T. Pham: Chapter 5: Vector Calculus

Chapter 5: VECTOR CALCULUS
AM
PH
Duong T. PHAM
T.
g. CALCULUS II
on
Du
Duong T. PHAM August 29, 2022 1 / 73

Outline
1 Vector Fields
AM
2 Line Integrals
PH
3 The fundamental theorem for line integrals
T.
4 Green’s Theorem
5 Curl and divergence

g.
on
Du
6 Parametric Surfaces and Their Areas
7 Surface Integrals

The vectors in the below figure are air velocity vectors that indicate the
wind speed and direction at points 10 m above the surface elevation in the
San Francisco Bay area. Associated with every point in the air we can
imagine a wind velocity vector. This is an example of a velocity vector
field.
AM
PH
T.
g.
on
Du

Other examples of velocity vector fields are illustrated in the below figure:
ocean currents and flow past an airfoil.
AM
PH
T.
Definition g.
on
D ⊂ R2 ; A vector field on R2 is a function F that assigns to each point
Du
(x, y ) ∈ D a two-dimensional vector F (x, y ).
Remark. F (x, y ) is a two-dimensional vector, we can write
F (x, y ) = P(x, y )i + Q(x, y )j

Vector Fields
AM
PH
T.
Definition
E ⊂ R3 ; A vector field on R3 is a function F that assigns to each point
g.
(x, y , z) ∈ E a three-dimensional vector F (x, y , z).
on
Du
Remark. F (x, y , z) is a three-dimensional vector, we can write
F (x, y , z) = P(x, y , z)i + Q(x, y , z)j + R(x, y , z)k

Vector Fields
Example. A vector field on R2 is defined by F (x, y ) = −y i + xj . De-
scribing F by sketching some vectors F (x, y ).
AM
y
PH
(x,y) F(x,y) (x,y) F(x,y) F (0, 3) F (2, 2)
T.
(1,0) (0,1) (-1,0) (0,-1)
(2,2) (-2,2) (-2,-2) g.(2,-2)
(3,0) (0,3) (-3,0) (0,-3) F (1, 0)
on
(0,1) (-1,0) (0,-1) (1,0) 0 x
Du
(-2,2) (-2,-2) (2,-2) (2,2)

(0,3) (-3,0) (0,-3) (3,0)

Gradient Fields
If f : R2 → R, then its gradient
AM
∇f (x, y ) = fx (x, y )i + fy (x, y )j .
PH
Therefore, ∇f is a vector field and it is called a gradient vector field .
If f : R3 → R, then its gradient is a vector field on R3 ,
T.
∇f (x, y , z) = fx (x, y , z)i + fy (x, y , z)j + fz (x, y , z)k
g.
on
Example. Find the gradient vector field of f (x, y ) = x 2 y − y 3 .
Du
Ans. The gradient vector field is given by
∇f (x, y ) = fx (x, y )i + fy (x, y )j = 2xy i + (x 2 − 3y 2 )j .

Line Integrals
Let C be a curve in R2 :
x = x(t), y = y (t), t ∈ [a, b]
Divide [a, b] into n equal subintervals
AM
[ti−1 , ti ], i = 1, 2, ..., n
Denote xi = x(ti ), yi = y (ti ) and
PH
Pi = (xi , yi ). Then P1 , P2 , ..., Pn divide curve
C into n subarcs with lengths
T.
4s1 , 4s2 , ..., 4sn
For each i = 1, 2, .., n, choose ti∗ ∈ [ti−1 , ti ].
g.
Denote xi∗ = x(ti∗ ), yi∗ = y (ti∗ )
on
Du
Let f be a function defined on C . Then line integral of f along C is

Z n
X
f (x, y ) ds = lim f (xi∗ , yi∗ ) 4si .
C n→∞
i=1
if the limit exists.

Line Integrals
AM
PH
T.
g.
on
Du
We can interpret the line integral R of a positive function as an area. In fact,

if f (x, y ) ≥ 0, the line integral C f (x, y ) ds represents the area of one side
of the fence or curtain in the above figure, whose base is C and whose
height above the point (x, y ) is f (x, y ).
Line Integrals
Proposition
AM
Assume that the curve C : x = x(t) and y = y (t), t ∈ [a, b]. Let f be a
function defined on C . Then
PH
s
dx 2
Z Z b 2
dy
f (x, y ) ds = f (x(t), y (t)) + dt.
T.
C a dt dt
g.
Remark: The length of the curve C is
on
Du
s
Z b 2 2
dx dy
length(C) = + dt
a dt dt

Line Integrals
2 y ) ds,
R
Example. Evaluate C (2 + x where C is the upper half of the unit
circle.
Ans. The upper half circle C is given by
AM
x = cos t, y = sin t, t ∈ [0, π].
PH
Then
T.
Z Z π q
2 2
(2+x y ) ds = g. (2 + cos t sin t) (x 0 (t))2 + (y 0 (t))2 dt
C 0
on
Z π p
= (2 + cos2 t sin t) sin2 t + cos2 t dt
Du
Z0 π
= (2 + cos2 t sin t) dt
0 π
cos3 t 2
= 2t − = 2π + .
3 0 3
Line Integrals
AM
PH
T.
g.
on
Suppose now that C is a piecewise-smooth curve, i.e.,
Du
C = C1 ∪ . . . ∪ Cn ,
where Ci are smooth. Then
Z Z Z
f (x, y ) ds = f (x, y ) ds + . . . + f (x, y ) ds.
C C1 Cn

