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Vector Calculus
Contents
9.10 Double Integrals
9.11 Double Integrals in Polar Coordinates
9.12 Greens Theorem
9.13 Surface Integrals
9.14 Stokes Theorem
9.15 Triple Integrals
9.16 Divergence Theorem
9.17 Change of Variables in Multiple Integrals
9.10 Double Integrals
Recall from Calculus
Region of Type I
See the region in Fig 9.71(a)
R: a x b, g1(y) y g2(y)
Region of Type II
See the region in Fig 9.71(b)
R: c y d, h1(x) x h2(x)
Fig 9.71
Iterated Integral
For Type I:
b g2 ( x )
a g ( x)
1
f ( x, y ) dy d x
b
a
g2 ( x )
g1 ( x )
f ( x, y ) dy d x (4)
1
f ( x, y ) d x dy
d
c
h2 ( y )
h1 ( y )
f ( x, y ) dx d y (5)
THEOREM 9.12
Evaluation of Double Integrals
Let f be continuous on a region R.
(i) For Type I: b g2 ( x )
f ( x, y)dA f ( x, y) dy d x
a g1 ( x )
(6)
R
where z = f(x, y)
is the surface.
Example 1
Evaluate R
x 3 y
e dA over the region bounded by y = 1,
y = 2, y = x, y = x + 5. See Fig 9.73.
Solution
The region is Type II
2 5 y x 3 y
e dA e dx dy
x 3 y
1 y
R
e
1
2 x 3 y 5 y
y
2
dy (e5 2 y e 4 y ) dy
1
2
1 5 2 y 1 4 y 1 9 1 8 1 7 1 4
e e e e e e
2 4 1 2 4 2 4
2771.64
Fig 9.73
Example 2
y2
Evaluate R xe dA over the region in the first
quadrant bounded by y = x2, x = 0, y = 4.
Solution
From Fig 9.75(a) , it is of Type I
y2 2 4 y2
xe dA
0x 2 xe dy dx
R
1 /4
(cos 2 x sin 2 x) dx
2 0
/4
1 /4 1 1
cos 2 x dx sin 2 x
2 0 4 0 4
Example 3 (3)
/4 cos x
M y xy dA sin x xy dy dx
0
R
cos x
/4 1 2
xy dx
0 2 sin x
1 /4
x cos 2 x dx
2 0
/4
1 1 2
x sin 2 x cos 2 x
4 8 0 16
Example 3 (4)
/4 cos x
M x y dA
2
sin x y 2 dy dx
0
R
1 /4
(cos3 x sin 3 x) dx
3 0
1 /4
[cos x(1 sin 2 x) sin x(1 cos 2 x)] dx
3 0
/4
1 1 3 1 3 5 24
sin x sin x cos x cos x
3 3 3 0 18
Example 3 (5)
Hence
M y ( 2) / 16
x 0.29
m 1/ 4
M x (5 2 4) / 18
y 0.68
m 1/ 4
Moments of Inertia
I x y 2 ( x, y ) dA
R
I y x 2 ( x, y ) dA (12)
R
mr 2 / 2
sin 2 d
2
2 / 2
mr 2 / 2 1 2
4 / 2
(1 cos 4 ) d mr
4
Radius of Gyration
Defined by
I
Rg
m (13)
In Example 4,
Rg I y /m (mr 2 /4)m r / 2
9.11 Double Integrals in Polar Coordinates
Double Integral
Refer to the figure.
f (r , ) dA
R
b h2 ( r )
a h (r )
f (r , )r d dr
1
Example 1
Refer to Fig 9.83. Find the center of mass where
r = 2 sin 2 in the first quadrant and is proportional
to the distance from the pole.
