Multivariable Cal

ulus
S hool of Mathemati s
University of the Witwatersrand
Private Bag 3
P. O. WITS 2050
Johannesburg
South Afri a

2002

S hool of Mathemati s

University of the Witwatersrand

Multivariable Cal ulus

MATH204

Contents
1 Dierentiation

1.1 Derivatives and Dierentials . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 Ve tor Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3 Chain Rule . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

1.4 Dire tional Derivatives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.5 Tangents and Normals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1.6 Maxima and Minima . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

2 Integration

19

2.1 Parametrization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2.2 S alar Path Integrals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
2.3 Ve tor Path Integrals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
2.4 Double Integrals and Fubini's Theorem . . . . . . . . . . . . . . . . . . . . . . 23
2.5 Change of Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
2.6 Classi al Integration Theorems . . . . . . . . . . . . . . . . . . . . . . . . . . 26
RECOMMENDED TEXTS

Marsden and Tromba, Ve tor Cal ulus, Freeman Publishers.

Spiegel, Advan ed Cal ulus, S haum Series, M Graw Hill.
Spiegel, Advan ed Mathemati s, S haum Series, M Graw Hill.
Dineen, Multivariable Cal ulus, Springer Verlag.
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Chapter 1
Dierentiation
1.1 Derivatives and Dierentials
Denition 1.1.1 We dene the partial derivative of f : R n ! R at x with respe t to xj by
f (x ; :::; xj 1 ; xj + h; xj +1 ; :::; xn ) f (x1 ; :::; xn )
f (x)
= lim 1
:
h
!
0
xj
h

Denition 1.1.2 We dene the derivative of F : R n ! R m to be the matrix

2

F1
x1

..
F0 = 6
4
.

Fm
x1

:::

F1 3
xn

:::

Fm
xn

..
.

7
5

Denition 1.1.3 We dene the dierential of F : R n ! R m at a to be the linear map

from R n to R m given by dF(a; h) = F0 (a)h for all h 2 R n :
Theorem 1.1.4 Let F; G : R n ! R m and g : R n ! R then:
1. (F
G)0 = FT G0 + GT F0 ;
2. (F +  G)0 = F0 +  G0 for all ;  2 R ;
3. (g F)0 = g F0 + Fg 0 .

Theorem 1.1.5 Let p; q : R ! R 3 then

(a) (p
q)0 = p
q0 + p0
q
(b) (p  q)0 = p  q0 + p0  q.

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TUTORIAL QUESTIONS
1. Let f; g : Rn ! R and let '(t) = f (t; x2 ; :::; xn ) and (t) = g (t; x2 ; :::; xn ) where x2 ; :::; xn
are onstant.
(a) Give expressions for the derivatives '0 and 0 in terms of f and g .
(b) From the single variable al ulus result that for a; b 2 R we have (a' + b )0 =
a'0 + b 0 , prove that
f
g
 (af + bg )
=a
+b :
x1
x1
x1
( ) From the single al ulus result that (' )0 = '0 + ' 0 , prove that

 (fg )
f
g
=g
+f :
x1
x1
x1
2. In ea h of the following ases: parametrize the urves; and determine whether the urves
are orthogonal where they interse t.
(a) The urves y = x2 and x = y 2.
(b) The urves y = x2 and y = 21 x2 .
3. Parametrize the ir le of radius 5 having entre (8; 3) and hen e nd a tangent ve tor
and the tangent line to this ir le at the point (5; 1).
4. For f (x1 ; x2 ) = x2 os x1 nd f 0 (x1 ; x2 ); f 0 (2; 7) and df [(2; 7); h.
5. For f (x; y; z ) = (x 2z )ey nd f 0 (x; y; z ) and df [(x; y; z ); h.
6. Find F0 and dF[a; h where:
2

ln x1
4
(a) F(x1 ; x2 ) =
x2 e2x1 5 and hen e show that if v is tangent to the urve parametrized
x2 os x1

2
by r(t) = 1t then dF[r(t); v is tangent to the urve parametrized by F(r(t)) at
F(r(t)), by dire t al ulation;


x 1
and hen e show that if v is tangent to the urve parametrized
(b) F(x; y; z ) =
xy
2

2
1+
3z

2
by r(t) = t2 5 then dF[r(t); v is tangent to the urve parametrized by F(r(t))
1
at F(r(t)), by dire t al ulation.
4

7. Prove Theorem 1.1.4 parts (b) and ( ). In ea h begin by omputing the term in bra kets
on the left of the expression. Then ompute the derivative of this expression and expand
the result by using what you know about partial derivatives. Now ompute the right
hand side and ompare your expressions.
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8. Let '(x1 ; x2 ; x3 ) =

x3 x22

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2x1 and F(x1 ; x2 ; x3 ) =

x2

2x1

+ 5x2 x53
2x1 + sin x3 .

(a) Cal ulate '0 and F0 .

(b) HENCE nd ('F)0 .

! R m . Prove that for ea h a the mapping h 7! dF[a; h is linear on R n .

Let F : R n ! R m and g : R n ! R . Prove that

9. Let F : R n
10.

d(g F)[a; h = g (a)dF[a; h + F(a)dg [a; h:

11. (a) Let u : R

! R n and v : R ! R n . By writing u
v as a summation, prove that

(u
v)0 = u0
v + u
v0 :

(b) Let p : R ! R n and v 2 R n : Assume that v and p0 (t) are orthogonal for all t 2 R
and that p(0) is orthogonal to v: Prove that v and p(t) are orthogonal for all t 2 R :
( ) Show that if u(t) is a unit ve tor for all t, then u(t) and u0 (t) are orthogonal for
all t.


os
2
t
2
t
(d) Let '(t) = te and u(t) = sin 2t . Find '0 and u0 , and hen e nd ('u)0 ,
leave your expression for this derivative as the sum of two orthogonal ve tors.
2

12. Let F(r; ; z ) = 4

rz os 
rz sin  5.
z

(a) Find F0 .
(b) Find det(F0 ).
2

13. If the motion of a parti le in spa e is given by r(t) =

time.

