Mat 70

.
Calculus with
Analytic Geometry 2
The Department of Mathematics and Statistics

(CHED Center of Excellence in Mathematics)
MSU-Iligan Institute of Technology
Iligan City, Philippines
«Copyleft1 2019
Julius V. Benitez, Ph.D.
Department of Mathematics and Statistics, MSU-IIT
1
Copyleft « means that unrestricted redistribution and modification are permitted,
provided that all copies and derivatives retain the same permissions. Specifically no com-
merical use of these notes or any revisions thereof is permitted.
CONTENTS
1 VECTORS AND THE GEOMETRY OF SPACE 1

1.1 The Three-Dimensional Cartesian Coordinate System . . . . . 1
1.2 Vectors in Space . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.3 The Dot Product . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.4 The Cross Product . . . . . . . . . . . . . . . . . . . . . . . . 8
−
* − *
1.4.1 Geometric Interpretation of A × B . . . . . . . . . 9
* −
− * − *
1.4.2 Geometric Interpretation of | A × B · C | . . . . . . . . 10
1.5 Planes and Lines in Space . . . . . . . . . . . . . . . . . . . . 11
1.5.1 Planes in Space . . . . . . . . . . . . . . . . . . . . . . 11
1.5.2 Lines in Space . . . . . . . . . . . . . . . . . . . . . . . 12
1.6 Cylindrical Surfaces and Surfaces of Revolution . . . . . . . . 13
1.6.1 Cylindrical Surfaces . . . . . . . . . . . . . . . . . . . . 13
1.6.2 Surfaces of Revolution . . . . . . . . . . . . . . . . . . 15
1.7 Quadric Surfaces . . . . . . . . . . . . . . . . . . . . . . . . . 16
2 VECTOR-VALUED FUNCTIONS AND CURVES 23

2.1 Introduction to Vector-Valued Functions . . . . . . . . . . . . 23
2.2 Curves in the Plane and in Space Using Vector-Valued Functions 23
2.3 Calculus of Vector-Valued Function . . . . . . . . . . . . . . . 26
2.3.1 Limits and Continuity of Vector-Valued Functions . . . 26
2.3.2 Derivatives of Vector-Valued Functions . . . . . . . . . 26
2.3.3 Integrals of Vector-Valued Functions . . . . . . . . . . 27
2.4 Arc Length and Parametrization using Arc Length . . . . . . 28
2.4.1 Arc Length . . . . . . . . . . . . . . . . . . . . . . . . 28
2.4.2 Parameterization using Arc Length . . . . . . . . . . . 28
2.5 Curvature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
3 DIFFERENTIAL CALCULUS OF FUNCTIONS IN SEV-

ERAL VARIABLES 33
3.1 Functions in Several Variables . . . . . . . . . . . . . . . . . . 33
3.2 Partial Derivatives . . . . . . . . . . . . . . . . . . . . . . . . 34
3.3 Higher-order Derivatives . . . . . . . . . . . . . . . . . . . . . 35
3.4 The Total Differential . . . . . . . . . . . . . . . . . . . . . . . 36
3.5 Tangent Plane Approximation of Functions in Two Variables . 37
3.6 The Chain Rule for Partial Derivative . . . . . . . . . . . . . . 38
iii
iv CONTENTS
3.6.1 The Chain Rule . . . . . . . . . . . . . . . . . . . . . . 38

3.6.2 Implicit Differentiation . . . . . . . . . . . . . . . . . . 38
3.6.3 The Total Derivative and Related Rates . . . . . . . . 40
3.7 Directional Derivatives and Gradients . . . . . . . . . . . . . . 41
3.8 Tangent Planes to Level Surfaces . . . . . . . . . . . . . . . . 44
3.9 Relative Extrema and the Second Derivative Test . . . . . . . 47
3.10 Absolute Extrema and the Method of Lagrange Multipliers . . 48
4 MULTIPLE INTEGRALS AND LINE INTEGRAL 53

4.1 Line Integral . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
4.2 Double integrals in Cartesian coordinates . . . . . . . . . . . . 60
4.3 Center of Mass and Moments of Inertia . . . . . . . . . . . . . 67
4.3.1 Center of Mass of a Rod . . . . . . . . . . . . . . . . . 67
4.3.2 Center of Mass of a Plane Region with Constant Mass
Density . . . . . . . . . . . . . . . . . . . . . . . . . . 69
4.3.3 Center of Mass of a Plane Region with Non-Constant
Mass Density . . . . . . . . . . . . . . . . . . . . . . . 72
4.4 Double integrals in Polar Coordinates and Applications . . . . 73
4.5 Triple integrals in Cartesian Coordinates and Applications . . 78
4.6 Cylindrical and Spherical Coordinates . . . . . . . . . . . . . . 82
4.7 Triple integral in Cylindrical Coordinates and Applications . . 86
4.8 Triple integral in Spherical Coordinates and Applications . . . 91
BIBLIOGRAPHY 96
NOTES FOR MAT070 DEPT. OF MATH & STAT, CSM, MSU-IIT

CHAPTER 1
VECTORS AND THE GEOMETRY OF SPACE
“Q: What do you get if you cross a

tsetse fly with a mountain climber?
A: Nothing. You can’t cross a vector with a scalar! ”
Unknown
1.1 The Three-Dimensional Cartesian Coordinate System

Recall that cartesian product A × B of two sets A and B given by
A × B = {(a, b) : a ∈ A, b ∈ B}
and the two-dimensional space R2 given by
R2 = R × R = {(x, y) : x, y ∈ R}.
Consider the cartesian product R2 × R and R × R2 . Then
R2 × R = {(P, z) : P ∈ R2 and z ∈ R}
= {((x, y), z) : (x, y) ∈ R2 and z ∈ R}
and
R × R2 = {(x, P ) : x ∈ R and P ∈ R2 }
= {(x, (y, z)) : x ∈ R and (y, z) ∈ R}.
If we do not distinguish the elements ((x, y), z) and (x, (y, z)), then we may
write the elements in R2 × R (and R × R2 ) by (x, y, z) and called it ordered
triple, and write
R3 = R2 × R = R × R2 .
The set R3 is called the three-dimensional Euclidean space (or simply
3-dimensional space). Analytic geometry describes every point in the
three-dimensional space R3 by means of three coordinates. That is,
R3 = {(x, y, z) : x, y, z ∈ R}.
In the geometric representation of R3 , three coordinate axes are given, usually

each perpendicular to the other two at the origin (0, 0, 0), the point at which
they cross. They are usually labeled x, y, and z. Relative to these axes, the
position of any point in three-dimensional space is given by an ordered triple
of real numbers, each number giving the (directed) distance of that point from
the origin measured along the given axis, which is equal to the distance of that
point from the plane determined by the other two axes. See Figure 1.1.
2 CHAPTER 1. VECTORS AND THE GEOMETRY OF SPACE
z-axis
..
...
.........
.
...
..
... .
....
.. ....
... ....
.. ......
... ..
....
.. ....
... ....
.. ......
... ..
....
.. ....
.
... ....
.. ......
.. ......
... ......
..............................................................................................................................................................................................................................................
....
.
.. ....
. x-axis
.... ....
.... ..
.... ...
....... ..
..... ...
..... ..
..... ...
..... ..
..... ...
..... ..
.
.......... ...
... . .. ...
... ..
..
...
y-axis ..
...
Figure 1.1: The three-dimensional Euclidean space R3 .
Other popular methods of describing the location of a point in three-

dimensional space include cylindrical coordinates and spherical coordi-
nates. These methods will be discuss in Chapter 4 of this notes.
In R3 , we have 3 coordinate planes, namely:

1. xy−plane – plane contains x and y axes
2. xz−plane – plane contains x and z axes and
3. yz−plane – plane contains y and z axes.
We note that in Figure 1.1, R3 is divided into 8 compartments.
Definition 1.1 An octant is one of the eight compartments of R3 .
Remark 1.2 Let P (x, y, x) be a point in R3 . Then

1. x is the perpendicular (directed) distance of the point P from the yz−plane.
2. y is the perpendicular (directed) distance of the point P from the xz−plane.
3. z is the perpendicular (directed) distance of the point P from the xy−plane.
Theorem 1.3 In R3 ,
(i.) a line is parallel to yz-plane if and only if all points on the line have
equal x coordinates;
(ii.) a line is parallel to xz-plane if and only if all points on the line have
equal y coordinates; and
(iii.) a line is parallel to xy-plane if and only if all points on the line have
equal z coordinates.

1.1. THE THREE-DIMENSIONAL CARTESIAN COORDINATE SYSTEM 3
Theorem 1.4 In R3 ,
(i.) a line is parallel to x−axis if and only if all points on the line have equal
y coordinates and equal z coordinates;
(ii.) a line is parallel to y−axis if and only if all points on the line have equal
x coordinates and equal z coordinates; and
(iii.) a line is parallel to z−axis if and only if all points on the line have equal
x coordinates and equal y coordinates.
Theorem 1.5 The undirected distance between two points P1 (x1 , y1 , z1 ) and
P2 (x2 , y2 , z2 ) in R3 is given by
p
P1 P2 = (x1 − x2 )2 + (y1 − y2 )2 + (z1 − z2 )2 .
Example 1.6 Find the undirected distance between the points P (2, −1, −3)
and Q(4, 0, −1).
Theorem 1.7 The coordinates of the midpoint of the line segment having
endpoints P1 (x1 , y1 , z1 ) and P1 (x2 , y2 , z2 ) are given by
x 1 + x2 y1 + y2 z1 + z2
x= , y= , z= .
2 2 2
Example 1.8 Find the midpoint of the line segment whose endpoints are
P (2, −1, −2) and Q(4, 0, −1).
Definition 1.9 The graph of an equation in R3 is the set of all points

(x, y, z) whose coordinates are numbers satisfying the equation. The graph
of an equation in R3 is called a surface.
One particular surface is the sphere.
Definition 1.10 A sphere is the set of all points in 3-dimensional space

equidistant from a fixed point called the center of the sphere. The measure
of the constant distance is called the radius of the sphere.
Theorem 1.11 An equation of the sphere of radius r and center at (h, k, l)

is
(x − h)2 + (y − k)2 + (z − l)2 = r2 .
Theorem 1.12 The graph of any second-degree equation in x,, y and z of the
form
x2 + y 2 + z 2 + Ax + By + Cz + D = 0
is either a sphere, a point or the empty set.
J.V.BENITEZ CALCULUS WITH ANALYTIC GEOMETRY 2

1.2 Vectors in Space
Definition 1.13 A vector in R3 is an ordered triple of real numbers

hx, y, zi. The numbers x, y and z are called the components of the vector
hx, y, zi. Elements of R are called scalar .
The set of all vectors in R3 is denoted by V3 ; i.e.

n o
V3 = hx, y, zi | x, y, z ∈ R3 .
−
*
Definition
− 1.14 The magnitude of the vector A = ha1 , a2 , a3 i denoted
*
by A is given by
− q
*
A = a21 + a22 + a23 .
−
* −
*
A vector U is a unit vector if U = 1.
There are four vectors in R3 having special notations:
ı̂ = h1, 0, 0i , ̂ = h0, 1, 0i , k̂ = h0, 0, 1i , and 0̂ = h0, 0, 0i .
Definition 1.15 The vectors ı̂, ̂ and k̂ are called the standard unit
vectors in R3 and the vector 0̂ is called the zero vector .
−
*
If A = ha1 , a2 , a3 i is a vector, the directed line segment having its
initial point at the origin and its terminal point at the point (a1 , a2 , a3 ) is
−
*
called the position representation of A. The point at (x, y, z) and the
−
*
terminal point at (x + a1 , y + a2 , z + a3 ) is also a representation of A.
Definition 1.16 The direction angles of a nonzero vector are the 3 an-
gles that have the smallest nonnegative radian measures α, β and γ mea-
sured from the positive x, y and z axes, respectively, to the position repre-
sentation of the vector.
We note that 0 ≤ α, β, γ ≤ π. It can be seen that

a1 a a3
cos α = * *2 , and cos γ = −
− , cos β = − * .
A A A
Definition 1.17 cos α, cos β, cos γ are called the direction cosines of
−
*
A.

1.3. THE DOT PRODUCT 5
It can be seen also that
cos2 α + cos2 β + cos2 γ = 1.
−
* −
*
Definition 1.18 Let A = ha1 , a2 , a3 i and B = hb1 , b2 , b3 i be vectors in R3
and c ∈ R(a scalar). We define the following:
* −
− *
1. A + B = ha1 + b1 , a2 + b2 , a3 + b3 i (addition of vectors)
* −
− *
2. A − B = ha1 − b1 , a2 − b2 , a3 − b3 i (difference of vectors)
−
*
3. − A = h−a1 , −a2 , −a3 i (negative of a vector )
−
*
4. c A = hca1 , ca2 , ca3 i (scalar product of vectors)
−
*
For any vector A = ha1 , a2 , a3 i, we can write
−
*
A = a1 ı̂ + a2 ̂ + a3 k̂.
−
* −
*
Theorem 1.19 If A = a1 ı̂ + a2 ̂ + a3 k̂, then the unit vector U −
* having the
A
−
*
same direction as A is given by
−
* a1 a2 a3
* = ı̂ + − −
U−A −
* * ̂ + * k̂.
A A A
Example 1.20 Given the points P1 (2, 3, 4) and P2 (−1, 2, 2), find the unit
−
*
vector having the same direction as the vector V (P1 P2 ).
1.3 The Dot Product

We now introduce another vector operation, called the dot product.
−
* −
*
Definition 1.21 Let A = ha1 , a2 i and B = hb1 , b2 i be vectors in R2 . The
−
* −
* * −
− *
dot product of A and B, denoted by A · B, is given by
− −
* *
A · B = a1 b 1 + a2 b 2 .
Similarly, we define the dot product in R3 as follows:
−
* −
*
Definition 1.22 Let A = ha1 , a2 , a3 i and B = hb1 , b2 , b3 i be vectors in R3 .
−
* −
* * −
− *
The dot product of A and B, denoted by A · B, is given by
− −
* *
A · B = a1 b 1 + a2 b 2 + a3 b 3 .

−
* −
*
Example 1.23 A = h2, 3, 4i , B = h−1, 2, −2i.
* −
− * −
*
Theorem 1.24 If A, B and C are any vectors in R3 , then
* −
− * − * − *
i. A · B = B · A
* −
− * − * * −
− * − * − *
ii. A · ( B + C ) = A · B + A · C
* −
− * −
* − *
iii. c( A · B) = (c A) · B, c is any scalar
* −
− * −* 2
iv. A · A = A
−
* −
* −
*
Definition 1.25 Let A and B be two nonzero vectors in V3 such that A
−
* −
*
is not a scalar multiple of B. If OP is the position representation of A
−
*
and OQ is the position representation of B, then the angle between the
−
* −
*
vectors A and B is defined to be the angle of positive measure between
−
* −
*
OP and OQ interior to the triangle P OQ. If A = c B, where c is a scalar,
then if c > 0, the angle between the vectors has radian measure 0, and if
c < 0, the angle between the vectors has radian measure π.
−
* −
*
Theorem 1.26 If θ is the angle between the two nonzero vectors A and B
in V3 , then
* −
− * *
−
*
−
A · B = A B cos θ.
Definition 1.27 Two vectors in V3 are parallel iff one of the vectors is a
scalar multiple of the other. Two vectors in V3 are said to be orthogonal
iff the (scalar)dot product of the vectors is equal to 0.
Remark 1.28 Two vectors in V3 are parallel iff the radian measure of the
angle between them is 0 or π.
Example 1.29 Prove by using vectors that the points (2, 2, 2), (0, 1, 2), (−1, 3, 3)
and (3, 0, 1) are vertices of a paralleogram.
Example 1.30 Prove by using vectors that the points (−2, 1, 6), (2, 4, 5) and
(−1, −2, 1) are vertices of a right triangle.
−
* −
*
Let A and B be any vectors and θ be the radian measure of the angle
−
* −
*
between A and B.

1.3. THE DOT PRODUCT 7
....
....... ......... ...............
.
.. . .
.
... ......... * ..... .........
−
* ......
− ...
−
*
B....
.
..
..
..
B.... ...
...
A ................ . . . ..
..
.. ... .
θ...............β ........ ... P
. . ...
.. ..................
.. ...
.
.. ... ...
...
...
...
..
.........
.. ....... ..
. . . . .. .. ...
...
. .
...
.
c
..................
.......
.... θ ........................ ..................−
........................... c .................... * O
O A
(a) (b)
Figure 1.2:
Refer to Figure 1.2(a), we have

− * −
− *
* A·B

c = |OP | = B cos θ = −*

A
Now, refer to Figure 1.2(b), we also have

−
*
c = |OP | = B cos β
−
*
= B cos(π − θ)
−
*
= B cos π cos θ + sin π sin θ
−
*
= B (− cos θ)
−
*
c = − B cos θ
−
*
Definition 1.31 We call |OP | = B cos θ as the scalar projection of
−
* −
* −
* −
*
B onto A or component of B in the direction of A and the vector
−
* −
* −
*
V (OP ) is called the vector projection of B onto B.
−
* −
*
Theorem 1.32 If A and B are non-zero vectors and θ is the angle between
−
* −
*
them, then the scalar projection of B onto A is given by
−
*
cos θ .
B
−
* −
*
Theorem 1.33 If A and B are non-zero vectors and θ is the angle between
−
* −
*
them, then the vector projection of B onto A is given by
− −
* *
A·B * −
−
* 2 A .

A

−
* −
*
Example 1.34 Given the vectors A = −6 ı̂+2 ̂+3 k̂ and B = −2 ı̂+ ̂−3 k̂.
−
* −
* −
*
Find (a) cos θ if θ is the angle between A and B (b) the component of B in
−
* −
* −
*
the direction of A (c) the vector projection of B onto A.
−
* −
*
Example 1.35 Given the vectors A = ı̂ + 2 ̂ + 3 k̂ and B = 4 ı̂ − 3 ̂ − k̂.
−
* −
* −
*
Find (a) cos θ if θ is the angle between A and B (b) the component of B in
−
* −
* −
*
the direction of A (c) the vector projection of B onto A.
Example 1.36 Find the distance from the point (2, −1, −4) to the line through
the points (3, −2, 2) and (−9, −6, 6).
1.4 The Cross Product

−
* −
*
Definition 1.37 If A = ha1 , a2 , a3 i and B = hb1 , b2 , b3 i are vectors which
are nonparallel, representations of the two vectors with same initial point,
−
* −
* * −
− *
then the cross product of A and B, denoted by A × B, is given by
−
* − *
A × B = ha2 b3 − a3 b2 , a3 b1 − a1 b3 , a1 b2 − a2 b1 i .
This is also called vector product with an operation of obtaining the cross
product as vector multiplication.
* −
− * − * −
*
Example 1.38 Find A × B if A = h2, 3, −4i and B = h3, 2, 3i.

a b
We recall that if M = is a 2 × 2 matrix, then the determinant
c d
det(M ) of M is given by

a b

det(M ) = = ad − bc.
c d
Mnemonic Device: Using determinant of 2 × 2 matrices, we may define

−
* −
*
the cross product of A = ha1 , a2 , a3 i and B = hb1 , b2 , b3 i by

* −
− * a2 a3 a1 a3 a1 a2
A×B = ı̂ − ̂ +
b1 b2 k̂
b 2 b3 b1 b3
 
ı̂ ̂ k̂
Hence, if M = a1 a2 a3 , then
b1 b2 b 3
−
* − *
A × B = det M.
We illustrate this in the following example:

* −
− * * − −
*
Example 1.39 Find A × B if A = h2, 3, −4i and B = h3, 2, 3i.

1.4. THE CROSS PRODUCT 9
Remark 1.40 The following can be verified easily:
ı̂ × ı̂ = 0 ̂ × ̂ = 0 k̂ × k̂ = 0
ı̂ × ̂ = k̂ ̂ × k̂ = ı̂ k̂ × ı̂ = ̂
̂ × ı̂ = −k̂ k̂ × ̂ = −ı̂ ı̂ × k̂ = −̂
Theorem 1.41 For any vectors A, B and C in R3 ,

* −
− * − *
a. A × A = 0
* −
− * − *
b. 0 × A = 0
−
* − * − *
c. A × 0 = 0
* −
− * * −
− *
d. A × B = −( B × A)
−
* * −
− * * −
− * * −
− *
e. A × ( B + C ) = ( A × B) + ( A × C )
−
* * −
− * −
* * −
− *
f. (c A) × B = A × (c B) = c( A × B)
* −
− * − * * −
− * − *
g. A · ( B × C ) = ( A × B) · C
−
* * −
− * * −
− *− * * −
− *−*
h. A × ( B × C ) = ( A · C ) B − ( A · B) C
−
* −
*
Theorem 1.42 A and B are two vectors in R3 and θ is the radian measure
−
* −
*
of the angle between A and B, then
− * * −
* − − *
A × B = A B sin θ.
−
* −
* −
*
Example 1.43 Let A = h1, 2, 3i, B = h4, −3, −1i, C = h−5, −3, 5i and
−
*
D = h−2, 1, 6i. Find
* −
− *
(a) A × B
− *
* −
(b) A × B
−
* − * − * − *
(c) ( A × C ) · ( B × D)
− *
* −
1.4.1 Geometric Interpretation of A × B
−
* −
* −
* −
*
Let A and B be vectors in R3 . We may draw the vectors A and B
in R3 such that they have the same initial point. See Figure 1.3.

Q
XXX
XXX
−
* X R
A
J
l
P XθX ll
XXX l
−
* Xz
B
l
X
S
Figure 1.3: Area of a Parallelogram.
We see that the area A(P QRS) of the parallelogram P QRS is
A(P QRS) = |P Q| · |SJ|.
Note also that − −

* *
|SJ| = B sin θ and |P Q| = A .
Hence,
− * − *
* − * −
A(P QRS) = |P Q| · |SJ| = A B sin θ = A × B .
− *
* −
Therefore, we may interpret A × B as the area of the parallelogram whose
−
* −
*
side are A and B.
Example 1.44 Show that the quadrilateral having vertices at P (−2, 1, −1),
Q(1, 1, 3), R(−5, 4, 0) and S(−8, 4, −4) is a parallelogram. Find its area.
−
* −
* −
* −
*
Theorem 1.45 A and B are two vectors in V3 , A and B are parallel iff
* −
− *
A × B = 0.
−
* −
*
Example 1.46 Show that the vectors A = 2ı̂ − 3̂ + k̂ and B = −4ı̂ + 6̂ − 2k̂
are parallel.
−
* −
* − −
* *
Theorem 1.47 If A and B are vectors in R3 , then A × B is orthogonal to
−
* −
*
both A and B.
−
* − * − *
1.4.2 Geometric Interpretation of | A × B · C |
* −
− * −
*
Let A, B and C be vectors in R3 . We may draw these vectors in R3
such that they have the same initial point. See Figure 1.4.

1.5. PLANES AND LINES IN SPACE 11
P1 P2

P
S

4
6 −
*
−
* R
−
* C
N h A

1

P
3

θ

-
P −
* Q
B
Figure 1.4: Volume of a Parallelepiped.
−
*
Let θ be the angle between the vectors N . Let J be the parallelepiped
formed by the points P , Q, R, S, P1 , P2 , P3 and P4 . Then, the volume V (J)
of J is
− *
* −
V (J) = (area of the base) · h = A × B h
* −
− * − * −
* − * − *
Now, consider A × B · C . Let N = A × B. Then
−
* − * *
−
*
−
N · C = N C cos θ.
−
*
But h = C cos θ, so
−
* − * *
−
−
* − *
N · C = N h = A × B h = V (J).
* −
− * − *
Therefore, we may interpret | A × B · C | as the volume of the paral-
−
* −* −
*
lelepiped whose edges are A, B and C .
1.5 Planes and Lines in Space

1.5.1 Planes in Space
The equations x = 0, y = 0, and z = 0 represent the yz-plane, xz-
plane, and xy-plane, respectively. These are special planes in R3 . We will now
proceed in finding a general form of a plane in R3 . Our basic requirement is
a nonzero vector and a point in the plane.
−
*
Definition 1.48 If N is a given nonzero vector and P0 is a given point,
−
* −
*
then the set of all points P for which V (P0 P ) and N are orthogonal is
−
*
defined to be a plane P0 having N as a normal vector .
−
*
Theorem 1.49 If P0 (x0 , y0 , z0 ) is a point in a plane and N = ha, b, ci is a
normal vector to the plane then an equation of the plane is
a(x − x0 ) + b(y − y0 ) + c(z − z0 ) = 0.