Fig 9.83
Example 1 (2)
Solution
We have: 0 /2, = kr, then
/2 2 sin 2
m k | r | dA k 0 (r )r dr d
0
R
2 sin 2
/2 r
3
8 /2 3
k d k sin 2 d
0 3 0
3 0
8 /2
k (1 cos 2 2 ) sin 2 d
3 0
/2
8 1 1 3 16
k cos 2 cos 2 k
3 2 6 0 9
Example 1 (3)
Since x = r cos and M y k x | r | dA
then R
2 sin 2
/2 2 sin 2 /2 r
4
My 0 r cos dr d k
3
cos d
0 0 4 0
/2
4k sin 4 2 cos d
0
/2
4k 16 sin 4 cos 4 cos d
0
/2
64k sin 4 cos5 d
0
Example 1 (4)
/2
64 sin 4 (1 sin 2 ) 2 cos d
0
/2
64k (sin 4 2 sin 6 sin 8 ) cos d
0
/2
1 5 2 7 1 9
64k sin sin sin
512
k
5 7 9 0 315
Similarly, y = r sin , then
/ 2 2 sin 2 2 512
Mx k0 0 r sin dr d k
315
51k / 315 32
xy
16k / 9 35
Change of Variables
Sometimes we would like to change the rectangular
coordinates to polar coordinates for simplifying the
question. If 0 g1 ( ) r g 2 ( ), ,
and 0 2 then
g 2 ( )
f ( x, y) dA g ( )
1
f (r cos , r sin )r dr d (3)
R
Recall: x + y = r and
2 2 2 x2 y2 r
Example 2
Evaluate 2 8 x 2 1
0 x 2
5 x y 2
dy d x
Solution
From x y 8 x 2 , 0 x 2 the graph is shown in
Fig 9.84.
Using x2 + y2 = r2, then 1/(5 + x2 + y2 ) = 1/(5 + r2)
Fig 9.84
Example 2 (2)
Thus the integral becomes
2 8 x 1
0 x 5 x y 2 2
dy dx
/2 8 1 1 / 2 8 2r dr
2
r dr d 2
d
/4 0 5 r 2 /4 0 5 r
1 /2
8 1
ln(5 r ) d (ln 13 ln 5) d
2 /4
2
0 2
/2
/4
1 13
(ln 13 ln 15) ln
2 2 4 8 5
Example 3
Find the volume of the solid that is under
z 1 x 2 y 2 and above the region bounded by
x2 + y2 y = 0. See Fig 9.85.
Solution
Fig 9.85
Example 3 (2)
We find that
V 1 x 2 y 2 dA
R
2
and the equations become z 1 r
and r = sin .
Now
/2 sin
V 1 r dA 2
2
0 (1 r 2 )1/ 2 r dr d
0
R
2 /2
[1 (1 sin 2 )3 / 2 ] d
3 0
Example 3 (3)
2 /2 2 /2
[1 (cos ) ] d [1 cos3 ] d
2 3/ 2
3 0 3 0
2 /2
[1 (1 sin 2 ) cos ] d
3 0
/2
2 1 3 4
sin sin 0.60
3 3 0 3 9
Area
If f(r, ) = 1, then the area is
g 2 ( )
A dA r dr d
g ( )
1
R
9.12 Greens Theorem
Along Simply Closed Curves
For different orientations for simply closed curves,
please refer to Fig 9.88.
Partial Proof
For a region R is simultaneously of Type I and Type
II,
R : g1 ( x) y g 2 ( x), a x b
R : h1 ( y ) x h2 ( y ), c y d
Fig 9.89(a) Fig 9.89(b)
Partial Proof
Using Fig 9.89(a), we have
P b g 2 ( x ) P
dA dy dx
R
y a g1 ( x ) y
b
[ P ( x, g 2 ( x)) P ( x, g1 ( x))] dx
a
b a
P ( x, g1 ( x)) dx P ( x, g 2 ( x)) dx
a b
P ( x, y ) dx
C
Partial Proof
Similarly, from Fig 9.89(b),
Q d h2 ( y )Q
x dA c h2 ( y ) x dx dy
R
d
[Q (h2 ( y ), y ) Q (h1 ( y ), y )] dy
c
d c
Q(h2 ( y ), y ) dy Q(h1 ( y ), y ) dy
c d
= i P( x, y )dx
C
1 x2
(1 2 y ) dA
0x 3 (1 2 y ) dy dx
R
x2
1 1 11
( y y ) 3 dx ( x x x x ) dx
2 6 4 3
0 x 0 420
Example 2
y3
Evaluate C ( x 3 y ) d x (2 x e ) dy
5
R R
Since the area of this circle is 4, we have
y3
C (x 3 y ) dx ( 2 x e ) dy 4
5
Example 3
Find the work done by F = ( 16y + sin x2)i + (4ey +
3x2)j along C shown in Fig 9.93.