2t2
2
t 4t
3t 5

3
5

where t represents

(a) Find the velo ity and a eleration of the parti le at time t.
(b) Find the omponent of the a eleration in the dire tion of travel (i.e. in the dire tion of the velo ity) at time t.
14. Consider a plane urve with polar equation  = (t) and  = t. This urve an be
t
written parametri ally by setting r(t) = (t) os
sin t : Using the Theorem on ve tor
dierentiation to show that:




sin
t
os
t
0
0
(a) r (t) =  (t) sin t + (t) os t ;




sin
t
os
t
(b) r00 (t) = (00 (t) (t)) sin t + 20 (t) os t ;

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( ) kr0 k =

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2 + (0 )2 .

15. If r(t) lies on the ir le of radius R with entre 0 for all t 2 R , prove that kr0k =

r00
r.

16. Let r(t) denote the position of a parti le at time t. The angular velo ity of the parti le
with respe t to the origin is dened to be ! = r  r0 . Prove that ! 0 = r  r00 .
17. Let f : R 2

! R and let h(t) = f (x1 + t; x2 ).

(a) Show that h0 (t) =

f
x1 (x1

+ t; x2 ).

f
R 2 , prove that f (x1 ; x2 ) = f (0; x2 ) for all x1 ; x2
(b) If x
1 (x) = 0 for all x 2
0
HINT: Try integrating h (t) from 0 to b for a suitable b.

2 R.

18. Let F : R n ! R n be su h that F(x) is a unit ve tor for all x 2 R n . Prove that
det(F0 (x)) = 0 for all x 2 R n . HINT: Consider (F
F)0 and pro eed by a ontradi tion
argument.

1.2 Ve tor Analysis

Denition 1.2.1 Let f : R n ! R , we dene the gradient of f , denoted gradf or rf , by
2

f 3
x1

.
gradf = rf = 6
4 ..

f
xn

7
5

Denition 1.2.2 Let F : R n ! R n we dene the divergen e of F, denote divF or r
F, by

div F = r
F =

n
X

Fj
:
xj
j =1

Denition 1.2.3 Let f : R n ! R , we dene the Lapla ian of f , denoted r2 f , by

r
If

2f

= r
rf =

n
X

2f
:
x2j
j =1

r2 f  0 we say that f is harmoni .

Denition 1.2.4 Let F : R 3 ! R 3 , we dene the url of F, denoted urlF or r  F, by

2

url F = r  F =

F3
x2
6 F1
4 x3
F2
x1

F2 3
x3
F3 7
x1 5 :
F1
x2

Theorem 1.2.5 For a; b 2 R , f; g : R n ! R and F; G : R n ! R n we have:

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(a)
(b)
( )
(d)

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r(af + bg) = arf + brg;

r(fg) = grf + f rg;
r
(aF + bG) = ar
F + br
G;
r
(gF) = (rg)
F + gr
F

and if n = 3 we in addition have:

(e)
(f)
(g)

r  (aF + bG) = ar  F + br  G;
r  (gF) = (rg)  F + gr  F.
r
(F  G) = (r  F)
G (r  G)
F;

Theorem 1.2.6 Let f : R n ! R , then

2f
xi xj

2f
xj xi

for all i; j = 1; :::; n.

Theorem 1.2.7 For f : R 3 ! R and F : R 3 ! R 3 we have:

1.
2.

r  rf  0;
r
(r  F)  0.

TUTORIAL QUESTIONS
1. For ea h of the following fun tions f , al ulate rf :
(a) f (x1 ; x2 ) = ln(x21 + x22 );
(b) f (x1 ; x2 ; x3 ) = x23 ex1 x2 + sin(x1 x2 ).
2

x1 ex2
2. Let F(x1 ; x2 ; x3 ) = 4 x2 sin x3 5
x1 x2 x3
(a) Cal ulate G = url F and div F.
(b) What an you say about r
G.
0

3. Let F(x1 ; x2 ; x3 ) = 

r  (r  F):

x1 x3
ex2
x1 + x2

1
A

and nd url F; div F;

r
(r  F); F
(r  F)

and

4. Determine whi h of the fun tions below are harmoni :

(i) u(x1 ; x2 ; x3 ; x4 ) = 1 + x1 x2 3x4 + ex3 sin x2 ;
(ii) u(x1 ; x2 ; x3 ) = 3x21 x3 + 2x1 x3 2x2 x33 ;
(iii) u(x1 ; x2 ) = x21 + x22 :

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5. Prove Theorem 1.2.5 parts (a), (b), ( ), (d), (f) and (g) by omputing the left and right
hand sides of the identities and expanding the results using what you know about partial
derivatives.
6. Prove Theorem 1.2.6 for the ase of n = 2 by arrying out the following steps.
Let : R 2 ! R and (x; y ) 2 R 2 be xed. Let h; k 2 R and set

(a)
(b)
( )
(d)

fs (t) = (x + s; t)
(x; t)
gs (t) = (t; y + s)
(t; y )
Show that fh (y + k) fh (y ) = gk (x + h) gk (x).
Use the 1st mean value theorem to show that kfh 0 (y + K1 ) = fh (y + k) fh (y ) for
some K1 between 0 and k, and that hgk 0 (x + H1 ) = gk (x + h) gk (x) for some H1
between 0 and h.
Hen e on lude that kfh 0 (y + K1 ) = hgk 0 (x + H1 ) for some K1 between 0 and k,
and some H1 between 0 and h.
Thus show that




 (x+H1 ;y+k)
 (x+h;y+K1 )
=h
:
k
y (x;y+K1 )
x (x+H1 ;y)

(e) Put p(t) = y (x + t; y + K1 ). The 1st mean value theorem gives that there is H2
between 0 and h su h that hp0 (H2 ) = p(h) p(0). From this dedu e that



y

(x+h;y +K1 )

(x;y+K1 )

=h

 
(x + H2 ; y + K1 )
x y

and in a similar manner dedu e that there is K2 between 0 and k su h that




x

(x+H1 ;y +k )

(x+H1 ;y)

=k

 
(x + H1 ; y + K2 ):
y x

(f) By ombining (d) and (e) and by letting h and k tend to zero (noting what happens
to H1 ; H2 ; K1 ; K2 and the sandwi h theorem), omplete the proof of the theorem
for n = 2.
7. Prove Theorem 1.2.7 part (b) by dire t omputation of the left hand side of the equation
and using Theorem 1.2.6.
8. Prove that if  and

are harmoni , then r2 ( ) = 2r
r :

! R is harmoni , then r2f 2 = 2krf k2.

