre of gravity and the moments of I, I,, lo.
Solution :
The given region is a circle 2 + y2 - 1 in the first quadrant
(see Figure 12.14).
I
:. Total Mass in R = rS dr dy
1 j [somx&]m = I
Now f - -$$x&dy - -
M . n 0
n 0
Let G - z =s 1 - x Z = z 2 :. - 2 x d x = 2zdz
Since the area R is symmetrical about both the axes,
The coor di ~t es of center of gravity are
Now, Moment of Inertia,
Figure 12.14 : Unit circle in the 1st quadrant
symmetry, 1,
vector Celculus
iable function i ff (u, v) is
continuous and posses conti-
nuous first partial derivatives
in some region G in the uv -
You may now try the following exelrcises.
E 7.
Find the volume under the x + y + z
bounded by 2 x = 3 y, y = 0 and x = 3.
-
= 6 and
Find the mass of the plate betweeny = x and x = y ', if density of plate is
p = K ( X ~ + ~ ~ ) .
b
You may ma l l that in the case of a definite integrals f ( x) dr, sometimes we have to
a
introduce a new variable of integration u in order to simplify the integration by setting
x = x (u)
where function1 (u) is continuous and has a continuous derivative in some interval
a s u s fi such thatx ( a ) - a and x (p) = b [or x (a) = b, x (f3) = a]. Then
In the same manner we often simplify the evaluation of double integral by the introduction
of a new variable. In next sub-section we shall show how this new variable is introduced.
12.3.4 Change of Variables in Double Integrals
Let a region R in xy -plane be transformed into a region G (see Figure 12.15) in the uv -
plane by differentiable functions of the form
,
x = f (u, 4 , Y = g ( ~ 7 v )
so that each point ( % , vo ) in the region G corresponds to a point
in the region R and conversely; then a function $ (x, y) defined in R can be thought of as a
function
$ [ f ( u 7 v ) 7 g( u, V ) I
defined on 6.
Figun 12.15 : Transformation of region R in xy - plane to region G in uv - plane.
From the calculus of two variables, we have the result that $all the functions involved are
Li e and Smtace I n t e e s
continuous and have continuous first derivatives, then the integrand+ (x, y), of the double
i n r ~ ~ r a l f l + (x, y) d* dy, can be apressed in terms of u and v, a d dr dy replaced by du dv
R
times the absolute value of the Jacobian of the coordinate transfonnationx = f (u, v),
y = g (u, v) given by
(which is eitherpositive throughout G or negative throughout G ). Hence the integral of
I$ (x, y) over R and the integral of + [ f (u, v) , g (u, v) ] over G are related by the equation
We now take up an example to illustrate how the change of variables simplifies the
evaluation of a double integral.
Example 14 :
Evaluate the double integral
where R is the square bounded by lines y = x, y = - x, x -y = 2, x + y = 2.
Solution :
Shape of the square R of the problem is as shown in Figure 12.16.
The shape of region R suggests the transformation
x + y = U , x - y = v
Then
The Jacobian of transformation of coordinates is
Figure 12.16 : Region R
. .
1
Absolute value of J = ( J I = -
2'
Now, region R in xy -plane corresponds to the square 0 s u s 2 ,
0 s v s 2
(see Figure 12.17).
Thus,
Figure 12 17
Vector Calculus
Notice that had we not changed the variables, evaluation of R would have to be carried out
by first dividing R into two regions R, and R2 and then finding the range of integrations for
the two regions R1 and R2 which are different as is evident from the Figure 12.8 (a) and (b)
given below.
Figure 12.18 (a) : When lines parallel to x - axis am
Figure 12.18 (b) :When lines parallel toy - axis
drawn are drawn
Let us consider another example.
Example 15 :
Find the mass of the plate bounded by the four parabolas
y 2 r 4 a r , y2 =4bx, x Z = 4cy and x2 = 4dy
if the density of the plate is p = &, where k is a constant.
Solution :
In this ase, the mass of the plate =Is ( k g ) dr dy, whereregionA is shown in
A
Figure 12.19 (a). It is quite clear from the Figure 12.19 (a), that if we wish to
evaluate this integral, we shall have to subdivide the regionA in many sub-regions.
(a) Region A ' in xy - plane (b) Region A ' transformed in uv - plane
Figure 12.19
However, if we assume
then in uv - plane the region A is transformed to
v - 4 a , v = 4 6 , u - 4 c , u - 4 d ,
which is a ~ct angl eA ' having sides parallel to u and v axes.
Line and Sorfna Integ~ds
Thus the transformation gives
x = uHvM
I
y = uMv" I
:. J -
4)u' "v" MU"V- " 4 1 1
I
= - - - = -
V J U - M V H %u%-45 9 9 3
f
Also p - k*y = k u H v M. u Wv W = k u v
4d 46
:. Mass of plate =
1
k uv - du dv
J,-&J,-& 3
64 k
= - ( b 2 - a 2 ) ( d 2 - c 2 )
3
We know that double integration is integration over an area in a plane. So far we have used
cartesian coordinates (x, y) for a plane area. However, in some practical problems, it is
convenient to use polar coordinates (r, 0) representing a plane. You might already be
knowing the relation between cartesian coordinates (x, y) and polar coordinates (r, 0). We
-
cos 0 - rsin 0
I
f (x, y) dr dy = $I f (r aa 0, r sin 0) r dr d0 ,
R G
is illustrated in the next example.
Example 16 :
Find the polar moment of inertia about the origin of a thin plate of density p = 1
bounded by the quarter circle x 2 + y = 1 in the first quadrant.
Solution :
L
n
-
JoaoII, 2
a (r, 0)
I I "
1 x = r cos 0 , y = r sin 0 (Figure 12.20) I A
Figure 12
i
where G is the region in r0 -plane corresponding region R inxy - plane.