Example 3 (2)
Solution
We have W Fdr
C
3 / 4
/4
1
(2r 3 cos 8r 2 ) d
0
3 / 4
(2 cos 8) d 4
/4
Example 4
The curve is shown in Fig 9.94. Greens Theorem is
no applicable to the integral
y x
C x 2 y 2 dx x 2 y 2 dy
since P, Q, P/x, Q/y are not continuous at the
region.
Fig 9.94
Region with Holes
Greens theorem cal also apply to a region with holes.
In Fig 9.95(a), we show C consisting of two curves C1
and C2. Now We introduce cross cuts as shown is Fig
9.95(b), R is divided into R1 and R2. By Greens
theorem:
Q P Q P Q P
x y dA x y dA x y dA
R R1 R2
P dx Q dy P dx Q dy
C1 C2
P dx Q dy (4)
C
Fig 9.95(a) Fig 9.95(b)
The last result follows from that fact that the line
integrals on the crosscuts cancel each other.
Example 5
y x
Evaluate
C x 2 y 2 d x x 2 y 2 dy
where C = C1 C2 is shown in Fig 9.96.
Solution
Because
y x
P ( x, y ) 2 2
, Q ( x, y ) 2
x y x y2
P y2 x2 Q y 2 x2
2 , 2
y ( x y )2 2
x ( x y 2 ) 2
Example 5 (2)
are continuous on the region bounded by C, then
y x
C x 2 y 2 dx x 2 y 2 dy
y 2 x2 y 2 x2
2 2 2
2 2 2
dA 0
R (x y ) (x y )
Fig 9.96
Conditions to Simply the Curves
As shown in Fig 9.97, C1 and C2 are two
nonintersecting piecewise smooth simple closed
curves that have the same orientation. Suppose that P
and Q have continuous first partial derivatives such
that P/y = Q/x in the region R bounded between
C1 and C2, then we have
C P dx Q dy C
1 2
P dx Q dy 0
C P dx Q dy C
1 2
P dx Q dy
Fig 9.97
Example 6
Evaluate the line integral in Example 4.
Solution
We find P = y / (x2 + y2) and Q = x / (x2 + y2) have
continuous first partial derivatives in the region
bounded by C and C. See Fig 9.98.
Fig 9.98
Example 6 (2)
Moreover,
P y2 x2 Q
2
y ( x y )2 2
x
we have
y x y x
C x 2 y 2 dx x 2 y 2 dy C x 2 y 2 dx x 2 y 2 dy
Example 6 (3)
Using x = cos t, y = sin t, 0 t 2 , then
y x
C x 2 y 2 dx x 2 y 2 dy
2
[ sin t ( sin t ) cos t (cos t )] dt
0
2
(sin 2 t cos 2 t ) dt
0
2
dt 2
0
a
2
0
(a 2
r ) 0d
2 1/ 2 b
2
a(a a b ) 2 2
d
0
2a (a a 2 b 2 )
Differential of Surface Area
The function
dS 1 [ f x ( x, y )]2 [ f y ( x, y )]2 dA
G ( x, y, z ) dS lim
P 0
k k k )Sk
G ( x *
, y *
, z *
(4)
S k 1
Method of Evaluation
G ( x, y, z ) dS
S
(5)
G ( x, y, f ( x, y )) 1 [ f x ( x, y )] [ f y ( x, y )] dA
2 2
R
where we define z = f(x, y) is the equation of S
projects onto a region R of the xy-plane.
Projection of S Into Other Planes
G ( x, g ( x, z ), z ) 1 [ g x ( x, z )]2 [ g z ( x, z )]2 dA
R
Similarly, if x = h(y, z) is the equation of S projects
onto a region R of the yz-plane, then
G ( x, y, z ) dS
S (7)
G (h( y, z ), y, z ) 1 [hy ( y, z )]2 [hz ( y, z )]2 dA
R
Mass of a Surface
Let (x, y, z) be the density of a surface, then the
mass m of the surface is
m ( x, y, z ) dS (8)
S
Example 2
Find the mass of the surface of z = 1 + x2 + y2 in the
first octant for 1 z 5 if the density at a point is
proportional to its distance from the xy-plane.
Solution
The projection graph is shown in Fig 9.104.
