Department of Mathematics

Module -1: Multivariable Calculus (Integration)

 Double integrals (Cartesian)

 change of order of integration in double integrals

 Change of variables (Cartesian to polar)

 Applications: area and volumes

 Triple integrals(Cartesian)

 Orthogonal curvilinear coordinates.

1.1 Introduction
Integration can be traced as far as ancient Egypt 1800 BC, with the Moscow Mathematical Papyrus
demonstrating knowledge of a formula for the volume of a Pyramidal frustum. The significant advances
in integral calculus did not begin to appear until the 16th century. Steps were made in the early 17th
century by Barrow and Torricelli, who provided the first hints of a connection between integration and
differentiation

Previous classes had the concept of evaluating indefinite and definite integrals involving a single
variable. Now in this chapter, evaluation of integrals involving more than one variable will be seen in
detail. Further the topics will consist of change of the order of integration and change of variables and its
application to area and volume.

1.2 Double Integrals

Let a f ( x, y ) function of two variables be defined over a region R in the xy plane and be bounded by a closed
curve C . Let a  x  b and c  y  d belongs to region R .
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Consider an arbitrary chord AB parallel to y -axis to incorporate the variation in y and x is fixed, hence y
varies from y  y1 ( x) to y  y2 ( x) .

y  y 2 ( x)
Let  ( x)   f ( x , y) dy.............(1) which is function of x only
y  y ( x)
1

Now let us integrate  (x) w.r.t. x between x  a and x  b and denote this by an integral I   f ( x , y) dA
A
( which covers the whole of A)

x b x  b  y  y 2 ( x) 
 
I   ( x) dx     f ( x , y ) dy dx............(2)
xa xa 
 y  y1 ( x) 

Similarly consider an arbitrary chord CD parallel to x -axis. On CD we have y is fixed and x varies from
x  x1 ( y) to x  x2 ( y)

x  x 2 ( y)
Let  ( y )   f ( x , y) dx.............(3) which is function of y alone
x  x ( y)
1

Now let us integrate  ( y ) w.r.t. y between y  c and y  d and denote this by an integral I   f ( x , y) dA
A
(which covers the whole of A)

y d y  d x  x2 ( y) 
 
I   ( y) dy     f ( x , y ) dx dy............(4)
y c y c 
 x  x1 ( y ) 
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x b y  y2 ( x ) y  d x  x2 ( y )

Note 1: 
R
f ( x, y ) xdy   
x  a y  y1 ( x )
f ( x, y)dydx   
y  c x  x1 ( y )
f ( x, y)dxdy even through process is

opposite

Note 2:  f ( x, y)dxdy   f ( x, y)dA is called the Double integral.

R A

Problems:
1 x

1. Evaluate   xy dydx.
0 0

Solution:

x
 y x  1  11 2 3
 
1 x 1
xy 2  1
  xy dy dx     xy dy  dx  
2 
dx   ( x  x ) dx 
0 yx 
 20 24
0 x
0 x

1 y
2. Evaluate   xy dxdy
0 0

Solution:
y 1
1 y
x y y
 1
x2 
1 3
y 1 y4  1
 xy dx dy    dy dx  dy   2
y . dy  2 dy  .  
00 y 0  x 0  0 0 0 2 4 0 8

1 1
dxdy
3. Evaluate  
0 0
(1  x 2 )(1  y 2 )

Solution:

Here the limits of both the integrals are constants and the variables can be separated.
11
dx dy  1 dx   1 dy  2
 
1
   2  
 2
 tan 1 x  10 tan 1 y  
00 (1  x 2 ) (1  y 2 )  0 1 x  0 1 y 
0
16
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

e
 x 2 (1 y 2 )
4. Show that x dxdy  .
0 0
4

Solution:


 

   e x (1 y 2 )
   e x (1  y 2 ) x dx  dy
2 2
LHS x dxdy
0 0 0 0 

1
Put x 2  t  2xdx  dt or xdx  dt
2

1 et (1 y ) 

1  t (1 y2 ) 
  2

   e dt dy    dy
2 0 0  2 0 (1  y 2 )  0


1  1  1

1 1  
   0  2 
dy   dy  tan 1 y  
2 0  1 y  2 0 1 y 2
2 0 4

5. Evalute  xy dxdy
A
where A is the region bounded by x - axis ordinate x  2a and the

curve x 2  4ay .

Solution:


 x2 a a 
 a
x2 y 
2a

 xy dx dy     xy dx  dy
y 0  x  4 ay

0 2 2
 dy
A  ay

a
4a 2 y  4ay 2
 dy
0 2

a
a
 ay 2 y 3 
 2a  (ay  y )dy  2a 
2
 
0  2 3 0

a4

3
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6. Evalute  xy( x  y) dxdy

A
where A is the region bounded by y  x 2 and y  x .

Solution:

1  yx 

     
2 2
xy ( x y ) dx dy ( x y xy ) dy  dx
0  y  x2 
A

x
 x 2 y 2 xy3  5 4 1 6 1 7
1 1
3
   dx    x  x  x  dx 
0 2 3  x2 06 2 3  56

x2 y2
7. Evaluate  y dxdy over the region bounded by the first quadrant of the ellipse a2

b2
 1.

x2 y2 y2  a2  x2 
x2
Solution: From   1 we have  1   , y  b a2  x2
2  
a2 b2 b 2
a  a
2
 a

b
Since y  0 is the equation of x -axis we can say that y varies from 0 to a2  x2
a

Therefore,
b 2 2
a x b
a2 - x2 a
a a
 y2  a
a
b2  2 x 3   ab2 
 y dxdy    x 0 y 0
y dy dx    
x 0 
2  y 0
dx  2
2a 

a x  
3  0  3 

1 y
3
We can also write I    (x y  xy 2 )dydx I
2
Note :
y 0 x  y
56
 Department of Mathematics

9. Evaluate  r sin  drd over the cardiode r  a (1  cos  ) above the initial line.

Solution:
a (1 cos )
 r  a (1cos )

 
r2 
 r sin  drd    r0
 r sin  dr  d   0 sin   d
 0   2 0

  
a2  
  sin  d   cos  ( sin  )d   sin 2 d 
2

2 0 0 0 

a2  cos 3  cos 2  4a 2
   cos      .
2  3 2 0 3

10. If R is the region bounded by the circle r  2a cos above the initial line show that
2 3
 r sin  drd 
2
a
R
3

Solution:

The circle r  2acos is r 2  2ar cos in Cartesian form it is equivalent to x 2  y 2  2ax  0

i.e., a circle with centre at  a, 0  and passing through the origin.