Example 1.50 Draw a sketch of the plane of 4x − 4y + 2z − 9 = 0.
Example 1.51 Find an equation of the plane containing the point P (2, 1, −1)
−
*
and having the normal vector N = −ı̂ + 3 ̂ + 4 k̂.
Example 1.52 Find an equation of the plane containing the points (0, 0, 2),
(2, 4, 1) and (−2, 3, 3).
Example 1.53 Find an equation of the plane perpendicular to the line through
(2, 2, −4) and (7, −1, 3) and containing the point (−5, 1, 2).
Example 1.54 Find an equation of the plane perpendicular to each of the

planes x−y +z = 0 and 2x+y −4z −5 = 0 and containing the point (4, 0, −2).
1.5.2 Lines in Space

Let P0 (x0 , y0 , z0 ) be a point on a line L. Suppose L is parallel to the
−
*
vector A = ha, b, ci. Then
n −
* *o
−
L = P (x, y, z) ∈ R3 : V (P0 P ) is parallel to A .
−
*
If P (x, y, z) ∈ L, then there exists a scalar t 6= 0 such that V (P0 P ) =
−
*
t A; i.e. hx − x0 , y − y0 , z − z0 i = hta, tb, tci. Thus, x − x0 = ta, y − y0 = tb
and z − z0 = tc. Thus,
x = x0 + ta, y = y0 + tb, z = z0 + tc (1.1)
Definition 1.55 We call (1.1) the parametric equations of the line

L.
These equations can be written as

x − x0 y − y0 z − z0
= = . (1.2)
a b c
Definition 1.56 The equation (1.2) is called symmetric equations of

L. We call a, b and c the direction numbers of L.
Example 1.57 Find two sets of symmetric equations of the line through the
points (1, 2, 1) and (5, −1, 1).
Example 1.58 Find the equations of the line through (2, 0, −4) and parallel
to each of the planes x + y − z = 0 and x + 3y + 5z = 0.
Example 1.59 Prove that the line

1
x + 1 = − (y − 6) = z
2
lies in the plane 3x + y − z = 3.

1.6. CYLINDRICAL SURFACES AND SURFACES OF REVOLUTION 13
Example 1.60 Find the coordinates of the point of intersection of the line
1 1 1
(x − 2) = − (y + 3) = (z − 1)
4 2 7
and the plane 5x − y + 2z − 12 = 0.
Example 1.61 Find the perpendicular distance from the point (−1, 3, −1)
to the line x − 2z = 7, y = 1.
1.6 Cylindrical Surfaces and Surfaces of Revolution

1.6.1 Cylindrical Surfaces
Definition 1.62 A cylinder is a surface that is generated by a line moving

along a given plane curve in such a way that it always remains parallel to
a fixed line not lying in the plane of the given curve. The moving line is
called a generator of the cylinder and the given plane curve is called a
directrix of the cyclinder. Any position of a generator is called a ruling
of the cylinder.
Example 1.63 Consider a cylinder whose directrix is y 2 = x and rulings

are parallel to the z−axis. The graph of this cylinder is called a parabolic
cylinder . The graph of the cylinder y 2 = x in R3 is given below.
Figure 1.5: Graph of x = y 2 in R3 .
Example 1.64 Consider the cylinder whose directrix is 9y 2 +16x2 = 144 and
rulings parallel to the z−axis. The graph of
y 2 x2
+ = 1 (or 9y 2 + 16x2 = 144)
42 32
in R3 is given below and is called an elliptic cylinder .

Figure 1.6: Graph of 9y 2 + 16x2 = 144 in R3 .
Example 1.65 The cylinder whose directrix is 25y 2 − 4x2 = 100 and rulings
are parallel to the z−axis is called a hyperbolic cylinder . The graph of
y 2 x2
− = 1 (or 25y 2 − 4x2 = 100)
4 25
in R3 is given below.
x z
Figure 1.7: Graph of 25y 2 − 4x2 = 100 in R3 .

1.6. CYLINDRICAL SURFACES AND SURFACES OF REVOLUTION 15
Theorem 1.66 In R3 , the graph of an equation in two of the three variables

x, y and z is a cylinder whose rulings are parallel to the axis associated with
the missing variable and whose directrix is a curve in the plane associated with
the two variables appearing in the equation.
Definition 1.67 A cross section of a surface in a plane is the set of all

of the surface that lie in the given plane.
Remark 1.68 If a plane is parallel to the plane of the directrix of a cylinder,

the cross section of the cylinder is the same as the directrix.
1.6.2 Surfaces of Revolution

Definition 1.69 If a plane curve is revolved about a fixed line lying in the
plane of the curve, the surface generated is called a surface of revolution.
The fixed line is called the axis of the surface of revolution and the plane
curve is called the generating curve.
We following list is very useful in obtaining the equation of the surface

of revolution.
Equation Axis Replace By Resulting Equation

√ 2
f (y, z) = 0 y-axis z ± x2 + z 2 x2 + z 2 = f (y)
p 2
f (y, z) = 0 z-axis y ± x2 + y 2 x2 + y 2 = f (z)
√ 2
f (x, y) = 0 y-axis x ± x2 + z 2 x2 + z 2 = f (y)
p 2
f (x, y) = 0 x-axis y ± y2 + z2 y 2 + z 2 = f (x)
p 2
f (x, z) = 0 x-axis z ± y2 + z2 y 2 + z 2 = f (x)
p 2
f (x, z) = 0 z-axis x ± x2 + y 2 x2 + y 2 = f (z)
Example 1.70 Consider y 2 + z 2 = r2 , z ≥ 0 about the y−axis.
Example 1.71 Find an equation of the surface of revolution generated by

revolving the plane curve about the indicated axis. Draw a sketch of the
surface.
(a) x2 = 4y; about the y−axis
(b) y 2 = z 3 ; about the z−axis
(c) x2 + 4z 2 = 16; about the x−axis

1.7 Quadric Surfaces
Definition 1.72 The graph of a second degree equation in three variables

x, y and z,
Ax2 + By 2 + Cz 2 + Dxy + Exz + F yz + Gx + Hy + Iz + J = 0
is called quadric surface.
The following are special quadric surfaces and their corresponding names.
Equation Name of the Quadric Surface
x2 y 2 z 2
+ 2 + 2 =1 Ellipsoid
a2 b c
x2 y 2 z 2
+ 2 − 2 =1 Elliptic Hyperboloid of one sheet
a2 b c
x2 y 2 z 2
− 2 − 2 + 2 =1 Elliptic Hyperboloid of two sheets
a b c
x2 y 2 z
+ = Elliptic Paraboloid
a2 b2 c
y 2 x2 z
2
− 2 = Hyperbolic Paraboloid
b a c
x2 y 2 z 2
+ 2 − 2 =0 Elliptic Cone
a2 b c
Remark 1.73 As in the conic section, quadric surfaces has also its corre-
sponding equations using translation of axes.
The simplest types of quadric surfaces are the parabolic, elliptic and
hyperbolic cylinders.
Definition 1.74 Ellipsoid, Elliptic Hyperboloid of one sheet and Elliptic

Hyperboloid of two sheets are called central quadrics since they are sym-
metric with respect to each of the coordinate planes and symmetric with
respect to the origin.

1.7. QUADRIC SURFACES 17
Ellipsoid Elliptic Hyperboloid of 1 sheet Elliptic Hyperboloid of 2 sheets
Elliptic Paraboloid Hyperbolic Paraboloid Elliptic Cone
Figure 1.8: Quadric Surfaces
Definition 1.75 The numbers a, b, and c are the lengths of the semiaxes
of the ellipsoid. If any two of these three numbers are equal, we have
an ellipsoid of revolution which is also called spheroid . A spheroid for
which the thrid number is greater than the two equal numbers is said to be
prolate. A prolate spheroid is shaped like a football. An oblate spheroid
is obtained if the third number is less than the two equal numbers. If all
three numbers a, b and c ar equal, the ellipsoid is a sphere. a, b and c are
positive.
Example 1.76 Name the surface corresponding to the ff. equations and draw
a sketch of the graph.
(a) 9x2 − 4y 2 + 36z 2 = 36 (d) 4x2 + 9y 2 + z 2 = 36
(b) 4x2 − 9y 2 − z 2 = 36 x2 z2
(e) + = 4y
36 25
x2 z2
(c) − = 9y (f ) 4x2 − 16y 2 + 9z 2 = 0
36 25

EXERCISES
1. Given A(1, 2, 3), B(1, 1, 2), C(2, 1, 1) and D(0, 0, 0). Draw and find the
* * *
volume of the parallelepiped whose edges are DA, DB and DC.
2. Find the volume of the parallelepiped having vertices P (6, 1, −1), Q(2, 3, 2),
R(4, 5, 5) and S(5, 7, 2) and edges P Q, P R and P S.
−
* −
*
3. Let A = h2, 0, −1i and B = h1, 1, −1i. Find the ff.
−
* * −
− *
(a) ( A − 2 B) · A
* −
− *
(b) 2 A × B
−
* −
*
(c) component of 3 A in the direction of 2 B
−
*
(d) a unit vector orthogonal to B and whose representations are parallel
to the yz-plane
(e) area of the parallelogram two of whose sides are the position repre-
−
* −
*
sentations of A and B
4. Find the volume of the parallelepiped having vertices P (1, −1, 1), Q(2, 0, 1),
R(2, −3, 4) and S(2, 1, −1) and edges P Q, P R and P S.
−
* −
* −
*
5. Let A = −ı̂ + 3̂ + 2k̂, B = 2ı̂ + ̂ − k̂ and C = ı̂ + 2̂ + k̂. Find the
following:
* −
− * * −
− *
(a) (2 A − B) × (3 C − A);
−
* −
*
(b) the vector projection of B onto C ;
−
* −
*
(c) the angle between the vectors A and B.
−
* −
* −
* −
*
6.
Let A = ı̂ − 2 k̂, B = ̂ + k̂, C = ı̂ − ̂ and D = −ı̂ + ̂ − k̂. Find
−
* −
* −
* − *
A − 2 B × C · D.
−
* −
*
7. Let A = h1, −2, 2i and B = h2, −3, 5i. Find:
* −
− *
(a) A + B
−
* *
−

(b) − 3 A + 2 B
−
*
(c) direction cosines of −3 B
−
* −
*
(d) the angle between A and B
−
* −
*
(e) the angle between 2 A and −3 B
* −
− *
(f ) A · 2 B
−
* −
*
(g) −2 A × 4 B

− *
−
*
(h) 3 A × 2 B
−
* −
*
(i) scalar projection of A onto B
−
*
(j) the unit vector in direction of −2 A
* −
− *
8. In each of the following, find (a) A · B, (b) cos θ, where θ is the angle
−
* −
* * −
− *
between A and B, and (c) A × B
−
* −
*
(a) A = h4, −1, 2i , B = h1, −1, 2i
−
* −
*
(b) A = h1, 0, 1i , B = h0, 1, 0i
−
* −
*
(c) A = h6, −1, 0i , B = h2, 0, −12i
−
* −
*
(d) A = h5, −1, 1i , B = h−5, 1, −1i
−
* −
*
(e) A = h1, 4, −10i , B = h4, 1, 10i
−
* −
*
(f ) A = h−2, 4, 7i , B = h3, 4, −7i
−
* −
*
(g) A = h1, 2, 3i , B = h−1, 2, −3i
−
* −
*
(h) A = h0, 1, , 2i , B = h, 2, 4, 6i
−
* −
*
(i) A = h−2, 5, −10i , B = h, 3, 6, −9i
−
* −
*
(j) A = h3, 4, 5i , B = h10, −3, 5i
9. Find the equation of the sphere passing through the origin and having
its center at the point (−3, 1, 0).
10. Find the center and radius of the sphere having the equation
x2 + y 2 + z 2 − 4x + 6y + 2z + 5 = 0.
11. In each of the following, find the normal vector of the plane.
1
(a) x − y + 3z = 5 (f ) 2
x − 23 y + 3z = 1
(b) 2x − y + z = 0 (g) 12x − 11y + 13z = 10
(c) x − y = 3 (h) x + 3z = −2
(d) x + 3y + 2z = 10 (i) 2x − 3 + 3z − 5 = 0
(e) 2x − 2y + 4z = 1 (j) 3x − 4y + 5z + 5 = 0
12. In each of the following, find an equation of the plane satisfying the
properties.
−
*
(a) normal vector N = h1, 1, −1i and through the point (1, 5, 8)
−
*
(b) through the origin and normal vector N = h2, 4, 5i

(c) through the points A(0, 4, 6), B(5, 1, −1) and C(2, 6, 0)
(d) through the points A(3, 0, 0), B(0, 2, 0) and C(0, 0, −2)
(e) through the points A(4, 9, −6), B(6, 6, 6) and C(1, 10, 0)
(f ) through the points A(−1, 3, 1), B(1, 2, 3) and C(−1, −1, 0)
(g) through the origin and parallel to the plane 4x + y + z = 6
(h) through the point P (4, 10, −3) and parallel to the plane x+y−2z = 1
(i) containing the x-axis and parallel to the line
x y−1 z+3
= =
2 3 4
(j) containing the line x = y = z and perpendicular to the plane x +

3y − 2z = 0
13. In each of the following, find an equation of the line satisfying the prop-
erties.
(a) through the point P (2, 3, −1), perpendicular to the plane x−y+3z =
2
(b) through the origin, perpendicular to the plane x − y + z = 0
(c) the intersection of the planes x + y + z = 0 and x − 2y + z − 4 = 0
(d) the intersection of the planes 2x + 3y − 4z = 1 and x + z − 4 = 0
(e) the intersection of the planes x + y = 1 and y − z + 2 = 0
14. Find an equation of the plane perpendicular to the line determined by

the planes x − y + 3z + 1 = 0, 2x + 3y − z − 4 = 0 and containing the
point (1, −3, 0).
15. Find the equation of the plane passing through the points (1, 7, −3) and
(3, 1, 2) and does not intersect the z-axis.
16. Find an equation of the plane containing the y-axis and the point (1, −5, 5).
17. Find the symmetric and parametric equations of the line containing the
point A(1, 2, 1) and perpendicular to the plane containing the intersect-
ing lines
x−2 y−5 z−2 x−1 y−1 z−2
L1 : = = and L2 : = = .
2 3 1 1 −1 1
18. Find an equation of the plane containing the points (1, −1, 1) and (2, 0, 1)
and perpendicular to the plane 2x − z + 1 = 0.
19. Given the point P0 (−2, 3, 4). Find:

(a) find the parametric equations of the line that passes through P0 ,
intersecting the z-axis and parallel to the xy-plane.
(b) find an equation of the plane containing the given point and the
y-axis.
20. Find an equation of the plane containing the point P (1, 3, 1) and the
line L : x = t, y = t and z = t + 2.
21. Find the parametric equations of the line through P (4, 2, −1) and per-
pendicular to the plane 6x − 3y + z = 5.
22. Find the equation of the plane each of whose points is equidistant from
the points A(4, 2, −5) and B(−2, −4, 3).
23. Find symmetric equations of the line of intersection of the planes P1 :

2x − 3y + z + 1 = 0 and P2 : x + 2y − 3z + 4 = 0.
24. Find the parametric and symmetric equations of the line through the
point (1, −1, 1), perpendicular to the line 3x = 2y = z and parallel to
the plane x + y − z = 0.
25. Sketch the portion of the ff.
(a) cylinder z = |x2 − 4| for which −3 ≤ x ≤ 3 and −3 ≤ y ≤ 0.

(b) quadric surface 4z 2 − 9x2 − 4y 2 + 36 = 0 for which −4 ≤ z ≤ 4.
26. Sketch the cylinder described by the equation z = |4 − y 2 |.
27. Sketch the graph of the equation y 2 − 4z − 4 = 0.
28. Identify what surface (cylinder or quadric surface) the following equa-
tions represent. Give the specific name if it is a quadric surface.
(a) 5x2 − 2z 2 − 3y = 0 (m) y 2 − 2x2 − 4y − 4z + 16 = 0

(b) 4y 2 = 25x2 + 100 (sketch) (n) 4x2 − 9z 2 − 9y 2 − 36 = 0
(c) 2x2 − 9y 2 − 18z = 0 (o) 1 − x = 4y 2 − 4z + 4 − z 2
(d) 9x2 − 4y = 0 (p) x2 − 2x = 9z 2 + 9y 2 + 36y + 35
(e) 25x2 − 100y 2 − 4z 2 − 100 = 0 x2 y 2 z 2
(q) − + + =1
(f ) 36y 2 − 9x2 − 16z 2 = 0 36 4 9
(g) 9x + z 2 + 25y 2 = 0 (r) z = −3
(h) 36x2 + 9z 2 − 4y 2 − 36 = 0 (s) 25x2 − 16z 2 = 400
(i) 36 − 9z 2 + x2 + 4y 2 = 0 (t) 12y 2 − 3z 2 = 16x
(j) 9x2 − 4y 2 − 18z + 18 = 0 (u) x2 +y 2 +z 2 −6x−4y+2z−2 = 0
(k) 36y 2 − 9x2 − 16z 2 = 0 (v) 9x2 − 16y 2 − 36z 2 = 144
(l) 36x2 + 9z 2 − 4y 2 − 36 = 0 (w) 3y = 2x2

29. Find an equation of the surface of revolution generated by revolving the

1
curve z = in the xy-plane about the z-axis.
|x|
30. Find a generating curve and the axis for the surface of revolution having
the equation 4x2 + 4z 2 = e4y .

hyperbola x2 − y 2 = 1 in the xy-plane about the x-axis.
32. Sketch and identify the graph of the surface of revolution generated by
revolving 3y − 4z − 12 = 0 about the y-axis and find the equation of this
surface of revolution.

curve x2 = 3z in the xz-plane about the x-axis. Do not sketch.

11.1 VECTOR-VALUED FUNCTIONS
For the circuitous path of the airplane indicated in Figure 11.1a, it turns out to be convenient
to describe the airplane’s location at any given time by the endpoint of a vector whose initial
point is located at the origin (a position vector). (See Figure 11.1b for vectors indicating
the location of the plane at a number of times.) Notice that a function that gives us a vector
in V3 for each time t would do the job nicely. This is the concept of a vector-valued function,
CHAPTER
which we define more precisely in Definition 1.1. 2
VECTOR-VALUED FUNCTIONS AND CURVES

DEFINITION 1.1
A vector-valued function r(t) is a mapping from its domain D ⊂ R to its range
R ⊂ V3 , so that for each t in D, r(t) = v for exactly one vector v ∈ R. We can
2.1 Introduction to Vector-Valued
always write a vector-valued function as Functions
For a flight path of r(t) an=airplane
f (t)i + g(t)j
(see+ h(t)k,
figure below), it is convenient (1.1)
to describe
for some the airplane’s
scalar functions f,location at any
g and h (called given time
the component by the
functions of r).endpoint of a
vector whose initial point is located at the origin. To do this, we
need a (vector-valued)
For each t, we regardfunction that will
r(t) as a position vector.give us a vector
The endpoint in Vcan
of r(t) then 3 for each time
be viewed
t. This is the out
as tracing concept
a curve,ofasaillustrated
vector-valued
in Figurefunction, which
11.1b. Observe thatisforthe
r(t)subject
as defined of this
in (1.1), this curve is the same as that
chapter and will be define more precisely later. described by the parametric equations x = f (t),
y = g(t) and z = h(t). In three dimensions, such a curve is referred to as a space curve.
z
t3
t4
t1
t2
O
x
y
FIGURE 11.1a FIGURE 11.1b

Airplane’s flight path Vectors indicating plane’s position
at several times
Figure 2.1: Airplane’s flight path
We can likewise define a vector-valued function r(t) in V2 by
r(t) = f (t)i + g(t)j,
2.2 Curves
for infunctions
some scalar the Plane
f and g. and
in Space Using Vector-Valued Func-
tions
REMARK 1.1
Lines in R3 are particular examples of “curves” in R3 . In this section,
we discuss a more
Although general
any variable form
would of routinely
do, we a curveuse R3variable
in the . t to represent the
independent variable for vector-valued functions, since in many applications t
represents time.
Definition 2.1 Let f , g and h be three real-valued functions of a real
variable t ∈ D ⊆ R. Then for every number t ∈ D there is a vector − *
r
EXAMPLE
defined by 1.1 Sketching the Curve Defined
by−
*ra Vector-Valued
(t) = f (t) ı̂ +Function
g(t) ̂ + h(t) k̂
Sketch a graph of the curve traced out by the endpoint of the two-dimensional
and −*
r is called a vector-valued function.
vector-valued function
r(t) = (t + 1)i + (t 2 − 2)j.
Remark 2.2 If * −r (t) = f (t) ı̂ + g(t) ̂ + h(t) k̂ is a vector-valued equation,
we write
x = f (t), y = g(t), z = h(t) .
We can likewise define a vector-valued function − *r in V by 2
CONFIRMING PAGES
−
*
r = f (t) ı̂ + g(t) ̂,
24 CHAPTER 2. VECTOR-VALUED FUNCTIONS AND CURVES
for some scalar functions f and g. Although, any variable would do, we rou-
tinely use t to represent the independent variable for vector-valued functions,
since in many applications t represents time.
Example 2.3 In R2 , the graph of the curve y = x2 where x ∈ [−1, 1] is a
parabola (see below). We may represent the graph above by the vector-valued
Figure 2.2: The parabola y = x2
function
−
*
r (t) = t ı̂ + t2 ̂,
where t ∈ [−1, 1].
Hence, if y = f (x) (x ∈ D ⊆ R) is an equation of a graph in R2 , then
we may represent the graph by
−
*
r (t) = t ı̂ + f (t) ̂,
where t ∈ D.
Example 2.4 Represent the following equations in R2 by a vector-valued
functions.
(a) (x − h)2 + (y − k)2 = r2
(x − h)2 (y − k)2
(b) + =1
a2 b2
(x − h)2 (y − k)2
(c) − =1
a2 b2
Example 2.5 A line L in R3 having parametric equations
x = x0 + ta, y = y0 + tb, z = z0 + tc
can be represented by the vector-valued function
−
*
L (t) = (x0 + ta)ı̂ + (y0 + tb)̂ + (z0 + tc)k̂.

2.2. CURVES IN THE PLANE AND IN SPACE USING VECTOR-VALUED FUNCTIONS 25
Example 2.6 Consider − *r (t) = a cos t ı̂ + b sin t ̂ + t k̂. The parametric

equations of the given curve are x = a cos t, y = b sin t, z = t. Eliminating t,
we have
x2 2 y2
2
= cos t and 2
= sin2 t.
a b
Hence, we have
x2 y 2
+ 2 = 1.
a2 b
The curve lies entirely on the elliptical cylinder whose directrix is an ellipse
in the xy plane and whose rulings are parallel to the z−axis. A sketch of the
graph is seen in Figure 2.3.
−
Figure 2.3: Graph of *
r (t) = a cos t ı̂ + b sin t ̂ + t k̂.
−
Theorem 2.7 If *
r is the vector-valued function defined by
−
*
r (t) = f (t)ı̂ + g(t)̂ + h(t)k̂
−
and *
r 0 (t) exists, then
−
*
r 0 (t) = f 0 (t)ı̂ + g 0 (t)̂ + h0 (t)k̂.
Example 2.8 Let −

* −
r (t) = a cos t ı̂ + b sin t ̂ + t k̂. Find *
r 0 (t).
Theorem 2.9 If −
r (t) and −
* *q (t) are vector-valued functions, then
h i
Dt −r (t) × −
* q (t) = −
* r (t) × −
* q 0 (t) + −
* r 0 (t) × −
* *
q (t),
for all t for whcih −

* −
r 0 (t) and *
q 0 (t) exists.