How the change of the cartesian coordinates to polar coordinates helps in solving problems,
By definition, the polar moment of inertia about the origin is given by
4 = JJ p ( x 2 + y 2 ) k d y ,
R
where R is the quarter circle in the first quadrant (see Figure 12.21).
Now, if we take
I' (190)
x = r c os 0, y = r s i n0,
/ .'
Figure 12.21 : Region in XY- plane
the quarter circle in first quadrant is transformed to a rectangle G in r 0 -plane as
I
n
shown in Figure 12.25 where 0' s r s 1 , 0 s 0 s ,. 0
Also x 2 + y 2 = r2cos20 + r 2si n28 = r
2
.-. I. = u ( x 2 +y 2 ) d r d y - J f r 2 . r d r d 0 o 1
R G
Figure 12.22 : Region in r 0 - ptane
' 5! 2
1
n
- r 3 d r d 0 -so d 0 = l f h d O = -
0 - 0 r . o n 4 o 8
Vector Calculus You may now try the following exercise.
E 9.
Prove that the area in the positive quadrant, bounded by the curve y = 4 ax,
y 2 = 4bx, xy = c 2 and q = d 2 i s
12.4 TRANSFORMATION OF DOUBLE INTEGRALS INTO
LINE INTEGRALS - GREEN'S THEOREM
We may transform double integrals over a plane region, under suitable conditions, into line
integrals over the boundary of a region and conversely. This tra~lsfonnation is of practical
interest because it makes the evaluation of an integral easier. It also helps in the theory
whenever we want to switch from one type of integral to other.
This transformati011 can be done by ~neans of a theorem known as Green's Theorem which
is due to English mathematician, George Green (1793-1841). We shall now state this
theorem.
Green's Theorem in a Plane :
Let R be a closed bounded region in the xy -plane, where boundary C consists offinitely
many smooth curves. Let M (x, y) and N (x, y) befinctions which nre continuous and have
a M d N
continuous partial derivatives - and - every where in some domain containing R.
8~ a x
Then
$ ( ~ d r + ~ d ~ ) =$[(z-z))drdy
C
the integration being taken along the entire boundary C of R such that R is on the left as one
advances in the direction of integration.
We shall not be proving this theorem here as it is beyond the scope of this course. Learner
interested in knowing its proof may see Appendix-I. However, we shall explain what this
theorem means and illustrate it through examples. But, before that we state the theorem in
vector form.
Green's Theorem in Vector Form :
A A
L e t F = M i + N j + P k and r = x i + y j , t h e n
F . d r = Ma 5 + Ndy
i j k
Also C u r l F - V x F = a a a
a x a y a z
M N P
The component of Curl F whit$ is nonnal to a region R in thexy -plane is
I
Hence, Green's Theorem in the plane can be written in the vector form as
A A
where dA = d4 k = k & dy is the vector normal to the region R in xy -plane and is of
magnitude I dA 1 = dx dy.
?
Green's Theorem states that the integml around C of the tangential component of F is
equal to the integral, over the region R bounded by C, of the component of Curl F that is
normal to R.
The integral over R is the flux of curl F through R.
We shall later, in section 12.6, extend this result to more general curves and surfaces in the
form of a theorem known as Stoke's Theorem.
There is second vector form of Green's theorem as follows :
A 1
Let F - N i - Mj and let
n = Unit outward vector normal curve C
= cos a ; + cos ( 900 + a ) j
A A
= cos a i - sin a j
Thus
= Md x + Ndy.
Also
Hence, Green's Theorem, which says
gives us
. .L -,,- ,IQ~ states that
Line and Surface Integrals
vector CalCu1UB
In Unit 13, we shll extend result (12.24) to three-dimensional vedor fields and call it a
divergence theorem. We can thus say that Green's theorem in the plane is a two
dimensional f o m of tbe divergence theorem.
We now take up a few appUcations of Green's theorem and illustrate its impottance.
I)
Ama of a plane region M a Une integral ova the boundary :
Fmm the Green's theorem. we have
Let M = 0 and N = x, then fmm equation (1223, we get
The integral on the left is the areaA of the region R.
Next, let M = -y , 14 = 0 , then, fmm relation (1225), we get
Adding (1 2.26) and (12.27)' we get
1
WhereA is the area of region R enclosed by boundary C. Thus we have been able to
exDress the area of reeion R in terms of a line inteeral over the boundarv. This
inte
plai
ii) Area of a plane region in polar coord&nates :
Let r and 0 be the polar coordinates. We define
x - r cos 0, y = rsi n0.
Then dx = m0 d r - r s j n 0 d 0
and dy - s i ne& + r c o s 0 d 0
' @e relation (12.28) reduces to
tbe homl component of my v d r field F around the boundary of a regDon R, in
which F is continuous .ad has cmtinuws pvtlrrl derivatives, is eqwl to the double
integral of divergence of F over R.
JJmdu - J x d y
R C
R C
:resting formula haYsvarious applications, for eiample, the theory oimrtain
nimaers (instruments measuring area) is based upon this formula.
= ~ ~ [ r m 6 ( s i n 0 & + r ms 0 d 0 ) - r s i u 0 ( m0 & - r s i n e d 0 ) ]
2 c
= Ls r ZdO,
c
2 2 %. 2 0 2 2%
A - ( I - - 0 ) d 0 - -l ( I - 2 e o s 0 + ms 2 0 ) d 0
2 0 2 0
a formula which is well known in Calculus.
As an application of this formula (12.29) we consider the'cordiod
r = a (1 - cos 0) where 0 r 8 s 2 n (Figure 12.23).
We find
We now take up a few examples to illustrate the use of Green's Theorem.
Example 17 :
Using Onen' s Theorem, evaluate the integml f (- y dx + x dy), where C is the
C
circumference of the circle x 2 + = 1.