 2 a cos
 /2 
 r sin  dr d     sin  r dr d
2 2

R  0  r 0 
2 a cos  /2
sin 
 
 /2
r3 
  sin   d   8a 3 cos 3  d
 0 3 0 0 3

 /2
 8a 3  / 2 3 8a 3 cos 4  
  
3 0
 cos . (  sin ) d  
3 4  0

2a 3

3
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x2 y 2 x y
11. Evaluate  xy dx dy. taken over the region bounded ellipse 2
a b
 2  1 and   1
a b

Solution:

x varies from 0 to a

x y b
  1 or y  ( a  x )
a b a

x2 y 2 b2 2 b
2
 2
 1 or y 2
 2
(a  x 2 ) or y  (a 2  x 2 )
a b a a
b
y ( a2  x2 )
a a
I  xy dx dy  
R x 0 b
 xy dy dx
y (ax)
a

b
y ( a2  x2 )
a
 y2  a 1
a
 b2 b2 
  x  dx   x  2 (a 2  x 2 )  2 (a  x)2  dx
x 0 
2  y b (ax) 2 x 0  a a 
a

a a
b2 b2
 2  (a x  x  a x  2ax  x ) dx  2  2(ax 2  x 3 ) dx
2 3 2 2 3

2a 0 2a 0

a
b 2  x3 x 4  a 2b 2
 2 a   
2a  3 4  0 12

 x y dxdy where R is the region bounded by the lines y  x, y  x  2 & y  0

2
12. Evaluate
R

Solution:

The lines y  x, y  x  2 intersect at (1,1)

1 2 y 2 y
1
 x3 
I   x 2 y dxdy    x 2 y dxdy   y  3  dy
R y 0 x  y y 0  x y
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1 1
  y (2  y)3  y 3  dy   y(8  12 y  6 y 2  y 3  y 3 )dy
1 1
3 y 0 3 y 0

1
1
1
 3 y5 
  (8 y  12 y 2  6 y 3  2 y 4 )dy   4 y 2  4 y 3  y 4  2 
3 y 0  2 5  y 0

1 3 2  11
 44   
3 2 5  30

13. Evaluate  xy dxdy over the positive quadrant of the circle x 2  y 2  a2

Solution:

a a2  x2
I   xy dxdy    xy dxdy
R x 0 y 0

a2  x2 a
a
 y2  1
a
1  x2 x4  1  a4 a4  a4
I   x  dx   x(a 2  x 2 )dx   a 2       
x 0 
2  y 0 2 x 0 2 2 4  x 0 2  2 4 8

1.3 Properties of Double Integral

I.  kf ( x, y)dxdy  k  f ( x, y)dxdy
R

II.   f ( x, y)  g ( x, y) dxdy   f ( x, y)dxdy  g ( x, y)dxdy

R R R

III. If R  R1  R2 (R is the union of two non overlapping regions R1 and R2)

 f ( x, y)dxdy   f ( x, y)dxdy   f ( x, y)dxdy

R R1 R2
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1.4 Change of order of Integration


x b y y ( x)
 2 

In case the double integral    f ( x, y )dy  dx is difficult to integrate with respect to y or we prefer to
 y  y1 ( x )
xa  

integrate with respect to x first we may change the order of integration by changing the limits of integration of
the variables.

1.4.1 Evaluation of double integrals by change of order of integration.

To change the order of integration we follow the following procedure.

x b y  y2 ( x )

Step 1: Given Integral  

x  a y  y1 ( x )
f ( x, y )dydx Observe that Integral is to be evaluated by integrating with

respect to y .

Step 2: Determine the points of intersection by drawing a vertical step

Step 3: To reverse the order of integration draws a horizontal strip in the closed region R .
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Write the limits of x from x  x1  y  to x  x2  y  in the inner integral and limits of y from y  c to y  d in
the outer integral.

y d
 x  x2 ( y ) 
Note: Similar method can be used for changing order of integration for y c  x x( y )
 f ( x , y ) dx  dy
 1 

1 x

14. Evaluate   xy dydx by changing the order of integration.

0 x

Solution:

 x
1 
Given    xydy  dx
0 x 

The region is bounded by y  x, y  x and x  0, x  1 . since y is expressed as a function of x .By

changing the order of integration we integrate w.r.t. x first and then evaluate the integral by integrating
with respect to y .

Consider a horizontal strip in the Region R . In this region

x varies from x  y 2 to x  y and y varies from y  0 to y  1 .

Now the double integral

 Department of Mathematics

y 1  x  y 
y
1  x  
y 1 2
x  1
 y3 y5  y4 y6 
1
1
   xy dy 

dx     xy dx  dy   y  dy      dy 
 y 2 0
2 2
  
8 12  0 24
0 x  x y2
y 0   y 0
2

 x

  xe
 x2 / y
15. Change the order of integration and evaluate dydx .
0 0

Solution:

  y  x  x2 / y 
Given double integral   y0 xe dy  dx
x 0  

In the given region vertical strip is consider to change the

order of integration of horizontal strip is to be considered.
Now x varies from x  y to x   and y varies from 0 to 
    x2 / y    
  x2 / y
   
  y   x2 / y  2 x  

    x e dy 

dx     xe dx  dy        e 
  
 dx  dy
x 0  y 0 y 0 
 x y  y 0 
x y  2   y  


1  e  y  

 
 1  y


 

y   x2 / y  
 y y  

2 0
    e  dy      y
     
2   1  0
 0 e dy y e dy y 1. e
y 0  2 
y 0  2 y    0 
1

2

1 

x 2 y 

16. Change the order of integration and evaluate    xy dx dy
0  x y 

Solution:
1

x 2 y 

Given double integral  
 xy dx  dy

0  x y 

Region is determined by x  y and x  y  2 on y  0 to y  1 . The Region R be union of two non

2

2
over lapping Regions R1 and R2 . In Region R1 , y varies from y = 0 to y = x and x varies from x = 0 to x =
1.
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1 

y x2 

  xy dx dy     xy dy  dx
x 0  y 0 
R1
 

x2
 xy2 
1
11 5 1
2 0
  dx  x dx 
0  2 0 12

In Region R2 , y varies from y  0 to y  2  x and x varies from x  1 to x  2

2 x
x2  y 2 x  2
 xy2  2
x (2  x) 2 5
  xy dx dy     xy dy  dx     dx   dx 
R2 x 1  y 0  x 1  2  0 1 2 24

1 5 7
  xy dx dy   xy dx dy   xy dx dy   
12 24 24
R R1 R2


 e y
17. Change the order of integration and evaluate 
0
x y
dydx

Solution:

The area of integration is the portion of the first quadrant between y  x and the y -axis.

