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Vector Calculus

In this chapter we develop the fundamental theorem of the Calculus in two and three dimensions. This begins with a slight reinterpretation of that theorem. Consider the endpoints a b of the interval a b from a to b as the boundary of that interval. Then the fundamental theorem, in this form:

(18.1)

f b f a

b a

df xdx dx

relates the values of a function at the boundary with the values of its derivative in the interior. Stated this way, the fundamental theorems of the Vector Calculus (Greens, Stokes and Gauss theorems) are higher dimensional versions of the same idea. However, in higher dimensions, things are far more complex: regions in the plane have curves as boundaries, and for regions in space, the boundary is a surface, and surfaces in space have curves as boundaries. This requires a reinterpretation of the term f b f a, as a signed sum of the values of f on the boundary, the sign being determined by the side on which the interval lies (it is to the right of a and to the left of b). This leads to the understanding that in higher dimensions both sides will be integrals; for example, for a region R in the plane with C as its boundary, the term f b f a becomes an integral over the curve C. And in three dimensions, we will have two versions of the fundamental theorem, one relating integrals over a region with integrals over the bounding surface, and another relating integrals over surfaces with integrals over the bounding curve (and with the relation involving some form of differentiation). We will not give derivations, or even intuitive arguments for the proofs of these theorems. First of all, the idea of the proof is to reduce the theorem to the one-variable fundamental theorem; in this process, the notational complexity is constantly threatening to get out of hand. The proofs then become masterful displays of technical control, and provide little insight. The insight comes from the physical interpretation of these theorems (indeed, so also did the rst proofs), particularly in terms of uid ows. For example, Gauss theorem simply says that, for a uid in ow we can measure the rate of change of the amount of uid in a given region in two ways: directly over the region, or instead, by measuring the rate of passage through the boundary.

281

Chapter 18

Vector Calculus

282

A vector eld is an association of a vector to each point X of a region R: (18.2) Fx y z Px y zI Qx y zJ Rx y zK

is the eld of vectors pointing outward from the origin, whose length is equal to the distance from the origin. The eld U 1 rX (where rx y z x2 y2 z2 1 2 ) is the unit vector eld with the same direction. Example 18.1 (Gravitation). According to Newtons Law of gravitation, two bodies attract each other with a force proportional to the product of the masses, and inversely proportional to the square of the distance between them. Suppose one body, of mass M is situated at the origin. Then another body of mass m, situated at the point X experiences the gravitational force due to M: (18.4) F

GMm U r2

where G is Newtons universal constant of gravitation, and U is the unit vector pointing the direction of X. If we want to concentrate on the effect of the mass M on bodies in its vicinity, we introduce the gravitational eld of M: (18.5) Since F GX

GM U GM X r2 r3

mA, a body of mass m at X accelerates toward the origin with acceleration GX.

Denition 18.1 Suppose the region R is lled with a uid which is in motion. We can describe the motion by following the individual particles. Let XX0 t be the position at time t of the particle which was at X0 at time t 0. The velocity eld of the motion is the velocity of the particle at position X at time t, represented by VX t .This is a time-dependent vector eld in the region R. We say that the ow is steady if its velocity eld is independent of time. In studying a uid in motion, we are not interested in the history of particular particles, but in the uid as a whole. Thus, it is the velocity eld of the uid that is the object of study, rather than the equations of motion. It can be shown that the velocity eld completely determines the motion. Example 18.2 Suppose a uid is owing on the plane radially away from the origin. In this case the origin is called a source; if the uid were owing toward the origin, we call it a sink. The equation of motion is given by (18.6) XX0 t f t X0 for some scalar function f with f 0 1

eat . We nd the velocity eld as follows. First, the velocity of the particle

XX0 t t

d at e X0 dt

aeat X0

18.1

But this is aX, so the velocity eld is VX so that XX0 t 1 t X0,we have (18.8)