Solution :
Here, M=-y, N = x
:. f ( - y d x + x d y ) = ~ ~ d r d y = s J ( l + l ) d x d y
C Circle Circle
2 2 2 2
x +y - 1 I +)I - 1
= 2 ss dxdy = 2 x Area of Circle
Circle
2 2
I i y - 1
P 2 X r c X 1 2
Example 18 :
Use Green's Theorem in a plane to evaluate the integral
When C is the boundary of the surface in xy -plane enclosed by the x -axis and the
semicircle y = G.
Solution :
Here M = 2 x 2 + y 2 , N = x 2 + y 2
Using Green's Theorem
Where R is semi-circle x + y
= 1 bounded by x - axis.
Figure 12.24
L i e amd Surface Integrals
Vector Calculus
(because semi-circley = bounded by x -axis is given by - 1 I x I 1 ,
4
= - in magnitude
3
You may now try the following exercises.
E 10.
Use Green's Theorem to evaluate
[ ( x 2 + *y)& + ( x 2 + y 2 ) d y ] .
C
Where C is the boundary of the square y = * 1 , x = * 1
E 11.
~valuatef [( x ' - 2 ly ) dr + ( x 2y + 3 ) dy] around the boundary C of the region
Y 2 = 8x, x = 2.
In Sections 12.3 and 12.4, we have been discussing integrals over plane areas. However,
there are many situations in which we may have to consider the areas which may not lie in a
plane. For example, potential due to changes distributed on surfaces, centre of gravity of a
curved lamina, area of the surface out from the bottom of the paraboloid z = x2 + y 2 by
the plane z = 1, etc. This gives rise to the concept of surface integrals, which we shall take
up in the next section.
12.5 SURFACE INTEGRALS
The concept of a surface integral is a natural generalization of the concept of a double
integral considered in Section 12.3. There we integrate over a region in a plane and here we
integrate over a piecewise smooth surface in space.
The definition of a surface integral is parallel to that of a double integral. Here we consider
a portion S of a surface. We assume that S has finite area and is simple, i.e., S has no points
at which it intersects or touches itself. Let f (x, y, z) be a function which is defined and
continuous on S. We sub-divide S into n parts S,, s;, . . . , S, of areas MI, AA2, ..., AA,
respectively. Let P(xb yb zk) be an arbitrary point in each part Sk . Let us form the sum
and Surface Integrals
n
Jn = 1 f(xk9 Yk, zk) AAk
(12.30)
x - 1
Now we let n tend to infinity in such a way that the largest part out of S,, S, , . . . , S, shrinks
to a point. Then the infinite sequence J, , J2, . . . , J, has a limit which is independent of ;he
choice of subdivisions and points P, . This liinit is called the Surface Integral of F (x, y, z)
over s and is denoted by
J J F( x, Y, z ) d S.
S
n
J J f ( x, Y, z ) d S = lim 2 f ( ~ ~ . ~ ~ , z k ) AAk,
(12.31)
S
n + m
k - 1
provided the limit exists.
Evaluation of Surface Integral :
To evaluate the surface integral
JJf ( x, Y, z ) &.
S
we inay reduce it to a double iiltegral as follows :
A surface S can be represeiited in the parametric form as
* * *
r (u, V) = x (u, V) i + y (u, v) j + z (u, v) k , (1 2.32)
where u and v are two il~dependent real variables, called the parameters of the
representation.
Hence r (u, v) is the position vector of the points of S and its tip ranges over s
as (u, v) varies in some region R in uv -plane (see Figure 12.25).
Sur f a c e s i n
I r (u. I!) 1 space
To each (u,, v,) in R, there corresponds a point of S with position vector
r (u,, v,). Hence, region R is the image of S in uv -plane. In order that surface
o I Y II
have certain geometric properties, we assume that r ( u, v) is continuous and
has continuous first partial derivatives ru [ ] and rv ( - $) i na
vlLR 4-
domain of uv -plane which includes the region R and R is simply
connected and bounded. I4
Froin equatioi~ (12.32), we have dr = ru du + rv dv.
uv - plane
Thus, h e a r elelnent of surface S is give11 by Figure 12.25 : Parametric representation o f a
surface
d s ' = dr. dr
= ( r u d u + r v d v ) . ( r u d u + r, dv)
= r u . r u d u 2 + 2r u. r vdudv + r v. r vdv2,
(U + ~u . v + AV)
- - - - - - -
= , Tab2 + 2 F d u d v + Gd v 2 ,
(1 2.33)
/
which is quadratic differential form and is called the First Fundamental form - - - mJ
ofS. HereE = ru . ru , F = ru . r, and G = r,. r, .
("' (4 v )
v+4v (U + A U. V)
In the definition of surface integral, we are sub- dividing S illto parts S,, SZ, . . . ,
Sn, let A4 be the area corresponding to one of the parts in uv - plane. Then the
Figure 12.26 : Area
smallest parallelogram in Figure 12.26 has area; (by the definition of vector
AA - Iru A U x r , ~ v 1 = r x r A U A V ,
(1 2.34)
V s b r Calculus and it is called the element of area.
Hence, if R is the region corresponding to S in uv -plane, then
Where the right-hand side is now is double integral over a plane area.
-
We know that
Thus we may also write
I I
:. I 55 f (x, Y, z) d S - 55 f [ x (u, v), y (u,
r (u, t,) 1 dE G - F Z du dv 1
(12-37)
If a surface S is given by
z = Y) ,
We may set x = u, y = v and then parametric representation of S can be witten as
r (u, V) = u i + v j + g (u, v) k
Thus
ru = i + gU k and r, = j + g, k
2 2
Hence ( r , x rvl = EG - F ' = 1 + g, + g,
Thus, if S is represented by z = g (x, y), then we have
Where R is now the image of S in xy - plane.
We can also write the surface integral (12.38) in terms of the normal to the surface S as
follows.
