Atilim University - OpenCourseWare Project - Department of Mathematics, Calculus II

Part I
MULTIPLE INTEGRATION
In this chapter we consider multiple integrals, integrals of functions of two variables f (x; y) over
regions in the plane, and integrals of functions of three variables f (x; y; z) over regions in space.
Similar to single variable integrals, multiple integrals are de…ned as limits of approximating Riemann
sums. First we will start with double integrals.

1 Double Integrals
We have de…ned the integral of a single variable function f (x) over an interval [a; b] as Riemann sums.
These Riemann sums are obtained by partitioning the interval [a; b] into in…nitesmall subintervals,
picking a point ck from each subinterval, multipliying the value of the function f (x) at these points
ck by the width of the intervals, and taking sum of all products. In this section we will de…ne
the integral of a function of two variables over a bounded region in plane. First, we will consider
the rectangular regions and then more generalized regions. Similiar to single variable integrals, we
will construct Riemann sums approximating the double integral. We will partition the domain into
in…nitesmall rectangles, pick one point (xk ; yk ) from each rectangle, multiply f (xk ; yk ) the value
of the function at selected points with the area of the rectangles, and sum all products. Formal
construction and de…nition goes as follows:
Consider a function f (x; y) de…ned over a rectangle R de…ned by;

R := f(x; y); a x b c y dg
We divide R into subrectangles by the lines parallel to the coordinate axes. These subrectangles
form a partition P of R. Such a partition can be constructed by partitioning the intervals [a; b] and
[c; d] as

a = x0 < x1 < x2 < < xn 1 < xn = b

c = y0 < y1 < y2 < < ym 1 < ym = d:

This partition consists of mn rectangles described by

Rij := f(x; y); xi x < xi+1 ; yj y < yj+1 g

. A subrectangle of width xi and height yj has the area Aij = xi yj and denote this
rectangle by Rij ; i = 1; ::; n, j = 1; ::; m. From each subrectangle we pick a point (ti ; sj ) and
multiply the value of the function at this point with the area of the rectangle and add all these
products to form the Riemann sum;
n X
X m
R(f; P ) := f (ti ; sj ) Aij
i=1 j=1

Note that the value of the partial sum depends on the partition P and the choice of the points
(ti ; sj ). we are interested in the limit case as the subrectangles get smaller and smaller. Now, de…ne
the norm of a partition P , jjP jj, maximum of width xi or height yj for all rectangles in the
partition. We are interested in the limit

lim R(f; P ):
jjP jj!0

Note that as the norm of the partition gets smaller, the number of subrectangles in the partition
increases, so as jjP jj ! 0, n; m ! 1: Keeping this observation in mind sometimes above limit can
be expressed as

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n X
X m
lim f (ti ; sj ) Aij :
n;m!1
i=1 j=1

This limit may or may not exist. When this limit exists without depending on the partition
P and points (ti ; sj ) it is called the double integral of the function f (x; y) over the rectangle R
denoted by
ZZ
f (x; y) dA
R
and we say that f (x; y) is integrable over the region R.
Double Integral over More General Domains
The double integral is not necessarily considered over rectangular regions. In most applications
one has to consider the integral of a bounded function over a more general region D which is called
the domain of integration. When the domain D is bounded, we can consider the smallest rectangle
R, whose sides are parallel to the coordinate axes, containing D. And let f~(x; y) be the extension
of f (x; y) to R,
8 such that
< f (x; y) (x; y) 2 D
f~(x; y) =
:
0 (x; y) 2
= D
We de…ne the double integral of f over D to be
ZZ ZZ
f (x; y) dA = f~(x; y) dA:
D R

Note that the function f~ is zero outside the region D, so there is no contribution to the value of
the integral coming from the extension (of both the function and the region). If f~(x; y) is integrable
over R we say that f is integrable over D.

Theorem 1 If a function is continuous on a closed bounded region D whose boundary consists of

…nitely many curves of …nite length, then f is integrable on D.

