8

Integrable functions

8.1
8.1.1

Riemann integral
An example

Suppose you want to find the area under the graph of the function () = 2 between = 1 and = 2 (see
Figure 12).

y
f (x) = x2

0.5

0.25 0.75 1

Figure 12: Approximating the area under the graph of by .

To approximate this area, you could could proceed like this. Divide the interval [1 2] into pieces (smaller
subintervals), for example considering the division points
1 05 0 025 075 1
Next, note that the sum of the areas of the rectangles below the graph of the function is smaller than the area
you are looking for, and the sum of the areas of the rectangles above the graph of the function is larger than
the area , that is

To compute , note that the first rectangle has base length 05 and height given by min[105] () =
2
(05) = 025 (the height of the rectangle has to equal the minimum value of on the interval [1 05] if you
want this rectangle to lie below the graph of the function and the approximation of the area to be the best best
approximation).
Doing the same for the remaining rectangles, you obtain
= 05 (025)2 + 05 (0)2 + 025 (0)2 + 05 (025)2 + 025 (075)2 = 0297
Similarly, to compute , note that in this case the area of the first rectangle is the length of the base (05)
2
times the height, which in this case is max[105] () = (1) = 1 (the height of the rectangle has to equal
the maximum value of on the interval [1 05] if you want the graph of the function to lie below this rectangle
and the approximation of the area to be the best best approximation).
You obtain
= 05 (1)2 + 05 (05)2 + 025 (025)2 + 05 (075)2 + 025 (1)2 = 1718
From the above calculation you obtain the crude estimate for the area under the graph of
0297 1718
Clearly, the above approximation of the area is not great, but if you consider more division points (very close
to each other), the method above will produce quite good results. This is the main ideea in defining the Riemann
integral
61

8.1.2

Definition of the Riemann integral

For a given function : [ ] R and a division

: = 0 1 1 =
of the interval [ ], we define:
- the lower Riemann sum of corresponding to the division by
( ) =

X
=1

( 1 )

inf

[1 ]

()

(40)

- the upper Riemann sum of corresponding to the division by

( ) =

X
=1

( 1 )

sup

()

(41)

[1 ]

- the Riemann sum of corresponding to the division and to the intermediate points [1 ] by
( ) =

X
=1

( 1 ) ( )

(42)

Remark 8.1 If is a continuous function, by Weierstrasss boundedness theorem, attains its maximum and
minimum value on each interval [1 ], so the infimum (inf) and supremum (sup) in the above definitions are
just the minimum (min) and maximum (max) values of on these intervals.
Some properties of the lower/upper/Riemann sums are contained in the following.
Proposition 8.2 Let : [ ] R be a bounded function.
a) For any division of [ ] and any intermediate points we have
( ) ( ) ( )

(43)

b) For any divisions 0 and 00 of [ ] we have

( ) ( )

(44)

c) Refining the partition, the lower Riemann sum increase and the upper Riemann sum decrease. That is, if
0 00 (all the points of 0 are also points of 00 ), then
( 0 ) ( 00 )

and

( 0 ) ( 00 )

Proof. a) Follows immediately using

inf

[1 ]

() ( )

sup

()

[1 ]

and summing over .

b) The left side is less than the area under the graph of , and the right side is greater than these, and the
inequality follows.
c) Follows using the inequalities
inf

[01 0 ]

()

inf

00
[00
1 ]

()

and

sup
[01 0 ]

()

sup

()

00
[00
1 ]

for any intervals 001 00 01 0 .

With this preamble, we can now introduce the definition of Riemann integral of a function, as follows.

62

Definition 8.3 We say that the function : [ ] R is integrable on the interval [ ] if there exists a number
such that for any 0 there exists a division such that
( ) ( ) +

(45)

The number is called the Riemann integral of on [ ] and is denoted by

Z

() =

(46)

Remark 8.4 In other words, the above definition says that the function is integrable if the upper and lower
Riemann sums get arbitrarily close.
Example 8.5 Consider the function : [0 1] R defined by () = 2 .
To see if is integrable, consider the partition
: 0

1
2
1

1

(so = , = 0 1 ).
We have
( ) =
=
=
=
=
=

( 1 )

=1

X

inf

[ 1
]

()

1
2

inf
1

[ ]
=1
2

X
1
1
=1

1
2
2
2
+
2
+

+
(

1)
1
3
1 ( 1) (2 1)
3
6
( 1) (2 1)
62

Similarly,
( ) =

X
=1

=
=
=
=

( 1 )

sup

()

[ 1
]

1
sup 2

[ 1
=1
]
2
1X
=1

1 2
1 + 22 + + 2
3
1 ( + 1) (2 + 1)
3
6
( + 1) (2 + 1)

62

Since the limits

lim ( ) = lim

( 1) (2 1)
2
1
= =
2
6
6
3

lim ( ) = lim

2
1
( + 1) (2 + 1)
= =
2
6
6
3

and

63

are equal, for any 0 we can find a partition such that

1
1
( ) ( ) +
3
3
so by the definition it follows that () = 2 is integrable on [0 1] and
Z
8.1.3

2 =
0

Properties of the Riemann integral

In practice, the definition (as in the previous example) is rarely used to show that a function is integrable. Instead,
we can use the following.
Proposition 8.6 If : [ ] R is continuous on the interval [ ], then is integrable on [ ].
Proof. To be written.
Some properties of the Riemann integral are contained in the following.
Theorem 8.7 (Properties of the Riemann integral) Let : [ ] R.
a) If [ ] and is integrable on [ ] and on [ ], then is integrable on [ ] and
Z

() =

() +

()

b) If is integrable on [ ] and R is a constant, then is integrable on [ ] and

Z

() =

()

c) If and are integrable on [ ] then + is integrable on [ ] and

Z

() + () =

() +

()

d) If and are integrable on [ ] and () () for every [ ], then

Z

In particular,

()

()

Z
Z

()
| ()|

Proof. Follows from the corresponding properties of lower/upper Riemann sum.

For example, property b) follows using the fact that
( ) = ( )

and

( ) = ( )

Another important property of the Riemann integral is the following.