Suppose that VF represents normal to the surface S, F (x, y, z) = C (constant). Let region
area A be the projection of surface S on a plane. Let ); be a normal to the regionA and y be
the angle between the normal to the surface (VF ) and normal to its uroiection (n )
Also if A S is an element of surface S surrounding arbitrary point on S and A A is its
projection on the planes, then
AS (cosy I = AA
Hence the surface integral can be written in terms of double integral as
Let us now take up examples, from various physical situations to illustrate the evaluation of
surface integrals.
Example 19 :
Find the moment of inertia I of a homogeneous spherical lamina
. S : X ~ + ~ ~ + Z ~ - ~ ~
d
of mass M about z - axis.
Solution :
Let a mass of density p (x, y, z) be distributed over the surface S, then moment of
inertia I, of the mass with respect to a given axis L is defined by the surface integral
Where D is the distance of the point (x,y, z) from axis L.
Since in our case, spherical lamina is homogeneous, thus p is constant. Also area of
spheres = 4 x a 2 .
. Hence
p = Mass per Unit Area
The parametric repre~~ntation of the spherex2 + y + z2 = a is
A A A
r(,, ,,) - a cos u cos v i + a cos u sill v j + a sill 1: k
A A A
. . r,, = - as i nu cosv i - asi nu sin v j + acosu k
A A
rv = - a cos u sin v i + a cos u cos v j
2 2 2 2 2 2 2 2
:. E = r,, . rv = a sin u cos v + a sill u si n v a a cos u = a
2
F - ru. rv - a2s i nu cosu cosv sinv - a 2 s i n u si nvcosu cosv - 0
If areaA is the image of surface S in uv -plane, then
dA = Ir,,xrvI dudv
Line nod Sd a c e Integrals
Vector Calculus
= a2cosu du .dv
Further, the square of the distance of a piiilt (x, y, 7) from z - axis is
= x 2 +y 2 = a 2 cos2u cos2v + a2cos2u sin2v = a2cos2u
Hence, we obtain
$$ p D 2 d s = A$$ [ x2( u, V) + y2(u, v)] d~
s 4 n a 2 ,
M v2
2z
= -JU ( a2cos 2u) . a2cos u dudv
4 n a 2 --"/2 u - o
Ma 4 IY2
= -$* cos3u I v I du = --
4 n a
- - . 2 . - Ma 2 2 = - 2 Ma 2
2 3 3
Let us now take up an example from geomet~y.
Example 20 :
Find the area of the surface out from the bottom of the paraboloid z = x + y by the
planez = 1.
Solution :
The projection of the area of the surface of paraboloid z = x + y out froin the
botlom by the plane z = 1 on xy -plane is the disk
z x2 + y 2 $ 1
A
Now surface area
= $$ d~
S
= $1'41 + g: + g: dr dy
R'y
= $$x2+y2s $*2+4~2+1 drdY
X
Figure 12.27 : Area of parabolic surface
Letx = rcos8, y = r s i n8
I 3enf or x2+yZ s 1, 0s r 5 1 and 0 s 8 5 2 n
:. Required surface area
= so2" [so1 m. r
1
= jo2" 1: - ( 4 9 +l Yh I 3h d B = ( 5n- l ) j : "dB
r - 0
12
= ( 5 6 - 1)
6
You may now try the following exercises.
E 12.
I
The electrostatic potential at (0, 0, -a) of a charge of
i
hemispheres : x 2 + y 2 + z 2 - a2, z 2 0 is
Evaluate U.
Liae and Surface Integrnls
constant density a on
d.9
Find the area of the upper cap cut from the sphere x + y + z = 2 by
the cylinderx + y = 1 (see Figure 12.28)
Hint : Take surface as z = 4 2 - x 2 - y 2, its projection on xy -plane as
disk : x" + y s 1 and use polar coordinates to evaluate double integral.
Figure 12.28
In Section 12.4, we had shown that double integrals over a plane region can be transformed
into line integrals over the boundary curve of the region. We shall generalize this result and
we shall now consider the corresponding problem in the case of a surface integral in the
next section.
12.6 TRANSFORMATION OF SURFACE INTEGRAL INTO
LINE INTEGRALS - STOKES THEOREM
Transformation of surface integrals into line integrals and coilversely is done with the help
of a theorem known as Stoke's theorem, given by Gorge Gabriel Stokes (1819-1903), an
Irish mathematician and physicist, who made important contribution to the theory of infinite
series and several branches of theoretical physics. Stokes theorem is an extension of
Green's theorem in vector form to surfaces and curves in three dimensions. Under suitable
restrictions
(i) on the vector F ,
(ii) on the boundry curve C , and
(iii) on the surface S bounded by C.
Stoke's theorem connects line integral to a surface integral.
In Stoke's Theorem, we require that the surface S is orientable. By orientable, we mean
that it is possible to consistently assign a unique direction, called positive, at each point of S,
A
and that there exists a unit ilonnal n pointing in this direction. As we move about over the
. A
surface S without touching its boundary, the direction cosines of the unit vector n should
A
vary continuously and when we return to the straight position, n should return to its initial
direction.
Vector Calcduf We now state Stoke's theorem.
Stoke's Theorem :
Let S be apiecewise smooth oriented surface in space and let the boundary of S be a
piecewise smooth simple closed curve C. Let F (x, y, z) be a continuous vector fincti'on
which has continuous firstpartial derivatives in a domain in space which contains S. Then
A
where aS - n US, where ; is a unit normal vector of S, so that (Curl F ) . I; is the
component of Curl F in the direction of A ; the integration around C is taken in the
direction of integration on S andF, is the component of F in the direction of the tangent
vector of C.
If we represent curve C in the form r = r (s), where the arc-lengths increases in the
direction of integration, then unit tangent vector is
A
?
A
and, therefore, if F = F 1 i + F , j + F 3 k ,
then
Thus F,ds - F . 6 . ds - Fl ak + F 2 4 + F3dz
a3
A A A A
Let n = cos a i + cos fl j + cos y k be the outward unit normal vector of S.
