/ Chapter 5 ORDINARY INTEGRALS OF VECTORS. Let R(u) = Ry(u)1 + Ro(u)J + Ro(u)k be a vector depending ‘on a single scalar variable u, where Ry(u), Ru), Ro(w) are supposed continuous in a specified interval. Then fruorae a fran + 1fraoree + kJ Re(u)du is called an indefinite integral of R(u). If there exists a vector S(u) such that R(u) = £(sm) , then free : f £ (ew) du = sw) +e where ¢ is an arbitrary constant vector independent of u. The definite integral between limits u=a and u=b can in such case be written f mera = f £m) du = su) tel = 86) - sa) ‘o ( . ‘This integral can also be defined as a limit of a sum in a manner analogous to that of elementary in- tegral calculus. “AINE INTEGRALS. Let r(u) = x(u)i + y(u)J + 2(u)k, where r(u) is the position vector of (x.y.2). define a curve C joining points P, and P,, where u=a, and u=u, respectively. We assume that C is composed of a finite number of curves for each of which r(u) has-a contin- uous derivative, Let A(z,y.2) = Ayi + ded + Agk be a vector [Link] position defined and con- tinuous slong C, Then the integral of the tangential component of A along C from P, to Pz, written as fe f Aa = fire : 7 4s an example of a line integral. If A 1s the force F on a particle moving along C, this line integral Fepresents the work done by the force. If C {s a closed curve (which we shall suppose is a simple closed curve, {.e, a curve which does not intersect Itself anywhere) the integral around C is often denoted by fae = f Ayde + Agdy + dade In aerodynamics and fluid mechanics this integral 1s called the circulation of A about C, where A Tepresents the velocity of a fluid, Aydx + Agdy + Agdz In general, any integral which 1s to be evaluated along a curve is called a line integral. Such Antegrals can be defined in terms of limits of sums as are the integrals of elementary calculus, For methods of evaluation of line integrals, see the Solved Problems. ‘The following theorem is important, 82VECTOR INTEGRATION 83 THEOREM. If A=Vo everywhere in a tegion R of space, defined by a; $x$ a, bs Sy $ bo, cy $2Scp, where (x,y,z) is single-valued and has continuous derivatives in R, pen Pe 1 ‘Avdr is independent of the path C in R joining Py and P,. 4 2 f Avdr =0 around any closed curve C in.R. ‘such case A is called a conservative vector field and ¢ is its scalar potential. ‘A vector field A is conservative if and only if VxA=0, or equivalently A= Vd. In such case A-dt = A, dx + Agdy + Agdz = dp, an exact differential, See Problems 10-14. "ACE INTEGRALS. Let S be @ two-sided surface, such as shown in the figure below. Let one side of S be considered arbitrarily [Link] positive side (if S$ is a closed surface this is taken as the outer side). A unit normal n to any point of the positive side of $ is ‘called a positive ot outward drawn unit normal. Associate with the differential of surface area dS a vector dS whose magnitude 1s dS and ‘whose direction is that of n, Then dS=ndS. ‘The integral Sos = Sue 4s an example of @ surface integral called the flux of A over S. Other surface integrals are Ifo Sons. Su whete ¢ is a scalar function. Such integrals can be defined in terms of limits of sums as in ele- __ mentary calculus (see Problem 17). The notation ff 1s sometimes used to indicate integration over the closed surface S, Where 3 | 0 confusion can arise the notation f may also be used. 3 To evaluate surface integrals, it 1s convenient to express them as