So, by changing the order of integration.

    
e y e y e y
y

x0 y x y      
y
 y 

y
dx dy = dx dy = x 0
dy = e dy =  e =1
y 0 x 0
y 0
y 0
0

a
2 ax
18. Change the order of integration and evaluate 
0
0
x 2 dydx

Solution:

y  2 ax  y 2  4ax , where x  a on y 2  4ax , y 2  4a 2  y  2a

 Department of Mathematics

So, on y  2 ax , y  2a when x  a

The integral is over shaded region.

a 2a a a

x 2 dy dx = 2a  x 3  dy
2 ax
 x dy dx   
2

0
0
y 0 y2  
x
4a
0
3 y2
4a

2a
 a3 y6   3 7 
2a
4 4
   3 
dy a y  a
0 
3 192a   y 3  7
 3 192a *7  0
1 1 x 2
19. Change the order of integration and hence evaluate  
0 0
y 2 dydx

Solution:
1 1 x 2
I  
x 0 y 0
y 2 dydx

On changing the order of integration we have from the figure

1 1 y 2

I  
y 0 x 0
y 2 dxdy

1 1

 y  x
1 y 2
I dy   y 2 1  y 2 dy
2
x 0
y 0 y 0


Put y  sin   dy  cos  d and  varies from 0 to
2
 2
(1)(1)  
I  sin  cos 2  d  
2
(using Reduction formula)
0
(4)(2) 2 16
 Department of Mathematics

1.5 Change of Variables

The evaluation of a single integral is simplified by making a proper substitution (or change the variable).
Similarly to evaluation of double integrals can also be evaluated by changing the variables from ( x , y ) to (u , v )
Let x  x  u, v  and y  y  u, v  , Now f ( x , y)  F u , v  {expressed in terms of u and v } and the region R
in xy plane is transformed to R  in the uv plane. With these transformations the double integral will be
transformed as
x x
u v  ( x, y )
 f ( x, y )dxdy   F (u, v)Jdudv , where J 
y

y  (u, v)
R R'
u v

1.5.1 Evaluation of double integrals by changing to Polar form.

x x
In case of polar coordinates x  r cos and y  r sin  and hence J  r   cos   r sin 
r
y y sin  r cos 
r 

 f x , y  dx dy   f r cos , r sin   r dr d
R R

  r  r2 ( ) 
 f (r , )drd     f (r1 , )dr  d
   
R  r r1 ( )

By changing the order of integration

r  r2
  ( r )
 2 2 

 f (r , )drd     f (r , )d  dr
  1 ( r1 )
r  r1  
R 
 Department of Mathematics

a a2  x2
xy  ( x2  y 2 )
20. Evaluate   x  y2
2
e dxdy by changing to polar form.
0 ax  x 2

Solution:

Region of Integration is
y  ax  x 2  x 2  y 2  ax  r  a cos 
y  a 2  x2  x2  y 2  a2  r  a

x varies from 0 to a   varies from 0 to
2
Now while transforming to polar coordinates dxdy  rdrd
  /2 r a
a a2  x2
xy r 2 sin  cos   r 2
  e  ( x  y ) dxdy    e rdrd
2 2

0 ax  x 2
(x  y )
2 2
  0 r  a cos r2
a
  1  / 2  r a  1  / 2 e r 
 /2 2
 1 r a r 2  r 2
    sin 2 r e dr  d   4    sin 2 (2 r ) e dr  d  4   1  sin 2  d
 0 
 2 r  a cos    0 r  a cos   0
 a cos 
1  /2  /2  /2
e a 2  e a 2 cos2   d   1 e a 2 sin 2 d  1 e a 2 cos2  sin 2 . d
sin 2
4   0  4   0

  4  0

 /2
 /2

 2 e a cos   1  e a 2 
1 2 1
 e a cos   cos  2
1 2 1
 e a . cos 2 
2 2

8 0 4a   
0 8 4a  
1 2
8
1
4a
2 1
 e a (1  1)  2 (1  e a )  2 1  (a 2  1) e a
4a
2
 
( x2  y 2 )
21. Evaluate R x2 y 2 dxdy where R is common to x2  y 2  ax, x 2  y 2  by,

a  b , b  0, a  b  0.
Solution:

Convert to polar form using x  r cos , y  r sin dxdy  rdrd

The region of integration common to r  a cos and r  b s in is shaded in figure above.
a a
We have tan      tan 1
b b
The Region R is divided into R1 and R2
 Department of Mathematics

In R1 r varies from 0 to r  b s in and

a
 varies from 0 to   tan 1
b
Similarly in R2 varies, r varies from 0 to r  a cos
a 
and  varies from tan 1 to .
b 2
(x2  y2 ) (x2  y 2 )2 (x2  y 2 )2
 x 2 y 2 dx dy   x 2 y 2 dx dy   x 2 y 2 dx dy
R R1 R2

tan 1 a / b b sin 
(x 2  y 2 ) 2 (r 2 ) 2
 x 2y2
dx dy    r 2  sin 2  cos 2 
dr d
R1  0 r 0
b sin 
tan 1 a / b b sin  tan 1 b a / b
cos e 2 2  2 cos ec 2 2 2 
   4.r
4
dr d   
 
r 

d
 0 r 0  0 0
1 a
tan 1 a / b
2 2  tan
1 1 2  a ab

b
 b sin  :
2
 d   b tan    
 0
8  4 sin 2  cos 2   2   0 2b 2
 /2 r a cos 
(x2  y 2 )2 (r 2 ) 4
 x 2 y 2 dx dy  1
 r 4 sin 2  cos 2 
r dr d
R2
  tan a / b r 0
a cos 
 /2 a cos r2   /2
r2 
    2 sin 2  cos 2   dr d   2 sin 2  cos 2   d
1
  tan a / b  r  0   1
  tan a / b  0