If we use the repmentation of Curl in terms of right- handed Cartesian coordinates, then
formula (12.39) in Stoke's Theorem may be written as
A
Where a, p, y are direction cosines of unit normal n to surface S.
We shall not prove this theorem here. Learner interested in knowing the proof of the
theorem may refer to ~ p ~ e n d i x 12.2.
There are many consequences and applications of Stoke's theorem. We shall, however, take
up a few of these. consequences and applications.
Consequences and Applications of Stoke's Theorem
a)
Green's Theorem in the Plane as a Special Case of Stoke's Theorem :
A A
Let F - M i + N j be a vector function which is continuously differentiable in a
domain in the ry-plane. Let ry-plane contain a simplyconnected closed region S whose
boundary C is a piece-wise simple smooth curve. Then k is the direction of unit
outword normal to S.
Now
Furthemlore, F, ds = M ak + N dy.
Now fonnula (12.39) ofXstoke's theorem yields
Using above values in this case, we get
which is in aggrement with the result of the Green's theorem in the plane (refer Section
12.4).
This shows that Green's theoxm in the plane is a special case of Stoke's theorem.
b)
Physical Interpretation of the Curl :
Stoke's theorem provides a physical interpretation of the Curl.
Let US first define the term Circulation.
Let V (x, y, 2) be a continuous differentiable vectorfunction in a domain containing a
surface S, bounded by a closed curve C. If V be the velocity field of a moving fluid of
derlsily p, then tlte integral
measures the extent to whiclr the corresponding fluid motion is a rotation around the
contocrr C and is called tlte circulation.
I
By Stoke's theorem, circulation is also equal to the flux of curl ( pV ) through a surface S
spanning C. Thus
I
I Next, let us fix a point P and a direction u at P. Let C he a circle of radius 6, with centre at
P, whose plane is normal to u. If curl ( pV) is continuous at P, then (by mean value
theorem for surface and double iotegrals) the average value of u component of curl ( pV)
over the circulatio~l disc bounded by C approaches the u -colnponent of curl ( pV) at P as
6 - 0 ,
i.e. [ [ ~ u r l ( p ~ ) ] . u I p = lim L J J ~ u r l ( p ~ ) . u d s
6-0 rcbZ S
L i e arnd Surface Integrals
I
Now in our case, the plane of curve C is normal to u, area of S - rc ti2 = A , say so
that dS = d A. Let F = pV.
n
Thus, fmm equations (1 2.41) and (1 2.42), we get
[ Cur l F( P) ] , = lim ~ J J C ~ ~ I F . ; ~ A
6-0 A
i.e., tlte component of the curl in tlte positive normal direction can be regarded as the
spec.$& circulation (circulation per unit area) of the flow in the surface at the
corresponding point.
Figure 12.29 : Interpret
of curl
Vector CaIcutus
c)
Evaluation of Line Integral by Stoke's Theorem :
You may notice that evaluation of line integral by Stoke's theorem leads to a lot of
simplification in many problems.
La w eval uat el ~, dr. where C is the circle x ' + y ' = 4, z - - 3 oriented in the
C
counbrclockwise sense as viewed from the origin and with respect to right- handed
coordinates, and
We can take the plane circular disk x +y ' s 4 in the plane z = - 3 as a surface S
bounded by C. Then in the Stoke's theorem point in the positive z -direction, so that
A A
n = k.
A
Hence, (Curl F ), is simply the component of Curl F in the k direction. Now F with
z = - 3 has the components F1 = y, F2 = - 27 x and F3 = 3 y 3. Thus,
Hence, integral over S in Stoke's theorem equals - 28 times the area of the disk S,
which is 4 JG.
Thus, IF,& = - 28 x 4 n - -112x - -352
C
You will appreciate the simplification due to Stoke's theorem in this case. The
computations will be long and difficult if you evaluate the given line integral directly,
A
starting from parametric represelltation of C, calculati~ig unit tangent vector t of curve C in
A
the direction of integration, finding F, = F . t and then integrating with respect to arc
length s of C.
It should be remembered that for Stoke's theorem, the surface S is assumed to be an
open surface. The significance of the statement will become clear from the following
result.
d)
l l ~ u r l F . &S will k Zero over any Closed Surface S :
C
Since S is any closed surface, we cut open the surface S by a plane and let S1 and S2
denote the lower and upper positions of S. Let C denote the common bounding curve
for both these positions. Then,
It may be noted that the normal to lower portion S1 and the normal to upper portion S,
will be in opposite senses so that the direction of integration about S1 is reverse of the
direction of integration about S2.
Using Stoke's theorem and result (12.43) above, we get .
$ $ ~ u ~ i ~ . d s = -5 F . dr + f ~ . d r - 0 ,
S C C
(due to surface S, ) (due to surface S2 )
which proves the required result.
Let Now take up some example to illustrate the use of Stoke's theorem in numerical
problems.
Example 21:
Let S be the poltion of the paraboloid z = 4 - 2 - y2 that lies above the plane z = 0.
Let C be their bounding curve of intersection. If
Line and SurPaa lotegrds
verify Stoke's theorem
Solution:
The curve C is the circle 2 + 3 - 4 in the -lane. Along C, whem z - 0 and
A A
dr - dx i + dyj, we have
NOW, J ~ - &- $ ( - ~ d r + ~ d y )
Now for surface integral, we have
VY.. . -
- - .
-a . ---
ax a~
z- y z + x -(x+y)
For the positive unit nonnal on the surface
s: f ( x, Y, z ) - z - 4+2+Y2- ~
I
we take
I
The projection on S on xy-plane is the region 2 + 9 s 4 and for the element of surface
I- &, we take
- $ J 2 h d ~
(Since odd power of x or y integrate to zero
x2+y2*4
over the interior of fhe circle)
area
Vector Calculus
= 2 ~ x . 2 ~ - 8x
Hence, Stoke's theorem is verified.