Example. Evaluate C 2x ds, where C consists of the arc of the parabola y = x 2
R
from (0, 0) to (1, 1) followed by the vertical line segment from (1, 1) to (1, 2).
Ans. The curve C = C1 ∪ C2 . Parametric equation

of C1 : x = x, y = x 2 , x ∈ [0, 1].
AM
s
Z Z 1 2 2
dx dy
2x ds = 2x + dx =
C1 0 dx dx
PH
Z 1 p √
2
1 2 2 3/2 1 5 5−1
2x 1+4x dx = · (1+4x ) |0 = .
4 3 6
T.
0
Parametric equation of C2 : x = 1, y = y , y ∈ [1, 2].

s
g.
on
Z Z 2 2 2 Z 2 p
dx dy
2x ds = 2 + dy = 2 02 + 12 dy = 2.
Du
C2 1 dy dy 1
Hence, √
5 5−1
Z Z Z
2x ds = 2x ds + 2x ds = +2
C C1 C2 6

Line Integrals
Z n
X
Line integral along C : f (x, y ) ds = lim f (xi∗ , yi∗ ) 4si
n→∞
AM
C i=1
Replace 4si by 4xi = xi − xi−1 =⇒ Line Integral w.r.t. x
PH
Z n
X Z b
f (x, y ) dx = lim f (xi∗ , yi∗ ) 4xi = f (x(t), y (t))x 0 (t) dt
T.
C n→∞ a
i=1
Line integral w.r.t. y

g.
on
Du
Z n
X Z b
f (x, y ) dy = lim f (xi∗ , yi∗ ) 4yi = f (x(t), y (t))y 0 (t) dt
C n→∞ a
i=1

Example. Evaluate C y 2 dx + x dy , where
R
(a) C is is the line segment from (−5, −3) to (0, 2)

(b) C is the arc of parabola x = 4 − y 2 from (−5, −3) to (0, 2).
(a) Parametric equation of C1 :
AM

x −5 0
= (1 − t) +t , t ∈ [0, 1]
PH
y −3 2
⇐⇒
T.
x = 5t − 5, y = 5t − 3, t ∈ [0, 1]
g. =⇒ dx = 5dt, dy = 5dt
on
Du
Z Z 1
2
y dx + x dy = (5t − 3)2 (5dt) + (5t − 5)(5dt)
C 0
Z 1
5
=5 (25t 2 − 25t + 4)dt = −
0 6

Line Integrals
Ans. (b) Parametric equation of C is
AM
x = 4 − y 2, y = y , −3 ≤ y ≤ 2.
PH
Then
Z Z 2
T.
2
y dx + x dy = y 2 (−2y ) dy + (4 − y 2 ) dy
C −3
g. Z 2
= (−2y 3 − y 2 + 4) dy
on
−3
Du
4 2
y y3
= − − + 4y
2 3 −3
5
= 40
6

Line Integrals in Space
Let C be a smooth curve in R3 given by
AM
x = x(t), y = y (t), z = z(t), t ∈ [a, b].
Line integral of f along C is
PH
Z n
T.
X
f (x, y , z) ds = lim f (xi∗ , yi∗ , zi∗ )4si
C n→∞
i=1
g.
on
And
Du
s
dx 2
Z Z b 2 2
dy dz
f (x, y , z) ds = f (x(t), y (t), z(t)) + +
C a dt dt dt

R
Example. Evaluate C y sin z ds , where C is the circular helix given by
the equations x = cos t, y = sin t, z = t, 0 ≤ t ≤ 2π.
Ans.
s 2 2 2
Z Z 2π
dx dy dz
AM
y sin z ds = (sin t) sin t + + dt
C 0 dt dt dt
PH
T.
Z 2π p
= sin2 t sin2 t + cos2 t + 1dt
0 g.
√ Z 2π
1 − cos 2t
on
= 2 dt
0 2
Du
√ sin 2t 2π

t
= 2 −
2 4
0
√
= π 2.

Line Integrals in Space
Line integrals w.r.t x, y and z are defined as in a plane, i,e,
AM
Z
f (x, y , z) dz = lim f (xi∗ , yi∗ , zi∗ ) 4zi
n→∞
PH
C
Z b
= f (x(t), y (t), z(t)) z 0 (t) dt
T.
a
Remark: The length of the curve C is

g.
on
s
Z b 2 2 2
dx dy dz
Du
length(C) = + + dt
a dt dt dt

R
Example. Evaluate C ydx + zdy + xdz, where C consists of the line
segment C1 from (2, 0, 0) to (3, 4, 5), followed by the line segment C2
from (3, 4, 5) to (3, 4, 0).
Ans.
AM
PH
T.
g.
on
Du
Equation of C1 : r (t) = (1 − t)(2, 0, 0) + t(3, 4, 5), t ∈ [0, 1].

Equation of C2 : r (t) = (1 − t)(3, 4, 5) + t(3, 4, 0), t ∈ [0, 1].
 
x(t) = 2 + t
 x(t) = 3

(C1 ) : y (t) = 4t , t ∈ [0, 1], (C2 ) : y (t) = 4 , t ∈ [0, 1]
 
z(t) = 5t z(t) = 5 − 5t
 
AM
Z Z 1
ydx+zdy + xdz = 4tdt + 5t × 4dt + (2 + t) × 5dt
PH
C1 0
1 1
29t 2
Z
= (10 + 29t)dt = 10t + = 24.5
T.
0 2 0
Z Z 1
ydx+zdy + xdz = g. 4 × 0dt + (5 − 5t)0dt + 3(−5)dt
on
C2 0
Z 1
Du
(−15)dt = (−15t)|10 = −15

=
Z Z0 Z
ydx+zdy + xdz = ydx + zdy + xdz + ydx + zdy + xdz = 9.5.
C C1 C2

Line Integrals of Vector Fields
Definition
AM
Let F be a continuous vector field defined on a smooth curve C given by
r (t) = x(t)i + y (t)j + z(t)k, t ∈ [a, b].
PH
Then the line integral of F along C is
T.
Z Z b
g.
F · dr = F (r (t)) · r 0 (t) dt
on
C a
Du
R
Remark. The integral C F · dr represents the work done by the force F
which moves a particle along the curve r (t) from t = a to t = b.