 /2
a 2 cos 2 
 cot  
 /2  /2
a2 a2
  2 sin 2  cos 2  d    cos ec  2
d  
  tan 1 a / b
2   tan 1 a / b
2    tan1 a
b

a 2
  1 a  a 2  1 b  a b ab
2
         . 
b  2
0 cot tan cot cot
2    a 2 a 2
(x 2  y 2 ) ab ab
  2 2
dx dy    ab .
R x y 2 2
 Department of Mathematics



e
 ( x2  y 2 )
22. Evaluate dxdy by changing into polar coordinates.
0 0

Solution: In polars we have x  r cos , y  r sin 

x 2  y 2  r 2 and dxdy  rdrd , Since x , y varies from 0 to  , r also varies from 0 to  .


2 

 
(r2 )
In the first quadrant  varies from 0 to  . Thus I = e rdrd
2
0 r 0

dt
Put r  t  r dr  t also varies from 0 to 
2

2
   
2  
1 
I  
t dt
d 
1 2
  e t 
 
1 2
   
1 2
 d  
2  0  0
e d (0 1) d
 0 r 0
2 2  0 2  0 22 4

a a2  y2

23. Evaluate  
0 0
y x 2  y 2 dx dy by changing into polar form.

Solution:
a a2  y2

I=  
0 0
y x 2  y 2 dx dy

We have x  a 2  y 2 or x 2  y 2  a 2 is a circle with centre origin and radius a .

Since, y varies from 0 to a the region of integration is the first quadrant of the circle.

In polars, we have x  r cos , y  sin 

 x 2  y 2  r 2 i.e., r 2  a 2  r  a

Also x  0, y  0 will give r =0 and hence we can say that r varies from 0 to a. In the first

quadrant  varies from 0 to  dxdy  r drd

2 , we know that
 Department of Mathematics

 
a 2 a 2 a

I    r sin  r r drd    r 3 sin  drd   r   cos 
3 2
0
dr
r 0 0 r 0 0 r 0

a
 r4 
a
a4
   r  0  1 dr    
3

0  4 0 4

a a2  x2

24. Change the integral  

a 0
x 2  y 2 dydx into polar coordinates and hence evaluate the same.

Solution:

Clearly  varies from 0 to 

If x  r cos  , y  sin  , x 2  y 2  r 2 i.e., a  r  r  a

2 2

Thus r varies from 0 to a and dxdy  rdrd

 a
I    rr drd
 0 r 0


 a3  a3
a
 r3  a3  a3
 I     d   0  (  0)  I
 0  3  0 3 3 3 3

1 1 x

e
y /( x  y )
25. Using the transformation x  y  u and y  uv , Evaluate dxdy
0 0

Solution:

 e Region R is bounded by x -axis, x  y  1 and y varies from y  0 to y  1 .

y /( x  y )
I dy
R

Solving form x and y we get x  u 1  v  and y  uv

 Department of Mathematics

x x
u v 1  v u
 J  u
y y v u
u v

To determine the region R  .

(i) The x -axis ( y  0 ) gives y  0 , v  0 and since y  0  u  0 and v  0

(ii) The y -axis, ( x  0 ) give u  0 , v  1 , since x  0  u (1  v)  0  u  0 and v  1

(iii) The line x  y  1 gives u  1 .

The region R  is bounded by u  0 , v  0 , v  1 and u  1

1
v 1
 u 1  u v
v 1 2
1  (e  1)
1
1
1
  e y / x y
dxdy     ueuv / u du  dv   e  dv   ev  dv  ev  
R v  0 u  0  v 0
2 0 0 2 2 0 2

1.6 Double Integral as an Area

(i) We  f ( x, y)dxdy   f ( x, y)dA

A A
for f  x, y   1

 dxdy   dA = A
A (total over A ) of the Region R
 Department of Mathematics

(ii) Put x  rcos , y  sin then J  r

  dxdy   rdrd = A (total area of the Region R )

R R'

26. Find the area enclosed by the parabolas x 2  4ay and y 2  4ax by double integration.

Solution:

Let x 2  4ay …(1)

y 2  4ax …(2)

Solving (1) and (2) we get the points of intersection  0, 0  and  4a, 4a 

 y  2 ax 
 
4a

Required Area   dxdy     dy dx

A x 0  x2 
 y 4a 

2 ax
4a
 
4a
x2 
  y dx   2 ax 0  dx
x 0  x 0 4a 
2

4a

4a
2 1 x3  16 a 2
 2(ax) 3/2
 
3 a 12a  0 3

27. Find the area common to the circles x 2  y 2  a 2 and x 2  y 2  2ax .

Solution:

Required area is shown in figure.

We have

x2  y 2  a2  r a … (1)

x 2  y 2  2ax  r  2a cos … (2)

 Department of Mathematics

1 
Solving (1) and (2) cos    
2 3


In R1 , r varies from 0 to a and  varies from 0 to
3

 
In R2 ,  2R1  R2  varies from 0 to 2a cos and  varies from and
3 2

Required Area = 2 R1  R2 

 /3
 /3
a   / 2 2 a cos
  1  /2 2
2    rdr d   2     r dr d  2 .  a 2
d  2  4a cos  d
2

  0 r 0     /3  r 0  0 2  /3

 /2  /2
 2a 2  sin 2 
 2a .  2a  (1  cos 2 ) d 
2 2
 2a 2 .  
3  /3 3 2  / 3

2a 2   3  2 a 2 2a 2 3a 2 3a
  2a 2   0      a 2
   a 2 
3 2 3 4  3 3 2 2

28. Find by double integration the area enclosed by th curve r  a(1  cos  ) between   0 and
 
Solution:

Area A   r dr d where r varies from 0 to a (1  cos  ) and  from 0 to 

 a (1cos )   2  a (1 cos )  

r 1
  r dr d   d  a (1  cos  ) 2 d
2
A  
  0   0
2 2
 0 r 0  0

 

