Lecture Note

Advanced Engineering Mathematics, 7th edition

by
Peter V. O’Neil,
Math 301 (Methods of Applied Mathematics)
Chapter 12 (Vector Integral Calculus)

12.1 Line Integrals

Dr T. A. Apalara
IMPORTANT!! These instructor notes are made available for convenience to
reduce the amount of note-taking in class and also in case it is not possible to
attend class due to circumstances beyond control (e.g. illness). These notes are
neither intended as a replacement for class attendance and participation nor as a
substitute for using the textbook. The class presentation may differ from these
notes. Moreover, some other problems not in these notes may be discussed in class.
Math 301 Week #2 12.1 Line Integrals Dr T. A. Apalara

§§ 12.1 Line Integrals

Objective: In this chapter, you will know, insha Allaah:

☛ How to describe and classify a curve C given by some parametric equations.

☛ How to compute line integral when C is smooth or piecewise smooth .
☛ How to compute line integral with respect to arc length.

Suppose a curve C in 3−space is given by parametric equations

x = x(t), y = y(t), z = z(t) for a ≤ t ≤ b.

We call x(t), y(t), and z(t) the coordinate functions of C. We will think of C not only as a
geometric locus of points (x(t), y(t), z(t)), but also as having an orientation or direction, given
by the direction this point moves along C as t increases from a to b. We call (x(a), y(a), z(a))
the initial point of C, and (x(b), y(b), z(b)) the terminal point.

Figure 1: Orientation along a curve.

We call C :
☛ continuous if each coordinate function is continuous;
☛ differentiable if each coordinate function is differentiable;
☛ closed if the initial and terminal points coincide:

(x(a), y(a), z(a)) = (x(b), y(b), z(b));

☛ simple if a < t1 < t2 < b implies that

(x(t1 ), y(t1 ), z(t1 )) ̸= (x(t2 ), y(t2 ), z(t2 ));

and

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Math 301 Week #2 12.1 Line Integrals Dr T. A. Apalara

☛ smooth if the coordinate functions have continuous derivatives which are never all zero for the
same value of t.
Remark 1. A curve is simple if it does not intersect itself at different times.

Example 1. Describe the curve C given by

(a) x = 2 cos(t), y = 2 sin(t), z = 4; 0 ≤ t ≤ 2π
(b) x = 2 cos(t), y = 2 sin(t), z = 4; 0 ≤ t ≤ 3π.

(c) x = 2 cos(t), y = 2 sin(t), z = 4; 0 ≤ t ≤ 4π.

Solution

(a) The graph of C is a circle of radius 2 about the origin in the plane z = 4.
Curve C is
⋆ simple since no intersection,
⋆ closed since initial point (2 cos(0), 2 sin(0), 4) = (2, 0, 4) is the same as the terminal point
(2 cos(2π), 2 sin(2π), 4) = (2, 0, 4) and
⋆ smooth since 2 cos(t), 2 sin(t), and z = 4 are continuously differentiable.

The arrow on the curve indicates its orientation (the direction of motion of (2 cos(t), 2 sin(t), 4)
around the graph as t varies from 0 to 2π).
(b) The graph of C is a circle of radius 2 about the origin in the plane z = 4.
Curve C is
⋆ not simple since for 0 < 2π < 3π we have

(2 cos(0), 2 sin(0), 4) = (2 cos(2π), 2 sin(2π), 4).

⋆ not closed since initial point (2 cos(0), 2 sin(0), 4) = (2, 0, 4) does not coincide with the
terminal point (2 cos(3π), 2 sin(3π), 4) = (−2, 0, 4). A particle moving about C goes around
the circle once, and then makes another half-circle. This behavior is not clear from the
graph.
⋆ smooth since 2 cos(t), 2 sin(t), and z = 4 are continuously differentiable.