Example. Find the work done by the force field F (x, y ) = x 2 i − xy j in
moving a particle along the quarter-circle r (t) = cos ti + sin tj , 0 ≤ t ≤
π/2.
AM
Ans. We have
F (r (t)) = cos2 ti − cos t sin tj
PH
r 0 (t) = − sin ti + cos tj
T.
The work done is
g.
on
Z Z π/2 Z π/2
Du
0
F · dr = F (r (t)) · r (t) dt = (−2 cos2 t sin t) dt
C 0 0
π/2
cos3 t

2
= 2 =−
3 0 3

Line Integrals of Vector Fields
Suppose that the vector field F in R3 is given in the form
F = Pi + Qj + Rk.
AM
Then
PH
Z Z b
F · dr = F (r (t)) · r 0 (t) dt
T.
C a
Z b
= (Pi + Qj + Rk) · (x 0 (t)i + y 0 (t)j + z 0 (t)k) dt
g.
a
on
Z b 0
Px (t) + Qy 0 (t) + Rz 0 (t) dt

=
Du
Hence,
Z Z
F · dr = P dx + Q dy + R dz where F = Pi + Qj + Rk
C C

Fundamental Theorem for Line integrals
Z b
Recall: If F : [a, b] → R, then F 0 (x) dx = F (b) − F (a)
a
AM
Theorem
C : smooth curve given by vector function r (t), a ≤ t ≤ b. Let f be a
PH
differentiable function of two or three variables. Assume that ∇f is
continuous on C . Then
T.
Z
∇f · dr = f (r (b)) − f (r (a))
g.
C
on
Du
Proof. We have
Z Z b Z b
0 ∂f ∂x ∂f ∂y ∂f ∂z
∇f · dr = ∇f (r (t)) · r (t) dt = + + dt
C a a ∂x ∂t ∂y ∂t ∂z ∂t
Z b
d
= f (r (t)) dt = f (r (b)) − f (r (a)).
a dt
Independence of path
Suppose that C1 and C2 are piece-wise smooth curves (paths) that
AM
have the same initial and terminal point.
PH
R R
In general, C1 F · dr 6= C2 F · dr
T.
R R
But, C1 ∇f · dr = C2 ∇f · dr
g.
on
R
A vector field F defined on
R a domain D;
R Then C F · dr is
Du
independent of path if C1 F · dr = C2 F · dr for any two paths in

D that have the same initial and terminal points.

Theorem
R R
F · dr is independent of path in D IFF
C C
F · dr = 0 for every closed path C
in D .
AM
R
Proof. (=⇒) C F · dr is independent of path in D (?). Let C be a closed
PH
curve in D. Choose A and B to be two points on C .
T.
Denote by C1 and C2 the two arcs which
g. connect A and B along C .
on
Because of (?),
Du
Z Z Z Z Z
F · dr = F · dr + F · dr = F · dr − F · dr
C C1 −C2 C1 C2
(?)
=0
(⇐=) Exercise
Theorem
LetR F be a vector field that is continuous on an open connected region D.
If C F · dr is independent of path in D, then ∃ a function f such that
∇f = F .
AM
Proof.
Choose a fixed point (a, b) ∈ D. Define
PH
Z (x,y )
f (x, y ) = F · dr
T.
(a,b)
g.
D is open =⇒ exists a disk contained in
on
D with center (x, y ). Choose any
(x1 , y ) in the disk.
Du
Suppose that C consists of any path C1 from (a, b) to (x1 , y ) followed

by the line segment C2 connecting (x1 , y ) to (x, y ).
Z Z Z (x1 ,y ) Z
f (x, y ) = F · dr + F · dr = F · dr + F · dr
C1 C2 (a,b) C2
(continued the proof) Note that the first integral does not depend on x.
Then Z
∂ ∂
f (x, y ) = F · dr
∂x ∂x C2
AM
If we write F = Pi + Qj , then
PH
Z Z
F · dr = P dx + Q dy
T.
C2 C2
On C2 , y is constant, so dy = 0. Thus
Z
g. Z x
∂ ∂ ∂
on
f (x, y ) = P dx + Q dy = P(t, y ) dt = P(x, y ).
∂x ∂x C2 ∂x x1
Du
∂
Similarly, we can prove ∂x f (x, y ) = Q(x, y ). Thus
∂f ∂f
F = Pi + Qj = i+ j = ∇f .
∂x ∂y
Conservative Vector Fields
A vector field is said to be conservative if there exists a function f such

that ∇f = F .
AM
Theorem
If F (x, y ) = P(x, y )i + Q(x, y )j is a conservative vector field, where P
PH
and Q have continuous first-order partial derivatives on a domain D, then
∂P ∂Q
T.
=
∂y ∂x
g.
Proof. F is conservative =⇒ F = ∇f =⇒
on
Du
∂f ∂f
P= , Q= .
∂x ∂y
∂2f ∂2f ∂P ∂Q
Since = , we deduce = .
∂y ∂x ∂x∂y ∂y ∂x

A simply - connected region is a region that contains no hole and does
not consist of two separate pieces.
AM
PH
T.
Theorem g.
on
Let F = Pi + Qj be a vector field on an open simply-connected region D.
Du
Assume that P and Q have continuous first-order derivatives and