Theorem 8.8 (Mean value theorem for Riemann integral) If : [ ] R is continuous on [ ], then
there exists [ ] such that
Z
1
() = ()
(47)

64

Proof. Since is continuous on [ ], by Weierstrass boundedness theorem (Theorem 4.9) it follows that is
bounded on [ ] and attains its bounds, so there exists [ ] such that
( ) () ( )

[ ]

By part d) of the previous theorem, it follows that

or equivalent (note

( )

()

( )

= ( ) for any constant R)

( )

() ( )

R
1
The number
() (called the mean value of on [ ]) lies between the values ( ) and ( ) of

. Since is continuous, by the intermediate value theorem it follows that there exists between and such
that
Z
1
() = ()

concluding the proof.
8.1.4

Antiderivatives

In order to find an easier way for computing Riemann integrals, we introduce the notion of antiderivative.
Definition 8.9 A dierentiable function is called an antiderivative or indefinite integral of a function on
an interval [ ] if 0 () = () for every [ ].
Example 8.10 Consider the function () = 2 . Then () =
0 () =

3
3

3
3

is an antiderivative of on any interval , for

32
= 2 = ()
3

Also, note that by adding an arbitrary constant C R to () gives another derivative of :

So

3
3

3
+C
3

= 2 = ()

+ C (for any C R) are antiderivatives of () = 2 .

The next theorem shows that once we have found one antiderivative of a function, we can find all its
antiderivatives by just adding constants to it.
Theorem 8.11 If is an antiderivative of on an interval , the any other antiderivative of on is of the
form + C for a constant C R.
Proof. Let 1 be another antiderivative of .
We have
0
(1 () ()) = 10 () 0 () = () () = 0

[ ]

Since the derivative of the function 1 () () is identically zero on [ ], by Proposition 6.18 it follows that
the function is constant on [ ], so there exists R such that
1 () () = C

[ ]

1 () = () + C

[ ]

or equivalent
concluding the proof.
65

We will denote the set of antiderivatives of on an interval by

Z
() = () + C
where is one (any) antiderivative of . Note that the interval does not appear explicitly in this notation, and
it should be clear from the context of the problem.
To find an antiderivative of a continuous functions we may use the following.
Theorem 8.12 If : [ ] R is continuous on [ ], then
Z
() =
()

is an antiderivative of on [ ], that is is dierentiable on [ ] and 0 () = () for every [ ].

Proof. Consider 0 [ ] arbitrarily fixed.
For an arbitrarily [ ] {0 }, using Theorem 8.7 a), we have:

Z 0
Z
Z 0
1
1
() (0 )
=
()
() =
()
0
0
0

By the mean value theorem (Theorem 8.8), there exists between 0 and such that
Z 0
1
() = ( )
0
so combining with the above we obtain
() (0 )
= ( )
0

Since the function is continuous on [ ] (so in particular is continuous at 0 ) and since 0 as 0 ,

we obtain
lim ( ) = (0 )
0

This shows that the limit

lim

() (0 )
= lim ( ) = (0 )
0
0

exists and equals (0 ), so is dierentiable at 0 and 0 (0 ) = (0 ), for any 0 [ ].

The above theorem can be generalized as follows.
Corollary 8.13 (Dierentiation wrt integration limits) If : [ ] R is continuous and : [ ]
[ ] are dierentiable functions, the function
() =

()

()

()

[ ]

is dierentiable on [ ] and we have

0 () = ( ()) 0 () ( ()) ()

[ ]

The main relation between antiderivatives and the Riemann integral is contained in the following.
Theorem 8.14 (Fundamental theorem of Calculus / Leibniz-Netwon formula) If : [ ] R is continuous on [ ] and is an antiderivative of on [ ], then
Z

() = ()| = () ()

66

(48)

Proof. By the previous theorem it follows that the function

Z
()
[ ]

is an antiderivative of . Since is also an antiderivative of , it follows that they dier by a constant: there exists
C R such that
Z
() =

() + C

[ ]

We have

() () =

() + C

() + C

() + C 0 C =

()

concluding the proof.

3

Example 8.15 The function () = 2 is continuous on [0 1] and an antiderivative of is () = 3 , so using

the above theorem we can easily compute the integral of on [0 1] (compare with the previous calculation of the
integral) like this:
1
Z 1
3
13
03
1
2
=
=

3
3
3
3
0
0
As another example, consider the following.

Example 8.16 An antiderivative of () = 2 + 3 cos is () = 2 + 3 sin (check!), so the integral of over

the interval [ 2] is
Z

8.1.5

2 + 3 cos = 2 + 3 sin = (2)2 + 3 sin (2) 2 + 3 sin = 3 2

Techniques of integration

R
There are mainly three methods for computing an integral () : using a formula, using a substitution (in
fact this method just simplifies the integral, so that it becomes easier), or integration by parts.
Using a formula
To be able to compute integrals, you should start by learning the antiderivatives of some common functions (see
the table of antiderivatives at the end of the notes, for example).
Example 8.17 Using the fact that the antiverivative of sin is cos and the Leibniz-Newton formula, we have
Z

2
0

sin = cos |2
= cos
0

( cos 0) = 0 + 1 = 1
2

Using a substitution
If you have to compute an integral, maybe a substitution will help you to simplify (and hence compute) the
integral. There are mainly two possibilities.
The first is to try to substitute = () for a convenient function () ( is the new variable).

Since = (),
= 0 (), which can be written in dierential form = 0 () . The substitution formula
is in this case
Z
Z
() = ( ()) 0 ()
If the resulting integral in is easier (can be computed), it means you have the right substitution. If not...
try again (or use integration by parts).

67

R
Example 8.18 Compute + 1.
Consider the substitution = 1, so = . The integral becomes
Z
Z

+ 1 =
( 1) 1 + 1
Z

=

Z
=
32 12
=
=

52 32

+C
52
32
2
2
( + 1)52 ( + 1)32 + C
5
3

A second possibility is to consider a substitution of the form () = . Since = (),

be written in dierential form = 0 () . The substitution formula is in this case
Z
Z
0
( ()) () = ()

= 0 () which can

If the resulting integral in is easier (can be computed), it means you have the right substitution. If not...
try again (or use integration by parts).
R
3
Example 8.19 Compute 2 .
Note that if you consider 3 = , then 32 = , so 2 can be replaced by
computed as follows
Z
Z
1
1
1 3
2 3
=
= + C = + C
3
3
3

1
3 .

The given integral can be

4
R
Example 8.20 Compute 2 + 3 .
Note that if you consider 2 + 3 = then 2 = , or = 12 . The given integral can be computed as
follows
5
2
Z
Z
4
2
+3
1
1 5
4
=
+C =
+ C
+ 3 =
2
2 5
10
Using integration by parts

The integration by parts formula is the following

Z
Z
0 = 0
Choosing 0 in the following order works in most cases:
1. Exponential ( 22 3 , etc)
2. Sine or cosine (sin (2) cos sin , etc)
3. Power (2 32 5 , etc)
4. 1 (the constant function 1)
R
Example 8.21 Compute 2 .