2.3 Calculus of Vector-Valued Function

2.3.1 Limits and Continuity of Vector-Valued Functions
Definition 2.10 For a vector-valued function − *r (t) = f (t)ı̂ + g(t)̂ + h(t)k̂,

the limit of −
*r (t) as t approaches a is given by

lim −*
r (t) = lim f (t) ı̂ + lim g(t) ̂ + lim h(t) k̂,
t→a t→a t→a t→a
provided all of the indicated limits exist. If any of the limits indicated on
the RHS fail to exist, then lim −
*
r (t) does not exists.
t→a
Example 2.11 Find lim −

r (t), where −
* *
r (t) = (t2 + 1)ı̂ + (5 cos t)̂ + (sin t)k̂.
t→0
−
Definition 2.12 A vector-valued function *
r (t) = f (t)ı̂ + g(t)̂ + h(t)k̂ is
continuous at t = a, whenever
lim −
r (t) = −
* *
r (a).
t→a
Theorem 2.13 A vector-valued function − *r (t) = f (t)ı̂ + g(t)̂ + h(t)k̂ is con-

tinuous at t = a if and only if all of the functions f , g and h are continuous
at t = a.
2.3.2 Derivatives of Vector-Valued Functions

Definition 2.14 The derivate − * −
r 0 (t) of a vector-valued function *
r (t) =
f (t)ı̂ + g(t)̂ + h(t)k̂ is defined by
−
r (t + h) − −
* *
r (t)
−
*
r 0 (t) = lim ,
h→0 h
for any values of t for which the limit exists. When the limit exists for
t = a, we say that −
*
r is differentiable at t = a.
Theorem 2.15 Let − *

r (t) = f (t)ı̂ + g(t)̂ + h(t)k̂ be a vector-valued function.
Suppose that f , g, and h are differentiable for some value of t. Then − *
r is
also differentiable at that value of t and its derivative is given by
−
*
r 0 (t) = f 0 (t)ı̂ + g 0 (t)̂ + h0 (t)k̂.
−
r 0 (0), where −
Example 2.16 Find * *
r (t) = (t2 + 1)ı̂ + (5 cos t)̂ + (sin t)k̂.
Theorem 2.17 Let − *r (t) and −*

q (t) be differentiable vector-valued functions.
If k(t) is differentiable real-valued function and c ∈ R, then

2.3. CALCULUS OF VECTOR-VALUED FUNCTION 27
h i
(a) Dt −r (t) + −
* q (t) = −
* r 0 (t) + −
* *
q 0 (t)
h i
(b) Dt c−
r (t) = c−
* *
r 0 (t)
h i
(c) Dt f (t)−
r (t) = f 0 (t)−
* r (t) + f (t)−
* *
r 0 (t)
h i
(d) Dt r (t) · q (t) = −
−
* −
* r 0 (t) · −
* q (t) + −
* r (t) · −
* *
q 0 (t)
h i
(e) Dt r (t) × q (t) = −
−
* −
* r 0 (t) × −
* q (t) + −
* r (t) × −
* *
q 0 (t)
2.3.3 Integrals of Vector-Valued Functions

−
*
Definition 2.18 A vector-valued function R(t) is an antiderivative of
−
*
the vector-valued function −
r (t) whenever R 0 (t) = −
* *
r (t).
Note that if −*
r (t) = f (t)ı̂ + g(t)̂ + h(t)k̂ and f , g, and h have an-
tiderivatives F , G, and H, respectively, then
h i
Dt F (t)ı̂+G(t)̂+H(t)k̂ = F 0 (t)ı̂+G0 (t)̂+H 0 (t)k̂ = f (t)ı̂+g(t)̂+h(t)k̂ = −
*
r (t),
that is, F (t)ı̂ + G(t)̂ + H(t)k̂ is an antiderivative of − *r (t). More generally,

(F (t) + c1 )ı̂ + (G(t) + c2 )̂ + (H(t) + c3 )k̂ is also an antiderivative of −
*
r (t), for
any constants c1 , c2 , and c3 .
−
* −
Definition 2.19 Let R(t) be an antiderivative of *
r (t). We define the
−
*
indefinite integral of r (t) by
Z
−
* −
*
r (t) dt = R(t) + c,
where c is an arbitrary constant vector.
Hence, we integrate a vector-valued function by integrating component-wise;

that is,
Z h i Z Z Z
f (t)ı̂ + g(t)̂ + h(t)k̂ dt = f (t) dt ı̂ + g(t) dt ̂ + h(t) dt k̂.
Z h i
2 t2
Example 2.20 Evaluate (t + 1)ı̂ + (sin 2t)̂ + (4te )k̂ .
Definition 2.21 Let − *r (t) = f (t)ı̂ + g(t)̂ + h(t)k̂ be a vector-valued func-

tion. We define the definite interal of − *r (t) on [a, b] as follows:
Z bh i Z b Z b Z b
f (t)ı̂+g(t)̂+h(t)k̂ dt = f (t) dt ı̂+ g(t) dt ̂+ h(t) dt k̂.
a a a a

Z 1 h i
2
Example 2.22 Evaluate (t2 + 1)ı̂ + (sin 2t)̂ + (4tet )k̂ .
0
−
*
Theorem 2.23 (Fundamental Theorem of Calculus) If R(t) is an an-
tiderivative of −
*
r (t) on [a, b], then
Z b
−
* −
* −
*
r (t) dt = R(b) − R(a).
a
Z 1 h i
2 2
Example 2.24 Evaluate (sin πt)ı̂ + (6t + 4t)̂ dt. ans: π
ı̂ + 4̂
0
2.4 Arc Length and Parametrization using Arc Length

2.4.1 Arc Length
If C is the curve having parametric equations x = f (t), y = g(t) and
z = h(t); f 0 (t), g 0 (t), h0 (t) are continuous on the closed interval [a, b] and no
two values of t give the same point (x, y, z) on C, then the arc length of
the curve from the point (f (a), g(a), h(a)) to the point (f (b), g(b), h(b)) is
determined by
Z b Z bp
− *
L=
Dt r (t) dt = [f 0 (t)]2 + [g 0 (t)]2 + [h0 (t)]2 dt,
a a
−
where *
r (t) = f (t)ı̂ + g(t)̂ + h(t)k̂.
Example 2.25 Given the following real-valued vectors, find the length of arc,
in the indicated values of t.

−
* 2 t3 t3
1. r (t) = t ı̂ + t + ̂ + t − k̂ ; a = 0, b = 1
3 3
−
2. *
r (t) = et cos t ı̂ + et sin t ̂ + et k̂ ; a = 0, b = 3
Example 2.26 Find the arc lengthpof the portion of the curve determined
by the intersection of the cone z = x2 + y 2 and the √plane y + z = 2 in the
√ √
first octant. ans: 22 ln( 2 + 3) ≈ 2.54
2.4.2 Parameterization using Arc Length

For the curve traced out by the endpoint of the vector-valued function
−
*
r (t) = f (t)ı̂+g(t)̂+h(t)k̂ for t ∈ [a, b], we define the arc length parameter
s(t) to be the arc length of that portion of the curve from u = a to u = t.
That is
Z tp Z t
−
s(t) = 0 2 0 2 0 2
[f (u)] + [g (u)] + [h (u)] du = Du *
r (u) du.
a a

2.5. CURVATURE 29
Illustration 2.27 Find an arc length parameterization of the circle of radius

4 centered at the origin.
Solution: A parameterization of this circle is given by
x = f (t) = 4 cos t, y = g(t) = 4 sin t, 0 ≤ t ≤ 2π.
Hence, the arc length from u = 0 to u = t is

Z tp
s(t) = [f 0 (u)]2 + [g 0 (u)]2 du = 4t.
0
Thus, if t = 4s , then we have an arc length parameterization for the circle as

follows:
x = 4 cos( 4s ), y = 4 sin( 4s ), 0 ≤ s ≤ 8π.
Example 2.28 Find an arc length parameterization of the given two-dimensional

curve and give the corresponding vector equation of the curve:
1. circle of radius 2 centered at the origin
2. line segment from the origin to the point (3, 4)
3. line segment from (1, 2) to the point (5, −2)

−
4. *
r (t) = t2 ı̂ + t3 ̂, t ≥ 0
2.5 Curvature
−
*
Let R(t) be a vector-valued function.
Definition 2.29 The unit vector along the direction of the first derivative
−
*
of the vector-valued function R(t) is called a unit tangent vector and is
given by
−
* −
*0
−
* Dt R(t) R (t)
T (t) =
−
* = −
0 .
*
Dt R(t) R (t)
−
*
Definition 2.30 A curvature vector K(t) is given by
−
*0
−
* T (t)
K(t) =
0 .
−
*
R (t)
−
*
and curvature K(t) is the magnitude of K(t); i.e.
−
*
K(t) = K(t) .

−
*
Definition 2.31 The unit normal vector N (t) is defined as the unit
−
* −
*
vector having the same direction as the curvature vector, K(t) 6= 0 (t) and
so −
*
−
* K(t)
N (t) = .
K(t)
−
* −
*
The unit binormal vector B(t) is a unit vector orthogonal to T (t) and
−
*
N (t) and
−
* −
* −
*
B(t) = T (t) × N (t).
−
* −
* −
* −
*
The vector-valued functions T (t), N (t) and B(t) of a curve R(t) are called
the moving trihedral .
z
−
*
B(t)
−
*
−
* N (t)
T (t)
Figure 2.4: The Moving Trihedral
Example 2.32 Find the moving trihedral and the curvature at any point of
the curve
−
*
R(t) = cos t ı̂ + sin t ̂ + k̂.
−
*
Example 2.33 Let R(t) = 2b sin 4t ı̂ − b cos2 (2t) ̂ + 2t k̂. Find the moving
−
*
trihedral of the curve of R(t) at t = 0.
Example 2.34 Let the curve C be traced by the vector-valued function

−
*
R(t) = cos(πt) ı̂ + πt ̂ + sin(πt) k̂.
Find the moving trihedral of C at the point where t = 1.

2.5. CURVATURE 31
EXERCISES
−
*
1. Given the vector-valued for R(t) = (2 sin 2t − 1)ı̂ + 2 cos 2t̂ + 3tk̂.
π
.
(a) Find the length of the arc of the curve from t = 0 to t =
2
(b) Find the unit tangent, unit normal and unit binormal vectors at
t = π4 .
2. Find the moving trihedral of the curve C traced by the vector-valued

−
*
function R(t) = 4 cos t ı̂ + 4 sin t ̂ + 3t k̂.
3. Find the moving trihedral of the curve C traced by the vector-valued

−
*
function R(t) = 4 cos t ı̂ + 4 sin t ̂ + 3t k̂.
−
*
4. Given the vector-valued function R(t) = −6 cos(1−2t) ı̂+8t ̂+6 sin(1−
2t) k̂. Find:
(a) the length of arc of the curve from t = ln 2 to t = ln 4;

(b) the unit tangent vector at t = 21 ;
(c) the unit normal vector at t = 12 ;
−
* −
* −
*
5. Given R(t) = 2 sin tı̂ + 5 cos t̂ + tk̂. Find T (t) and N (t) of the moving
trihedral of the curve traced by the given vector.
−
*
6. Find the moving trihedral and the curvature of R(t) = a cos t ı̂ −
a sin 2t k̂.
7. A set of parametric equations of a curve C in R3 is given by:
t2 t3
x = t, y = √ , and , z = .
2 3
Find:
(a) the vector equation of C.

(b) a set of cartesian equations of C.
√
(c) a unit tangent vector of C at t = 2.
(d) length of the arc of the curve from t = 0 to t = 2.
−
* −
*
8. In each of the following, find R 0 (t) and | R 0 (t)|.
−
*
(a) R(t) = 5 sin tı̂ + 5 cos t̂ − 4k̂
−
*
(b) R(t) = cos(2t)ı̂ − sin(2t)̂ − 4tk̂
−
*
(c) R(t) = cos(et )ı̂ − sin(et )̂ − 3k̂
−
*
(d) R(t) = tı̂ − t2 ̂ + t3 k̂

−
*
(e) R(t) = −6tı̂ + 6 ln t̂ + 6et k̂
−
*
(f ) R(t) = 4t3 ı̂ − 8t3 ̂ + 12t3 k̂
−
*
(g) R(t) = cos tı̂ − sin t̂ + tk̂
−
*
(h) R(t) = et cos tı̂ − et sin t̂ − et k̂
−
*
(i) R(t) = (2t ı̂ + 3t ̂ + 4t k̂) × (2tı̂ + 3t̂ + 4tk̂)
−
*
(j) R(t) = sin2 tı̂ + cos2 t̂ + sin t cos tk̂
9. In each of the following, find the length of the given curve at the indi-
cated intervals.
−
*
(a) R(t) = cos t ı̂ + sin t ̂ + t2 k̂, 0 ≤ t ≤ 2
−
* 3 4
(b) R(t) = cos t ı̂ + sin t ̂ − sin t k̂, 0 ≤ t ≤ 2π
5 5
−
* 2
(c) R(t) = 6t ı̂ − 8t ̂ + t k̂, 0 ≤ t ≤ 5
−
*
(d) R(t) = 2t ı̂ + 3t2 ̂3t3 k̂, 0 ≤ t ≤ 1
−
* t2 t3
(e) R(t) = t ı̂ + √ ̂ + k̂, 0 ≤ t ≤ 1
t 3
−
*
(f ) R(t) = cos2 t ı̂ + sin2 t ̂ + 2 sin t k̂, 0 ≤ t ≤ π
−
*
(g) R(t) = cosh t ı̂ + sinh t ̂ + t k̂, 0 ≤ t ≤ 1
−
* √ t2
(h) R(t) = ln t ı̂ + 2t ̂ + k̂, 0 ≤ t ≤ 2
2
−
*
10. In each of the following, find the unit tangent vector T (t), unit nor-
−* −
*
mal vector N (t), curvature vector K(t), curvature K(t) and the unit
−
*
binormal vector B(t) at the indicated value of t.
−
*
(a) R(t) = cos t ı̂ + sin t ̂ + t2 k̂, t = 0
−
* 3 4
(b) R(t) = cos t ı̂ + sin t ̂ − sin t k̂, t = π
5 5
−
* 2
(c) R(t) = 6t ı̂ − 8t ̂ + t k̂, t = 1
−
*
(d) R(t) = 2t ı̂ + 3t2 ̂3t3 k̂, t = 1
−
* t2 t3
(e) R(t) = t ı̂ + √ ̂ + k̂, t = 1
t 3
−
*
(f ) R(t) = cos2 t ı̂ + sin2 t ̂ + 2 sin t k̂, t = π
−
*
(g) R(t) = cosh t ı̂ + sinh t ̂ + t k̂, t = 1
−
* √ t2
(h) R(t) = ln t ı̂ + 2t ̂ + k̂, t = 1
2

CHAPTER 3
DIFFERENTIAL CALCULUS OF FUNCTIONS IN

SEVERAL VARIABLES
“Turn away with fear and horror from this

lamentable plague of continuous functions that
do not have a derivative.”
Charles Hermite (1822-1901)
3.1 Functions in Several Variables

In your previous Math subjects, you only consider functions in a single
variable. In this section, we extend the notion of functions in several variables.
First, recall the meaning of a function. A function f : X → Y in the
single variable x is a set of ordered pair (x, y) with x ∈ X and y ∈ Y such
that no two distinct ordered pairs have the same first element. That is,
f : X → Y is a function if and only if (x1 , y1 ) and (x2 , y2 ) are distinct

ordered pair in f implies x1 6= x2 .
Definition 3.1 The set of all ordered n-tuples of real numbers is called the
n-dimensional Euclidean space and is denoted by Rn , that is,
Rn = {(x1 , x2 , . . . , xn ) : xi ∈ R for all i}.
An ordered n-tuple (x1 , x2 , . . . , xn ) in Rn is called a point in Rn .
Definition 3.2 A function in n variables is a set of ordered pairs of

the form (P, w) in which no two distinct ordered pairs have the same first
element, where P ∈ Rn and w ∈ R. The set of all admissible values of P
is called domain of the function and the set of all resulting values of w is
called the range of the function.
We note that the domain Df of f is contained in Rn and the range Rf

of f is contained in R, that is,
Df ⊆ Rn and Rf ⊆ R.
Example 3.3 In each of the ff. determine the domain of f and draw a sketch
showing as a region in R2 the set of points in the domain.
34 CHAPTER 3. DIFFERENTIAL CALCULUS OF FUNCTIONS IN SEVERAL VARIABLES
2 x−y
(a) f (x, y) = (c) f (x, y) =
4 − x2 − y 2 x+y
(d) f (x, y) = sin−1 (x − y)
p p
(b) f (x, y) = x2 − 4y 2 + 16 (e) f (x, y) = 100 − 25x2 − 4y 2
3.2 Partial Derivatives

Definition 3.4 Let f be a function of x and y. The partial derivative
∂f
of f with respect to x, denoted by fx , , etc.) such that its function
∂x
value at any point (x, y) in the domain of f is given by
f (x + ∆x, y) − f (x, y)
fx (x, y) = lim
∆x→0 ∆x
if this limit exists. The partial derivative of f with respect to y,
∂f
denoted by fy , , etc.) such that its function value at any point (x, y) in
∂y
the domain of f is given by
f (x, y + ∆y) − f (x, y)

fy (x, y) = lim
∆y→0 ∆y
if this limit exists. The process of finding a partial derivative is called
partial differentiation.
∂f ∂f
Example 3.5 Using the definition of partial derivatives, find and if
∂x ∂y
f (x, y) = 2x2 − y 2 + 3.
If f : S → R is a function of x and y and (x0 , y0 ) ∈ S, then we can

write the formula for the partial derivative(defined in the definition) by
∂f f (x, y0 ) − f (x0 , y0 )
= lim , if the limit exists
∂x x→x 0 x − x0
and
∂f f (x0 , y) − f (x0 , y0 )
= lim , if the limit exists.
∂y y→y0 y − y0
Comparing the ordinary derivative and partial derivative, we see that if f is
a function of x and y, fx is the ordinary derivative of f if f is considered as
a function of one variable x, (i.e. y is held constant) and fy is the ordinary
derivative of f if f is considered as a function of one variable y, (i.e. x is held
constant).

3.3. HIGHER-ORDER DERIVATIVES 35
∂f ∂f
Example 3.6 In each of the following, find and :
∂x ∂y
2x − y (h) f (x, y) = logx y
(a) f (x, y) = p3
x2 − y 2
x2 + y 2 (i) f (x, y) = sin−1 (xy )
y
(b) f (x, y) = e ln
x 2
x+y (j) f (x, y) = eax+by
(c) f (x, y) = x sin 2y √ √ √
(k) f (x, y) = xy + x + y

−1 x
(d) f (x, y) = tan (l) f (x, y) = x1/y
y
(e) f (x, y) = xy + y x (m) f (x, y) = ln(ax + by)
(f ) f (x, y) = ex
2 +y 2
(n) f (x, y) = tan x tan−1 y
(g) f (x, y) = ln(xy) (o) f (x, y) = sin x cos y
3.3 Higher-order Derivatives

First, we introduce some notation. If f be function of x and y, then
∂f ∂f
and are functions of x and y also. Hence, we may have the following:
∂x ∂y
second-order partial derivative:

∂ 2f ∂ ∂f ∂f
= = fxx − partial derivative of with respect to x
∂x2 ∂x ∂x ∂x

∂ 2f ∂ ∂f ∂f
= = fyy − partial derivative of with respect to y
∂y 2 ∂y ∂y ∂y

∂ 2f ∂ ∂f ∂f
= = fxy − partial derivative of with respect to y
∂y∂x ∂y ∂x ∂x

∂ 2f ∂ ∂f ∂f
= = fyx − partial derivative of with respect to x
∂x∂y ∂x ∂y ∂y
third-order partial derivatives:

∂ 3f ∂ ∂f ∂f ∂ 2f
= = fxyx − partial derivative of wrt x
∂x∂y∂x ∂x ∂y ∂x ∂y∂x

∂ 3f ∂ ∂f ∂f ∂ 2f
= = fyyx − partial derivative of wrt x
∂x∂y∂y ∂x ∂y ∂y ∂y∂y
The other third-order partial derivatives of functions in two variables
are also defined similarly. The above notations can be extended into functions
in n variables.

Example 3.7 In each of the ff., find fxx , fyy , fxy , fyx .
1. f (x, y) = 2x3 y 2 − 3x2 y 3
2
−1 2x
2. f (x, y) = tan
y
3. f (x, y) = yex − sinh xy
Example 3.8 In each of the following, find fyzz , fxyx , fxyz .

