MATH 100

Spring 2006-07

Introduction to Multivariable Calculus Lecture Notes

Dr. Tony Yee Department of Mathematics The Hong Kong University of Science and Technology

March 27, 2007

ii

Contents
Table of Contents 1 Vectors and Geometry of Space 1.1 Three-Dimensional Coordinate Systems 1.2 Vectors . . . . . . . . . . . . . . . . . . 1.3 The Dot Product . . . . . . . . . . . . . 1.4 The Cross Product . . . . . . . . . . . . 1.5 Equations of Lines . . . . . . . . . . . . 1.6 Equations of Planes . . . . . . . . . . . 1.7 Quadric Surfaces . . . . . . . . . . . . . 2 Vector-Valued Functions 2.1 Vector Functions . . . . . . . . . . . . . 2.2 Calculus with Vector Functions . . . . . 2.3 Tangent, Normal and Binormal Vectors 2.4 Arc Length in Space . . . . . . . . . . . 3 Partial Derivatives 3.1 Functions of Several Variables . . . 3.2 Limits and Continuity . . . . . . . 3.3 Partial Derivatives . . . . . . . . . 3.4 The Chain Rule . . . . . . . . . . . 3.5 Directional Derivatives . . . . . . . 3.6 Applications of Partial Derivatives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii 1 1 5 10 13 18 22 29 33 33 39 42 46 49 49 53 58 73 81 89 115 115 125 136 148 155 158

4 Multiple Integrals 4.1 Double Integrals . . . . . . . . . . . . . . . . . 4.2 Double Integrals Over Non-rectangular Regions 4.3 Double Integrals in Polar Coordinates . . . . . 4.4 Triple Integrals . . . . . . . . . . . . . . . . . . 4.5 Triple Integrals in Cylindrical Coordinates . . . 4.6 Triple Integrals in Spherical Coordinates . . . .

iii

Chapter 4

Multiple Integrals
4.1 Double Integrals

Before starting on double integrals let us do a quick review of what is the denition of denite integrals for functions of one single variable. For these integrals we are integrating over the interval a x b, Z b f (x) dx.
a

Now, when we are going to derive the denition of the denite integral we rst think of this as a classical area problem. What is the area problem? Historically, the idea of limits has been used to nd areas of dierent shapes. Let us rst consider a simple example: how the area of a circle can be found by a limiting process?

height about same as radius width approximately = half circumference

We divide the circular disc into pieces of equal size and then rearrange the pieces as in the gure above. In the limit of increasing number of pieces (i.e., smaller and smaller divisions) the rearrangement will give something closer to a rectangle (imagine it) of which the area can easily be found. Thus the area of the circle is the same as the area of the limiting rectangle, which is height width = r r = r 2 .

However, in general, we cannot divide things up like we can with the circle. We need a general method that will work for a wider variety of shapes. For example, given a region in the plane, we need a consistent method that helps to nd the enclosed area. Very often this refers to nding the area of the region bounded above by the graph of a given positive function f (x), bounded below by the x-axis, bounded to the left by the vertical line x = a, and to the right by the vertical line x = b. The answer to this problem came through a very nice idea. Indeed, this can be done by rst dividing the region into strips (gure below) and approximating the area of each strip by a small rectangle whose area we know how to nd! Of course, the area approximated by the rectangles is not quite the same as the area under the curve, but as the rectangles get thinner (more rectangles at the same time), the total area of the rectangles gets closer to the real area. Again, this is a limiting process similar to the disc area problem.

115

4. Multiple Integrals The following is a gure illustrating the above idea of dividing the region into (innitely many) strips.

As we mentioned earlier, we may regard integration as the limiting process of an algebraic summation. So it is not hard to imagine that denite integration plays the role to sum up the areas of rectangles in a limiting way. In the following we shall try to derive the mathematics of nding areas by denite integration. We show you in details how the method works. Mathematical formulation. Let f (x) be a continuous positive function dened on the closed interval [a, b]. We divide the interval [a, b] by any nite set of points, called a partition P of [a, b], i.e., a = x0 < x1 < x2 < < xn1 < xn = b. Hence, [a, b] is divided into n subintervals: [a, x1 ], [x1 , x2 ], [x2 , x3 ], , [xi1 , xi ], , [xn1 , b]. The length of each subinterval is xi = xi xi1 , i = 1, 2, , n.
1 i n

Denote the longest length of these subintervals by x = max {xi } and we call it the norm of the partition P. On each of the subintervals [xi1 , xi ] (i = 1, 2, , n), we choose an arbitrary point x i such that xi1 x xi . The choice for x i i will dene a particular rectangle, with f (xi ) as its height and xi as its width, on the subinterval [xi1 , xi ]. The following gure summarizes the details of what we have discussed. y magnied part on right side y = f (x) xi

xi1

x i

xi

x xi1 x i xi (x i movable)

A Riemann sum of f for the partition P is dened as a nite algebraic sum of the form Sn =
n X i=1

f (x i ) xi ,

where

x i [xi1 , xi ]

for i = 1, 2, , n.

The sum Sn is nothing but just the sum of areas of the rectangles over [a, b]. If the sum has a limit as the number of subintervals increases without bound (while the longest length x goes to zero) and if the limit is independent of the choices x i , then we call the limit the denite integral of f (x) over [a, b] and write it Z b as f (x) dx. We make the conclusion in the following denition.
a

116

4.1 Double Integrals 4.1.1 Denition Let f be a real-valued function dened on [a, b], P be a partition of [a, b]. If the limit n P lim f (x i ) xi exists independently of the mode of subdivision of [a, b] and xi , then the limit is called
n i=1

the denite integral of f (x) from x = a to x = b and is written as lim

n X i=1

Z f (x i ) xi =
a

f (x) dx.

(4.1)

The function f (x) is called the integrand. The numbers a and b are called the lower and upper limits of integration, respectively and [a, b] is called the range of integration. The letter x is the variable of integration which is actually a Z dummy variable that can be replaced by any other letter. It can be
b

proved that the denite integral continuous. Z Geometrically,

a b a

f (x) dx exists if f is continuous on [a, b]. It also exists if f is piecewise

f (x) dx represents the area bounded by the curve y = f (x), the x-axis and the

vertical lines at x = a, x = b only if f (x) 0 (i.e., the whole graph of f lies in the upper half plane). Otherwise, the denite integral represents the algebraic sum of the areas above and below the x-axis, treating areas above the x-axis as positive and areas below the x-axis as negative. That is to say, in general, a denite integral gives the net area between the graph of f and the x-axis, i.e., the sum of the areas of the regions where y = f (x) is above the x-axis minus the sum of the areas of the regions where y = f (x) is below the x-axis.

Double integrals. In this section we want to integrate a function of two variables, f (x, y ). With functions of one variable we integrated over an interval (i.e., a one-dimensional space) and so it makes some sense then that when integrating a function of two variables we will integrate over a region in R2 (i.e., a two-dimensional space). We will start out by assuming that the region in R2 is a rectangle which we will denote as follows D = [a, b] [c, d]. This means that the ranges for x and y are a x b and c y d. Also we will initially assume that f (x, y ) 0 although this does not really have to be the case. Let us start out with the graph of the surface S given by graphing z = f (x, y ) over the rectangle D. z Surface S

c a b x d
1111111111111 0000000000000 0000000000000 1111111111111 0000000000000 1111111111111 0000000000000 1111111111111 0000000000000 1111111111111 0000000000000 1111111111111 0000000000000 1111111111111 0000000000000 1111111111111 0000000000000 1111111111111

Rectangular Region D

117

4. Multiple Integrals Now, just like with functions of one variable let us not worry about integrals quite yet. Let us rst ask what the volume of the region under the surface S (and above the xy -plane of course) is. We will rst approximate the volume much as we approximated the area before. We will rst divide up a x b into n subintervals and divide up c y d into m subintervals. This will divide up the region D into a series of smaller rectangles and from each of these we will choose a point (x i , yj ). Here is a sketch of this set up. y d = ym
(x i , yj )

Region D yj

c = y0

a = x0

x1

xi

xn1

b = xn

Now, over each of these smaller rectangles we will construct a box whose height is given by f (x i , yj ). Here is a sketch of that. z

Surface S

Region D (projection)

Each of the rectangles has a base area of A and a height of f (x i , yj ) so the volume of each of these boxes is f (xi , yj ) A. The volume under the surface S is then approximately m n X X i=1 j =1 f (x i , yj ) A.

We will have a double sum since we will need to add up volumes in both the x and y directions.

118

4.1 Double Integrals To get a better estimation of the volume we will take n and m go to innity. In other words, V = lim
n X m X i=1 j =1 f (x i , yj ) A.

n,m

Now, this should look familiar. This looks a lot like the denition of the integral of a function of single variable. In fact this is also the denition of a double integral, or more exactly an integral of a function of two variables over a rectangle. Here is the formal denition of a double integral of a function of two variables over a rectangular region D as well as the notation that we will use for it. ZZ f (x, y ) dA =
D n,m

lim

n X m X i=1 j =1

f (x i , yj ) A.

RR Note the similarities and dierences in the notation to single integrals. We have two integrals (i.e., ) to denote the fact that we are dealing with a two-dimensional region and we have a dierential here as well. Note that the dierential is dA instead of the dx and dy that we are used to seeing. Note as well that we do not have limits on the integrals in this notation. Instead we have the D written below the two integrals to denote the region that we are integrating over. Note that one interpretation of the double integral of f (x, y ) over the rectangle D is the volume under the function f (x, y ) (and above the xy -plane), or ZZ volume =
D

f (x, y ) dA.

We can use this double sum in the denition to estimate the value of a double integral if we need to. We can do this by choosing (x i , yj ) to be the midpoint of each rectangle. When we do this we usually denote the point as ( xi , y j ). This leads to the midpoint rule ZZ f (x, y ) dA
D n X m X i=1 j =1

f ( xi , y j ) A.

In the next section we start looking at how to actually compute double integrals.

Exercise 4.1.1 2 Each double integral over the given rectangle D represents the volume of a solid. Make a sketch of the solid. (You do not have to nd the volume.)
ZZ
D

ZZ
D

1.

4 dA, ZZ p
D

D = [1, 2] [0, 5].

