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Vector Calculus
1. Elementary
2. Vector Product
3. Differentiation of Vectors
4. Integration of Vectors
5. Del Operator or Nabla (Symbol )
6. Polar Coordinates
1
Chapter 2
Continued
7.
Line Integral
8.
Volume Integral
9.
Surface Integral
O A
or
Unit vectors , ,
[x, y, z]
with magnitude (length)
OP p
x y z
2
Let a a1 i a2 j a3 k and b b1 i b2 j b3 k .
Then
a b a1 b1 , a2 b2 , a3 b3
If is a scalar, then
Example 2.1
a) p q
b) p q
c) Magnitude of vector p
d) 2q 10p
10
2.2
Vector Products
If a a1 i a2 j a3 k and b b1 i b2 j b3 k ,
~
a b a1 a2
~
~
b1 b2
a3
b3
11
compb a
and
a .b
~
b , projection a onto b
a
|b|
~
length (l )
| a .b |
~
|b|
compb a
1
A a b .
2 ~ ~
b
a
12
A a xb
a2
b2
c2
a3
b3
c3
a2
b2
c2
a3
b3
c3
a b
c
13
Example 2.3
Given a 2 i 3 j k and b i 2 j k ,
~
14
A(u ) a x (u ) i a y (u ) j a z (u ) k
~
dA
da y
da x
da z
i
j
k
du
du ~ du ~ du ~
~
15
dn A
n
n
n
d
a
d
a
d
az
y
x
~
i
j
k.
n
n ~
n
n ~
du
du
du ~ du
dn A
The magnitude of du
d A
du
~
n
~
n
is
d ay
d ax
d az
n
n
n
du
du
du
n
16
Example 2.4
If A 3u 2 i 2u j 5 k
~
hence
dA
~
du
d2 A
du
~
2
17
Example 2.5
The position of a moving particle at time t is given
by x 4t + 3, y t2 + 3t, z t3 + 5t2. Obtain
The velocity and acceleration of the particle.
The magnitude of both velocity and acceleration
at t 1.
18
Solution
The parameter is t, and the position vector is
r (t ) ( 4t 3) i (t 2 3t ) j (t 3 5t 2 ) k .
~
dr
~
dt
4 i ( 2t 3) j (3t 2 10t ) k .
~
is
The acceleration
2
d r
dt
~
2
2 j (6t 10) k .
~
19
d r (1)
~
dt
4 i 5 j 13 k .
~
d r (1)
~
dt
4 2 52 132
210 .
20
d 2 r (1)
~
dt
2 j (6(1) 10) k
~
2 j 16 k .
~
d 2 r (1)
~
dt 2
2 2 162
2 65.
21
dA
d
a)
(c A) c ~
du ~
du
dA dB
d
b)
( A B ) ~ ~
du ~ ~
du du
dB dA
d
c)
( A . B ) A . ~ ~ .B
~ du
du ~ ~
du ~
dB dA
d
d)
( A B) A ~ ~ B
~
du ~ ~
du du ~
22
A(u1 , u2 , , u n ) a x (u1 , u2 , , un ) i
~
a y (u1 , u2 , , un ) j
~
a z (u1 , u2 , , u n ) k
~
23
Partial derivative of
with
A respect to
~
is given
u by
1
a y
a x
a z
i
j
k,
u1 u1 ~ u1 ~ u1 ~
~
2 A
2a y
az
x
~
i
j
k
u1u2 ~ u1u2 ~ u1u2 ~
e.t.c. u1u2
2
24
Example 2.6
If F 3uv 2 i (2u 2 v) j (u 3 v 2 ) k
~
then
F
~
u
F
~
v
2 F
v
~
2
3v 2 i 4u j 3u 2 k ,
~
6uv i j 2v k ,
~
6u i 2 k ,
~
2 F
u
2 F
~
uv
~
2
4 j 6u k ,
~
2 F
~
vu
6v i
~
25
Exercise 2.1
If F 2u 2 v i (3u v 3 ) j (u 3 3v 2 ) k
~
then
F
~
u
2 F
~
2
u
2
F
uv
F
~
v
2 F
~
2
v
2
F
vu
26
If A(u ) a x (u ) i a y (u ) j a z (u ) k
~
then
A(u ) du a x (u ) du i
a ~
a y (u ) du j a z (u ) du k .
a
27
Example 2.7
If F (3t 2 4t ) i (2t 5) j 4t 3 k ,
~
calculate F dt.