Vector Fields

283

1t

XX0 t t

X0

1 t

1X

so the ow is time-dependent. The terminology may seem confusing: in the rst case, the particles speed is increasing exponentially, while in the second case the particles speed is constant. But, if we look at a particular point X in space, then in the rst case, the uid is always moving with the same velocity through that point, while in the second case, the uid slows down at that point over time. Example 18.3 Suppose a uid is rotating on the plane about the origin in the counterclockwise direction at constant angular velocity . From the description, this is a steady ow; lets nd its velocity eld. At a point X, particles move through X along the circle of radius X at angular velocity .Thus the velocity of the uid at X is of magnitude X and in the direction tangent to to the circle through X, so VX X . Denition 18.2 A differentiable function w (18.9) w f x y z has associated to it its gradient eld

f f f I J K x y z

The surfaces f x y z const. are orthogonal to the vector eld (18.9), and are called the equipotentials, and the function f , a potential for the eld. So, the ow associated to a gradient eld is easily visualized as being in the direction perpendicular to these equipotential surfaces. A natural question is: when is a vector eld F the gradient of a function; that is, when does a vector eld have a potential function? If the vector eld with the components F PI QJ RK is a gradient, so looks like (18.9), then, because of the equality of mixed derivatives, we must have (18.10)

P y

Q x

P z

R x

Q z

R y

If these conditions are satised, then we can try to nd the potential function by integrating one variable at a time. Example 18.4 Let F 2xy xI x2 yJ. Is F a gradient eld? If so, nd the potential function. First, we check that the condition (18.10) is satised: (18.11)

P y

2xy x y f x

2x

Q x f y

2 x y y

x2 y

2x

We can nd a function satisfying the rst equation by integrating with respect to x; so we try f x y x2 y x2 2. Now we see if this f satises the second equation: (18.13)

f y

x2

Chapter 18

Vector Calculus

284

which unfortunately is not x2 y. However, since the derivative with respect to x of any function of y is zero, we could also have tried (18.14) f x y x 2 y x 2 2 y

f y

x 2 y ;

y, so we can take y y2

x2 2

2. We conclude that

x2 y

y2 C

for any constant C. The reason that the terms involving x disappear in equation (18.13) is precisely that the condition P y Q x is satised; if it were not, this procedure would break down at this point. Example 18.5 The procedure in three dimensions is the same, but longer. Suppose we are given the vector eld F y2 z 1I 2xyz zJ xy2 y 1K, and we are told that it is the differential of a function f . Find f . Since we are told that there is a potential function, we need not verify conditions (18.10). We start with (18.17)

f x

y2 z 1

Integrating both sides with respect to x, (thinking of y and z as constants), we obtain (18.18) f x y z xy2 z x y z

where is an unknown function of y and z alone. Now, differentiating this equation, since f y 2xyz z, we obtain (18.19) or (18.20) 2xyz z 2xyz

y y z

for some unknown function z. Thus (18.18) now becomes (18.22) f x y z xy2 z x yz y z

18.1

so z (18.24) 1, and thus z

Vector Fields

285

The reason that the variable x disappeared from (18.19) and x and y from (18.23) is precisely because of the conditions (18.10); if they did not hold there would be no such function f , and we could not have solved equations (18.20) and (18.23). Example 18.6 We point out at this time that these methods make sense only in the domain in which the solution function f is well-dened, even if the given vector eld is well-dened in a bigger region. Take, for example, the polar function (18.25)

arctan

y x

Since is periodic, it is only well-dened (single-valued) in the plane outside of a ray from the origin, say the ray x 0. However, (18.26) y x x2 y2 I x2 y2 J

and this is well-dened in the whole plane, except for the origin. Thus, if we apply the above procedure to the vector eld (18.26), we get (18.25), and we have to pick a particular branch of the arc tangent. Two important concepts associated to a vector elds are its divergence and curl. Denition 18.3 Let F be a vector eld given by (18.27) F PI QJ RK

where P Q R are scalar functions. The divergence of F is (18.28) and the curl of F is (18.29) curl F div F

P Q R x y z

R Q z I P R J Q P K y z x x y

These are best interpreted in terms of the velocity eld of a uid ow. The divergence is the rate of expansion of the uid at a point. The curl is a vector describing the rotation of the uid near the point (the direction of the curl is the axis of rotation and the magnitude is a measure of the rate of rotation). The ow is called incompressible if its divergence is zero, and irrotational if its curl is zero. We note that the condition (18.10) for a vector eld to be a gradient can be expressed as follows: Proposition 18.1 Given a differentiable function f , its gradient eld is irrotational; that is: curl f In order for a vector eld to be a gradient eld, it must be irrotational. 0.