3. ZZ

(2 x y ) dA,

D = [0, 1] [0, 1].

2.

25 x2 y 2 dA,

D = [0, 3] [0, 4].

4.
D

(x2 + y 2 ) dA,

D = [2, 2] [2, 2].

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4. Multiple Integrals
5. Let f (x, y ) = x2 + y , and let the rectangle D = [0, 2] [0, 2] be subdivided into 16 subrectangles.

Take (x k , yk ) to be the center of the k -th rectangle, and approximate the double integral of f over D by the resulting Riemann sum. Compare the result to the exact value of the integral.

Iterated integrals

We gave the denition of the double integral as a double sum (page 119). However, just like with the denition of a single integral the denition is very dicult to use in practice and so we need to start looking into how we actually compute double integrals. We will continue to assume that we are integrating over the rectangle D = [a, b] [c, d]. We will look at more non-rectangular regions in the next section. The following theorem tells us how to compute a double integral over a rectangle.

Theorem 4.1.1 (Fubinis Theorem) If f (x, y ) is continuous on D = [a, b] [c, d], then ZZ f (x, y ) dA =
D a c

Z f (x, y ) dy dx =
c

Z
a

f (x, y ) dx dy .

These integrals are called iterated integrals.

Note that there are in fact two ways of computing a double integral and also notice that the inner dierential matches up with the limits on the inner integral and similarly for the outer dierential and limits. In other words, if the inner dierential is dy then the limits on the inner integral must be y limits of integration and if the outer dierential is dy then the limits on the outer integral must be y limits of integration. Now, on some level this is just notation and does not really tell us how to compute the double integral. Let us just take the rst possibility above and change the notation a little. ZZ Z b Z d f (x, y ) dA = f (x, y ) dy dx.
D a c

We will compute the double integral by rst computing the inner integral Z d f (x, y ) dy
c

and we compute this by holding x constant and integrating with respect to y as if this is a single integral. The output of this integral is therefore a function involving only xs which we can in turn integrate. We have done a similar process with partial derivatives. To take the derivative of a function with respect to y we treated the xs constants and dierentiated with respect to y as if it was a function of a single variable. Double integrals work in the same manner. We think of all the xs as constants and integrate with respect to y or we think of all y s constants and integrate with respect to x, depending on which of the iterated integrals is considered. Let us take a look at some examples.

120

4.1 Double Integrals Example 4.1.1 (Double integrals) Compute each of the following double integrals over the indicated rectangles. ZZ (a) 6xy 2 dA, D = [2, 4] [1, 2].
D

ZZ (b)
D

(2x 4y 3 ) dA, ZZ

D = [5, 4] [0, 3].

(c)
D

x2 y 2 + cos(x) + sin(y ) dA,

D = [2, 1] [0, 1].

ZZ (d)
D

1 dA, (2x + 3y )2 xexy dA,

D = [0, 1] [1, 2].

ZZ (e)
D

D = [1, 2] [0, 1].

Solution (a) It does not matter which variable we integrate with respect to rst, we will get the same answer regardless of the order of integration. To justify that let us work this one with each order to make sure that we do get the same answer. Solution 1. In this case we will integrate with respect to y rst. So, the iterated integral that we need to compute is ZZ Z 4Z 2 6xy 2 dy dx. 6xy 2 dA =
D 2 1

When setting these up make sure the limits match up to the dierentials. Since the dy is the inner dierential (i.e. we are integrating with respect to y rst) the inner integral needs to have y limits. To compute this we will do the inner integral rst and we typically keep the outer integral around as follows ZZ Z 4h Z 4 Z 4 i2 6xy 2 dA = 2xy 3 dx = (16x 2x) dx = 14x dx.
D 2 1 2 2

Remember that we treat the x as a constant when doing the rst integral and we dont do any integration with it yet. Now, we have a normal single integral so let us nish the integral by computing this ZZ h i4 6xy 2 dA = 7x2 = 84.
2 D

Solution 2. In this case we will integrate with respect to x rst and then y . Here is the computation for the solution. ZZ Z 2Z 4 Z 2h Z 2 i4 h i2 6xy 2 dA = 6xy 2 dx dy = 3x2 y 2 dy = 36y 2 dy = 12y 3 = 84.
D 1 2 1 2 1 1

Sure enough the same answer as the rst solution. So, remember that we can do the integration in any order.

121

4. Multiple Integrals (b) For this integral we will integrate with respect to y rst. ZZ (2x 4y ) dA
D 3

Z =

4 5

Z
0

Z (2x 4y ) dy dx =
3

4 5

2xy y 4

i3
0

dx

Z =

h (6x 81) dx =

i4 3x2 81x

= 756.

Remember that when integrating with respect to y all xs are treated as constants and so as far as the inner integral is concerned the 2x is a constant and we know that when we integrate constants with respect to y we just tack on a y and so we get 2xy from the rst term. (c) In this case we will integrate with respect to x rst. ZZ
D

x2 y 2 + cos(x) + sin(y ) dA

Z =
0

1 2

2 2 x y + cos(x) + sin(y ) dx dy

= = =

1 1 1 3 2 x y + sin(x) + x sin(y ) dy 3 0 2 1 Z 1 7 2 7 3 1 y + sin(y ) dy = y cos(y ) 3 9 0 0 7 2 + . 9 Z

1

(d) In this case because the limits for x are kind of nice (i.e., they are zero and one which are often nice for evaluation) let us integrate with respect to x rst. We will also rewrite the integrand to help with the rst integration. ZZ Z 2Z 1 1 (2x + 3y )2 dx dy dA = (2x + 3y )2 0 1
D

Z =
1

= = =

1 2

1 2 1 (ln 8 ln 2 ln 5) . 6

1 1 (2x + 3y )1 dy 2 0 Z 2 1 1 dy 2x + 3 y 3y 1 2 1 1 ln |2 + 3y | ln |y | 3 3 1

(e) Now, while we can technically integrate with respect to either variable rst sometimes one way is signicantly easier than the other way. In this case it will be signicantly easier to integrate with respect to y rst as we will see. ZZ Z 2 Z 1 xexy dA = xexy dy dx.
D 1 0

The y integration can be done with the quick substitution u = xy, du = x dy

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4.1 Double Integrals which gives ZZ xexy dy dx

D

Z =

2 1

exy

i1
0

Z dx =

2 1

[ex 1] dx

h =

ex x

i2
1

= e2 2 (e1 + 1) = e2 e1 3.

So, not too bad of an integral there provided you get the substitution. Now let us see what would happen if we had integrand with respect to x rst. ZZ Z 1Z 2 xexy dA = xexy dx dy.
D 0 1

In order to do this we would have to use integration by parts. We are not even going to continue here as the outcome is indeed troublesome to do. (However, students are suggested to work out this for review purposes as integration by parts is a very important technique in single variable integral calculus. Do not forget the basic integration techniques.) 2

As we saw in the previous set of examples we can do the integral in either direction. However, sometimes one direction of integration is signicantly easier than the other so make sure that you think about which one you should do rst before actually doing the integral. The next topic of this section is a quick fact that can be used to make some iterated integrals somewhat easier to compute on occasion.

Theorem 4.1.2 If f (x, y ) = g (x) h(y ) and we are integrating over the rectangle D = [a, b] [c, d], then ZZ f (x, y ) dA =
D D

ZZ g (x) h(y ) dA =

Z
a

Z g (x) dx
c

h(y ) dy .

So we can break up the function into a function only of x times a function of y then we can do two integrals individually and multiply them together. Let us do a quick example using this integral.

Example 4.1.2 (Integral as a product) Evaluate ZZ x cos2 y dA,

D

D = [2, 3] [0,

]. 2

Solution

Since the integrand is a function of x times a function of y we can use the fact. ! Z Z ZZ x cos2 y dA
D 3 /2

=
2

x dx
0

cos2 y dy

Z = =

! 1 + cos(2y ) dy 2 2 0 /2 3 1 5 1 2 1 x y + sin(2y ) = 2 2 4 2 4 0 2
3

/2

x dx

5 . 8
2

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4. Multiple Integrals We have one more topic to discuss in this section. This topic really doesnt have anything to do with iterated integrals, but this is as good a place as any to put it and there are liable to be some questions about it at this point as well so this is as good a place as any. What we want to do is discuss single denite integrals of a function of two variables. In other words we want to look at integrals like the following. Z Z 2 (x sec y + 4xy ) dy, (x3 ex/y ) dx. From single variable calculus we know that these integrals are asking what function that we dierentiate to get the integrand. However, in this case we need to pay attention to the dierential (dy or dx) in the integral, because that will change things a little. In the case of the rst integral we are asking what function we dierentiate with respect to y to get the integrand whereas in the second integral we are asking what function dierentiate with respect to x to get the integrand. For the most part answering these questions is not that dicult. The important issue is how we deal with the constant of integration. Here are the integrals. Z (x sec2 y + 4xy ) dy Z (x3 ex/y ) dx = = x tan y + 2xy 2 + g (x), 1 4 x + yex/y + h(y ). 4

Notice that the constants of integration are now functions of the opposite variable. If we are dierentiating the rst integral with respect to y and we know that any function involving only xs will dierentiate to zero and so when integrating with respect to y we need to acknowledge that there may have been a function of only xs in the primitive function and so the constant of integration is in general a function of x. Likewise, in the second integral, the constant of integration must be a function of y since we are integrating with respect to x. Again, remember if we dierentiate the answer with respect to x then any function of only y s will dierentiate to zero.

Exercise 4.1.2 2 Evaluate the double integrals over the given region D in the following.
ZZ
D

ZZ
D

1. ZZ 2.
D

(x + y + 1) dA,

D = [1, 1] [1, 0].

5. ZZ

(sin x + cos y ) dA,

D = [0, ] [, 2 ].

xyex dA, ZZ

D = [0, 1] [1, 2].

6.
D

y sin(x + y ) dA, ZZ xy 3 dA, x2 + 1

D = [, 0] [0, ].

3.
D

e2x+y dA, ZZ y dA, 1 + xy

D = [0, ln 2] [1, ln 5].

7.
D

D = [0, 1] [0, 2].

4.
D

D = [0, 1] [0, 1].