double Integrals taken over ‘the projected area of the surface S on one of the coordinate planes, This is possible if any line per~ Pendicular to the coordinate plane chosen meets the surface in no more than one point. However, this toes not pose any real problem since we can generally subdivide S into surfaces which do satisty {his restriction, A VOLUME INTEGRALS. Consider a closed surface in space enclosing a volume V. Then [foo oe fffow #¢ examples of volume integrals ot space integrals as they are sometimes called. For evaluation of ‘ch integrals, see the Solved Problems,84 VECTOR INTEGRATION SOLVED PROBLEMS a Min it R(u) = (uu) + uJ = 9k, find (a) fr ae and of Riu) du. ® frre . fone 6 ae ~ anda . fo-wan + fara + rf 2 WRB ey + sete + emeey 3 du ve Bilere siete as 2 an a, a Sit Si - wk +e where ¢ is the constant vector cx1 + ¢p/ + egk. 2 48 “ -p+ ty () From (2), f Riu) du Ste = (E-Bye By~ seme ee) - (B- By+ y — acne + od = b+ By - x Another Method. 2 2 2 2 Sf mwree st fPwnwie ts fore + fase 2 2 = EB + wean = $1 Bs oe 2, The acceleration of a particle at any time £20 is given by a = © = incoszet ~ ssinzey + 160k If the velocity v and displacement r are zero at ¢=0, find v and r at any time, Interrating, v= tf szconzrae + 4 fanned + x f roeee att + deos2ey + Bk + Putting v=0 when ¢=0, we find 0 = 01 +4) + 0k +e; and q=—4J, Then v = Gsin2e4 + (4cos21~4)J + Bk a sothet JF = esinzet + (6cos2r—4)) + Bik, tmenniine, © = 4 f osmaeds + af eonte—oae a f ater 7 ~Beosart + (2ein2e—4ns + SPR + op Hitting #=0 when £=0, 0 = —31 +0) + Ok + €p and co=31,VECTOR INTEGRATION 8 Then t= (BSeos2ei + (2sin2e—4nj + BR, 2 Evaluate fr x 4 dt, deatdy 2 axZh , dada dandy = anh hy ae de de ae ‘ Shae fdaeBya = ant Integrating fava S faa =a re. . The equation of motion of a particle P of mass m is given by " mit = fon where r is the position vector of P measured from an origin O, r, is a unit vector in the direction r, and f(r) is a function of the distance of P from 0. (a) Show that rx = ¢ where © is constant vector. (b) Interpret physically the cases f(r) <0 and f(r) >0. (c) Interpret the result in (a) geometrically. (2) Describe how the results obtained relate to the motion of the planets in our solar system. a of m <5 = f(ryry by rx. Then a * (@) Multiply both si art G alipexig's 3 ‘since r and r, are collineat and so rxr, = 0. Thus & : dent tere and ae a Integrating, x 4 = ©, where ¢1s a constant vector. (Compare with Problem 3). 2, () At 10 <0 the acceleration £4 has direction opposite to ry; hence the force 1s directed toward O and the particle is always attracted toward 0. It f(7)>0 the force 1s directed away from O and the particle 1s under the influence of a repulsive force at 0. A force directed toward of away from a fixed point O and having magnitude depending only on the stance r from 0 is called a central force. fe) In time Ac the particle moves from M to N Joining figure). ‘The are: yept out by the position ‘Vector in this time is approximately half the area of 4 parallelogram with sides t and Or, ot jr x Ar. ‘Then the approximate area swept out by the radius ootr per unit tine is jr; hence the insten- ‘taneous time rate of change in area 1s dr a tin rx Ot e ge gx dim, dot = godt «joe where v is the instantaneous velocity of the parti-VECTOR INTEGRATION cle, The quantity W = jrx {= 4rxv ts called the areal velocity. From patt (a), Areal Velocity = Mo = $rx ff = constant ‘Since tH = 0, the