∂P ∂Q
= on D.
∂y ∂x
Then F is conservative.
Example. Determine whether or not the vector field
AM
F (x, y ) = (x − y )i + (x − 2)j
PH
is conservative
T.
Ans. Let P(x, y ) = x − y and Q(x, y ) = x − 2. Then
g.
on
∂P ∂Q
= −1 and =1
∂y ∂x
Du
∂P ∂Q
Since 6= , we conclude that F is not conservative.
∂y ∂x

Vector Fields
Example. If F (x, y , z) = y 2 i + (2xy + e 3z )j + 3ye 3z k, find a function f

such that ∇f = F .
AM
Ans. If there is such a function f , then
fx (x, y , z) = y 2 (i); fy (x, y , z) = 2xy +e 3z (ii); fz (x, y , z) = 3ye 3z (iii).
PH
Integrating (i) w.r.t. x =⇒ f (x, y , z) = xy 2 + g (y , z) (iv ).
T.
Differentiating (iv ) w.r.t. y =⇒ fy (x, y , z) = 2xy + gy (y , z) (v ).
g.
Comparising (v ) with (ii) =⇒ gy (y , z) = e 3z =⇒ g (y , z) = ye 3z + h(z)
on
From (iv ) , f (x, y , z) = xy 2 + ye 3z + h(z) =⇒ fz (x, y , z) = 3ye 3z + h0 (z).
Du
Comparising it with (iii) , h0 (z) = 0 h(z) = K (constant).

Hence
f (x, y , z) = xy 2 + ye 3z + K .

Green’s Theorem
Def. A simple closed curve C is said to be of positive orientation if C
has counterclockwise direction.
AM
PH
T.
Theorem
g.
on
Let C be a positively oriented, piecewise-smooth, simple closed curve in
Du
the plane and let D be the region bounded by C . IF P and Q have

continuous partial derivatives on an open region that contains D, then
Z ZZ
∂Q ∂P
P dx + Q dy = − dA
C D ∂x ∂y
Example. Evaluate C x 4 dx + xy dy , where C is the triangular curve
R
consisting of the line segment from (0, 0) to (1, 0), from (1, 0) to (0, 1)
and from (0, 1) to (0, 0).
AM
Ans. Denote by D the region enclosed by C .
Then, D is simple and C is positive oriented.
PH
Denote P(x, y ) = x 4 and Q(x, y ) = xy .
T.
By Green’s Theorem
Z ZZ g. ∂Q ∂P
Z 1 Z 1−x
x 4 dx + xy dy =
on
− dA = (y − 0) dy dx
C D ∂x ∂y 0 0
Du
1 2 y =1−x
Z 1
1 1
Z
= y dx = (1 − x 2 ) dx
0 2 y =0 2 0
1
1 1
= − (1 − x)3 =
6 0 6
Green’s Theorem
I
Notation: People also use P dx + Q dy to indicate the line integral
C
using positive orientation of the closed curve C .
AM
Finding area: Let D be a region enclosed by simple closed curve C . The
PH
area of D can be computed by
I I I
1
T.
Area(D) = x dy = − y dx = x dy − y dx
C C 2 C
g.
on
Proof. Using Green’s Theorem in reverse direction, we have
Du
I ZZ ZZ
x dy = (x)0x dA = 1 dA = Area(D).
C D D
Similarly, we can prove for other integrals.

Green’s Theorem
x2 y2
Example. Find the area enclosed by the ellipse + 2 =1
a2 b
Ans. The ellipse has parametric equation
AM
x = a cos t and y = b sin t, t ∈ [0, 2π].
PH
Then
T.
I Z 2π Z 2π
Area(D) = x dy = g. (a cos t)(b cos t) dt = ab cos 2 t dt
C 0 0
on
Z 2π 2π
ab ab 1
= (1 + cos 2t) dt = t + sin 2t = πab.
Du
2 0 2 2 0
Remark. The Green’s Theorem is also true in the case the domain D
is a finite union of simple regions or regions with holes. For more details,
please see Page 1111–1112 (Calculus)
Curl
If F = Pi + Qj + Rk is a vector field on R3 and the partial derivatives of

P, Q and R all exist, then the curl of F is the vector field on R3 defined by
AM

∂R ∂Q ∂P ∂R ∂Q ∂P
curlF = − i+ − j+ − k
PH
∂y ∂z ∂z ∂x ∂x ∂y
T.
Remark. The curl of F can also be written in the form

i

g. j k
on

∂ ∂ ∂
Du
curlF = =∇×F
∂x ∂y ∂z

P Q R

Curl
Example. Let F (x, y , z) = xzi + xyzj − y 2 k. Find curlF .
Ans. We have
AM

i j k
PH

curlF = ∂/∂x ∂/∂y ∂/∂z
xz xyz −y 2
T.

∂ 2 ∂ ∂ 2 ∂
= (−y ) − (xyz) i − (−y ) − (xz) j
∂y g.∂z ∂x ∂z
on

∂ ∂
+ (xyz) − (xz) k
∂x ∂y
Du
=(−2y − xy )i − (0 − x)j + (yz − 0)k

= − y (2 + x)i + xj + yzk

Curl of Gradient Vector Field
Theorem
If f is a function of three variables that has continuous second-order
partial derivatives, then
AM
curl(∇f) = 0
PH
Proof. We have
T.
i j k

∂

∂
g.
∂

on
curl(∇f) = ∂x ∂y ∂z

Du

∂f ∂f ∂f

∂x ∂y ∂z

2
∂2f ∂2f ∂2f
2
∂2f

∂ f ∂ f
= − i+ − j+ − k =0
∂y ∂z ∂z∂y ∂z∂x ∂x∂z ∂x∂y ∂y ∂x
Conservative Vector Field
Theorem
If F is defined on R3 , and curlF = 0, then F is conservative.
AM
Example. Show that F = y 2 z 3 , 2xyz 3 , 3xy 2 z 2 is conservative.