68

Since there is an exponential inside the integral, this should be chosen as 0 . So 0 = 2 (hence =
1 2
0
0
2 ) and = (so = = 1). Using the integration by parts formula we obtain
Z

2 =
=
=
=
=

1 2

2 =

Z
1 2
1 2

1
2
2
Z
2 1

2
2
2
2 1 2

+C
2
2 2
2 2

+ C
2
4

R
Example 8.22 Compute ln .
R
The integral does not contain exponentials, sine or cosine, powers. So choose 0 = 1 (so = 1 = ) and
0
= ln (so 0 = (ln ) = 1 ).
Using the integration by parts formula we obtain
Z
Z
Z
Z
1
0
ln = () ln = ln = ln 1 = ln + C

8.2

The line integral

R
R
The line integral is a natural generalization of the definite Riemann integral () . In the integral ()
we integrate the function () from = to = along the line segment [ ] from to . ReplacingR the line
segment [ ] by a general curve in the plane or in the space, we obtain the line (or curve) integral

defined below.
We begin by defining the notion of curve (either in the plane R2 or in the space R3 ).
Definition 8.23 A curve is the oriented image (graph) of a continuous function : [ ] R3 , () =
( () () ()), [ ].
The function = () is called a parametrization of the curve , and () is called the initial/starting
point of the curve and () is called the terminal/endpoint of the curve . If () = () be say that the
curve is a closed curve.
If is has a derivative 0 () = (0 () 0 () 0 ()) which is continuous at all points ( ) and 0 () 6= (0 0 0),
we say that is a smooth curve.
Some parametrizations very useful in practice are given below.
1. A parametrization of the line segment from (1 1 1 ) to (2 2 2 ) (see Figure 13) is given by : [0 1]
R3 , where
() = (1 ) +
= (1 ) (1 1 1 ) + (2 2 2 )
= ((1 ) 1 + 2 (1 ) 1 + 2 (1 ) 1 + 2 )

[0 1]

2. A counterclockwise parametrization of an arc of circle of center (0 0) and radius 1 (see Figure 14), between
angles and is : [ ] R2 , where
() = (cos sin )

[ ]

More generally, if the circle has radius and center (0 0 ), the corresponding counterclockwise parametrization is
() = (0 + cos 0 + sin )
[ ]
69

B = (x2, y2, z2)

r(t) = (1 t)A + tB,

t [0, 1]

A = (x1, y1, z1 )
x

Figure 13: Parametrization of the line segment from to .

y
r(t) = (cos t, sin t),

t [, ]

Figure 14: A counterclockwise parametrization of the arc of a circle centered at the origin.
3. A parametrization which is very useful in practice is that of the graph of a given continuous function :
[ ] R2 (see Figure 15). In this case, the parametrization is given by : [ ] R2 , where
() = ( ())

[ ]

For example, the parametrization of a part of a parabola, given by the graph of the function : [2 3] R2 ,
() = 2 5 + 7 is given by

() = 2 5 +
[2 3]

(to remember this easily,

set = [2 3] - the parameter, and then = () = () = 2 5 + 7, so
just
2
() = ( () ()) = 5 + ).

4. If : : [ ] R3 is a given curve, then the reversed curve (see Figure 16) is obtained by reversing
the initial and starting points of the curve , and has the parametrization : [ ] R3 , where
() = ( + )

[ ]

With this preparation, we can now give the definition of the line integral, as follows:
Definition 8.24 Given a continuous function = (1 2 3 ) defined on smooth curve : = () = ( () () ()),
[ ], we define the line integral of over the curve by
Z
Z

=
( ()) 0 ()

70

r(t) = (t, f (t)),

t [a, b]

Figure 15: A parametrization of the graph of a function.

C : r(t),

t [a, b]

C : r (t) = r(a + b t),

t [a, b]

Figure 16: The parametrization of the reversed curve .

denotes the scalar product/dot
Remark 8.25 Given two vectors
= (1 2 3 ) and = (1 2 3 ) in R3 ,
product of the vectors
and , defined by

= 1 1 + 2 2 + 3 3

R
The line integral
defined above is therefore equal to
Z
1 + 2 + 3

(1 ( () () ()) 2 ( () () ()) 3 ( () () ())) (0 () 0 () 0 ())

1 ( () () ()) 0 () + 2 ( () () ()) 0 () + 3 ( () () ()) 0 ()

R
we integrate the dot product of the vectors
This formula says that in order to compute the line integral
(
()) = (1 (
()) 2 (
()) 3 (
())) and 0 () = (0 () 0 () 0 ()) over the interval [ ].
R
Remark 8.26 It is not immediate from the definition that the line integral
is independent of the
parametrization. That is, if 1 : [ ] R3 and 2 : [ ] R3 are two parametrizations of the same oriented
curve , then
Z
Z
(
1 ()) 10 () =
(2 ()) 20 ()

However, this follows by the change of variables in the definite integral, as follows: if 1 and 2 both describe
the same smooth curve , then it can be shown that 1 () = 2 ( ()), for some bijective function : [ ] [ ].

71

With the change of variables = (), we obtain

Z

(
2 ()) 20 () =
=
=

=1 ()
=1 ()

(
2 ( ())) 20 ( ()) 0 ()

(
1 ()) 10 ()

(
1 ()) 10 ()

R
where ( ) = 2 sin and is the arc of the circle
Example 8.27 Compute the line integral
of center (0 0) and radius 1 located in the first quadrant (i.e. 0).
A parametrization of the given curve is : [0 2] R3 , where
h i
() = (cos sin 0)
0

0
0
0
We have 0 () = (cos ) (sin ) (0) = ( sin cos 0), and therefore the given integral is
Z

=
=

(
()) 0 ()

cos sin2 sin 0 ( sin cos 0)

sin cos + sin2 cos

sin2
=
2

1
=
+
2
1
=
6

=2
sin3
+
3
=0

1
0 0
+
3
2 3

Remark 8.28 (Physical interpretation of the line integral) In Physics, the work done by a constant force
acting on a particle moving in a straight line, is defined as = Force distance. In general, given a force (not
necessarily constant) and a particle moving on a curve (not necessarily a line segment), we can compute the
work done by dividing the curve by points ( ) into small parts , = 1 , such that each curve is
approximately a straight line segment, and the force is approximately constant on .
It follows that the work done in moving the particle along the curve is approximately = ( ( ))
(
( ) (1 )) (
( )) 0 ( ) (note that the tangent vector 0 ( ) is a good approximation of the curve
by a straight line if the points ( ) are suciently close to each other and the curve is smooth), and therefore
we obtain

X
X
1 + + =
(
( )) ( )
=
=1

=1

To make this formula exact, we pass to the limit with , and we obtain
= lim

=1

(
( )) ( ) =

( ()) 0 ()

which shows that the line integral

givesRthe work done by a force in moving a particle along the curve
. This is the reason for which the line integral
is sometimes also called the work integral.