There is a notation which is very convenient in representing the gradient, div and curl. We consider as an operator on functions: (18.30)

I J K x y z

Chapter 18

Vector Calculus

286

Two useful formulas are: F 0, or div curl F 0. f 0, or curl f 0. If we are discussing vector elds in two dimensions, we have, for (18.32) F Px yI Qx yJ

(18.33)

div F

P Q x y Q P y K x

(18.34)

curl F

Example 18.7 Find the divergence and curl of the velocity elds a) associated to a source (see example 18.2), and for rotation about a point (see example 18.3). In example 2 we had V aX axI yJ. Then (18.35) div V 2a curl V 0

Note that in this case V r2 2, so the eld has the circles centered at the origin as equipotentials. In example 3, V X yI xJ, so that (18.36) and the vector eld is not a gradient. div V 0 curl V 2 K

Suppose F is a vector eld dened on a region R, and C is a curve lying in R. We dene the line integral of F along C, by analogy with other integrals as follows. Denition 18.4 Let Xi 0 the sum (18.37) i n be a sequence of points on the curve, with X0 Xn the endpoints. Form

i 1

FXi Xi Xi1

If the limit of this sum exists (as the maximum distance between successive points approaches zero), it is the line integral of F along C: (18.38)

C

F dX

max Xi

lim

FXi Xi 0

i 1

18.2

287

where Xi represents the vector increment between successive points. If we have a parametric representation of the curve: Xt xt I yt J zt K, for a t b, where the functions xt yt zt are differentiable, then we can compute the line integral by integration with respect to t. For, as successive points become arbitrarily close, we can replace each Xi by its linear approximation, and in the limit, we obtain lim FXi X

i 1 n

(18.39)

ti

lim

FXti 0

i 1

dX t t dt i i t

b a

dX dt dt

C

Xt for a dX dt dt

F dX

b a

FXt

Find

CF

dX dt 2tI J

t 2 I t 1J 0

3, and Fx y

Fx y

x2 I xyJ

2 2 2 t I t t 1J

F dX

3 0

dX dt dt t4 4

3 0

2 2 2 t 2t t t 1dt

(18.44)

0

2t

t t

dt

t6 3

t2 2

9 27

0

9 1 4 2

267 75

To summarize, line integrals are computed this way. Let F PI QJ RK be a vector eld in three dimensions, and suppose that C is given parametrically by the equation Xt xt I yt J zt K, for a t b, where the functions xt yt zt are differentiable. Then (18.45)

C

F dX

b a

dX dt dt

P

a

dx dy dz Q R dt dt dt dt

If the curve is given as the graph y yx z zx, then we still use the same formula, thinking of the parameter as x and the trajectory given by Xx xI yxJ zxK. Of course, as we have dened the line integral, it is independent of the parametrization of the curve, and depends only on the direction along the curve in which we integrate.

Chapter 18

Vector Calculus

288

The line integral (18.45) may appear in several different forms. First, if we want to interpret the line integral as the integral of a differential (as in all cases of integration), we write (18.45) as

b

(18.46)

a

as the integral of the differential Pdx Qdy Rdz. To calculate the integral, we choose a convenient parametrization and calculate as in (18.45). it is also useful to refer to the parametrization by arc length. Since dX ds T where T is the unit tangent to the curve. we can write dX Tds and the line integral is (18.47)

C

F dX

F Tds

This expresses the line integral as the integral with respect to arc length of the component of the eld in the direction of the curve. Finally we note that the integral is additive over curves. Proposition 18.3 If the curve C can be written as a nite succession of curves C1 Cn such that the initial point of each Ci is the same as the terminal point of its predecessor, then, for any vector ed F dened on C: (18.48)

C

F dX

C1

F dX

Cn

F dX

Example 18.9 Find C F dX, where Fx y and back to (0,0). C consists of three line segments: (18.49) C1 : 0 x 2 y 0 C2 : 0

3 x

2 2 y C3 : 3 3

0 x

We calculate the three integrals separately, and then, by (18.48), take their sum. On C1 , we take x as the parameter, and dy 0. (18.50)

C1

F dX

xydx y2dy

C1 0

0dx 3dy.

C2

2

3 0

F dX

xydx y2dy

C2

2 y 2 dy y2dy 3 3

3

3

(18.52)

0

4 4 y y2 3 3

F dX

dy

4 y 2 y2 y3 3 3

0 3

11

0 on C3 : y2 dy

C3

y2 dy

C3

18.2

and (18.54)

C

289

F dX

C1

F dX

C2

F dX

C3

F dX

0 11 9

Example 18.10 Find C F dX, where Fx y yI xJ, and C is the curve given parametrically as x 1 3 cost y 3 sin2t . We rst calculate the differentials dx 3 sintdt dy 6 cos2t dt, so (18.55) (18.56) F dX

9 sin2t sint 6 cos2t 18 cos2t sint dt Performing the integration, we get C F dX 00111.