PH

i j k
T.

∂ g.∂ ∂
curlF = ∇ × F =
∂x ∂y ∂z
on

Du
2 3
y z 2xyz 3 3xy 2 z 2
= 6xyz 2 − 6xyz 2 , −(3y 2 z 2 − 3y 2 z 2 ), 2yz 3 − 2yz 3 = 0

Domain of F is R3 , the vector field F is conservative.

Divergence
Definition
Let F = Pi + Qj + Rk be a vector field on R3 and ∂P/∂x, ∂Q/∂y and
AM
∂R/∂z exist. Then divergence of F is
PH
∂P ∂Q ∂R
divF = + + =∇·F
∂x ∂y ∂z
T.
g.
Example. Let F = xzi + xyzj − y 2 k. Find divF .
on
Du
Ans. We have
∂ ∂ ∂
divF = (xz) + (xyz) + (−y2 ) = z + xz
∂x ∂y ∂z

Divergence
Theorem
If F = Pi + Qj + Rk be a vector field on R3 and P, Q, R have continuous
AM
second-order derivatives, then
PH
div curlF = 0
T.
Proof. we have
∂ ∂R
g.
∂Q

∂ ∂P ∂R

∂ ∂Q ∂P

div curlF = − + − + −
on
∂x ∂y ∂z ∂y ∂z ∂x ∂z ∂x ∂y
Du
2
∂ R 2
∂ Q 2
∂ P 2
∂ R 2
∂ Q 2
∂ P
= − + − + −
∂x∂y ∂x∂z ∂y ∂z ∂y ∂x ∂z∂x ∂z∂y
=0

Parametric Surfaces
• We can describe a surface by a vector function r (u, v ) of two
parameters u and v . We suppose that
r (u, v ) = x(u, v )i + y (u, v )j + z(u, v )k
AM
is a vector-valued function defined on a region D in the uv -plane
PH
• The set of all points (x, y , z) in R3 such that
x = x(u, v ) y = y (u, v ) z = z(u, v ), (u, v ) ∈ D
T.
is called a parametric surface S
g.
on
Du

Parametric Surfaces
Example. Identify and sketch the surface with vector equation
r (u, v ) = 2 cos u i + v j + 2 sin u k
AM
Ans. The parametric equations for this surface are
PH
x = 2 cos u, y = v, z = 2 sin u.
T.
For any point (x, y , z) on the surface, we have
g.
x 2 + z 2 = 4 cos2 u + 4 sin2 u = 4.
on
Du
This means that vertical cross-sections parallel to the xz-plane (that is,
with y constant) are all circles with radius 2. Since y = v and no
restriction is placed on v , the surface is a circular cylinder with radius 2
whose axis is the y-axis.

Parametric Surfaces
AM
PH
T.
g.
on
Du

Parametric Surfaces
Example. Find a parametric representation of the sphere
x 2 + y 2 + z 2 = a2
AM
PH
Ans. The sphere has a simple representation ρ = a in spherical
coordinates. We choose θ and φ as parameters to obtain the parametric
T.
equations of the sphere
x = a sin φ cos θ,
g.
y = a sin φ sin θ, z = a cos φ, [φ, θ] ∈ [0, π] × [0, 2π].
on
Du
The corresponding vector equation is
r (φ, θ) = a sin φ cos θ i + a sin φ sin θ j + a cos φ k

Parametric Surfaces
Example. Find a parametric representation for the cylinder
x 2 + y 2 = 4,
AM
0≤z ≤1
PH
Ans. The cylinder has a simple representation r = 2 in cylindrical
coordinates. we choose as parameters θ and z in cylindrical coordinates.
T.
The parametric equations of the cylinder are
x = 2 cos θ,
g.
y = 2 sin θ, z = z, [θ, z] ∈ [0, 2π] × [0, 1]
on
Du
The corresponding vector equation is
r (u, v ) = 2 cos θi + 2 sin θj + zk, [θ, z] ∈ [0, 2π] × [0, 1]

Parametric Surfaces
Example. Find a vector function that represents the elliptic paraboloid
z = x 2 + 2y 2 .
AM
Ans. If we regard x and y as parameters, then the parametric equations
PH
x = x, y = y, z = x2 + y2
T.
and the vector equation is
r (x, y ) = xi + y j + (x 2 + 2y 2 )k.
g.
on
In general, a surface given as the graph of a function of x and y , that is,
Du
with an equation of the form z = f (x, y ), can always be regarded as a

parametric surface by taking and as parameters and writing the parametric
equations as
x = x, y = y, z = f (x, y ).
Surface Integrals
AM
PH
T.
• Surface S: r (u, v ) = x(u, v )i + y (u, v )j + z(u, v )k, (u, v ) ∈ D
where D = [a, b] × [c, d] g.
on
• Divide D into subrectangles Rij with dimensions 4u and 4v . Then S
is divided in corresponding patches Sij .
Du
• Choose Pij ∈ Sij . Denote 4Sij : the area of Sij . The Riemann sum
m X
X n
f (Pij∗ )4Sij
i=1 j=1

