INTEGRATION IN VECTOR FIELDS -
LINE INTEGRALS
Video : Line Integrals of Functions along Curves in Space
Video Link: [Link]
Introduction
The concept of a line integral is a simple and natural generalization of
a definite integral
b
a f ( x ) dx … (1)
known from calculus. In (1) we integrate the integrand f ( x) from
x = a along the x- axis to
x = b . In a line integral we
shall integrate a given
function, called the integrand,
along a curve C in space (or
in the plane). Hence curve
integral would be a better
term, but line integral is
standard.
We represent the curve C by
a parametric representation
r (t ) = [ x(t ), y (t ), z (t )] = x(t )i + y (t ) j + z (t )k ( a t b) … (2)
We call C the path of integration, A : r ( a ) its initial point, and
B : r (b) its terminal point. C is now oriented. The direction from A to
B, in which t increases, is called the positive direction on C. We can
indicate the direction by an arrow Fig. 1. The points A and B may
coincide (Fig. 2). Then C is called a closed path.
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We call C a smooth curve if C has a unique tangent at each of its
points whose direction varies continuously as we move along C.
Mathematically this is equivalent to saying that C has a representation
(2) such that r (t ) is differentiable and the derivative r(t ) = dx / dt is
continuous and different from the zero vector at every point of C.
Definitions and Notation
Suppose that f ( x, y , z ) is a function whose domain contains the
curve r (t ) = g (t )i + h(t ) j + k (t )k , a t b . We partition the curve into
a finite number of subarcs (Fig.3). The typical subarc has length sk .
In each subarc we choose a point ( xk , yk , zk ) and form the sum
n
Sn = f ( xk , yk , zk ) … (2)
k =1
If f is continuous and the functions g , h, and k have continuous first
derivatives, then the sums in (2) approach a limit as n increases, and
lengths sk approach zero. We call this limit the integral of f over
the curve from a to b. If the curve is denoted by a single letter, C for
example, the notation for the integral is
C
f ( x, y , z ) ds … (3)
and read “the integral of f over C ”
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Evaluation for Smooth Curves
If r (t ) is smooth for a t b (i.e., if v = dr / dt is continuous and
never 0), we can use the equation (obtained from Eq. (5) of chapter
“Arc Length and the Unit Tangent Vector T” with t0 = a )
t
s(t ) = | v() | d
a
to express ds in Eq.(3) as ds = v(t ) dt . A theorem from advanced
calculus says that we can then evaluate the integral of f over C as
b
C
f ( x, y, z )ds = f ( g (t ), h(t ), k (t )) | v(t ) | dt
a
… (4)
This formula will evaluate the integral correctly no matter what
parametrization we use, as long as the parametrization is smooth.
How to Evaluate a Line Integral
To integrate a continuous function f ( x, y , z ) over a curve C:
1. Find a smooth parametrization of C,
r (t ) = g (t )i + h(t ) j + k (t )k , a t b.
2. Evaluate the integral as
b
C
f ( x, y, z )ds = f ( g (t ), h(t ), k (t ))|v(t ) | dt
a
… (5)
Notice that if f has the constant value 1, then the integral of f over
C gives the length of C.
Example 1 Integrate
f ( x, y, z) = x − 3 y 2 + z over the
line segment C joining the origin
and the point (1, 1, 1). (Thick line
in Fig. 4).
Solution
The equation of the line segment
joining P (0, 0, 0) and Q (1, 1, 1)
is obtained as follows: Fig.4
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The vector PQ = (1 − 0)i + (1 − 0) j + (1 − 0)k = i + j + k is parallel to the
required line segment L, and with ‘base point’ ( x0 , y0 , z0 ) = (0, 0, 0)
we have the parametrization:
x = 0 + t , y = 0 + t , z = 0 + t , 0 t 1.
Equivalently, the line segment has the parametrization
r (t ) = ti + tj + tk , 0 t 1 .
The components have continuous first derivatives and
| v(t ) |= 1 + 1 + 1 = 3 is never 0, so the parametrization is smooth.
2 2 2
Using Eq. (5), the integral of f over C is
f (t, t, t) ( 3 ) dt
1
C
f ( x, y, z ) ds =
0
1
= (t − 3t + t ) 3dt
2
0
1
1
= 3 (2t − 3t )dt = 2
3 t 2 − t 3 = 0 .