Properties of Double Integral

Most of the properties of double integrals are similar to properties of integrals of single variable
functions. Besides those properties, areas and volumes can be represented as double integrals.

Some properties of double integrals are given below:

Let a; b 2 R and f and g be integrable functions over D
RR
1. D f (x; y) dA = 0 for all f if and only if D has zero area.
RR RR RR
2. (Linearity) D [af (x; y) + bg(x; y) ] dA = a D f (x; y) dA + b D g(x; y) dA:
RR RR
3. (Domination) If f (x; y) g(x; y) on D, then D f (x; y) dA D
g(x; y) dA:
4. (Additivity of domains) Let D1 ; D2 ; ; Dn be mutually disjoint sets in R2 ; (i:e:; Di \Dj =
S
n
; for all i and j), and D = Di , then
i=1
ZZ n ZZ
X
f (x; y) dA = f (x; y) dA:
D i=1 Di

5. (Triangle inequality) ZZ ZZ
j f (x; y) dAj jf (x; y)j dA
D D

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6. (Area of a domain D by double integral)

ZZ
A(D) = 1 dA:
D

7. (Volumes as double integrals) Suppose that f (x; y) 0 on D, then the volume V of the
solid lying under the graph of z = f (x; y) above the region D is given by
ZZ
V = f (x; y) dA
D

Using above properties one can compute certain double integrals by simple oberservations.

Example 2 Let D = f(x; y)jx2 + y 2 1g be the unit disk, then the double integral
ZZ ZZ
1 1
dA = 1 dA
D 2 2 D

represents half of the area of the unit disk which is .

2
From integrals of single variable functions we know that integral of an odd function over a
symmetric interval is zero, because contribution from symmetric parts cancel each other. This
property also holds for double integrals;

Example 3 Let R = f(x; y)j 1 x 1; 2 y 2g be the rectangle centered at the origin and
evaluate the integral ZZ
x3 + y 5 dA:
R

Solution. We can express double integral as a sum of three integrals;

ZZ ZZ ZZ ZZ
x3 + y 5 dA = x3 dA + y dA 5 dA:
R R R R

Both functions f (x; y) = x3 and g(x; y) = y are odd functions and the domain of integration R is
symmetric with respect to both axes. Hence
ZZ ZZ
3
x dA = y dA = 0
R R

and the last integral on the right hand side represents …ve times the area of the rectangle;
ZZ ZZ
x3 + y 5 dA = 5 dA = 5A(R) = 5 8 = 40
R R

1.1 Iteration of Double Integrals in Cartesian Coordinates

Existence and value of a double integral depends on two things; the function f and the domain
of integration D. Double integrals can simply be evaluated over some regions such as; D =
f(x; y) : a x b and g1 (x) y g2 (x)g an x-simple region and D = f(x; y) : c y d and h1 (y) x h2 (y)g
a y-simple region. In this course many of the domains that we deal with are either simple regions
or …nitely many union of non overlapping simple regions, regular regions.
A double integral of a function f over a simple regular region can be reduced to the computation
to integration of single integrals of one variables, repeatedly.

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Let f (x; y) be a continous function on a y-simple region D given by a x b, and g1 (x) y

g2 (x). Then, the double integral of f over the region can be written as
ZZ Z x=b Z y=g2 (x)
f (x; y) dA = f (x; y) dy dx.
D x=a y=g1 (x)
RR
To interpret this idea: We may consider the double integral D f (x; y) dA of the nonnegative
continuous function f over the y simple region D, given by a x b, and g1 (x) y g2 (x) which
gives the volume of a solid under the function f over the region D. We may remember from single
variable calculus that the volume of a solid can also be computed by method of slicing. Taking the
slices perpendicular to x-axis, we can calculute the volume
Z x=b
V = A(x) dx
x=a

where A(x) is the area of the cross section at x. Note that the the cross section at the point
x0 , is the region lying under the curve z = f (x0 ; y) from y = g1 (x) to y = g2 (x), so A(x) can be
represented as;
Z y=g2 (x)
A(x) = f (x; y) dy:
y=g1 (x)