Now, since (x, y, z) = kz and z = 1 + x2 + y2, then
m kz dS
S
k (1 x y ) 1 4 x 4 y dA
2 2 2 2
R
Fig 9.104
Example 2 (2)
Change to polar coordinates
/2 2
m k 0 (1 r 2 ) 1 4r 2 r dr d
0
/2 2
k 0 [r (1 4r 2 )1/ 2 r 3 (1 4r 2 )1/ 2 ] dr d
0
2
/2 1 1 2 1 2 5/ 2
k 12 (1 4 r 2 3/ 2
) r (1 4 r 2 3/ 2
) (1 4 r ) d
2 12 120 0
k 5(17) 3/ 2
17 5/ 2
3
19.2k
2 12 120 40
Example 3
Evaluate S
2
xz dS , where S is the portion of
y = 2x2 + 1 in the first octant bounded by x = 0, x = 2, z
= 4 and z = 8.
Solution
The projection graph on
the xz-plane is shown in
Fig 9.105.
Example 3 (2)
Let y = g(x, z) = 2x2 + 1. Since gx(x, z) = 4x and
gz(x, z) = 0, then
2 8
xz dS
2
xz 2 1 16 x 2 dz dx
0 4
S
8
2
3
2z 448 2
x 1 16 x dx
2 1/ 2
x(1 16 x ) dx
0 3 4 3 0
2
28 28 3 / 2
(1 16 x 2 )3 / 2 [65 1] 1627.3
9 0 9
Orientable Surface
A surface is said to be orientable or an oriented
surface if there exists a continuous unit normal vector
function n, where n(x, y, z) is called the orientation
of the surface.
Eg: S is defined by g(x, y, z) = 0, then
n = g / ||g|| (9)
g g g
where g i j k is the gradient.
x y z
Fig. 9.106
Fig 9.107
Example 4
Consider x2 + y2 + z2 = a2, a > 0. If we define
g(x, y, z) = x2 + y2 + z2 a2, then
g 2 xi 2 yj 2 zk , || g || 4 x 2 4 y 2 4 z 2 2a
2 33 x / 2
3
0 0
(6 3 x 2 y ) dy dx 18
9.14 Stokes Theorem
Vector Form of Greens Theorem
If F(x, y) = P(x, y)i + Q(x, y)j, then
i j k
Q P
curl F F k
x y z x y
P 0 0
Thus, Greens Theorem can be written as
on C1 : x 1, z 0, dx 0, dz 0,
so C y (0) y (0)dy 0 0
1
on C2 : y 2, z 1 x 2 , dy 0, dz 2 x,
so C
1
2 xdx 2(1 x 2 )0 x(1 x 2 )(2 xdx)
0 11
2 4
(2 x 2 x 2 x )dx
1 15
Example 1 (5)
on C3 : x 0, z 1, dx 0, dz 0,
2
so C 0 ydy 0 2
3
ydy 0
2
on C4 : y 2, z 1 x , dy 0, dz 2 x,
C 2 xdx 2(1 x
2 2
so )0 x(1 x )(2 xdx)
4
1 19
(2 x 2 x 2 x )dx
2 4
0 15
11 19
Hence xydx yzdy xzdz 0 0 2
C 15 15
which agrees with (7).
Example 2
Evaluate
C zdx xdy ydz
where C is the trace of the cylinder x2 + y2 = 1 in the
plane y + z = 2. Orient C counterclockwise as viewed
from above. See Fig 9.117.
Fig 9.117
Example 2 (2)
Solution
If F zi xj yk , then
i j k
curl F i jk
x y z
z x y
The given orientation of C corresponding to an upward
orientation of the surface S.
Example 2 (3)
Thus if g(x, y, z) = y + z 2 = 0 defines the plane, then
the upper normal is
g 1 1
n j k
g 2 2
Hence from (2),
1 1
CF dr (i j k ) ( 2 j 2 k ) dS
S
2 dS 2 2dA 2
S R
9.15 Triple Integrals
DEFINITION 9.13
The Triple Integral
Let F be a function of three variables defined over a
Closed region D of space. Then the triple integral of F
over D is given by
n
F ( x, y, z )dV lim
P 0
k k k )Vk
F ( x *
, y *
, z *
(1)
D k 1
Evaluation by Iterated Integrals:
If the region D is bounded above by z f 2 ( x, y )
and is bounded below by z f1 ( x, y ), then
1
D R
Thus, if R is a Type I region then
b g2 ( x ) f2 ( x, y )
F ( x,y,z )dV a g ( x ) f ( x, y ) F ( x,y,z )dzdydx
1 1
(2)
D
M xy z ( x, y, z )dV ,
D
M xz y ( x, y, z )dV , M yz x ( x, y, z )dV
D D
Center of Mass :
The coordintaes of the center of mass are
M yz M xz M xy
x ,y ,z
m m m
Centroid :
If ( x, y, z ) is constant, the center of
mass is called the centroid.