 2 cos 
a2
( / 2) d  2a  cos ( / 2) d
2
A 2 2 4

2 0 0

Put  / 2   , d  2d and  varies from 0 to  / 2

 Department of Mathematics

 /2  /2
3 1 
 cos .2 d  4a  cos 4  d  4a 2 . . .
2
A  2a 2 4

0
4 2 2
0

Thus the required area A  3a 2 / 4 Sq. units

1.7 Evaluation of Triple Integrals

On the same lines as we defined the double integral in two dimensions we can define a triple integral over a
region R in 3-D and evaluate as follows.

x b y  y2 ( x ) z  z2 ( x , y )


R
f ( x, y, z )dv   ( x, y, z )dxdydz 
R
  
x  a y  y1 ( x ) z  z1 ( x , y )
f ( x, y, z )dzdydx

a x x y

 e
x y z
29. Evaluate dz dy dx .
0 0 0

Solution:
a x x y a x a x
x y
I   
x 0 y 0 z 0
e x  y  z dzdydx   e
x 0 y 0
x y
e z  dy dx 
0  e
x 0 y 0
2x
.e2 y e x  y  1dy dx

  e2 y  x   e 4 x 3e 2 x
a
y x  x
a x a

   (e .e  e . e )dy dx   e    e e  y 0  dx  
2x 2y 2x x y x
 e 
x 0 y 0 x 0   2  y 0   8 4 0

1
I  (e 4 a  6e 2 a  8e a  3)
8

42 z 4 z x2
30. Evaluate  
0 0 0
dy dx dz .

Solution :

4 2 z 4 z  x2 4 2 z 4 2 z

   y 0
4 z  x2
I   
z 0 x 0 y 0
dydxdz 
z 0 x 0
dx dz   
z 0 x 0
4 z  x 2 dx dz
 Department of Mathematics

2
Let 4 z  a (for Convinience) so that 2 z  a

a
4 a 4  x a2  x2 a2  x 
4
a2
   a  x dx dz     sin 1    dz   0 (sin 1 1  sin 1 0) dz
2 2

z 0 x 0 z 0  2 2  a   x 0 z 0
2

 4

2  2 z dz  I  8
z 0

c b a

   (x  y 2  z 2 )dzdydx
2
31. Evaluate
 c b  a

Solution:

Since all the limits are constants we can integrate in the given order.

a
c b
 2 z3 
c b
 2 2a 3 
   x x  y z  3  dydx     x (2a)  y (2a)  3 dydx
2 2

 c b  a  c b
b
c
y 3 2a 3  c
 b 3 4a 3 b 
  2ax y  2a  2
y  dx   4ab x 2  4a 
3 
dx
c 3 3  b c  3

c
x 3 4ab 3 4a 3 bx  8abc 3 8ab 3 c 8a 3bc 8abc 2
 4ab  x      (a  b 2  c 2 )
3 3 3  c 3 3 3 3

1 z x z

32. Evaluate    ( x  y  z )dxdydz

1 0 x  z

Solution:
1 z x z x z
  1 z 1 z
y2
1 0 x z    1 0  2  zy  dxdz  1 0 (4 xz  2 z )dxdz
 2
( x y z ) dydxdz xy
x z
1
1
 1
  (2 z  2 z )dz   4 z dz  z   0
3 3 3 4

1 1  1
 Department of Mathematics

3 4 0

   (4 x y  z 3 )dzdydx
2
33. Evaluate
2 1 1

Solution:

34 1 4 0 1 2 
3 4 0 3 4

2 1 1 (4 x y  z ) dz dy dx     4 x yz  4 z  dy dx  2 1  4  4 x y  dy dx
2 3 2

2 1 1
4 3
13
x2 y 2 
3
5 2 5  755
   4  dx     30 x dx   x 10 x3  
2 2 
4 2  1 4 4
4  2

34. Find by triple integration the volume of the sphere of radius a .

Solution:

a a2  x2 a2  x2  y 2

 dx dy dz 8    dz dy dx
V x 0 y 0 z 0

Changing to spherical coordinate system

dxdydz  r 2 sin  drd d

a
 /2  /2
r3 
8   3 sin   d d
 0  0 0

8a 3  / 2  / 2
sin  d  d
3   0   0


 /2
8a 3  / 2 
  sin  .   d
3  0  0

8a 3  /2
 4 a 3  / 2  a3 4 a3
 
 /2
  sin  d   sin  d  4  cos  0

3  0 2 3 0 3 3
 Department of Mathematics

x y z
35. Find the volume of the tetrahedron    1 and the Coordinate planes.
a b c

Solution:

 x  x y
b 1  c  1  
 a  a b
 x
b 1 
 a
b 1 ax  
   x y  
a a x y a

   z
1 
Volume V  
x 0 y 0
 dzdydx 
x0 y 0
0
a b dydx     1   dy  dx
x 0  y 0 
a b 
 

 x  x
2

 x
b 1  x 1   b 2 1   
xy y   x
a
 a  a
a 2  a
dx   b 1     dx  abc
 
x 0
y  
a 2b  0 0 
a a 2b  6



36. Find the volume generated by the revolution of the cardiode r  a(1  cos  ) about the initial
line.

Solution:
Volume of the solid of revolution in polars is given by V   2r sin  dr d
2

A
Recollecting the nature and shape of the cardioide we have
 a (1 cos  )
 a (1cos ) r3 
V   2 r 2 dr d
  2   sin  d
  0   0
3
 0 r 0


2
a (1  cos  ) 3 sin  d
3

3
 0
Put 1  cos   t   sin  d  dt

If   0, t  2;    , t  0

2
2a 3 3
0
2a 3 t 4  8a 3
3 
V t (  dt )    
2
3  4  0 3

Thus the required volume V  8a 3 / 3 Cubic. Units

 Department of Mathematics

37. A pyramid is bounded by three coordinate planes and plane x  2 y  3z  6. Compute the
volume by double integration.

Solution:
V   z dx dy
x y z
Consider x  2 y  3z  6. or   1
6 3 2
We have z  21  ( x / 6)  ( y / 3)

If z  0, ( x / 6)  ( y / 3)  1  y  31  ( x / 6)

If z  0, y  0, then x  6

6 31 ( x / 6 ) 
V 
x 0

y 0
21  ( x / 6)  ( y / 3 dy dx  6

Thus the required volume (V)= 6 cubic units

1.8 Orthogonal curvilinear Coordinates

1.8.1 Definitions

Curvilinear coordinates, curvilinear coordinate surfaces and Curvilinear coordinate curves.