Show that for fun tions f and g from R 3 to R we have r  (f rg ) = (rf )  (rg ):
Prove that r  (g rf )  r  (f rg ) if and only if rf (x) and rg (x) are parallel for all

9. Prove that if f : R n
10.
11.

x.

12. Let f (x; y ) = ax + by 2 + 2x2 + os x for all (x; y )

a; b; 2 R for whi h f is harmoni .
13. Prove that f : R n

HERE!

10

2 R2 .

Find all possible onstants

! R is harmoni if and only if r
(f rf ) = krf k2: TAKE CARE

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1.3 Chain Rule

Re all that the 1st mean value theorem said that:
For f : R ! R and for ea h t; h 2 R there is k between 0 and h for whi h

f (t + h) f (t) = hf 0 (t + k):
The 1st year single variable Chain Rule:

Theorem 1.3.1 R ! R Chain Rule

Let f : R ! R and g : R ! R , then

d(f g )
df  dg
(t) = 
(t)
dt
dt g(t) dt
[i.e. (f g )0(t) = f 0 (g (t))g 0(t).

The "mini hain rule", whi h forms the mathemati al basis for the General Chain Rule:

Theorem 1.3.2 R n ! R Chain Rule

Let f : R n ! R and G : R ! R n , then
(f G)0 (t) = f 0 (G(t))G0 (t)
= (rf )(G(t))
G0 (t)


n
X
f  dGi 
:
=
xi G(t) dt t
i=1
Finally the general Chain Rule:

Theorem 1.3.3 General Chain Rule

Let F : R q ! R n and G : R p ! R q , then
(F G)0 (x) = F0 (G(x))G0 (x):

TUTORIAL QUESTIONS
1. In the following proof of the simplest form of the hain rule, give the expressions whi h
should repla e the apital letters.
Let f; g : R ! R be ontinuous and have ontinuous derivatives.
(a) From the rst mean value theorem

g (t + h) g (t) =     A    
where lies between 0 and h.

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(b) And similarly from the rst mean value theorem

f (a + s) f (a) =     B    
where  lies between 0 and s.
( ) By setting a = g (t) and s =     A       we see that

f (g (t + h)) f (g (t)) =     C    
where  lies between 0 and s.
(d) Observing that as h ! 0 we have s ! 0, hen e we may on lude that

f (g (t + h)) f (g (t))
=     D      :
h!0
h
lim

2. (a) Let f : R n ! R and G : R ! R n : Using the hain rule give an expression for
[f (G(t))0 :
(b) Let f (x1 ; x2 ; x3 ) = x21 + x22 x3 and let G : R ! R 3 be an unknown fun tion. Using
the hain rule give an expression for [f (G(t))0 in terms of the omponents of G
and their derivatives.
( ) Let f : R 2 ! R and G : R ! R 2 : Let A = fxjf (x) = kg where k is a onstant.
If G(t) 2 A for all t 2 R , prove that at ea h point G(t) we have that rf (G(t)) is
orthogonal to urve given by G(t):
3. Let f (x; y ) = ex

y 2.

(a) Find rf .

(b) Given that r(t) = xy ((tt)) , and that f (r(t)) = 0 for all t, use the hain rule to
give an expression for y 0 in terms of x; y; x0.
( ) Using the fa t that
dy dy=dt
=
dx dx=dt
use what you found in (b) to give an expression for dy=dx.
4. (a) State the hain rule for f G where f : R n ! R and G : R ! R n .
(b) If x and y are fun tions of t, using the mini hain rule, give an expression for

d
f (x(t); y (t); t)
dt
dy
in terms of x; y; t; dx
dt ; dt and the partial derivatives of f .
( ) If f (x(t); y (t); t) is onstant for x(t) = e t and y (t) = t2 , then give an equation
whi h the partial derivatives of f must obey.

5. Let f (x; y ) = os(x2

3y ).

(a) Find rf .
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x(t)
(b) Given that r(t) = y (t) , and that f (r(t)) = 0 for all t, use the hain rule to
give an expression for y 0 in terms of x; y; x0.
dy dy=dt
( ) Using the fa t that
=
use what you found in (ii) to give an expression
dx dx=dt
for dy=dx.

! Rp and F : R p ! R m .
F G
Using the Theorem 1.3.1, give an expression for i
(x) as a summation.

6. Proof of the general hain rule. Let G : R n

(a)

xj
(b) Rewrite the summation found in (a) as a matrix produ t of a row and a olumn
matrix.
( ) From the denition of the derivative, give (F G)0 as a single matrix.
(d) Using the expressions found in (a) and (b), write (F G)0 as a produ t of two
matri es, hen e proving the general hain rule.



7. Let F(r; ) = rr os
sin 

and '(x; y ) = x2 + y 2 6xy . Using the hain rule nd (' F)0 .

8. (a) Using the hain rule, show that

d(F G)[a; h = dF[G(a); dG[a; h:

(b) Show that dF[r(t); r0 (t) = (F(r(t)))0 and thus dedu e that the mapping h !
dF[r(t); h maps tangent ve tors at r(t) to the urve parametrized by r(t) to tangent
ve tors at F(r(t)) to the urve parameterized by F(r(t)). (I.e. F maps points while
dF maps tangent ve tors.)
9. Let F : R 2 ! R 2 , and let P be the parallelogram with sides given by the ve tors h; k.
Let Q be the parallelogram with sides given by the ve tors dF[a; h and dF[a; k. Show
that Area(Q)=det(F0 (a)) Area(P). Also prove the analogous result for parallelpipeds in
R3 .
10. Let F : R n

! R m and G : R m ! R p :

(a) Using the hain rule, give an expression for [F G0 :