These two obeservations allows us to express the volume of this solid as two successive integrals;
ZZ Z x=b Z y=g2 (x)
V = f (x; y) dA = f (x; y) dy dx
D x=a y=g1 (x)

The expression on the right of the equality is called iterated or repeated integrals. We say
that, …rst the function f (x; y) is integrated with respect to y from y = g1 (x) to y = g2 (x) and
the result is integrated with respect to x from x = a to x = b. Observe that in the domain D;
the variable x is bounded by a and b which are also the limits of the outer integral in x direction.
Similarly, g1 (x) y g2 (x), and y = g1 (x) and y = g2 (x) are the limits of the inner integral in y
direction.
We have two di¤erent repeated (or iterated) integrals which computes the double integral , so
they must be equal. In the early 20th century, it was Fubini who has proved that double integral
of a continious function over a bounded region can be expressed as an iterated integrals.
Theorem 4 (Fubini’s Theorem) Let f (x; y) be a continitous function on the region D
1. Suppose that the region D is y-simple given by a x b and g1 (x) y g2 (x) where g1 (x)
and g2 (x) are continious functions on [a; b], then
ZZ Z bZ g2 (x)
f (x; y) dA = f (x; y) dy dx
D a g1 (x)

2. Suppose that the region D is x-simple given by h1 (y) x h2 (y) and c y d where h1 (y)
and h2 (y) are continious functions on [c; d], then
ZZ Z d Z h2 (y)
f (x; y) dA = f (x; y) dx dy
D c h1 (y)

Example 5 Evaluate the integral ZZ

xy + x2 dA
D
Solution. Observe that with in the region D, x may vary from 0 to 1, where D is the triangular
region bounded by the x axis and the lines x = 1 and y = x

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y
1

x
y=
D

0 1 x

and for
RR each value of x in Rthis region y varies from 0 to x, hence
1Rx
D
(xy + x ) dA = 0 0 (xy + x2 ) dy dx
2

R 1 xy 2
= 0 + x2 y jx0 dx
2
R 1 3x3
= 0 dx
4
2
3x 1
= j
8 0
3
= :
8
is obtained.

Example 6 Find the area of the region bounded by the parabola y = x2 and the line y = x + 2.
2
RR Let D be the region bounded by the parabola y = x and the line y = x + 2, then
Solution.
A(D) = D dA:
Note that throughout the region D, y runs from the parabola x2 to the line x + 2 and x values
changes from x = 1 to x = 2

y
2
x+
y=

D
x²
y=

0 x

which are the smallest and the largest values of x, respectively, in the region obtained by the
intersection of the curves y = x2 and y = x + 2. Hence,

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ZZ Z 2 Z x+2
A(D) = dA = dy dx
D 1 x2
Z 2
= x+2 x2 dx
1
2
x x3
= + 2x j2 1
2 3
9
=
2

Example 7 Find the volume of the solid lying above the rectangle de…ned by 0 x 1 and
0 y 1 and below the plane z = 3 2x y.

Solution. In order to …nd the volume of this solid we should compute

the double integral of the function f (x; y) = 3 2x y over the region R.

RR R1R1
(3 2x y) dA = (3 2x y) dy dxi
R R01 h0R 1
= 0 0
(3 2x y) dy dx
R1 2
= 0
3y 2xy y2 jy=1y=0 dx
R1 5
= 0 2
2x dx
5x 2 1
= 2 x j0
= 32

Example 8 Evaluate the double integral

Z 3 Z 1
3
y
p x e dy dx:
0 3

3
Solution. Observe that integral of ey with respect to y, can not be computed by elementary
methods. We can change the order of the integration and hope to get an integral which is simpler
and can be evaluated. p
Note that in the domain of integration, slices parallel to the y axis runs from y = x3 to y = 1,
and these slides are bounded by x = 0 and x = 3. If we consider the slicing this region parallel to
the x axis, these slices will start from a point on the line x = 0 and at a point on the curve x = 3y 2 ,

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and will be bounded by y = 0 and y = 1. So