Second Moment :
I x ( y 2 z 2 ) ( x, y, z )dV ,
D
I y ( x 2 z 2 ) ( x, y, z )dV
D
I z ( x 2 y 2 ) ( x, y, z )dV
D
Radius of Gyration :
If I is a moment of inertia of the solid about a given axis,
then the radius of gyration is
I
Rg
m
Example 1
Find the volume of the solid in the first octant
bounded by z = 1 y2, y = 2x and x = 3.
Fig 9.125(a) Fig 9.125(b)
Example 1 (2)
Solution
Referring to Fig 9.125(a), the first integration with
respect to z is from 0 to 1 y2. From Fig 9.125(b), we
see that the projection of D in the xy-plane is a region of
Type II. Hence
1 3 1 y 2 1 3
V dV dzdxdy (1 y 2 )dxdy
0 y/2 0 0 y/2
D
1 3 1 1 1 3 15
( x yx )
2
dy 3 3 y y y dy
2
0 y/2 0 2 2 8
Example 2
Change the order of integration in
6 4 2 x / 3 3 x / 2 3 y / 4
0 0 0
F ( x, y, z )dzdydx
to dydxdz.
Fig 9.126(a) Fig 9.126(b)
Example 2 (2)
Solution
As in Fig 9.126(a), the region D is the solid in the first
octant bounded by the three coordinates and the plane
2x + 3y + 4x = 12. Referring to Fig 9.126(b) and the
table, we have
6 4 2 x / 3 3 x / 23 y / 4
0 0 0 F ( x, y, z )dzdydx
3 62 z 4 2 x / 3 4 z / 3
0 0 0 F ( x, y, z )dydxdz
Example 2 (3)
F (r , , z )dV f ( r , ) F (r , , z ) dA
f 2 ( r , )
1
D R
g 2 ( ) f 2 ( r , )
g ( ) f ( r , ) F ( x, y, z )rdzdrd
1 1
Fig 9.129
Example 5
A solid in the first octant has the shape determined by
the graph of the cone z = (x2 + y2) and the planes z = 1,
x = 0 and y = 0. Find the center of the mass if the
density is given by (r, , z) = r.
Solution
2 1 1
m rdV 0 r r (rdzdrd )
0
D
2 1 2 1 2 1 2
0 r z r drd 0 0 (r r )drd 24
3
0
Fig 9.130
Example 5 (2)
2 1 1
M xy zrdV 0 r zr 2 dzdrd
0
D
2 1 z
2
21
1 2 1 2 4
r drd (r r )drd
0 0 2 r 2 0 0 30
Similarly, we have
2 1 1 3 1
M xz r sin dV
2
0 r r sin dzdrd 20
0
D
2 1 1 3 1
M yz r cosdV
2
0 r r cosdzdrd 20
0
D
Example 5 (3)
Hence
1 / 20 1 / 20 / 30
x 0.38, y 0.38, z 0.8
/ 24 / 24 / 24
Spherical Coordinates
See Fig 9.131.
Conversion of Spherical Coordinates to Rectangular
and Cylindrical Coordinates
We have
From spherical coordinates ( , , )
to rectangular coordinates ( x, y, z ) :
x sin cos , y sin sin , z cos (5)
From spherical coordinates ( , , )
to cylindrical coordinates (r , , z ) :
r sin , , z cos (6)
Example 6
Convert (6, /4, /3) in spherical coordinates to
rectangular and cylindrical coordinates.