1
Answer
F dt
~
(3t 4t ) dt i (2t 5) dt j 4t 3 dt k
2
42 i 2 j 80 k .
~
28
Exercise 2.2
If F (t 3 3t ) i 2t 2 j (t 4) k ,
~
calculate
F dt.
0 ~
Answer
1
F dt
0 ~
(t 3t ) dt i 2t dt j (t 4) dt k
3
7
2
7
i j k.
4~ 3 ~ 2 ~
29
i
j k .
x ~ y ~ z ~
30
grad
i
j
k.
x ~ y ~ z ~
* is a scalar function
* is a vector function
31
Example 2.8
If x 2 yz 3 xy 2 z 2 , determine grad at P (1,3,2).
Solution
Given x 2 yz 3 xy 2 z 2 , hence
2 xyz 3 y 2 z 2
x
x 2 z 3 2 xyz 2
y
3x 2 yz 2 2 xy 2 z
z
32
Therefore,
i
j
k
x ~ y ~ z ~
(2 xyz 3 y 2 z 2 ) i ( x 2 z 3 2 xyz 2 ) j
~
(3 x 2 yz 2 2 xy 2 z ) k .
~
At P (1,3,2), we have
(2(1)(3)(2) 3 (3) 2 (2) 2 ) i ((1) 2 (2) 3 2(1)(3)(2) 2 ) j
~
84 i 32 j 72 k .
~
33
Exercise 2.3
If x 3 yz xy 2 z 3 ,
determine grad at point P (1,2,3).
34
Solution
Given x 3 yz xy 2 z 3 , then
z
Grad
At P (1,2,3),
35
1) ( A B ) A B
2) ( AB ) A(B ) B(A)
36
d
a . grad
ds ~
dr
where a ~ ,
~
dr
~
37
Example 2.9
Compute the directional derivative of x 2 z 2 xy 2 yz 2
at the point (1,2,1) in the direction of the vector
A 2i 3 j 4k.
~
38
Solution
Directional derivative of in the direction of
d
a . grad
ds ~
a
~
where grad
i
j
k and a ~ .
~
x ~ y ~ z ~
A
~
Given x 2 z 2 xy 2 yz 2 , hence
(2 xz 2 y 2 ) i (4 xy z 2 ) j ( x 2 2 yz ) k .
~
39
At (1,2,-1),
(2(1)(1) 2(2) 2 ) i (4(1)(2)
~
6 i 9 j 3k .
~
A 2 2 32 (4) 2
~
29 .
40
Therefore, a
~
A
~
2
3
4
i
j
k.
29 ~
29 ~
29 ~
d
Then,
a .
ds ~
3
4
2
i
j
k .(6 i 9 j 3 k )
~
~
~
~
29 ~
29 ~
29
4
2
3
( 6)
(9)
(3)
29
29
29
51
9.470462.
29
41
d d r .grad 0
~
d r grad cos 0
~
cos 0
90.
42
grad d r .
~
grad
ds
x
z
43
n
.
~
Example 2.10
Calculate the unit normal vector at (-1,1,1) for 2yz
xz xy 0.
44
Solution
Given 2yz xz xy 0. Thus
( z y ) i ( 2 z x ) j ( 2 y x ) k .
~
At (-1,1,1), (1 1) i (2 1) j (2 1) k
~
2 i j k
~
and 4 1 1 6 .
The unit normal vector is
2 i j k
~
(2 i j k )
6 ~ ~ ~
45
defined as
div A . A
~
i
j k .(a x i a y j a z k )
~
~
~
x ~ y ~ z ~
a x a y a z
div A . A
.
~
~
x
y
z
46
Example 2.11
If A x 2 y i xyz j yz 2 k ,
~
Answer
a x a y a z
div A . A
~
~
x
y
z
2 xy xz 2 yz.
At point (1,2,3),
div A 2(1)(2) (1)(3) 2(2)(3)
~
13.
47
Exercise 2.4
If A x 3 y 2 i xy 2 z j yz 3 k ,
~
Answer
a x a y a z
div A . A
~
~
x
y
z
At point (3,2,1),
div A
~
114 .