Z 3 Z 1 Z 1 Z 3y 2
y3 3

px e dy dx = ey dx dy
0 3 0 0
Z 1
3 2
= xey jx=3y
x=0 dy
0
Z 1
3
= 3y 2 ey dx
0
y3 1
= e j0
=e 1:

2 Polar Coordinates
Computing the double integrals, many times the domain of integration or the function integrated
can be expressed more easily in terms of other coordinate systems, such as polar coordinates.
History of polar coordinate system goes back to ancient Greek, and used commonly in astrological
calculations.
In Cartesian coordinates a point P is represented by an ordered pair (x; y) which represents the
distance of the points to coordinate axes. In polar coordinates there is a pole, the origin O, and a
polar axis, a ray from O, horizontally, to the right. A point P is represented by a pair (r; ), is
the angle that the ray OP makes with the polar axis (measured in the counter clockwise direction,
is measured in the opposite direction), and r is the distance of P from the origin (for r, minus
sign shows the opposite direction on the same ray), that is ( r; ) = (r; + ). Both coordinate
systems can be transformed to each by the following conversion formulas;

P
·
0 x

x = r cos y = r sin
2 2 2 y
r =x +y tan =
x
Polar Curves
We would like to explore how certain commonly used curves are expressed in polar coordinates
and how to graph them. First we will express lines and circles and then we will describe how to
graph a curve, the cardioid, given in polar coordinates.

Example 9 In Cartesian coordinates, all lines passing trough the origin can be parametrized as
y = mx where m is the slope of the line. In polar coordinates such line will be expressed as
tan = m =) = arctan m and r 2 R.

Example 10 In Cartesian coordinates, the circle centered at the origin with radius a is given by the
equation x2 + y 2 = a2 . In polar coordinates this equation is translated into r = a where 0 2 .

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Note that when runs from 0 to 2 , the radius r traces the whole circle. If we restrict to take
values in a subinterval of [0; 2 ], then a portion of the circle is traced. For example if 2 [0; ],
then only the upper semicircle lying above the x axis is traced.

Example 11 Consider a circle with center on the x axis, say at the point (a; 0) radius jaj, which
is a circle tangent to the y axis. Then its equation in Cartesian coordinates is (x a)2 + y 2 = a2 .
In order to express this curve in polar coordinates we use the transformations x = r cos , y = r sin .

(x a)2 + y 2 = a2
x2 2ax + a2 + y 2 = a2
x2 + y 2 2ax = 0
2
r 2ar cos = 0
r(r 2a cos ) = 0
2a cos = r

Similarly, a circle with radius jaj and center lying on the y axis; tangent to the x axis, will
have an equation of the form 2a sin = r where 2 [0; ].

For example, the circle (x 1)2 +y 2 = 1 is given by the equation r = 2 cos in polar coordinates.
Note that 2 [0; ] or 2 [ 2 ; 2 ].
While graphing a function it is important to consider the symmetries. Note that when we
consider the re‡ection of a point (x; y) with respect to coordinate axes or the origin, its distance to
the origin does not change. So, if we consider these re‡ections for a point (r; ), in polar coordinates,
then r does not change but changes.

a) The re‡ection of the point (r; ) with respect to the y axis is the point (r; ). If we re‡ect
with respect to x axis, it goes to the point (r; 2 ), and taking s

b) The re‡ection of the point (r; ) with respect to the x axis is the point (r; ) or it can also
be represented by (r; 2 ).
c) The re‡ection of the point (r; ) with respect to the origin is the point (r; + ) or it can also
be represented by ( r; ).

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Example 12 So far we have considered functions in Cartesian coordinates and we have translated
their equations into polar coordinates. Consider the function r = 1+cos given in polar coordinates.
First of all notice that cos( ) = cos , so it is enough to graph this function for 2 [0; ] and then
take the symmetry with respect tothe x axis.

