Calculus Ii: Chapter 1 & 5

Department of Mechanical Engineering
CALCULUS II
CHAPTER 1 & 5 - VECTOR DIFFERENTIAL

CALCULUS - GRAD, DIV, CURL
Prof.Harijono Djojodihardjo Sc.D., IPU, ACPE

2nd Semester, January 2021 – May 2021
Ref: Erwin Kreyszig
©Harijono Djojodihardjo
Mathematics for Enginering
2
LINE INTEGRALS
4
Simple General Properties of Line Integrals
THEOREM 1
C1
C
A B
C2
F = Fx i + Fy j + Fz k ; G = Gx i + G y j + G z k
r = xi + yj + zk ; dr = idx + jdy + kdz
F dr = ( Fx i + Fy j + Fz k ) ( idx + jdy + kdz ) = Fx dx + Fy dy + Fz dz
 F dr =  (( F i + F j + F k ) ( idx + jdy + kdz ) ) = 

x y z Fx dx +  Fy dy +  Fz dz
Simple General Properties of Line

Integrals
8
EXAMPLE
9
OTHER FORMS OF LINE INTEGRALS
PATH DEPENDENCE
THEOREM 2
10
PATH INDEPENDENCE OF LINE INTEGRALS

THEOREM 1
THEOREM 2
PROBLEM 3
1. If we climbed upstarirs along the stairway
and went down again, following theorem
1, the work should be zero. Is that true?
Explain
2. If we drive a car or motor-cycle from
home to school and return, following
theorem 1, the work should be zero. Is
that true? Explain
THEOREM 1
THEOREM 2
12
WORK: CONSERVATIVE AND NON-CONSERVATIVE (DISSIPATIVE)

PHYSICAL SYSTEMS
Theorem 2: The work is path independent in D if and only if its value is zero for
displacement around every closed path in D
From Theorem 1: this happens if and only if F is the gradient of a potential in D
Then F is conservative in D
13
PATH INDEPENDENCE AND EXACTNESS OF DIFFERENTIAL FORMS
THEOREM 3
14
THEOREM 3
CRITERION FOR EXACTNESS
 x F= 0
i j k
d/dx d/dy d/dz
Fx Fyt Fz
PROBLEM # 5 – 1 March 2021 Department of Mechanical Engineering
Prove that
If
F= f
then
 x F= 0
i j k
d/dx d/dy d/dz
Fx Fy Fz
PROOF
f f f
Fxi + Fy j + Fzk = i + j +k
If x y z
F = f F= f
i

j

k

     
then  F = = i y z + j z x + k x y
x y z
Fy Fz Fz Fx Fx Fy
Fx Fy Fz
 F F   F F   F F 
 x F= 0 =i z − y  + j x − z  + k  y − x 
 y z   z x   x y 
i j k i j k      
   y z z x x y
d/dx d/dy d/dz   F =   f = =i +j +k
x y z f f f f f f
f f f y z z x x y
Fx Fy Fz x y z
  2f  2f    2f  2f    2f  2f 
=i −  + j −  +k − 0 qed
 y  z z  y   x z z  x   y x x  y 
H = F×G
k
H
j
H ' =  ×G
i
G
 H = F G sin 
F
i j k
     
  
 F = = i y z + j z x + k x y
x y z
Fy Fz Fz Fx Fx Fy
Fx Fy Fz
 F F   F F   F F 
=i z − y  + j x − z  + k  y − x 
 y z   z x   x y 
TEST PROBLEM #1 TO 3 / IN-ON-LINE-CLASS SOFT

EXAMINATION PROBLEM 19 APRIL 2021
1. REWORK THE PROOF OF  X F = 0, WHERE F = f
2. EXPRESS  X F FOLLOWING RULE IMPLIED BY

PREVIOUS PAGE
H = F G sin 
3. TO VERIFY i j k
   
 
  
 F = = i y z + j z x + k x y
x y z
Fy Fz Fz Fx Fx Fy
Fx Fy Fz
 F F   F F   F F 
=i z − y  + j x − z  + k  y − x 
 y z   z x   x y 
Calculuys II & Mathematics for
EXAM / TEST PROBLEM #4