1. f (x, y, z) = 2x sin y − z cos(2xy)
2. f (x, y, z) = ln(xyz) + z 2 tan−1 (exy )
1
Example 3.9 Let f (x, y, z) = p . Show that
x2 + y 2 + z 2
fxx + fyy + fzz = 0.
Example 3.10 If f is a differentiable function of x and y with w = f (x, y),

x = r cos θ and y = r sin θ, show that
2 2 2 2
∂w 1 ∂w ∂w ∂w
+ 2 = + .
∂r r ∂θ ∂x ∂y
3.4 The Total Differential
Definition 3.11 Let f be a function of x and y. Suppose f is differentiable
at (x, y). We defined the total differential of f , denoted by df , the
function given by
∂f (x, y) ∂f (x, y)
df = df (x, y, ∆x, ∆y) = ∆x + ∆y. (3.1)
∂x ∂y
Note that df is a function in four variables x, y, ∆x and ∆y. If z =

f (x, y), we write df = dz. We can write (3.1) by
∂f ∂f
df = · dx + · dy.
∂x ∂y
If z = f (x, y), we have
∂z ∂z
dz = · dx + · dy.
∂x ∂y
Remark 3.12 If f is a function of the n variables x1 , x2 , . . ., xn (i.e. w =
f (x1 , x2 , . . . , xn )) and f is differentiable at P , the total differential of f is the
function values given by
∂w ∂w ∂w
dw = dx1 + dx2 + · · · + dxn
∂x1 ∂x2 ∂xn

3.5. TANGENT PLANE APPROXIMATION OF FUNCTIONS IN TWO VARIABLES 37
Example 3.13 Find the total differential dw.

1. w = y tan x2 − 2xy
2. w = xe2y + e−y
x+y+z
3. w =
xyz
4. w = exy − sin(yz)
5. w = x tan−1 y − 2xyz
Example 3.14 Use the total differential to find approximately the greatest
error in calculating the area of a right triangle from the lengths of the legs if
they are measured to be 6 cm and 8 cm, respectively, with a possible error of
0.1 cm for each measurement. Also find the approximate percent error.
Example 3.15 A company has contracted to manufacture 10,000 closed wooden
crates having dimensions 3 m, 4 m and 5 m. The cost of the wood to be used
is $3 per square meter. If the machines that are used to cut the pieces of
wood have a possible error of 0.5 cm in each dimension, find approximately,
by using the total differential, the greatest possible error in the estimate of
the cost of the wood.
3.5 Tangent Plane Approximation of Functions in Two Variables
In Mat060, we learned that the equation of the tangent line to the
curve y = f (x) at x = a is given by
y = f (a) + f 0 (a)(x − a).
We call this the linear approximation to f (x) at x = a.
We may also approximate the value of a function of two variables near

a given point using the tangent plane to the surface at that point. Our
main task is to look for an equation of the tangent plane to z = f (x, y) at the
point (a, b, f (a, b)), where fx and fy are continuous at (a, b).
Theorem 3.16 Suppose that f (x, y) has continuous first partial derivatives
at (a, b). A normal vector to the tangent plane to z = f (x, y) at (a, b) is then
−
*
N = hfx (a, b), fy (a, b), −1i. Moreover, an equation of the tangent plane is
given by
fx (a, b) · (x − a) + fy (a, b) · (y − b) − (z − f (a, b)) = 0.
Example 3.17 Find equations of the tangent plane and the normal line to
z = 6 − x2 − y 2 at the point (1, 2, 1).
Example 3.18 Find equations of the tangent plane and the normal line to
x2
z = x3 + y 3 + at the point (2, 1, 13).
y

3.6 The Chain Rule for Partial Derivative

3.6.1 The Chain Rule
Theorem 3.19 (Chain Rule) Let u = f (x, y) be a differentiable function
∂x ∂x ∂y ∂y
of x and y, where x = F (r, s) and y = G(r, s). Suppose , , and
∂r ∂s ∂r ∂s
all exists. Then u is a function of r and s and

∂u ∂u ∂x ∂u ∂y
= +
∂r ∂x ∂r ∂y ∂r
and

∂u ∂u ∂x ∂u ∂y
= + .
∂s ∂x ∂s ∂y ∂s
Theorem 3.20 (Generalized Chain Rule) Let w = f (x1 , x2 , . . . , xn ) be a

differentiable function of x1 , x2 , . . . xn , where xk = Fk (y1 , y2 , . . . , ym ), 1 ≤
∂xk
k ≤ n. Suppose for all 1 ≤ k ≤ n, , 1 ≤ i ≤ m exist. Then w is a
∂yi
function of x1 , x2 , . . . xn and for all 1 ≤ i ≤ m
n
∂w X ∂w ∂xk
= .
∂yi k=1
∂xk ∂yi
∂w ∂w ∂w
Example 3.21 In each of the following, find , and using the
∂r ∂s ∂t
Chain Rule.
1. w = xy + yz + xz; x = r + s + t; y = rst; z = r2 + s2 + t2
2. w = xyz; x = r sin(st); y = s cos(rt); z = tan(rst)
3. w = x2 + y 2 + z 2 ; x = ret+s ; y = ser+t ; z = ter+s
3.6.2 Implicit Differentiation

Let F (x, y, z) = 0 be an equation that defines implicitly a function z =
∂f ∂f
f (x, y) and f is differentiable. To compute and , we put w = F (x, y, z).
∂x ∂y
Now, by the Chain Rule

∂w ∂F ∂x ∂F ∂y ∂F ∂z
= + + .
∂x ∂x ∂x ∂y ∂x ∂z ∂x
Since w = F (x, y, z), x and y are independent variables, we have
∂w ∂y ∂x
= 0, = 0, and = 1.
∂x ∂x ∂x

3.6. THE CHAIN RULE FOR PARTIAL DERIVATIVE 39
If Fz 6= 0, we get

∂F ∂F ∂F ∂z ∂z
0= ·1+ ·0+ ⇒ 0 = Fx + Fz
∂x ∂y ∂z ∂x ∂x
∂z Fx
⇒ =− .
∂x Fz
Similarly,

∂w ∂F ∂x ∂F ∂y ∂F ∂z
= + + .
∂y ∂x ∂y ∂y ∂y ∂z ∂y
Again, since w = F (x, y, z), x and y are independent variables, we have
∂w ∂x ∂y
= 0, = 0, and = 1.
∂y ∂y ∂y
Hence, if Fz 6= 0 we get

∂F ∂F ∂F ∂z ∂z
0= ·0+ ·1+ ⇒ 0 = Fy + Fz
∂x ∂y ∂z ∂y ∂y
∂z Fy
⇒ =− .
∂y Fz
Therefore, we have the following formulas:
Theorem 3.22 (Implicit Partial Differentiation) If F (x, y, z) = 0 is an
equation that defines implicitly a function z = f (x, y), then
∂z Fx ∂z Fy
=− and =− .
∂x Fz ∂y Fz
Example 3.23 In each of the following, assume that the equation defines z
∂z ∂z
as a function of x and y, differentiate implicitly to find and .
∂x ∂y
1. z = (y 2 + z 2 ) cos(xy)
2. zeyz + 2xexz − 4exy = 3
Solution:
1. Let F (x, y, z) = (y 2 + z 2 ) cos(xy) − z. Then
Fx = −y(y 2 + z 2 ) sin(xy) − 0 = −y(y 2 + z 2 ) sin(xy),
Fy = (y 2 + z 2 ) · [−x sin(xy)] + 2y · cos(xy) − 0
= −x(y 2 + z 2 ) sin(xy) + 2y cos(xy), and
Fz = (0 + 2z) cos(xy) − 1 = 2z cos(xy) − 1.
Thus,
∂z Fx −y(y 2 + z 2 ) sin(xy)
=− =− and
∂x Fz 2z cos(xy) − 1
∂z Fy −x(y 2 + z 2 ) sin(xy) + 2y cos(xy)
=− =−
∂y Fz 2z cos(xy) − 1

2. Let F (x, y, z) = zeyz + 2xexz − 4exy − 3. Then
Fx = (2x · zexz + 2exz ) − (4exy · y) = 2xzexz + 2exz − 4yexy ,

Fy = (zeyz · z) + 0 − (4exy · x) − 0 = z 2 eyz − 4xexy , and
Fz = [z · eyz · y + eyz · 1] + [2xexz · x] = yzeyz + eyz + 2x2 exz .
Thus,
∂z Fx 2xzexz + 2exz − 4yexy
=− =− and
∂x Fz yzeyz + eyz + 2x2 exz
∂z Fy z 2 eyz − 4xexy
=− =− .
∂y Fz yzeyz + eyz + 2x2 exz
3.6.3 The Total Derivative and Related Rates
If w is a differentiable function of the two variables x and y, and both x
and y are differentiable functions of the variable t. Then, by the Chain Rule,
w is a function of t and instead of partial derivative we have the ordinary
derivative,

dw ∂w dx ∂w dy
= + .
dt ∂x dt ∂y dt
dw
We call the total derivative of w with respect to t. Similarly, if
dt
w = f (x1 , x2 , . . . , xn ) is differential function of xk , 1 ≤ k ≤ n and each xk is a
differentiable function of t, then w is a function of t and the total derivative
of w with respect to t is
n
dw X ∂w dxk
= .
dt k=1
∂xk dt
dw
Example 3.24 Find the total derivative using the Chain Rule.
dt
(a) w = xy + yz + xz; x = t2 sin t; y = t2 cos t; z = t2

x−y 1
(b) w = ; x = ln t; y = ln
x+y t
Example 3.25 The height of a right-circular cone is increasing at the rate

of 40cm/min and the radius is decreasing at the rate of 15cm/min. Find the
rate of change of the volume at the instant when the height is 200 cm and the
radius is 60 cm.
Solution: The volume V of a cone whose height is h and base radius r is given
by
V = 13 πr2 h.

3.7. DIRECTIONAL DERIVATIVES AND GRADIENTS 41
..
.........
... .. ...
..... ... ....
. . ..
... ... .....
... .. ...
..... .. ...
. ... ...
.... . ...
... ... ...
.... .. ...
.. .. ...
... .. ...
... ... ...
.... .. ...
.. .. ...
...
...
....
... ..
.. h
...
...
...
...
.. . ...
... .. ...
... .. ...
.... ... ...
.. .. ...
... ..
.
...
... ............. ...... ...
. ....
.. ...
. ..
... ...
.......
. ...
. ..
...... .
......................... ..
.... ............................ ... ............. ....
.......... ... ...........
..
... ..... .... .... .... .... .... .... .... .... .... .... .... .... ..........
... .
...
.......
...........
................. r
.............................................................................................. .. .
. ..
............
Then
dV ∂V dr ∂V dh dr 1 2 dh
= · + · = 23 πrh · + πr · .
dt ∂r dt ∂h dt dt 3 dt
dr dh
Hence, taking r = 60, h = 200, = −15 and = 40
dt dt
dV dr 1 2 dh
= 23 πrh · + πr · = 23 π(60)(200) · (−15) + 31 π(60)2 · (40)
dt dt 3 dt
= −120, 000π + 48, 000π = −72, 000π.
Therefore, the volume V is decreasing at the rate of 72, 000π cu. cm/min.
Example 3.26 A vertical wall makes an angle of radian measure 32 π with

the ground. A ladder of length 20 ft is leaning against the wall and its top
is sliding down the wall at the rate of 3 ft/sec. How fast is the area of the
triangle formed by the ladder, the wall and the ground changing when the
ladder makes an angle of 61 π radians with the ground.
3.7 Directional Derivatives and Gradients

Definition 3.27 Let P (x, y) be a point in R2 and θ be the radian measure
of the angle formed by OP (O is the origin) and the positive side of the
−
*
x-axis. Suppose f is a function of the two variables x and y and U =
−
*
cos θ ı̂ + sin θ ̂. The directional derivative of f in the direction of U ,
denoted by D− * f , is given by
U
f (x + h cos θ, y + h sin θ) − f (x, y)

D−
* f (x, y) = lim
U h→0 h
if this limit exists.
Note that the directional derivative is a scalar (a real number). The

partial derivatives fx and fy are special cases of the directional derivative.
1
−
*
Remark 3.28 (a) If U = ı̂, then cos θ = 1 and sin θ = 0. Thus,
f (x + h, y) − f (x, y)
Dı̂ f (x, y) = lim ,
h→0 h
which is the partial derivative of f with respect to x.
−
*
(b) If U = ̂, then cos θ = 0 and sin θ = 1. Thus,
f (x, y + h) − f (x, y)
D̂ f (x, y) = lim ,
h→0 h
which is the partial derivative of f with respect to y.
−
*
Example 3.29 Consider f (x, y) = 3x2 − 4y 2 and U = cos 31 π ı̂ + sin 31 π ̂.
−
*
Find the directional derivative of f in the direction of the U .
−
*
Theorem 3.30 If f is a differentiable function of x and y, and U = cos θ ı̂+
sin θ ̂, then
D−
* f (x, y) = fx (x, y) cos θ + fy (x, y) sin θ.
U
−
*
Example 3.31 Consider f (x, y) = 3x2 − 4y 2 and U = cos 31 π ı̂ + sin 31 π ̂.
Use the Theorem above to find the directional derivative of f in the direction
−
*
of the U .
Note that
* f (x, y) = (cos θ ı̂ + sin θ ̂) · [fx (x, y) ı̂ + fy (x, y) ̂].

D−
U
Definition 3.32 If f is a function of two variables x and y such that fx

and fy exist, then the gradient of f , denoted by ∇f (read as “del f ”), is
given by
∇f (x, y) = fx (x, y) î + fy (x, y) ĵ.
Note that the gradient ∇f (x, y) is a vector and

−
*
* f (x, y) = U · ∇f (x, y).
D−
U
−
*
Suppose α is the radian measure of the angle between U and ∇f .
Then
−
* −
*
* f (x, y) = U · ∇f (x, y) = k U kk∇f (x, y)k cos α.
D− (3.2)
U
Equation (3.2) tells us that D−

* f (x, y) will be a maximum when cos α = 1; so
U
that we have k∇f (x, y)k gives the maximum value of D− * f at the point (x, y).
U

3.7. DIRECTIONAL DERIVATIVES AND GRADIENTS 43
−
*
Example 3.33 Consider f (x, y) = 2x2 − y 2 + 3x − y and U is any unit vector
in R2 . Find the maximum value of D−
* f at the point where x = 1 and y = −2.
√ U
(ans. 58)
Example 3.34 The temperature at any point (x, y) of a rectangular plate
lying in the xy plane is determined by T (x, y) = x2 + y 2 .
(a) Find the rate of change of the temperature at the point (3, 4) in the direc-
tion making an angle of radian measure 31 π with the positive x direction.
√
(ans. 3 + 4 3)
(b) Find the direction for which the rate of change of the temperature at the
point (−3, 1) is a maximum. (ans. π − tan−1 31 )
Example 3.35 Find the value of the directional derivative at the particular
−
*
point P0 for the given function in the direction of U .
−
* √
(a) g(x, y) = y 2 tan2 x; U = − 12 3 ı̂ + 21 ̂; P0 ( 13 π, 2)
−
* √
(b) f (x, y) = xe2y ; U = 12 ı̂ + 21 3 ̂; P0 (2, 0)
Example 3.36 Find (a) the gradient of f at P and (b) the rate of change of
−
*
the function value in the direction of U at P .
−
*
(a) f (x, y) = x2 − 4y; U = cos 13 π ı̂ + sin 13 π ̂; P (−2, 2)
−
* 4 3
(b) f (x, y) = e2xy ; U = 5
ı̂ − 5
̂; P (2, 1)
Example 3.37 The electric potential is V volts at any point (x, y) in the xy
plane and V = e−2x cos(2y). Distance is measured in feet.
(a) Find the rate of change of the potential at the point (0, 14 π) in the direction
of the unit vector cos 61 π ı̂ + sin 61 π ̂.
(b) Find the direction and magnitude of the greatest rate of change of V at
(0, 14 π).
We now extend the directional derivatives and gradients to functions
in three variables. Let cos α, cos β and cos γ be the direction cosines of the
−
*
unit vector U , then
−
*
U = cos α ı̂ + cos β ̂ + cos γ k̂
Definition 3.38 Suppose f is a function of the three variables x, y and z

−
*
and U = cos α ı̂ + cos β ̂ + cos γ k̂. The directional derivative of f in
−
*
the direction of U , denoted by D− * f , is given by
U
f (x + h cos α, y + h cos β, z + h cos γ) − f (x, y, z)

D−
* f (x, y, z) = lim
U h→0 h
if this limit exists.

* f (x, y, z) is a scalar (a real

Note that the directional derivative D−
U
number).
−
*
Theorem 3.39 If f is a differentiable function of x, z and y, and U =
cos α ı̂ + cos β ̂ + cos γ k̂, then
D−
* f (x, y, z) = fx (x, y, z) cos α + fy (x, y, z) cos β + fz (x, y, z) cos γ.
U
Definition 3.40 If f is a function of three variables x, y and z such that

fx , fy and fz exist, then the gradient of f , denoted by ∇f , is given by
∇f (x, y, z) = fx (x, y, z) ı̂ + fy (x, y, z) ̂ + fz (x, y, z) k̂.
−
*
* f (x, y, z) = U · ∇f (x, y, z). Similarly, k∇f (x, y, z)k gives
Hence, D−
U
the maximum value of D− * f at the point (x, y, z).
U
Example 3.41 Find ∇f (P ) and D− * f (P ).

U
−
*
(a) f (x, y, z) = y 2 + z 2 − 4xz; U = 72 ı̂ − 67 ̂ + 37 k̂; P (−2, 1, 3)
−
* √ √
(b) f (x, y, z) = 2x3 + xy 2 + xz 2 ; U = 71 21 ̂ − 27 7 k̂; P (1, 1, 1)
Example 3.42 The temperature is T degrees at any point (x, y, z) in three-

dimensional space and
T (x, y, z) = 1/(x2 + y 2 + z 2 + 3).
Distance is measured in inches.
(a) Find the rate of change of the temperature at the point (3, −2, 2) in the
direction of the vector −2 ı̂ + 3 ̂ − 6 k̂.
(b) Find the direction and magnitude of the greatest rate of change of T at
(3, −2, 2).
3.8 Tangent Planes to Level Surfaces

Theorem 3.16 provides us the formula in finding tangent planes to sur-
faces described by a two variable function z = f (x, y). The advantage of this
formula is when the variable z is totally expressed in terms of the variables x
and y. However, if z is not expressed in terms of x and y, then finding the
tangent plane at a point using Theorem 3.16 can be messy, so instead, we will
view these surfaces as “level surfaces” to a three variable function.
Let S be a surface in R3 represented by the equation F (x, y, z) = 0

and P0 (x0 , y0 , z0 ) ∈ S. Let C be a curve in S through P0 . Then a set of
parametric equations of C is given by
x = f (t); y = g(t); z = h(t)

3.8. TANGENT PLANES TO LEVEL SURFACES 45
or in vector equation
−
*
R(t) = f (t) ı̂ + g(t) ̂ + h(t) k̂.
Also, we have F (f (t), g(t), h(t)) = 0. Let x0 = f (t0 ), y0 = g(t0 ), z0 = h(t0 )

and G(t) = F (f (t), g(t), h(t)). Suppose Fx , Fy and Fz are continuous and not
all zero at P0 and f 0 (t0 ), g 0 (t0 ) and h0 (t0 ) exist. Then the total derivative of
F wrt t at P0 is given by
G0 (t0 ) = Fx (x0 , y0 , z0 )f 0 (t0 ) + Fy (x0 , y0 , z0 )g 0 (t0 ) + Fz (x0 , y0 , z0 )h0 (t0 )
or
−
*
G0 (t0 ) = ∇F (x0 , y0 , z0 ) · Dt R(t0 ).
Since G0 (t) = 0 for each t, we have G0 (t0 ) = 0; thus,
−
*
∇F (x0 , y0 , z0 ) · Dt R(t0 ) = 0.
−
*
This means that ∇F (x0 , y0 , z0 ) and R 0 (t0 ) are orthogonal, that is, the gradient
of F at P0 is orthogonal to the unit tangent vector of every curve C on S
through P0 . A vector which is orthogonal to the unit tangent vector of every
curve C through a point P0 on a surface S is called a normal vector to S
at P0 .
Theorem 3.43 Let S be a surface in R3 represented by F (x, y, z) = 0. If Fx ,

Fy , and Fz are continuous and not all zero at the point P0 (x0 , y0 , z0 ) on S,
then a normal vector to S at P0 is ∇F (x0 , y0 , z0 ).
Definition 3.44 Let S be a surface in R3 represented by F (x, y, z) = 0.

The tangent plane of S at a point P0 (x0 , y0 , z0 ) is the plane through P0
having as a normal vector ∇F (x0 , y0 , z0 ).
An equation of the tangent plane described above is
Fx (x0 , y0 , z0 )(x − x0 ) + Fy (x0 , y0 , z0 )(y − y0 ) + Fz (x0 , y0 , z0 )(z − z0 ) = 0
or
∇F (x0 , y0 , z0 ) · [(x − x0 )ı̂ + (y − y0 )̂ + (z − z0 )k̂] = 0
Example 3.45 Find an equation of the tangent plane to the elliptic paraboloid
4x2 + y 2 − 16z = 0 at the point (2, 4, 2). (ans.: 2x + y − 2z − 4 = 0)
Definition 3.46 Let S be a surface in R3 represented by F (x, y, z) = 0.

The normal line to S at a point P0 (x0 , y0 , z0 ) is the line through P0 having
as a set of direction numbers the components of any normal vector to S at
P0 .

Remark 3.47 Let S be a surface in R3 represented by F (x, y, z) = 0. Then

a symmetric equations of the normal line to S at a point P0 (x0 , y0 , z0 ) are
x − x0 y − y0 z − z0
= = .
Fx (x0 , y0 , z0 ) Fy (x0 , y0 , z0 ) Fz (x0 , y0 , z0 )
Example 3.48 Find symmetric equations of the normal line to the surface
4x2 + y 2 − 16z = 0 at (2, 4, 2). (ans.: x−2
2
= y−4
1
= z−2
−2
)
Definition 3.49 The tangent line to a curve C at a point P0 is the line

through P0 having as a set of direction numbers the components of the unit
tangent vector to C at P0 .
Remark 3.50 Let C be the curve of intersection of the surface F (x, y, z) = 0

and G(x, y, z) = 0 and let P0 (x0 , y0 , z0 ). A normal vector at P0 to F (x, y, z) =
0 is
−
*
N F = ∇F (x0 , y0 , z0 )
and a normal vector at P0 to G(x, y, z) = 0 is
−
*
N G = ∇G(x0 , y0 , z0 ).
−
* −
*
Hence, the components of N F × N G serve as a set of direction numbers of
the tangent line.
Example 3.51 Find a set of symmetric equations of the tangent line to the
curve of intersection of the surfaces 3x2 + 2y 2 + z 2 = 49 and x2 + y 2 − 2z 2 = 10
at the point (3, −3, 2). (ans.: x−3
10
= y+3
14
= z−2
−3
)
Example 3.52 Find an equation of the tangent plane and equations of the
normal line to the given surface at the indicated point.
(a) 4x2 + y 2 + 2z 2 = 26; (1, −2, 3)
(b) z = e3x sin(3y); (0, 16 π, 1)
(c) zx2 − xy 2 − yz 2 = 18; (0, −2, 3)
(d) x2/3 + y 2/3 + z 2/3 = 14; (−8, 27, 1)
Definition 3.53 If two surfaces have a common tangent plane at a point,

the two surfaces are said to be tangent at that point.
Example 3.54 If the two given surfaces intersect in a curve, find equations
of the tangent line to the curve of intersection at the given point; if the two
given surfaces are tangent at the given point, prove it.
x−2 y+2 z
(a) x2 + y 2 − z = 8, x − y 2 + z 2 = −2; (2, −2, 0) (ans.: 4
= −1
= 20
)
(b) y = x2 , y = 16 − z 2 ; (4, 16, 0) (ans.: x = 4, y = 16)
(c) x2 + z 2 + 4y = 0, x2 + y 2 + z 2 − 6z + 7 = 0; (0, −1, 2) (ans.: tangent)

3.9. RELATIVE EXTREMA AND THE SECOND DERIVATIVE TEST 47
3.9 Relative Extrema and the Second Derivative Test

Definition 3.55 A function f of two variables is said to have a rela-
tive maximum value at the point (x0 , y0 ) if there exists an open disk
B((x0 , y0 ); r) such that f (x0 , y0 ) ≥ f (x, y) for all (x, y) in B. A func-
tion f of two variables is said to have a relative minimum value
at the point (x0 , y0 ) if there exists an open disk B((x0 , y0 ); r) such that
f (x0 , y0 ) ≤ f (x, y) for all (x, y) in B.
Theorem 3.56 If f (x, y) exists at all points in some open disk B((x0 , y0 ); r)
and if f has a relative extremum at (x0 , y0 ), and fx (x0 , y0 ) and fy (x0 , y0 ) exist,
then fx (x0 , y0 ) = 0 and fy (x0 , y0 ) = 0.
Definition 3.57 A point (x0 , y0 ) for which both fx (x0 , y0 ) = 0 and

fy (x0 , y0 ) = 0 is called a critical point.
Theorem 3.58 (Second-Derivative Test) If f be a function of the vari-

ables x and y such that f and its first- and second-order partial derivatives are
continuous on some open disk B((x0 , y0 ); r) and the point (x0 , y0 ) is a critical
2
point and let D = fxx (x0 , y0 ) fyy (x0 , y0 ) − fxy (x0 , y0 ), then
(a) if D > 0 and fxx (x0 , y0 ) > 0 (fyy (x0 , y0 ) > 0), f has relative minimum
value at (x0 , y0 )
(b) if D > 0 and fxx (x0 , y0 ) < 0 (fyy (x0 , y0 ) < 0), f has relative maximum
value at (x0 , y0 )
(c) if D < 0, f (x0 , y0 ) is not a relative extremum
(d) if D = 0, we can make no conclusion.
Example 3.59 Determine the relative extrema of f .

(a) f (x, y) = 18x2 − 32y 2 − 36x − 128y − 110
(b) f (x, y) = 4xy 2 − 2x2 y − x
(c) f (x, y) = cos(x + y) + cos x + cos y; 0 ≤ x, y ≤ 2π
Example 3.60 Find the three positive numbers whose product is 27 such
that their sum is as small as possible.
Example 3.61 Find the points on the curve of intersection of the ellipsoid
x2 + 4y 2 + 4z 2 = 4 and the plane x − 4y − z = 0 that are closest to the origin,
and find the minimum distance.
Example 3.62 Suppose that t hours after the injection of x milligrams of

adrenalin the response is R units, and R = te−t (c − x)x, where c is a positive
constant. What values of x and t will cause the maximum response?