48
Remarks
A is a vector function, but div A is a scalar function.
~
49
curl A A
~
i
j k (a x i a y j a z k )
~
~
~
x ~ y ~ z ~
i
curl A A
~
~
x
ax
j
~
y
ay
k
~
.
z
az
50
Example 2.12
If A ( y 4 x 2 z 2 ) i ( x 2 y 2 ) j x 2 yz k ,
~
51
Solution
curl A A
~
y4 x2 z2
x2 y2
k
~
z
x 2 yz
2
2
2
( x yz ) ( x y ) i
z
y
~
4
2
2 2
( x yz ) ( y x z ) j
z
x
~
2
4
2
2 2
( x y ) ( y x z ) k
y
x
~
x 2 z i (2 xyz 2 x 2 z ) j (2 x 4 y 3 ) k .
~
52
At (1,3,-2),
curl A (1) 2 (2) i (2(1)(3)(2) 2(1) 2 (2)) j
~
(2(1) 4(3) 3 ) k
~
2 i 8 j 106 k .
~
Exercise 2.5
If A ( xy 3 y 2 z 2 ) i ( x 2 z 2 ) j x 2 yz 2 k ,
~
53
Answer
curl A ( x 2 z 2 2 z ) i (2 xyz 2 2 y 2 z ) j
~
(2 x 3 xy 2 2 yz 2 ) k .
~
At (1,2,3), curl A 15 i 12 j 26 k .
~
Remark
54
y
ds
d
x r cos
y r sin
dS r dr d
x
56
ds
x cos
y sin
zz
dS d dz
dV d d dz
z
dv
x
57
x r sin cos
r
y r sin sin
z r cos
y
dS r 2 sin d d
x
dV r 2 sin dr d d
58
f (s) ds = f (x, y, z) ds
r
~
r d r
~
59
Vdr
c
where d r dx i dy j dz k .
~
60
Example 2.14
y 2u 2 , z u 3 ,
Vdr
c
along C
61
Solution
Given V xy 2 z
(3u )(2u 2 ) 2 (u 3 ) 12u 8 .
And, d r dx i dy j dz k
~
3 du i 4u du j 3u 2 du k .
~
At A (0,0,0), 3u 0, 2u 2 0, u 3 0,
u 0.
At B (3,2,1), 3u 3, 2u 2 2, u 3 1,
u 1.
62
u 1
u 0
1
4u
9 1
0
24 10
i
u
~
5
36 11
j
u k
~
11 0 ~
24
36
4i
j
k.
~
5 ~ 11 ~
63
Exercise 2.6
If V x 2 yz 2 and the curve C is given by
x 4u ,
y 3u 3 , z 2u 2 ,
64
F Fx i Fy j Fz k
~
d r dx i dy j dz k .
~
F . d r is written as
~
F . d r ( Fx i Fy j Fz k ).(dx i dy j dz k )
~
Fx dx Fy dy Fz dz.
65
F. d r F
c ~
dx Fy dy Fz dz.
c
66
Example 2.15
Calculate
67
Solution
Given F x 2 y i xz j 2 yz k
~
32t 4 i 4t 4 j 4t 5 k .
~
And d r dx i dy j dz k
~
4 dt i 4t dt j 3t 2 dt k .
~
68
Then
F . d r (32t 4 i 4t 4 j 4t 5 k )(4 dt i 4t dt j 3t 2 dt k )
~
69
t 1
t 0
128 5 8 6 3 8
t t t
3
2
5
128 8 3
5
3 2
23
26 .
30
70
Exercise 2.7
If F xy 2 i yz j 3 x 2 z k ,
~
calculate F . d r
c ~
61
F .d r 7
.
~
~
168
71
* Double Integral *
Example 2.16
Given f ( x, y ) 4 y 2 in region R bounded
by a straight line x 0, y x and y 2.
Find f ( x, y ) dA in both order integrals.
R
Answer
f ( x, y ) dA 4 unit 2 .
72
Example 2.17
Using double integral, find the area of a region
bounded by y 5 x 2 and y x 3.
1
2
Answer The area of the region 4 unit .
2
73
Example 2.18
Evaluate a solid which is bounded by
z 16 x 2 y 2 and z 2.
Stated f ( x, y, z ) dV as integral in order dz dy dx.