19 April 2021
VERIFY
AND
PROVE
GREEN’S THEOREM Theorem FOLLOWING PROCEDURES

OUTLINED IN PREVIOUS SLIDES (23-34)
EXAM,/ TEST PROBLEM #5
19 April 2021 AREAS OF BOTH OF THESE RECTNGLES ARE
GIVEN BY
a x b
where a and b are shown in the figures.

a x b = │a │ │ b │ sin 
Which one has the largest area? Explain.
b axb b
axb │ b │ sin  < b
│ b │ sin  = b
 
a a
22
PROOF of a
1. If F.dr = F1dx+F2dy+F3dz is exact, then F =

grad f in D
2. And by theorem 3*, and F=curl(grad f) = 0
3. Hence curl F = 0
GREEN’S THEOREM IN THE PLANE

Double integrals over a plane region may be transformed into line integrals over the
boundary of the region and conversely. This is of practical interest because it may simplify the evaluation of
an integral. It also helps in theoretical work when we want to switch from one kind of integral to the other.
The transformation can be done by the following theorem.
THEOREM1
Calcuus II

(Continued)
Calcuus II
GREEN’S THEOREM IN THE PLANE (Verification)
Calcuus II

(PROOF)
Calcuus II

(PROOF)
Calcuus II

(PROOF)
Calcuus II

(PROOF)
Calcuus II
Green’s Theorem: Sketch of Proof
Calcuus II
Green’s Theorem: Sketch
of Proof Department of Mechanical Engineering
http://ocw.mit.edu/terms.
Calcuus II
 x F= 0
i j k
dF2/dx – dF1/dy = k (dFy/dx – dFx/dy )
d/dx d/dy d/dz
Fx Fy Fz
33
EXAMPLE 1 Department of Mechanical Engineering
VERIFICATION OF GREEN’S
THEOREM IN THE PLANE
PROBLEM # 6 – 1 March 2021
Rework this example
EXAM / TEST PROBLEM #4

19 April 2021
VERIFY
AND
PROVE
GREEN’S THEOREM Theorem FOLLOWING PROCEDURES

OUTLINED IN PREVIOUS SLIDES (23-34)
Calculus II & Mathematics for Enginering
36
SOME APPLICATIONS OF
GREEN’S THEOREM
37
SURFACES FOR SURFACE

INTEGRALS
38
PARAMETRIC
REPRESENTATION
PARAMETRIC REPRESENTATION OF A SHERE
40
TANGENT SURFACE AND SURFACE NORMAL

Tangent vectors of all curves on surface S through point P of S form a plane called the tangent
plane of S on P;
Exceptions are points where S has an edge or cusp (like a cone), so that S cannot have a tangent
plane at such point.
A vectorperpendicular to the tangent plane is called the normal vector of S at P
dr r r r du r dv
r '(t ) = = u '+ v' = +
dt u v u dt v dt
CROSS PRODUCT OF VECTORS S AND P

PRODUCES NORMAL VECTOR N
N Point
Surface P
rv
S
ru
dr r r r du r dv
r '(t ) = = u '+ v' = +
dt u v u dt v dt
THEOREM 1
43
SURFACE INTEGRALS
44
EXAMPLE 1
45
SOLUTION
SOFT EXAM PROBLEM # 1
26 APRIL 2021
Follow and redo the solution of

problem on slide 44-45
SOFT EXAM PROBLEM #2
REWORK THE FOLLOWING
PROOF
Calculus II &Mathematics for Enginering
48
ORIENTATION OF SURFACES
THEOREM 1
EXAMPLE 3
H.Djojodihardjo Advanced Engineering Mathematics

49
TRIPLE INTEGRALS;
GAUSS DIVERGENCE THEOREM

50
THEOREM 1 – GAUSS DIVERGENCE THEOREM

51
EXAMPLE 1

52
PROOF OF GAUSS DIVERGENCE THEOREM

53

54
Integration of the inner integral within […] gives

55
FURTHER APPLICATIONS OF DIVERGENCE THEOREM

56

57
POTENTIAL THEORY; HARMONIC FUNCTIONS
THEOREM 1

58
GREEN’S THEOREM

59
Green’s first formula
First Form of Green’s Theorem
Second Form of Green’s Theorem

60
STOKES THEOREM
i j k
  
curl F =
x y z
F1 F2 F3 (2 )  ( curl F ) • ndA =  F • r ' ( s ) ds
S

61
VERIFICATION OF STOKES THEOREM
y
r
i j k
s
x   
curl F =
x y z
F1 F2 F3
62
Notice that
i j k
    x z   y x   z y 
curl F = =i −  + j  −  + k  −  =  −1 −1 −1
x y z  y z   z x   x y 
y z x
Surface F can be expressed as