(b) Suppose that F : R n ! R n ; G : R n !h R n and
that F(G(x)) = x for all x 2 R n :
i 1
Denote y = G(x): Prove that  G x(x) =  F(yy) :
0

x1 x2
( ) Let F : R 3 ! R 2 and G : R 2 ! R 3 where G(x) =  x21 x22 A : Give an
x1 + x2
expression for [F G(x)0 involving only the following: Dj Fi and xj for j = 1; 2; 3
and i = 1; 2:


y
1 y2
3
2
4
3
(d) Let F : R ! R and G : R ! R where F(y) = 2y + y 2 : Given that
1
3
2
G1 (x)G2 (x) = x1 and that 2G1 (x) + (G3 (x)) = x3 ; prove that G2 (x)D1 G1 (x) +
G1 (x)D1 G2 (x) = 1 for all x 2 R 4 :

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1.4 Dire tional Derivatives

Denition 1.4.1 Let f : R n ! R and let u be a unit ve tor in R n . We dene the dire tional
derivative of f at x in the dire tion u by
Du f (x) = lim
t!0

f (x + tu) f (x)
:
t

Theorem 1.4.2 Let f : R n ! R and let u be a unit ve tor in R n . Then

Du f (x) = u
rf (x):

Theorem 1.4.3 Let f : R n ! R .

1. The dire tion of maximum rate of in rease of f at x is
of f in this dire tion is krf (x)k.

rf (x) and the rate of in rease

2. The dire tion of minimum rate of in rease of f at x is

of f in this dire tion is krf (x)k.

rf (x) and the rate of in rease

TUTORIAL QUESTIONS
1. Let ' : 0
R4
B

of ' at B


!1R be given by '(x) = x1 ex2 + x04 os(1x3): Find the dire tional derivatives

2
3

C
C

 A

in the dire tion of the ve tor B



5
6
1
2
1
6
1
6

C
C
A

x3 : Find the dire tional derivatives of '

2. Let0' : R13 ! R be given by '(x) = (x21 0 x22 )e31
3
2

A

1 A:
at 2 in the dire tion of the ve tor
1
1

3. Let (x; y; z ) = xey

2z .

(a) Find r.

2

3 A.
(b) Hen e nd the rate of in rease of ' at (1; 0; 3) in the dire tion of v =
1
( ) Is the dire tion of v the dire tion of fastest in rease of ' at (1; 0; 3), if not, what
is the dire tion of fastest in rease of  at (1; 0; 3), and how fast does ' in rease in
this dire tion.
4. (a) Let f : R n
14

! R , prove that the dire tion of fastest in rease of f at x is rf (x).

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(b) Let

f (x1 ; x2 ; x3 ) = (x21 x3 )ex2 :

Find the dire tion of fastest in rease of f at x0 = (2; ln 3; 1).

Give the dire tional derivative of f at x0 in the dire tion of the ve tor v = 

1
2
5

5. Let f : R n ! R and let u be a unit ve tor in R n and x0 some xed point in R n . Show
the following:
(a) If f is onstant along the line parametrized by r(t) = tu+x0 ; t 2 R ; then Du f (x0 ) =
0.
(b) If f has a maximum or minimum at x0 then Du f (x0 ) = 0.
( ) If rf (x) = 0 for all x 2 R n , then f is onstant on R n .

1.5 Tangents and Normals

Denition 1.5.1 Let ' : R n ! R and 2 R . A hypersurfa e in R n is a set of the form
S = fx 2 R n j'(x) = g:

A point x 2 S is said to be a regular point of S if r'(x) exists and is non zero, otherwise the
point x is said to be singular.

Denition 1.5.2 A ve tor n is asid to be a normal to a hypersurfa e S at x if for ea h

: R ! S with (t0 ) = x for some t0 2 R we have n
0 (t0 ) = 0.
Theorem 1.5.3 Let x0 be a regular point of S , where S is the hypersurfa e given by S =
fxj'(x) = g. Then r'(x0 ) is a normal to S at x0).
Denition 1.5.4 We dene the set of tangent ve tors to the hypersurfa e S at x0 to be the

set

Tx0 = f 0 (t0 )j : R

! S; (t0) = x0g:

Theorem 1.5.5 If x0 is a regular point of S = fxj'(x) = g, then

Tx0 = fvjv
r'(x0 ) = 0g:

Denition 1.5.6 The tangent hyperplane to S at the regular point x0 of S is

x0 + Tx0 = fv + x0 jv 2 Tx0 g:
TUTORIAL QUESTIONS
1. (a) Give a tangent ve tor at G(t) to the urve, C , given by G(t); t 2 R .

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(b) If for ea h t 2 R all tangent ve tors at G(t) to the urve C are orthogonal to
rf (G(t)) prove that f is onstant on the urve C .
0

2. Let S = fx
0

q=
(a)
(b)
( )
(d)
(e)
(f)

6
3
3

2 R 3 : '(x) =

3g where '(x) = x21 x2

6x33 and let p =

1
A

3
5
2

1
A

and

Show that p lies on the surfa e S:

Find a normal ve tor to S at p.
Find Tp ; the set of tangent ve tors to S at p.
Find the tangent plane to S at p.
Does q lie in the tangent plane to S at p ? Justify your answer.
Is q tangent to S at p ? Justify your answer.

3. Let '(x; y; z ) = z + 2x2

y 2 and S be the surfa e S = f(x; y; z )j'(x; y; z ) = 1g.

(a) Show that (1; 2; 1) 2 S .

(b) Find a normal to S at (1; 2; 1).
( ) Hen e nd the set of tangent ve tors to S at (1; 2; 1).
(d) Give an expression for the tangent plane to S based at (1; 2; 1) and denote this
tangent plane by P .
0

(e) Show that the line r(t) = 

t+2
3 + 2t
4t + 1

1
A

; t 2 R , lies in P .

4. Let S be a surfa e
in R 3 dened3 by '(x; y; z ) = 36 where '(x; y; z ) = 4x2 + 9y 2 + z 2 ,
2
3 os u os v
and let r(u; v ) = 4 2 sin u os v 5 where u 2 [0; 2 and v 2 [ =2; =2.
6 sin v
(a)
(b)
( )
(d)
(e)
16

Show that the point x0 = (3=2; 3; 0) lies on S .