8.

ZZ x2 y 2 1 dA, 2
D

D = [0, 1] [0, 1].

9. Find the volume of the region bounded above by the surface

z = 2 sin x cos y and below by the

rectangle D = [0, /2] [0, /4].

124

4.2 Double Integrals Over Non-rectangular Regions

4.2

Double Integrals Over Non-rectangular Regions

In the previous section we looked at double integrals over rectangular regions. The problem with this is that practically most of the regions are not rectangular so we need to now look at the following double integral ZZ f (x, y ) dA,
R

where R is a general region. There are two types of regions that we need to look at. Here is a sketch of both of them.

y y = g2 (x) d

Region R c y = g1 (x) a Type 1 b x Type 2 x = h2 (y ) x = h1 ( y ) x

We will often use set builder notation to describe these regions. Here is the denition for the region in Type 1: R = {(x, y ) : a x b, g1 (x) y g2 (x)},

and here is the denition for the region in Type 2: R = {(x, y ) : h1 (y ) x h2 (y ), c y d}.

This notation is really just a fancy way of saying we are going to use all the points (x, y ) in which both of the coordinates satisfy the two given inequalities. The double integral for both of these cases are dened in terms of iterated integrals as follows. In Type 1 where R = {(x, y ) : a ZZ f (x, y ) dA =
R a

b,

g1 (x) Z
b

y
g2 (x) g1 (x)

g2 (x)} the integral is dened to be f (x, y ) dy dx.

In Type 2 where R = {(x, y ) : h1 (y ) ZZ

h2 (y ), Z
dZ c

c
h2 (y )

d} the integral is dened to be

f (x, y ) dA =
R

f (x, y ) dx dy.

h1 (y )

The following are some properties of the double integral that we should go over before we actually do some examples. Note that all three of these properties are really just extensions of properties of single integrals that have been extended to double integrals.

125

4. Multiple Integrals Properties. ZZ ZZ ZZ (1) [f (x, y ) + g (x, y )] dA = f (x, y ) dA + g (x, y ) dA.

R R R

ZZ (2)
R

ZZ cf (x, y ) dA = c
R

f (x, y ) dA,

where c is any constant.

(3) If the region R can be split into two separate regions R1 and R2 then the integral can be written as ZZ ZZ ZZ f (x, y ) dA = f (x, y ) dA + f (x, y ) dA.
R R1 R2

Let us take a look at some examples of double integrals over non-rectangular regions. Example 4.2.1 (Double integrals over non-rectangular regions) Evaluate each of the following double integrals over the given region R. ZZ (a) ex/y dA, R = {(x, y ) : 1 y 2, y x y 3 }. ZZ (b) ZZ (c)
R R R

(4xy y 3 ) dA,

R is the region bounded by y =

x and y = x3 .

(6x2 40y ) dA,

R is the triangle with vertices (0, 3), (1, 1), and (5, 3).

Solution (a) Let us do this one by just using the formula. Z ZZ Z 2 Z y3 ex/y dx dy = ex/y dA =
R 1 y 2 1 1

yex/y

iy 3
y

dy

Z =

2 i 2 1 y2 e 1 4 yey ye1 dy = e y2 = e 2e. 2 2 2 1

(b) In this case we need to determine the two inequalities for x and y that we need to evaluate the integral. The best way to do this is rst sketch the graphs of the two curves. Here is the sketch. y y= x
Region R

y = x3

126

4.2 Double Integrals Over Non-rectangular Regions So, from the sketch we can see that inequalities are 0 x 1 Z =
0 x3 1

and Z
x

x3

x.

We can now do the integral ZZ (4xy y 3 ) dA

R

(4xy y 3 ) dy dx
2

Z = Z = =
0

1 2xy y 4 4

x dx
x3

1 7 2 x 2x7 + x12 dx 4 4 0 1 7 3 1 8 1 13 55 x x + x = . 12 4 52 156 0

1

(c) We have even less information about the region for this case. Let us start this o by sketching the triangle and getting equations for each side of the triangle. y y=3
(0, 3) (5, 3) (0, 3) (5, 3)

y = 2x + 3
(1, 1)

1 1 y = x+ 2 2 x

1 3 x= y+ 2 2
(1, 1)

x = 2y 1 x

Now, there are two ways to describe this region (i.e., Type 1 and Type 2, page 125). If we use functions of x, as shown in the gure (left) we will have to break the region up into two dierent pieces since the lower function is dierent depending upon the value of x. In this case the region will be given by R = R1 R2 , where R1 R2 = = {(x, y ) : 0 {(x, y ) : 1 x x 1, 5, 2x + 3 1 1 x+ 2 2 y y 3}, 3}.

Note that the is the union notation and it just means that R is the region given by combining the two regions. If we do this then we will need to do two separate integrals, one for each of the regions. To avoid this we could turn things around and solve the two equations for x to get. y = 2x + 3 y= 1 1 x+ 2 2 = = 3 1 x= y+ , 2 2 x = 2y 1.

If we do this we can notice that the same function is always on the right and same function is always on the left, as shown in the gure above (right). The region is 3 1 R = {(x, y ) : y + 2 2 x 2y 1, 1 y 3}.

127

4. Multiple Integrals Writing the region in this form means doing a single integral instead of the two integrals. Either ways should give the same answer and let us compare the two ways in the following. Solution 1. ZZ (6x2 40y ) dA
R

ZZ = Z = Z = Z =
0 0 1 0 1 2x+3 R1 1

ZZ (6x2 40y ) dA + Z h
R2 3

(6x2 40y ) dA Z Z dx +
1 1 5 5

(6x2 40y ) dy dx + i3
2x+3

3
1 x+ 1 2 2

(6x2 40y ) dy dx i3
1 x+ 1 2 2

6x2 y 20y 2

6x2 y 20y 2

dx

12x3 + 80x2 240x dx Z

5 1

+ =

3x3 + 20x2 + 10x 175 dx

1 5 80 3 3 20 3 x 120x2 + x4 + x + 5x2 175x 3x4 + 3 4 3 0 1 80 = 3+ 120 3 2500 3 20 1875 + + 125 875 + + 5 175 + 4 3 4 3 935 = . 3 The above is a lot of work. Let us see the second way of evaluating the same integral. Solution 2. This way will be a lot less work since we are only going to do one single integral. ZZ Z 3 Z 2y1 (6x2 40y ) dA = (6x2 40y ) dx dy
R 1 y+ 3 1 2 2

Z = Z
1

2x3 40xy

i2y1
1 y+ 3 2 2

dy

35 65 3 505 2 475 y y + y dy 4 4 4 4 1 3 65 4 505 3 475 2 35 = y y + y y 16 12 8 4 1 935 = . 3 So, the numbers are a little messier, but other than that there is much less work for the same result.
3

As the part (c) of Example 4.2.1 has shown we can integrate these integrals in either order (i.e., x followed by y or y followed by x), although often one order will be easier than the other. In fact there will be times when it will not even be possible to do the integral in one order while it will be possible to do the integral in the other order. Let us see a couple examples of these kinds of integrals.

128

4.2 Double Integrals Over Non-rectangular Regions Example 4.2.2 (Change the order of a double integral) Evaluate the following integrals by rst reversing the order of integration. Z (a)
0 x2 3

x3 ey dy dx.

Z (b)
0

2 3y

x4 + 1 dx dy .

Solution (a) First, notice that if we try to integrate with respect to y we cannot do the integral because we would need a y 2 in front of the exponential in order to do the y integration. Instead, we hope that if we reverse the order of integration we will get an integral that we can do. Now, when we say that we are going to reverse the order of integration this means that we want to integrate with respect to x rst and then y . Note as well that we cannot just interchange the integrals, keeping the original limits, and be done with it. This would not x our original problem and in order to integrate with respect to x we cannot have xs in the limits of the integrals. Even if we ignored that the answer would not be a constant as it should be. So, let us see how we reverse the order of integration. The best way to reverse the order of integration is to rst sketch the region given by the original limits of integration. From the integral we see that the inequalities that dene this region are 0 x 3 and x2 y 9.

These inequalities tell us that we want the region with y = x2 as the lower boundary and y = 9 as the upper boundary that lies between x = 0 and x = 3. Here is a sketch of that region (left). y y=9 y

x=0 y = x2
0 3

x=

Since we want to integrate with respect to x rst we will need to determine limits of x (probably in terms of y ) and then get the limits on y s. Here are the inequalities 0 y 9 and 0 x y.

Any horizontal line drawn in this region will start at x = 0 and end at x = y and so these are the limits on the xs and the range of y s for the region is from 0 to 9. The sketch of the region is in the above (right). Now the integral, with the order reversed, is given by Z
0 3

9 x2

Z 3 x3 ey dy dx =
0

Z
0

3 x3 ey dx dy

129

4. Multiple Integrals and notice that we can do the rst integration with this order. We will also hope that this will give us a second integral that we can do. Here is the work for this integral. Z 9 Z y Z 3Z 9 3 3 y3 x e dy dx = x3 ey dx dy
0 x2

Z = Z = =

0 9 0

1 4 y3 x e 4

y dy
0

1 2 y3 y e dy 4 0 9 1 y3 1 ` 729 e e 1 . = 12 12 0
9

(b) As with the rst integral we cannot do this integral by integrating with respect to x rst so we will hope that by reversing the order of integration we will get something that we can integrate. Here are the limits for the variables that we get from this integral. 3 0 y 8 and y x 2. Here is a sketch of this region (left). y y

x= 3y

y = x3 x=2 x x

y=0

So, if we reverse the order of integration we get the following limits (sketch above on the right). 0 The integral is then Z 8Z
0

and Z Z
0 2 0 2 0

x3 .

2 3 y

2 0

x3

x4 + 1 dx dy

= Z = Z = = = 1 4

x4 + 1 dy dx

h p ix3 y x4 + 1 dx
0

p x3 x4 + 1 dx
2 0

(x4 + 1)1/2 d(x4 + 1)

2 1 3/2 1 (x4 + 1)3/2 = 17 1 . 4 3/2 6 0

2

130

4.2 Double Integrals Over Non-rectangular Regions Exercise 4.2.1 2 Evaluate the iterated integrals.
Z 1.
0 1

x2 3

xy 2 dy dx.