Let the coordinates of any point P in space be x, y, z  in the Cartesian system. Suppose x , y , z are expressible in
terms of new coordinates (u1 , u 2 , u3 ) ,we can say that x , y , z are functions of u1 , u 2 , u 3 . Let us suppose that we
are also in a position to express u1 , u 2 , u 3 in terms of x , y , z by solving/eliminating. Then the coordinates
(u1 , u 2 , u3 ) are known as curvilinear coordinates of the point P, where it is assumed that the correspondence
between x, y, z  and (u1 , u 2 , u 3 ) is unique.

The surfaces u1  c1 and u2  c2 , u 3  c3 , c1 , c2 , c3 being constants are called curvilinear coordinate surfaces
and the intersection of each pair of these surfaces give rise to curves called curvilinear coordinate curves.
 Department of Mathematics

Note: A system of curvilinear coordinates is said to be orthogonal if at each point the tangents to the coordinate
curves are mutually perpendicular.

1.8.2 Unit Vectors, scale factors and orthogonality conditions

  
Suppose r  xi  yj  zk be the position vector of a point in space, we have r  r (u1, u 2 , u 3 ) .

r r r
, , are called the tangent vectors to the coordinate curves and the unit tangent vectors in
u1 u 2 u3
r r r r r r
the same direction are respectively eˆ1  eˆ2  eˆ3  .
u1 u1 , u2 u2 , u3 u3

r r r
The quantities h1  h2  h3  are called scale factors
u1 , u 2 , u3
For the orthogonality of the curvilinear coordinate system we must have eˆ1 .eˆ2  0 , eˆ2 .eˆ3  0 , eˆ3 .eˆ1  0 .
These are the analogous to the property of basic unit vectors in the Cartesian system
     
i  j  0 , j  k  0 , k  i  0 . We have eˆ1  eˆ2  eˆ3 , eˆ2  eˆ3  eˆ1 , eˆ3  eˆ1  eˆ2
Thus eˆ1 , eˆ2 , eˆ3 , form a right handed system of vectors. If A is any vectors in the orthogonal
   
curvilinear coordinates system then A  A1e1  A2 e2  A3e3 where A1 , A2 , A3 , are scalar functions of
u1 , u 2 , u3 .
In addition to the well acquainted rectangular Cartesian coordinates x, y, z 
We introduce two new set of coordinates.
i. Cylindrical polar coordinates (  ,  , z ) given by the transformation:
x   cos  , y   sin  , z  z
ii. Spherical polar coordinates given by the transformation
x  r sin  cos  , y  r sin  sin  , z  r cos
  
We are familiar with the vector differential operator   i j  k and the Laplacian operator
x y z
2 2 2
 2  .   
x 2 y 2 z 2 operated on scalar and vector point functions
 Department of Mathematics

If  is a scalar function and A is a vector function of  x, y, z  we know that :   grad , . A  div A,

  A  curl A, Laplacian of    2 A

1.8.3 Scale factors of the cylindrical and spherical systems

I Cylindrical system

The cylindrical polar coordinates (  ,  , z ) is regarded as a particular case of the general orthogonal
curvilinear coordinates  u1 , u2 , u3  by setting  u1 , u2 , u3   (  ,  , z) and are related to the Cartesian
coordinates  x, y, z  by the transformation x   cos  , y   sin  , z  z

Thus r  xi  yj  zk becomes
r   cos  i   sin  j  zk
We have by the definition of scale factors,
r
h1   cos  i  sin  j  0k  cos 2   sin 2   1
p

r
h2     sin  i   cos  j  0k   2 (cos 2   sin 2  )   2


r
h3   0i  0 j  zk  02  02  1  1
z
Thus
h1  1, h2   , h3  1, for the cylindrical system.
II Spherical system
We have  u1 , u2 , u3   (r , ,  ) and by the transformation
x  r sin  cos  , y  r sin  sin  , z  r cos
We have r  r sin  cos  i  r sin  sin  j  r cos  k
r
h1   sin  cos  i  sin  sin  j  cos  k
r

 sin 2  (cos 2   sin 2  )  cos 2   cos 2   sin 2   1

 Department of Mathematics

r
h2   r cos  cos  i  r cos  sin  j  r sin  k


 r 2 cos 2  (cos 2   sin 2  )  r 2 sin 2   r 2 (cos 2   sin 2  )  r

r
h3    r sin  sin  i  r sin  cos  j  0k


 r 2 sin 2  (cos 2   sin 2  )  r sin 

Thus, h1  1, h2  r , h3  r sin  , for the spherical system.

III Orthogonality of the cylindrical system

We have for the cylindrical system r   cos  i   sin  j  zk

Let eˆ , eˆ , eˆz , be the basic unit vectors of this system
They are given by
r r 1 r
eˆ    (cos   sin   ok ), since h1  1,
  h1 
1 r 1
eˆ   (  sin  i   cos  j  ok ), since h2  1,
h2  
i.e eˆ   sin  i  cos  j  0k )

1 r 1
eˆz   (0i  0 j  1k ), since h3  1,
h3 z 1
Now eˆ .eˆ   cos  sin   sin  cos   0; eˆ .eˆz  0, eˆz .eˆ  0
Thus the cylindrical system is orthogonal.