Find a normal to S at x0 .
Find Tx0 , the set of tangent ve tors to S at x0 .
Show that '(r(u; v )) = 36 and that r(=3; 0) = x0 .
 r (=3; 0) and  r (=3; 0) are tangent ve tors to S at x and that
Show that u
0
v
 r (=3; 0)   r (=3; 0) is a normal to S at x .
0
u
v

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5. Let S be a surfa e in R 3 dened by '(x; y; z ) = 0 and given parametri ally by

2

r(u; v ) = 4

x(u; v )
y (u; v )
z (u; v )

3
5

(u;v)
(u;v)
and  rv
are tangent ve tors to S at r(u; v ).
(a) Prove that  ru
(u;v)
 r(vu;v) is a normal to S at r(u; v).
(b) Thus (or otherwise) prove that  ru

6. Let x0 be a regular point of the hypersurfa e S = fx 2 R n j'(x) = g. Prove that Tx0 ,

the set of all tangent ve tors to S at x0 , is an n 1 dimensional ve tor spa e (subspa e
of R n ).
7. Let S = fx j '(x) = 0g be a hypersurfa e in R n and

Tx (S ) = f 0 (0) j : R

! S; (0) = xg

be the set of tangent ve tors to S at x. Let x0 be a regular point of S and let F : R n

be one-to-one and have detF0 (x0 ) 6= 0. Denote F(S ) = fF(x) j x 2 S g.

! Rn

(a) Prove that F(S ) = fy j (y) = 0g where (y) = '(F 1 (y)):

(b) Prove that F(x0 ) is a regular point of F(S ).
( ) Prove that F0 (x0 )Tx0 (S )  TF(x0 ) (F(S )) where

F0 (x0 )Tx0 (S ) = fF0 (x0 )v j v 2 Tx0 (S )g:

(d) Now on lude that F0 (x0 )Tx0 (S ) = TF(x0 ) (F(S )) and thus that

TF(x0 ) (F(S )) = fdF[x0 ; hjh 2 Tx0 (S )g:

1.6 Maxima and Minima

Denition 1.6.1 Let f : R n ! R , we say that f has:
1. a lo al maximum at x0 if there exists > 0 su h that kx

x0 k < =) f (x)  f (x0 );

2. a stri t lo al maximum at x0 if there exists > 0 su h that 0 < kx x0 k < =) f (x) <

f (x0 );

3. a lo al minimum at x0 if there exists > 0 su h that kx

x0 k < =) f (x)  f (x0 );

4. a stri t lo al minimum at x0 if there exists > 0 su h that 0 < kx x0 k < =) f (x) >

f (x0 );

5. a riti al point at x0 if

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rf (x0) = 0;
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6. a saddle point at x0 if x0 is a riti al point whi h is neither a lo al maximum nor a lo al

minimum.

Theorem 1.6.2 If f : R n ! R has a lo al maximum or a lo al minimum at x0 , then x0 is a

riti al point of f .
Theorem 1.6.3 Several variable Taylor Theorem
Let f : R n ! R , then
f (x + h) = f (x) + df [x; h + R(x; h)
where R(x; h)=khk ! 0 as khk ! 0.
Theorem 1.6.4 Let f : R n ! R and rf (x0 ) = 0. Dene the dis riminant of f at x0 by
2f
2f

= 2 (x0 ) 2 (x0 )
x1
x2

2
2f
(x0 ) :
x1 x2


1. If
> 0 and

2f
x21 (x0 )

> 0, then f has a stri t lo al minimum at x0 .

2. If
> 0 and

2f
x22 (x0 )

> 0, then f has a stri t lo al minimum at x0 .

3. If
> 0 and

2f
x21 (x0 )

< 0, then f has a stri t lo al maximum at x0 .

4. If
> 0 and

2f
x22 (x0 )

< 0, then f has a stri t lo al maximum at x0 .

5. If
< 0 then f has a saddle point at x0 .

TUTORIAL QUESTIONS
1. For ea h of the following fun tions f nd the riti al points and determine whi h are
stri t lo al maxima, stri t lo al minima and saddle points.
(a)
(b)
( )
(d)
(e)
(f)

18

f (x1 ; x2 ) = x21 2x2 sin(x1 ):

f (x; y ) = x3 2x2 y + xy 2 + y 3 3y .
f (x; y ) = 3xy x3 + 23 y 2.
f (x; y ) = 4xy x4 2y 2 + 2.
f (x; y ) = (1 + x2 )(2 + os(x + 2y )).
f (x; y ) = 3x3 + 3xy x2 + 3y 2 .

Multivariable Cal ulus

MATH204

Chapter 2
Integration
2.1 Parametrization
Denition 2.1.1 Let r : [a; b ! R n and where a < b, then a set of the form
= fr(t) : t 2 [a; bg
is alled a urve and the fun tion r(t); t 2 [a; b; is alled a parametrization of .
If a give a dire tion or orientation (usually indi ated by an arrow along the urve), then
is alled a path or oriented urve.
Let is a path parametrized by r(t); t 2 [a; b; if the dire tion r(t) moves as t in reases is the
same as the dire tion asso iated with , then r(t); t 2 [a; b; is said to be an orientation preserving parametrization of . Otherwise r(t); t 2 [a; b; is an orientation reversing parametrization
of .
If

is an oriented urve, we denote by

, the urve

but with reversed orientation.

A urve is said to be pie ewise smooth, if the a parametrization r(t); t 2 [a; b; of where r0 (t)
exists and is non-zero ex ept at at most nitely many points of . The values of r(t) where
either r0 (t) does not exists or is zero are alled singular points of .

Note 2.1.2 The parametrization of a urve is not unique.