-
You may now attempt a few exercises.
E14.
Verify Stoke's theorem for the function
F = ~ i ^ - x y ~
integrated round the square in the plane z = 0 and bounded by the lines x - 0, y = 0,
x =a a n d y =a .
E16.
" ~ e t 2 be the outer normal of the elliptical shell
~ : 4 x ~ + 9 ~ ~ + 3 & - 3 6 , z r O
and let F - y i^+ -$3+ (2 + y2)3R sin (e*) 2 .
Use Stoke's theorem to find the value of
$$ (curl F) ; m
S
E17. '
Let S be the region bounded by the ellipse
c : 4 2 + $ 1 4 in the plane z = 1
andlet;-$ a n d ~ - ~ ? i ^ + 2 r j + t %.
Use Stoke's theorem to find the value of f F . &
C
A fluid of constant density p rotates round the z-axis with velocity V = w ( x i - y i"),
where w is a positive constant. If F = pV, find curl F and show its relation to specific
circulation.
We now end this unit by giving a summary of what we have covered in it.
12.7 SUMMARY
Jn this unit, we have covered the following points:
d
*
If F(t) is a vector function of a scalar variable t and -fit) = f (t), then
dt
Jf
- no + c ,
where C is a constant vector.
*
If w (x, y, z) is a scalar or a vector field
i) defined at each point of a curve C, characterized by
r(t) = x(t) i^+ y(t)j+ z(t) 2, a s t s b ,
ii) is continuous, and
iii) i ( t ) , y'(t), i ( t ) are bounded and have only a finite number of
discontinuties on the interval a s 1 s 6, then
I )
lim 21 ( ~ k 3 yk z& 9
n-OD
exists and is tbe line integral of w (x, y, z) along C iromA to B (corresponding to
a s t s b) and we denote it as s w (x, y, z) dk, where curve C is assumed to be
C
piece-wise smooth.
*
L i e integrals can occur in the following forms:
i) sw(x, y, z) B , where w(x, y, 2) is a scalar field and it is scalar.
C
ii)
y, z) dr, where w(x, y, z) is a scalar Ll d, curve C is divided into
C
vector elements and it is a vector.
iii) S ~ ( x , y, z) . ds, where W(x, y, z) is a vector field, curve C is divided into
C
vector elements, W(x, y, z) and dr are multiplied using dot product of
vectors and it is a scalar.
iv)
~ ( x , y, z) x w h e r e W(x, y, 2) is a vector field, aoss pmduct is used
C
and it is a vector.
A line integral is evaluated by reducing it to a definite integral of single
variable, using parametric representation of the path of integration C.
*
If F represents a force moving along a cuwe C,
I(t) = ~ ( t ) i^+ y(t)i+ ~ ( t ) 2 , a s t s b ,
from a pointA to a point B in space, then$^ & rep-nts the work done by the
C
force F in moving a particle from point A to point B along the curve C.
*
A force field is conservative if its work-integral is independent of path, but
depends only on the end points of the path.
A force field is conservative if and only i it is a gradient field.
*
Iff (x, y) is defined and continuous for all (x, y) in a closed bounded region R
(bounded by finitely many smooth curves), then the limit
Li e omd Integrals
vector Cakdus
-
12.8
-
El.
where AAk is the area of ktb sub-regior of R, exists and is the double integral of
f (x, y) over the region R and is denoted by
iff (x, y) is uniformly continuous and bounded over R and$
f (x, y) dy is
Y - Ax)
&)
bounded and integrable from a to b with respect to x along wi t h5
f (x, y) dr
x- pG. )
being bounded and integrable from c to d with respect toy.
*
Transformation of double integrals into line integrals is based on Green's
theorem in the plane.
*
Iff (x, y, z) is defined and continuous on a surface S, then the limit
where A Sk is the area of kt' subdivision of S, exists and is the Surface Integral o
f (x, y, z) over the surface S and is denoted by
*
Transformatioil of surface integrals into line integrals is based on Stoke's
Theorem.
*
If Vbe the velocity field of a moving fluid of density p, then
is the circulation of fluid around curve C.
*
Component of the curl in the positive normal direction can be regarded as the
specific circulation (or circulation density) of the flow in the surface at the
corresponding point, i.e.,
1
[Curl F(P)], = lim - $F, dF ,
6 4 0 A c
where F = pV.
SOLUTIONS/ANSWERS
(i) Along the curve C
x =t , y=t =, z=C3
:. dr - dt , dy- 2dt , d ~ = 3 8 d t
Lint and S d a a Integrals
- 3 - 4 + 6 = 5
(ii) Here
E2.
~ e r e ~ = ( 2 r - ~ - z ) ? + ( ~ + ~ - i ? ) ~ + ( 3 ~ - 2 ~ + 4 ~ ) ~
The parametric equation of circle 1 + y2 - 9 in the XOY-plane is given
x=3cos0, y=3si n0, z- O
Here
Now work done by force F in moving a particle once round the cillcle 1
XOY-plane
2.n
I
- 1 (9 - 9 ms 0 sin 0) W -
C
E3.
Here cp - wZz +g Y
vector Calculus
E4.
Here
Liue and Surfam Intrgra .
= (8 cos y + yz)du + (xz - 8 sin y)dy + (xy + z)dz
which is true.
2
Here F is conservative and F = Vf, where f = k cosy + xyz + - 2 .
17J
(a)
For $ ( 1 + 2 + y2) 4 dr , the region of integration is y = 0, y = Lr, x = 0,
0 0
x = 1, which is shaded portion in the Figure
Now,
1
(b)
For $ f , ( 1 - ry)dy dr, the region of integration is x = 0, x = I ,
x - 0 y - x
parabola y = x2 and line y = x, which is shaded portioil in Figure.
