Engineering Mathematics Formulae Sheet

1. Change of Variable of Integration in 2D

ZZ ZZ
f (x, y) dxdy = f (x(u, v), y(u, v))|J(u, v)| dudv
R R∗

2. Transformation to Polar Coordinates

x = r cos θ, y = r sin θ, J(r, θ) = r

3. Change of Variable of Integration in 3D

ZZZ ZZZ
f (x, y, z) dxdydz = F (u, v, w)|J(u, v, w)| dudvdw
V V∗

4. Transformation to Cylindrical Coordinates

x = r cos θ, y = r sin θ, z = z, J(r, θ, z) = r

5. Transformation to Spherical Coordinates

x = r cos θ sin φ, y = r sin θ sin φ, z = r cos φ, J(r, θ, φ) = r2 sin φ

6. Line Integrals
Z Z b p
f (x, y, z) ds = f (x(t), y(t), z(t)) x0 (t)2 + y 0 (t)2 + z 0 (t)2 dt
C a

7. Work Integrals
Z Z b
dx dy dz
F(x, y, z) · dr = F1 + F2 + F3 dt
C a dt dt dt

8. Surface Integrals
ZZ ZZ q
g(x, y, z) dS = g(x, y, f (x, y)) fx2 + fy2 + 1 dxdy
S R

9. Flux Integrals For a surface with upward unit normal,

ZZ ZZ
F · n̂ dS = −F1 fx − F2 fy + F3 dydx
S R
10. Gauss’ (Divergence) Theorem
ZZZ ZZ
∇ · F dV = F · n̂ dS
V S

11. Stokes’ Theorem

ZZ Z
(∇ × F) · n̂ dS = F · dr
S C

12. Complex Exponential Formulae

cosh x = 21 (ex + e−x ) sinh x = 21 (ex − e−x )
eix = cos x + i sin x
cos z = 21 (eiz + e−iz ) sin z = 1
2i
(eiz − e−iz )

13. Trigonometric and Hyperbolic Formulae

cos2 x + sin2 x = 1 cosh2 x − sinh2 x = 1
1 + tan2 x = sec2 x 1 − tanh2 x = sech2 x
cot2 x + 1 = cosec2 x coth2 x − 1 = cosech2 x

cos 2x = cos2 x − sin2 x cosh 2x = cosh2 x + sinh2 x

cos 2x = 2 cos2 x − 1 cosh 2x = 2 cosh2 x − 1
cos 2x = 1 − 2 sin2 x cosh 2x = 1 + 2 sinh2 x
sin 2x = 2 sin x cos x sinh 2x = 2 sinh x cosh x

sin(x + y) = sin x cos y + cos x sin y cos(x + y) = cos x cos y − sin x sin y
sin x cos y = 21 [sin(x − y) + sin(x + y)]
sin x sin y = 21 [cos(x − y) − cos(x + y)] cos x cos y = 21 [cos(x − y) + cos(x + y)]

14. Standard Integrals

R R
sin x dx = − cos x + C cos x dx = sin x + C
R R
sec x dx = log | sec x + tan x| + C cosec x dx = log | cosec x − cot x| + C
R R
sec2 x dx = tan x + C cosec2 x dx = − cot x + C
R R
sinh x dx = cosh x + C cosh x dx = sinh x + C

sech2 x dx = tanh x + C cosech2 x dx = − coth x + C

R R

√ 1 x 1 1 x
R
R

a2 −x2
dx = arcsin a
+C a2 +x2
dx = a
arctan a
+C

√ 1 x √ 1 x
R
R

x2 −a2
dx = arccosh a
+C x2 +a2
dx = arcsinh a
+C

where a > 0 is constant and C is an arbitrary constant of integration.