(
F = ( z − f ( x, y ) ) = 1 − x 2 + y 2 )
N = grad ( z − f ( x, y ) )
    
y N = i
 x
j
y
k
z 

z −(1 + x (
2
+ y 2
) ) = 2xi 2yj k
r
s
x
curl F • N =  −1i −1j −1k  •  2 xi 2yj k
= −2 x − 2y − 1

63
y
r
s x

64
PROOF OF STOKES THEOREM

(2 )  ( curl F ) • ndA =  F • r ' ( s ) ds
S

65

66
(3)

67
i j k
  
curl F =
x y z
EXAMPLE F1 F2 F3
Green’s Theorem in the Plane as a Special Case of Stokes Theorem
F2 F1
( curl F ) • n = ( curl F ) • k = −
x y
 F2 F1 

S

 x
−
y 
 dA =  ( F dx + F dy )
C
1 2

68

69
ASSIGNMENT

70
INTRODUCTORY REMARKS/
REVIEW
71
72
74
THEOREM 1
75
76
77
BASIC PROPERTIES
78
79
INNER (DOT) PRODUCT
80
ORTHOGONALITY
81
82
83
b│
84
EXAM,/ TEST PROBLEM #5
19 April 2021 AREAS OF BOTH OF THESE RECTNGLES ARE
GIVEN BY
a x b
where a and b are shown in the figures.

a x b = │a │ │ b │ sin 
Which one has the largest area? Explain.
b axb b
axb │ b │ sin  < b
│ b │ sin  = b
 
a a
86
PROBLEM 4 19 April 2021
SHOW THAT
88
SCALAR TRIPLE PRODUCT
89
PROBLEM 5
SHOW THAT
91
92
y’
y b axb
b axb 
a
O’

O x x'
94
95
96
PARTIAL DERIVATIVES OF A VECTOR FUNCTION
Topics for 22 Department of Mechanical Engineering
97
March 2021
CURVES, ARC LENGTH, CURVATURE, TORSION

(1) r ( t ) =  x ( t ) y ( t ) z ( t )  = x ( t ) i + y ( t ) j + z ( t ) k
Curves C in space may occur as paths of

moving bodies, which motivates
parametric representations with parameter
t (time or something else)
x,y,z – Cartesian Coordinate
98
Parametric representation (1) have a key advantage over

representation of a curve C in terms of its projection into xy-plane and
xz-plane:
y=f(x), z=g(x) (2)
Or by a pair of equations with y or with z as independent variable
The advantage is that in (1) x,y,z play the same role: all three are
independent variables.
Increasing t is related to positive sense on C, and induces an
orientation of C: direction of travel along C.
99
100
101
102
TANGENT TO A CURVE
Both r’ and u point in the

direction of increasing t
103
Tangent to C at P is given by:
r
q (
q(w) wr’r +  r ' q ( ) = r + 
= r)+=
t
104
ARC LENGTH OF A CURVE
t
s (t ) =  r '.r 'dt
a
106
CURVES IN MECHANICS;
VELOCITY; ACCELERATION
dr ds
v (t ) = r ' (t )
VELOCITY
v = r' = = r '.r ' =
VECTOR dt dt
2 2 2 2
 ds  dr dr  dx   dy   dz 
= r ' (t ) = 
2
where   = a •  +  + 
 dt  dt dt tan
 dt   dt   dt 
a ' (t ) = v ' (t ) = r " (t )

ACCELERATION
VECTOR
a = a tan + a norm
atan - tangential acceleration
anorm - normal acceleration
107
CURVES IN MECHANICS;
VELOCITY; ACCELERATION
dr ds
v (t ) = r ' (t )
VELOCITY
v = r' = = r '.r ' =
VECTOR dt dt
2 2 2 2
 ds  dr dr  dx   dy   dz 
= r ' (t ) = 
2
where   = •  +  + 
 dt  dt dt a tan
 dt   dt   dt 
a ' (t ) = v ' (t ) = r " (t )