Some standard parametrizations follow:
1. The line segment from a to b:

r(t) = a + t(b a); t 2 [0; 1:

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2. The ir le entre (a0 ; b0 ) with radius :



t ; t 2 [0; 2 :
r(t) = ab 0 +  os
sin t
0
3. The expli it urve y = f (x) where x goes from a to b and a < b:


r(t) = f (tt) ; t 2 [a; b:

4. The expli it urve x = f (y ) where y goes from a to b and a < b:


r(t) = f (tt) ; t 2 [a; b:

2.2 S alar Path Integrals

be parametrized by (t); t 2 [a; b: Let f be a real valued
fun tion dened on . We dene the s alar path integral of f over by:

Denition 2.2.1 Let the urve

Z

f ds :=

f ( (t)) j 0 (t)j dt:

Note 2.2.2 We may thus formally onsider

ds = j 0 (t)j dt:

Theorem 2.2.3

Note 2.2.4 The length of the urve

f ds =
is

f ds:

1 ds:

TUTORIAL QUESTIONS
1. (a) Let = fr(t) 2 R n : t 2 [a; bg and f : R n
(b) Let be that part of the ellipse
wise. Parametrize

x21

! R : Dene what we mean by f ds:

2
0
= 1 from 1 to 0 taken anti lo kp
f ds where f (x) = x21 + 16x22 :

2
4 + x2

and evaluate

2. (a) Let = fr(t) 2 R n : t 2 [a; bg and f : R n ! R : Dene what we mean by f ds:

(b) Let be the the urve x3 = y 2; y 2 [ 1; 1: Parametrize and nd the length of :
R

anti lo kwise from ( 3; 32 ) to ( 2; 0).

3. Let be the portion of the ellipse x4 + y9 = 1 taken
R
2
Parameterize and evaluate the integral I = f ds where f (x; y ) = p13 xx2 y2 .
20

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2t3
4. Let = fr(t)jt 2 [ 1; 1g where r(t) = 3t2 :
(a) Find the length of the path .
R
p
(b) Let f (x1 ; x2 ) = jx1 j x2 + 3. Evaluate f ds.
( ) The average of f over is dened to be the integral of f over
length of .


divided by the


2
5. Let a pie e of wire be des ribed by the loop in the path r(t) = t(t t+ 2) ; and have
p
mass per unit length f (x) = x1 + x2 + 1 at x. Find the length of the wire.

6. Let denote the path along the urve

x = y 2 from (1; 1) to (4; 2). Sket h the urve
R
, parametrize and hen e evaluate p1+3xx+y2 ds.

2.3 Ve tor Path Integrals

Denition 2.3.1 Let the urve

be parametrized by (t); t
dene the (ve tor) path integral of F over by:
Z

F
d :=

b
a

2 [a; b: Let F : R n ! R n .

We

F( (t))
0 (t) dt:

Note 2.3.2 We may thus formally onsider d = 0 (t) dt and onsequently, formally we have
d = u(t) ds
where u(t) is the unit tangent ve tor to
Z

Theorem 2.3.3

F d =

Note 2.3.4 If F represents for e, then

in traversing .

at (t) in the dire tion of the orientation of , and

Z

F
d =
R

F
u ds:
Z

F
d :

F
d is the work done on a parti le by the for e F



P (x; y ) ,
Note 2.3.5 Let be parametrized by r(t) = xy ((tt)) ; t 2 [a; b, and let F(x; y ) = Q
(x; y )


dx and thus
then one may write dr =
dy
Z

Multivariable Cal ulus

F
dr =

P dx + Q dy:

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TUTORIAL QUESTIONS
1. (a) Let = fr(t) 2 R n : t 2 [a; bg and F : R n
(b) Let be that part of the parabola x2 =
and evaluate

F
dr where F(x) =

! Rn : Dene what we mean by F
dr:

R

x21 +3 from

x1
sin(x2 )

and evaluate

F
dr where F(x) =

x2
x1 ex2

( ) Let be that part of the urve x2 = ln (x1 ) from

1
4

3
12

to

: Parametrize

:
e
1

to

e3
3

: Parametrize

2. Let be the urve x = y 2 y + 1 from (3; 1) to (3; 2). Parameterize and determine
whether your parametrization
hasthe required orientation. Hen e evaluate the integral

R
y
v
dr, where v (x; y ) =
2x .
3. Let be the ir le entre (1; 5), radius 3 taken anti lo kwise. Sket h the urve in
the (x; y )-plane. Parameterize and determine whether your parametrization
has the


R
5
x
y
required orientation. Evaluate the integral v
dr, where v(x; y ) =
.
x
4. Let

be the ellipse

x2 y 2
+ = 1 where a; b > 0, taken anti lo kwise.
a2 b2

(a) Parametrize the oriented urve .



x
1 x2
(b) Let v(x1 ; x2 ) = x + x : Evaluate the integral of v over the urve .
1
2
5. Let F(x) = jxjx3 . Let 1 (N ) be the line segment from (1; 1) to (N; N ); N > 0, and let
be the ir le entre (0; 0) with radius 2, taken anti lo kwise.
(a) Parametrize 1 (N ).
(b) Parametrize 2 .
( ) Show that F(x) is orthogonal to
(d) Cal ulate

1 (N ) F

at x for ea h x 2

dr and hen e nd limN !1

6. Let be the ir le radius

3, entre (1; 5). Sket h
R
and hen e evaluate (5x y ) dx + x dy:

1 (N ) F

2.

Hen e evaluate

dr .

2F

dr:

in the (x; y )-plane. Parametrize

7. Let
be the spiral given
by x = os t, y = sin t and z = t2 , t
R
R p
x2 + y 2 + 4z ds and (x zy ) dx + (zx + y ) dy + (4z ) dz .
22

Multivariable Cal ulus

[ 2; 2 . Find

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2.4 Double Integrals and Fubini's Theorem

Denition 2.4.1 Let D be a region in R 2 with nite area and bounded by a pie ewise smooth
ontinuous losed urve. Let f : D ! R be ontinuous. For ea h N 2 N divide D into N
subregions DiN ; i = 1; :::; N; in su h a manner that
lim max diam(DiN ) = 0:
N !1 i=1;:::;N
Let xN
i

2 DiN . We dene the integral of f over the region D by

Z Z

f da = Nlim
!1

N
X
i=1

f (xNi ) Area(DiN ):

R R

Note 2.4.2 1. D 1 da = Area(D):

