CALCULUS HANDOUT 11 - LINE AND SURFACE INTEGRALS

ELEMENTARY CURVES
An elementary curve is a set of points C ⊂ R3 for which there exists a closed interval [a, b] ⊂ R and a function
ϕ : [a, b] → C which is bijective on [a, b) and smooth (of class C 1 ).
The points A = ϕ(a) and B = ϕ(b) are called the end points of the curve.
The function ϕ is called a parametric representation of the curve.
The vector ϕ0 (t) is tangent to the curve at the point ϕ(t).
An elementary closed curve is a curve with parametric representation ϕ such that ϕ(a) = ϕ(b).
! Any elementary curve possesses an infinity of parametric representations.
! The end points of an elementary curve are independent of the parametric representation of the curve.
The length of the elementary curve C with parametric representation ϕ : [a, b] → C is given by:
Zb Zb q
l= ||ϕ0 (t)k dt = ϕ˙1 2 (t) + ϕ˙2 2 (t) + ϕ˙3 2 (t) dt
a a

! The curve length is independent of the parametric representation of the curve C.

The arc length of the elementary curve C with representation ϕ is defined as
q
ds = ||ϕ0 (t)k dt = ϕ˙1 2 (t) + ϕ˙2 2 (t) + ϕ˙3 2 (t) dt

LINE INTEGRALS
Let f be a continuous function defined at least at each point of the curve C, with representation ϕ : [a, b] → C.
Line integral of first type (with respect to the arc length)
Z Z b q
f ds = f (ϕ1 (t), ϕ2 (t), ϕ3 (t)) · ϕ̇21 (t) + ϕ̇22 (t) + ϕ̇23 (t) dt
C a

Line integrals of second type (with respect to coordinate variables)

The line integral of f along C with respect to x, y and z:
Z Z b
f (x, y, z)dx = f (ϕ1 (t), ϕ2 (t), ϕ3 (t))ϕ01 (t) dt
C a
Z Z b
f (x, y, z)dy = f (ϕ1 (t), ϕ2 (t), ϕ3 (t))ϕ02 (t) dt
C a
Z Z b
f (x, y, z)dz = f (ϕ1 (t), ϕ2 (t), ϕ3 (t))ϕ03 (t) dt
C a

Green’s theorem in the plane

Let R be a closed bounded region in the x, y plane whose boundary C consists of finite many elementary curves.
Let f (x, y) and g(x, y) be functions which are continuous and have continuous partial derivatives of first order
everywhere in some domain containing R. Then the following equality holds:
ZZ I
∂g ∂f
( − ) dx dy = f dx + g dy
∂x ∂y
R C

The integration being taken along the entire boundary C of R such that R is on the left as one moves on C.

ELEMENTARY SURFACES
An elementary surface is a set of points S ⊂ R3 for which there exists a bounded, open and connected set
∂ϕ ∂ϕ
D ⊂ R2 and a bijective and smooth function ϕ : D → S such that the vector N (u, v) = × 6= 0 for any
∂u ∂v
(u, v) ∈ D.
The function ϕ is called parametric representation of S.
∂ϕ ∂ϕ
The vectors , are tangents to the surface S at the point ϕ(u, v).
∂u ∂v
The vector N (u, v) is called the normal vector to the surface S at the point ϕ(u, v).
N
The vector n = kN k
is called unit normal vector to the surface S.
! An elementary surface possesses an infinity of parametric representations.
! The direction of N is independent of the parametric representation, but its orientation depends on the parametric
representation of S.
The surface area element is defined as dS = kN (u, v)kdudv
SURFACE INTEGRALS
Let f be a continuous function at least at the points of the elementary surface S with parametric representation
ϕ : D ⊂ R2 → S.
Surface integrals of first type (with respect to the surface area element)
ZZ ZZ ZZ
∂ϕ ∂ϕ
f (x, y, z)dS = f (ϕ(u, v))kN (u, v)kdudv = f (ϕ(u, v))k × kdudv
S D D ∂u ∂v
If the elementary surface S is represented in the form z = g(x, y), (x, y) ∈ D then
ZZ ZZ s
∂g ∂g
f (x, y, z)dS = f (x, y, g(x, y)) · 1 + ( )2 + ( )2 dx dy
S D ∂x ∂y

Surface integrals of second type (with respect to coordinate elements)