motion takes place in @ plane, which we take as the xy plane in the figure above, (2) A planet (such as the eatth) Is attracted toward the sun according to Newton's universal law of gravite, tion, which states that [Link] objects of mass m and M respectively are attracted toward each othe GMm with a force of magnitude F = 24F, where r is the distance between objects and G 1s a universsi constant. Let m and M be the masses of the planet and sun respectively and choose a set of coord: nate axes with the origin 0 at the sun, ‘Then the equation of motion of the planet is A a ey assuming the influence of the other planets to be negligibl According to part (¢), a planet moves around the sun so that its position vector sweeps out equal ‘areas in equal times. This result and that of Problem 5 are two of Kepler's famous three laws which be deduced empirically from volumes of data compiled by the astronomer Tycho Brahe. These laws ens bled Newton to formulate his universal lew of gravitation. For Kepler's third law see Problem 36. 5. Show that the path of a planet around the sun is an ellipse with the sun at one focus. From Problems 4(c) and 4(¢), av, cw “ a@ 7 eh @) xy = 2H = h “ vor cern, Harttetn coma hoetxvey dy dr 8) v nx (retry needy, fans Baek» -arueins = ow lon Hn = ea 8) = ow sing equation (2) and the fact that ri Sit = 0 (Problem 9, Chapter 3). But elnce b is constant vector, Sf xb = Zeyh) ao that Sorem = ow ite yeh = Ont re(vxh) = CMe +8 = GMr + rtp = CMe + rp cos O where p 18 an arbitrary constant vector with magnitude p, and 0 1s the between p and Since F+(xh) = (rxv)eh chek, wehave A? = Glr + rp cos @ and eo yew Cu +p 1+ @/GM) cos 6VECTOR INTEGRATION 87 ‘From analytical geometry, the polar equation of a conic section with focus at the otigin and eccentricity € is += Ty Coos} Where a is a constant, Comparing this with the equation derived, it 18 seen that the required bit is a conte section with eccentricity © = p/GM. ‘The orbit 1s an ellipse, parabola or hyperbola accord~ ing as € ts less than, equal to or greater than one, Since otbits of planets ate closed curves it follows ‘that they must be ellipses. Ellipse r= a ae Treo LINE INTEGRALS CIE A = (3x74 6y)i — yz j + 20227k, evatate fava from (0,0,0) to (1,1,1) along the follo ing paths C: @) x= y=P, ree, (b) the straight lines from (0,0,0) to (1,0,0), then to (1,1,0), and then to (1,1,1). (c) the straight line joining (0,0,0) and (1,1,1). [ve floeron- Adyz § +20x27k) (dei + dyJ + deh) forronre = Myx dy + 20x27 dz le (e) If x=t,y=0?, e=¢°, points (0,0,0) and (1,1,1) correspond to ¢= 0 and ¢=1 respectively. Then few f (30 +617) de — 14007) (0°) de?) + 2OWDEPF a) Fo = feta — mal ae 6 cat a to = f (ot sony a = 38-47 +? | =5 to Another Method, Along C, A= 9171 — 140° + 20:7 and read tydtsk= ete +k and de= (+25 +3e7R)dt. 1. ‘Then fre . f 08 1148 46207 wae 4 + ae to .e ff oF = 208 os a "5 (©) Along the straight Line from (0,0,0) to (1,0,0) y=0, += 0, dy=0, de =0 while x varies from 0 to 1, ‘Then the integral over this part of the path is 1 f (22? +6(0)) dx — 14(0)(0)(0) + 20x(0)" (0) = f tds wo ‘Along the straight line from (1,0,0) to (1,1,0) x= 1, += 0, dx=0, dz=0 while y varies from 0 to 1. ‘Then the integral over this part of the path is 1. f catoone = My) dy + 20CV OF 0 = 0 #0cv \/7- Find the total work done in moving a particle in a force fleld given by F. = VECTOR INTEGRATION ‘Along the straight line ftom (1,1,0) to (1,41) #1, 