Example 3.63 A closed rectangular box to contain 16 f t3 is to be made of

three kinds of materials. The cost of the material for the top and the bottom
is P hp18 per square foot, the cost of the material for the front and the back
is P hp16 per square foot, and the cost of the material for the other two sides
is P hp12 per square foot. Find the dimensions of the box such that the cost
of the materials is a minimum.
3.10 Absolute Extrema and the Method of Lagrange Multipliers

The purpose of this section is to give a method in solving problems
in finding the relative extrema of a function f of x, y and z subject to the
constraint g(x, y, z) = 0. This method is known as Lagrange.
Given a function f of x, y and z and a constraint g(x, y, z) = 0. We

introduce a new variable λ, called Lagrange multiplier and form the aux-
iliary function F (x, y, z, λ) = f (x, y, z) + λg(x, y, z). Find the critical points
of F ; i.e. solve the system 

 Fx = 0

Fy = 0
 Fz = 0


Fλ = 0
for the values of x, y, z and λ. The values of x, y and z that give the relative
extrema of f are among these critical points.
Remark 3.64 (a) Fλ = 0 implies g(x, y, z) = 0
(b) If in addition to the problem, we have another constraint h(x, y, z) = 0,

then the solution above can be extended as follows:
(i) From the auxiliary function
F (x, y, z, λ, µ) = f (x, y, z) + λg(x, y, z) + µh(x, y, z).
(ii) Calculate Fx , Fy , Fz , Fλ and Fµ .

(iii) Solve the system {Fx = 0, Fy = 0, Fz = 0, Fλ = 0, Fµ = 0} for x,
y, z, λ and µ.
(d) The values of x, y and z that give the relative extrema of f are
among these values.
Example 3.65 In each of the following, use Lagrange multipliers to find the
critical points and the relative extrema.
1. f (x, y) = 4x2 + 2y 2 + 5 subject to the constraint x2 + y 2 − 2y = 0
2. f (x, y, z) = x2 + y 2 + z 2 subject to the constraint 0 = x2 − y 2 + 1
3. f (x, y, z) = y 3 + xz 2 subject to the constraint x2 + y 2 + z 2 = 1

3.10. ABSOLUTE EXTREMA AND THE METHOD OF LAGRANGE MULTIPLIERS 49
4. f (x, y, z) = xyz subject to the constraint x2 + y 2 + z 2 = 1
Example 3.66 Find the least and greatest distances from the origin to a
point on the ellipse x2 + 4y 2 = 16.
Example 3.67 A piece of wire L units long is cut into three pieces. One
piece is bent into the shape of a circle, a second piece is bent into the shape of
a square, and the third piece is bent into the shape of an equilateral triangle.
How should the wire be cut so that
(a) the combined area of the three figures is as small as possible and
(b) the combined area of the three figures is as large as possible?
Example 3.68 Use Lagrange multipliers to find a relative minimum function

value of f if f (x, y, z) = x2 + y 2 + z 2 with the two constraints x + y + 2z = 1
and 3x − 2y + z = −4.
EXERCISES
1. In each of the following, find the partial derivatives.
(a) f (x, y) = xy 2 (g) z = ex cos y

√
(b) f (x, y) = x y 1
1 (h) z =
(c) f (x, y) = x2 + y3
xy p
1 1 (i) z = x2 + xy + 2y 2
(d) f (x, y) = − x x
x y (j) f (x, y, z) = −
(e) z = e xy y z
(f ) z = ex+y (k) z = ey cos(y + z)
2. Find b and c such that for all x and y, z = x2 + bxy + cy 2 and

∂z ∂z
= .
∂x ∂y
3. Find b such that for all x and y, z = sin x sin y + b cos x cos y and
∂z ∂z
= .
∂x ∂y
√
4. If w = sin(ax) sin(by) sin(kz a2 + b2 ), show that
2
∂ 2w 2 ∂ w ∂ 2w
=k + .
∂z 2 ∂x2 ∂y 2
∂z ∂z
5. Find and given z = x2 + 2y 2 , x = es − et and y = es + et .
∂s ∂t
6. In each of the following, find dw.

(a) w = 1 + 3x − 2y (h) w = xy + yz
(b) w = x3 y 3 (i) w = x2 − y 2
1 (j) w = x3 yz
(c) w =
xy (k) w = ex+y
(d) w = e3x−4y (l) w = sin x + sin y
(e) w = sin x cos y (m) w = ln(x + 2y)
√
(f ) w = x ln y (n) z = xy
√ √ √
(g) w = x + 2y + 3z (o) w = x+ y+ z
∂z ∂z
7. Using the Chain Rule, find and .
∂s ∂t
1 1
(a) z = ax + by, x = , x=
s+t s−t
(b) z = x2 − y 2 , x = s cos t, y = s sin t
(c) z = x2 y 2 , x = s cos t, y = s sin t
(d) z = x2 − y 2 , x = set , y = se−t
1 t t
(e) z = , x = s sin , y = s sin
ax + by a b
ax+by
√ s
(f ) z =e , x = t, y = √
t
ln x
(g) z = , x = cosh(2st), y = sinh(2st)
ln y
(h) z = ln x ln y, x = tan(3st), y = sec(3st)
p
(i) z = x2 + y 2 , x = sin(st), y = cos(st)
(j) z = xy , x = est , y = ln(st)
∂z ∂z
8. In each of the following, find and .
∂x ∂y
(a) x2 y + z 2 = 1 (d) x2 + 2y 2 − 3z 3 = 4
(b) sin xy + cos yz = 1 (e) exy + eyz + exz = 1
(c) xy 2 z 3 + 3 = 0 (f ) x2 + y 2 + ln z = 2
9. Approximate the change in the hypotenuse of a right triangle of legs 6

and 8 inches, when the shorter leg is lengthened by 41 in. and the longer
leg is shortened by 18 in.
10. A closed cylindrical tank of circular cross-section has a radius of 2 ft.
and a height of 6 ft. Use differential to approximate the volume (in cu.
ft.) of asbestos required to line the tank completely with a lining of one
inch thick.
11. A painting contractor charges Php 120 per sq.m. for painting the four
walls and ceiling of a room. If the dimensions of the ceiling are measured

3.10. ABSOLUTE EXTREMA AND THE METHOD OF LAGRANGE MULTIPLIERS 51
to be 4 m and 5 m, the height of the room is measured to be 3 m, and

these measurements are correct to 0.5cm, find approximately, by using
total differential, the greatest error in estimating the cost of the job from
these measurements.
12. At a certain instant the radius of a right circular cylinder is 6 in. and
is increasing at the rate of 0.2 in/sec, while the altitude is 8 in. and is
decreasing at the rate of 0.4 in/sec Find the time rate of change of the
volume at that instant.
13. How fast is the volume V of a rectangular box changing when its length
L is 10 ft. and increasing at the rate of 2 ft./sec, its width W is 5 ft. and
decreasing at the rate of 1 ft./sec, its height H is 3 ft. and increasing
at the rate of 2 ft./sec?
14. Given the function f (x, y) = 12xy − 2x3 − 2y 3 .
(a) Determine the relative extrema and saddle points of f .

(b) Find the function values at the critical points obtained in (a).
15. Find the relative extrema of the function g defined by
g(x, y) = ex − x + ey − y
using the Second Derivative Test.

16. Find the maximum and minimum of f (x, y) = 5x2 + 6y 2 − xy subject
to the constraint x + 2y = 24.
17. A rectangular box, whose edges are parallel to the coordinate axes, is
inscribed in the ellipsoid 36x2 + 4y 2 + 9z 2 = 36. What is the greatest
possible volume of such box?
18. Find the point on z = xy − 1 nearest the origin.
19. A company has three factories, each manufacturing the same product.
If factory A produces x units, factory B produces y units, and factory
C produces z units, their respective manufacturing costs are (3x2 + 100)
pesos, (y 2 +200) pesos, and (2z 2 +300) pesos. If an order for 3,300 is to be
filled, use Lagrange Multipliers to determine how the production should
be distributed among the three to minimize the total manufacturing
cost.
20. Use Lagrange Multipliers to find the greatest and least distances from
the origin to a point on the ellipse x2 + 4y 2 = 16.
21. Find the maximum value of xy 2 z 3 on the part of the plane x+y +z = 12
in the first octant.
22. Find the minimum distance between the point (1, 2, 0) and the elliptic
cone z 2 = x2 + y 2 .
23. Find the minimum of the function f (x, y, z, t) = x2 +2y 2 +z 2 +t2 subject
to the conditions x + 3y − z + t = 2 and 2x − y + z + 2t = 4.

24. Find three positive numbers x, y and z such that x + y + z = 8 and x2 yz

is a maximum.
25. A package can be sent overseas by the air mail small packet rate if
its length plus girth is at most 36 inches. Find the dimensions of the
rectangular solid of maximum volume which can be sent by the small
packet rate.
26. Find the volume of the largest rectangular solid which can be inscribed
in a sphere of radius one.
27. Find the volume of the largest rectangular solid with face parallel to the
coordinate planes which can be inscribed in the ellipsoid
x2 z2
+ y2 + = 1.
4 9
28. A triangle with sides a, b c and perimeter p = a + b + c has area

p
A = 2p(2p − a)(2p − b)(2p − c).
Find the triangle of maximum area with perimeter p = 1.

29. Find the point on x + y + z = 0 which is nearest to the point (1, 2, 3).
30. Find the point on z = xy + 1 which is nearest to the origin.
31. Show that the rectangular solid with volume one and minimum surface
area is the unit cube.
32. Show that the rectangular solid with surface area six and maximum
volume area is the unit cube.
33. A rectangular box with volume V in3 . is to be built with the sides and
bottom made of material costing one cent per square inch, and the top
costing two cents per square inch. Find the shape with the minimum
cost.
34. Suppose that with x man hours of labor and y units of capital, z =
f (x, y) units of a commodity can be produced. The ratio xz is called the
average production per man hour . Show that
∂z z
=
∂x x
when the average production per man hour is a maximum.

CHAPTER 4
MULTIPLE INTEGRALS AND LINE INTEGRAL
“Since the mathematicians have invaded

the theory of relativity, I do not
understand it myself anymore.”
Albert Einstein (1879-1955)
In this chapter, we will discuss a new type of integrals, namely, line

integrals and multiple integrals. We extend the concept of a definite integral
to double and triple integrals of functions of two or three variables in this
chapter. These concepts are then used to compute volumes, surface areas,
masses, and centroids of more general regions than we were able to previously
consider. In particular, a double integral of a positive function is a volume,
which is the limit of sums of volumes of rectangular columns.
We will find out that polar coordinates are useful in computing double
integrals over some types of regions. Similarly, we will see that the cylindri-
cal and spherical coordinates considerably simplify the computation of triple
integrals over certain types of solid regions.
4.1 Line Integral

To motivate the definition of the integral of a real-valued function f
Z b
f (x) dx,
a
we use the concept of area. Here, we will use the physical concept of work to
−
*
motivate the integral of a vector-valued function F . Note that
W = F · d,
where W is the work done by the force F acting on an object and d is the
displacement. In this section, we consider a work done by a force
−
*
F (x, y) = M (x, y)ı̂ + N (x, y)̂
moving along a plane curve C.

54 CHAPTER 4. MULTIPLE INTEGRALS AND LINE INTEGRAL
−
*
Definition 4.1 Let C : R(t) = f (t)ı̂ + g(t)̂ be a plane curve lying inside
an open disk B ⊆ R2 , where f 0 and g 0 are continuous on the closed interval
[a, b] ⊆ R. Suppose a force field on B defined by
−
*
F (x, y) = M (x, y)ı̂ + N (x, y)̂,
where M and N are continuous on B is acting on an object moving along

−
*
C. Then the work done W by F along C yis given by
Z bh x2 + y 2 = 1 i
W = M (f (t), g(t)) · f (t) + N (f (t), g(t)) · g 0 (t) dt.
0
a
x
The integral in Definition 4.1 is called a line integral . A common
notation for this integral is x = 2y + 1
Z
M (x, y) dx + N (x, y) dy.
C
(−3, −2)
Note that Z b
y −
* −
*
W = F (f (t), g(t)) ·(2,R2)0 (t) dt.
a
Example 4.2 Suppose an object moves along the parabola y = x2 from the
point (−1, 1) to the point (2, 4). Find the total work done if the motion is
−
*
caused by the force field F (x, y) = (x2 + y 2 )ı̂ + 3x2 y̂. Assume the arc is
measured in inches and the force is measured in pounds.
x
−
*
Solution: The plane curve C : R(t) = t ı̂ + t2 ̂, for t ∈ [−1, 2]. See Figure 4.1.
y
(2, 4)
(−1, 1)

4.1. LINE INTEGRAL 55
Hence, the total work done is

Z Z h 2 i
M (x, y)dx + N (x, y)dy = (t2 + t4 ) · (1) + (3)(t2 )(t2 ) · (2t) dt
C −1
Z 2 2
2 4 5 1 3 1 5

6
= (t + t + 6t ) dt = 3 t + 5 t + t
−1 −1
8 32
= 3
+ 5
+ 64 − (− 13 1
− + 1)
5
Let M and N be continuous functions of (x, y) on an open disk B ⊆ R2 .

−
*
Let C : R(t) = f (t)ı̂ + g(t)̂ be a plane curve lying inside B such that f 0 and
g 0 are continuous on [a, b]. Then the line integral of M (x, y) dx + N (x, y) dy
over C is given by
Z
M (x, y)dx + N (x, y)dy
C
Z bh i
= M (f (t), g(t)) · f 0 (t) + N (f (t), g(t)) · g 0 (t) dt
a
Z b
= hM (f (t), g(t)), N (f (t), g(t))i · hf 0 (t), g 0 (t)i dt.
a
Example 4.3 Evaluate the line integral

y
Z
(x2 + xy) dx + (y 2 − xy) dy
x2 + y 2 = 1
C
over the plane curve C consisting of the line y = x from

x the origin to the
point (2, 2).
x = 2y + 1
Solution: The plane curve C is shown in Figure 4.1 and is given by
−
*
R(t) = t ı̂ + t ̂,
for t ∈ [0, 2]. (−3, −2)
y
(2, 2)
y
(2, 4)
−
*
Then R 0 (t) = ı̂ + ̂ and
Z
(x2 + xy) dx + (y 2 − xy) dy
C
Z 2 Z 2
2 2 2 2
2
2 2 3
16
= [(t + t ) · 1 + (t − t ) · 1] dt = 2t dt = t
3
= .
0 0 0 3
−
*
Definition 4.4 We say that a curve C : R(t) = f (t)ı̂ + g(t)̂ for t ∈ [a, b] is
smooth if f 0 and g 0 are continuous on [a, b]. If a plane curve C is consists of
finite number of smooth curves, then we say that C is sectionally smooth.
If a plane curve C consisting of n smooth curves C1 , C2 , C3 , . . ., Cn is

sectionally smooth, then we write
C = C1 + C2 + C3 + · · · + Cn .
Example 4.5 Let C be the curve consisting of the line segment from (−3, −2)
to (1, 0) and the first quadrant arc of the circle x2 +y 2 = 1 from (1, 0) to (0, 1).
Show that C is sectionally smooth.
Solution: Let C1 be the line segment from (−3, −2) to (1, 0) and C2 be the
arc in the first quadrant of the circle x2 + y 2 = 1 from (1, 0) to (0, 1). An
equation of the line through (−3, −2) to (1, 0) is given by x = 2y + 1. Hence,
we have
−
*
C1 : R(t) = (2t + 1) ı̂ + t ̂, t ∈ [−2, 0] and
−
* √
C2 : R(t) = t ı̂ + 1 − t2 ̂, t ∈ [0, 1].
A sketch of the curve C is shown in Figure 4.1.
y
x2 + y 2 = 1
x = 2y + 1
(−3, −2)
y
We see that C = C1 + C2 and both C1 and (2,
C22)are smooth curves. Therefore,
C is sectionally smooth.
x
Theorem 4.6 If the ycurve C consisting of curves C1 , C2 , . . ., Cn is section-

(π, π)
ally smooth, then the line integral of M (x, y) dx+N (x, y) dy over C is defined
by
Z n Z
X
M (x, y)dx + N (x, y)dy = M (x, y)dx + N (x, y)dy .
C k=1 Ck
y=x
Example 4.7 Evaluate the line integral over the given
x = π curve:
Z
R
(x2 y) dx + (x + y) dy,
C
x (0, −1) and then the

where C consist of the line segment from the origin to
line y = −1 from (0, −1) to (1, −1).
Solution: Let C = C1 + C2 , where C1 is the line segment from the origin to

(0, −1) and C2 is the line segment from (0, −1) to (1, −1). A sketch of the
curve C is shown in Figure 4.1.
y
(1, −1)
Then
−
* −
*
C1 : R(t) = −t ̂, t ∈ [0, 1] and C2 : R(t) = t ı̂ − ̂, t ∈ [0, 1].
2
Thus,
−0
* −
*
R (t) = −̂, and R 0 (t) = ı̂.
Hence,
Z Z
2
(x y) dx + (x + y) dy = (x2 y) dx + (x + y) dy
C C1
Z
+ (x2 y) dx + (x + y) dy
C
Z 21 n o
= [02 (−t)] · 0 + (0 − t) · (−1) dt
0
Z 1n o
2
+ [t (−1)] · 1 + (t − 1) · 0 dt
0
Z 1 Z 1 1
2 1 2

1 3 1 1 1
= t dt − t dt = 2 t − 3 t = − =
0 0 0 2 3 6

We now extend the concept of line integrals to three dimensions.
Let M , N and R be continuous functions of (x, y, z) on an open ball

−
*
B ⊆ R . Let C : R(t) = f (t)ı̂ + g(t)̂ + h(t)k̂ be a plane curve lying inside B
3
such that f 0 , g 0 and h0 are continuous on [a, b]. Then the line integral of
M (x, y, z) dx + N (x, y, z) dy + R(x, y, z) dz
over C is given by
Z
M (x, y, z)dx + N (x, y, z)dy + R(x, y, z) dz
C
Z bh
= M (f (t), g(t), h(t)) · f 0 (t)
a
+ N (f (t), g(t), h(t)) · g 0 (t)
i
+ R(f (t), g(t), h(t)) · h0 (t) dt.
Theorem 4.8 If the curve C consisting of curves C1 , C2 , . . ., Cn is section-

ally smooth, then the line integral of
M (x, y, z) dx + N (x, y, z) dy + R(x, y, z) dz
over C is defined by
Z
M (x, y, z)dx + N (x, y, z)dy + R(x, y, z)dz
C
n Z !
X
= M (x, y, z)dx + N (x, y, z)dy + R(x, y, z)dz
k=1 Ck
Example 4.9 In each of the following, evaluate the line integral over the
given curve:
Z
(a) (x + y) dx + (y + z) dy + (x + z) dz
C
C: the line segment from the origin to the point (1, 2, 4)
Z
(b) (2xy) dx + (6y 2 − xz) dy + (10z) dz
C
C: the line segment from the origin to the point (0, 0, 1); then the line
segment from (0, 0, 1) to (0, 1, 1); then the line segment from (0, 1, 1) to
(1, 1, 1)

Solution:
(a) The curve C is given by
y−2 z−4
x−1= = ,
2 4
that is,
−
*
C : R(t) = (t + 1)ı̂ + (2t + 2)̂ + (4t + 4)k̂, t ∈ [−1, 0].
−
*
Thus, R 0 (t) = ı̂ + 2̂ + 4k̂. Hence,
Z
(x + y) dx + (y + z) dy + (x + z) dz
C
Z 0n
= [(t + 1) + (2t + 2)] · 1 + [(2t + 2) + (4t + 4)] · 2
−1
o
+ [(t + 1) + (4t + 4)] · 4 dt
Z 0h i
= (3t + 3) + [(12t + 12) + (20t + 20) dt
−1
Z 0 0

= (35t + 35)dt = 35 t2
+ 35t = − 35 + 35 = 35
2 2 2
−1 −1
(b) Let C1 be the line segment from the origin to the point (0, 0, 1), C2 be the
line segment from (0, 0, 1) to (0, 1, 1), and C3 be the line segment from
(0, 1, 1) to (1, 1, 1). Then
−
*
C1 : R 1 (t) = tk̂, t ∈ [0, 1];
−
*
C2 : R 2 (t) = t̂ + k̂, t ∈ [0, 1];
−
*
C3 : R 3 (t) = t ı̂ + ̂ + k̂, t ∈ [0, 1].
−
* −
* −
*
Hence, R 01 (t) = k̂, R 02 (t) = ̂, R 03 (t) = ı̂. Thus,
Z
(2xy) dx + (6y 2 − xz) dy + (10z) dz
C1
Z 1n o
= (2 · 0 · 0) · 0 + (6 · 02 − 0 · t) · 0 + (10 · t) · 1 dt
0
Z 1 1

2
= 10t dt = 5t = 5;
Z 0 0
(2xy) dx + (6y 2 − xz) dy + (10z) dz

C2
Z 1n o
= (2 · 0 · t) · 0 + (6 · t2 − 0 · 1) · 1 + (10 · 1) · 0 dt
0
Z 1 1
2

3
= 6t dt = 2t = 2;
0 0

and
Z
(2xy) dx + (6y 2 − xz) dy + (10z) dz
C3
Z 1n o
= (2 · t · 1) · 1 + (6 · 12 − t · 1) · 0 + (10 · 1) · 0 dt
0
Z 1 1

2
= 2t dt = t = 1.
0 0
Therefore,
Z
(2xy) dx + (6y 2 − xz) dy + (10z) dz
C
3 Z
X
= (2xy) dx + (6y 2 − xz) dy + (10z) dz = 5 + 2 + 1 = 8.
k=1 Ck
4.2 Double integrals in Cartesian coordinates

In the single integral, we let f be a bounded real-valued function on
[a, b] and take any partition ∆ of [a, b],
Z b X n
f (x) dx = lim f (ξi )∆i x .
a k∆k→0
i=1
Let f be a bounded real-valued function defined on a closed region R in R2 .
Definition 4.10 A partition ∆ of R is formed by drawing a lines parallel

to the coordinate axis and obtain a network of rectangular subregions that
cover R. The norm of ∆, denoted by k∆k, is determined by the length of
the longest diagonal of a rectangular subregion of the partition.
Then we let ∆i A be the area of the rectangular subregion with length

∆i x and width ∆i y; i.e. ∆i A = ∆i x ∆i y. We take a point (ξi , γi ) on the ith
rectangular subregion and formed the product
f (ξi , γi ) ∆i A = f (ξi , γi ) ∆i x ∆i y .
If there are n rectangular subregions, we have the sum
n
X n
X
f (ξi , γi ) ∆i A = f (ξi , γi ) ∆i x ∆i y .
i=1 i=1
Taking the limit of this sum as the norm k∆k approaches 0,

n
X n
X
lim f (ξi , γi ) ∆i A = lim f (ξi , γi ) ∆i x ∆i y .
k∆k→0 k∆k→0
i=1 i=1
In formal definition:

4.2. DOUBLE INTEGRALS IN CARTESIAN COORDINATES 61
Definition 4.11 Let f be a function of the variables x and y defined on

a closed rectangular region R. The number L is said to be the double
integral of f over R if for any > 0 there exists a δ > 0 such that for
every partition ∆ for which k∆k < δ and for all possible selections of the
point (ξi , γi ) in the ith rectangle, i = 1, 2, . . . , n,

Xn

f (ξi , γi )∆i A − L < .

i=1
Definition 4.12 Let f be a function of the variables x and y defined on a

closed region R ⊆ R2 . We define the double integral of f over R by
ZZ n
X
f (x, y) dA = lim f (ξi , γi )∆i A,
k∆k→0
R i=1
provided the limit exists and the same for every choice of points (ξi , γi ) in
Ri , for each i = 1, 2, . . . , n.
Theorem 4.13 Let [a, b] be the closed interval, φ1 and φ2 be continuous func-
tions on [a, b] such that φ1 (x) ≤ φ2 (x) for all x ∈ [a, b]. If R is the closed
region given by
R = {(x, y) : a ≤ x ≤ b and φ1 (x) ≤ y ≤ φ2 (x)},
then ZZ Z bZ φ2 (x)
f (x, y) dA = f (x, y) dy dx.
a φ1 (x)
R
Theorem 4.14 Let [c, d] be the closed interval, γ1 and γ2 be continuous func-
tions on [c, d] such that γ1 (y) ≤ γ2 (y) for all y ∈ [c, d]. If R is the closed region
given by
R = {(x, y) : c ≤ y ≤ d and γ1 (y) ≤ x ≤ γ2 (y)},
then ZZ Z Z
d γ2 (y)
f (x, y) dA = f (x, y) dx dy.
c γ1 (y)
R
Theorem 4.15 Let k be a constant real number. If f is integrable on a closed

region R, then kf is also integrable on R and
ZZ ZZ
kf (x, y) dA = k f (x, y) dA.
R R

Theorem 4.16 If f and g are integrable on a closed region R, then f + g is

also integrable on R and
ZZ h i ZZ ZZ
f (x, y) + g(x, y) dA = f (x, y) dA + g(x, y) dA.
R R R
Theorem 4.17 If f is integrable on a closed region R such that R = R1 ∪ R2 ;

the interiors of R1 and R2 are disjoint; and R1 and R2 are closed regions, then
f is both integrable on R1 and R2 and
ZZ ZZ ZZ
f (x, y) dA = f (x, y) dA + f (x, y) dA.
R R1 R2
Theorem 4.18 If f and g are integrable on a closed region R and f (x, y) ≤

g(x, y) for all (x, y) ∈ R, then
ZZ ZZ
f (x, y) dA ≤ g(x, y) dA.
R R
Example 4.19 Evaluate the following iterated integral:

Z 1Z 1
xy(2y + 1) dy dx.
0 0
Solution:
Z 1Z 1 Z 1Z 1
xy(2y + 1) dy dx = (2xy 2 + xy) dy dx
0 0 0 0
Z 1 1 Z 1 Z 1 1 1
2 3 1 2 2 1 1 2
= 3
xy + 2 xy dx = 3
x + 2 x dx = x dx = 2 x =
0 0 0 0 0 2
Example 4.20 Evaluate the following iterated integral:

Z 1Z 1
|x − y| dx dy.
0 0
Solution: Note that 0 ≤ x ≤ 1 and 0 ≤ y ≤ 1. Then

Z 1 Z y Z 1
|x − y| dx = |x − y| dx + |x − y| dx.
0 0 y
Z y
(i) For the integral |x − y| dx, we have 0 ≤ x ≤ y. Hence, |x − y| = y − x
0
and so
Z y Z y y
|x − y| dx = (y − x) dx = xy − 1 2
x
2
0 0 0
2 1 2 1 2
=y − 2
y = 2
y .