= 0 =6p =4p =3 =2 2 =3 3 =4
p
5 =6
p . Note that cosine
r= 2 1 + 23 1 + 22 1 + 12 1 1 12 1 2
2
1 2
3
0

is decreasing in [0; ], so does r = 1 + cos . Then, we sketch the graph of the curve lying above the
x axis and take symmetry of this part with respect to the x axis.

y
1.0

0.5

0.5 1.0 1.5 2.0

x
-0.5

-1.0

This heart shaped curve is called the cardioid.

Double Integrals in Polar Coordinates

When we have de…ned double integral in Cartesian coordinete system, we have divided the
domain of integration into subrectangles to construct a Riemann sum. In order to de…ne polar
integration we will divide the domain of integration into "polar subrectangles". A polar rectangle
can be expressed as a r b, and , so its sides has constant, r and ; values. Suppose
that a function f (r; ) is de…ned throughout a bounded region R. Then, R will lie in a polar
rectangle de…ned by a r b and . We will divide this region into polar subrectangles
by drawing rays and circular arcs. We number these polar subrectangles so that Ak denotes the
area of the k th polar subrectangle. The length of the k th polar subrectangle is r and its
width is .

r
Note that this polar rectangle is the portion of the annulus, with inner radius rk and
2

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r
outer radius rk + , so the area
2
" #
2 2
r r
Ak = rk + rk
2 2
= rk r

Remember that when we take the limit as jjP jj ! 0, Ak ! dA, so dA = r drd in polar
coordinates. As in the case of the Cartesian double integral, we pick a point (rk ; k ) from each
polar subrectangle, and multiply the image of the points with the area of the rectangles and sum
all them up to form a Riemann sum;
n
X
Sn = f (rk ; k )rk r :
k=1

As the norm of the partition jjP jj ! 0, if this partial sum converges then it is called the double
integral in polar coordinates
ZZ
lim Sn = f (r; )r dr d :
jjpjj!0
R
Fubini’s theorem holds independent from the choice of the coordinate system, hence this integral
can be computed as an iterated integral. A double integral given in Cartesian coordinates can be
converted to a double integral in polar coordinates as follows:
ZZ ZZ
f (x; y) dA = f (r cos ; r sin )r dr d
Rxy Rr

where Rr is the region of integration in polar coordinates. In order to …nd the limits of integration
in polar coordinates, …rst consider a ray running from origin to in…nity, cutting through the domain
of integration R. The r values of points where the ray enters and leaves the region R, gives the
limits of r integration. The largest and smallest values that bound the region R, gives the limits
of integration.
RR
Example 13 Evaluate the integral cos(x2 + y 2 )dA by using polar coordinates where R is the
R
region is de…ned by 4 x2 + y 2 9 and y 0.

Solution. The function cos(x2 + y 2 ) can be expressed as cos(r2 ) in polar coordinates. The domain
of integration is the upper part of the annulus 2 r 3. Note that when runs from 0 to , upper
part of the annulus is traced.

y 3

-3 -2 0 2 3x

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So we can express this double integral given in cartesian coordinates as;

Z Z 3
cos(r2 )r dr d
0 2
in polar coordinates. If we evaluate this integral we get
Z Z 3 Z
1
cos(r2 )r dr d = sin(r2 )j32 d
0 2 0 2
Z
1
= (sin 9 sin 4) d
0 2

= (sin 9 sin 4):

2

RR p
Example 14 Evaluate the integral x2 + y 2 dA by using polar coordinates where R is the region
R
de…ned by x2 + y 2 9 and x 0.

Solution. The domain of the integration

y
3
x²+y²=9

0 3x

can be descibed as r 3 and 2 2 in polar coordinates so

ZZ p Z 2
Z 3
x2 + y 2 dA = (r2 ) dr d
2 0
R
Z 2 1 3 3
= (r )j0 d
2
3
Z 2
= 9d
2

=9 :

Example 15 Find the area of the region R bounded by the curve r = 2 cos where 2[ 2 ; 2 ].

Solution.