724, dx#0, dy=0 while z vatles from 0 to 1, ‘Then the integral over this part of the path is " 7 . (aay? +6cny) 0 = 4c) (0) + 200) 27 de = f noitde = 208 ao aoe, faeseoeB ea 2 (e) The straight Line Joining (0,0,0) and (1,1,1) ts given in paramettte form by x=4,y=4,2=1. ‘Then ff we = -f (a? +61) de = 14 (de + 2007 de ¢ to . "| = Potente =f eontiwya = 2 fo fo Sxyl — 524 + 1oxb along the curve x =17+1, y= 2:7, z=t° from ¢=1 to f= 2. ‘Total work = fre Ff cot ses s0eny cnt says tae deoewenee femeraen = 5d?) + 10 +1) ae*y a1 2 f (1208 + 1004 + 124° + 30e) de = 303 s |. It F = Seyi — y*J, evaluate f F+dr where C is the curve in the xy plane, y = 2x7, from (0.0 t0(1.2). c Since the integration is performed in the xy plane (2=0), we can take r= and find p. (@) Suppose Ade + Fody + Rds = dp = Rae Ze + Bea, fan exact differential. Then since x,y and are independent varlab! ne, meet, nek and 60 Fe mirnsenn = 214 by 6 Be. Ve, Thus Vx = Ux Ve = 0. Vo-de = dd, Conversely if VxF=0 then by Problem 11, F= Vp and so F- Fide + Fody + Fade = dh, an exact differential. ) F = G72 cose —42°2)1 + 22%y sinz] + (3y?2? sins —a*)k and VxF is computed to be zero, 0 that by part (0) 72 cons —4°s)de + 22%y sine dy + (9y"2” anatyds = ab By any of the methods of Problem 12 we find = y*s° sinx ~ s*s + constant. 15. Let F be a conservative force field such that F = —Vp. Suppose a particle of constant mass m to move in this field. If A and B are any two points in space, prove that GIA) + bof = (BY + doy where 4 and % are the magnitudes of the velocities of the particle at A and B ri94 VECTOR INTEGRATION | z a z & eS 2 & ur: Vd, f Fede f ah = (A) — $B). M Then (4) - $18) = any — Ane ‘and the result follows. (A) Is called the potential energy at A and 4m? is the kinetic energy at A. The result states the total energy at A equals the total energy at B (conservation of energy). Note the use of the minus in F= ~VO, z=t° from £=0 to e=h It p = days", F= xyl — 2f +2%k ond C is the curve x=17, 7 evaluate the line integrals w [oa 0) frre. ec (a) AlongC, = yz? = 20 an*F = 4°, bos attystrk = Please en, and de = (B14) + 37K) dt. Then 1. fea. ff areas sting $ # “if wars fi oan ) MongC, Fe syt ag tah = 1 Py eee Then Pxde = (21 — Py eth) x (mL + + PED de tae , tf Pla [aPaatn + atmo + usar ye] ae uo2a sf * r a fone . if abmaty di + if (uae + ff (aPsae ae lo thle deed SURFACE INTEGRALS, Mz. Give a detinition of f d} Arn dS over a surface S in terms of limit of a sum, 3 Subdivide the ares $ Into M elements of area AS, whete p= 1,2,3y.u M any point F, witnis Asp whose coordinates are (3.79159). Defic Aye ny aq re Choos any olnt Fw agar. Form the sum PYp.49) = Ap. Let ny be the positive wr ateVECTOR INTEGRATION 95 x XY Aom dy nf where Ay+ny 1s the notmal component of Ap at Pp. Now take the limit of this sum as. ‘M-=® in such @ way that the largest di- mension of each ASp approaches zero, This limit, if it exists, ts called the surface integral of the normal compo- ae jp, nent of A over S and is denoted by ; ; Sf Acnds ‘bay Ly 18. Suppose that the surface S has projection R on the xy plane (see figure of Prob.17). Show that ff ane e Sf nat 3 By Problem 17, the surface integral is the limit of the sum a > Ages As, ron The prolection of AS, on the xy plane ts |(a, AS,)-K| or [ng-k| AS, which ts equal to Ax, Ay, sothat AS, = ret ‘Thus the sum (1) becoites, @) By the fundamental theorem of integral calculus the limit of this sum as M~o in