74
Example 2.19
Describe f ( x, y, z ) dV as integral in order
dz dy dx if S is a solid which is bounded by
z 0, z x, and y 4 2 x.
2
75
FdV
V
Fdxdydz
76
Example 2.20
Scalar function F 2 x defeated in one cubic that
has been built by planes x 0, x 1, y 0, y = 3,
z 0 and z 2. Evaluate volume integral F of the
cubic.
z
2
77
Solution
2
z 0
y 0
x 0
FdV
V
2 xdxdydz
1
x
2
dydz
z 0 y 0
2 0
2
3
1
2
dydz
z 0 y 0 2
3
1 2
2. [ y ] dz
0
2 z 0
2
2
3
dz
3
[
z
]
0 6
z 0
78
V, Volume integral F of V is
~
F dV
V ~
x2
x1
y2
z2
y1
z1
F dzdydx
~
79
Example 2.21
Evaluate
F dV
V ~
F 2z i y k
~
80
Solution
If x y 0, plane 2x y z 2 intersects z-axis at z 2.
(0,0,2)
If x z 0, plane 2x y z 2 intersects y-axis at y 2.
(0,2,0)
If y z 0, plane 2x y z 2 intersects x-axis at x = 1.
(1,0,0)
81
z
2
2x + y + z = 2
y = 2 (1 x)
0 to x 1.
0 to line y 2(1x).
82
Therefore,
F dV
2 (1 x )
x 0 y 0
V ~
x 0
2 (1 x )
y 0
2 (1 x ) y
z 0
F dzdydx
~
2 (1 x ) y
z 0
( 2 z i y k ) dzdydx
~
2
1
i k
3~ 3~
83
Example 2.22
Evaluate
and
where
F 2 i 2z j y k
F dV
~
~
~
~
V is region bounded by z = 0, z = 4
V ~
and x2 + y2 = 9
z
4
84
x cos ; y sin ; z z ;
dV dddz
where
0 3, 0 2 , 0 z 4
85
Therefore,
F dV ( 2 i 2 z j y k )dxdydz
V ~
z 0
(2 i 2 z j sin k )
~
dddz
72 i 144 j
~
86
Exercise 2.8
Answer :18 2 i j
~ ~
87
Vd S V n dS
S
where
S
n
~
S
88
Example 2.23
Scalar field V x y z defeated on the surface
S : x2 y2 4 between z 0 and z 3 in the
first octant.
Evaluate
Vd S
S
Solution
Given S : x2 y2 4 , so grad S is
S S
S
S
i
j k 2x i 2 y j
~
x ~ y ~ z ~
~
89
Also,
S ( 2 x ) 2 ( 2 y ) 2 2 x 2 y 2 2 4 4
Therefore,
S
n
~
S
2x i 2 y j
~
1
( x i y j)
2 ~
~
Then,
1
S V n~ dS S xyz 2 ( x i~ y ~j )dS
1
( x 2 yz i xy 2 z j )dS
~
2
~
90
91
x cos 2 cos
y sin 2sin
zz
dS d dz
st
where 0
(1 octant) and 0 z 3
2
92
1
2
2
V
n
dS
(
x
yz
i
xy
z j )dS Vd S
S ~
S
~
~
2S
~
93
Therefore,
1 2 3
2
2
Vd
S
(
8
z
cos
sin
8
z
sin
cos j )(2)dzd
S ~ 2 0 z 0
~
~
3
2
0
1 2 2
1 2 2
z
cos
sin
z
sin
cos
j d
2
~ 2
~ 0
2
0
9 2
9 2
cos
sin
sin
cos
j d
2
~ 2
~
8
8
9 2
8 cos2 sin i sin 2 cos j d
~
2 0
~
cos3 sin sin 3 cos
36
i
3( sin ) ~ 3(cos )
~j
2
0
12( i j )
~
94
Exercise 2.9
If V is a scalar field where V xyz 2 , evaluate
Answer : 24( i j )
~
95
F Integral
~
F
~
F . d S F . n dS
S ~
S ~
S
where n
~
S
96
Example 2.24
Vector field F y i 2 j k defeated on surface
~
S : x 2 y 2 z 2 9 and bounded by x 0, y 0, z 0 in
the first octant.
Evaluate
F .d S .