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y ZZ ZZ Z 2
Z 2 cos
A(R) = dA = rdrd = rdrd
2 0
R R

Z Z
x 2 2 2
= ( r2 )j20 cos d = 2 cos2 d
2 2

Z 2
= cos 2 + 1d = ( 21 sin 2 + ) 2
2
2

Example 16 Find the area of the region R lying outside the cardioid r = 1 + cos and inside the
circle r = 3 cos

Solution. The graphs of r = 1 + cos and r = 3 cos are sketched for 2 [ ; ] and 2
[ =2; =2] respectively. Let us …nd the intersection points of these two curves in order to determine
the limits of integration;

1 + cos = 3 cos 2 cos = 1 = or =

3 3

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So in R, r runs from the curve 1 + cos to the curve 3 cos , and .

3 3
Z 3
Z 3 cos
A(R) = rdrd
3 1+cos
Z 3 r2 3 cos
= ( )j d
3
2 1+cos
Z 3 1
= (4 cos2 cos )d
3
2
Z 3 3
= (2 cos 2 cos + )d
3
2
3 3
= (sin 2 sin + )j
2 3

2 3 2 3
= sin sin + sin sin +
3 3 2 3 3 3 2 3
2
= 2 sin sin +
3 3 2
p !
3 1
=2 +
2 2 2
p
= 3 1+

3 Triple Integrals
After de…ning double integral, it is easy to extend the de…nite integral to three or more dimensional
domains. For a bounded function f (x; y; z), de…ned over a three dimensional bounded domain S, a
solid region, the triple integral of f over S
ZZZ
f (x; y; z)dV
S

can be de…ned as the limit of a suitable Riemann sum, constructed out of a partion of the
domain S into in…nitesmall rectangular prisms.
Properties of triple integrals are analogous to the properties of double integrals discussed before.
An important property that must be emphasized is,
ZZZ
1 dV = V (S)
S

that is the triple integral gives the volume of the solid region S if f (x; y; z) = 1.
Triple integrals are evaluted as iterated integrals similar to double integrals. First, we consider
a ray passing through the region parallel to one of the coordinate axes, in positive direction, and
determine the surfaces, through which the ray enters and leaves the region S which give respectively,
the lower and upper limits of the integral for this variable. Note that these surfaces bounds the
solid in that direction. Then, we write a double integral over the region which is the projection of
the solid on the coordinate plane of the remaining variables.

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Example 17 Let S be rectangular prism 0 x 1, 0 y 2 and 0 z 2. Evaluate the

integral
ZZZ
(xy + z 2 )dV:
S

Solution. Let us …rst determine the limits for z integration. If we consider a ray parallel to the
z axis in positive direction through the region S, it enters the region through the surface (the
plane) z = 0 and leaves through the surface z = 2. Now the projection of the solid S onto the
ZZZ
xy plane is the rectangle 0 x 1, 0 y 2. Then, (xy + z 2 )dV
S

z 1
0
0 0
1 1
2 xy 2

Note that these slices are rectangles given by 0 x 1, 0 y 2 and they run from z = 0 to
z = 2. We can iterate the integral over the rectangles easily and get
ZZZ ZZ Z 2
(xy + z 2 )dV = (xy + z 2 )dz dA
0
S Rxy
Z 1 Z 2 Z 2
= (xy + z 2 )dz dy dx
0 0 0
Z 1 Z 2
z3
= xyz + jz=2
z=0 dy dx
0 0 3
Z 1 Z 2
8
= 2xy + dy dx
0 0 3
Z 1
8
= y 2 x + y jy=2
y=0 dx
0 3
Z 1
16
= 4x + dx
0 3
16
= 2x2 + x jx=1
x=0
3
22
=
3

Example 18 Find the volume of the region S lying below the plane 3x + 2y + z = 6 in the …rst
octant.

Solution. Note that the region described is the tetrahedron bounded by the planes, x = 0, y = 0,
z = 0 and 3x + 2y + z = 6.

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z
6
z=6-3x-2y
3 y
3x+2y=6
0

2
x

If we move along positive z-axis, we enter S at z = 0 and leave at the plane z = 6 3x 2y,
which gives us the limits of the z integration. The projection R of the domain S to xy plane is the
triangular region bounded by the line 3x + 2y = 6 in the …rst quadrant. We write a double integral
on this tringular region for x and y integration.