Since the line integral is defined by a definite (Riemann) integral, it also has the corresponding properties. More
precisely, we have:

are continuous functions defined on the smooth curve

Theorem 8.29 (Properties of the line integral) If
, then
72


R
R
R


+
(additivity)
+
=

R
R
2.
, for any constant R (homogeneity)
=
R
R
R
3. If = 1 2 is formed by union of two curves, then 1 2
= 1
+ 2
(additivity with
respect to the curve)
R
R
4.
=

1.

Proof. Follow from the corresponding properties of the definite integral: the properties 1) and 2) follow from the
properties
Z
Z
Z
( () + ()) =
() +
()

and

() =

()

of the definite integral.

The property 3) follows from the property
Z

() =

() +

()

for any , and the property 4) follows from the property

Z

() =

()

For the definite integral, we saw (the Leibniz-Newton formula) that if 0 () = () for [ ], then
Z

() = () ()

We will see that with the appropriate definitions, a similar formula holds for the line integral. First, we introduce
the concept of independence of path of a line integral, as follows:
R
Definition 8.30 We say that the line integral
is independent of the path of integration in the
domain , if for any two points and any two curves 1 and 2 contained in with starting point
and endpoint , the corresponding line integrals are equal:
Z
Z

=

We have:
Theorem 8.31 If = (1 2 3 ) is continuous in a domain R3 , then the line integral
of path in if and only if there exists a function : R such that

= grad =

in

R
can be computed as follows:
In this case, the line integral
Z

= () ()

where is the endpoint and is the starting point of the curve .

73

is independent

Proof. Assume that there exists the function : R such that = grad , that is 1 =

2 =

and

3 =
Let : = () = ( () () ()) : [ ] R3 be a curve with starting point = () and endpoint
= (). and If the curve We have
Z
Z

=
(
()) 0 ()

1 (
()) 0 () + 2 (
()) 0 () + 3 (
()) 0 ()

(
()) 0 () +
(
()) 0 () +
(
()) 0 ()

( () () ())

= (
())|=
= (
()) (
())
= () ()

R
and therefore the line integral
does not depend on the path of integration (depends only on its endpoint
and starting point).
R
Conversely, if the line integral
does not depend on the path of integration, it can be shown that the
function : R defined by
Z
( ) =

where is an arbitrary curve contained in with starting point (0 0 0 ) arbitrarily fixed and endpoint
( ) , is dierentiable in and satisfies the condition = grad .
To see this, we choose a curve = 1 2 such that the last part of the curve (the part close to the endpoint
( )) is a line segment 2 = [( ) ( )] parallel to the - axis. We obtain:
Z
( ) =

Z
Z

=
1
2
Z

= ( ) +
2

and therefore
( ) ( ) =
Using the parametrization 2 : : [0 1] R3 given by

() = (1 ) ( ) + ( )
= ( )
we obtain
( ) ( ) =
=

1 ( + ) ( + ) + 2 ( + ) () +

1 ( + ) ()0 0 + 2 ( + ) ()0 + 1 ( + ) ()0

Z 1
1 ( + ) + 2 ( + ) 0 + 1 ( + ) 0
=
0

1 ( + )
74

and therefore
( ) ( )
lim
0
( )

lim

1 ( + )

= 1 ( )

which shows that has partial derivative with respect to

( ) = 1 ( )

A similar proof shows that

concluding the proof.

= 2 and

= 3 , and therefore = (1 2 3 ) =

= grad ,

R
Example 8.32 Consider the line integral
, where = ( + + cos ) and is a curve from =
(0 0 0) to = (1 2 2)
2

2
It can be checked that = grad 2 + 2 + sin , and therefore from the above theorem it follows that
Z

(122)

2 2
+
+ sin
2
2
(000)

2
1 2
0

2
=
+
+ sin

+ 0 + sin 0
2
2
2
2
1
=
+2+1
2
7
=

In general, it is not very easy to see whether a given function is the gradient of a certain function . The
following theorem gives us a simple criterion for deciding whether = grad :
Theorem
8.33 Let be a simply connected domain and = (1 2 3 ) have continuous partial derivatives.
R
Then
is independent of path in if and only if curl = 0, where

Proof. Assume

curl =
1

3
2 3
1 2 1

=

is independent of path. By the previous theorem, = grad , or 1 =

2 =

and

for some dierentiable function : R.

3 =
We have

2
2


=

= 0

2
3

by Schwarzs theorem (since has continuous partial derivatives and = grad =

2

, has continuous

=
).
second order partial derivatives, and therefore
3
1
2
1
Similar proof shows + = 0 and = 0, and therefore curl = (0 0 0) = 0.
We will not give here the proof of the converse (it requires Stokess theorem).

75

8.3

The line integral with respect to the arc length

We will first introduce the notion of arc length of a curve. Consider a smooth curve, with parametrization
: [ ] R3 , () = ( () () ()). To approximate the length of the curve , we consider a partition
: = 0 1 = of [ ] and we approximate the length of the curve by the length of the polygonal
line passing through the points = ( ) = ( ( ) ( ) ( )), = 0 1 . We have
Length ()
=

||
( ) (1 )||

=1
q
X
=1

( ( ) (1 )) + ( ( ) (1 )) + ( ( ) (1 ))

Applying Lagrange theorem to the function : [1 ] R it follows that there exists a point [1 ]
such that ( ) (1 ) = 0 ( ) ( 1 ), and similarly for the functions () and (). We obtain
Length ()

q
X
2
2
2
0
(0 ( ) ( 1 )) + ( 0 (
) ( 1 )) + ( ( ) ( 1 ))
=1

q
X
2
2
0 2
=
(0 ( )) + ( 0 (
)) + ( ( )) ( 1 )
=1

q
X
2
2
0 2
(0 ( )) + ( 0 (
=
)) + ( ( ))
=1

To make the above approximation exact, we pass to the limit with = 1 0. Since is a smooth
curve, by the definition of the Riemann integral it follows that the limit of the above sum exists and we have
lim

&0

Z
q
X
2
2
0 ( ))2 =
(0 ( )) + ( 0 (
))
+
(

=1

q
2
2
2
(0 ()) + ( 0 ()) + ( 0 ())

We are thus lead to the following:

Definition 8.34 Given a smooth curve with parametrization : [ ] R, () = ( () () ()), we define
the length of the curve by
Length () =

q
(0 ())2 + ( 0 ())2 + ( 0 ())2

Remark 8.35 The length of the curve defined above depends on the parametrization = (). Since there are
many possible paramtrizations of a given smooth curve , we should check that the above definition is independent
on the choice of the parametrization. However, this follows by the independence of the line integral with respect to
the arc length (see below).
Example 8.36 Lets use the above formula to compute the length of the circle of radius centered at the origin.
A parametrization of is given by : [0 2] R, () = ( cos sin 0).
We have 0 () = ( sin cos 0), and using the definition above we obtain
Length () =

q
( sin )2 + ( cos )2 + 02

= |2
0
= 2
which coincides with the formula known from geometry (i.e. the length of a circle of radius is 2).