If F is a force eld in the plane in space, then the work done in moving from one point X0 to another point X1 is W F X1 X0 , since the action of the force is only in the direction from X0 to X1 . Now, if Xt represents a curve C then the contribution to work along a small piece of the curve dX is dW F dX. We nd the total work done by the force along the trajectory as the integral: (18.57) Work

C

F dX

Example 18.11. Let F zI xJ K be a force eld in space. How much work is done by this force in moving an object from the origin to the point (1,1,1) along the path C : y x2 z x3 ? First we express C parametrically by X xI x2 J x3 K 0 x 1, so that dX dx I 2xJ 3x2 K. The force along C is, in terms of the parameter x: F x3 I xJ K. Then, the work done by this force is (18.58)

C

F dX

1 0

x3 2xx 3x2dx

5x

0

x3dx

17 12

Recall that the kinetic energy of a particle of mass m in motion is 1 2m V 2 , where V is its velocity. If we differentiate this with respect to t, and use Newtons Second law F mA, we have: (18.59) d dt 1 mV V 2 mA V F dX dt

This expresses the law of conservation of energy for a particle in motion in the presence of a force eld: the change in the kinetic energy along the trajectory is equal to the work done to the particle. For suppose that the particle travels along the path C from time t a to t b. We integrate (18.40) along the path, getting (18.60) m m Vb 2 Va 2 2 2 F dX

Example 18.12. A particle of mass 2 g. moves around the circle of radius 1 on the plane in the presence of a centripetal force eld (keeping it on the circle) and of the force eld Fx y 1 yI y2 J (where the magnitude is in newtons). Suppose that at time t 0 the particle is at the point (1,0) travelling at a speed of 3 cm/sec. What is its speed the next time it passes through the point (1,0)?

Chapter 18

Vector Calculus

290

1 sin I sin J

cos y

sin for 0

2 . In terms of

dX d

sin I cos J

Since the centripetal force is orthogonal to dX d , the work done in this motion is (18.62)

C

F dX

2 0

1 2 3 2

Since m (18.63) so Vb

2, letting b be the time the particle next passes through (1,0), (18.45) gives us 1 V b 2 2 3 909 cm sec. 7 6515

In this and the next section, we shall restrict attention to two dimensions. First, let us summarize the preceding sections. A vector eld dened in a region D is of the form F PI QJ where P and Q are scalar functions on R. If C is a curve in R parametrized by Xt xt I yt J a t b, then (18.64)

C

FX

F Tds

Pdx Qdy

C a

dx dy Q dt dt dt

This is the integral with respect to arc length of the component of F in the direction of the curve. If F is a force eld, this is the work done by the force along the curve C. If F is interpreted as the velocity eld of a ow, this is the total ow of uid in the direction of the curve. We might also be interested in the ow of the uid across the curve; this is the integral of the com ponent of F orthogonal to the curve; that is, F Nds where N is the normal to the curve. Since there are two unit normals to the curve, we must specify the direction in which the curve is crossed. For this discussion we shall take the normal pointing to the right of the direction in which the curve is traversed. Since Tds dxI dyJ, we are taking Nds dyI dxJ, so that F Nds detF dX. Denition 18.5 Let F PI QJ be a vector eld dened in a region R, and C a curve in R. The circulation of F along C is (18.65) F Tds F dX Pdx Qdy

C

C C

Qdx Pdy

18.3

The line is easily parametrized by x (18.67) Circulation

C

Independence of Path

291

3t y

1 0 1

4t 0

1, so that dx

3dt dy

1

4dt. Then

x2 dx xydy

2 3t 3dt

3t 4t 4dt 3t 24dt

1 0

27

0

48t 2dt 7

2

(18.68)

Flux

C

xydx x2dy

0

3t 4t 3dt

36 36t

dt

24

Proposition 18.4 If the vector eld F is the gradient of a function in R, then, for any path C, (18.69)

C

F dX

f X1 f X0

where X0 is the initial point of the path, and X1 is its endpoint. X1 To see this, let C have the parametrization Xt Xb. We have F xt I yt J for a t b, so that X0 Xa and