2
Math 301 Week #2 12.1 Line Integrals Dr T. A. Apalara

(c) The graph of C is also a circle of radius 2 about the origin in the plane z = 4.
Curve C is
⋆ not simple since for 0 < 2π < 4π we have

(2 cos(0), 2 sin(0), 4) = (2 cos(2π), 2 sin(2π), 4).

⋆ closed since initial point (2 cos(0), 2 sin(0), 4) = (2, 0, 4) is the same as the terminal point
(2 cos(4π), 2 sin(4π), 4) = (2, 0, 4). In this case, the particle moving about C goes around
the circle twice. Again, this behavior is not clear from the graph.
⋆ smooth since 2 cos(t), 2 sin(t), and z = 4 are continuously differentiable.
✍
We are now ready to define the line integral, which is an integral over a curve.

Definition − Line Integral: Suppose a smooth curve C has coordinate functions x = x(t), y =
y(t), z = z(t) for a ≤ t ≤ b. Let f (x, y, z), g(x, y, z), and h(x, y, z) be continuous at least on the
graph of C. Then, the line integral
Z
f (x, y, z)dx + g(x, y, z)dy + h(x, y, z)dz
C
Z b  
dx dy dz
= f (x(t), y(t), z(t)) + g (x(t), y(t), z(t)) + h (x(t), y(t), z(t)) dt (1)
a dt dt dt

Remark 2. Z
☛ We can write this line integral more compactly as f dx + gdy + hdz.
C
Z
☛ To evaluate f dx + gdy + hdz, substitute the coordinate functions
C
x = x(t), y = y(t), z = z(t) into f (x, y, z), g(x, y, z), and h(x, y, z),
obtaining functions of t. Further, substitute
dx dy dz
dx = dt, dy = dt, and dz = dt.
dt dt dt
This results in the Riemann integral on the right side of equation (1) of a function of t over the
range of values of this parameter.
Z
Example 2. Evaluate the line integral xdx − yzdy + ez dz if C is given by
C

x = t3 , y = −t, z = t2 ; 1 ≤ t ≤ 2.

Solution dx = 3t2 dt, dy = −dt, and dz = 2tdt

Z Z 2h i
2
∴ xdx − yzdy + ez dz = t3 (3t2 ) − (−t)(t2 )(−1) + et (2t) dt
C 1
Z 2 h i
2
= 3t5 − t3 + 2tet dt
1
 2
t6 t4

t2  111
+ e4 − e.

= − +e  =
2 4 1 4

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Math 301 Week #2 12.1 Line Integrals Dr T. A. Apalara

✍
Z
Example 3. Evaluate the line integral xyzdx − cos(yz)dy + xzdz over the straight line segment
C
L from (1, 1, 1) to (−2, 1, 3)

Solution First, we find the coordinate functions of the curve. Let A = (1, 1, 1) and B =
(−2, 1, 3).
−−→
F = AB = ⟨−3, 0, 2⟩. So, parametric equations of the line through these points are
x(t) = 1 − 3t, y(t) = 1, z(t) = 1 + 2t; 0 ≤ t ≤ 1.
Here, dx = −3dt, dy = 0, and dz = 2dt
Z Z 1
∴ xyzdx − cos(yz)dy + xzdz = [−3(1 − 3t)(1 + 2t) + 2(1 − 3t)(1 + 2t)] dt
C 0
Z 1  2 
= 6t + t − 1 dt
0
 1
t2

3
 3
= 2t + − t  = .
2 0 2
✍

Remark 3.
If C is a smooth curve in the xy−plane (zero z−component), and f (x, y) and g(x, y) are continuous
on C, then we can write a line integral
Z
f (x, y)dx + g(x, y)dy,
C

which we refer to as a line integral in the plane. We evaluate this using equation (1), except now
there is no z−component.
Z
Example 4. Evaluate the line integral xydx − y sin(x)dy if C is given by x = t2 and y = t for
C
−1 ≤ t ≤ 2.
Solution dx = 2tdt and dy = dt
Z Z 2   2
 4 2 5 1
2t − t sin(t2 ) dt = t + cos(t2 ) 
 
∴ xydx − y sin(x)dy =
C −1 5 2 −1
66 1
= + (cos(4) − cos(1) .
5 2
✍
Line Integrals for Piecewise Smooth C: A curve C is piecewise smooth if it has a continuous
tangent at all but finitely many points.
Z Z Z
f dx + gdy + hdz = f dx + gdy + hdz + · · · + f dx + gdy + hdz.
C C1 Cn

This allows us to take line integrals over paths, rather than restricting the integral to smooth
curves.