Z 1
(ii) For the integral |x − y| dx, we have y ≤ x ≤ 1. Hence, |x − y| = x − y
y
and so
Z 1 Z 1 1
|x − y| dx = (x − y) dx = 1 2
2
x − xy
y y y
1 1 2 2 1 1 2
= 2
−y− 2
y +y = 2
−y+ 2
y .
Thus,
Z 1 Z y Z 1
|x − y| dx = |x − y| dx + |x − y| dx
0 0 y
= 21 y 2 + 12 − y + 1 2
2
y = 21 − y + y2.
Therefore,
Z 1Z 1 Z 1 Z 1
|x − y| dx dy = |x − y| dx dy
0 0 0 0
Z 1 1
1 1 1 1
= 1 2
− y + y dyy ==2 y− y + y =
1 1 2 1 3
− + = .
2 2 2 3 2 2 3 3
0 0
(4, 2)
R
Example 4.21 Evaluate the double
x =integral
y2
ZZ
cos(x + y) dA,
R
where R is the region bounded by the lines y = x and x = π, and the x-axis.
Solution: The region R is shown in Figure 4.2.

y
(π, π)
y=x
x=π
R
J.V.BENITEZ x
CALCULUS WITH ANALYTIC GEOMETRY 2
(1, −1)
Then
ZZ Z π Z x
cos(x + y) dA = cos(x + y) dy dx
0 0
R
Z x Z π
π
= sin(x + y) dx = sin(2x) − sin x dx
0 0 0
π

= − 21 cos(2x) + cos x = − 12 − 1 + 12 − 1 = −2.
0
Example 4.22 Evaluate the double integral

ZZ p
x2 4 − y 2 dA,
R
where R is the region bounded by the circle x2 + y 2 = 4.
Solution: Let
p
R1 = {(x, y) : 0 ≤ x y≤( 1 , 2) 4y−
=2
y 2 , 0 ≤ y ≤ 2},
p 2
(2, 2)
R2 = {(x, y) : − 4 − y 2 ≤R x ≤y =0,x 0 ≤ y ≤ 2},
p
R3 = {(x, y) : − 4 − y 2 ≤ (1, x 1)≤ 0, −2 ≤ y ≤ 0}, and
pxy = 1 1
R4 = {(x, y) : 0 ≤ x ≤ 4 − y 2 , (2, −22 ) ≤ y ≤ 0}.
x
The region R is shown in Figure 4.2.

y
R2 R1
R3 R4
Thus, y
ZZ p X4 ZZ
p
2 2 R 2
x 4 − y dA = x x 4 − y 2 dA.
R k=1 R
k
1
Hence,
ZZ p Z 2 Z √4−y2 p
2 2
x 4 − y dA = x2 4 − y 2 dx dy
0 0
R1
Z 2 p √4−y2 Z 2

= 1 3
x 4−y 2 1
dy = 3 (4 − y 2 )2 dy
3
0 0 0
Z 2
1 2 4 1 8 3 1 5
2
=3 (16 − 8y + y ) dy = 3 16y − 3 y + 5 y
0 0
1 5 1 6 256 1 5
25 2 1
1 8
2 − ·2 + ·2 =
= 3
1− + 3
= ·2 = ;5 3 3 5 45
ZZ p Z 2Z 0 45
p
2 2 2
x 4 − y dA = √ x 4 − y 2 dx dy
0 − 4−y 2
R2
Z 2 0 Z
p 2
256
= 1 3
3
x 4 − y √
2 dy = 1
3
(4 − y 2 )2 dy = ;
0 − 4−y 2 0 45
ZZ p Z 0 Z 0 p
2
x 4− y2 dA = √ x2 4 − y 2 dx dy
−2 − 4−y 2
R3
Z 0 0 Z 0
p
= 1 3
3
x 4 − y √
2 dy = 3 (4 − y 2 )2 dy
1
−2 − 4−y 2 −2
Z
0 0
= 1 2
(16 − 8y + y ) dy = 4 1
16y − 8 3
y + 1 5
y
3 3 3 5
−2 −2
5 256
= − 31 − 25 + 31 · 26 − 15 · 25 = 23 1 − 23 + 51 = ;
√ 45
ZZ p Z 0 Z 4−y2 p
2 2
x 4 − y dA = x2 4 − y 2 dx dy
−2 0
R4
Z 0 √4−y2 Z 0
p 256
= 1 3 2
x 4−y dy = 3 (4 − y 2 )2 dy =
1
.
3
−2 0 −2 45
Therefore,
ZZ p X4 ZZ
p
2 256 1024
2
x 4 − y dA = x2 4 − y 2 dA = 4 · = .
k=1
45 45
R Rk
Example 4.23 Evaluate the double integral

ZZ 2
y
dA,
x2
R
where R is the region bounded by the lines y = x and y = 2 and the hyperbola
xy = 1.

Solution: The region R is shown in Figure 4.2.

y
( 12 , 2) y=2
(2, 2)
R y=x
(1, 1)
xy = 1 (2, 21 )
Then
ZZ Z 2Z y y Z 2 y
y2 −2 2

−1 2
2
dA = x y dx dy = −x y dy
x 1 1/y 1 1/y
R
Z 2 Z 2
−1 2 2
= − y y + y · y dy = (y 3 − y)dy
1
R2 2 R1 1
9
= 41 y 4 − 21 y 2 = 4 − 2 − 14 + 21 = .
1 4
x
Example 4.24 In the following iterated integrals, draw the region of inte-
gration and reverse the order of integration to evaluate the integral.
Z 4Z 2 R3 R4
(a) √
sin πy 3 dy dx
0 x
Z 1Z 1
2
(b) ex dx dy
0 y
Solution: y
(a) The region of integration is

√
R = {(x, y) : 0 ≤R x ≤ 4, x ≤ y ≤ 2}.
x
and is shown in Figure a.
y=2
(4, 2)
R
x = y2
y
(π, π)
y
4.3. CENTER OF MASS AND MOMENTS OF INERTIA 67
R2 R1
Then
Z 4 Z 2 Z 2 Z y2
sin πy dy dx = 3
sin πy 3 dx dy x
√
0 x 0 0
Z y 2 Z 2 2
2
3 2 3 1

3
= x sin πy R3dy = y sin πy
R4 dy = − 3
cos πy = 0.
0 0 0 0
(b) The region of integration is
R = {(x, y) : 0 ≤ y ≤ 1, y ≤ x ≤ 1}.
and is shown in Figure b.
R
x
Then
Z Z Z Z Z x
1 1
x2
1 x
x2
1
x2
e dx dy = e dy dx = ye dx
0 y 0 0 0 0
Z 1 1
2 x2
= xex dx = e = e − 1
0 0
4.3 Center of Mass and Moments of Inertia

1
4.3.1 Center of Mass of a Rod
Recall: Systems of Units
System Length Force Mass Acceleration

British feet(ft) pound(lb) slug ft/sec2
SI meter(m) Newton(N) kilogram(kg) m/sec2
CGS centimeter(cm) dyne gram(g) cm/sec2
1. Discrete: Horizontal rod with negligible weight and thickness
• n particles located at xi (i = 1, 2, . . . , n) from the origin and its mass

is mi kgs
• mi xi is the moment of mass of the ith particle with respect to
m
X
the origin and M0 = mi xi is the moment of the system with
i=1
respect to the origin

• a point x, called the center of mass, is a point on the rod that

makes the system balanced; that is, xM = M0 or
M0
x=
M
2. Homogeneous: rigid horizontal rod having a continuously distributed
mass
• mass is directly proportional to its length; that is, m = kx

• the constant k is called the linear density of the rod
3. Non-homogeneous: linear density varies along the rod

A rod of length L meters has its left endpoint at the origin. If ρ(x) kg/m is
the linear density at a point x meters from the origin, where ρ is continuous
on [0, L], then the total mass of the rod is M kilograms, where
Z L
M= ρ(x) dx.
0
Definition 4.25 A rod of length L meters has its left endpoint at the origin
and ρ(x) kg/m is the linear density at a point x meters from the origin,
where ρ is continuous on [0, L]. The moment of mass of the rod with
respect to the origin is M0 kilograms-meters, where
Z L
M0 = xρ(x) dx.
0
The center of mass of the rod is the point x, where

M0
x= .
M
Example 4.26 The length of a rod is 20 cm and the linear density of the
rod at a point x centimeters from one end is 3x + 2 g/cm. Find the center of
mass of the rod.
Example 4.27 The measure of the linear density at a point of a rod varies
directly as the third power of the measure of the distance of the point from
one end. The length of the rod is 4 ft and the linear density is 2 slugs/ft at
the center. Find the center of mass of the rod.
Example 4.28 The linear density of a rod varies directly as the distance
from a point in the rod to an external point in the line of the rod and 23 m
from the right end which has linear density equal to 5 kg/m. Find the center
of mass of the rod if it is 5 m long.

4.3.2 Center of Mass of a Plane Region with Constant Mass Den-

sity
Suppose that a flat plate (called a lamina) with constant mass den-
sity (mass per unit area) ρ is in the shape of a region R bounded by the curve
y = f (x), the x axis, and the lines x = a and x = b. Suppose also that the
function f is continuous on [a, b] and f (x) ≥ 0 for all x ∈ [a, b]. Then we have
the following definitions:
Definition 4.29 If Mx is the moment of R with respect to the x-axis

and My is the moment of R with respect to the y-axis, then
Z b Z b
1 2
Mx = 2
ρ [f (x)] dx and My = ρ xf (x) dx.
a a
The mass M of the lamina is the product of its area density and its area,
that is, Z b
M = ρA = ρ f (x) dx.
a
If (x, y) is the centroid of the plane region R, then
My Mx
x= and y = .
M M
Note that
Z b Z b Z b
ρ xf (x) dx xf (x) dx xf (x) dx
My a
x= = Z b
= Za b
= a
M A
ρ f (x) dx f (x) dx
a a
Z b Z b Z b
2 2
1
2
ρ [f (x)] dx 1
2
[f (x)] dx 1
2
[f (x)]2 dx
Mx
y= = Za b = Za b = a
.
M A
ρ f (x) dx f (x) dx
a a
Notice the cancellation of ρ. Hence, for a lamina with constant mass density
we may write
My Mx
x= and y =
A A
where Z b Z b
My = xf (x) dx and Mx = 2 1
[f (x)]2 dx.
a a
Theorem 4.30 If a line is an axis of symmetry of the plane region R, the

centroid of R lies on that line.

If the lamina, with constant mass density (mass per unit area) ρ, is in
the shape of a region R bounded by the curves y = f (x), y = g(x), and the
lines x = a and x = b. Suppose also that the functions y = f (x) and y = g(x)
are continuous functions on [a, b] and f (x) ≥ g(x) for all x ∈ [a, b]. Then we
have the following:

Z b Z b
1 2 2
Mx = 2
ρ [f (x) − g (x)] dx and My = ρ x[f (x) − g(x)] dx.
a a
that is, Z b
M = ρA = ρ [f (x) − g(x)] dx.
a
My Mx
x= and y = .
M M
Remark 4.32 For a lamina with constant mass density, we have

My Mx
x= and y = ,
A A
where
Z b Z b
1 2 2
Mx = 2
[f (x) − g (x)] dx, My = x[f (x) − g(x)] dx, and
a a
Z b
A= [f (x) − g(x)] dx.
a
If the lamina, with constant mass density (mass per unit area) ρ, is in
the shape of a region R bounded by the curves x = p(y), x = q(y), and the
lines y = c and y = d. Suppose also that the functions x = p(y) and x = q(y)
be continuous functions on [c, d] and p(y) ≥ q(y) for all y ∈ [c, d]. Then we
have the following:


Z d Z d
Mx = ρ y[p(y) − q(y)] dy and My = 1
2
ρ [p2 (y) − q 2 (y)] dy.
c c
that is, Z d
M = ρA = ρ [p(y) − q(y)] dy.
c
My Mx
x= and y = .
M M
Remark 4.34 Similarly, for a lamina with constant mass density, we have
My Mx
x= and y = ,
A A
where
Z d Z d
Mx = y[p(y) − q(y)] dy, My = 1
2
[p2 (y) − q 2 (y)] dy, and
c c
Z d
A= [p(y) − q(y)] dy.
c
Example 4.35 Draw a sketch of the graph and find the centroid of the region
bounded above by the parabola 4x2 = 36 − 9y and below by the x-axis.
Example 4.36 A region R is bounded by the parabola y = x2 and the line

y = 4. Find the area and the centroid of region R.
Example 4.37 Find the centroid of the following region R:
(a) R is bounded by the curves y = x2 + 2 and y = x where 0 ≤ x ≤ 1
(b) R is bounded by the curve y = x2 and the lines y = 1 and x = 2
(c) R is bounded by the parabola y = x2 − 2x and the x-axis
(d) R is bounded by the curves y − 1 = 0 and y + x2 = 2
(e) R is bounded by the graphs of the curves y = x2 and y = x
(f ) R is bounded by the graphs of the curves y + 1 = 0 and y + x2 = 3.
(g) R is bounded by y = x3 and y 2 = x.

Example 4.38 Let R be the region below the curve y = 4 − x2 , to the left
of y = 3x and above the x-axis. Find the centroid of the region R.
Example 4.39 Find the centroid of the region bounded by 2x − y + 3 = 0,

x + 2y − 6 = 0, and y = |x|.
Example 4.40 A region is bounded by the curve y = x2 and y = x + 2. Find

the centroid of the region on the first quadrant.
4.3.3 Center of Mass of a Plane Region with Non-Constant Mass

Density
Now, consider a lamina in the shape of a plane region R whose mass
density varies throughout the plate (i.e., some areas of the plate are more
dense than others). Let ρ(x, y) be the mass density function of R. Then the
mass (M ) is given by ZZ
M= ρ(x, y) dA.
R
The moment of R with respect to the y-axis My is given by
ZZ
My = x · ρ(x, y) dA
R
and the moment of R with respect to the x-axis Mx is given by

ZZ
Mx = y · ρ(x, y) dA.
R
The center of mass is the point (x, y) defined by

My Mx
x= and y= .
M M
Example 4.41 Find the center of mass of the lamina in the shape of the
region bounded by the graphs of y = x2 and y = 4, having mass density given
by ρ(x, y) = 1 + 2y + 6x2 .
Example 4.42 Find the mass and center of mass of the lamina with the
given density:
(a) bounded by y = x3 and y = x2 , ρ(x, y) = 4
(b) bounded by y = x4 and y = x2 , ρ(x, y) = 4
(c) bounded by x = y 2 and x = 1, ρ(x, y) = y 2 + x + 1
(d) bounded by x = y 2 and x = 4, ρ(x, y) = y + 3
(e) bounded by y = x2 (x > 0) and y = 4, and x = 0, ρ(x, y) = distance from
y-axis

4.4. DOUBLE INTEGRALS IN POLAR COORDINATES AND APPLICATIONS 73
4.4 Double integrals in Polar Coordinates and Applications

82 CHAPTER 4. MULTIPLE INTEGRAL
We recall the area A(CS) of a circular sector of radius r which is given
by
4.1.4 Double Integral in Polar Coordinates
A(CS) = 1 θr2 , 2
Here, we recall some concepts discussed in section 2.13. We also
where θ isrecall
the the
radian measure
area A(CS) of a of the central
circular sector of angle
radius rofwhich
the circular
Now,is given bysector.
consider the region R bounded by the circles r = r1 and r = r2 , and by the
A(CS) = 12 θr2 ,
rays θ = α and θ = β.
where θ is the radian measure of the central angle of the circular sector.
Now, consider the region R bounded by the circles r = r1 and r = r2 , and
Letby ∆
thebe
raysthe
θ =partition
α and θ = ofβ. R
Let obtained by drawing
∆ be the partition rays through
of R obtained by the
origin anddrawing
concentric circles
rays through thecentered
origin and at the pole.
concentric circlesSee Figure
centered 4.1.
at the pole.
See Figure 4.2.
y
β
θi
θi−1
(ri , θi )
x
r1 r2
Figure 4.2:
Figure 4.1:
The area of the subregion ∆i A bounded by the rays θ = θi−1 and
θ = θi and the circles r = ri−1 and r = ri is
The area of the subregion ∆i A bounded by the rays θ = θi−1 and θ = θi
1 1 1 h i
and the circles
∆i A r == ri−1
(θi −and r i2=
θi−1 )r − ri(θis 2 2 2
i − θi−1 )ri−1 = (θi − θi−1 ) ri − ri−1
2 2 2
1 h i
∆ A1 = (θi − θi−12)(ri −1 ri−1 )(ri + ri−1 ).
2 1 2 2
∆i A = i (θi − 2 θi−1 )ri − (θi − θi−1 )ri−1 = (θi − θi−1 ) ri − ri−1
2 2 2
Let ri 1= 12 (ri + ri−1 ) and ∆i r = ri − ri−1 and ∆i θ = θi − θi−1 . Then
∆i A ∆= ∆ii r−∆θi θ.
i A = r i(θ i−1Take − rpoint
)(ri the i−1 )(r
(ri, +
θi )rin ). ith subregion of R, where
the
i−1
θi−1 ≤ 2θi ≤ θi and the product f (ri , θi ) ∆i A. If there are n subregions of
R,
1 the we have the sum
Let ri = 2 (ri + ri−1 ) and ∆i r = ri − ri−1 and ∆i θ = θi − θi−1 . Then ∆i A =
Xn Xn
ri ∆i r ∆i θ. Take the point f (ri , θ(r , θi )=in the
i ) i∆i A f (ri ,ith ∆i r ∆i θ . of R, where θi−1 ≤
θi )risubregion
θi ≤ θi and the product i=1 f (r i , θ i ) ∆i A. i=1If there are n subregions of R, the we
have the sum

NOTES FOR MATH 71 DEPT. OF MATH, CSM, MSU-IIT
n
X n
X
f (ri , θi ) ∆i A = f (ri , θi )ri ∆i r ∆i θ .
i=1 i=1
Taking the limit of this sum as the norm k∆k of ∆ approaches 0, we have
n
X n
X
lim f (ri , θi ) ∆i A = lim f (ri , θi )ri ∆i r ∆i θ .
k∆k→0 k∆k→0
i=1 i=1

4.1. DOUBLE INTEGRAL 83
Taking the limit of this sum as the norm k∆k of ∆ approaches 0, we have
If this limit exists, then
X n we write Xn
lim
Z Z k∆k→0 f (r ,
i iθ ) ∆ i A = lim f (ri , θi )ri ∆i r ∆i θ .
Xn
k∆k→0
i=1 i=1
rf (r, θ) dr dθ = lim f (ri , θi )ri ∆i r ∆i θ. (4.1)
If this limit exists, thenk∆k→0
we write
i=1
R
ZZ n
X
If R is the rf (r, θ)bounded
region dr dθ = lim
f (ri , θi )ri ∆i r ∆i θ. (4.4)
k∆k→0 r = φ1 (θ), r = φ2 (θ), θ = α and θ = β,
by
i=1
where φ1 (θ) and φ2 (θ) are functions such that φ1 (θ) ≤ φ2 (θ) and α ≤ β(see
R
Figure 4.2), then

If R we can
is the write
region the double
bounded by r =integral
φ1 (θ), r = above
φ2 (θ),by
θ = α and
θ = β, where φ1 (θ) and φ2 (θ) are functions such that φ1 (θ) ≤ φ2 (θ) and
ZZ Z β Z φthe
α ≤ β(see Figure 4.3), then we can write 2 (θ)double integral above by
Zrf
Z (r, θ) dr dθ = Z β Z φ2 (θ) rf (r, θ) dr dθ. (4.2)
α φ1 (θ)
R rf (r, θ) dr dθ = rf (r, θ) dr dθ. (4.5)
α φ1 (θ)
R
y
β
θi
θi−1
r1 (ri , θi )
α
r2
x
Figure 4.3:
Figure 4.2:
If R is the region bounded by θ = ψ1 (r), θ = ψ2 (r), r = a and
If R iswhere
r = b, ψ1 (r) and
the region ψ2 (r) areby
bounded functions
θ = ψ1such
(r), that
θ =ψψ1 (r) ≤ ψ (r) and
2 (r), r2 = a and
r = b,
a ≤ b(see Figure 4.4), then we can write the double integral by
where ψ1 (r) and ψ2 (r) are functions such that ψ1 (r) ≤ ψ2 (r) and a ≤ b(see
ZZ
Figure 4.3), then we can write the Zdouble
b Z ψ2 (r)integral by
rf (r, θ) dθ dr = rf (r, θ) dθ dr. (4.6)
ZZ R
Za b Zψ1 (r)ψ2 (r)
rf (r, θ) dθ dr = rf (r, θ) dθ dr. (4.3)
a ψ1 (r)
R
J.V.BENITEZ ANALYTIC GEOMETRY AND CALCULUS III

ψ2 θi
θi−1
(ri , θi )
ψ1
x
a b
Figure 4.4:
Figure 4.3:
Example 4.16 Let R be the region bounded by the circles x2 + y 2 = 4
and x2 + y 2 = 16. Draw the region R and evaluate the double integral
Example 4.43 Let R be the region bounded by the circles x2 + y 2 = 4 and
ZZ
x2 + y 2 = 16. Draw the region R and 2 evaluate
2
ex +y dA
the double integral
ZRZ
2 +y 2
ex dA
using polar coordinates.
R
Example 4.17 Let R be the region in the first quadrant bounded by the
using polar
circle coordinates.
x2 + y 2 = 4. Draw the region R and evaluate the double integral
ZZ
y
Solution: The region R is shown in p Figure dA4.4.
x + y2
2
R
Example 4.18 Find the volume of the solid bounded by the paraboloid
z = 4 − r2 , the cylinder r = 1 and the polar plane.
Example 4.19 Find the volume of the solid bounded by the paraboloid
z = r2 and below the plane z = 2r sin θ.
4.1.5 Area of Surface