Surface Integrals
• The surface integral of f over the surface S is
ZZ m X
X n
f (x, y , z) dS = m→∞
lim f (Pij∗ ) 4Sij
AM
S n→∞ i=1 j=1
PH
• Surface s is given by
r (u, v ) = x(u, v )i + y (u, v )j + z(u, v )k, (u, v ) ∈ D
T.
• Denote g.
on
∂x ∂y ∂z ∂x ∂y ∂z
ru = i+ j+ k rv = i+ j+ k
Du
∂u ∂u ∂u ∂v ∂v ∂v
• Then
ZZ ZZ
f (x, y , z) dS = f (r (u, v )) |r u × r v | dA
S D

Surface Integrals
x 2 dS, where S is the unit sphere x 2 +y 2 +z 2 = 1
RR
Example. Compute S
Ans. Parametric representation of the unit sphere is
AM
x = sin φ cos θ; y = sin φ sin θ; z = cos φ; 0 ≤ φ ≤ π, 0 ≤ θ ≤ 2π
PH
i.e., r (φ, θ) = sin φ cos θi + sin φ sin θj + cos φk.
We have
T.
r φ = cos φ cos θi + cos φ sin θj − sin φk
r θ = − sin φ sin θi + sin φ cos θj .
g.
on

Then i j k
Du

r φ × r θ = cos φ cos θ cos φ sin θ − sin φ
− sin φ sin θ sin φ cos θ 0
= sin2 φ cos θi + sin2 φ sin θj + sin φ cos φk
and |r φ × r θ | = sin φ.
Surface Integrals
x 2 dS, where S is the unit sphere x 2 +y 2 +z 2 = 1
RR
Example. Compute S
(Continued) We have
AM
ZZ ZZ
2
x dS = (sin φ cos θ)2 |r φ × r θ | dA
S D
PH
Z 2π Z π
= sin2 φ cos2 θ sin φ dφ dθ
0 0
T.
Z 2π Z π
2
= cos θ dθ
g. sin3 φ dφ
0 0
on
Z 2π Z π
1
= (1 + cos 2θ) dθ (sin φ − sin φ cos2 φ) dφ
Du
0 2 0
2π π
1 1 1 3
= θ + sin θ · − cos φ + cos φ
2 2 0 3 0
4π
=
3
Surface Integrals
Example. If a thin sheet, e.g., aluminum foil, has the shape of a surface
and the density at the point (x, y , z) is ρ(x, y , z), then the total mass of
AM
the sheet is ZZ
m= ρ(x, y , z) dS,
PH
S
and the center of mass is
T.
ZZ
1
x̄ =
g. xρ(x, y , z) dS,
m S
on
ZZ
1
ȳ = y ρ(x, y , z) dS,
m
Du
Z ZS
1
z̄ = zρ(x, y , z) dS.
m S

Surface Integrals
If the surface S is given by z = g (x, y ), where (x, y ) ∈ D, then S has a
parametric equation
x = x, y = y, z = g (x, y ), (x, y ) ∈ D.
AM
In other words, S is given by
PH
r (x, y ) = xi + y j + g (x, y )k, (x, y ) ∈ D.
T.
∂g ∂g
We then have r x = i + ∂x k and r y = j +
Thus ∂y k.
∂g ∂g
g. s
∂z 2
2
∂z
on
rx × ry = − i − j + k =⇒ |r x × r y | = + +1
∂x ∂y ∂x ∂y
Du
Hence,
s
∂z 2
ZZ ZZ 2
∂z
f (x, y , z) dS = f (x, y , g (x, y )) + + 1 dA
S D ∂x ∂y

Surface Integrals
RR
Example. Evaluate S y dS, where S is the surface
z = x + y 2, 0 ≤ x ≤ 1, 0 ≤ y ≤ 2.
AM
Ans. We have
∂z ∂z
=1 = 2y .
PH
∂x ∂y
Thus s
T.
∂z 2
ZZ ZZ 2
∂z
y dS = y + + 1 dA
S Dg. ∂x ∂y
Z 1Z 2 p
on
= y 1 + 1 + 4y 2 dy dx
Du
0 0
Z 1 √ Z 2 p
= dx ( 2) y 1 + 2y 2 dy
0 0
√
√ 12 2 3/2 2
13 2
= 2 (1 + 2y ) 0
=
43 3
Surface Integrals of Vector Fields
Let S be a surface in R3 such that at each point on S, we can choose a
normal vector n. If n(x, y , z) is continuous then S is called an oriented
surface.
AM
PH
T.
Definition
g.
on
If F is a continuous vector field defined on an oriented surface S with unit
Du
normal vector n, then the surface integral of F over S is

ZZ ZZ
F · dS = F · n dS.
S S
This integral is also called the flux of F across S.

If S is given by a vector function r (u, v ), then
AM
ru × rv
ZZ ZZ
F · dS = F· dS
S S |r u × r v |
PH

ru × rv
ZZ
= F (r (u, v )) · |r u × r v | dA,
D |r u × r v |
T.
where D is the parameter domain.
g.
on
Hence
Du
ZZ ZZ
F · dS = F · (r u × r v ) dA
S D

Example. Find the flux of F (x, y , z) = zi +y j +xk across the unit sphere
x2 + y2 + z2 = 1
AM
Ans.
Parametric representation of the unit sphere:
PH
r (φ, θ) = sin φ cos θi + sin φ sin θj + cos φk,
0 ≤ φ ≤ π, 0 ≤ θ ≤ 2π.
T.
Thus, F (r (φ, θ)) = cos φi + sin φ sin θj + sin φ cos θ.
g.
The normal vector of the unit sphere
on
r φ × r θ = sin2 φ cos θi + sin2 φ sin θj + sin φ cos φk.
Du
Hence,
F (r (φ, θ)) · (r φ × r θ ) = cos φ sin2 φ cos θ + sin3 φ sin2 θ + sin2 φ cos φ cos θ.