C

f f I J x y

f Xb f X a

F dX

b a

f dx f dy dt x dt y dt

b a

d f Xt dt dt

by the fundamental theorem of the Calculus. Denition 18.6 A region D is called connected if, for any two points P and Q in D, there is a curve C with endpoints P and Q. A differential Pdx Qdy Rdz is said to be independent of path in D if the integral C Pdx Qdy Rdz is the same for all curves C with the same endpoints. A differential is said to be exact if it is the differential of a function; that is, there is a function f such that d f Pdx Qdy Rdz. A vector eld F is called conservative if C F dX is independent of path. Proposition 18.5 A differential form Pdx Qdy Rdz dened on a connected region D is independent of path there if and only if it is exact. Equivalently, given a vector eld F, the line integral C F dX is independent of path if and only if F f for some function f (called its potential). T above proposition tells us that gradient elds are independent of path. Now, we must show that if the differential form Pdx Qdy is independent of path in D, then it is a gradient. Fix a point x0 y0 in D, and dene the function f by f x y C Pdx Qdy where C is any path joining x0 y0 to x y. To show that f x P, we take a point x h y near x y, and consider the path C which is C followed by the line segment L from x y to x h y (see the gure). Then (18.72) f x h y

C

Pdx Qdy

C

Pdx Qdy

L

f x y

L

Pdx Qdy

x t

y 0 1 h

h

0 along L, we have

f x h y f x y h

Px t ydx

0

Chapter 18

Vector Calculus

292

Q.

Denition 18.7 A curve C is said to be closed if its endpoints are the same (under any parametrization). The integral over a closed curve is denoted C . Proposition 18.5 can be restated this way: we have F over every closed curve is zero. Example 18.12 Let F Then

CF

dX

2 .

(18.74)

C

F dX

ydx xdy C

2

2 0

4

(18.75)

2

0

sin

t cos2 t dt

Suppose that D is a region in the plane whose boundary is a curve, which we will always consider to be directed so that D always lies to the left of its boundary. We use the notation D to represent the boundary of D so directed. To put it another way: for T and N the unit tangent and normal to C as dened in the preceding section, N is to the right of T, so points out of D. For this reason N is called the exterior normal.The boundary of a domain is a closed curve (or several closed curves). From the discussion in the preceding section, we know that if F is a gradient eld dened on D, then D F dX 0 and curl F 0. The connection between these two statements is much deeper and is embodied in Greens theorem which relates the line integral on D with the double integral of curl F on the domain D. First we state the theorem in differential form. Proposition 18.6 (Greens Theorem) Let D be a region, whose boundary D is oriented so that D lies to the left of D. Suppose that Pdx Qdy is a differential dened on the region D. Then

(18.76)

Pdx Qdy

D

Q P dA x y

Example 18.13 Lets redo example 14 using Greens theorem, where E represents the region bounded by the ellipse:

(18.77)

C

F dX

ydx xdy

1 1dxdy

E

since the area of E is 2 . Example 18.14 Given the differential x2 dx xdy, and D be the rectangle 1

3 1 18

4, we have

(18.78)

x2 dx xdy

1 2xdxdy D

3 1 1

1 2xdydx

18.4

293

We now restate Greens theorem in two ways in vector form. Proposition 18.7 (Stokes Theorem in the Plane). Let D be a region with boundary D. Let F be a vector eld dened on D. Then

(18.79)

F dX

F Tds

curl F KdA

This follows directly from (18.76), for if we write F PI QJ in component form, we have F dX Pdx Qdy and curl F K Q x P y. In terms of uid ows, this theorem state that the circlation of the uid around the curve C can be obtained by integrating the curl over the region bounded by C. If we think of C as the boundary of a small disc around a point, this explains the denition of curl: its value is approximately the rate at which the uid curls around the point. Equally interesting is the rate at which uid passes through the boundary, given by C F Nds. Using the expression Nds dyI dxJ, and F PI QJ, we have Proposition 18.8 (Gauss Divergence Theorem in the Plane). Let D be a region with boundary D. Let F be a vector eld dened on D. Then

(18.80)