Z 5.

/2

Z
0 x

x2

1 y cos dy dx. x x
2

Z 2.
0

Z 9y2 y dx dy .
0

Z 6.
0

Z
0

ex dy dx. p x2 y 2 dy dx.
2

Z 3.

1 1/4

x2

x dy dx. y sin y dy dx. x

Z 7.
0

Z
0

y Z
2 1

Z 4.

Z
0

x3

Z
0

y2

8.

ex/y dx dy .

9. Let R be the region of a polygon with vertices (1, 3), (2, 1), (4, 1), and (5, 3). Sketch the region

R and hence ll in the missing limits of integration. ZZ Z 2Z 2 Z 4Z 2 Z (a) f (x, y ) dA = f (x, y ) dy dx + f (x, y ) dy dx + ZZ (b)
R R 1 2 2 2 2 2 2 4

f (x, y ) dy dx.
2

Z f (x, y ) dA =

f (x, y ) dx dy .
2

10. Let E be the region of a unit disk (radius is one) centered at the origin. Sketch the region E and

hence ll in the missing limits of integration. ZZ Z 2Z 2 f (x, y ) dy dx. (a) f (x, y ) dA =

E 2 2

ZZ (b)
E

Z f (x, y ) dA =

f (x, y ) dx dy .
2 2

2 Evaluate the double integral in two ways using iterated integrals: (a) viewing R as a Type 1 region,

and (b) viewing R as a Type 2 region.

ZZ 11.
R

x2 dA; ZZ

R is the region bounded by y = 16/x, y = x, and x = 8.

12.
R

xy 2 dA; ZZ

R is the region enclosed by y = 1, y = 2, x = 0, and y = x.

13.
R

(3x 2y ) dA; ZZ

R is the region enclosed by the circle x2 + y 2 = 1.

14.
R

y dA; x + y = 5.

R is the region in the rst quadrant enclosed between the circle x2 + y 2 = 25 and the line

2 Evaluate the double integral. ZZ 15. x(1 + y 2 )1/2 dA; R is the region in the rst quadrant enclosed by y = x2 , y = 4, and x = 0.
R

ZZ 16.
R

x2 dA;

R is the region in the rst quadrant enclosed by xy = 1, y = x, and y = 2x.

131

4. Multiple Integrals The nal topic of this section is two geometric interpretations of a double integral. The rst interpretation is an extension of the idea that we used to develop the idea of a double integral in Section 4.1 of this chapter. We did this by looking at the volume of the solid that was below the surface of the function z = f (x, y ) and over the rectangle D in the xy -plane. This idea can be extended to more general regions. The volume of the solid that lies below the surface given by z = f (x, y ) and above any non-rectangular region R in the xy -plane is ZZ volume = f (x, y ) dA.
R

Let us look at a couple of examples. Example 4.2.3 (Volume as a double integral) Find the volume of the solid that lies below the surface given by z = 16xy + 200 and lies above the region in the xy -plane bounded by y = x2 and y = 8 x2 . Solution The following is the graph of the given region, say R, in the xy -plane. y

Region R

y = 8 x2

y = x2 2 2 x

By setting the two bounding equations equal we can see that they will intersect at x = 2 and x = 2. So, the inequalities that will dene the region R in the xy -plane are 2 x 2 Z =
2 x2

and
2

x2
8x2

8 x2 .

The volume is then given by ZZ (16xy + 200) dA

R

(16xy + 200) dy dx Z
2

=
2 Z 2

8xy 2 + 200y

i8x2
x2

dx

=
2

` 128x3 400x2 + 512x + 1600 dx

= =

2 400 3 x + 256x2 + 1600x 3 2 12800 400 3 (2) + 1600(2) = . 2 3 3 32x4

2

132

4.2 Double Integrals Over Non-rectangular Regions Example 4.2.4 (Volume as a double integral) Find the volume of the solid enclosed by the planes z + 4x + 2y = 10, y = 3x, z = 0, x = 0.

Solution This example is a little dierent from the previous one. Here the region R is not explicitly given so we are going to look for it. First, notice that the last two planes are really telling us that we wont go past the xy -plane and the yz -plane when we reach them. The rst plane, z + 4x + 2y = 10, is the top of the volume and so we are really looking for the volume under z = 10 4x 2y and above the region R in the xy -plane. The second plane, y = 3x, gives one of the sides of the volume as shown below. The region R will be the region in the xy -plane (i.e., z = 0) that is bounded by y = 3x, x = 0, and the line where z + 4x + 2y = 10 intersects the xy -plane. We can determine where z + 4x + 2y = 10 intersects the xy -plane by plugging z = 0 into it. 0 + 4x + 2y = 10 = 2x + y = 5 = y = 2x + 5. Note that the region R is a

So, the following is the sketch of the solid and the region in the xy -plane. little out of scale. z y

z + 4x + 2y = 10 y

Region R

y = 2x + 5

y = 3x 0 1 x

y = 3x x

The region R is really where this solid will sit on the xy -plane and the region is dened by the inequalities: 0 The volume is then given by volume = Z = Z = Z =
0 0 1 0 1 3x R 1

and

3x

2x + 5.

ZZ (10 4x 2y ) dA Z h
2x+5

(10 4x 2y ) dy dx 10y 4xy y 2 i2x+5

3x

dx 1 25 25 3 2 x 25x + 25x = . 3 3 0
2

` 25x2 50x + 25 dx =

133

4. Multiple Integrals The second geometric interpretation of a double integral is the following.

Theorem 4.2.1 (Area as a double integral) ZZ Area of region R =

R

1 dA,

in which the integrand is the constant function 1.

This is easy to see why this is true in general. Let us suppose that we want to nd the area of the region shown below. y
Region R

y = g2 (x)

y = g1 (x) a b x

From single variable calculus we know that this area can be found by the integral Z b area of the region R = (upper curve lower curve) dx Z =
a a b

[g2 (x) g1 (x)] dx. ZZ = Z =

a R b

Or in terms of a double integral we have area of the region R

1 dA Z
g2 (x) g1 (x) b a b

1 dy dx

Z = Z =
a

h ig2 (x) y dx
g1 (x)

[g2 (x) g1 (x)] dx.

This is exactly the same formula we have in single variable calculus.

Exercise 4.2.2 2 Express the integral as an equivalent integral with the order of integration reversed.

134

4.2 Double Integrals Over Non-rectangular Regions

Z 1.
0 0 4 0 2

Z f (x, y ) dy dx. 4.
1

Z
0

ln x

f (x, y ) dy dx. Z
1 0

Z 2.

/2

f (x, y ) dx dy .
2y 2 0

5. Z
1 0

sin1 y

f (x, y ) dx dy .

Z 3.

Z
1

ey

f (x, y ) dx dy .

6.

y2

f (x, y ) dx dy .

2 Evaluate the integral by rst reversing the order of integration. Z 1Z 4 Z 4Z 2 2 3 7. ey dy dx. 9. ex dx dy .

0 4x 1 0 y

Z 8.
0

2Z

cos x2 dx dy .

Z 10.
1

3Z 0

ln x

y/2

x dy dx.

ZZ
11. Evaluate
R

sin(y 3 ) dA, where R is the region bounded by y = ZZ

x, y = 2, and x = 0.

12. Evaluate
R

x dA, where R is the region bounded by x = ln y , x = 0, and y = e.

2 Use double integration to nd the area of the plane region enclosed by the given curves. 13. y = sin x and y = cos x, for 0 14. y 2 = x and 3y x = 4. x /4. 15. y 2 = 9 x and y 2 = 9 9x. 16. y = cosh x, y = sinh x, x = 0, and x = 1.

2 Use double integration to nd the volume of each solid. 17. The solid bounded by the cylinder x2 + y 2 = 9 and the planes z = 0 and z = 3 x. 18. The solid in the rst octant bounded above by the paraboloid z = x2 + 3y 2 , below by the plane z = 0, and laterally by y = x2 and y = x. 19. The solid bounded above by the paraboloid z = 9x2 + y 2 , below by the plane z = 0, and laterally by the planes x = 0, y = 0, x = 3, and y = 2. 20. The solid enclosed by y 2 = x, z = 0, and x + z = 1. 21. The wedge cut from the cylinder 4x2 + y 2 = 9 by the planes z = 0 and z = y + 3. 22. The solid in the rst octant bounded above by z = 9 x2 , below by z = 0, and laterally by y 2 = 3x. 23. The solid that is common to the cylinders x2 + y 2 = 25 and x2 + z 2 = 25. 24. The solid bounded above by the paraboloid z = x2 + y 2 , below by the xy -plane, and laterally by the circular cylinder x2 + (y 1)2 = 1.

135

4. Multiple Integrals

4.3

Double Integrals in Polar Coordinates

To this point we have seen quite a few double integrals. However, in every case region R could be easily described in terms of simple functions in Cartesian coordinates. In this section we want to look at some regions that are much easier to describe in terms of polar coordinates. For instance, we might have a region that is a disk, ring, or a portion of a disk or ring. In these cases using Cartesian coordinates could be somewhat cumbersome. For instance let us suppose we have the following integral ZZ f (x, y ) dA, R is the disk of radius 2.
R

To this we have to determine a set of inequalities for x and y that describe this region. These would be p p 2 x 2 and 4 x2 y 4 x2 , and then the integral would become ZZ f (x, y ) dA =
R 2

Z 4x2

f (x, y ) dy dx.
4x2

Due to the limits on the inner integral this is liable to be an uneasy integral to compute. However, a disk of radius of 2 can be dened easily in polar coordinates by the following inequalities 0 2 and 0 r 2.

These are very simple limits and, in fact, are constant limits of integration which always makes integrals somewhat easier. So, if we could convert our double integral formula into one involving polar coordinates we would be in pretty good shape. The problem is that we cannot just convert the dx and the dy into a dr and a d. In computing double integrals to this point we have been using the fact that dA = dx dy and this really does require Cartesian coordinates to use. In fact it can be shown that, in terms of polar coordinates, dA can be written as dA = r dr d . Note the addition of the r in the formula. That is important. Without it the answer will be wrong. We now need to nd a formula for the double integral when we use polar coordinates to dene the region R. First, let us get a sketch of a sample region as well as the area dierential (area element):

y = 2 r = r2 () A r + r r = r1 () = 1 r Area dierential: dA A x

136

4.3 Double Integrals in Polar Coordinates So, our general region will be dened by inequalities 1 2 and r1 () r r2 ().

Now, if we are going to integrate with respect to polar coordinates we have to make sure that we have also converted all the xs and y s into polar coordinates as well. To do this we will need to remember the following conversion formulas x = r cos , y = r sin , and x2 + y 2 = r2 .