0 0
Additivity
Line integrals have the useful property that if a curve C is made by
joining a finite number of curves C1 , C2 ,..., Cn end to end, then the
integral of a function over C is the sum of the integrals over the curves
that make it up
f ds = f ds + f ds + ... + f ds
C C1 C2 Cn
… (6)
Example 2 The union of line
segments C1 and C2 (Fig. 5) is a
path from the origin to (1, 1, 1).
Integrate
f ( x, y, z) = x − 3 y 2 + z
over C1 C2 .
Solution
C1 is the line segment from
(0,0,0) to (1,1,0) and C2 is the
line segment from (1,1,0) to Fig.5
(1,1,1). The parametrization for
5
C1 is obtained as follows:
A vector parallel to (0,0,0) to (1,1,0) is
PQ = (1 − 0))i + (1 − 0) j + (0 − 0)k = i + j
and hence with A = 1, B = 1, C = 0 the equation
x = x0 + tA, y = y0 + tB, z = z0 + tC
with ‘base point’ ( x0 , y0 , z0 ) = (0, 0, 0) give
x = t , y = t , z = 0.
Hence C1 : r(t ) = t i + t j, 0 t 1
and the length of the velocity vector is
v = 12 + 12 = 2.
Similarly, the parametrization for C2 and the length of the velocity
vector are as follows:
C2 : r(t ) = i + j + t k , 0 t 1; v = 02 + 02 + 1 = 1 .
With these parametrizations we find using (6) that
C1 C2
f ( x, y, z ) ds =
C1
f ( x, y, z ) ds +
C2
f ( x, y, z )ds
1 1
=
0
f (t , t ,0) 2dt +
0
f (1,1, t ) dt
1 1
= (t − 3t + 0) 2dt +
(1 − 3 + t )(1) dt
2
0 0
1 1
t t2
2 3 2
= 2 − t 3 + − 2t = − − .
2 0 2 0 2 2
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PART B
Video: Mass and Moment Calculations of Wires and Coil
Springs Using Line Integrals
Video Link: [Link]
2) Also mentioned in the video: Mass and
Moment of Inertia of Curves and Surfaces Using
LINE INTEGRALS and Surface Integral 14.11.20
Video Link: [Link]
Mass and Moment Calculations
Mass and Moment formulas for coil springs, thin rods, and wires
lying along a smooth curve C in space are given below:
Mass: M = ( x, y, z ) ds
C
First moments about the coordinate planes:
M yz = xds, M xz = y ds, M xy = z ds,
C C C
Coordinates of the center of mass:
x = M yz / M , y = M xz / M , z = M xy / M
Moments of Inertia:
I x = ( y 2 + z 2 ) ds, I y = ( x 2 + z 2 ) ds
C C
I z = ( x + y ) ds,
2 2
I L = r 2 ds
C C
r ( x, y, z ) = distance from the point ( x, y, z ) to line L
Radius of gyration about a line L: RL = I L / M
Example 3 A coil spring lies along the helix
r(t ) = (cos 4t )i + (sin 4t ) j + t k, 0 t 2
The spring’s density is a constant, = 1. Find the spring’s mass and
center of mass, and its moment of inertia and radius of gyration about
the z-axis.
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Solution
We sketch the spring (Fig.6). Because of the symmetries involved,
the center of mass lies at the point (0,0, ) on the z-axis.
For the remaining calculations, we first find | v (t ) | :
2 2 2
dx dy dz
| v(t ) |= + +
dt dt dt
= (−4sin 4t 2 ) + (4cos 4t 2 ) + 1 = 17.
Then
2
M=
Helix
ds =
Helix
(1) | v(t ) | dt =
0
(1) 17dt = 2 17
2
Iz =
Helix
( x 2 + y 2 ) ds =
0
(cos 2 4t + sin 2 4t )(1) 17dt
2
=
0
17 dt = 2 17
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Rz = I z / M = 2 17 /(2 17) = 1 .
Notice that the radius of gyration about the z-axis is the radius of the
cylinder around which the helix winds.
