Vector RG! ec Fifth Edition ee @ ‘ F Wark: hs NG =! | Ay S as S| Jerrold E. Marsden= ee Anthony J. TrombaDERIVATIVES dx Jl—-wdx dau du go, datecosi ae ae "de du+v) _ du, dv ao, davetanu de dx dx ‘dx ae Ted dur) _ dv | du ay, davecotu =I du dx “dx | "dx Gx T¥w dx d(u/v) _ v(du/dx) — w(dv/dx) ap, daresecu Ld dx v dx uv tdx du) du aa, dateeseu =I du dx x ae Ve —1dx dw’) ydu dv dsinhu du a yu doguy 24. = coshu ee = tS + Hog) 4, = cosh ue det) du deoshu du ae 25, SO — sinh de) du dtanhu 4 du ae 26, SM = sech? da" du doth u > du da" = a"(loga) a a7, Teoh _ _Cosch? uy ae Te 7A (lea) (eset? d(ogu) _\du dsech u du -iu . =- tanh) oe wee ot 28, (sech w)(tanh a) d(log, u) 1 du deschu du , Bet) _*_ 29. = —(esch u)(coth w) dx u(loga) dx dx (eseh Keon) dsinu di go, dsb _ 1d de OT de te dx deosu dt jy, feos du dx ae (ae > Vgatde dtanu 2 du tanh”! w ae = see? 2, a dcotu > du doth” ae ae BE a1 eee = tanu seou 34. cents we deseu du desch"! dese _ _ (cot ae gs, Geshu oldu dx ootuxeseu) 7 dx jul Vie dx daresinu duINTEGRALS (An arbitrary constant may be added to each integral.) dx = ey! - 1. fxtas= os (n#-1) 2 f tae = tosis 3. a 4. fadr= ioga 5. f sinxdx = cosx 7 frxas = log |c0s x] 8. [cotsas = log |sinx| 9. [soxax = log |seex + tans] = log tan (x + 4)| 10. foerax = log | ese x — cotx| = log | tan 4x| i. f ssin® ax = xaresin = +Vai—x (a> 0) areeos * dx = xarceos* ~ Ja? (a > 0) a a 12, a 13. [ arctan < dx = xarctan ; ~ Flogta? +3") (a > 0) 14. | sin? mx dx = mm — sin mx cosmx) | = I 15. feos mx dx = —(mx + sinmx cosmx) Im 16. f sectxas = tanx 17. fesetxas = —cotx ws | wee | NF tea 7” n ie | 1». cost xa =o set cost sas 7 n on 20. f sant xas = = fas (141) na 2. cor sds =~ = f coe xax #4) tanx sec"? x gn 2 22. fsorras = fer ?xdx (n# 1) 7; n-2 focrrxas (#1) (Continued on next page)24, f sinus ax = coshx 25. f cosnxas = sinhx 26. fanhsas = log | coshx| 7. f coth x dx = log | sinh x] 28. | sech x dx = arctan (sinh x) 1) coshx +1 29. foshxdx = og 3 he et coshx — x tanh * a) 30. J sinh? x dx = 4 sinh2x — 31. cost? xax inh 2x + 3x i 32. i sech? x dx = tanhx 33. f sion" = V2 dy =xsinh 2 — Ve pa (a >0) wit _ fine 1(X xeosh' = — x2=a? [eosh' (=) > 0,0 > 0] xeosh!= 4 Vx? =a? [eos (=) <0,a > 0] a a 35. fsanwe * dx =xtanh! = + $ log la? =x] dx = log(x er *) 34, i cosh"! * dx = a sinh ~ (a > 0) a | Tas 1 x 37. fame = zarctan (a > 0) 2 38, [ve=Has=4 P—x? +5 aresin® (a > 0) Qe ea 3a! 39. fo =P dx = Fee =2x2\Va?— xe + = aresin = (a>) 40. dx= aresin = (a> 0) ree 1. foto cle 4a. [ve ta@dx = a+x log |x + Vx? + a?| 4a. - a8) = cosh! * lw Jog |x + Vx? — a2| = cosh 5 @>0) 1 1 x 45, | ———dx=- : | arm a8 laq bs ‘ or 45, [ xJaF Bras = ORANG af SER ax = arbi +a f tds x xVa+bx (Continued at the back of the book)Vector Calculus Fifth Edition Jerrold E. Marsden California Institute of Technology, Pasadena Anthony J. Tromba University of California, Santa Cruz [A @ W.H. Freeman and Company New YorkExecutive Editor: Craig Bleyer Acquisitions Editor: Terri Ward Marketing Manager: Jeffrey Rucker Project Editor: Vivien Weiss Cover and Text Designer: Diana Blume Production Manager: Julia DeRosa Editorial Assistant: Kristy Cates Media and Supplements Editor: Brian Donnellan Illustration Coordinator: Shawn Churchman Illustrations: The GTS Companies/York, PA Campus Compositor: The GTS Companies/York, PA Campus Manufacturer: RR Donnelly & Sons Company Cover Photo: Isaac Newton (1642-1727). Painting by I. Vanderbank (1725). London, National Portrait Gallery. Politics is for the moment. An equation is for eternity. A. EINSTEIN Some calculus tricks are quite easy. Some are enormously difficult. The fools who write the textbooks of advanced mathematics seldom take the trouble to show you how easy the easy calculations are. Sitvanus P, THOMPSON, CazCULUS Mave Easy, MACMILLAN (1910) Library of Congress Cataloging-in-Publication Data Marsden, Jerrold E. Vector calculus/Jetrold E. Marsden, Anthony J. Tromba.—Sth ed. p.cm. Includes bibliographical references and index. ISBN-10: 0-7167-4992-0 _ ISBN-13: 978-0-7167-4992-9 1. Calculus. 2. Vector analysis. 