ACCELERATION
VECTOR
a = a tan + a norm
atan - tangential acceleration
anorm - normal acceleration
108
dr dr ds ds u(s)
v (t ) = = = u (s ) / s
dt ds dt dt
u(s) u(s)
u (s ) Is a unit tangent vector at t0 at t1
dv d  ds  du (s ) ds d 2s
Hence a (t ) = =  u (s ) = + u (s ) 2
dt dt  dt  dt dt dt
2
du  ds  d 2s
=   + u (s ) 2
ds  dt  dt
a = a norm + a tan
Since the tangent vector u s ( ) has constant length (one), its
derivative du (s ) is perpendicular to u s ( )
ds
109
CENTRIPETAL ACCELERATION.
CENTRIFUGAL FORCE
r (t ) = R cos t R sin t  = R cos t i + R sin t j
v (t ) = r ' (t ) =  −R  sin t R  cos t  = −R  sint i + R  cos t j
v = r ' = r '.r ' = R 

 − angular speed
110
r (t ) = R cos t R sin t  = R cos t i + R sin t j

Acceleration vector
a (t ) = v ' (t ) = −R  2 cos t −R  2 sint  = −R  2 cos t i − R  2 sint j
a = − r 2 Acceleration towards the center

→CENTRIPETAL ACCELERATION
a = r = R2 2
−m R = centripetal force

2
For circular motion, there
is no tangential (along the
m R = centrifugal force
2 path) acceleration
IMPORTANT SUMMARY
r (t ) = R cos t R sint  = R cos t i + R sin t j
a (t ) = v ' (t ) = −R  2 cos t −R  2 sint  = −R  2 cos t i − R  2 sint j
u(s)
/ s
Since the tangent vector u s ( ) has constant length (one), its
du (s ) is perpendicular to
u(s) u(s)
derivative u (s ) at t0 at t1
ds
112
SUPRPOSITION OF ROTATION
CORIOLIS ACCELERATION
A projectile is moving with constant

speed along the meridian of the
rotating earth. What is the
acceleration?
113
SOLUTION
Let the earth, along with a unit radial
vector b, be rotating about the z axis in
Cartesian coordinate system with angular
velocity  > 0
Since b is rotating with the earth
b (t ) = cos t i + sin t j
Let the projectile be moving along the
meridian whose plane is spanned by b
and k with constant angular speed >0.
Then
b ' (t ) = − sint i +  cos t j
b " (t ) = − 2 cos t i −  2 sint j = − 2b (t )
114
v (t ) = r ' (t ) = R cos  t b '−  R sin  t b +  2R cos  t k

a (t ) = v ' (t ) = R cos  t b "− 2 R sin  t b '−  2R cos  t b −  2R sin  t k
b ' (t ) = − sint i +  cos t j
a (t ) = R cos  t b "− 2 R sin  t b '−  2r
b " (t ) = − 2 cos t i −  2 sint j = − 2b (t )
By analogy with previous example b " = − 2b (t )

One concludes that
The first term: centripetal acceleration due to rotation of earth
The third term: centripetal acceleration due to motion of projectile on meridian M
The second term is what is called the Coriolis acceleration
a Coriolis
= −2 R sin  t b '
On Northern Hemisphere, t > 0 (t>0, >0, then acor has direction –b’;
On Southern Hemisphere, t < 0 (t>0, >0, then acor has direction b’
115
dR dR0
= +  r
dt dt
©Harijono Djojodihardjo 4/19/2021

116

117
dR dR0
= +  r
dt dt
dr dr0
= +  r Or → Oa
dt dt
 R
Ro R0
Or → Oa R → R0 → r → ra
i(t0+t)
(
dd ii / dt = lim i(i(t0+t)
= lim
t ) −(t)i ( t0 )
t0 + -i(t0))/
i
dt t
t →00
t
1(i)
dd ii / dt = i
O i(t0) i = i
dt
The vector change of unit vector i is
equal to the distance it traverses d ( Ai ) d ( A) d (i)
along the periphery of the circle d (Ai) / dt == +dA
i di (A) / dt + A (i) / dt
centered at O
dt dt dt
That distance is equal to the rate of d ( A)
change of direction, i.e, , times the =i + A i
radius, that is i. dt
i(t0+t)
i
1(i) ddi i / dt = i