(Continue) We then have
AM
ZZ ZZ
F · dS = F · (r φ × r θ ) dA
S D
PH
Z 2π Z π
= (2 sin2 φ cos φ cos θ + sin3 φ sin2 θ) dφ dθ
0 0
T.
Z π Z 2π Z π Z 2π
2 3
=2 sin φ cos φ dφ cos θ dθ + sin φ dφ sin2 θ dθ
0 g. 0 0 0
on
Z π Z 2π Z 2π
3 2
=0+ sin φ dφ sin θ dθ (since cos θ dθ = 0)
Du
0 0 0
4π
=
3

Let F = Pi + Qj + Rk be a vector field. If a surface S is given by a graph

z = g (x, y ), then the normal vector field of S is
AM
∂g ∂g
rx × ry = − i− j +k
PH
∂x ∂y
Thus
T.

∂g ∂g
F · (r x × r y ) = (Pi + Qj + Rk) · − i −
g. j +k
∂x ∂y
on
Therefore,
Du
ZZ ZZ
∂g ∂g
F · dS = −P −Q + R dA
S D ∂x ∂y

RR
Example. Evaluate S F · dS, where F (x, y , z) = y i + xj + zk and S is
the part of the paraboloid z = 1 − x 2 − y 2 above the plane z = 0
Ans. On S, we have P = y , Q = x, R = z = 1 − x 2 − y 2 and
AM
∂g ∂g
= −2x, = −2y .
PH
∂x ∂y
Hence,
T.
ZZ ZZ
∂g ∂g
F · dS = −P g. −Q + R dA
∂x ∂y
Z ZS D
on
= [−y (−2x) − x(−2y ) + 1 − x 2 − y 2 ]dA
Du
D
ZZ Z 2π Z 1
2 2
= (1 + 4xy − x − y )dA = (1 + 4r 2 cos θ sin θ − r 2 )r dr dθ
D 0 0
π
=
2
Stokes‘ Theorem
R RR ∂Q ∂P

Recall the Green‘s Theorem: C Pdx + Qdy = D ∂x − ∂y dA
STOKES‘ THEOREM: S: oriented piecewise smooth surface and
AM
bounded by a simple, closed, piecewise smooth boundary curve C with
positive orientation. Let F be a vector field whose components have con-
PH
tinuous partial derivatives on an open region in R3 that contains S. Then
Z ZZ
T.
F · dr = curlF · dS
C S
g. Recall that if F = Pi + Qj + Rk,
on

i j k
Du

curlF = ∂/∂x ∂/∂y ∂/∂z

P Q R

Stokes’ Theorem
Example. Evaluate C F ·dr , where F (x, y , z) = −y 2 i +xj +z 2 k and C is

R
the curve of intersection of the plane y +z = 2 and the cylinder x 2 +y 2 = 1.
AM
(Orient C to be counterclockwise when viewed from above.)
PH

i j k

curlF = ∂/∂x ∂/∂y ∂/∂z = (1 + 2y )k
−y 2 z2
T.
x
g.
Choose S as in the figure and orient it upward.
on
Then C has the induced positive orientation.
The surface S is the graph of
Du
z = g (x, y ) = 2 − y , x 2 + y 2 ≤ 1.
Denote: D = {(x, y ) ∈ R2 : x 2 + y 2 ≤ 1}

Stokes’ Theorem
Note that F (x, y , z) = −y 2 i + xj + z 2 k and
∂g ∂g
AM
= 0, = −1
∂x ∂y
PH
Stokes’ Theorem:
Z ZZ ZZ
T.
F · dr = curlF · dS = (1 + 2y) dA
C S D
=
Z 2π Z 1 g.
(1 + 2r sin θ) r dr dθ
on
0 0
Du
2π 1 2π
r2 r3
Z Z
1 2
= + 2 sin θ dθ = + sin θ dθ
0 2 3 0 0 2 3
= π.

Stokes’ Theorem
RR
Example. Use Stokes’ Theorem to compute S curlF · dS, where
F (x, y , z) = xzi +yzj +xy k and S is the part of the sphere x 2 +y 2 +z 2 = 4
that lies inside the cylinder x 2 + y 2 = 1 and above the xy -plane.
AM
The curve C is given by
PH
( ( √
x2 + y2 + z2 = 4 z= 3
T.
⇔
x2 + y2 = 1 x2 + y2 = 1
g.
on
A vector equation of C :
Du
√
r (t) = cos ti + sin tj + 3k, 0 ≤ t ≤ 2π
0
r (t) − sin ti + cos tj

Stokes’ Theorem
We also have
√ √
AM
F (r (t)) = 3 cos ti + 3 sin tj + cos t sin tk.
Stokes’ Theorem:
PH
ZZ Z Z 2π
curlF · dS = F · dr = F (r (t)) · r 0 (t) dt
T.
S C 0
Z 2π √ √
=
g.
− 3 cos t sin t + 3 sin t cos t dt

on
0
√ Z 2π
Du
= 3 0 dt
0
=0

The Divergence Theorem
AM
The Divergence Theorem : Let E be a simple solid region and let S be
PH
the boundary surface of E , given with positive (outward) orientation. Let
F be a vector field whose component functions have continuous partial
derivatives on anopen region that contains E . Then
T.
ZZ ZZZ
g.
F · dS = div F dV
on
S E
Du

Example. Find the flux of the vector field F (x, y , z) = zi + y j + xk over
the unit sphere x 2 + y 2 + z 2 = 1.
Ans. The divergence of F :
AM
∂ ∂ ∂
divF = (z) + (y ) + (x) = 1
PH
∂x ∂y ∂z
The unit sphere S is the boundary of the unit ball B given by
T.
x 2 + y 2 + z 2 ≤ 1. Thus the Divergence Theorem gives the flux as
ZZ g. ZZZ
on
F · dS = divF dV
S B
Du
ZZ
= 1 dV
B
4 4
= V (B) = π(1)3 = π.
3 3