R R
2. If f (x)  g (x) for all x 2 D, then
g da is the volume of the region over D
D [f
bounded above by f (x) and below by g (x); x 2 D.
Theorem 2.4.3 (Fubini's Theorem)
Let D  R 2 and f : D ! R .
1. If D = f(x; y )jp(x)  y  q (x); x 2 [a; bg then
Z Z

f da =

"
b Z q(x)

p(x)

f (x; y ) dy dx:

y = q(x)

y = p(x)

2. If D = f(x; y )jg (y )  x  h(y ); y 2 [ ; dg then

Z Z

f da =

"
d Z h(y)

g(y)

f (x; y ) dx dy:

y = h(x)

D
y = g(x)

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3. If D = f(x; y )jp(x)
then
"
Z
Z
b

q(x)

p(x)

University of the Witwatersrand

 y  q(x); x 2 [a; bg = D = f(x; y)jg(y)  x  h(y); y 2 [ ; dg

#

f (x; y ) dy dx =

Z Z

f da =

"
d Z h(y)

g(y)

f (x; y ) dx dy:

TUTORIAL QUESTIONS
R R

2
1. Consider the integral
D f (x; y ) dx dy where D is the region in R bounded by the
urves y = 2 x2 and y = jxj; and the fun tion f is given by f (x; y ) = x + y:

(a) Sket h the region of integration, D:

R R
(b) Write
D f (x; y ) dx dy as a repeated integral, stating pre isely your limits of
integration.
R R
( ) Evaluate D f (x; y ) dx dy:
2. Consider the integral

R1 R1

1 jyj (1 + 2y )e

x2

dx dy:

(a) Sket h the region of integration.

(b) Write the integral as a repeated integral in whi h one rst integrates with respe t
to y and then with respe t to x; stating pre isely your limits of integration.
( ) Evaluate the given integral by use of (b).
3. Let D be the region bounded above by y = 2x and below by Ry R= x2 . Give a mathemati al
expression for the region D and hen e evaluate the integral D f dx dy where f (x; y ) =
p
2x + y + 1.
4. Consider the integral I =

R1 R1

jyj e

x2

dx dy .

(a) Sket h the region of integration of the integral I .

(b) Give TWO mathemati al expressions for the region D.
( ) Evaluate the integral I by using Fubini's Theorem to reverse the order of integration.
5. Let D be the region bounded above by y = 4 x2 and below by y = 0.R Sket h
the region
R
D. On your sket h draw the line y = 3x. Hen e evaluate the integral D j3x y j dy dx.
6. Let D be the region bounded above by y = 1 and below by y = jxj.

(a) Sket h the region D in the (x; y )-plane.

(b) Give a mathemati al expression for the region D.
R R
( ) Hen e evaluate the integral D f dx dy where f (x; y ) = ye x.
7. Consider the integral

I=
24

p

p

2
p jyj sin(x ) dx dy:

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(a) Sket h the region of integration of the integral I .

(b) Give TWO mathemati al expressions for the region D.
( ) Evaluate the integral I by using Fubini's Theorem to reverse the order of integration.

2.5 Change of Variables

Theorem 2.5.1 Let T : R 2 ! R 2 and let D be a region in R 2 . Suppose that D is a region
in R 2 su h that T is one-to-one on D and T(D ) = D. Then
Z Z

f dx dy =

Z Z

 T(u; v ) 
du dv:
f (T(u; v ))
 (u; v ) 
D

Note 2.5.2 In the above theorem, D is the region of integration with respe t to the oordinates
(x; y ) and
D is the region in terms of the o-ordinates (u; v ). In addition, if we


x = T u then the above theorem be omes
write
y
v
Z Z

f (x; y ) dx dy =

Z Z

 (x; y ) 
f (T(u; v ))
du dv:
 (u; v ) 
D

TUTORIAL QUESTIONS
1. Using the hange of variables u = x + y and v = x y , evaluate the integral
Z Z

x y

e x+y sin[(x + y )2 dx dy

where D is the region of R 2 bounded by the lines x = y; y = 0 and x + y =  .

2. Using the hange of variables x = r os  and y = r sin , evaluate the integral


Z Z

y4
x2 + 2y 2 + 2 e
x

3

xy+ yx

dx dy;

where D is the se tor of the annulus 4  x2 + y 2  9 in the rst quadrant between the
line y = x and the positive y -axis.
3. RUsing
the hange of variables u = xy; v = xy ; x; y; u; v > 0; evaluate the integral
R
2
2
D x + y dx dy where D is the region in the rst quadrant bounded by the urves
x = y; x = 2y; xy = 4; xy = 9:
4. Let D be the region in the (x; y )-plane given by 1  x2 y 2  9 and 4  xy  25, where
x > 0 and y > 0. Let u = x2 y 2 and v = xy , where u > 0 and v > 0.
(a) Sket h the region D in the (x; y )-plane.

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(b) Using the denitions of u and v as given above, give an expression for D in terms
of u and v . Denote this region in the (u; v )-plane by D . Sket h the region D in the
(u; v )-plane.



.
x
u;v)
T 1 (x;y) 
T (u;v)
nd T ((u;v
( ) Let T (u; v ) = y . Using the fa t that  (u;v) = 1  (x;y) 
) .
T (u;v)



 T (u;v ) 
  (u;v ) 
R R

(d) Let f (x; y ) =

Give an expression for f (T (u; v ))
(e) By hanging to the variable u and v , evaluate the integral
x2

+ y 2.

.
D f (x; y ) dx dy .

5. Using the hange of variables x = r(3 os  + sin ) and y = r(3 os 

[0; 2 ; evaluate the integral
Z Z

5x2

where D is the region given by 9  10x2

sin ); r > 0;  2

1
dx dy
8xy + 5y 2
16xy + 10y 2  36:

6. Let D be the region in the (x; y )-plane bounded by the urves y = x2 2x + 2, y = x2

and x = 0. Let x = v and y = v 2 + 2u.
(a) Sket h the region D in the (x; y )-plane.
(b) Using the denitions of u and v as given above, give an expression for D in terms
of u and v . Denote this region in the (u; v )-plane by D . Sket h the region D in the
(u; v )-plane and give
a
mathemati al expression for D .