ZZZ ZZ Z 6 3x 2y
V = dV = dz dA
S 0
Rxy
Z 2 Z 6
2
3x Z 6 3x 2y
= dz dy dx
0 0 0
Z 2 Z 6
2
3x

= (6 3x 2y)dy dx
0 0
Z 2 6 3x
= 6y 3xy y 2 j0 2
dx
0
Z 2
9 2
= 9 9x x dx
0 4
9 2 3 3 2
= 9x x x j0
2 4
9 3
=9 =
2 4
15
= :
4

Example 19 Consider the tetrahedron given in previous question. Suppose that we cut it with the
plane z = 3, express the volume of the part lying above this plane.

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 Atilim University - OpenCourseWare Project - Department of Mathematics, Calculus II

Solution.

z 3
3x+2y=6
y
0

x
2

Z 1 Z 3 3x Z 6 3x 2y
2 15
V = dz dy dx =
0 0 3 32

Exercise 20 Express the integral of f (x; y; z) over the tetrahedron T with verites at (0; 0; 0) ,
(1; 0; 0) , (0; 1; 0) and (0; 0; 1) in all possible orders.

3.1 Cylindrical and Spherical Coordinates

Depending on the domain of integration, working on di¤erent coordinate systems might lead to sim-
pler terms and boundries in triple integration. In this section we will introduce two new coordinate
systems, cylindrical and spherical coordinate systems.
Cylindrical Coordinates
Consider a right circular cylinder running along z axis. For any point lying on this cylinder,
its z coordinate is free, but x and y coordinates should satisfy the equation of circle de…ning the
cross section of the cylinder by the plane z = 0. So, we can express the latter coordinates in
polar coordinates . This gives us the cylindrical coordinates. The transformation from cylindrical
coordinates to Cartesian coordinates is given by

z=z x = r cos y = r sin

where r and are de…ned as in polar coordinates. The volume element dV in cylindrical coordinates
is given by dz times the area element dA in polar coordinates,

dV = dA dz = r dr d dz:

Example 21 Evaluate ZZZ p

x2 + y 2 dV
S

over the …rst octant region S bounded by the cylinders x2 + y 2 = 1 and x2 + y 2 = 4 and the plane
z=2

Solution. To evaluate this integral we want to use the cylindrical coordinates.

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 Atilim University - OpenCourseWare Project - Department of Mathematics, Calculus II

z
x

First observe that the domain of integration S is de…ned as the region bounded by the planes
z = 0, z = 2, r = 1, r = 2, = 0 and = in cylindrical coordinates.
2
So
ZZZ p Z 2 Z 2Z 2p Z 2 Z 2Z 2
2 2
x + y dV = 2
r rdz dr d = r2 dz dr d
0 1 0 0 1 0
S
Z 2
Z 2 Z 2
Z 2
= r2 zjz=2
z=0 dr d = 2 r2 dr d
0 1 0 1
Z Z
2 1 32 7 2 14 2
=2 r j1 d = 2 d = j
0 3 3 0 3 0
7
=
3

Exercise 22 Evaluate the integral given in the previous example in the Cartesian coordinates.

Example 23 Evaluate the the integral

ZZZ
x2 + y 2 dV
S

where S is the region bounded by the cyllinder x2 + y 2 = 1 and the planes z = 1 and x + z = 6

Solution. The region is S is cut out from the the cyllinder x2 + y 2 = 1 by the planes z = 1
and x + z = 6 , so it is easier to evaluate this integral using cylindrical coordinates. Hence,

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 Atilim University - OpenCourseWare Project - Department of Mathematics, Calculus II

z= 1 =) z = 1 and x + z = 6 =) r cos + z = 6 =) z = 6 r cos .