such a manner that the largest Ax, and Oy, approach zero 1s, Lf woe hyp ‘and so the required result follows, ‘Strictly speaking, the result AS, {48 only approximately true but it can be shown on closer ‘examination that they differ from each other by infinitestmals of order higher than Axp yp, and using this the limits of (1) and (2) can in fact be shown equal, 19. Evaluate Sf ‘Aen dS, where A = 1821 — 12) + 3yk and S ts that part of the plane 2x +3y +6z = 12 which is located in the first octant, ‘The surface S and its projection R on the xy plane are shown in the figure below.VECTOR INTEGRATION AndS = ane ink| 3 ? ‘To obtain n note that a vector perpendicular to the surface 2x+3y +6z = 12 is given by V(2e+3y+62)= ‘21 +3) + 6k (see Problem 5 of Chapter 4). ‘Then a unit normal to any point of S (see figure above) is 21+ 3) + ok ae Vv i+3%+6? Ta aes shegnn = § antes Be shee oe + Tdedy. hse Aes Gbetmiasay dished = RM wing at tat + = 2= 22 gat suaton 8, Then Sf as = an 24 (a1) Tae ady = (6-23) ds dy o-k] mee 8 g Rg & ‘To evaluate this double integral over R, keep x fixed and integrate with respect to y from y=0 (PI the figure above) to y = 1225 (Qin the figure above); then integrate with respect to x from x= 0 to #6. In this manner R 1s completely covered, ‘The integral becomes ‘ 2 ff fn om . free = 4 0 fro o if we had chosen the positive unit normal m opposite to that In the figure above, we would have obtained the result ~24,, 20, Evaluate Sf Arn dS, where A= 21 + x4 — Sy?zk and § 1s the surface of the cylinder 3 #7 +y?=16 included in the first octant betw 20 and 2 Project $ on the xz plane as in the figure below and call the projection R. Note that the projection of Son the zy plane cannot be used here. ThenVECTOR INTEGRATION 9 [fore = fae A normal to 2? +y?= 16 is Vix?+y?) = oxl+2yf. ‘Thus the unit normal to $ as shown in the adjoining figure, is _ obityd | sltyd Vay + (ayF 3 Since x?4y*= 16 on. 1 ven = (eb te§ 37th)» GLP = Nes tay) y 2 Hey et ‘Then the surface integral equals J BP deds = f Sg 20 270 . eatin 6 21. Evaluate Sf dn dS whete > = Zxyz and S is the surface of Problem 20. wae Soe : ots fee Using n= 1224, n.j% as in Problem 20, this last integral bocomes Wients : af f (fst teeVie=es) de ds & a0 220 oy f (S424 + Bajyde = 1001 + 100) 3 whey 0 22. Mf F = yi +(x~2ez)j—xyk, evaluate J (VxF)+n dS where S is the surface of the sphere x? +242? =a? above the xy plane. Pod. a a y ender may Yr |2 : BY ew cteys-aee Apormal to x7+y? +2? = a? ts Vetay?en?) = deb + ays sock98 VECTOR INTEGRATION ‘Then the unit notmal n of the figure above is given by ne Mita s tak | xityseek Vert ayia? . since x? +)? +2" = 0%, | ‘The projection of S on the xy plane As the region R bounded by the circle x*+y?= a”, z= 0 a | where x= pcos, y=psing and dydx isteplaced by pdp db. The double integral becomes a tr no ure above), Then fi (Vxpyen dS = Sf cvarve #8 jax] s R * zh, ded 2 Sf teteys— aay. cberdtthy Ae R a Vn a oe = SOIR dy'ds we J Vea VOB j using the fact that z= Y/o?—x*—y?, ‘To evaluate the double integral, transform to polar coordinates: 4 tr Pe go 3p" 3-0?) +0? ! Pdpdd = pdp db eo J a- do p=0 | em | fn 0 (VIP + £2) tp as J J vee =f ei PE lap P44 po 0 . f (-0%)dp = 9 oo reat tegen, one ff ne s where $ 1s the surface of the cube bounded by x=0, Fh yO, y=, 280, 2m, Face DEFG: 1. Then Ao ae Lf (bm Ab rym t dyer i] ff anaes| VECTOR INTEGRATION Face ABCO: apt [frre * ff yb yetye eb dyde = 0 hs Jy 4800