=  i
i(t0)
dt
i
d ( Ai ) d ( A) d (i)
d (Ai) / dt =
= i id (A) / dt ++
AdA(i) / dt
dt dt dt
d ( A)
=i + A  i
dt
THE EQUATIONS OF MOTION IN A ROTATING

COORDINATE SYSTEM
The Equations of Motion in a Rotating Frame-Uni

Muenchen-DM_L02_2007 ©Harijono Djojodihardjo
Calcuus II
i(t0+t)
1(i) i did i / dt =
i =  i
 dt
i(t0)
i d ( Ai ) d ( A) d (i)
d dt = i
(Ai) / dt = i dt + A
d (A) / dt +dt
Ad
(i) / dt
d ( A)
=i + A  i
dt
Calcuus II
Calcuus II
Calcuus II
Calcuus II
Calcuus II
Calcuus II
Calcuus II
The Equations of Motion in a Rotating Frame-Uni Muenchen-

DM_L02_2007
Calcuus II
Surigai Typhoon-
Geostationary_VIS-IR_2021
Seroja Cyclone
Calcuus II
Calcuus II
Calcuus II
Calcuus II
WHY?
Seroja Cyclone ©Harijono Djojodihardjo

Surigai Typhoon
Calcuus II
Typhonn Bising 17 Aprik 2021
Cyclone Seroja made Typhoon Bising 17

landfall April 2021 April 2021
Calcuus II
Calcuus II
PROBLEM #2 12 April 2021
Rework the proof of the Green’ Theorem for

2D – for elementary geometry – a square
- for an arbitrary geometry
PROBLEM #3 12 April 2021

Rework the proof of the Green’ Theorem for
3D – by looking at some reference
PROBLEM # 4 12 April 2021
Redo the derivation , mathematically and

graphically, the time derivative of a unit vector
PROBLEM # 5 12 April 2021
Follow the derivation of he position vectors of a

point P with respect to the two frames , one relative
and one absolute. The relative frame is moving with
respet to the absolute frame.
Reference:
CHAPTER 5 ROTATING FRAMES, Manchester
University
138
Coriolis
Centrifugal
4/19/2021
139

140
CALCULUS REVIEW
FUNCTION OF SEVERAL VARIABLES
THEOREM I CHAIN RULE
CHAIN RULES
141
ASSIGNMENT 1
142
ASSIGNMENT 2
143
ASSIGNMENT 3
Find one or two examples of coriolis acceleration in our

everyday life, such as:
- Bathtub vortex
-- flight of an intercontinental flight
-- movement of a person in a Merry-Go-Round
And elaborate using sketches and corresponding
equation(s)
144
dR dR0
= +  r
dt dt

145

146
dR dR0
= +  r
dt dt
dr dr0
= +  r Or → Oa
dt dt
 Rr
Or Ro R0
r
Oa
Or → Oa R → R0 → r → ra
147
Coriolis
Centrifugal

148

149
CALCULUS REVIEW
FUNCTION OF SEVERAL VARIABLES
THEOREM I
CHAIN RULE
CHAIN RULES
150
MEAN VALUE THEOREM

THEOREM I
151
GRADIENT
  
= i+ j+ k
x y z
152
153
GRADIENT AS A SURFACE NORMAL VECTOR
VECTOR FIELDS THAT ARE

GRADIENTS OF SCALAR
FIELDS (POTENTIALS)
154
DIVERGENCE OF A VECTOR FIELD
THEOREM 1
155
PRACTICAL EXAMPLES
156
157
THEOREM
This will be proved later, using integral
CURL OF A VECTOR FIELD
CALCULUS II - 2020
LECTURE PLAN 2019 -2020