ZZZ Z 2 Z 1 Z 6 r cos
xy dV = r2 cos2 + r2 sin2 rdzdrd
0 0 1
S
Z 2 Z 1
z=6 r cos
= r3 zjz= 1 drd
0 0
Z 2 Z 1
= r3 [(6 r cos ) ( 1)] drd
0 0
Z 2 Z 1
= 7r3 r4 cos drd
0 0
Z 2
7r4 r5
= ( cos )jr=1
r=0 d
0 4 5
Z 2
7 1
= ( cos )d
0 4 5
7 1
=( sin )j20
4 5
7
=
2

Spherical Coordinates
In spherical cooridanates a point P is represented by the triple ( ; ; ) where (rho) is the distance
from P to the origin, (phi) is the angle that the ray OP makes with the positive z axis, and
(theta) is the angle de…ned as in the polar coordinates where 0 . and 0 . 2 . The
transformation from Cartesian coordinates to spherical coordinates can be obtained by using the
following equations;

x = sin cos y = sin sin z = cos

and the volume element in spherical coordinates is
2
dV = sin d d d :

Note that in spherical coordinates = constant is a sphere, and = constant is a cone. If the
domain of integration has sphere or cone as boundries, it might be easier to integrate in spherical
coordinates.

Example 24 Find the volume

p of the "icecream cone" like region S bounded by the sphere x2 + y 2 +
z 2 = 4 and the cone z = x2 + y 2 .

Solution. First of all observe that in spherical coordinates the cone is given by;
p
z = x2 + y 2 =)
q
2 2
cos = ( sin cos ) + ( sin sin )
= sin
sin
=) = 1 =) tan = 1 =) =
cos 4

, and the sphere x2 + y 2 + z 2 = 4 is given by = 2 which can be obtained easily by subtituting

the transformation formulas .

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 Atilim University - OpenCourseWare Project - Department of Mathematics, Calculus II

z
y x

(2; ; )
The region is bounded below by the cone and above by the sphere. If we consider a ray running
from the origin through the region S, it will start from origin O and leave the region by the sphere
= 2, the angle that the ray makes with the positive z axis attains its maximum value 4 at
the boundry de…ned by the cone, 0 . . The intersection of the cone and the sphere is the
4
unit circle, so 0 2 . On the boundary of this region all three coordinates ; and takes
constant values, in some sense such regions are rectengular in spherical coordinates.
ZZZ Z 2 Z 4
Z 2
2
dV = sin d d d
0 0 0
S
Z 2 Z 4 3
=2
= ( sin )j =0 d d
0 0 3
Z 2 Z
8 4
= sin d d
3 0 0
Z 2
8 =4
= cos j =0 d
3 0
Z p !
2
8 2
= 1 d
3 0 2
p
16 2
= (1 )
3 2
Note that this volume can also be computed in cylindrical coordinates by
ZZZ Z Z Z p
2 1 4 r2
dV = rdzdrd .
0 0 r
S

Example 25 Express the volume of the region S bounded above by the sphere x2 + y 2 + z 2 = 2 and
below by the paraboloid z = x2 + y 2
a) in spherical coordinates
b) in cylindrical coordinates

Solution.
a) First of all observe that the sphere and the paraboloid intersect along the circle x2 + y 2 = 1 on
the z = 1 plane. A ray running from origin through the region S leaves the region either by the
sphere or by the paraboloid, so we have to write two integrals and then sum them up to express
the volume.

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 Atilim University - OpenCourseWare Project - Department of Mathematics, Calculus II

y
x

p
For the …rst part, where 0 ( upper boundry is the sphere = 2), 0 4 and 0 2 .
cos 2
For the second part, where 0 sin2
(upper boundry is the paraboloid sin = cos2 ),
4 2 and 0 2 . So the volume of this region can be expressed as
ZZZ Z Z Z p Z Z Z cos
2 4 2 2 2 sin2
2 2
V (S) = dV = sin d d d + sin d d d
0 0 0 0 4 0
S

b) In cylindrical coordinates,
ZZZ Z Z Z p
2 1 2 r2
V (S) = dV = rdzdrd :
0 0 r2
S

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