Also, as we mentioned that the area dierential can be written as dA = r dr d . We are going to give the detail of the proof in the following. dA = = A 1 1 (r + r)2 r2 2 2 1 r r + (r)2 2 r r r dr d.

We are now ready to write down a formula for the double integral in terms of polar coordinates.

ZZ f (x, y ) dA =
R

2 1

r2 ( ) r 1 ( )

f (r cos , r sin ) r dr d .

It is important to not forget the added r in the dierential and also dont forget to convert the Cartesian coordinates (i.e., x, y ) in the integrand to polar coordinates. Let us look at a couple of examples of these kinds of integrals.

Example 4.3.1 (Double integrals in polar coordinates) Evaluate the following integrals by converting them into polar coordinates. ZZ (a) 2xy dA, R is the portion of the region between the circles of radius 2 and radius 5 centered at the origin that lies in the rst quadrant. ZZ (b)
R R

ex

+y 2

dA,

R is the unit circle centered at the origin.

Solution (a) First let us get R in terms of polar coordinates. The circle of radius 2 is given by r = 2 and the circle of radius 5 is given by r = 5. We want the region between them so we will have the following inequality for r, 2 r 5.

137

4. Multiple Integrals Also, since we only want the portion that is in the rst quadrant we get the following range of s, 0 . 2 Now we can do the integral ZZ Z Z 5 2 2xy dA = 2(r cos )(r sin ) r dr d.
R 0 2

Do not forget to do the conversions and to add in the extra r. Now, let us simplify and make use of the double angle formula for sine to make the integral a little easier. ZZ Z Z 5 2 2xy dA = r3 sin(2) dr d
R 0 2
2

Z = Z = = =
0

1 4 r sin(2) 4

5 d
2

609 sin(2) d 4 2 609 cos(2) 8 0 609 . 4

0

(b) In this case we cant do this integral in terms of Cartesian coordinates. We will however be able to do it in polar coordinates. First, the region R is dened by 0 2 and Z
0

1.

In terms of polar coordinates the integral is then ZZ Z 2 2 ex +y dA =

R 0

er r dr d.

Notice that the addition of r gives us an integral that can be solvable. Here is how to do the integral. ZZ Z 2 Z 1 2 2 2 ex +y dA = rer dr d
R 0 0 2 Z 1

Z = = = =

1 r2 e d(r2 ) d 0 2 0 1 Z 2 1 r2 d e 2 0 0 Z 2 1 (e 1) d 2 0
2

(e 1).

Do not forget that we still have the two geometric interpretations for these integrals as well. They include nding enclosed areas and volumes in polar coordinates. We use several examples in the following to illustrate the advantage of using polar coordinates. That is to say occasionally it is technically easier to evaluate the double integrals in polar coordinates.

138

4.3 Double Integrals in Polar Coordinates Example 4.3.2 (Area in polar coordinates) Find the area of the region enclosed by the two circles: x2 + (y 1)2 = 1 and x2 + (y 2)2 = 4.

Solution For the rst circle x2 + (y 1)2 = 1, substituting x = r cos and y = r sin into the equation and simplifying, we have r = 2 sin . Similarly, the second circle is r = 4 sin . The enclosed region is shown as follows. y

Region R

The values of is given by 0 Thus, the area of the region R is ZZ area = Z =

0 R

1 dA Z
4 sin

1 r dr d
2 sin

Z = Z = Z = = =
0 0 0

r2 2

4 sin d
2 sin

6 sin2 d 3(1 cos 2) d

3 3.

3 sin 2 2

139

4. Multiple Integrals Example 4.3.3 (Area in polar coordinates) Find the area of the region enclosed by the two circles: x2 + (y 1)2 = 1 Solution and (x 1)2 + y 2 = 1.

In polar coordinates, the two circles are r = 2 sin and r = 2 cos .

The region can be divided into two equal-sized non-overlapping regions. We just need to evaluate one of them and eventually multiply it by 2 to obtain the required area. The enclosed region R is shown as follows. y

r = 2 sin

Region R

r = 2 cos

Solving for the intersection points between the two circles gives 2 sin tan Now, the area of the region R is Z area = = = = = = 2
0 /4

= = =

2 cos , 1, . 4 Z
0

2 sin

r dr d Z
/4

2 Z 4 Z 2
0 0 /4 0 /4

r2 2

2 sin d
0

sin2 d (1 cos 2) d

/4 1 2 sin 2 2 0 1. 2
2

140

4.3 Double Integrals in Polar Coordinates Example 4.3.4 (Area in polar coordinates) Determine the area of the region that lies inside r = 3 + 2 sin and outside r = 2. Solution Below shows a sketch of the region R that we want to determine the area of. To determine this area we will need to know that value(s) of for which the two curves intersect. We can determine these points by setting the two equations equal and solving. Thus, 3 + 2 sin = 2, and hence 1 7 11 = = , . 2 6 6 Here is the sketch of the gure with the rays ( = 7/6, = 11/6) shown. y sin =
Region R

r = 3 + 2 sin

x 7 6 = , 6 11 6

r=2

11 Note as well that we have acknowledged that is another representation for the angle . This is 6 6 important since we need the range of to actually enclose the region as we increase from the lower limit to 11 7 11 the upper limit. If we choose to use then as we increase from to we would be tracing out 6 6 6 the lower portion of the circle and that is not the region that we are looking for. So, here are the ranges that will dene the region. 7 and 2 r 3 + 2 sin . 6 6 To get the ranges for r the function that is closest to the origin is the lower bound and the function that is farthest to the origin is the upper bound. The area of the region R is then Z 7 Z 3+2 sin 6 area = r dr d
6 2

Z = Z = Z = =

7 6

6
7 6

1 2 r 2

3+2 sin d
2

6
7 6

5 + 6 sin + 2 sin2 d 2 7 + 6 sin cos(2) d 2 = 11 3 14 + 2 3 24.19.

2

7 6 1 7 6 cos sin(2) 2 2
6

141

4. Multiple Integrals Example 4.3.5 (Volume in polar coordinates) Find the volume of the sphere x2 + y 2 + z 2 = a2 . Solution First recall that the volume of the solid enclosed by two surfaces (top and bottom) is given by ZZ volume = (ztop zbottom ) dA.
R

It would be dicult to use the rectangular coordinates to nd the volume. In terms of polar coordinates, Z 2 Z a volume = (ztop zbottom ) r dr d.
0 0

Solving the given equation for z gives z 2 = a2 (x2 + y 2 ) = a2 r2 The volume of the solid is given by Z volume =
0 0 2 0 2

z=

a2 r 2 .

hp

a2 r2 (

i a2 r2 ) r dr d

Z = 2

Z
0

a2 r2 r dr d

Z =
0

Z
0

(a2 r2 )1/2 d(a2 r2 ) d a d

0

Z =
0

(a2 r2 )3/2 3/2

2 3

Z
0

a3 d =

2 3 4 3 a (2 ) = a . 3 3
2

Example 4.3.6 (Volume in polar coordinates) Find the volume of the solid that lies under the sphere x2 + y 2 + z 2 = 9, above the plane z = 0 and inside the cylinder x2 + y 2 = 5. Solution We know that the formula for nding the volume is given by ZZ volume = (ztop zbottom ) dA.
R

In order to make use of this formula we are going to determine the integrand function that we should be integrating and the region R that we are going to be integrating over. The integrand function is just not too complicated. The solid is bounded above by the top surface which p is a portion of the sphere (i.e., z = 9 x2 y 2 ) and bounded below by the bottom surface which is the

142

4.3 Double Integrals in Polar Coordinates xy -plane (i.e., z = 0). Remark that we took the positive square root since we are wanting the solid lies above the xy -plane. p ztop = 9 x2 y 2 and zbottom = 0. The region R is also not too dicult in this case either. As we take points, (x, y ), from the region we need to completely graph the portion of the sphere that we are working with. Since we only want the portion of the sphere that actually lies inside the cylinder given by x2 + y 2 = 5 this is also the region R. The region R is the disk x2 + y 2 5 in the xy -plane. For reference purposes here is a sketch of the solid that we are trying to nd the volume of. z

Solid

1111111111111 0000000000000 0000000000000 1111111111111 0000000000000 1111111111111 0000000000000 1111111111111 Region R (bottom of solid) 0000000000000 1111111111111 0000000000000 1111111111111 0000000000000 1111111111111 0000000000000 1111111111111 y

So, the solid that we want the volume for is really a cylinder with a cap that comes from the sphere. Denitely we are going to do this integral in terms of polar coordinates, so here are the limits (in polar coordinates) for the region R: 0 2 and 0 r 5. We will also need to convert the function to polar coordinates as well. p p ztop zbottom = 9 (x2 + y 2 ) 0 = 9 r2 . The volume is therefore Z volume =
0 0 2

9 r2 r dr d
5

1 2

Z
0

Z
0

(9 r2 )1/2 d(9 r2 ) d 5 d
0

1 2 1 3 Z

Z
0

(9 r2 )3/2 3/2

2 0

= =

93/2 43/2 d

1` 3 38 3 23 (2 ) = . 3 3
2

143

4. Multiple Integrals Example 4.3.7 (Volume in polar coordinates) Find the volume of the solid that lies inside z = x2 + y 2 and below the plane z = 16.