HD-CALCULUS II -Chapter 1 -Chapter 1A – INTRODUCTORY NOTES-16
September 2019
HD-CALCULUS II -Chapter 1 - LINEAR ALGEBRA – VECTOR CALCULUS-
14 December 2019
HD-CALCULUS II -Chapter 2 - Vector Differential Calculus. Grad, Div, Curl
HD-CALCULUS II-Chapter 3 - Linear Algebra: Matrix Eigenvalue Problems
HD-CALCULUS II – Chapter 4 - Vector Integral Calculus. Integral
Theorems
HD-CALCULUS II-Chapter 5 – Engineering Applications of Partial
Differential Equations (Vibration, Mthods of Separating Variables, Heat
Equation)
HD-CALCULUS II-Chapter 6 – Engineering Applications of Partial
Differential Equations (Modeling: Membrane, Two-Dimensional Wave
Equation. Double Fourier Series, Laplacian in Polar Coordinates. Circular
Membrane. Fourier–Bessel Series, Solution of PDEs by Laplace
Transforms)
NOTES
NOTES
NOTES
NOTES
i
d ( Ai ) d ( A) d (i)
d (Ai) / dt =
= i id (A) / dt ++
AdA(i) / dt
dt dt dt
d ( A)
=i + A  i
dt
169

*GREEN’S THEOREM IN THE PLANE
THEOREM 1

Calculus Ii: Chapter 1 & 5

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Calculus Ii: Chapter 1 & 5

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Department of Mechanical Engineering

CHAPTER 1 & 5 - VECTOR DIFFERENTIAL

Prof.Harijono Djojodihardjo Sc.D., IPU, ACPE

Ref: Erwin Kreyszig

 F dr =  (( F i + F j + F k ) ( idx + jdy + kdz ) ) = 

Simple General Properties of Line

OTHER FORMS OF LINE INTEGRALS

PATH INDEPENDENCE OF LINE INTEGRALS

WORK: CONSERVATIVE AND NON-CONSERVATIVE (DISSIPATIVE)

CRITERION FOR EXACTNESS

d/dx d/dy d/dz

d/dx d/dy d/dz

TEST PROBLEM #1 TO 3 / IN-ON-LINE-CLASS SOFT

1. REWORK THE PROOF OF  X F = 0, WHERE F = f

2. EXPRESS  X F FOLLOWING RULE IMPLIED BY

EXAM / TEST PROBLEM #4

GREEN’S THEOREM Theorem FOLLOWING PROCEDURES

where a and b are shown in the figures.

1. If F.dr = F1dx+F2dy+F3dz is exact, then F =

GREEN’S THEOREM IN THE PLANE

GREEN’S THEOREM IN THE PLANE

GREEN’S THEOREM IN THE PLANE (Verification)

GREEN’S THEOREM IN THE PLANE

GREEN’S THEOREM IN THE PLANE

GREEN’S THEOREM IN THE PLANE

GREEN’S THEOREM IN THE PLANE

Green’s Theorem: Sketch of Proof

Rework this example

EXAM / TEST PROBLEM #4

GREEN’S THEOREM Theorem FOLLOWING PROCEDURES

SURFACES FOR SURFACE

PARAMETRIC REPRESENTATION OF A SHERE

TANGENT SURFACE AND SURFACE NORMAL

CROSS PRODUCT OF VECTORS S AND P

Follow and redo the solution of

H.Djojodihardjo Advanced Engineering Mathematics

H.Djojodihardjo Advanced Engineering Mathematics

THEOREM 1 – GAUSS DIVERGENCE THEOREM

H.Djojodihardjo Advanced Engineering Mathematics

H.Djojodihardjo Advanced Engineering Mathematics

PROOF OF GAUSS DIVERGENCE THEOREM

H.Djojodihardjo Advanced Engineering Mathematics

H.Djojodihardjo Advanced Engineering Mathematics

Integration of the inner integral within […] gives

H.Djojodihardjo Advanced Engineering Mathematics

FURTHER APPLICATIONS OF DIVERGENCE THEOREM

H.Djojodihardjo Advanced Engineering Mathematics

H.Djojodihardjo Advanced Engineering Mathematics

POTENTIAL THEORY; HARMONIC FUNCTIONS

H.Djojodihardjo Advanced Engineering Mathematics

H.Djojodihardjo Advanced Engineering Mathematics

Green’s first formula

First Form of Green’s Theorem

Second Form of Green’s Theorem

H.Djojodihardjo Advanced Engineering Mathematics

H.Djojodihardjo Advanced Engineering Mathematics

VERIFICATION OF STOKES THEOREM

Surface F can be expressed as

H.Djojodihardjo Advanced Engineering Mathematics

H.Djojodihardjo Advanced Engineering Mathematics

PROOF OF STOKES THEOREM

H.Djojodihardjo Advanced Engineering Mathematics

PROOF OF STOKES THEOREM