We will now consider the area of a portion of a surface.
NOTES FOR MATH 71 DEPT. OF MATH, CSM, MSU-IIT
Figure 4.4:

Thus,
ZZ Z Z 4
x2 +y 2
2π 4
r2

1 r2
e dA = e · r dr dθ = 2π · 2
e = π(e16 − e4 ).
0 2 2
R
Example 4.44 Let R be the region in the first quadrant bounded by the
circle x2 + y 2 = 4. Draw the region R and evaluate the double integral
ZZ
y
p dA
x2 + y 2
R
Solution: The region R is shown in 4.5.
Figure 4.5:
Thus,
ZZ Z π Z 2 Z πZ 2
y 2 r sin θ 2
p dA = √ · r dr dθ = r sin θ dr dθ
x2 + y 2 0 0 r2 0 0
R
Z π 2 π
2 2
= 1
r 2
sin θ dθ = −2 cos θ = −2(0 − 1) = 2
2
0 0 0
Example 4.45 Find the volume of the solid bounded by the paraboloid z =
4 − r2 , the cylinder r = 1 and the polar plane.
Example 4.46 Find the volume of the solid bounded by the paraboloid z =
r2 and below the plane z = 2r sin θ.
We will now consider the area of a portion of a surface.
Theorem 4.47 Let f , fx and fy be continuous on the closed region R in the

xy-plane. The area σ of the surface z = f (x, y) that lies over R, is given by
ZZ q
σ= fx2 (x, y) + fy2 (x, y) + 1 dx dy.
R

Example 4.48 Find the area of the portion of the surface of the sphere
x2 + y 2 + z 2 = 36 that lies within the cylinder x2 + y 2 = 9.
Solution: Here, we let f (x, y) = z such that x2 + y 2 + z 2 = 36. First, we solve
for fx = zx and fy = zy by implicit differentiation. Thus,
x
2x + 2zzx = 0 ⇒ zx = − and
z
y
2y + 2zzy = 0 ⇒ zy = − .
z
Hence,
x2 y 2 x2 + y 2 + z 2 36
fx2 + fy2 + 1 = zx2 + zy2 + 1 = + + 1 = = .
z2 z2 z2 z2
Thus,
ZZ q ZZ r ZZ
2 2
36 6
σ= fx (x, y) + fy (x, y) + 1 dA = 2
dA = dA
z z
R R R
ZZ Z 2π Z 3
6 6
= p dA = √ rdrdθ
36 − x2 − y 2 0 0 36 − r2
R
3
√ √ √ √
= −12π 36 − r2 = −12π 36 − 9 + 12π 36 = −36π 3 + 72π
0
√
= 36π(2 − 3) sq. units
Example 4.49 Find the area of the portion of the cone x2 + y 2 = z 2 that is
inside the cylinder x2 + y 2 = 2x.
Solution: Here, we let f (x, y) = z such that x2 + y 2 = z 2 . First, we solve for
fx = zx and fy = zy by implicit differentiation. Thus,
x
2x = 2zzx ⇒ zx = and
z
y
2y = 2zzy ⇒ zy = .
z
Hence,
x2 y 2 z2 + z2
fx2 + fy2 + 1 = zx2 + zy2 + 1 =
+ + 1 = = 2 and
z2 z2 z2
x2 + y 2 = 2x ⇒ r2 = 2r cos θ ⇒ r = 2 cos θ
Thus,
ZZ q ZZ √
σ= 2 2
fx (x, y) + fy (x, y) + 1 dA = 2 dA
R R
Z Z Z Z 2π √
2π 2 cos θ √ √ 2 2 cos θ
2π
= 2 rdrdθ = 1
2
2r dθ = 2 2 cos2 θ dθ
0 0 0 0 0
2π
√ Z 2π
1 + cos 2θ √ √
=2 2 dθ = 2 θ + 12 sin 2θ = 2π 2 sq. units
0 2 0

Example 4.50 Find the area of the portion of the surface xy = az in the
first octant that lies inside the cylinder x2 + y 2 = a2 .
6 0. We may
Solution: Here, we let f (x, y) = z such that xy = az with a =
assume that a > 0. First, we solve for fx = zx and fy = zy by implicit
differentiation. Thus,
y
y = a · zx ⇒ zx = and
a
x
x = a · zy ⇒ zy = .
a
Hence,
y 2 x2 y 2 + x 2 + a2
fx2 + fy2 + 1 = zx2 + zy2 + 1 = + + 1 = and
a2 a2 a2
x2 + y 2 = a2 ⇒ r = a.
Thus,
ZZ q ZZ r 2
y + x 2 + a2
σ= fx2 (x, y) + fy2 (x, y) + 1 dA = dA
a2
R R
Z π Z a√ 2 a
√
2 r +a 2 π 1 2
2 3/2 π 1
= rdrdθ = · (r + a ) = · · 2 2a3
0 0 a 2 3a 0 2 3a
2
√
πa 2
= sq. units
3
4.5 Triple integrals in Cartesian Coordinates and Applications
Let f be a continuous function of x, y and z defined on region S (the
region S is a closed solid in R3 ). A partition ∆ of S is formed by drawing
planes parallel to the coordinate planes and obtain a network of rectangular
boxes. Let ∆ be a partition of S with n number of boxes. The norm k∆k of
∆ is defined to be the length of the longest diagonal of some boxes. Let ∆i V
be the volume of the ith rectangular box with dimension ∆i x, ∆i y and ∆i z;
i.e. ∆i V = ∆i x ∆i y ∆i z. Take the point (ξi , γi , µi ) in ith rectangular box and
form the product f (ξi , γi , µi ) ∆i V . Since there are n boxes, we have the sum
n
X n
X
f (ξi , γi , µi ) ∆i V = f (ξi , γi , µi ) ∆i x ∆i y ∆i z . (4.4)
i=1 i=1
Taking the limit of (4.4), as the norm k∆k approaches 0, we have

n
X n
X
lim f (ξi , γi , µi ) ∆i V = lim f (ξi , γi , µi ) ∆i x ∆i y ∆i z .
k∆k→0 k∆k→0
i=1 i=1
If this limit exists, we write

n
X ZZZ
lim f (ξi , γi , µi ) ∆i V = f (x, y, z) dV. (4.5)
k∆k→0
i=1 S

4.5. TRIPLE INTEGRALS IN CARTESIAN COORDINATES AND APPLICATIONS 79
In some situations, the triple integral in (4.5) may be written in iterated

integrals
ZZZ Z bZ f2 (x) Z h2 (x,y)
f (x, y, z) dV = f (x, y, z) dz dy dx,
a f1 (x) h1 (x,y)
S
ZZZ Z bZ f2 (y) Z h2 (x,y)
f (x, y, z) dV = f (x, y, z) dz dx dy,
a f1 (y) h1 (x,y)
S
ZZZ Z bZ f2 (x) Z h2 (x,z)
f (x, y, z) dV = f (x, y, z) dy dz dx,
a f1 (x) h1 (x,z)
S
ZZZ Z bZ f2 (z) Z h2 (x,z)
f (x, y, z) dV = f (x, y, z) dy dx dz,
a f1 (z) h1 (x,z)
S
ZZZ Z bZ f2 (z) Z h2 (y,z)
f (x, y, z) dV = f (x, y, z) dx dy dz,
a f1 (z) h1 (y,z)
S
or
ZZZ Z bZ f2 (y) Z h2 (y,z)
f (x, y, z) dV = f (x, y, z) dx dz dy.
a f1 (y) h1 (y,z)
S
Evaluation of (iterated) triple integrals is similar to double integral.
Example 4.51 Evaluate the following iterated triple integrals:

Z 1 Z x Z x+xy
(a) xy dz dy dx
0 0 1
Z 1Z xZ 1
(b) (x2 + yz) dz dy dx
0 0 xy
Solution:
(a)
Z Z Z Z x+xy
Z
1 x x+xy 1 x
xy dz dy dx = xyz dy dx
0 0 1 0 0 1
Z 1Z x Z 1Z x
= xy(x + xy − 1) dy dx = (x2 y + x2 y 2 − xy) dy dx
Z0 1 0 x
0
Z0 1
1 2 2 1 2 3 1 2 1 4 1 5 1 3
= 2
x y + 3
x y − 2
xy dx = 2
x + 3
x − 2
x dx
0 0 0
1
1 5 1 6 1 4
1 1 ?
= 10 x + 18 x − 8 x = 10 + 18 − 18 =
0 ?

(b)
Z 1 Z x Z 1 Z 1 Z x 1
2
(x + yz) dz dy dx = x z+ 2 1
yz 2 dy dx
2
0 0 xy 0 0 xy
Z 1 Z x
= x2 + 21 y − x3 y − 21 x2 y 3 dy dx
Z0 1 0 x
= x2 y + 41 y 2 − 21 x3 y 2 − 18 x2 y 4 dx
0 0
Z 1 1
1 7

= 3
x + 4 x − 2 x − 8 x dx = 14 x4 +
1 2 1 5 1 6 1 3
12
x − 1 6
12
x − 56
x
0 0
1 ? 1 1 1
= + − − = 4 12 12 56
?
ZZZ
Example 4.52 Evaluate (x2 + z 2 ) dV , S is the solid bounded by the
S
tetrahedron formed by the planes 12x + 20y + 15z = 60 and the coordinate
planes.
Solution: The solid S is shown in Figure 4.6.

z
.
....
..........
...
..
...
..
...
..
...
..
...•........ 4
...
..
... .
...
... ... .....

..
...
..
. . ...
... ....................
..
...
..
5.......................................•.
. ...
..
... .
........ .................
.
...
.
..
.
•. . ...
..
...
...
..
...
...
...
.......... .........
.........
..
...
...
...
.......... .........
............. .........
........................... 3 ......... ..
..
...
.
.
... ... .................
x y
Figure 4.6:
Then
ZZZ Z 5 Z 3
(5−x) Z 4
(15−3x−5y)
5 15
2 2
(x + z ) dV = (x2 + z 2 ) dz dy dx
0 0 0
S
ZZZ
Example 4.53 Evaluate x dV , S is the tetrahedron bounded by the
S
planes x + y + 3z = 6, x = 0, y = 0 and z = 0.

4.5. TRIPLE INTEGRALS IN CARTESIAN COORDINATES AND APPLICATIONS 81
z
..
...
.........
...
..
...
..
...
....•........2...
..
...
.....
.. ..
.. . ...
....... .......... .....

..
...
6........................... ..................
. .
..
...
...
...
.......... ..................
.
...
..
........ .........
•. .............................................•
..
...
...
...
.. .........
..
...
...
...
.......... .........
.......... .........
...
..
...........................
.
.........
.........
.. .
.... .. ......... .
x 6 ...............
.....
y
Figure 4.7:
Then
ZZZ Z 6 Z 6−x Z 1
(6−x−y)
3
x dV = x dz dy dx
0 0 0
S
Z 6 Z 6−x Z 6 Z 6−x
1 1 2
= − x − y) dy dx =
3
x(6 6x − x − xy dy dx 3
0 0 0 0
Z 6 6−x
1 2 1 2
=3 6xy − x y − 2 xy dx
0 0
Z 6h i
1 2 1 2
=3 6x(6 − x) − x (6 − x) − 2 x(6 − x) dx
0
Z 6h i
=31
36x − 6x2 − 6x2 + x3 − 18x + 6x2 − 21 x3 dx
0
Z 6h i h i6
1 1 3 2 1 1 4 3 2
=3 2
x − 6x + 18x dx = 3 8 x − 2x + 9x
0 0
2
h i h i
= 63 81 · 62 − 2 · 6 + 9 = 12 92 − 12 + 9 = 18
ZZZ
Example 4.54 Evaluate xyz dV , S is the solid in the first octant
S
bounded by the cylinders x2 + y 2 = 4 and x2 + z 2 = 4.

z
...
....
........
...
..... 2
..
....... •.....................
...
..
.. . ...
..
.... .. ...........
...
.. .. ................... ...
..
...
..
...
.. ..... .. .. ..
... ........... ......

...
.. ..
...
.. .......... ....
..
. . ... .
. ..
2.........................
..
...
...
...
.. ..............
.......... .........
..
...
...
.. .........
........................................•.
..........
.
•.......... ..
...
...
...
.. .........
.......... .........
.. ................. .........
................... ......... .
............
x ... ........
2 y
Figure 4.8:

Then
ZZZ Z Z √ Z √
2 4−x2 4−x2
xyz dV = xyz dz dy dx
0 0 0
S
Z Z √
4−x2
√4−x2 Z 2 Z √4−x2
2
= 1
2
xyz 2 dy dx = 1
2
xy(4 − x2 ) dy dx
0 0 0 0 0
Z 2 √4−x2 Z 2

= 14 xy 2 (4 − x2 ) dx = 14 x(4 − x2 ) · (4 − x2 )dx
0 0 0
Z 2 2
= 4 (16x − 8x + x )dx = 4 8x − 2x + 6 x
1 3 5 1 2 4 1
0 0
1
1 1
= 4
32 − 32 + 3
=
12
4.6 Cylindrical and Spherical Coordinates
Let P (x, y, z) be a point in the three-dimensional Euclidean space R3 .
We say that P has rectangular coordinates (x, y, z).
Definition 4.55 The cylindrical coordinate representation of a point

P (x, y, z) in the rectangular coordinates is (r, θ, z), where r and θ are the
polar coordinates of the projection of P on a polar plane and z is the
directed distance from this polar plane to P . See Figure 4.9.
2.13. CYLINDRICAL AND SPHERICAL COORDINATES 47
P (x, y, z)
P (r, θ, z)
O y
r
θ
x
Figure 4.9: Cylindrical Coordinates
Figure 2.11: Cylindrical Coordinates
Given a point
Given P (x,
a point y, z)
P (x, in inrectangular
y, z) rectangularcoordinate. If PP(r,
coordinate. If (r,θ,θ,z)z)isis the
cylindrical coordinates of P , then
the cylindrical coordinates of P , then
y
x =xr=cos
r cos
θ, θ,y =
y= z, rr22 =
r sinθ,θ, zz==z,
r sin
2 2
= xx2++yy,2 , and θ =θ = ify xif6=x0.6= 0.
and tantan x x
Example 2.92 In each of the ff., find an equation in cylindrical coordi-
Example
nates. 4.56 In each of the ff., find an equation in cylindrical coordinates.
1. x2 − y 2 = 9
2. 9x2 + 4y 2 = 36
3. x2 + y 2 = z 2
4. x2 + y 2 = 3z
4.6. CYLINDRICAL AND SPHERICAL COORDINATES 83
(a) x2 − y 2 = 9
(b) 9x2 + 4y 2 = 36
(c) x2 + y 2 = z 2
(d) x2 + y 2 = 3z
Solution: We use the relations x = r cos θ and y = r sin θ:

(a) Using the identity cos2 θ − sin2 θ = cos 2θ,
9 = x2 − y 2 ⇒ 9 = r2 cos2 θ − r2 sin2 θ = r2 (cos2 θ − sin2 θ)

⇒ 9 = r2 cos 2θ.
(b) Using the identity cos2 θ + sin2 θ = 1,
36 = 9x2 + 4y 2 ⇒ 36 = 9r2 cos2 θ + 4r2 sin2 θ

⇒ 36 = r2 (9 cos2 θ + 4 sin2 θ)
⇒ 36 = r2 (5 cos2 θ + 4) = r2 (9 − 5 sin2 θ).
(c) Since r2 = x2 + y 2 ,
x2 + y 2 = z 2 ⇒ r2 = z 2 ⇒ r = ±z.
(d) Since r2 = x2 + y 2 ,
x2 + y 2 = 3z ⇒ r2 = 3z ⇒ z = 31 r2 .
Example 4.57 In each of the ff. equations in cylindrical coordinates, find an

equation in rectangular coordinates.
(a) r = 2 cos θ
(b) r = 3 + 2 cos θ
(c) z 2 cos3 θ = r3
Solution:
(a) Multiplying both sides by r,
r2 = 2r cos θ ⇒ x2 + y 2 = 2x ⇒ (x − 1)2 + y 2 = 1.
(b) Multiplying both sides by r,

p
r2 = 3r + 2r cos θ ⇒ x2 + y 2 = 3 x2 + y 2 + 2x
⇒ (x2 + y 2 − 2x)2 = 9(x2 + y 2 )

(c) Multiplying both sides by r3 ,
z 2 r3 cos3 θ = r6 = (r2 )3 ⇒ z 2 (r cos θ)3 = (r2 )3

⇒ z 2 x3 = (x2 + y 2 )3 .
Definition 4.58 The spherical coordinate representation of a point

P (x, y, z) in the rectangular coordinates is (ρ, θ, φ), where ρ = |OP |, θ
is the radian measure of the polar angle of the projection of P on the po-
lar plane, and φ is the nonengative radian measure of the smallest angle
measured from the positive side of the z−axis to the line OP . See Figure
4.10.
48 CHAPTER 2. VECTORS IN R3
P (x, y, z)
P (ρ, θ, φ)
φ
ρ
O y
r
θ
x
Figure 4.10: Spherical Coordinates
Place the rectangular coordinate system and the spherical coordinate
Place the rectangular coordinate system and the spherical coordi-
system
natetogether as shownasin
system together Figure
shown 4.11. From
in Figure 2.13. Figure 4.11, we see that
z
x = |OQ| cos θ, y = |OQ| sin θ, and , z = |QP |.
Now, since OQ = ρ sin φ and QP = ρ cos φ, we get

P (x, y, z)
z ρ sin θ sin φ and z = ρ cos φ.
x = ρ cos θ sin φ, y = P (ρ, θ, φ)
φ
ρ
Also, squaring x, y and z above and adding we get
y
O y
2 2 2 2
x + y + zr = ρ .
x θ
Q
Example 4.59 In each of the ff., find an equation in spherical coordinates.
x
2 2 2
(a) x + y + z − 9z = 0
(b) x2 + y 2 = z 2
From the figure above, we see that
NOTES FOR MAT070x = |OQ| cos θ, y = |OQ| sin θ, DEPT.
and ,OFz MATH
= |QP&|.STAT, CSM, MSU-IIT
Now, since OQ = ρ sin φ and QP = ρ cos φ, we get
x = ρ cos θ sin φ, y = ρ sin θ sin φ and z = ρ cos φ.
Also, squaring x, y and z above and adding we get
x

4.6. CYLINDRICAL
PlaceAND
theSPHERICAL COORDINATES
rectangular coordinate
system and the spherical coordi- 85
nate system together as shown in Figure 2.13.
z
P (x, y, z)
z
P (ρ, θ, φ)
φ
ρ
y
O y
r
x θ
Q
x
Figure 4.11: Rectangular and Spherical Coordinates
(c) x2 + y 2 = 2z
From the figure above, we see that
Solution: Since x = |OQ| cos θ, y = |OQ| sin θ, and , z = |QP |.
(a) Since x2 + OQ
Now, since y 2 +=z 2ρ sin
= ρφ2 and
andQP
z ==ρρcos
cosφ,
φ, we get
2
x = ρ cos θρsin−
φ,9ρy cos =θ0sin⇒
= ρφsin ρ =z 9=cos
φ and φ. φ.
ρ cos
(b) Since x = ρ cos θ sin φ, y = ρ sin θ sin φ and z =

NOTES FOR MATH 71
ρ cos φ, we have
DEPT. OF MATH, CSM, MSU-IIT
x2 + y 2 = z 2 ⇒ (ρ cos θ sin φ)2 + (ρ sin θ sin φ)2 = (ρ cos φ)2

⇒ ρ2 sin2 φ(cos2 θ + sin2 θ) = ρ2 cos2 φ
⇒ sin2 φ = cos2 φ
⇒ tan2 φ = 1
⇒ tan φ = 1 or tan φ = −1
π 3π
⇒ φ= or φ = .
4 4
(c) Note that in previous item, x2 + y 2 = ρ2 sin2 φ. Hence,
x2 + y 2 = 2z ⇒ ρ2 sin2 φ = 2ρ cos φ
⇒ ρ sin2 φ = 2 cos φ
⇒ ρ = 2 csc φ cot φ.
Example 4.60 In each of the ff. equations in spherical coordinates, find an

equation in rectangular coordinates.
(a) ρ = 4
π
(b) θ =
3

(c) ρ = 9 sec φ
(d) ρ = tan θ
(e) ρ = 9 sin φ sin θ + 3 cos φ
Solution:
(a) Squaring both sides,
ρ = 4 ⇒ ρ2 = 16 ⇒ x2 + y 2 + z 2 = 16.
(b) Start by taking tangents,
π
√ ρ sin θ sin φ √
θ= 3
⇒ tan θ = tan π3 = 3 ⇒ = 3
ρ cos θ sin φ
y √ √
⇒ = 3 ⇒ y = 3·x
x
(c) Since z = ρ cos φ,
ρ = 9 sec φ ⇒ ρ cos φ = 9 ⇒ z = 9.
(d) Using the relations x = ρ cos θ sin φ, y = ρ sin θ sin φ and x2 + y 2 + z 2 = ρ2 ,

ρ sin θ sin φ (ρ sin θ sin φ)2
ρ = tan θ ⇒ ρ = ⇒ ρ2 =
ρ cos θ sin φ (ρ cos θ sin φ)2
y2
⇒ x2 + y 2 + z 2 = 2 ⇒ x2 (x2 + y 2 + z 2 ) = y 2
x
(e) Multiplying both sides by ρ,
ρ = 9 sin φ sin θ + 3 cos φ ⇒ ρ2 = 9ρ sin φ sin θ + 3ρ cos φ
⇒ x2 + y 2 + z 2 = 9y + 3z
⇒ x2 + (y − 29 )2 + (z − 32 )2 = 45
2
.
4.7 Triple integral in Cylindrical Coordinates and Applications

If P (x, y, z) is a point in R3 and (r, θ, z) is the cylindrical coordinates
of P . Then
x = r cos θ, y = r sin θ and z = z,
and
y
r2 = x2 + y 2 , tan θ =
, if x 6= 0.
x
Let f be a continuous function of x, y and z(f is a function of r, θ
and z in cylindrical coordinates) defined on region S (the region S is a closed
solid in R3 ). A cylindrical partition ∆ of S is formed by drawing planes
through z-axis, planes parallel to the polar plane(i.e. xy-plane) and right-
circular cylinders having z-axis as the axis and obtain a network of “curve
rectangles”. See Figure 4.12.

