Contents

Preface ix
Acknowledgements xi
Historical Introduction: A Brief Account xiii
Prerequisites and Notation xxiii

1 The Geometry of Euclidean Space 1

1.1 Vectors in Two- and Three-Dimensional Space 1
1.2 The Inner Product, Length, and Distance 19
1.3 Matrices, Determinants, and the Cross Product 31
1.4 Cylindrical and Spherical Coordinates 52
1.5 n-Dimensional Euclidean Space 60
Review Exercises for Chapter 1 70

2 Differentiation 75
2.1 The Geometry of Real-Valued Functions 76
2.2 Limits and Continuity 88
2.3 Differentiation 105
2.4 Introduction to Paths and Curves 116
2.5 Properties of the Derivative 124
2.6 Gradients and Directional Derivatives 135
Review Exercises for Chapter 2 144

3 Higher-Order Derivatives:
Maxima and Minima 149
3.1 Iterated Partial Derivatives 150
3.2 Taylor’s Theorem 158
3.3 Extrema of Real-Valued Functions 166
3.4 Constrained Extrema and Lagrange Multipliers 185
3.5 The Implicit Function Theorem [Optional] 203
Review Exercises for Chapter 3 211

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4 Vector-Valued Functions 217

4.1 Acceleration and Newton’s Second Law 217
4.2 Arc Length 228
4.3 Vector Fields 236
4.4 Divergence and Curl 245
Review Exercises for Chapter 4 260

5 Double and Triple Integrals 263

5.1 Introduction 263
5.2 The Double Integral Over a Rectangle 271
5.3 The Double Integral Over More General Regions 283
5.4 Changing the Order of Integration 289
5.5 The Triple Integral 294
Review Exercises for Chapter 5 304

6 The Change of Variables Formula and

Applications of Integration 307
6.1 The Geometry of Maps from R2 to R2 308
6.2 The Change of Variables Theorem 314
6.3 Applications 329
6.4 Improper Integrals [Optional] 339
Review Exercises for Chapter 6 347

7 Integrals Over Paths and Surfaces 351

7.1 The Path Integral 351
7.2 Line Integrals 358
7.3 Parametrized Surfaces 375
7.4 Area of a Surface 383
7.5 Integrals of Scalar Functions Over Surfaces 393
7.6 Surface Integrals of Vector Fields 400
7.7 Applications to Differential Geometry, Physics,
and Forms of Life 413
Review Exercises for Chapter 7 423
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8 The Integral Theorems of Vector Analysis 427

8.1 Green’s Theorem 428
8.2 Stokes’ Theorem 439
8.3 Conservative Fields 453
8.4 Gauss’ Theorem 461
8.5 Differential Forms 476
Review Exercises for Chapter 8 490

Answers to Odd-Numbered Exercises 493

Index 533

Photo Credits 545