Denoting the angles between the unit normal vector n and the positive x, y and z axes by α, β and γ respectively,
we have
n = (cos α, cos β, cos γ)
Consider three functions P, Q, R which are continuous at each point of the surface S. We can define the integrals:
ZZ ZZ
P dy dz = P cos α dS
S S
ZZ ZZ
Q dz dx = Q cos β dS
S S
ZZ ZZ
R dx dy = R cos γ dS
S S

Introducing the vector function

F (x, y, z) = (P (x, y, z), Q(x, y, z), R(x, y, z))

we obtain the following simple formula for the sum of the above integrals:
ZZ ZZ ZZ
P dy dz + Q dz dx + R dx dy = (P cos α + Q cos β + R cos γ) dS = F · n dS
S S S

Properties of surface integrals

Let A be a closed bounded region in space whose boundary S is is a union of elementary surfaces and is orientable.
Divergence theorem of Gauss
If the vector function F (x, y, z) = (P, Q, R) has continuous first order partial derivatives in some domain containing
A, then ZZZ ZZ
div F (x, y, z) dx dy dz = F · n dS
A S

where n is the outer unit normal vector of S and

∂P ∂Q ∂R
div F (x, y, z) = + +
∂x ∂y ∂z

Let S be an elementary surface in space and let C be the boundary of S, an elementary closed curve.
Stokes’s theorem
If the vector valued function v has continuous first order partial derivatives in a domain in space which contains
S, then ZZ Z
(curl v) · n dS = v · t ds
S C

∂v3 ∂v2 ∂v1 ∂v3 ∂v2 ∂v1

Here: curl v = ( − , − , − ), n is the unit normal vector of S and t is the unit tangent
∂x2 ∂x3 ∂x3 ∂x1 ∂x1 ∂x2
vector of C.
EXERCISES
1. In the following exercises, evaluate the line integrals:
Z Z Z
f (x, y) ds f (x, y) dx f (x, y) dy
C C C

1. f (x, y) = x2 + y 2 and C : x = 4t − 1, y = 3t + 1, t ∈ [−1, 1]

2. f (x, y) = x + y and C : x = et + 1, y = et − 1, t ∈ [0, ln 2]
3. f (x, y) = 2x − y and C : x = sin t, y = cos t, t ∈ [0, π/2]
4. f (x, y) = xy and C : x = 3t, y = t4 , t ∈ [0, 1]
5. f (x, y) = xy and C is the part of the graph of y = x2 from A(−1, 1) to B(2, 4)
6. f (x, y) = y 2 and C is the part of the graph of x = y 3 from A(−1, −1) to B(1, 1)
√
7. f (x, y) = y x and C is the part of the graph of y 2 = x3 from A(1, 1) to B(4, 8)
8. f (x, y) = x2 y and C consists of the line segments AB and BC where A(−1, 1), B(2, 1) and C(2, 5)
9. f (x, y) = x2 + y 2 and C is the arc of the circle x2 + y 2 = 1 from A(1, 0) to B(−1, 0)
10. f (x, y) = x + y and C : x = a cos3 t, y = a sin3 t between A(a, 0) and B(0, a), a ∈ R
p
11. f (x, y) = y(2 − y) and C : x = t − sin t, y = 1 − cos t, t ∈ [0, π/2]
Z
2. Compute the line integrals of first type f (x, y, z) ds for:
C
3
1. f (x, y, z) = xy and C is the line segment y = 2x in the plane Oxy from A(−1, −2, 0) to B(1, 2, 0)
2. f (x, y, z) = (x2 + y 2 + z 2 )2 and C is the helix ϕ(t) = (cos t, sin t, t) from A(1, 0, 0) to B(1, 0, 6π)
3. f (x, y, z) = xyz and C is the straight line segment from A(1, −1, 2) to B(3, 2, 5)
4. f (x, y, z) = 2x + 9xy and C : x = t, y = t2 , z = t3 , t ∈ [0, 1]
5. f (x, y, z) = xy and C is the elliptical helix x = 4 cos t, y = 9 sin t, z = 7t, t ∈ [0, 5π/2]
Z
3. Compute the line integral of second type x2 y dx + (x − z) dy + xyz dz in each of the following cases:
C