4.7. TRIPLE INTEGRAL IN CYLINDRICAL COORDINATES AND APPLICATIONS 87
zi (ri , θi , z i )
zi−1
∆i z
ri
ri−1 ∆i r θi
θi−1
(ri , θi , 0)
∆i θ
Figure 4.5:
Figure 4.12:
Let ∆ be a cylindrical partition of S with n subregions. Let ∆i V be
the volume of the ith subregion. The norm k∆k of ∆ is the length of the
Letlongest
∆ bediagonal a cylindrical partition of S with n subregions. Let ∆i V be
of the subregions. The area of the base of the ith subregion
the volume 1of the ith subregion. The norm k∆k
is 2 (ri + ri−1 ) ∆i r ∆i θ units. Hence, ∆i V = 12 (ri +of ri−1∆) ∆isi r the
∆i θ length
∆i z. of the
longest diagonal
Take theofpoint the (rsubregions.
i , θ i , z i ) in theThe area of the
ith subregion, base
where ri of
= 2the
1
ith
(ri + ri−1subregion
), is
1 θ ≤ θ ≤ θ and z ≤ z ≤ z . Form 1the product f (r i , θ i , z i ) ∆i V =
(r + ri−1 ) ∆i r ∆i θ units. Hence, ∆i V = 2 (ri + ri−1 ) ∆i r ∆i θ ∆i z. Take the
2 i
i−1 i i i−1 i i
f (ri , θi , z i ) ∆i r ∆i θ ∆i z and since there are n subregions, 1 we obtain the
i , z i ) in the ith subregion, where r i = 2 (ri +ri−1 ), θi−1 ≤ θ i ≤ θi and
point (ri , θsum
n
X X n
zi−1 ≤ z i ≤ zi . Form fthe
(ri , θproduct
i , z i ) ∆i V =
f (r i, f
θ(r
i, z i ) ∆i V = f (r i , θ i , z i ) ∆i r ∆i θ ∆i z
i , θ i , z i ) ∆i r ∆i θ ∆i z .
and since there arei=1n subregions, wei=1
obtain the sum
Taking the limit of the sum as the norm k∆k of ∆ approaches 0, we have
n
X n
X
n
X Xn
limf (r i , fθ(r
i , iz, θi )i , z∆ V =
i )i∆i V = lim
f (ri ,fθ(ri ,i ,zθii), z∆ r ∆i θi θ ∆
i ) i∆i r ∆ ∆iizz. .
k∆k→0 k∆k→0
i=1 i=1 i=1 i=1
If the limit above exists, we write

Taking the limit of Zthe
Z Z sum as the normX nk∆k of ∆ approaches 0, we have
f (r, θ, z) dV = lim f (ri , θi , z i ) ∆i V, (4.10)
n
X k∆k→0 n
X
S i=1
lim
or f (ri , θi , z i ) ∆i V = lim f (ri , θi , z i ) ∆i r ∆i θ ∆i z .
k∆k→0 Z Z Z k∆k→0
n
i=1 Xi=1
f (r, θ, z) rdr dθ dz = lim f (ri , θi , z i ) ∆i r ∆i θ ∆i z. (4.11)
If the limit above
S exists, we write k∆k→0 i=1
ZZZ
NOTES FOR MATH 71 X n DEPT. OF MATH, CSM, MSU-IIT
f (r, θ, z) dV = lim f (ri , θi , z i ) ∆i V, (4.6)
k∆k→0
S i=1
or
ZZZ n
X
f (r, θ, z) rdr dθ dz = lim f (ri , θi , z i ) ∆i r ∆i θ ∆i z. (4.7)
k∆k→0
S i=1
We call the triple integral in (4.6) and (4.7) triple integral in cylin-
drical coordinates. A triple integral in cylindrical coordinates can be eval-
uated by an iterated integral. For example, let S be the region in R3 bounded

by the planes θ = α and θ = β with α ≤ β, by the cylinders r = f1 (θ) and

r = f2 (θ) defined on [α, β] with f1 (θ) ≤ f2 (θ) and by the surfaces z = g1 (r, θ)
and z = g2 (r, θ), where g1 and g2 are functions defined on a region R in the
polar plane bounded by the curves r = f1 (θ), r = f2 (θ), θ = α and θ = β and
g1 (r, θ) ≤ g2 (r, θ). Then the iterated integral is
ZZZ Z β Z f2 (θ) Z g2 (r,θ)
f (r, θ, z) dV = rf (r, θ, z) dz dr dθ.
α f1 (θ) g1 (r,θ)
S
The other five iterated integrals in cylindrical coordinates are

ZZZ Z b Z f2 (r) Z g2 (r,θ)
f (r, θ, z) dV = rf (r, θ, z) dz dθ dr,
a f1 (r) g1 (r,θ)
S
ZZZ Z bZ f2 (r) Z g2 (r,z)
f (r, θ, z) dV = rf (r, θ, z) dθ dz dr,
a f1 (r) g1 (r,z)
S
ZZZ Z bZ f2 (z) Z g2 (r,z)
f (r, θ, z) dV = rf (r, θ, z) dθ dr dz,
a f1 (z) g1 (r,z)
S
ZZZ Z bZ f2 (z) Z g2 (θ,z)
f (r, θ, z) dV = rf (r, θ, z) dr dθ dz, and
a f1 (z) g1 (θ,z)
S
ZZZ Z β Z f2 (θ) Z g2 (θ,z)
f (r, θ, z) dV = rf (r, θ, z) dr dz dθ.
α f1 (θ) g1 (θ,z)
S
We remark that dV = dx dy dz = rdr dθ dz.

Example 4.61 Evaluate the integral
Z π Z 2 cos θ Z r sin θ
4
r2 cos θ dz dr dθ.
0 2 sin θ 0
Solution:
Z πZ Z r sin θ
Z π Z
4
2 cos θ r sin θ 4
2 cos θ
2
r cos θ dz dr dθ = zr cos θ dr dθ 2
0 2 sin θ 0 0 2 sin θ 0
Z π Z 2 cos θ Z π 2 cos θ
4 4
= 3
r sin θ cos θ dr dθ = 1 4
r sin θ cos θ dθ
4
0 2 sin θ 0 2 sin θ
Z π
h i
4
1 4 4
= 4
16 cos θ − 16 sin θ sin θ cos θ dθ
0
Z π
4
=4 (cos4 θ − sin4 θ) sin θ cos θ dθ
0
Z π Z π
4 4
2 2
=4 (cos θ − sin θ) sin θ cos θ dθ = 2 cos(2θ) sin(2θ) dθ
0 0
Z π π
4 4 1 1
= sin(4θ) dθ = − 4 cos(4θ) = − · (−1 − 1) =
1
0 0 4 2

4.7. TRIPLE INTEGRAL IN CYLINDRICAL COORDINATES AND APPLICATIONS 89
Example 4.62 Use cylindrical coordinate to evaluate the integral

Z Z √ Z 2p
3 9−x2
x2 + y 2 dz dy dx.
0 0 0
Solution:
Z 3Z √ Z 2p Z π Z 3 Z 2√
9−x2 2
2 2
x + y dz dy dx = r2 dz · rdr dθ
0 0 0
Z π Z 3 3 0 0 0
2 π 2
= 2r2 dr dθ = · r3 = 9π
0 0 2 3 0
Example 4.63 Use cylindrical coordinate to evaluate the integral

Z 1 Z √1−x2 Z √1−x2 −y2
z
p dz dy dx.
0 0 0 x + y2
2
Solution:
Z 1 Z √
1−x2 Z √1−x2 −y2
z
p dz dy dx
0 0 0 x2 + y 2
Z π Z 1 Z √1−r2 Z π Z 1 Z √1−r2
2 z 2
= √ dz · rdr dθ = z dz dr dθ
r 2
0 0 0 0 0 0
Z π Z 1 √1−r2 Z πZ 1
2
1 2
2
= z
2
dr dθ = 2 1
(1 − r2 ) · dr dθ
0 0 0 0 0
1 π
= 21 · π2 · r − 13 r3 = 12 · π2 · 1 − 13 =
6 0
Example 4.64 Find the volume of the solid bounded by the paraboloid x2 +
y 2 + z = 1 and the xy-plane.
Solution: A sketch of the solid S is seen in Figure 4.13.

z
..
....
.......
..
.. 1
........•............
..
..
.. . ...
..
.... ... ......

...
..
.. ..
...
.. ... ..
...
... .. ..
. ... ...
..
... .. ... ...

..
. ........ . ..
...
........... ....
...
1..................
.. .
....
....... ................
...
...
...
...
......... .........
........................................•..
..
...
.
•..........
....
...
. .........
............... .........
.............. .........
. .................. .........
.. ................... .........
...........
x 1 ................
y
Figure 4.13: The solid in the first octant

Note that
x2 + y 2 + z = 1 ⇒ r 2 + z = 1 ⇒ z = 1 − r 2 .
Then
ZZZ Z 2π Z 1 Z 1−r2
V (S) = dV = r dz dr dθ
0 0 0
S
Z 2π Z 1 Z 2π Z 1
2
= r(1 − r ) dr dθ = (r − r3 ) dr dθ
0 0 0 0
1 π
= 2π · 12 r2 − 14 r4 = 2π · 21 − 14 =
0 2
Example 4.65 Find the volume of the solid bounded by the cylinder x2 +
y 2 = 2y, the paraboloid x2 + y 2 = 2z and the xy-plane.

z
.
.....
........
..
...
...
..
..
...
..
...
..
•2
...
..
...
..
...
..
...
..
...
..
...
..
...
..
...
..
... .........
.. ...............
... ..............
.. .....
... ....
. ...............
. ......
.......................
..............................
............... .........
..
...
...
...
................ .........
..... .........
.. ..................
1•
.........
.................... .........
.........
x .........
.........
.........
• .........
.........
............
2 .............
y
Figure 4.14:
Note that
x2 + y 2 = 2y ⇒ r2 = 2r sin θ ⇒ r = 2 sin θ and
x2 + y 2 = 2z ⇒ r2 = 2z ⇒ z = 12 r2 .

4.8. TRIPLE INTEGRAL IN SPHERICAL COORDINATES AND APPLICATIONS 91
Then
ZZZ Z 2π Z 2 sin θ Z 1 2
r
2
V (S) = dV = r dz dr dθ
0 0 0
S
Z Z Z 2 sin θ Z
2π 2 sin θ
1 3
2π
1 4
2π
= 2
r dr dθ = r
8
dθ = 2 sin4 θ dθ
0 0 0 0 0
Z 2π 2 Z 2π
90 1 − cos 2θ 1 CHAPTER 4. MULTIPLE INTEGRAL 2
=2 dθ = (1 − 2 cos 2θ + cos 2θ)dθ
0 2 2 0
Z
1 2π4.33 Use cylindrical coordinate
Example 1 + cos to 4θ
evaluate the integral
= 1Z −1Z
2√1−x
cosZ2θ√+ dθ
2 0 1−x −y
p
2z
2 2 2
dz dy dx.
13 0 0 0 2πx2 + y 2
3π
= θ − sin 2θ + 81 sin 4θ =
Example2 4.34 Find the volume of the solid bounded by the paraboloid
2 2 2
x + y + z = 1 and the xy-plane. 0 2
4.8 Triple integral

Example
2
in Spherical
4.35 Find Coordinates
the volume of the
2 2
and
solid bounded by the Applications
cylinder x2 +
y = 2y, the paraboloid x + y = 2z and the xy-plane.
Let f be a continuous function of x, y and z(f is a function of ρ, θ
4.2.4 Triple Integral in Spherical Coordinates
and φ in spherical coordinates) defined on region S (the region S is a closed
Let f be a continuous function of x, y and z(f is a function of ρ,
solid in R3 ).θ and
A φspherical partition
in spherical coordinates) ∆onofregion
defined S isS formed
(the regionby
S isdrawing
a planes
containing z-axis,
closed solid in R3 ). Awith
spheres centers
spherical at the
partition origin
∆ of and by
S is formed circular
drawing cones having
planes containing z-axis, spheres with centers at the origin and circular
vertices at the
conesorigin. A typical
having vertices subregion
at the origin. A typicalissubregion
shownisin Figure
shown 4.15.
in Figure
4.6.
z
ρi
(ρi , θi , z i )
ρi−1 φi−1
φi
∆i φ
θi
∆i θ (ρi , θi , 0)
∆i ρ θi−1
x
Figure 4.6:
Figure 4.15:
Let ∆ be a partition of S with n subregions. Let ∆i V be the volume
of the ith subregion. We will approximate the volume ∆i V by considering
Let ∆
it asbe a partition
a rectangular of S with
parallelepiped n subregions.
with dimensions ρi sin φi ∆Let
i θ, ρi ∆
∆iiφVand
be the volume
of the ∆i ρ, where (ρiWe
ith subregion. , θi , φiwill
) is a approximate
point in the ith subregion.
the volume ∆ V by considering it
i
as a rectangular parallelepiped
NOTES FOR MATH 71
with dimensions ρ sin φ i CSM,i θ,
DEPT.iOF MATH,
∆ ρi ∆i φ and ∆i ρ,
MSU-IIT
where (ρi , θi , φi ) is a point in the ith subregion.
Hence,

∆i V = ρi sin φi ∆i θ ρi ∆i φ ∆i ρ = ρ2i sin φi ∆i ρ ∆i θ ∆i φ

h i
and formed the product f (ρi , θi , φi ) ρ2i sin φi ∆i ρ ∆i θ ∆i φ . Since there are
n subregions, we obtain the sum
n
X h i Xn
2
f (ρi , θi , φi ) ρi sin φi ∆i ρ ∆i θ ∆i φ = ρ2i sin φi f (ρi , θi , φi ) ∆i ρ ∆i θ ∆i φ .
i=1 i=1
Taking the limit of the sum as the norm k∆k approaches 0, we have
n
X
lim ρ2i sin φi f (ρi , θi , φi ) ∆i ρ ∆i θ ∆i φ .
k∆k→0
i=1
If this limit exists, we write

ZZZ n
X
2
ρ sin φ f (ρ, θ, φ) dV = lim ρ2i sin φi f (ρi , θi , φi ) ∆i V, (4.8)
k∆k→0
S i=1
where ∆i V = ∆i ρ ∆i θ ∆i φ and dV = ρ2 sin φ dρ dθ dφ.
We call the integral in (4.8) triple integral in spherical coordi-

nates. Triple integrals in spherical coordinates can be written as an iterated
integrals. We note that dV = dx dy dz = ρ2 sin φ dρ dθ dφ.

Z 2π Z π Z 2
ρ3 sin φ dρ dφ dθ.
0 0 0
Solution:
Z Z Z Z Z 2
2π π 2 2π π
3
ρ sin φ dρ dφ dθ = 1 4
4
ρ sin φ dφ dθ
0 0 0 0 0 0
Z 2π π Z 2π

=4 − cos φ dθ = 4 2 dθ = 16π
0 0 0

Z π Z φ Z a csc θ
2
ρ3 sin2 θ sin φ dρ dθ dφ.
π π
4 4
0

Solution:
Z πZ Z Z π Z a csc θ
2
φ a csc θ 2
φ
3 2
ρ sin θ sin φ dρ dθ dφ = 1 4
4
ρ sin θ sin φ dθ dφ
2
π π π π
4 4
0 4 4 0
Z π Z φ Z π Z φ
2 2
= 41 a4 csc4 θ sin2 θ sin φ dθ dφ = 14 a4 csc2 θ sin φ dθ dφ
π π π π
4 4 4 4
Z π φ Z π
2 2
= 1 4
4
a − cot θ sin φ dφ = 4 a
1 4
(− cot φ + cot π4 ) sin φ dφ
π π π
4 4 4
Z π π
2 2
= 1 4
4
a (− cos φ + sin φ) dφ = 1 4
4
a (− sin φ − cos φ)
π π
4
√ √ √
4
1 4 2 2 1 4
= 4
a −1−0+ 2
+ 2
= 4
a( 2 − 1)

Z 2 Z √4−y2 Z √4−x2 −y2
1
p dz dx dy
0 0 0 x2 + y 2 + z 2
using spherical coordinates.
Solution:
Z Z √ 2 4−y 2 Z √4−x2 −y2
1
p dz dx dy
0 0 0 x + y2 + z2
2
Z π Z π Z 2 Z πZ π Z 2
2 2 1 2
2 2
= p · ρ sin φ dρ dφ dθ = ρ sin φ dρ dφ dθ
0 0 0 ρ2 0 0 0
Z π 2 π
π 2
1 2
2
= · 2
ρ sin φ dφ dθ = −π cos φ = −π(cos π2 − cos 0) = π
2 0 0 0

Z Z √ Z √ 2 4−x2 4−x2 −y 2 p
z 4 − x2 − y 2 dz dy dx
0 0 0
using spherical coordinates.

Solution:
Z 2 Z √ Z √4−x2 −y2 p
4−x2
z 4 − x2 − y 2 dz dy dx
0 0 0
Z π Z 2Z π q
2 2
= ρ cos φ 4 − ρ2 sin2 φ · ρ2 sin φ dφ dρ dθ
0 0 0
Z π Z 2Z π q
2 2
= ρ 4 − ρ2 sin2 φ · ρ2 sin φ cos φ dφ dρ dθ
0 0 0
Z 2 h i
π 2 2 π 3/2 2 2 3/2
=− · ρ (4 − ρ sin 2 ) − (4 − ρ sin 0) dρ
6 0
Z 2
π π n1 o2
=− · ρ (4 − ρ ) − 8 dρ = · 5 (4 − ρ ) + 4ρ
2 3/2 2 5/2 2
6 0 6 0
n o 2 n o
π π 8π
= · 15 (4 − ρ2 )5/2 + 4ρ2 = · 15 · 0 + 16 − 15 · 32 =
6 0 6 5
Example 4.70 Find the volume of the solid inside the sphere
x2 + y 2 + z 2 = 4z
and above the cone x2 + y 2 = z 2 .

z
..
.....
.......
...
..
...
..
...
..
...
..
...
..
...
..
...
..
...
..
...
..
.
......... ....
........ . .....................
. .
..
...
...
... .......... ...................
...
............ . .........
.............. ... .........
............... .. .........
.............. ...
.........
.....
............................ .........
.........
...... ..... ......... .
x ..........
.... ........
y
Figure 4.16:
Note that
x2 + y 2 + z 2 = 4z ⇒ ρ2 = 4ρ sin φ ⇒ ρ = 4 sin φ and

π
x2 + y 2 = z 2 ⇒ ρ2 sin2 φ = ρ2 cos2 φ ⇒ φ = ± .
4

Then
ZZZ Z 2π Z π Z 4 sin φ
4
V (S) = dV = ρ2 sin φ dρ dφ dθ
0 0 0
S
Z π 4 sin φ Z π
4
1 3
4
= 2π 3
ρ sin φ dφ = 128
3
π sin3 φ · sin φ dφ
0 0 0
Z π 2 Z π
4 1 − cos 2φ 4
= 128
3
π dφ = 32
3
π (1 − 2 cos 2φ + cos2 2φ) dφ
0 2 0
Z π
32
4 1 + cos 4φ
= 3π 1 − 2 cos 2φ + dφ
0 2
π4

32 3 1 32
= 3 π 2 φ − sin 2φ + 8 sin 4φ = 3 π 23 · π
− sin π
+0
4 2
0

32 3 4
= 3 π 8 π − 1 = 3 π(3π − 8)
Example 4.71 Find the volume of the solid inside the sphere
x2 + y 2 + z 2 = 2z
and above the paraboloid x2 + y 2 = z.
z
.
....
..........
...
..
..
..
...
..
...
..
...
..
...
..
...
..
.
...
..
..
...
......... ...
........ .. ......................
..
...... .....................
........
............... .. .........
............... .........
..
...
...
...
................ ..
... .........
...
...
...
...
......... .
.........
.........
...
................ .........
.
..
.. ...... ......... .
x ..............
. .....
y
Figure 4.17:
Note that
x2 + y 2 + z 2 = 2z ⇒ ρ2 = 2ρ sin φ ⇒ ρ = 2 sin φ and
x2 + y 2 = z ⇒ ρ2 sin2 φ = ρ cos φ ⇒ ρ = csc φ cot φ.
Then
ZZZ Z 2π Z π Z 2 sin φ
4
V (S) = dV = ρ2 sin φ dρ dφ dθ
0 0 0
S
Z 2π Z π Z csc φ cot φ
2
+ ρ2 sin φ dρ dφ dθ
π
0 4
0

BIBLIOGRAPHY
[1] Ayres, F. Jr. and Mendelson, E., Schaum’s Outline Series: The-
ory and Problems of Differential and Integral Calculus 3ed,
McGraw-Hill Book Company, 1992.
[2] Cain, George and Herold, James, Multivariable Calculus, 1997.
[3] Chen, WWL, First Year Mathematics, Lecture Notes, 2003.
[4] Keisler, H. Jerome, Elementary Calculus: An Infinitesimal Ap-

proach 2ed, 2000.
[5] Leithold, Louis, The Calculus with Analytic Geometry 6ed, Harper
and Row, Publishers, 1990.
[6] Smith, Robert T. and Minton, Roland B., Calculus: Early Transcen-
dental Functions 4ed, McGraw-Hill, 2012.
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The Department of Mathematics and Statistics

1 VECTORS AND THE GEOMETRY OF SPACE 1

2 VECTOR-VALUED FUNCTIONS AND CURVES 23

3 DIFFERENTIAL CALCULUS OF FUNCTIONS IN SEV-

3.6.1 The Chain Rule . . . . . . . . . . . . . . . . . . . . . . 38

4 MULTIPLE INTEGRALS AND LINE INTEGRAL 53

NOTES FOR MAT070 DEPT. OF MATH & STAT, CSM, MSU-IIT

VECTORS AND THE GEOMETRY OF SPACE

“Q: What do you get if you cross a

1.1 The Three-Dimensional Cartesian Coordinate System

and the two-dimensional space R2 given by

Consider the cartesian product R2 × R and R × R2 . Then

In the geometric representation of R3 , three coordinate axes are given, usually

Figure 1.1: The three-dimensional Euclidean space R3 .

Other popular methods of describing the location of a point in three-

In R3 , we have 3 coordinate planes, namely:

Definition 1.1 An octant is one of the eight compartments of R3 .

Remark 1.2 Let P (x, y, x) be a point in R3 . Then

NOTES FOR MAT070 DEPT. OF MATH & STAT, CSM, MSU-IIT

Definition 1.9 The graph of an equation in R3 is the set of all points

One particular surface is the sphere.

Definition 1.10 A sphere is the set of all points in 3-dimensional space

Theorem 1.11 An equation of the sphere of radius r and center at (h, k, l)

(x − h)2 + (y − k)2 + (z − l)2 = r2 .

is either a sphere, a point or the empty set.

J.V.BENITEZ CALCULUS WITH ANALYTIC GEOMETRY 2

1.2 Vectors in Space

Definition 1.13 A vector in R3 is an ordered triple of real numbers

The set of all vectors in R3 is denoted by V3 ; i.e.

There are four vectors in R3 having special notations:

ı̂ = h1, 0, 0i , ̂ = h0, 1, 0i , k̂ = h0, 0, 1i , and 0̂ = h0, 0, 0i .

We note that 0 ≤ α, β, γ ≤ π. It can be seen that

NOTES FOR MAT070 DEPT. OF MATH & STAT, CSM, MSU-IIT

It can be seen also that

cos2 α + cos2 β + cos2 γ = 1.

1.3 The Dot Product

Similarly, we define the dot product in R3 as follows:

J.V.BENITEZ CALCULUS WITH ANALYTIC GEOMETRY 2

NOTES FOR MAT070 DEPT. OF MATH & STAT, CSM, MSU-IIT

Refer to Figure 1.2(a), we have

Now, refer to Figure 1.2(b), we also have

J.V.BENITEZ CALCULUS WITH ANALYTIC GEOMETRY 2

1.4 The Cross Product

Mnemonic Device: Using determinant of 2 × 2 matrices, we may define

We illustrate this in the following example:

NOTES FOR MAT070 DEPT. OF MATH & STAT, CSM, MSU-IIT

Remark 1.40 The following can be verified easily:

Theorem 1.41 For any vectors A, B and C in R3 ,

J.V.BENITEZ CALCULUS WITH ANALYTIC GEOMETRY 2

We see that the area A(P QRS) of the parallelogram P QRS is

A(P QRS) = |P Q| · |SJ|.

Note also that − −

NOTES FOR MAT070 DEPT. OF MATH & STAT, CSM, MSU-IIT

1.5 Planes and Lines in Space

a(x − x0 ) + b(y − y0 ) + c(z − z0 ) = 0.

J.V.BENITEZ CALCULUS WITH ANALYTIC GEOMETRY 2

Example 1.50 Draw a sketch of the plane of 4x − 4y + 2z − 9 = 0.

Example 1.54 Find an equation of the plane perpendicular to each of the

1.5.2 Lines in Space

Definition 1.55 We call (1.1) the parametric equations of the line

These equations can be written as

Theorem 2.17 Let − r (t) and −