The base triangle inxj-plane is hounded by
3 = 3 y , y = Oa n d x = 3
The mouired volume 1s uilder the plallc
Hen density of plate = K(x2 + y2). The plate lies between y = 2 and x =y2.
For the plate, range of integration i sx = 0 to x = 1 and y - G toy = 2.
Hence, mass of the plate
The required area is in the positive quadrant, bounded by the curves
YZ = 4ux,
= 4bx, xy = c" xy = d2.
Let this area be transformed to uv-plane, using the transformation
so that the transformed area is the rectangleA having sides parallel to u and v axes
I
given by
Lime aud S d o a l n ~ s
Vector Calculus
2
-J ( t r . r n + t r . S ) d x
x - 0
I .
1 28
161a 4J5*-
5 5
The surface S : 2 + y2 + 3 = a2, z z 0 can be represented by
A A A
r =as i nuc os v i +as i nus i nv j +ac os uk
c' A A
:. r , - acos ucos vc+acas us i nvj - as i nuk
A A
rv = - a s i n u s i n v i +a s i n u c o s v j
:. F = r,, r,, 5 2 cos2 u cos2 v + a2 cos2 u sin2 v + a2sin2 u = a
2
2 2
F=r; r, --a cos us i nucos vs i nv+a cos ucos vs i nvs i nu=O
G = r, rv = 2 sin2 u sin2 v + a2 sin' u cos2 v = a2 sin2 u
If areaA is the image of surface S in uv-plane, then
d4 = Ir,, x rv( du dv
= W d u d v
= a2 sin u du dv
Further,
*2+y2+(2+a)2=(asi nucosv)2+(asi nusi nv)2+(acosu +a)2
=a2si n2ucos2~+2si n2usi n2v+a2cosZ~+a2+ZuZcosu
= 2a2 + 2a2 cos u = 4a2 cos2
2
:. u-JJ
(I
dA
sv' x2+y2+ (Z+.)Z
- a2 sin u du dv
-
aJJzacosu12 S
2 s i n h / 2 c a s ~ / 2 ~ ~ ~ ~
2 c o s u / 2
S
I2 %
= a a l - o ~ v - o s i n ?du dv ( ':s is P hemi-sphere).
n12
= oa J u- os i ny. i h
- 2 r c a a ( 2 - a .
Surface area -JJ&
S
= J J m d x d y , where z=g(x,y)=\/2-I-J
S
is the surface of cylinder and R is its projection on xy-plane taken as 2 +y2 5 1.
Li e and Surface Integrals
Let x = r cos 8, y = r sin 8,
then ~ ~ + ~ ~ s l + O s r s l a ndOs 8 k2 n
Zrc 1
:. Required surface area =J - a r dr d8
0 - 0 r - 0 4 2 - 3
= E14.
Here
The curve C is the boundary of the square in the plane z = 0 and bounded by the
x =O, y =O, x =n, y =a.
Here dr = dx i^+ d y j
Now
X - a Y - 0
=J (x2dx - xy dy) + J ( 2 k - T Y d y )
0 0
+I (x2 dx - xy dy ) +J ( 2dx - xy dy)
x - a Y - 0
at y - a at x - 0
For surface integral,
=Jx. o x 2dx - oJ Y - 0 y d y + j X - a $ u ! x + ~ Y - 0 ( o ~ x - o ~ Y )
A A
Now positive unit normal to the plane z = 0 is n = k.
E
L
Also element of area dS = dx dy.
Thus J J ~ u r l ~ - ; d S = - j - ydr dy
S
x - 0 y - 0
lines
A -
1
B (a. a)
Hence
which verifies Stoke's Theorem.
E15.
Here
F = ~ V = ~ W ( ~ Q - ~ $
and 4
I " k
a
- a a A - = ~ ( P W + ~ W ) = ~ P W ~ A Curl F -
-
ax ay az
The work done by a force equal to F is IF . dr.
C
If C lies in a plane parallel to the xy-plane, then Stoke's theorem gives
Here S is the area ellclosed by C, which is a circle of radius a
Thus
1
(Cud F) - k = 2 p w = - IF. r = circulation density.
n u 2
Thus component of.Curl F in the direction normal to the plane of V is equal to
circulation density.
E16.
The elliptic shell S is
4x2+?y2+362=36, z z 0
One parametric representative of the ellipse C at the base of the shell is
x=3c os t , y =2 s i n t , Os t s 2 n .
Here F - y f + x2j + ( 2 + y2)3 I sin (e*) i
By Stoke's theorem
=$ [y f+ 4 3 + ( 1 +y2)3'%in ( r e ) i ] -(& f + dyj + dz L)
ellipse
2 2
4r +9y r36
= $ [y dx + x2 dy + (x2 + y2)3 ' sin(eG)dr]
ellipse
2%
=$
2 sin r (- 3 sin r)dt + 9 cos' r(2 cos r)df
1- 0
Ir
9 sin 3r
- t +- +-
2 3
+ 3 sin t
l o
El 7.
Here
-
A A
For region S bounded by ellipse C : 4 1 +y2 = 4 in plane z = 1, n = k.
:. By Stoke's Theorem
/
( '.' area of given ellipse = n m'1.2 = 2n)
Vector Calculus
APPENDIX 12.1
PROOF OF GREEN'S THEOREM
We first prove the theorem when C is a simple closed curve in the xy-plane such that a line
parallel to either axis cuts C in at most two points. The special R can be represented in the
fonn of
Thus curve C consists of lower portion y = u(x) and upper portion y = v(x) and both the
portions extend from x = a to x = b (Figure 12.l(a)).