1. C is the arc of parabola y = x2 in the plane z = 2 from A(0, 0, 2) to B(1, 1, 2)

2. C is the straight line segment x = y, z = 2, from A(0, 0, 2) to B(1, 1, 2)
4. Using Green’s theorem, evaluate the following integrals (consider positive orientation - counterclockwise):
I
1. y dx + 2x dy where C is the boundary of the square 0 ≤ x ≤ 1, 0 ≤ y ≤ 1
IC
2. y 3 dx + (x3 + 3y 2 x) dy where C is the boundary of the region y = x2 and y = x, x ∈ [0, 1]
C
I
3. 2xy dx + (ex + x2 ) dy where C is the boundary of the triangle with vertices (0, 0), (1, 0), (1, 1)
C
I
4. −xy 2 dx + x2 y dy where C is the boundary of the region in the first quadrant bounded by y = 1 − x2
C
I
5. (x + y 2 ) dx + (y + x2 ) dy where C is the square with vertices (±1, ±1)
C
I
6. (x2 + y 2 ) dx − 2xy dy where C is the boundary of the triangle bounded by the lines x = 0, y = 0, x + y = 1
C
I
7. (y + ex ) dx + (2x2 + cos y) dy where C is the boundary of the triangle with vertices (0, 0), (1, 1), (2, 0)
C
I
x
8. (−y 2 + ee ) dx + arctan y dy where C is the boundary of the region between the parabolas y = x2 , x = y 2
C
I
9. y 2 dx + (2x − 3y) dy where C is the circle x2 + y 2 = 9
C
I
10. (x − y) dx + y dy where C is the boundary of the region between Ox and the graph of y = sin x, x ∈ [0, π]
C
 ZZ
5. In the following exercises, evaluate the surface integral of first type f (x, y, z) dS:
S

1. f (x, y, z) = x + y and S is the first-octant part of the plane x + y + z = 1

2. f (x, y, z) = xyz and S is the triangle with vertices (3, 0, 0), (0, 2, 0) and (0, 0, 6)
3. f (x, y, z) = y + z + 3 and S is the part of the plane z = 2x + 3y that lies inside the cylinder x2 + y 2 = 9
p
4. f (x, y, z) = z 2 and S is the part of the cone z = x2 + y 2 that lies inside the cylinder x2 + y 2 = 4
5. f (x, y, z) = xy + 1 and S is the part of the paraboloid z = x2 + y 2 that lies inside the cylinder x2 + y 2 = 4
p
6. f (x, y, z) = (x2 + y 2 )z and S is hemisphere z = 1 − x2 − y 2
ZZ
6. In the following exercises, compute the moment of inertia (x2 + y 2 ) dS of the surface S (with constant
S
density δ = 1) with respect to the z-axis:
1. S is the part of the plane z = x + y that lies inside the cylinder x2 + y 2 = 9
2. S is the part of the surface z = xy that lies inside the cylinder x2 + y 2 = 25
3. S is the part of the cylinder x2 + z 2 = 1 that lies between the planes y = −1 and y = 1
p
4. S is the part of the cone z = x2 + y 2 that lies between the planes z = 2 and z = 5
5. S is the part of the sphere x2 + y 2 + z 2 = 25 that lies above the plane z = 3
6. S is the part of the sphere x2 + y 2 + z 2 = 25 that lies outside the cylinder x2 + y 2 = 9
7. Compute the following surface integrals of second type:
ZZ p
1. (x dy dz + y dz dx) where S is the hemisphere z = 9 − x2 − y 2
S
ZZ
2. (x dy dz + y dz dx + z dx dy) where S is the first-octant part of the plane 2x + 2y + z = 3
S
ZZ
3. (2y dz dx + 3z dx dy) where S is the part of the plane z = 3x + 2 that lies within the cylinder x2 + y 2 = 4
S
ZZ
4. (2x dy dz + 2y dz dx + 3 dx dy) where S is the part of the paraboloid z = 4 − x2 − y 2 that lies above the
S
xy-plane
ZZ
8. Use the divergence theorem to evaluate F · n dS, where n is the outer unit normal vector to the surface S:
S

1. F = (x2 , y 2 , z 2 ) and S is the surface of the cube bounded by the three coordinate planes and the planes
x = 2, y = 2 and z = 2
2. F = (x3 , y 3 , z 3 ) and S is the surface of the cylinder bounded by x2 + y 2 = 9, z = −1 and z = 4
3. F = ((x2 + y 2 )x, (x2 + y 2 )y, 0) and S is the surface of the region bounded by the plane z = 0 and the
paraboloid z = 25 − x2 − y 2
4. F = (xy 2 +e−y sin z, x2 y +e−x cos z, arctan xy) and S is the surface of the region bounded by the paraboloid
z = x2 + y 2 and the plane z = 9