76

To make it easier to remember the next definition, we consider a small part of the curve in the previous
discussion, say between the points () and ( + ). By the above definition, its length is given by
=

q
2
2
2
(0 ()) + ( 0 ()) + ( 0 ())

and by the mean value theorem we obtain

q
2
2
2
= (0 ( )) + ( 0 ( )) + ( 0 ( ))

where is a intermediate point between and + .

Passing to the limit with 0, it follows that
q
q

2
2
2
2
2
2
(0 ( )) + ( 0 ( )) + ( 0 ( )) = (0 ()) + ( 0 ()) + ( 0 ())
lim
= lim
0
0
or

2
2
2
= (0 ()) + ( 0 ()) + ( 0 ())

This formula shows that the length = () of an infinitesimal arc of the curve (called the arc length of the
curve ) has length
q
=

(0 ()) + ( 0 ()) + ( 0 ())

and justifies the following definition:

Definition 8.37 Given a continuous function = ( ) defined on a smooth curve : = () = ( () () ()),

[ ], we define the line integral of with respect to the arc length of the curve by
Z

(
()) ||
0 ()|| =

(
())

q
2
2
2
(0 ()) + ( 0 ()) + ( 0 ())

R
Remark 8.38 It is not immediate from the definition that the line integral is independent of the parametrization. That is, if 1 : [ ] R3 and 2 : [ ] R3 are two parametrizations of the same oriented curve
, then
Z
Z
0
(
1 ()) ||
1 ()|| =
(
2 ()) ||
20 ()||

However, this follows by the change of variables in the definite integral, as follows: if 1 and 2 both describe
the same smooth curve , then it can be shown that 1 () = 2 ( ()), for some bijective function : [ ] [ ].
With the change of variables = (), we obtain
Z

(
2 ()) ||
20 ()|| =
=

1 ()

1 ()

(
2 ( ())) ||
20 ( ()) 0 ()||

(
2 ( ())) ||
20 ( ())|| 0 ()

(
1 ()) (
2 ( ()))0
(
1 ()) ||
10 ()||

Example 8.39 Compute the line integral + 2 where is the arc of the circle of center (0 0) and radius
1 located in the first quadrant (i.e. 0) oriented counterclockwise.
A parametrization of the given curve is : [0 2] R3 , where
h i
() = (cos sin 0)
0

77


0
0
0
We have 0 () = (cos ) (sin ) (0) = ( sin cos 0), and therefore the given integral is
Z
Z 2
q
+ 2 =
(cos + 2 sin 0) ( sin )2 + (cos )2 + 02

cos + 2 sin

= sin 2 cos |=2

=0
= (1 2 0) (0 2 1)
= 3
Since the line integral with respect to the arc length is defined by a definite (Riemann) integral, it also has the
corresponding properties. More precisely, we have:
Theorem 8.40 (Properties of the line integral wrt arc length) If are continuous functions defined on
the smooth curve , then
R
R
R
1. ( + ) = + (additivity)
R
R
2. ( ) = , for any constant R (homogeneity)
R
R
R
3. If = 1 2 is formed by union of two curves, then 1 2 = 1 + 2 (additivity with respect
to the curve)
R
R
4. =

Proof. Consider : [ ] R, () = ( () () ()) a parametrization of the curve .

By definition, we have
Z
Z
q
2
2
2
( + ) =
( (
()) + (
())) (0 ()) + ( 0 ()) + ( 0 ())

(
())

q
2
2
2
(0 ()) + ( 0 ()) + ( 0 ()) +

q
(
()) (0 ())2 + ( 0 ())2 + ( 0 ())2
Z
Z
+

and similarly
Z

( ) =

( (
()))

=
=

(
())

q
(0 ())2 + ( 0 ())2 + ( 0 ())2

q
2
2
2
(0 ()) + ( 0 ()) + ( 0 ()) +

using the additivity and homogeneity of the Riemann integral.

To prove 3), since = 1 2 , there exists a point ( ) such that 1 : [ ] R, 1 () = () is a
parametrization of 1 and 2 : [ ] R, 2 () = () is a parametrization of 2 .
From the definition of the line integral with respect to the arc length, we obtain
Z
Z
=
(
()) ||0 ()||
1 2

=
=
=

(
()) ||0 ()|| +

(
1 ()) ||10 ()|| +
Z
+

2

78

(
()) ||0 ()||

(
2 ()) ||20 ()||

To prove part 4), note that a parametrization for the reversed curve is 1 : [ ] R, 1 () = (), and that
0

we have 1 () =
(
( + )) =
0 ( + ). Using the definition and using the substitution = +
(note that = ), we obtain
Z

(
1 ()) ||
10 ()||

=
=
=

(
( + )) ||
( + )||

(
()) ||
()||

(
()) ||
()||

which concludes the proof.

There are 3 applications of the line integral with respect to the arc length, as follows:
1. Length of a curve
It is immediate from the two definitions of above that the length of a curve can be computed using the line
integral:
Z
Length () =

(just compare the first definition above with the second one, in which 1)
2. Mass of a curve with mass density = ( )
The mass of a curve with variable mass density (for example a wire which is not uniform, having parts that
are heavier/lighter) can be computed using the line integral as follows:
Z
Mass () =

To see why this formula is so, divide the curve into small parts by points ( ), = 1 , where
: [ ] R is a parametrization of and = 0 1 = is a partition of [ ].

If the partition is fine enough and the mass density is continuous, the part of the curve between points
(1 ) and ( ) has approximately constant density, hence its mass is approximately (
( )) (density)
times the length of this arc. Summing up the masses of all such arcs, we obtain
Mass ()

(
( ))

=1

q
2
2
0 2
(0 ( )) + ( 0 (
)) + ( ( ))

To make the above approximation exact, we pass to the limit with the norm of the partition tending to zero,
and we obtain
Z
Z
q
Mass () =
(
())
(
()) (0 ())2 + ( 0 ())2 + ( 0 ())2
which by definition equals

3. The center of mass ( ) of a given curve with mass density = ( ) is given by

R
R
R

R
R
=

= R

The reason for the above formulae comes from Physics (the sum of moments with respect to the center of
mass of all forces involved equals zero), but we will not discuss it here.