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Math 301 Week #2 12.1 Line Integrals Dr T. A. Apalara

Example 5. Let C be the curve consisting of the quarter circle x2 +y 2 = 1 in the x, y−plane,
Z from
(1, 0) to (0, 1), followed by the horizontal line segment from (0, 1) to (2, 1). Compute dx + y 2 dy.
C

Solution C is piecewise smooth and consists of two smooth pieces (as shown below).

We parametrize these as follows.

☛ The quarter circle part is
π
C1 : x(t) = cos t, y(t) = sin t; 0≤t≤
2
∴dx = − sin t dt, dy = cos t dt.

☛ For the straight segment, we let P = (0, 1) and Q = (2, 1).

−−→
F = P Q = ⟨2, 0⟩. So, parametric equations of the straight segment is

C2 : x(s) = 2s, y(s) = 1; 0≤s≤1

∴dx = 2ds, dy = 0.
Z Z Z
∴ dx + y 2 dy = dx + y 2 dy + dx + y 2 dy
C C1 C2
Z π/2 Z 1
= (− sin t + sin2 t cos t)dt + 2 ds
0 0
π/2 π/2
 sin3 t  1 4
= cos t
 + + 2 = −1 + + 2 = .
0 3 
0 3 3

✍
Integral in Vector Notation:
Let F(x, y, z) = f (x, y, z)i + g(x, y, z)j + h(x, y, z)k and form the position vector R(t) = x(t)i +
y(t)j + z(t)k for C. Then dR = dx i + dy j + dz k and
Z Z
f (x, y, z)dx + g(x, y, z)dy + h(x, y, z)dz = F · dR.
C C

Example 6. Calculate the work done by F(x, y, z) = i − yj + xyzk in moving a particle from
(0, 0, 0) to (1, −1, 1) along the curve x = t, y = −t2 , z = t for 0 ≤ t ≤ 1.

Solution The work done is

Z Z
work = F · dR = dx − ydy + xyzdz
C C
1  1
t4 t5 
Z 
 3 4
 3
= 1 − 2t − t dt = t − − = .
0 2 5 0  10
✍

5
Math 301 Week #2 12.1 Line Integrals Dr T. A. Apalara

Line integrals have properties we normally expect of integrals.

Theorem − Properties of Line Integrals: Let C be a path having position vector R. Let F
and G be vector fields that are continuous at points of C. Then
☛ The line integral of a sum is the sum of the line integrals:
Z Z Z
(F + G) · dR = F · dR + G · dR.
C C C

☛ Constants factor through a line integral: For any number α

Z Z
αF · dR = α F · dR.
C C

☛ Reversing the direction on C changes the sign of the line integral.

Z Z
F · dR = − F · dR.
C −C

Remark 4. This theorem illustrates the efficiency of the vector notation for line integrals. We
could also write the conclusions as
☛ The line integral of a sum is the sum of the line integrals:
Z
(f + f1 )dx+(g + g1 )dy + (h + h1 )dz
C
Z Z
= f dx + gdy + hdz + f1 dx + g1 dy + h1 dz
C C

☛ Constants factor through a line integral:

Z Z
(α)dx + (αg)dy + (αh)dz = α f dx + gdy + hdz
C C

☛ Reversing the direction on C changes the sign of the line integral.