F Nds

Qdx Pdy

P Q dA x y

div FdA

D

This is interpreted as saying (in terms of uid ow) the rate of change of the amount of uid inside the region D is equal to the ux of the uid through the boundary. Example 18.15 Let D be the disc of radius 1 centered at the point (0,1), and let C be its boundary oriented counter clockwise. Suppose V yI is the velocity eld of a ow in the upper half plane. Calculate the circulation along C and the ux through C. First of all, we see that the the uid is moving from right to left along the lines y const at speed proportional to the distance to the x-axis. Since uid enters the disc from the right along any such line at the same speed as it leaves the disc, we should expect the ux to be zero. On the other hand, the uid is moving to the left faster on the upper part of the circle (which is oriented to the left) than on the lower part of the circle, so we should expect a positive circulation. According to Stokes theorem, the circulation is

(18.81)

C

V Tds

curl V KdA

D

(18.83)

C

F Nds

div FdA

D

Chapter 18

Vector Calculus

294

As a verication of these theorems, we also compute the line integrals. For that we use this parametrization of C: Xt costI 1 sint J. Then dX sintI costJdt, and since V yI 1 sint I along C, we have

(18.84)

C

V dX

1 sint sint dt

0 0

1 dt 2

C

V Nds

2 0

1 sint cost dt

A simple application of Greens theorem leads to a way of calculating area by line integrals. Proposition 18.9 Let D be a region in the plane. Then the area of D is given by any of these line integrals over its boundary, D:

(18.86)

AreaD

xdy

ydx 1.

1 2

ydx xdy

Example 18.16 Find the area of the region R bounded by the curves y x2 and y 1. We do this using Greens theorem. The boundary of R is in two pieces: C1 : y 1, with x going from 1 to -1, and C2 : y x2 1 x 1. Since dy 0 on C1 , we have

(18.87)

Area

xdy

C2

xdy

x2xdx

4 3

Example 18.19. We can verify that the area of an ellipse with major radius a and minor radius b is ab by Greens theorem and this parametrization of the boundar of the ellipse: (18.88) Then (18.89) Area 1 2

a cost

b sint

ydx xdy

1 2

2 0

1 2

2 0

ab

(18.90)

absin2 t cos2 t dt

When we move from two to three variables, the two interpretations of Greens theorem become two quite different theorems. Stokes theorem relates integration on a surface with an integral on its bounding curve, and Gauss theorem relates integration over a region with an integral on its bounding surface. We shall state these theorems and illustrate their use through examples, but shall not attempt to give proofs.

18.5 18.5.1

295

Surface Integrals

Let F be the velocity eld of a ow in three dimensions, and S a surface in the region of ow. We want to calculate the rate at which uid is passing through the surface - this is called the ux of the ow through S. Take a small rectangle of area S on the surface. In an in interval of time of length t, the uid which passes through the sruface is very nearly that inside the parallelipiped whose base is the rectangle and whose side is the vector Vt. This volume is V F NSt, so (18.91) V t

F

NS

Now, if we sum these terms over a grid of rectangles on S, and take the limit as the grid becomes ne we get Proposition 18.10 Let F be a vector eld dened in a neighborhood of the surface S. Choose a normal N to S. The ux of F over S in the direction N is (18.92) Flux

S

NdS

Xu v, for

In order to calculate this, we assume that the surface S is given parametrically by X v in a region R in u v space. We have N Xu Xv Xu Xv dS Xu Xv dudv

(18.93) so (18.94)

Flux

S

NdS

Example 18.17 Let F z2 I J x2 K, and H the upper hemisphere x2 y2 z2 ux of F through H from the inside of the sphere. We parametrize H using spherical coordinates: (18.95) for 0 (18.96) (18.97) H: X cos sin I sin sin J cos K

2 0

Check that the direction through H from the interior of the sphere is that of X compute

Thus we must

(18.98)

F X X

det

Chapter 18

Vector Calculus cos2 sin2 cos sin2 sin sin3 cos cos2

296

(18.99)

To calculate the integral (18.94), we rst integrate with respect to . The rst two terms integrate to zero, and since 02 cos2 d , we obtain (18.100)

S

NdS

2

0

sin3 cos d

18.5.2

Stokes theorem

Now, suppose that F is a vector eld dened on a surface S in three dimensions, and S is bounded by a curve, denoted S. As in two dimensions, Stokes theorem relates the circulation about S with the integral of curl F on S. For this to work we have to be sure that the direction of integration on S is consistent with the choice of normal to S. Proposition 18.11 (Stokes Theorem). Suppose that F is a vector eld dened on the surface S with the boundary S. Choose the direction of the tangent T to S and the normal N to the surface so that the vector N T points into the surface S. Then (18.101)