79

Example 8.41 Find the length, mass and center of mass of the curve with mass density ( ) = 3, where
is the arc of parabola = 2 lying in the first quadrant.

A paramterization of the curve is : [0 1] R, () = 2 0 .

From the above formulae we obtain:
- Length of
Z
Length () =
1
Z

q
2
2
(1) + (2) + 02
0
Z 1r
1
= 4
+ 2
4
0

2
Using the formula
2 + 2 = 2 2 + 2 + 2 ln + 2 + 2 + , we obtain
!!1

r
r

14
1
1

+ 2 +
ln +
+ 2
Length () = 4

2 4
2
4
0

!!

5
1 5 1
= 4
+ ln 1 +
2 2
8
2

1
5
=
5 + ln 1 +
2
2
=

- Mass of
Mass () =
=

Z 1
0

= 3

q
3 (1)2 + (2)2 + 02

p
1 + 42

Using the substitution = 1 + 42 (note that = 8) we obtain

Z 1 p
Mass () = 3
1 + 42
0

= 3

=
=
=

3
8

1

8

12

5
3 32
8 32 1

5 51

- Center of mass of : ( )
For example, the coordinate of the center of mass is
R

= R

R1 2
3 1 + 42
0

=
=

5 51
4
Z 1

12

5 51

80

p
1 + 42

With the substitution = 1 + 42 (note that = 8), we obtain

=
=
=
=
=
=
=

and similarly for and .

8.4

Z 5
12
1 1

4
8
5 51 1
Z 5
3

32 12
8 5 51 1
52
5
3

32

52
32 1
8 5 51
52

3
5
1
532
3
1

52
32
52 32
8 5 51
8 5 51

2
4
3
15 5

2


3
15
8 5 51
8 5 51

1
5 5

+

2 5 51
10 5 5 1

25 5 + 1

10 5 5 1

The double integral

R
The double integral can be viewed as an extension of the definite integral () , as follows. Consider a function
of two variables, = ( ) : R defined on a domain R2 . We defined the integral by dividing the interval
[ ] into subintervals [1 ], = 1 , of length = 1 and taking limits of the sums of the form

( )

=1

where [1 ] are arbitrarily chosen points in the interval [1 ], = 1 .

Proceeding similarly, we can divide the given region into rectangles with sides parallel to the and
axes (see Figure 17), and we can form the sum
X

=1 =1

where is an arbitrary point in the rectangle , = 1 and = 1 .

Figure 17: The domain dividided into rectangles .

81

Figure 18: The domain between the graph of two functions () (), [ ].
If the function is continuous on and is a nice domain (its boundary is a smooth curve), it can be shown
that the limit as , 0 of the above sum exists and is finite, and we denote the limit by
Z Z

( ) =

lim

(49)

=1 =1

and and call it the double integral of over the domain .

The double integral has similar properties with the definite integral, as follows:
Theorem 8.42 Let : R be continuous functions defined on the domain R2 . We have:
RR
RR
RR
1.
( ( ) + ( )) =
( ) +
( ) (additivity)

RR
RR
2.
( ) = ( ) for any constant R (homogeneity)

RR
RR
RR
3. If = 1 2 , then
( ) =
( ) +
( )
1 2
1
2
RR
4. There exists (0 0 ) such that
( ) = (0 0 ) Area ()

8.4.1

Evaluation of the double integral

There are essentially two dierent ways for computing the double integral: as an iterate (succesive) integral or by a
change of variables (see also Greens theorem for an alternate possibility for the evaluation of the double integral).
Double integral as an iterate integral Assume that the domain is the region between the graphs of two
functions : [ ] R of the variable (see Figure 18), that is:
= {( ) : () ()

[ ]}

Computing the limit in (49) as an iterate integral, we obtain

Z Z

( )

lim

lim

=1 =1

X
=1

X

lim

()

=1

( )
()

82

Figure 19: The domain between the graph of two functions () (), [ ].
and therefore in this case we can compute the double integral by first integrating the function first with respect
to (between the limit () and ()) and then integrating the resulting function with respect to (between the
limits and ):
!
Z Z
Z Z ()
( ) =
( )
(50)

()

A similar formula holds if we reverse the roles of the variables and , that is if the domain can be described
as
= {( ) : () ()

[ ]}

for some functions : [ ] R of the variable (see Figure 19).

In this case, we can compute the double integral by first integrating with respect to (between () and ())
and then integrating the resulting function with respect to the variable (between and ):
!
Z Z
Z Z

()

( ) =

( )

(51)

()

RR
Example 8.43 Compute the double integral
where is the upper half of the unit disk 2 + 2 1.

2
The given domain is of the form in Figure 18 (sketch p
a picture!), where ()
p = 0 and () = 1 ,
[1 1], and also of the form in Figure 18, where () = 1 2 and () = 1 2 , [0 1].
Using the first representation above, we have
!
Z Z
Z Z 2
1

1
1
1
1

=12
2

2 =0

1 2

2
1
=1
3

=
2
6 =1

1 1
1 1
=

2 6
2
6
2

=
3
=

83

Using the second representation above, we have

Z Z

Z 2
1

2
1
2

12

p
1 2

=1
2
2 32
1

3
=0
2

=
=
obtaining the same result.

Change of variables in the double integral Recall that for the definite integral
of variable = () : [ ] [ ], we obtain
Z

() =

() , using the change

( ()) 0 ()

Similarly, changing the variables in the double integral

= ( )

= ( )

RR

( ) by

( )

we obtain the following change of variables formula

Z Z
Z Z
( ) =

( )

( ( ) ( ))
( )

(52)

(53)

The formula says that changing the variables from ( ) ( )

, we have to change accordingly the

()
domain of integration (from to ), and the area element by () , where

( )
=
( )

is the Jacobian of the change of variables (52) - the determinant of the matrix of partial derivatives of the old
variables with respect to the new variables (note that the corresponding Jacobian for the definite

= 0 ()).
integral is just
Remark 8.44 To see why this formula is so, we go back to the definition (49), and we see that the area element
is the limiting area of a rectangle, and similarly for and .
Approximating = ( ) and = ( ) by a Taylors formula of order 1 near the point ( ), we obtain
a linear transformation

( ) +
( ) ( ) +
( )

( ) ( ) + ( ) +
( )
where all the partial derivatives are evaluated at the point ( ).
It can be shown that under a linear transformation, the area element element changes by a factor equal to the
absolute value of the Jacobian, that is

( )

=
( )

which by initial remark shows that

( )

=
( )
84

R R 2 +2
Example 8.45 Compute the integral

where is the disk 2 + 2 9.