IV Orthogonality of the spherical system

We have for the spherical system r  r sin  cos  i  r sin  sin  j  r cos  k
And let eˆr , eˆ , eˆ , be the basic unit vector of this system
Further we have h1  1, h2  r , h3  r sin  ,
 Department of Mathematics

1 r
Now, eˆr   sin  cos  i  sin  sin  j  cos  k ),
h1 r
1 r 1
eˆ   (r cos  cos  i  r cos  sin  j  r sin  k ),
h2  r
i.e. ., eˆ  cos  cos  i  cos  sin  j  sin  k ),
1 r 1
eˆ   (r sin  sin  i  r sin  cos  j  0k ),
h3  r sin 
i.e. ., eˆ   sin  i  cos  j  0k
Now eˆr .eˆ  sin  cos  (cos 2   sin 2  )  sin  cos   0
eˆ .eˆ   cos  cos  sin   cos  sin  cos   0
eˆ .eˆr   sin  cos  sin   sin  sin  cos   0
Thus the spherical system is orthogonal

V Arc length and volume element in the orthogonal curvilinear coordinate system
  r r r
We have r  r (u1, u 2 , u 3 ) d r  du1  du2  du (total derivative)
u1 u2 u3 3
dr  h1du1eˆ1  h2du2eˆ2  h3du3eˆ3
For a curve in space through the point P the arc length ds is given by the relation
ds  dr i.e ds  h12 du12  h22du22  h32du32

The vector d r along the u1 curve for which u2 and u3 are constants given by
d r  h1du1eˆ1 since du2  0  du3
Similarly along the u2 curve u3 curve we have h2 du2 eˆ2 and h3du3eˆ3 respectively
The volume of the rectangular parallelepiped formed by these is called the volume element dV at P in the
orthogonal curvilinear coordinate system. Using the geometrical meaning of the scalar triple product of vectors
we have,
dV  h1du1eˆ1.(h2du2eˆ2  h3du3eˆ3 )  h1 h2 h3 du1 du2 du3 eˆ1.(eˆ2  eˆ3 )
But (eˆ2  eˆ3 )  eˆ1 and eˆ1.eˆ1  1  dV  h1 h2 h3 du1 du2 du3
Thus ds 2  h12 du12  h2 2 du2 2  h32 du32 and dV  h1 h2 h3 du1 du2 du3
 Department of Mathematics

Corollary:

i) In the cylindrical system :

u1, u2 , u3   (  , , z) and h1  1, h2  r, h3  1,
 ds 2  d  2   2 d 2  dz 2 ; dV   d  d dz
ii) In the spherical system :
u1, u2 , u3   (r, , ) and h1  1, h2   , h3  r sin  ,
 ds 2  dr 2  r 2 d 2  r 2 sin 2  d ,2 dV  r 2 sin  dr d d

1.8.4 Expression for  in orthogonal curvilinear coordinates

Consider a scalar point function  (u1,u2 , u3 )
Let   a1eˆ1  a2eˆ2  a3eˆ3 .........................................(1)
Where a1, a2, a3, are to be determined.
We also have r r (u1,u2 , u3 ) and as a total derivative
r r r
dr  du1  du2  du  dr  h1du1eˆ1  h2du2eˆ2  h3du3eˆ3 …………………………(2)
u1 u2 u3 3
We have the fact that x , y , z are the functions of u1, u2, u3 and vice versa
We are also familiar with the result d  d r. ,
hence d  a1h1du1  a2 h2 du2  a3h3du3 …………………………(3)
But as a total derivative we also have form    (u1,u2 , u3 )
  
d  du1  du2  du ........................................(4)
u1 u2 u3 3
Equating the R.H.S of (3) and (4) we have
   1  1  1 
a1h1  , a2 h2  , a3 h3  ,  a1  , a2  , a3  ,
u1 u2 u3 h1 u1 h2 u1 h3 u3
Substituiting these values in (1) we obtain,
1  1  1  1 
  eˆ1  eˆ2  eˆ3   eˆ1
h1 u1 h2 u2 h3 u3 h1 u1
 Department of Mathematics

Corollary:

i) In the cylindrical system

u1, u2 , u3   (  , , z) and h1  1, h2  r, h3  1,
 1  
  eˆ  eˆ  eˆz
   z
ii) In the spherical system:
 1  1 
  eˆr  eˆ  eˆ
r r  r sin  

1.8.5 Expression for div A in orthogonal curvilinear coordinates

Note: The following vector identities are useful for simplification

   ( )  0
  (  F )  0
  ( F )   ( F )  ( F )
   ( F )   (  F )  (  F )
  ( A  B)  B (  A)  A (  B)

Let A1  A1eˆ1  A2eˆ2  A3eˆ3

div A   A   ( A1eˆ1 )   ( A2eˆ2 )   ( A3eˆ3 ) ............................(1)
1 
We have   h ê1 ...................................(2)
1 u1

1 eˆ eˆ eˆ
 u1  eˆ1  0  0 i.e u1  1 , u2  2 , u3  3 ,
h1 h1 h2 h3
eˆ1  (eˆ2  eˆ3 )  (h2u2 )  (h3u3 ) Or eˆ1  h2 h3 (u2 u3 ) ...............................(3)
Let us consider only the first term in R.H.S of (1) and proceed as follows
1 1 )    A1h2 h3 (u2 u3 ) , by using (3)
 ( Aeˆ
i.e.,   ( a ) where   A1h2 h3, a  (u2 u3 )
  ( a )  a.   A1h1h2  (u2 u3 )  (u2 u3 ) ( A1h2h3 )
 Department of Mathematics

eˆ1 eˆ 1 
 A1h1h2 u3   (u2 )  u2   u3    ( A1h2 h3 )  0  1 . ( A1h1h2 )eˆ1
h1h3 h1h3 h1 u1
By expanding R.H.S and taking dot product we get,
1 
 ( A1eˆ1 )   A1h2 h3 
h1h2 h3 u1
eˆ1.eˆ1  1, eˆ1.eˆ2  0 , eˆ1.eˆ3  0
1 
Similarly  ( A2 eˆ2 )   A2 h3h1 
h2 h3 h1 u2
1 
 ( A3eˆ3 )   A3h1h2 
h3 h1h2 u3
Adding these results we have,
1 
 ( A1eˆ1 )   ( A2 eˆ2 )   ( A3eˆ3 ) 
h1h2 h3
 u1
 A1h2 h3 
Using (1) for the L.H.S. we have
1 
 A  div A 
h1h2 h3
 u1
 A1h2 h3 

Corollary:
We deduce expression for  A in the cylindrical and spherical system by using the expression for the same in the
expanded form
1     
 A   A1h2h3    A2 h3h1    A3h1h2 
h1h2 h3  u1 u2 u3 

We have u1 , u2 , u3   (  , , z) and h1  1, h2   , h3  1 for the cylindrical system. Hence

we obtain
1   
 A    A1    A2     A3  ( Cylindrical system)
    z 
u1, u2 , u3   (r, , ) and h1  1, h2  r, h3  r sin  for the spherical system. Hence we obtain
 2   
  r sin  A1  
1
 A  r sin  A2    rA3  ( spherical system)
r sin 
2
 r   
 Department of Mathematics