Solution

Here is a sketch of the solid. z

Solid

111111111111 000000000000 000000000000 111111111111 000000000000 111111111111 000000000000 111111111111 Region R (projection) 000000000000 111111111111 000000000000 111111111111 000000000000 111111111111 000000000000 111111111111

Now, in this case the standard formula is not going to work. The formula ZZ volume = f (x, y ) dA
R

nds the volume under the function f (x, y ) and we are actually look for the volume above the function. This is not the problem that it might appear to be however. First, notice that ZZ V1 = 16 dA
R

will be the volume under z = 16 (of course we will need to determine R eventually) while ZZ V2 = (x2 + y 2 ) dA
R

will be the volume under z = x2 + y 2 , using the same R. The volume that we are looking for is really the dierence between these two, or ZZ V = V1 V2 = 16 (x2 + y 2 ) dA.
R

Now all that we need to do is determine the region R and then convert everything to polar coordinates. Determining the region R in this case is not too complicated. If we look straight down the z -axis onto the region we will see a circle of radius 4 centered at the origin. This is because the top of the solid, where

144

4.3 Double Integrals in Polar Coordinates the elliptic paraboloid intersects the plane, is the widest part of the solid. We know the z coordinate at the intersection so, setting z = 16 in the equation of the paraboloid gives 16 = x2 + y 2 which is the equation of a circle of radius 4 centered at the origin. Here are the inequalities for the region R and the function we will be integrating in terms of polar coordinates. 0 The volume is then volume =
R

2, ZZ

4,

z = 16 r2 .

16 (x2 + y 2 ) dA

Z =
0

Z
0

(16 r2 ) r dr d 1 4 r 4 4 d =
0 0
2

Z =
0

8r 2

64 d = 128.

In Examples 4.3.5 4.3.7 we would have not been able to easily compute the volume without rst converting to polar coordinates. So, as these examples have shown, it is a good idea to always remember polar coordinates. There is one more type of example that we need to look at before moving on to the next section. Sometimes we are given an iterated integral that is already in terms of x and y and we need to convert this over to polar coordinates so that we can actually do the integral. We need to see an example of how to do this kind of conversion.

Example 4.3.8 (Double integral in polar coordinates) Evaluate the following integral by rst converting to polar coordinates. Z Z
1 1y 2

cos(x2 + y 2 ) dx dy.

Solution First, notice that we can not do this integral in Cartesian coordinates and so converting to polar coordinates may be the only option we have for actually doing the integral. Notice that the function will convert to polar coordinates nicely and so should not be a problem. Let us rst determine the region that we are integrating over and see if it is a region that can be easily converted into polar coordinates. Here are the inequalities that dene the region in terms of Cartesian coordinates. p 1 y2 . 0 y 1, 0 x Now, the upper limit for the xs is x= p 1 y2

145

4. Multiple Integrals and this looks like the right side of the circle of radius 1 centered at the origin. Since the lower limit for the xs is x = 0 it looks like we are going to have a portion (or all) of the right side of the disk of radius 1 centered at the origin. The range for the y s, however, tells us that we are only going to have positive y s. This means that we are only going to have the portion of the disk of radius 1 centered at the origin that is in the rst quadrant. So, we know that the inequalities that will dene this region in terms of polar coordinates are then 0 Finally, we just need to remember that dx dy = dA = r dr d and so the integral becomes Z
0 1

, 2

1.

Z 1y2
0

Z cos(x2 + y 2 ) dx dy =
0

/2

Z
0

cos(r2 ) r dr d.

Note that this is an integral that we can do. Here is the rest of the work for this integral. 1 Z /2 Z 1 Z 1y2 1 cos(x2 + y 2 ) dx dy = sin(r2 ) d 2 0 0 0 0 Z =
0 /2

1 sin(1) d = sin 1. 2 4
2

Exercise 4.3.1 2 Evaluate the iterated integral.

Z 1.
0 0 0 /2

sin

Z r cos dr d. 4.
0

/6

Z
0

cos 3

r dr d. Z
0

Z 2.

Z
0

1+cos

Z
0

1sin

r dr d. Z
/2 0

5. Z
/2 0

r2 cos dr d. r3 dr d.

Z
0

a sin

Z
0

3.

r2 dr d.

cos

6.

2 Use a double integral in polar coordinates to nd the area of the region described. 7. The region enclosed by the cardioid 8. The region enclosed by the rose r = 1 cos .

r = sin 2. /2.

9. The region in the rst quadrant bounded by r = 1 and r = sin 2 , with /4 10. The region inside the circle x2 + y 2 = 4 and to the right of the line x = 1.

146

4.3 Double Integrals in Polar Coordinates

11. Find the volume of the solid in the rst octant bounded above by the surface z = r sin , below by

the xy -plane, and laterally by the plane x = 0 and the surface r = 3 sin .
12. Find the volume of the solid inside the surface r 2 + z 2 = 4 and outside the surface r = 2 cos .

2 Use polar coordinates to evaluate the double integral. ZZ 13.

R

e(x ZZ p
R

+y 2 )

dA,

where R is the region enclosed by the circle x2 + y 2 = 1.

14.

9 x2 y 2 dA,

where R is the region in the rst quadrant within the circle x2 + y 2 = 9.

ZZ 15.
R

1 dA, 1 + x2 + y 2

where R is the sector in the rst quadrant bounded by y = 0, y = x, and x2 + y 2 = 4.

ZZ 16.
R

2y dA,

where R is the region in the rst quadrant bounded above by the circle (x 1)2 + y 2 = 1 and

below by the line y = x.

2 Evaluate the iterated integral by converting to polar coordinates. Z 17.

0 0 1

Z 1x2

Z (x + y ) dy dx.
2 2

a 0

Z a2 x2
0

21. Z Z
y

dy dx (a > 0). (1 + x2 + y 2 )3/2

Z 18.

2 2

Z 4y2

4y 2

(x2 +y 2 )

1 0

dx dy .

22.
y 0

x2 + y 2 dx dy .

Z 19.
0

Z 2xx2 p x2 + y 2 dy dx.
0

Z 23.

Z 4y2 p
y

1 1 + x2 + y 2

dx dy .

Z 20.
0

Z 1y2
0

Z cos(x + y ) dx dy .
2 2

4 0

Z 25x2 dy dx.
3

24.

25. Use a double integral in polar coordinates to nd the volume of a cylinder of radius a and height h.

26. Use polar coordinates to nd the volume of the solid that is above the xy -plane, inside the cylinder

x2 + y 2 ay = 0, and inside the ellipsoid

x2 y2 z2 + + = 1. a2 b2 c2

27. Show that

Z
0

Z
0

1 dx dy = . (1 + x2 + y 2 )2 4

147

4. Multiple Integrals

4.4

Triple Integrals

Now that we know how to integrate over a two-dimensional region we need to move on to integrating over a three-dimensional solid. We used a double integral to integrate over a two-dimensional region and so it should not be too surprising that we will use a triple integral to integrate over a three-dimensional solid. The notation for the general triple integrals is ZZZ f (x, y, z ) dV.
G

Let us start with simple solid by integrating over the box, G = [a, b] [c, d] [r, s]. Note that when using this notation we list the xs rst, the y s second and the z s third. Just as a double integral can be evaluated by two successive single integrations, so a triple integral can be evaluated by three successive integrations. The triple integral in this case is ZZZ f (x, y, z ) dV =
G r c a

f (x, y, z ) dx dy dz .

Note that we integrate with respect to x rst, then y , and nally z here, but in fact there is no reason to do the integrals in this order. There are 6 dierent possible orders to do the integral and in which order you do the integral will depend on the function and the order that you feel will be the easiest. We will get the same answer regardless of the order however. The six dierent orders for the iterated integral are dx dy dz, dx dz dy, dy dz dx, dz dy dx, dz dx dy, dy dx dz.

Let us do a quick example of a triple integral over a three-dimensional box. Example 4.4.1 (Triple integral) Evaluate the following integral ZZZ 8xyz dV,
G

where

G = [2, 3] [1, 2] [0, 1].

Solution Just to make the point that order does not matter let us use a dierent order from that listed above. We will do the integral in the following order. ZZZ Z 2Z 3Z 1 8xyz dV = 8xyz dz dx dy
G 1 2 2 1 2 1 2 1 2 0 3 2 3

Z = Z = Z = Z =
1

Z Z

4xyz 2

1
0

dx dy

4xy dx dy
2

2x2 y

3
2

dy 5y 2 2
1

10y dy =

= 15.
2

148

4.4 Triple Integrals Before moving on to more general solids let us get a nice geometric interpretation about the triple integral out of the way so we can use it in some of the examples to follow. In the special case where f (x, y, z ) = 1, the triple integral yields the formula for calculating the volume of a solid.

Theorem 4.4.1 The volume of the three-dimensional solid G is given by the integral, ZZZ volume of G =
G

1 dV .

Let us now move on the more general three-dimensional solids. We have three dierent possibilities for a general solid. Here is a sketch of the rst possibility. z z = u2 (x, y )

Solid G z = u1 (x, y )

11111111111 00000000000 00000000000 11111111111 00000000000 11111111111 00000000000 11111111111 Region R (projection) 00000000000 11111111111 00000000000 11111111111 00000000000 11111111111

In this case we dene the solid G as follows, G = {(x, y, z ) : (x, y ) R, u1 (x, y ) z u2 (x, y )},

where (x, y ) R is the notation which means that the point (x, y ) lies in the region R from the xy -plane. In this case we will evaluate the triple integral as follows ZZZ f (x, y, z ) dV =
G R

Z Z "Z

u2 (x,y ) u1 (x,y )

# f (x, y, z ) dz dA,

where the double integral can be evaluated in any of the methods that we saw in the previous couple of sections. In other words, we can integrate rst with respect to x, we can integrate rst with respect to y , or we can use polar coordinates as needed.