RR
Example. Evaluate S F · dS, where
2
F (x, y , z) = xy i + (y 2 + e xz )j + sin(xy )k
AM
and S is the surface of the region E bounded by the parabolic cylinder
PH
z = 1 − x 2 and the planes z = 0, y = 0, and y + z = 2.
∂ ∂ ∂
T.
2
divF = (xy )+ (y 2 +e xz )+ (sin xy )
∂x ∂y ∂z
g. = 3y
on
Du
Direct calculation would be complicated

since four different surface integrals must
be evaluated.
E = (x, y , z)| − 1 ≤ x ≤ 1, 0 ≤ z ≤ 1 − x 2 , 0 ≤ y ≤ 2 − z


ZZ ZZZ ZZZ
F · dS = divF dV = 3y dV
AM
S E E
Z 1 Z 1−x 2 Z 2−z
=3 y dy dz dx
PH
−1 0 0
Z 1 Z 1−x 2
(2 − z)2
T.
=3 dz dx
−1 0 2
g. 1−x 2
3 1 (2 − z)3
Z
= − dx
on
2 −1 3 0
Du
1 1 2
Z
(x + 1)3 − 8 dx

=−
2 −1
Z 1
184
=− (x 6 + 3x 4 + 3x 2 − 7) dx =
0 35

AM
PH
THANKS FOR YOUR ATTENTION!
T.
g.
on
Du

AM
PH
T.
g.
on
Du

T. Pham: Chapter 5: Vector Calculus

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

T. Pham: Chapter 5: Vector Calculus

Uploaded by

Copyright:

Available Formats

Chapter 5: VECTOR CALCULUS

Duong T. PHAM August 29, 2022 1 / 73

5 Curl and divergence

6 Parametric Surfaces and Their Areas

Duong T. PHAM August 29, 2022 2 / 73

Duong T. PHAM August 29, 2022 3 / 73

(x, y ) ∈ D a two-dimensional vector F (x, y ).

Remark. F (x, y ) is a two-dimensional vector, we can write

F (x, y ) = P(x, y )i + Q(x, y )j

Duong T. PHAM August 29, 2022 4 / 73

Remark. F (x, y , z) is a three-dimensional vector, we can write

F (x, y , z) = P(x, y , z)i + Q(x, y , z)j + R(x, y , z)k

Duong T. PHAM August 29, 2022 5 / 73

(-2,2) (-2,-2) (2,-2) (2,2)

Duong T. PHAM August 29, 2022 6 / 73

If f : R2 → R, then its gradient

Ans. The gradient vector field is given by

∇f (x, y ) = fx (x, y )i + fy (x, y )j = 2xy i + (x 2 − 3y 2 )j .

Duong T. PHAM August 29, 2022 7 / 73

Let f be a function defined on C . Then line integral of f along C is

if the limit exists.

We can interpret the line integral R of a positive function as an area. In fact,

Duong T. PHAM August 29, 2022 10 / 73

Ans. The upper half circle C is given by

Duong T. PHAM August 29, 2022 12 / 73

Ans. The curve C = C1 ∪ C2 . Parametric equation

Parametric equation of C2 : x = 1, y = y , y ∈ [1, 2].

Duong T. PHAM August 29, 2022 13 / 73

Line integral w.r.t. y

Duong T. PHAM August 29, 2022 14 / 73

(a) C is is the line segment from (−5, −3) to (0, 2)

(a) Parametric equation of C1 :

Duong T. PHAM August 29, 2022 15 / 73

Ans. (b) Parametric equation of C is

Duong T. PHAM August 29, 2022 16 / 73

Let C be a smooth curve in R3 given by

Line integral of f along C is

Duong T. PHAM August 29, 2022 17 / 73

Duong T. PHAM August 29, 2022 18 / 73

Line integrals w.r.t x, y and z are defined as in a plane, i,e,

Remark: The length of the curve C is

Duong T. PHAM August 29, 2022 19 / 73

Equation of C1 : r (t) = (1 − t)(2, 0, 0) + t(3, 4, 5), t ∈ [0, 1].

(−15)dt = (−15t)|10 = −15

Duong T. PHAM August 29, 2022 21 / 73

r (t) = x(t)i + y (t)j + z(t)k, t ∈ [a, b].

Duong T. PHAM August 29, 2022 22 / 73

F (r (t)) = cos2 ti − cos t sin tj

Duong T. PHAM August 29, 2022 23 / 73

Duong T. PHAM August 29, 2022 24 / 73

Suppose that C1 and C2 are piece-wise smooth curves (paths) that

independent of path if C1 F · dr = C2 F · dr for any two paths in

Duong T. PHAM August 29, 2022 26 / 73

Suppose that C consists of any path C1 from (a, b) to (x1 , y ) followed

A vector field is said to be conservative if there exists a function f such

Duong T. PHAM August 29, 2022 30 / 73

Assume that P and Q have continuous first-order derivatives and

Example. Determine whether or not the vector field

Duong T. PHAM August 29, 2022 32 / 73

Example. If F (x, y , z) = y 2 i + (2xy + e 3z )j + 3ye 3z k, find a function f

fx (x, y , z) = y 2 (i); fy (x, y , z) = 2xy +e 3z (ii); fz (x, y , z) = 3ye 3z (iii).

Comparising it with (iii) , h0 (z) = 0 h(z) = K (constant).

Duong T. PHAM August 29, 2022 33 / 73