Figure 12.1 : Special region for Greeo's Theorem
Hence, (using relation 17 of Section 12.3.2), we get
Now integrating the inner integral, we get
Substituting this into relation (1), we get
Sincey = u(x) represents the oriented curve C, fromx = a to x = b and y = v(x) represents
the oriented curve C2 fromx = b to x = a, thus the integrals on the right may be written as
line integrals over C, and C2, and therefore,
and
From equatio.~ (2), (3) and (4), we get
t
Similarly by taking strips parallel tox-axis (refer Figure 12.I(b)) and using relations (1 9) of
Section 12.3.2. we obtain
= $N(X,Y)&
C
'
Fmm Equations (5) and (6), we obtain
which complete the pmof of Green's Theorem in the plane for special regions which are
enclosed bv si m~l e smooth curves.
d
=J IN[qb), yl - ~ b b ) , y l l dy
C
=[ N[qO.), YI dy +$; NW) , YI ~Y
Next we consider that the region R itself is not a special region, but can be subdivided
finitely many special regions (see Figure 12.II).
Figure 12.11 : Multiply-connected region R
the theorem for the most general region R satisfying the co2itions Gthe theorem, w e
approximate R by a region of the type just considered and then use a limiting pmcess.
into
In this case, we apply the theorem to each subregion and then add the results. The left-hand
members add up to the integral overR, which the right-hand members add up to the line
I
integral over C (which now consists of outer boundary C1 and inner boundary C2) plus
integrals over the cuzves intmduced for sub-dividing R. Each of these later integrals occurs
twice, once taken in each direction. Hence these two integrals along curves intmduced
I
cancel each othe~ other and we are left with the line integral over C. Hence the theorem.
The pmof thus covers all regions which are of interest in engineering problems. To prove
Line and Surfaa Integrals
: must
APPENDIX 12.2
PROOF OF STOKE'S THEOREM
m
We shall first prove that in formula given by equation (12.38), the integrals over the terms
involving F1 are equal, i.e.,
ms y a= j ' ~ , dx
1
Let z = f (x, y) be the equation of the surface S and let the region R be the project~on ot a In
they-plane. Then the projection of C inq-plane is the curve r bounding the region R (see
-. - - --.
1
z-axis direction
1 A
Figure 12.111 : Surface S and its projection on xy-plane
Then we may write integral over C as a line integral over r as
applying Green's theorem in plane to the function Fl[x, y, f (x, y)] and 0 [insteaa or M ana
Nin
- -
Section 12.
In the integral on the right,
i
a a
(x, Y) ] - - F1 (WJ) + F1 (XJJJ) . as z = f (x, y)
ay ar
The direction cosines of normal to the surface S, given by z = f (x, y), are
1
cos a cos p 3
I
af/ ax af/ ay - 1
Also uk dy = projection of ctS on xy-plane = a3 msy
Thus
List and Smi au Integrals
irtue of relation (3)
=IF, (x, y, z)
by virtue of relation (2).
C
Thus we have proved relation (I).
Using the representatioon of surfaces S as y = g(x, z) and x = h(v ,z), and reasoning exactly
as above, we obtain
(4)
(5)
By adding (I), (4) and (5), we obtain the formula given by equation (12.38).
This proves Stoke's Theorem for a surface S which can be represented simultaneously in
explicit fonns z = f (x, y), y = g (x, z), x = h (x, y).
We may immediately extend our results to a surfaces which can be decomposed into
finitely many pieces, each of which is of the type considered above.
It should be noted that a person moving 011 C, with his head in the positive direction of the
normal to surface S, should keep the surface on the left.
UNIT 13 VOLUME INTEGRAL
Structure
13.1 Introduction
Objectives
13.2 Triple Integral
13.2.1 Definition
13.2.2 Properties of Triple Integrals
13.2.3 Volume
13.2.4 Evaluation of Triple integrals
13.2.5 Physical Applications of Triple Integrals
13.3 Transformation of Volume Integrals into Surface Integrals
13.3.1 Gauss Divergence Theorem
13.3.2 Consequences and Applications of Divergence Tbeorem
13.3.3 Integral Definitions of Gradient, Divergence and Curl
-
13.3.4 Physical Interpretation of Divergence Theorem
13.3.5 Modelling of Heat Flow
13.3.6 Green's Theorem and Green's Formula
13.3.7 ABasic property of Solutions of laplace's Equation
13.4 Irmtational and Solenoidal Vecto. Fields Revisited
13.5 Summary
13.1 INTRODUCTION
I11 the previous unit, you have studied about line integrals, double integrals a ~ ~ d surface
integrals. In the process you have learnt to transform double integrals and surface
integral into line integrals. You had learnt that line integral is the generalization of a
single integral and a surface integral is a sort of generalization of a double integral. In
this unit, we shall give another generalization of double integral called triple integrals
o r volume integrals.
We shall first of all define triple integrals in Section 13.2, wherein we shall also give
the properties and evaluation of such integrals. This section will be closed with some
physical applications of triple integrals.
We had made use of integral transform theorems - Green's Theorem and Stoke's
Theorem - in the last unit. In this unit, we shall discuss another important intergral
transform theorem, known as Gauss Divergence Theorem, which helps in the
transformation of volume integral to surface intergal and conversely. Divergence
Theorem has many important consequences and various applications, some of which
have been discussed in Section 13.3.
We had earlier discussed solenoidal vector fields and irrotational vector fields in
Unit 11. With our knowledge of vector calculus, we have revisited these concepts in
Section 13.4, where we have now given integral form conditions for vector fields to he
solenoidal and irrotational. The summary of the results discussed in this unit is
presented at the end of this unit.
0 bjectives
After going through this unit, you should be able to
* define a triple integral,
*
state properties of triple integrals,
*
evaluate triple integrals as repeated integrals,
*
give some physical applications of triple integrals,
*
learu the method and conditions, under which a volume integral can be
transformed into a surface integral and conversely (Gauss Divergence
Theorem),
*
apply divergence theorem for the evaluation of surface integrals/volume
integrals,
*
define gradient, divergence and curl in terms of integrals,