S ~
97
Solution
Given S : x 2 y 2 z 2 9 is bounded by x 0, y 0,
z 0 in the 1st octant. This refer to sphere with center
at (0,0,0) and radius, r 3, in the 1st octant.
z
3
3
x
98
So, grad S is
S
S
S
S
i
j
k
x ~ y ~ z ~
2x i 2 y j 2z k ,
~
and
S (2 x ) 2 (2 y ) 2 (2 z ) 2
2 x2 y2 z2
2 9 6.
99
S
n
~
S
2x i 2 y j 2z k
~
1
( x i y j z k ).
~
3 ~
~
Therefore,
F . d S F . n dS
S ~
S ~
1
( y i 2 j k ) (x i y j z k ) dS
~
~
~
~
~
~
3
1
(xy 2 y z ) dS .
3 S
100
where 0 , .
2
101
1 2 2
F . d S [(3 sin cos )(3 sin sin )
S ~
~
3 0 0
2(3 sin sin ) 3 cos ][9 sin ]d d
9
0 0
9 1
102
Exercise 2.9
Evaluate F d S on S , where F x i 2 z j y k
S
Answer : 8
1
6
103
Q P
S x y dx dy c( P dx Q dy )
104
Example 2.25
Prove Green's Theorem for
2
2
[(
x
y
)dx ( x 2 y )dy ]
x2 + y2 = 22
2
C2
C3
O
C1
105
Given
2
2
[(
x
y
)dx ( x 2 y )dy ] where
(
Pdx
Qdy
)
(
x
y
)dx ( x 2 y )dy
c1
c1
2
x 2dx
0
1 3
x
3
8
.
3
106
x 2 cos , y 2sin , 0
2
dx 2sin d , dy 2 cos d .
107
c2
108
iii) For c3 : x 0, dx 0, 0 y 2
2
2
(
Pdx
Qdy
)
(
x
y
)dx ( x 2 y )dy
c3
c3
0
2 y dy
2
2 0
y
2
4.
8
16
( Pdx Qdy ) ( 4) 4 .
c
3
3
109
Q P
S x y dxdy
Q
P
where
1 and
2 y.
x
y
Again,because this is a part of the circle,
b) Now, we evaluate
where 0 r 2, 0
2
and
dxdy dS r dr d .
110
Q P
S x y dx dy S (1 2 y ) dx dy
0 r 0
(1 2r sin ) r dr d
2
1 2 2 3
r r sin d
0 2
3
16
2
2 sin d
0
3
16
2 cos
3
16
.
3
111
Therefore,
Q P
C ( Pdx Qdy ) S x y dx dy
16
.
3
LHS RHS
Green's Theorem has been proved.
112
div F dV F . d S .
~
S ~
f x f y f z
div F
~
x
y
z
113
Example 2.26
Prove Gauss' Theorem for vector field,
F x i 2 j z 2 k in the region bounded by
~
planes z 0, z 4, x 0, y 0 and x 2 y 2 4
in the first octant.
114
Solution
z
4
S2
S4
O
S3
x
S5
y
S1
115
and
F.d S,
S ~
116
1) We evaluate
div F dV . Given F x i 2 j z 2 k .
~
So,
( x ) (2) ( z 2 )
x
y
z
1 2 z.
div F
~
Also,
div F dV (1 2 z ) dV .
~
where 0 2, 0 , 0 z 4.
2
117
Therefore,
(1 2 z ) dV
0 0 z 0
0 0
(1 2 z ) dzd d
[ z z 2 ]04 d d
(20 ) d d
[10 2 ]02 d
(40) d
40 0
20 .
div F dV 20 .
V
118
2) Now, we evaluate
i) S1 :
F . d S F . n dS.
S ~
S ~
z 0, n k , dS rdrd
~
F x i 2 j 0k
~
F . n ( x i 2 j ).( k ) 0
~
F . n dS 0.
S1 ~
119
z 4, n k , dS rdrd
ii) S2 :
F x i 2 j (4) 2 k x i 2 j 16 k
~
F . n ( x i 2 j 16 k ).( k ) 16.
~
Therefore for S2 , 0 r 2, 0
2
F . n dS
S2 ~
0 r 0
16 rdrd
L
16 .
120
y 0, n j, dS dxdz
iii) S3 :
F x i 2 j z2 k
~
F . n ( x i 2 j z 2 k ).( j )
~
2.