149

4. Multiple Integrals Example 4.4.2 (Triple integral) ZZZ Evaluate 2x dV , where G is the solid under the plane 2x + 3y + z = 6 that lies in the rst octant.
G

Solution We should rst dene octant. Just as the two-dimensional coordinates system can be divided into four quadrants the three-dimensional coordinate system can be divided into eight octants. The rst octant is the octant in which all three of the coordinates are positive. Here is a sketch of the plane in the rst octant. z
11111111 00000000 00000000 11111111 00000000 11111111 00000000 11111111 00000000 11111111 00000000 11111111 00000000 11111111 00000000 11111111 00000000 11111111 00000000 11111111 00000000 11111111 00000000 11111111 00000000 11111111 2x + 3 y + z = 6 00000000 11111111 00000000 11111111 00000000 11111111 00000000 11111111 00000000 11111111 00000000 11111111 00000000 11111111 00000000 11111111 00000000 11111111 00000000 11111111 00000000 11111111 00000000 11111111 00000000 11111111 00000000 11111111 2 00000000 11111111 00000000 11111111 00000000 11111111 00000000 11111111 00000000 0 11111111 00000000 11111111 00000000 11111111 00000000 11111111 00000000 11111111 00000000 11111111 3
Region R on xy -plane

x We now need to determine the region R in the xy -plane. We can get a visualization of the region by pretending to look straight down on the object from above. What we see will be the region R in the xy -plane. So R will be the triangle with vertices at (0, 0), (3, 0), and (0, 2). Here is a sketch of R. y 2
Region R 111111111111111111111111111111 000000000000000000000000000000 000000000000000000000000000000 111111111111111111111111111111 2 000000000000000000000000000000 111111111111111111111111111111 y = x+2 000000000000000000000000000000 111111111111111111111111111111 3 000000000000000000000000000000 111111111111111111111111111111 or 000000000000000000000000000000 111111111111111111111111111111 3 000000000000000000000000000000 111111111111111111111111111111 x= y+3 000000000000000000000000000000 111111111111111111111111111111 2 000000000000000000000000000000 111111111111111111111111111111 000000000000000000000000000000 111111111111111111111111111111 000000000000000000000000000000 111111111111111111111111111111

Now we need the limits of integration. Since we are under the plane and in the rst octant (so we are above the plane z = 0) we have the following limits for z . 0 z 6 2x 3y.

150

4.4 Triple Integrals We can integrate the double integral over R using either of the following two sets of inequalities 0 or 0 x 3 y+3 2 0 y 2. x 3, 0 y 2 x+2 3

Since neither really holds an advantage over the other we will use the rst one. The integral is then ZZZ 2x dV
G

Z Z Z = ZZ h =
R R 0

62x3y

2x dz dA

2xz Z
3 0 3 0

i62x3y
0

dA

Z
0

= Z = Z = = h

2 x+2 3

2x(6 2x 3y ) dy dx i 2 x+2
3

12xy 4x2 y 3xy 2

dx

4 3 x 8x2 + 12x dx 3 0 3 1 4 8 3 x x + 6x2 = 9. 3 3 0

2

Let us now move onto the second possible three-dimensional solid we may run into for triple integrals. Here is the sketch of the solid. z x = u2 (y, z )
1111 0000 0000 1111 0000 1111 0000 1111 R (projection on yz -plane) 0000 1111 0000 1111 0000 1111 0000 1111 0000 1111 0000 1111 0000 1111 0000 1111 0000 1111 0000 1111 0000 1111 0000 1111 0000 1111 0000 1111 0000 1111 0000 1111 0000 1111 0000 1111

Solid G

x = u1 (y, z )

151

4. Multiple Integrals For this possibility we dene the solid G as follows, G = {(x, y, z ) : (y, z ) R, u1 (y, z ) x u2 (y, z )}.

So, the region R will be a region in the yz -plane. Here is how we will evaluate these integrals. ZZZ f (x, y, z ) dV =
G R

Z Z "Z

u2 (y,z ) u1 (y,z )

# f (x, y, z ) dx dA.

As with the rst possibility we will have two options for doing the double integral in the yz -plane as well as the option of using polar coordinates if needed.

Of course, there is the third (and nal) possible three-dimensional solid we may run into for triple integrals. Here is a sketch of the solid G. z y = u1 (x, z )
1111 0000 0000 1111 0000 1111 0000 1111 Region R 0000 1111 0000 1111 0000 1111 0000 1111 0000 1111 0000 1111 0000 1111 0000 1111 0000 1111 0000 1111 0000 1111 0000 1111 0000 1111 0000 1111 0000 1111 0000 1111 0000 1111 0000 1111

Solid G

y = u2 (x, z )

In this nal case G is dened as G = {(x, y, z ) : (x, z ) R, u1 (x, z ) y u2 (x, z )}

and here the region R will be a region in the xz -plane. Here is how we will evaluate these integrals. ZZZ f (x, y, z ) dV =
G R

Z Z "Z

u2 (x,z ) u1 (x,z )

# f (x, y, z ) dy dA,

where we can use either of the two possible orders for integrating R in the xz -plane or we can use polar coordinates as needed.

152

4.4 Triple Integrals Example 4.4.3 (Triple integral) ZZZ p Evaluate 3x2 + 3z 2 dV , where G is the solid bounded by y = 2x2 + 2z 2 and the plane y = 8.
G

Solution

Here is a sketch of the solid G. z

y = 2x2 + 2z 2 Solid G

Region R

11111 00000 00000 11111 00000 11111 00000 11111 00000 11111 00000 11111 00000 11111 00000 11111 00000 11111 00000 11111 00000 11111 00000 11111 00000 11111 00000 11111 00000 11111 0 00000 11111 00000 11111 00000 11111 00000 11111 00000 11111 00000 11111 00000 11111 00000 11111 00000 11111 00000 11111 00000 11111 00000 11111 00000 11111 00000 11111

The region R in the xz -plane can be found by projecting the surface onto the xz -plane and we can see that R will be a disk in the xz -plane. This disk will come from the front of the solid and we can determine the equation of the disk by setting the elliptic paraboloid and the plane equal. 2x2 + 2z 2 = 8 = x2 + z 2 = 4.

This region, as well as the integrand, both seem to suggest that we should use something like polar coordinates. However we are in the xz -plane and we have only seen polar coordinates in the xy -plane. This is indeed not a problem. We can always translate them over to the xz -plane with the following denition. x = r cos , z = r sin .

Since the region does not have y s we will let z take the place of y in all the formulas. Note that the denition also leads to the formula x2 + z 2 = r 2 . With this in hand we can arrive at the limits of the variables that we will need for this integral. 2x2 + 2z 2 The integral is then ZZZ p
G

8,

2,

2.

Z Z Z 3x2 + 3z 2 dV =
R

8 2x2 +2z 2

3x2 + 3z 2 dy dA

ZZ h p i8 y 3x2 + 3z 2 ZZ p
R R

2x2 +2z 2

dA

3(x2 + z 2 ) 8 (2x2 + 2z 2 ) dA.

153

4. Multiple Integrals Now, since we are going to do the double integral in polar coordinates let us get everything converted over to polar coordinates. The integrand is p ` 3(x2 + z 2 ) 8 (2x2 + 2z 2 ) = 3r2 8 2r2 ` = 3 8r 2r3 . The integral is then ZZZ p
G

3x2 + 3z 2 dV

ZZ ` 3 8r 2r3 dA Z 3 Z 3 Z 3
0 2 0 2 0 R 2

Z
0

= = = =

8r 2r3 r dr d 2 d
0

8 3 2 5 r r 3 5

256 3 . 15

128 d 15

Exercise 4.4.1 2 Evaluate the iterated integral.

Z 1.
1 0 y2 0 1

(x2 + y 2 + z 2 ) dx dy dz .

Z 4.
0

Z 9z2 Z
0 0 x2

xy dy dx dz . Z
3 1

Z 2.
0

Z
0

yz dx dz dy .
1 /4 0 1 1

ln z

5.
x 2 1

xey dy dz dx. y dx dy dz . x2 + y 2

Z 3.

Z
0

Z
0

x2

Z x cos y dz dx dy . 6.

Z
z

Z
0

3y

2 Evaluate the triple integral. ZZZ 7. 0 8.

G G

xy sin yz dV , z /6. y dV , y = 1 x2 .

where G is the rectangular box dened by the inequalities

1,

ZZZ where G is the solid enclosed by the plane z = y , the xy -plane, and the parabolic cylinder

154

4.5 Triple Integrals in Cylindrical Coordinates

ZZZ 9.
G

xyz dV ,

where G is the solid in the rst octant that is bounded by the parabolic cylinder z = 2 x2

and the planes z = 0, y = x, and y = 0. ZZZ 10. 0

G

cos(z/y ) dV , z xy .

where G is the solid dened by the inequalities

/6

/2,

/2,

2 Use a triple integral to nd the volume of the solid. 11. The solid in the rst octant bounded by the coordinate planes and the plane 3x + 6y + 4z = 12. 12. The solid bounded by the surface z = y and the planes x + y = 1, x = 0, and z = 0.

13. The solid bounded by the surface y = x2 and the planes y + z = 4, and z = 0. 14. The wedge in the rst octant that is cut from the solid cylinder y 2 + z 2 1 by the planes y = x and x = 0.

4.5

Triple Integrals in Cylindrical Coordinates

In this section we want to take a look at triple integrands done completely in cylindrical coordinates. Recall that cylindrical coordinates are really nothing more than an extension of polar coordinates into three dimensions. The following are the conversion formulas for cylindrical coordinates. x = r cos , y = r sin , z = z.

In order to do the integral in cylindrical coordinates we will need to know that dV will become in terms of cylindrical coordinates. We will be able to show that dV = r dz dr d . The solid G over which we are integrating becomes G = = {(x, y, z ) : (x, y ) R, u1 (x, y ) {(r, , z ) : 1 2 , r1 () r z u2 (x, y )} r2 (), u1 (r, ) z u2 (r, )}.

Note that we have only given this for Gs in which R is in the xy -plane. We can modify this accordingly if R is in the yz -plane or the xz -plane as needed. In terms of cylindrical coordinates a triple integral is ZZZ f (x, y, z ) dV
G

Z =

2 1

r2 ( ) r 1 ( )

u2 (r, ) u1 (r, )

f (r cos , r sin , z ) r dz dr d .

Do not forget to add in the r and make sure that all the xs and y s also get converted over into cylindrical coordinates. Practically, to apply the above formula it is best to begin with a three-dimensional sketch of the solid G, from which the limits of integration can be obtained as follows:

155

4. Multiple Integrals Determining Limits of Integration: Cylindrical Coordinates

Step 1. Identify the upper surface z = u2 (r, ) and the lower surface z = u1 (r, ) of the solid. The functions u1 (r, ) and u2 (r, ) determine the z -limits of integration. (If the upper and lower surfaces are given in rectangular coordinates, convert them to cylindrical coordinates.) Step 2. Make a two-dimensional sketch of the projection R of the solid on the xy -plane. From this sketch the r- and -limits of integration may be obtained exactly as with double integrals in polar coordinates. Let us see some examples in the following.