1.8.6 Expression for curl A in orthogonal curvilinear coordinates

Let A1  A1eˆ1  A2eˆ2  A3eˆ3

curl A1   A   ( A1eˆ1 )   ( A2eˆ2 )   ( A3eˆ3 ) …………………………(1)
1  1
We have,   h ê1  u1  eˆ1 i.e ê1  h1u1 .................................(2)
1 u1 h1
we shall consider only the first term in R.H.S of (1) and proceed as follows
 ( A1eˆ1 )   ( A1h1u1 ), by using (2)
i.e.,    ( a) where   A1h1 , a  u1
  (  a)    a  A1h1  (u1 )  ( A1h1 ) u1  0  ( A1h1 ) u1
1  1  1   eˆ
  A1h1  eˆ1   A1h1  eˆ2   A1h1  eˆ3   1
 h1 u1 h2 u2 h3 u3  h1
Where we have used the expression format of  in the expanded form and (2)
Also, using the fact that eˆ1  eˆ1  0, eˆ2  eˆ1  eˆ3 , eˆ3  eˆ1  eˆ2 we have
eˆ3  eˆ 
  ( A1eˆ1 )   A1h1   2  A1h1 
h1h2 u2 h1h3 u3
Similarly by symmetry,
eˆ1  eˆ 
  ( A2 eˆ2 )   A2 h2   3  A2 h2 
h2 h3 u3 h2 h1 u1

eˆ2  eˆ 
  ( A3eˆ3 )   A3h3   3  A3h3 
h3 h1 u1 h3 h2 u2
Adding these results, L.H.S becomes  A according to (1) and R.H.S can be put in the determinant form as
follows
h1eˆ1 h2eˆ2 h3eˆ3
1   
Thus   A 
h1h2 h3 u1 u2 u3
A1h1 A2 h2 A3h3
 Department of Mathematics

Corollary:

i) In the cylindrical system:  u1 , u2 , u3   (  ,  , z ) and h1  1, h2   , h3  1

and the basic unit vectors are denoted by eˆ , eˆ , eˆz

eˆ  eˆ eˆz

1   
  A 
   z
A1  A2 A3
ii) In the spherical system:  u1 , u2 , u3   (r , ,  ) and h1  1, h2  r , h3  r sin 
and the basic unit vectors are denoted by eˆr , eˆ , eˆ

eˆr reˆ r sin  eˆ

1   
  A  2
r sin  r  
A1 rA2 r sin  A3

1.8.7 Expression for 2 (Laplacian of  ) in orthogonal curvilinear coordinates

1 
We know that    . and we have  
2
h ê1
1 u1

1   
Also if A1  A1eˆ1  A2eˆ2  A3eˆ3 we have  A    A1h2h3 
h1h2 h3  u1 
1 
We need to substitute (1) in (2). That is by taking A1   which is equivalent to taking A1  since
h1 u1
A1   A1eˆ1

1    1   
2    h2 h3  
h1h2 h3  u1  h1 u1  
1    h2 h3   
2    
h1h2 h3  u1  h1 u1  
 Department of Mathematics

1    h2 h3     h3h1     h1h2   
Thus    
2
    
h1h2 h3  u1  h1 u1  u2  h2 u2  u3  h3 u3  

Corollary:

i)  2 in the cylindrical system

we have  u1 , u2 , u3   (  ,  , z ) and h1  1, h2   , h3  1 .

1        1      
2       
           z  z 
1   2  1  2  2 
    2 
2
  2 
      2 z 
 2 1  1  2  2
Thus 2    
 2    2  2 z 2

ii)  2 in the spherical system

In the spherical system we have
u1, u2 , u3   (r, , ) and h1  1, h2  r , h3  r sin 
.
Substituting in the general expression   we get
2

1   2           
2    r sin    sin    sin  
r sin 
2
 r  r          

1   2  2    2  1  2 
 2   sin  r  2r   sin   cos   
r sin 
2
  r
2
r   2  sin   2 
 2 2  1  2 cot   1  2
  2 
2
  2 
r r r r 2  2 r  r 2 sin 2   2
 Department of Mathematics

Exercise:

SI.NO Questions Answers

1 x
1
1. Evaluate   xy dy dx I
24
0 x
2
1 1 y 1
I
2. Evaluate   x 3 y dx dy 24
0 0
1 x
3
  (x  y 2 )dy dx I
2
3. Evaluate
0 x
35

1 1  x2 1  x  y
2 2
1 2
4 Evaluate    dz dy dx . I
0 0 0 1  x 2
 y 2
 z 2 8
log 2 x x  log y log 256 19
5 Evaluate    e x  y  z dz dy dx . I 
0 0 0 3 9
42 z 4 z  x2
6 Evaluate.    dy dx dz
0 0 0
I  8

Evaluate  x y dx dy where R is the region bounded by the x-axes and the line
1
7 R I
x  y  1. 24

Evaluate  x 2 y dx dy where R is the region bounded by the line y  x . 11

8 R
y  x  2 and y  0 30
1 2 x
3
9 Evaluate 
0 x2
xy dy dx by changing the order of integration. I
8
2 4 x 2
10 Evaluate   (2  x) dy dx by changing the order of integration.
2 0
I  4

2 x2
1006
  (x  y 2 ) dy dx by changing the order of integration. I
2
11 Evaluate
1 1
105
 Department of Mathematics

x2 y2
12 Find the area of the ellipse   1 by double integration I  ab
a2 b2
x2 y2 ab
13. Find the area of a plate in the form of a quadrant of the ellipse
2
 2 1 I
a b 4
A pyramid is bounded by three co-ordinate planes and the plane
14 x  2 y  3 z  6 . Compute the volume by double integration. V  6 cubic unit
Find the volume bounded by the cylinder x 2  y 2  4 and the planes y  z  4
15. I  16
and z  0 .
Prove that the Spherical system is Orthogonal
16.
Derive the expression for  in orthogonal Curvilinear coordinates 1 
17 h e1
1 u1


18
Derive the expression for div A in orthogonal Curvilinear coordinates 1
  A1h2 h3 
h1h2 h3 u1