Z Z
f dx + gdy + hdz = − f dx + gdy + hdz.
C −C

Example 7. A force F(x, y, z) = x2 i−yzj+x cos zk moves a particle along P (0, 0, 0) to Q(9, 3, 3π)
along the path C given by x = t2 , y = t, z = πt for 0 ≤ t ≤ 3. Calculate the work done in moving
the particle along this path from Q to P .

Solution Since we want to go from the terminal to the initial point of C, the work done is
Z
F · dR.
−C

Using the property of line integrals, we do not need to formally define −C in terms of new coordinate

6
Math 301 Week #2 12.1 Line Integrals Dr T. A. Apalara

Z
functions. We can simply calculate F · dR, and take its negative.
C
Z Z
F · dR = x2 dx − yzdy + x cos zdz
C C
Z 3
 5
2t − πt2 + πt2 cos(πt) dt

=
0
 3
t6 πt3

2 2t cos(πt) 2 sin(πt) 
= − + t sin(πt) + −
3 3 π π2 
0
6
=243 − 9π − .
π
Therefore, the work done in moving the particle along this path from Q to P is
Z
6
work = − F · dR = + 9π − 243.
C π
✍

Definition − Line Integral with Respect to Arc Length: Let C be a smooth curve with
coordinate functions x = x(t), y = y(t), z = z(t) for a ≤ t ≤ b. Let φ(x, y, z) (a scalar field) be a
real-valued function that is continuous on the graph of C. Then the line integral of φ over C with
respect to arc length is
Z Z b p
φ(x, y, z) ds = φ (x(t), y(t), z(t)) x′ (t)2 + y ′ (t)2 + z ′ (t)2 dt
C a

Remark 5. The rationale behind this definition is that the length function along C is
Z tp
s(t) = x′ (r)2 + y ′ (r)2 + z ′ (r)2 dr.
a

Then p
ds = x′ (t)2 + y ′ (t)2 + z ′ (t)2 dt,
suggesting the integral in the definition.
Z
Example 8. Evaluate xyds over the curve given by
C
π
x = 4 cos t, y = 4 sin t, z = −3 for 0 ≤ t ≤ .
2
Z Z b p
Solution Using φ(x, y, z) ds = φ (x(t), y(t), z(t)) x′ (t)2 + y ′ (t)2 + z ′ (t)2 dt where
C a
p
φ(x, y, z) = xy = 16 sin t cos t = 8 sin 2t, ds = (−4 sin t)2 + (4 cos t)2 dt = 4dt.
Therefore
Z Z π/2 π/2
cos 2t 
xyds = 32 sin 2t dt = −32 = 32.
C 0 2 0
✍

7
Math 301 Week #2 12.1 Line Integrals Dr T. A. Apalara

Application of Line Integrals with respect to Arc Length

Line integrals with respect to arc length occur in calculations of mass, density, and various other
quantities for one-dimensional objects. Suppose, for example, we want the mass of a thin wire
bent into the shape of a piecewise smooth curve C having coordinate functions
x = x(t), y = y(t), z = z(t) for a ≤ t ≤ b.
The wire is one-dimensional in the sense that (ideally) it has length but not area or volume. Let
δ(x, y, z) be the density of the wire at any point.
☛ An expression for the mass of the wire (m) is given as
Z Z b p
m= δ(x, y, z) ds = δ (x(t), y(t), z(t)) x′ (t)2 + y ′ (t)2 + z ′ (t)2 dt.
C a

☛ The coordinates (x̃, ỹ, z̃) of the center of mass of the wire:
Z Z Z
1 1 1
x̃ = xδ(x, y, z) ds, ỹ = yδ(x, y, z) ds, z̃ = zδ(x, y, z) ds.
m C m C m C

Example 9. A wire is bent into the shape of the quarter circle C given by
π
x = 2 cos t, y = 2 sin t, z = 3 for 0 ≤ t ≤ .
2
The density function is δ(x, y, z) = xy 2 grams/centimeter. Calculate the mass and center of mass
of the wire.
Z
Solution Using m = δ(x, y, z) ds, where
C
p
δ(x, y, z) = xy 2 = 8 cos t sin2 t, ds = (−2 sin t)2 + (2 cos t)2 dt = 2dt,
we have
π/2 π/2
sin3 t 
Z Z
2 2 16
m= xy ds = 16 sin t cos t dt = 16 = grams.
C 0 3 0 3
Now, we compute the coordinates of the center of mass as follows:

Z Z Z π/2
1 3
x̃ = xδ(x, y, z) ds = sin2 t cos2 t dt
x2 y 2 ds = 6
m C 16 C 0
2 " π/2 #
π/2
3 π/2
Z  Z
sin 2t 3 π sin 4t  3π
=6 dt = (1 − cos 4t) dt = − =
0 2 4 0 4 2 4 
0 8
π/2
Z Z Z π/2 
1 3 3 3
ỹ = yδ(x, y, z) ds = xy 3 ds = 6 sin3 t cos t dt = sin4 t =
m C 16 C 0 2 0 2
Z Z Z π/2 π/2
1 9
xy 2 ds = 9 sin2 t cos t dt = 3 sin3 t

z̃ = zδ(x, y, z) ds = = 3.
m C 16 C 0 0

It 
should not 
be surprising that z̃ = 3 because the wire is in the z = 3 plane. The center of mass
3π 3
is , , 3 . ✍
8 2
END

8
374 CHAPTER 12 Vector Integral Calculus

SECTION 12.1 PROBLEMS


In each of Problems 1 through 10, evaluate the line 7. C
F · dR with F = xi + yj − zk and C the circle
integral. x 2 + y 2 = 4, z = 0, going around once counterclock-
 wise.
1. x d x − dy + z dz with C given by x = y = t, z = t 3 
C 8. C yz ds with C the parabola z = y 2 , x = 1 for 0 ≤ y ≤ 2
for 0 ≤ t ≤ 1  √
 9. C −x yz dz with C given by x = 1, y = z for
2. C
−4x d x + y 2 dy − yz dz with C given by x = 4≤z ≤9
−t 2 , y = 0, z = −3t for 0 ≤ t ≤ 1 
10. C x z dy with C given by x = y = t, z = −4t 2 for

3. C
(x + y) ds with C given by x = y = t, z = t 2 for 1≤t ≤3
0≤t ≤2 11. Find the work done by F = x 2 i − 2yzj + zk in mov-
 2 ing an object along the line segment from (1, 1, 1) to
4. x z ds with C the line segment from (0, 1, 1) to
C
(4, 4, 4).
(1, 2, −1)
 12. Find the mass and center of mass of a thin,
5. C
F · dR with F = cos(x)i − yj + x zk and R = straight wire extending from the origin to (3, 3, 3) if
ti − t 2 j + k for 0 ≤ t ≤ 3 δ(x, y, z) = x + y + z grams per centimeter.
 b
4x y ds with C given by x = y = t, z = 2t for
 any Riemann integral a f (x)d x is a line
6. C 13. Show that
1≤t ≤2 integral C F · dR for appropriate choices of F and R.

12.2 Green’s Theorem

Green’s theorem is a relationship between double integrals and line integrals around closed
curves in the plane. It was formulated independently by the self-taught amateur British natural
philosopher George Green and the Ukrainian mathematician Michel Ostrogradsky, and is used
in potential theory and partial differential equations.
A closed curve C in the x, y - plane is positively oriented if a point on the curve moves
counterclockwise as the parameter describing C increases. If the point moves clockwise, then C
is negatively oriented. We denote orientation by placing an arrow on the graph, as in Figure 12.3.
A simple closed curve C in the plane encloses a region, called the interior of C. The
unbounded region that remains if the interior is cut out is the exterior of C (Figure 12.4). If

Exterior of C
y

Interior of C
x

FIGURE 12.3 Orientation on a

FIGURE 12.4 Interior and exterior
curve.
of a simple closed curve.

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October 14, 2010 14:53 THM/NEIL Page-374 27410_12_ch12_p367-424