Example 4 A slender metal arch, denser
at the bottom than top, lies along the
semicircle y 2 + z 2 = 1, z 0, in the yz-
plane (Fig.7). Find the center of the
arch’s mass if the density at the point
( x, y, z ) on the arch is ( x, y, z ) = 2 − z .
Solution
We know that x = 0 and y = 0
because the arch lies in the yz-plane with
its mass distributed symmetrically about
the z-axis. To find z , we parametrize the circle as
r (t ) = (cos t ) j + (sin t )k , 0 t .
For this parametrization,
2 2 2
dx dy dz
v(t ) = + + = (0)2 + (− sin t )2 + (cos t )2 = 1.
dt dt dt
Then, we obtain
M = ds = (2 − z )ds = (2 − sin t ) dt = 2 − 2
C C 0
M xy = z ds = z (2 − z )ds = (sin t )(2 − sin t )dt
C C 0
8− M xy 8 − 1 8−
= (2sin t − sin 2 t ) dt = z = = = 0.57
0 2 M 2 2 − 2 4 − 4
With z to the nearest hundredth, the center of mass is (0,0,0.57) .
Exercises
Match the vector equations in Exercises 1-8 with the given graphs:
1. r(t ) = ti + (1 − t ) j, 0 t 1
2. r(t ) = (2cos t )i + (2sin t ) j, 0 t 2 3. r(t ) = ti + tj+ tk, 0 t 2
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10
4. r(t ) = (t 2 -1)j + 2 tk, − 1 t 1
5. r (t ) = i + j + t k , − 1 t 1
6. r(t ) = ti, − 1 t 1
7. r(t ) = tj+(2 − 2t )k, 0 t 1
8. r(t ) = (2cos t )i + (2 + sin t )k, 0 t
9. Evaluate C
( x + y )ds where C is the straight line segment
x = t , y = (1 − t ), z = 0, from (0,1,0) to (1,0,0) .
10. Evaluate C
( xy + y + z )ds along the curve
r (t ) = 2t i + tj + (2 − 2t )k , 0 t 1.
11. Find the line integral of f ( x, y, z ) = x + y + z over the straight line
segment from (1, 2,3) to (0, −1,1) .
12. Integrate f ( x, y, z ) = x + y − z 2 over the path from (0,0,0) and
(1,1,1) given by
C1 : r(t ) = ti + t 2 j, 0 t 1
C2 : r(t ) = i + j + tk, 0 t 1
13. Integrate f ( x, y, z) = ( x + y + z) /( x2 + y 2 + z 2 ) over the path
r (t ) = ti + tj + tk , 0 a t b
In Exercise 14-15, integrate f over the given curve.
14. f ( x, y) = x3 / y, C : y = x2 / 2, 0 x 2
15. f ( x, y) = x + y, C : x2 + y 2 = 4 in the first quadrant from (2,0) to
(0,2)
16. Find the mass of a wire that lies along the curve
r(t ) = (t 2 − 1) j + 2tk, 0 t 1, if the density is = (3/ 2)t.
17. Find the mass of a thin wire lying along the curve
r (t ) = 2ti + 2tj+(4 − t 2 )k , 0 t 1 , if the density is (a) = 3t ,
(b) = 1
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18. A circular wire hoop of constant density lies along the circle
x2 + y 2 = a 2 in the xy-plane. Find the hoop’s moment of inertia
and radius of gyration about the z-axis.
19. A spring of constant density lies along the helix.
r (t ) = (cos t )i + (sin t ) j + tk , 0 t 2 .
a) Find I z and Rz .
b) Suppose you have another spring of constant density that is
twice as long as the spring in (a) and lies along the helix for
0 t 4 . Do you expect I z and Rz for the longer spring to
be the same as those for the shorter one, or should they be
different? Check your predictions by calculating I z and Rz for
the longer spring.
Answers
1. c 2. g 3. f 9. 2
10. 13/2 11. 3 14 12. (1/ 6)(5 5 + 9)
10 5 − 2
13. 3 1n (b / a) 14.
3
15. 8 16. 2 2 − 1
17. a) 4 2 − 2 b) 2 +1n (1 + 2)
18. I z = 2a3 , Rz = a
19. a) I z = 2 2, Rz = 1 b) I z = 4 2, Rz = 1
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