By using the change of variables (polar coordinates):

= cos

[0 3] and [0 2]
= sin
the corresponding Jacobian is

and therefore we obtain

( )
=
( )
Z Z

+2

cos
sin
=
sin cos

Z Z

= cos2 + sin2 =

cos2 +2 sin2

[03][02]

Computing the las integral as an iterated intgral, we have

Z 2 Z
Z Z
2
2
+ =

=
=
=

0
2
0

=3
1 2

2 =0

=2
9
2 =0

= 9
8.4.2

Greens Theorem

Greens theorem gives us a formula which relates the double integral and the line integral, introduced in the previous
section.
Theorem 8.46 (Greens theorem) Let R2 be a bounded domain, having as boundary a smooth curve
and 12
(oriented such that the domain is on the left of the curve ). If = (1 2 ) : R is continuous on
7

have continuous partial derivatives on , then

Z
Z Z
2 1
(1 2 )

Remark 8.47 Note that the integrand on the left is just the third component of the curl , where = (1 2 3 ).
More generally, a similar formula holds (Stokess theorem), which states that
Z Z
Z

curl
=

where is an oriented surface with normal vector

and is the boundary of the surface , oriented accordingly
(such that the surface is to the left of ).
Proof. It is sucient to prove the theorem in the case when the domain is of the form in Figure 18 or in Figure
19 (we can reduce the proof to this case by dividing the domain into domains of this form and then use the
property 3) in Theorem 8.42).
Assume therefore that the domain is of the form in Figure 18, that is = {( ) : () () [ ]}
7 This

means that 12 have partial derivatives in a domain containing .

85

Computing the double integral as an itrated integral, we have

!
Z Z ()
Z Z
1
1
( ) =
( )

()
Z
=()
=
1 ( )|=()

1 ( ()) 1 ( ())

1 ( ())

1 ( ())

The boundary curve of can be written as the union of two curves

=
where is the lower curve given by = (), with parametrization
: () = ( ())

[ ]

and is the upper curve given by = (), with parametrization

: () = ( ())

[ ]

We have
Z

(1 0)
=
=
=

(1 0)
+

(1 0)

(1 0)

(1 0)

(1 ( ())) (1 0 ())

1 ( ())

Z Z
1

A similar proof shows that we also have

Z

(0 2 )
=

(1 ( ())) (1 0 ())

1 ( ())

Z Z

and therefore adding the last two equalities, we obtain

Z
Z Z
(1 2 )
=

2 1

concluding the proof.

8.4.3

Applications of the double integral

There are several applications of the double integral, among which we will reer to the computation of volumes,
areas and center of mass.
Given a continuous function = ( ) : R with 0 in , the volume of the region beneath the graph
of the function and above the domain (see Figure ??) is given by
Z Z
Volume =
( )

86

Remark 8.48 To see why this is so, remember that the double integral is the limit of the sum in (49), in which
( ) gives an approximation of the parallelipiped with base the rectangle and height ( ). Summing up over and taking the limit, this formula (that is, the double integral) gives the area under the graph of
the function = ( ).
Example 8.49 We can compute the volume of a sphere of radius (i.e. 2 + 2 + 2 2 ) by using the double
integral aspfollows: the volume of the sphere is by symmery twice the volume under the graph of the function
( ) = 2 2 2 above the domain : 2 + 2 2 (sketch a picture!).
Therefore, we obtain
Z Z p
Volume = 2
2 2 2

To compute this integral, we can either use an iterate integral, or a substitution. Choosing the substitution
(change to polar coordinates)

= cos

[0 ] and [0 2]
= sin

the corresponding Jacobian is

and therefore we obtain

( )
=
( )

cos
sin
=
sin cos

Volume = 2

Z Z

[0][02]

= 2
= 2
= 2
=
=

2
0

p
2 2 cos2 2 sin2

!
p
2
2

32 =
1 2

3
=0
1 2 32

0
2
0

= cos2 + sin2 =

=2
2 3

3
=0
4 3

3

Taking ( ) 1 and remembering that a cylinder with a height of 1 has volume equal to the area of its base,
from the previous formula we obtain a formula for computing the area of a given domain :
Z Z
Area () =
1

Example 8.50 We can compute the area of the disk : + 2 2 by using the double integral as follows:
Z Z
1
Area =

Writing the domain as the domain between the curves () = 2 2 and () = 2 2 , with
[ ], we can compute the double integral as an iterated integral, as folows:
!
Z Z 2 2
Area =
1

2 2

p
2 2 2

R
2
2 2 = 2 2 2 + 2 arcsin + or we can
To compute the integral, we can either use the formula
use a substitution, say = sin , with [2 2], and after computation we obtain
Area = 2
87

Interpreting the function ( ) 0 as the density of mass at the point ( ) , and proceeding similarly
with the previous remark, we see that the mass of a domain with mass density ( ) is given by
Z Z
Mass () =
( )

The center of mass of can be computed by the following formulae:

RR
RR
( )
( )

R
R
and = R R

(
)

( )

Exercises

1. Compute the integral

R1
0

using the definition.

2. Dierentiate with respect to the given integrals.

R
(a) 1 2 + 1
R4
(b) 2 ( + 1)3
R 1+2 1
(c) 12 1+
2
R sin 1

(d) 1
+

3. Show that for any (0 1) we have

1+

4. Compute the integral

1
= 0
(2 )

by using the definition, considering the partition

: 2 =

R2
5. Redo the previous exercise in the particular case 1 2 , then use it to show that

!
1
1
1
1
lim
=
2 +
2 + +
2

2
( + 1)
( + 2)
( + )
6. Compute the indicated indefinite integrals.
R
a) R sin cos 7
cos 2
d) 1sin
2
R
2
g) R 3 +32 +3+1
1

j) 2 5+4
R 4 ++1

m)

R
p) 4+2
R 5
s) ln
R (+1)10

v)

7. Find the following antiderivatives:

R
a) 62 + 8 + 3
R
1
d) 8
2
R

g) (1)(+1)2
R
j) 22+3
+5+6

R
b) R
e)
R
h) R
k)
R
n)
R
q)
R
t)
R
x)

2 cos 3
1

163+2

2 +31
4 +3 +2 +
2

cos

1
2

2+3
2 +34
2

R
b)
2
R 1
e) 2 +7
R

h) 3 2
2
R 4 +
k) 3 1
88

R
c) R 2 ln
1
f) 2 +44

R 6
i) R ln

l) 3 +
R
o) 2 + 4
R ln
r)

R arcsin

u)