Example 4.5.1 (Cylindrical Coordinates) ZZZ Evaluate y dV , where G is the solid that lies below the plane z = x + 2 above the xy -plane and between the cylinders x2 + y 2 = 1 and x2 + y 2 = 4. Solution There really is not too much with this one other than do the conversions to cylindrical coordinates and then evaluate the integral. We will start out by getting the range for z in terms of cylindrical coordinates. 0 z x+2 = 0 z r cos + 2.
G

Remember that we are above the xy -plane and so we are above the plane z = 0. Next, the region R is the region between the two circles x2 + y 2 = 1 and x2 + y 2 = 4 in the xy -plane and so the ranges for the region are 0 Here is the integral. ZZZ y dV
G

2, Z
1 2 0

1 Z
0 2

2.

2 0

r cos +2

= Z = Z
2

(r sin ) r dz dr d Z Z
1

(r2 sin ) (r cos + 2) dr d

= = = = =

1 3 r sin 2 + 2r2 sin dr d 2 0 1 2 Z 2 1 4 2 r sin 2 + r3 sin d 8 3 0 1 Z 2 14 15 sin 2 + sin d 8 3 0 2 15 14 cos 2 cos 16 3 0

2

0.
2

Just as we did with double integral involving polar coordinates we can start with an iterated integral in terms of x, y , and z and convert it to cylindrical coordinates.

156

4.5 Triple Integrals in Cylindrical Coordinates Example 4.5.2 (Cylindrical Coordinates) Z 1 Z 1y2 Z x2 +y2 Convert xyz dz dx dy into an integral in cylindrical coordinates.
1 0 x2 +y 2

Solution

Here are the ranges of the variables from this iterated integral. p 1 y 1, 0 x 1 y2 , x2 + y 2 z

x2 + y 2 .

The p rst two inequalities dene the region R and since the upper and lower bounds for the xs are x = 1 y 2 and x = 0 we know that we have got at least part of the right half a circle of radius 1 centered at the origin. Since the range of y s is 1 y 1 we know that we have the complete right half of the disk of radius 1 centered at the origin. So, the ranges for R in cylindrical coordinates are , 0 r 1. 2 2 The last thing we have to do is to convert the limits of the z range, but that is pretty simple. r2 z r.

Here we notice that the lower bound is an elliptic paraboloid and the upper bound is a cone. Therefore G is a portion of the solid between these two surfaces. The integral is then Z Z Z Z Z Z
1 1y 2 x2 +y 2 /2 1 r

xyz dz dx dy
1 0 x2 +y 2

=
/2 0 r2 1 0

(r cos )(r sin ) z r dz dr d Z

/2 /2

=
r2

zr3 cos sin dz dr d.

2

Exercise 4.5.1 2 Evaluate the iterated integral.

Z 1.
0 0 0 2

Z 1r2

Z zr dz dr d. 2.
0

/2

Z
0

cos

Z
0

r2

r sin dz dr d.

2 Use cylindrical coordinates to evaluate the integral. Z Z a Z a2 x2 Z a2 x2 y2 4. 3. x2 dz dy dx.

0 0 0 0

Z 4y2 Z 8x2 y2
0

x2 +y 2

z 2 dz dx dy .

2 Use cylindrical coordinates to nd the volume of the solid. 5. The solid enclosed by the paraboloid z = x2 + y 2 and the plane z = 9. 6. The solid that is bounded above and below by the sphere x2 + y 2 + z 2 = 9 and inside the cylinder x2 + y 2 = 4. 7. The solid that is inside the surface r2 + z 2 = 20 but not above the surface z = r2 . 8. The solid enclosed between the cone z = (hr)/a and the plane z = h.

157

4. Multiple Integrals

4.6

Triple Integrals in Spherical Coordinates

We introduce here another common coordinate system that is frequently more convenient than either rectangular or cylindrical coordinates. In particular, some triple integrals that cannot be calculated exactly in either rectangular or cylindrical coordinates can be dealt with easily in spherical coordinates. First, we need to recall just how spherical coordinates are dened. The following sketch shows the relationship between the Cartesian and spherical coordinate systems. z Q(0, 0, z )

P (x, y, z ) = (, , ) z O y

R(x, y, 0)

Spherical coordinates locate points in space with two angles and one distance, as shown in the above gure. The rst coordinate, p = OP = x2 + y 2 + z 2 , is the points distance from the origin. Unlike r, the distance is never negative. The second coordinate, , is the angle OP makes with the positive z -axis. It is required to lie in the interval [0, ]. The third coordinate is the angle as measured in cylindrical coordinates. If you look closely at the above gure, you can see how to relate rectangular and spherical coordinates. Notice that x = OR cos = QP cos . Looking at the triangle OQP , we nd that QP = sin , so that x = sin cos . Similarly, we have y = OR sin = sin sin . Finally, focusing again on triangle OQP , we have z = cos .

158

4.6 Triple Integrals in Spherical Coordinates Here is the summary of the conversion formulas for spherical coordinates. x = sin cos , x2 + y 2 + z 2 = 2 . As just mentioned we have the following restrictions on the coordinates. 0, 0 . y = sin sin , z = cos ,

For our integrals we are going to restrict G down to spherical wedge. This will mean that we are going to take ranges for the variables as follows, 1 2 , 1 2 , 1 2 .

Here is a quick sketch of a spherical wedge for reference purposes. z

Solid G

y x From this sketch we can see that G is really nothing more than the intersection of a sphere and a cone. In fact we can show that dV = 2 sin d d d.

Therefore the integral will become ZZZ f (x, y, z ) dV

G

Z =

2 1

f ( sin cos , sin sin , cos ) 2 sin d d d.

This looks a bit complicated, but given that the limits are all constants the integrals here tend to not be too bad. Let us see a couple of examples of this kind.

159

4. Multiple Integrals Example 4.6.1 (Spherical Coordinates) Evaluate ZZZ 16z dV,
G

where G is the upper half of the sphere x2 + y 2 + z 2 = 1.

Solution

Since we are taking the upper half of the sphere the limits for the variables are 0 1, 0 2, 0 . 2

The integral is then ZZZ 16z dV

G

Z =
0

/2

Z
0

Z
0

(16 cos ) 2 sin d d d

Z = Z = Z = h = =
0 0 0

/2

Z Z
0

Z
0

83 sin 2 d d d

/2

2 sin 2 d d
0 /2

4 sin 2 d 2 cos 2 4.
2

i/2
0

Example 4.6.2 (Spherical Coordinates) Convert Z

0 3

Z 9y2 Z 18x2 y2
0

` 2 x + y 2 + z 2 dz dx dy

x2 +y 2

into spherical coordinates.

Solution

Let us rst write down the limits for the variables. p p 9 y2 , x2 + y 2 0 y 3, 0 x

18 x2 y 2 .

The range for x tells us that we have a portion of the right half of a disk of radius 3 centered at the origin. Since we are restricting y s to positive values it looks like we will have a quarter disk in the rst quadrant. Therefore since R is in the rst quadrant the solid G must be in the rst octant and this follows that we have the following range for (since this is the angle around the z -axis). 0 . 2

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4.6 Triple Integrals in Spherical Coordinates p Now, let us see what the range for z tells us. The lower bound, z = x2 + y 2 , is the p upper half of a cone. At this point we dont need this quite yet, but we will later. The upper bound, z = 18 x2 y 2 , is the upper half of the sphere, x2 + y 2 + z 2 = 18 and so from this we now have the following range for . 0 18 = 3 2.

Now all that we need is the range for . There are two ways to get this. One is from where the cone and the sphere intersect. Plugging in the equation for the cone into the sphere gives p 2 x2 + y 2 + z 2 = 18, z2 + z2 z
2

= = =

18, 9, 3.

Note that we can assume z is positive here since we know that we have the upper half of the cone and/or sphere. Finally, plug this into the conversion for z and take advantage of the fact that we know that = 3 2 since we are intersecting on the sphere. This gives cos 3 2 cos cos So, we have the following range. 0 . 4 = = = 3, 3, 1 = 2 2 2 = = . 4

The other way to get this range is from the cone by itself. By rst converting the equation into cylindrical coordinates and then into spherical coordinates we get the following p z = x2 + y 2 , cos 1 So, recalling that 2 = x 2 + y 2 + z 2 , the integral is then Z Z
3 0 0

= =

sin , tan = = . 4

9y 2

Z 18x2 y2
x2 +y 2

` 2 x + y 2 + z 2 dz dx dy

Z =
0

/4

Z
0

/2

Z
0

3 2

4 sin d d d.
2

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4. Multiple Integrals Exercise 4.6.1 2 Evaluate the iterated integral.

Z 1.
0 0 0 /2

/2

Z 3 sin cos d d d. 2.
0

Z
0

/4

Z
0

a sec

2 sin d d d

(a > 0).

2 Use spherical coordinates to evaluate the integral. Z Z 1 Z 1x2 Z 1x2 y2 2 2 2 3/2 3. e(x +y +z ) dz dy dx. 4.
1 0 0

3 3

Z 9y2 Z 9x2 y2 p x2 + y 2 + z 2 dz dx dy .
9y 2 9x2 y 2

2 Use spherical coordinates to nd the volume of the solid. 5. The solid bounded above by the sphere = 4 and below by the cone = /3. 6. The solid within the cone = /4 and between the spheres = 1 and = 2. 7. The solid enclosed by the sphere x2 + y 2 + z 2 = 4a2 and the planes z = 0 and z = a. 8. The solid within the sphere x2 + y 2 + z 2 = 9, outside the cone z = p x2 + y 2 , and above the xy -plane.

9. Find the volume enclosed by x2 + y 2 + z 2 = a2 using

(a) cylindrical coordinates;

(b) spherical coordinates.

2 2 2 10. Let G be the solid Zin Z Zthe rst octant bounded by the sphere x + y + z = 4 and the coordinate

planes. Evaluate
G

xyz dV

using

(a) rectangular coordinates; (b) cylindrical coordinates; (c) spherical coordinates.

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