Therefore for S3 , 0 x 2, 0 z 4
F . n dS
S3 ~
2
x 0
4
z 0
( 2) dzdx
L
16.
121
x 0, n i , dS dydz
iv) S4 :
F 0 i 2 j z2 k 2 j z2 k
~
F . n (2 j z 2 k ).( i ) 0.
~
F . n dS 0.
S4 ~
122
v) S5 :
x 2 y 2 4, dS d dz
S5 2 x i 2 y j and
~
S 5
n
~
S 5
S5 4
2x i 2 y j
~
1
( x i y j ).
2 ~
~
By using polar coordinate of cylinder :
x cos , y sin , z z
where for S5 :
2, 0 , 0 z 4, dS 2d dz
2
123
1
1
F . n ( x i 2 j z k ). x i y j
~ ~
~
~
~
2 ~ 2 ~
1 2
x y
2
1
( cos )2 ( sin )
2
2 cos2 2 sin ; kerana 2.
2
2(cos2 sin ).
F . n dS
S5 ~
0 z 0
( 2)(cos 2 sin )( 2) d dz
16 4 .
124
Finally,
S ~
S1 ~
S2 ~
S3 ~
S4 ~
S5 ~
0 16 16 0 16 4
20 .
F . d S 20 .
S ~
LHS RHS
Gauss' Theorem has been proved.
125
curl F d S F d r
S
curl F F
~
~
x
fx
c~
y
fy
z
fz
126
Example 2.27
Surface S is the combination of
127
Solution
z
S3
4
C2
3 C
1
S2
S1
128
C2 :
Given
curl F d S
S
first.
F z i xy j xz k
~
129
So,
curl F
~
x
z
j
~
y
xy
k
~
z
xz
( xz ) ( xy ) i
( z ) ( xz ) j
z
x
~
y
~ z
( xy ) ( z ) k
y ~
x
(1 z ) j y k
~
130
(i )
For surface S1 : x 2 y 2 9,
S1 2 x i 2 y j
~
and
S1
(2 x ) 2 (2 y ) 2
2 x2 y2 6
131
Then ,
S1
n
~
S1
2x i 2 y j
~
1
( x i y j)
3 ~
~
and
1
1
curl F n (1 z ) j y k x i y j
~ ~
~
~
3 ~ 3 ~
1
y (1 z ).
3
132
x cos , y sin , z z
dS d dz
where
3, 0 dan 0 z 4.
133
Therefore,
1
curl F n y (1 z )
~ ~
3
1
sin 1 z
3
sin (1 z ) ; because 3
Also,
dS 3 d dz
134
S1
curl F d S curl F
n dS
~
S1
z 0
sin (1 z ) d dz
0
3 (1 z ) cos 0 dz
0
3 (1 z )(1 ( 1))dz
0
M
24
135
S2 : z 4
n k.
y r sin , z 4 dan dS r dr d
where 0 r 3 and 0 .
136
curl F n (1 z ) j y k k
~ ~
~
~
~
y r sin
S2
curl F d S curl F
n dS
~
S2
r 0 0
r 0 0
( r sin )( rdrd )
r 2 sin d dr
M
18
137
dS = dxdz
The integration limits : 3 x 3
and
0 z4
So,
curl F n ((1 z ) j y k ) ( j )
~
z 1
138
Then,
S3
curl F . d S curl F . n dS
~
S3
x 3 z 0
( z 1) dzdx
M
24.
curl F . d S curl F . d S
~
S1
S2
curl F . d S
~
S3
curl F . d S
~
24 18 24
18.
139
Now, we evaluate
F. d r
C ~
y 3sin
dan
z 0
where 0 .
140
F z i xy j xz k
~
(3cos )(3sin ) j
~
9sin cos j
~
and
dr dx i dy j dz k
~
3sin d i 3cos d j .
~
141
From here,
F . d r 27sin cos2 d .
~
F . d r 27sin cos d
C1 ~
9 cos
18.
3
142
y 0 and
z 0, where 3 t 3.
Therefore, F z i xy j xz k
~
0.
~
F . d r 0.
C2 ~
143
F.d r
F.d r
F.d r
C ~
C1 ~
C2 ~
18 0
18.
We already show that
curl F . d S
~
F.d r
C ~
144