12
R
4
y) (2 +4)(+1)
R
c)
R
f)
R
i)
R
l)

2 10

22 +3+2
1
4 +1

8. Find the following antiderivatives using a change of variables:

R

a)

d)

ln

3

18

R (12 )

g)

1+4

b)
e)
h)

+1
cos
2+cos(2)

13

9. Find the following antiderivatives using integration by parts:

R
R
a) R
b) R 2
d) ln
e) ln

10. Evaluate the following definite integrals.

4
R3
1 + 22
2
R 4 cos
d) 0 (1+sin

)2
R 4
2
g) 0 cos 2
R 13
j) 0 1
2
a)

11. Evaluate the following definite integrals:

R1 1

a) 0 1+
R1

d) 0 2 +3+2
R 1 3
g) 0 8 +1
R1
j) 0 2
R1
m) 0 +1
2
R 4 1+
p) 0 ln (1 + tan )
12. Evaluate the line integral

b)
e)
h)

c)
f)
i)

1252

1+4

R
2 + + 1

R
c) R sin
f) 2 ln

R4

+1

R1
2 + 1
0
R 2
2 2 cos
0

R
b)
R 4 1+
e) 1 2
R 3
h) 6 cot
Rp
k) ( ) ( )
R1
1
n) 0 +

R1 2
q) 0 arctan

in the following cases:

c)
f)
i)

R2

2 +1
4
1 (+1)
R 4

1
R 4
cos 2
0

R
c) 0 cos
R 1

f) 2 2 +4+5

R 2
i) 0 sin (2)
R
l) 0 2 cos
R4
o) 0 2 + 9
R
r) 0 2 sin2

(a) ( ) = ( 0) and is the quarter of the circle of radius 1 located in the first quadrant,
traversed counterclockwise.
(b) ( ) = ( ) and is the helix given by : [0 2] R3 , () = (cos sin 3).

(c) ( ) = 2 2 and is the straight line segment from = (0 0) to = (1 4).

(d) ( ) = 2 2 and is the graph of the function = 42 from = (0 0) to = (1 4).

R
13. If ( ) = 2 2 , is the line integral independent on path in R2 ? See parts c) and d) of the
exercise above.

14. Consider ( ) = 5 2 and the curves 1 given by 1 () = ( ), [0 1], and 2 given by

2 () = 2 , [0 1].
(a) Evaluate

(b) Evaluate

(c) Is the line integral

independent on path?

3
15. Show that the following line integrals are independent on path
R in R . Determine a function such that
= grad and then compute the corresponding line integral .

(a) ( ) = (3 3 2), is a curve from (0 0 0) to (4 1 2);

(b) ( ) = ( cos sin 0), is a curve from (0 1) to (3 2 3);

(c) ( ) = 3 2 0 6 , is a curve from (1 0 5) to (4 7 3);

89

2
2
2
(d) ( ) = + + 2+ , is a curve from (0 1 1) to (2 4 0);

(e) ( ) = ( sin () cos sin ()), is a curve from ( 2 2) to (0 1);

(f) ( ) = (cos cos (2) 2 sin sin (2) 0), is a curve from (2 2) to 4 0 3 .
R

16. Show that 2 2 2 0 is path dependent in R3 .

17. Determine if the following line integrals are path independent in R3 . If armative, find a function such
that = grad .

R
(a) 2 22 1
R
(b) ( )
R
(c) ( )
R

(d) 2 0

R
(e) 3 ( + )2 6 ( + )2 0
R
(f) ( 2 )
R
18. Evaluate the line integral with respect to the arc length in the following cases:
(a) ( ) = 2 + 2 , : = 3, from (0 0) to (2 6);

(b) ( ) = 3 , : () = (2 cos 2 sin 0), [0 2];

(c) ( ) = 2 + 2 + 2 , : () = (cos sin 2), [0 4];

p

(d) ( ) = 2 + 2 + 3 2 , : () = 2 , [0 3];
(e) ( ) = 1 + 2 + 2 , : () = ( cos sin ), [0 ];

(f) ( ) = 2 + 3 , : () = cos3 sin3 , [0 ].

19. Determine the mass and the coordinates of the center of mass of the following curves (assume mass density is
equal to 1):
(a) Arc of the circle of radius with center the origin and lying in the second quadrant (i.e. 0 and
0);

(b) Line segment from (1 2 3) to (4 5 6);

(c) Part of the parabola = 2 2 3 between (1 0) and (3 0).

20. Redo the previous exercise for a variable mass density ( ) = .
21. Describe the given region as the region between the graphs of two functions:
)
)
)
)
)
)
22. Write the double integral
exercise.

RR

= {( ) : 0 3 1 1}

=
( ) : 2 9 2 1

=
( ) : 2 + 2 2
n
o
=
( ) : ( 1)2 + 2 4 ( + 1)2 + 2 4

1 2
2
2
2
=
( ) : + 4 + 1 0
4
: , where (1 0) (2 0) (0 3)

( ) as an iterated integral for the domains given is in the previous

90

23. Evaluate the given double integrals

ZZ

sin () ; = {( ) : [0 1] [0 ]}

ZZ

Z
Z

Z
Z

ZZ

ZZ

2
+ 2 : 4, where (1 1) (2 1) (2 1)
2 = {( ) : 0 2; 0 }

2 = ( ) : 2 + 2 2

= 2 9, 2 1 [2 4]

= 2 9, 2 1 [2 3]

24. Find the volume of the regions indicated below

) 2 + 2 + 2 2
) 2 + 2 3
2 2 2
)
+ 2 + 2 1
2

25. Evaluate the given double integrals by using a change of variables

)
)
)
)

ZZ

= ( ) : 2 + 2 4 3 0

ln 2 + 2
: ( ) : 1 2 + 2 4
2
2
+

ZZ

ZZ

R
R

( + ) : ( ) : 2 + 2 +

( + ) is the parallelogram with vertices (0 0) (4 0) (1 3) (5 3)

3 Calculate the area, the mass and center of mass of the domain , where the mass density is given by
( ) = :
) : {( ) : [1 1] [0 2]}
) : 4,
where (1 1) (1 4)o (4 1)
n
2
2
) : ( ) : ( 1) + ( 1) 1
n
o
2
2
) = ( ) : 2 + 2 1

91

Appendix
Antiderivatives of some common functions
F unction

sin
cos
1
cos2
sin12
1
12
1
1
2
1
2
1+
1
1+
2

Antiderivative
+1
+1

cos
sin
tan
cot
arcsin
arccos
arctan
arccot

ln

ln ||

92

Domain
R ( R for 0)
R
R

R 2 2 : Z
R { : Z}
(1 1)
(1 1)
R
R
R
R
R