1. Tromba, Anthony. II. Title. QA303.M338 2003 515.63 —de21 2003049184 ©1976, 1981, 1988, 1996, and 2003 by W. H. Freeman and Company All rights reserved. Printed in the United States of America Fourth printingC. oexlercls Preface vii Historical Introduction xiii The Geometry of Euclidean Space 1 1.1 Vectors in Two- and Three-Dimensional Space 1 1.2. The Inner Product, Length, and Distance 23 1.3. Matrices, Determinants, and the Cross Product 38 1.4 Cylindrical and Spherical Coordinates 65 1.5 n-Dimensional Euclidean Space 74 Review Exercises for Chapter 1 88 Differentiation 94 2.1. The Geometry of Real-Valued Functions 94 2.2. Limits and Continuity 107 2.3 Differentiation 127 2.4 Introduction to Paths and Curves 147 2.5 Properties of the Derivative 150 2.6 Gradients and Directional Derivatives 163 Review Exercises for Chapter 2.173 Higher-Order Derivatives; Maxima and Minima 181 3.1 Iterated Partial Derivatives 182 3.2 Taylor's Theorem 193 3.3 Extrema of Real-Valued Functions 203 3.4. Constrained Extrema and Lagrange Multipliers 225 3.5 The Implicit Function Theorem 246 Review Exercises for Chapter 3. 255 iii6 Contents Vector-Valued Functions 261 41 42 43 44 Acceleration and Newton’s Second Law 261 Arc Length 274 Vector Fields 285 Divergence and Curl 294 Review Exercises for Chapter 43/3 Double and Triple Integrals 317 5.1 52 5.3 34 3.5 Introduction 3/7 The Double Integral Over a Rectangle 327 The Double Integral Over More General Regions 341] Changing the Order of Integration 349 The Triple Integral 354 Review Exercises for Chapter5 365 The Change of Variables Formula and Applications of Integration 368 6.1 6.2 63 6.4 ‘The Geometry of Maps from R? to R? 369 The Change of Variables Theorem 376 Applications 393 Improper Integrals 406 Review Exercises for Chapter 6 4/7 Integrals Over Paths and Surfaces 421 7A 72 73 74 75 7.6 V7 The Path Integral 421 Line Integrals 429 Parametrized Surfaces 451 Area ofa Surface 461 Integrals of Scalar Functions Over Surfaces 474 Surface Integrals of Vector Fields 483 Applications to Differential Geometry, Physics, and Forms of Life 500 Review Exercises for Chapter 7 514Contents v S The Integral Theorems of Vector Analysis 518 8.1 Green’s Theorem 5/8 8.2 Stokes’ Theorem 532 8.3 Conservative Fields 550 8.4 Gauss’ Theorem 56/ 8.5 Some Differential Equations of Mechanics and Technology 576 8.6 Differential Forms 588 Review Exercises for Chapter 8 605 Answers to Odd-Numbered Exercises 609 Index 668 Illustration Credits 676To Barbara and Inga for all their love and supportPre Aaee his text is intended for a one-semester course in the calculus of functions of several variables and vector analysis, which is normally taught at the sophomore level. In addition to making changes and improvements throughout the text, in this new edition we have added considerable material that presents the historical development of the subject and have also attempted to convey a sense of excitement, relevance, and importance of the subject matter. Prerequisites Sometimes courses in vector calculus are preceded by a first course in linear alge- bra, but this is not an essential prerequisite. We require only the bare rudiments of matrix algebra, and the necessary concepts are developed in the text. If this course is preceded by a course in linear algebra, the instructor will have no difficulty en- hancing the material. However, we do assume a knowledge of the fundamentals of one-variable calculus—the process of differentiation and integration and their geo- metric and physical meaning as well as a knowledge of the standard functions, such as the trigonometric and exponential functions. The Role of Theory The text includes much of the basic theory as well as many concrete examples and problems. Some of the technical proofs for theorems in Chapters 2 and 5 are given in optional sections that are readily available on the book's Web site at www.whfreeman.com/MarsdenVCSe (see the description on the next page). Section 2.2, on limits and continuity, is designed to be treated lightly and is deliberately brief. More sophisticated theoretical topics, such as compactness and delicate proofs in in- tegration theory, have been omitted, because they usually belong to a more advanced course in real analysis. Concrete and Student-Oriented Computational skills and intuitive understanding are important at this level, and we have tried to meet this need by making the book concrete and student-oriented. For example, although we formulate the definition of the derivative correctly, itis done by using matrices of partial derivatives rather than abstract linear transformations. We also include a number of physical illustrations such as fluid mechanics, gravitation, vii