S

F dX

curl F NdS

Example 18.18 Let S be the part of the plane z 2x 3y z 12 which lies in the rst quadrant. Let F yI zJ xK. Verify Stokes theorem. We want to calculate both sides of (18.101) and see that they agree. First, the surface integral. We write the surface parametrically as (18.102) Xx y xI yJ 12 2x 3yK I 2K

for x y in the triangle T with vertices (0,0),(6,0), (0,4). Well need the partial derivatives (18.103) Now, we calculate curl F (18.104) Then, using (18.94) (18.105)

S

Xx

Xy

J 3K

I J K, so

det

F Xu Xv

1 1 1 1 0 2 0 1 3 6

dxdy

T

6 72

curl F NdS

18.5

297

Now, to calculate the boundary integral, we represent the boundary as composed of the three line segments (18.106) C1 : 0 x 6 z 12 2x 12 3y 2 12 z 3 y 0 ; dz

2dx 3 dy 2 dz 3

dy

(18.107)

C2 : 0

0;

dx

dz

(18.108)

C3 : 0

12

0;

dy

dx

yI zJ xK: F dX

6 0

C1

x2dx

36 12 24

(18.110)

C2

F dX

4 0

3 y dy 2

(18.111)

C3

F dX

12 0

dz 3

The sum of these is -72, so Stokes theorem is veried. Example 18.19 Calculate z

2 2 C 2

x y and the cylinder x y2 1. Let F yI xJ K. Then this can be viewed as the integral F dX over the boundary of the piece H of the hyperboloid lying over the disc of radius 1 in the x y-plane. We calculate that curl F 2K, so the integral is, by Stokes Theorem (18.112)

H

H

2K NdS

x2 y2 1

x2 y2

2dxdy

since the area of the disc of radius 1 is . If we parametrize the curve by Xt costI sintJ cos2 t sin2 t K 0 we again get 2 .

Chapter 18

Vector Calculus

298

18.5.3

Gauss theorem

Now, suppose that R is a region in three dimensions, and the boundary of R is a surface which we shall denote as R. If we have a uid in ow, just as in 2 dimensions we expect Gauss theorem to hold: the calculation of the rate of expansion of the uid in R, which is the integral of the divergence, is the same as the ux through R. Proposition 18.12 Gauss theorem. Let F be a vector eld dened on the region R. We denote the boundary of R as R, and take the normal to be the exterior normal N. Then (18.114)

R

F NdS

div FdV

R

Example 18.20 Let R be the region inside the cone z2 x2 y2 , bounded by the planes z 0 and z 2. Let F xI yJ zK. Verify the divergence theorem in this context. We easily calculate div F 3, so the right hand side of (18.94) is 3 times the volume of the cone, so (18.115)

R

div FdV

3 Volume R

r2 h 3

since r 2 h 2. To calculate the boundary integral, we turn to cylindrical coordinates, because of the symmetry around the z-axis. The boundary has two pieces: the disc D : z 1 r 1, and the surface of the cone S : z r 1. We can see that the integral over S is zero, since the vector eld F is tangent to the cone (it is the tangent vector to the line z r 0 which lies on the cone). Thus we need only calculate the boundary integral over D. Since D lies on the plane z 2, its normal is K. Thus since F K z 2 on the plane z 2, (18.116) F NdS

2 0 0 2

2rdrd

r2 2 2 0

One of the main points of the divergence theorem is that informed use of the geometry involved simplies what could otherwise be a complicated calculation. For example, if we did not observe that F is orthogonal to the normal to the cone, wed have to do the calculation. Just to illustrate the methods we do it. First of all, we parametrize the cone using cylindrical coordinates: (18.117) S : X r cos I r sin J rK 0

2 r

r sin I r cos J

0,

On the surface, in these coordinates F r cos I r sin J rK. Now we calculate detF Xr X or we observe that since F rXr , the determinant must be zero.

Example 18.21 Return to example 20, and note that the divergence of that vector eld is 0. By applying the divergence theorem, where R is the region bounded by H and the x y-plane we can replace the integration of example 20 by the easier integration over the planar part of the boundary of H. That

18.5

299

D

1z

D

F NdS

2 0 0

r2 cos2 rdrd

Now, for this example, the divergence theorem tells us that (18.120)

H

F NdS

F NdS

HF

NdS

4.

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