Solution
( , , ) (6, / 4, / 3)
3 2 3 6
x sin cos , y sin sin
2 2
z cos 3 2
r sin 3 2, , z cos 3 2
3
Inverse Conversion
y
x y z , tan
2 2 2 2
x
z
cos (7)
x2 y2 z 2
Triple Integrals in Spherical Coordinates
F ( , , )dV
D
g 2 ( ) f 2 ( , )
g ( ) f ( , ) F ( , , ) 2 sin ddd
1 1
Example 7
Find the moment of inertia about the z-axis of the
homogeneous solid bounded between the spheres
x2 + y2 + z2 = a2 and x2 + y2 + z2 = a2, a < b
Fig 9.133
Example 7 (2)
Solution
If (, , ) = k is the density, then
I z ( x y )kdV . From (5), we have
2 2
x y sin , x y z
2 2 2 2 2 2 2 2
2 5 3 b
k 0 sin dd
0 5 a
k 5 2 5
(b a )
5
(1 cos ) sin dd
2
5 0 0 5
k 5 5 2 1 3
(b a ) cos cos d
5 0 3 0
4k 5 5 2 8k 5
(b a ) d (b a 5 )
15 0 15
9.16 Divergence Theorem
Another Vector Form of Greens Theorem
Let F(x, y) = P(x, y)i + P(x, y)j be a vector field, and
let T = (dx/ds)i + (dy/ds)j be a unit tangent to a
simple closed plane curve C. If n = (dy/ds)i (dx/ds)j
is a unit normal to C, then
P Q P Q
dA x y dA
R
x y R
that is,
div F dV 3 dV dV 54 (10)
D D D
Surface Integral:
We write S = S1 + S2, where S1 is the hemisphere and
S2 is the plane z = 1.
If S1 is a level surfaces of g(x, y) = x2 + y2 + (z 1)2, then
a unit outer normal is
Example 1 (3)
g xi yj ( z 1)k x y z 1
n 2 i j k
g 2
x y ( z 1) 2
3 3 3
2 2 2
x y ( z 1)
Now F n 3
3 3 3
3
and so F n ds (3) 2 2
dA
S1 R 9 x y
2 3
9 (9 r 2 1 / 2
) rdrd 54
0 0
Example 1 (4)
On S 2 , n k so that F n z 1.
But since z 1, ( z 1)dS 0.
S2
S (F n)dS ( y 2 yz 3z
2
)dV
D
1 1 1
( y 2 yz 3 z 2
) dxdydz
0 0 0
Example 2 (2)
1 1
( y 2 yz 3 z 2
)dydz
0 0
2
1 y 2 1
( y z 3 yz ) dz
2
0 2 0
1 1 z 1 2 3 1
( z 3 z )dz ( z z ) 2
2
0 2 2 2 0
9.17 Change of Variables in Multiple Integrals
Introduction
If f is continuous on [a, b], x = g(u) and
dx = g(u) du, then
b d
a f ( x)dx c f ( g (u )) g ' (u )du (1)
where c = g(a), d = g(b).
If we write J(u) = dx/du, then we have
b d
a f ( x)dx c f ( g (u )) J (u )du (2)
Double Integrals
If we have
x= f(u, v), y = g(u, v)
(3)
we expect that a change of variables would take the
form F ( x, y )dA F ( f (u , v), g (u , v)) J (u , v )dA' (4)
R S
If F is continuous on R, then
( x, y )
F ( x, y ) d A F ( f (u, v), g (u, v)) (u, v) d A (11)
R S
Example 3
Evaluate sin( x 2 y) cos( x 2 y)dA
R
over the region R in Fig 9.148(a).
1 2 u 1 2 u
sin u cos vdvdu sin u sin v du
4 0 u 4 0 u
1 2 2 1 2
sin udu (1 cos 2u )du
2 0 4 0 2
Example 4
Evaluate xydA over the region R in Fig 9.149(a).
R
1 4 v2 5 41 4
du 4 du 4 ln u 4 ln 4
3 2u 1
1 1 u 1
Triple Integrals
Let x = f(u, v, w), y = g(u, v, w), z = h(u, v, w)
be a one-to-one transformation T from a region E in
the uvw-space to a region in D in xyz-space. If F is
continuous in D, then
F ( x, y, z )dV
D
( x, y , z )
F ( f (u , v, w), g (u , v, w), h(u , v, w)) dV '
E
(ui, v, w)
x x x
u v w
( x, y, z ) y y y
where
(u , v, w) u v w
z z z
u v w
Please verify that if
x sin cos , y sin sin , z x cos (13)
( x, y , z )
then 2 sin
(u , v, w)