T (u; v )
( ) Let T (u; v ) = xy . Find
:
 (u; v )
(d) Let f (x; y ) = ey x2 + x. Give an expression for f (T (u; v )).R R
(e) By hanging to the variable u and v , evaluate the integral D f (x; y ) dx dy .

2.6 Classi al Integration Theorems

Theorem 2.6.1 Green's Theorem
Let D be a region in R 2 with boundary D oriented anti lo kwise, then for F : R 2 ! R 2 we
have

Z Z

F2
x1

F1
dx1 dx2 =
x2

D

F
dr:

Note 2.6.2 Some other forms of Green's Theorem are



Z Z

Q
x

P
dx dy =
y

D

P dx + Q dy

F1
F2
0

and if we identify F(x) with the ve tor in R 3 given by

written as

Z Z

26

(r  F)
e3 dx1 dx2 =

D

Multivariable Cal ulus

3
5

then Green's Theorem an be

F
dr:
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We only prove Green's Theorem for the ase of a region D in R 2 of the form

D = f(x; y )jp(x)  y  q (x); x 2 [a; bg = D = f(x; y )jg (y )  x  h(y ); y 2 [ ; dg:

We prove it by rst proving the following two Lemmata.

Lemma 2.6.3 Let D be a region in R 2 of the form D = f(x; y )jp(x)  y  q (x); x 2 [a; bg,
then

D

f
0

dr =

Z Z

f
dy dx:
D y

Lemma 2.6.4 Let D be a region in R 2 of the form D = f(x; y )jg (y )  x  h(y ); y 2 [ ; dg

then

D

0
g

dr =

Z Z

g
dx dy:
D x

TUTORIAL QUESTIONS
1. Prove the se ond Lemma.
2. Let D be the region in the (x; y )-plane given by x 2 [a; b, g (x)  y  f (x), with
g (a) = f (a) and g (b) = f (b). Let 1 and 2 be the urves bounding D from below and
above, and oriented so as to make 1 [ 2 = D.
(a) Parametrize 1 and 2 and he k whether your parametrization are orientation
preserving or reversing.


R
P
(b) Using your parametrizations from (a), give an expression for I = D 0
dr:
Simplify your expression for I as far as possible.
( ) Using the information
you have about the region D, Write out and evaluate as far
R R
as possible J = D P
dy
dx:
y
(d) Hen e show that I = J .
3. Using Green's Theorem, evaluate the path integral
Z 

where

ex+2y + xy
2ex+2y + sin y

dr

is the triangle with verti es (1; 1); (2; 1) and (2; 3) taken anti lo kwise.
R

4. Using Green's theorem prove that the area of a region D in R 2 is given by D ax dy +

(a 1)y dx for all a 2 R , where D denotes the boundary of the region D taken
anti lo kwise.
5. Using
the previous question, nd the area en losed by the loop in the urve r(t) =

t t3 :
1 + t2
6. Let D be the polygon with verti es (xi ; yi); i = 1; :::; N; listed anti lo kwise. For onvenien e denote x0 = xN and y0 = yN .

Multivariable Cal ulus

MATH204

27

S hool of Mathemati s

University of the Witwatersrand

(a) Parametrize the line-segment, i , from (xi 1 ; yi 1) to (xi ; yi).


Z 
y
(b) Using your parametrization, evaluate
0
dr:
i
( ) Noting that D = 1 [ ::: [ N , give an expression for the area of the polygon D
in terms x0 ; :::; xN ; y0 ; :::; yN .
7. Suppose that at the point x 2 R 3 a uid has velo ity v(x). We say that the uid has
angular velo ity w(x) = x  v(x) at x relative to the origin.
2

(a) Let x =
2
4

0
0
W (x)

4
3
5

x1
x2
0

3
5

and v(x) =

v1 (x)
v2 (x) 5. Compute w(x) and show that w(x) =
0

for some fun tion W : R 3

2

(b) Let r(t) = 4

 os t
 sin t
0

! R.

3
5

; t 2 [0; 2 . Let C = fr(t)jt 2 [0; 2 g. Show that



C

v
dr =

C

W ds:

( ) State Green's theorem and hen e show that

Z

C

W ds = 

Z Z

D

(r  v)
e3 dx1 dx2

where D is the dis entre (0; 0) with radius  in the (x1 ; x2 )-plane.
(d) By the mean value of W over C we mean the integral of W over C divided by
the length of C . By the mean value of (r  v)
e3 over D we mean the integral
of (r  v)
e3 over D divided by the area of D . Show how the mean value of W
on C and the mean value of (r  v)
e3 over D are related.
8. Fundamental Theorem of Ve tor Cal ulus
Let r(t); t 2 [a; b; parametrize a path in R n . Let A = r(a) and B = r(b). Using the
hain rule prove that for ' : R n ! R we have
Z

r'
dr = '(B) '(A):

9. The \baby" Gauss Divergen e

Theorem


F
2
2
2
and let D be region in R 2 with boundary D
Let F : R ! R and set G = F
1
oriented anti lo kwise.
(a) Using Green's theorem and G as given above, show that
Z Z

28

r
F=

D

F1 dy F2 dx:

Multivariable Cal ulus

MATH204

University of the Witwatersrand

S hool of Mathemati s

(b) Let D be parametrized by r(t); t 2 [a; b. Show that the unit outward normal, n,
to D at r(t) is

dr2 (t) 
1
dt
n= 0
jr (t)j drdt1 (t) :
( ) Thus show that

Z Z

10. Dierentiation of Integrals.

Let H (x; y; z ) =

Ry

r
F=
2

f (z; p) dp and r(t) = 4

D

F
n ds:

'1 (t)
'2 (t) 5.
t

(a) Compute H 0 (x; y; z ).

(b) Using the hain rule, ompute (H r)0 (t).
( ) Hen e show that

d
dt

'2 (t)
'1 (t)

f (t; p) dp =

Multivariable Cal ulus

'2 (t)
'1 (t)

f (t; p)
dp + f (t; '2 (t))'02 (t) f (t; '1 (t))'01 (t):
t

MATH204

29