Chapter 6

Multiple Integrals

1
Multiple Integrals
From integral of one variable functions, we extend the
idea to integral of multivariable functions:

 f ( x, y, z,...)dR
R

An integral of a multivariable function consists of

several integral signs depending on number of variables.
To calculate the integral, we integrate several times variable
by variable, thus making more complicated than the integral
of one variable function.

2
Double Integrals
Definition and Properties
Integrating f(x,y) on the rectangular area R in XY-plane.
Step 1 Divide the area R into several small rectangles as in figure below:
Ak , k  1, 2,3,..., n
Step 2 Find Riemann Sum
d n
S n   f ( xk , yk )Ak
yk Ak k 1
n
  f ( xk , yk )xk yk
k 1
c xk
a b As Ak  0,
n

lim f ( x , y )A  f ( x, y)dA   f ( x, y)dxdy

A0 k 1
k k k
3
R R
Each rectangular box has volume
 f ( xk , yk )Ak
Let V be the volume of solid S
Sum of all boxes’ volumes:
n
S n   f ( xk , yk )Ak
k 1
n
z   f ( xk , yk )xk yk
k 1

As n goes to infinity,
x we would get
y
n

lim f ( x , y )A   f ( x, y)dA   f ( x, y)dxdy  V

A0 k 1
k k k
4
R R
Geometrical Interpretation of Double Integrals
A double integral of a function f (x, y) is the volume of the object under the
roof function f and above the xy-plane.

f ( x, y)  3  x 2  y 2

3 R : 0  x  2, 0  y  2
2.5

z 2

1.5

1 Volume here is
0.5
the double integral
0
2
1.5 2

xy-plan is the floor.

1 1.5
1
x 0.5
0.5 y 5
0 0
Double Integrals over Bounded Nonrectangular Regions
We can still use Riemann Sum:
n
Sn   f ( xk , yk )Ak
k 1

lim f ( x , y
A0 k 1
k k )Ak   f ( x, y )dA
R

The area of integration may be any

shape and we use dA to denote dydx
or dxdy.

6
Double Integrals over Bounded Nonrectangular Regions
Here is the example of a double integral of f (x,y) on non-rectangular region.
In particular, it’s an elliptic floor on xy-plane in this case.

n
Volume = lim f ( xk , yk ) Ak
A0 k 1

  f ( x, y )dA
R

7
Properties of Double Integrals
1.  kf ( x, y)dA  k  f ( x, y)dA
R R

2.   f ( x, y)  g ( x, y)  dA   f ( x, y)dA   g ( x, y)dA
R R R

3.  f ( x, y)dA  0
R
if f ( x, y )  0 on R

4.  f ( x, y)dA   g ( x, y)dA
R R
if f ( x, y)  g ( x, y) on R

5. If
R  R1  R2 R= R1 R2

 f ( x, y)dA   f ( x, y)dA   f ( x, y)dA

R R1 R2 8
Evaluation of double integrals
We need to integrate each variable one at a time. Order does not matter.
b d b
d  
d b


a c
f ( x, y )dydx     f ( x, y )dy dx     f ( x, y )dx dy
a c  ca 
d

1. Compute  f ( x, y )dy by looking at x as a constant. The result would be

c
a function in term of x only.

2. Integrate one more time with respect to another variable (x in this case).
Note: We may start by integrating with respect to x first and followed by
integrating with respect to y.
9
Example 1 Find a) 3 2

  (1  8 xy)dydx
0 1

2 3
b)   (1  8 xy)dxdy
1 0

10
Example 2
Find the volume of an object covered by z = 4 – x – y, x-axis and y-axis, where
0  x  2, 0  y  1
Solution 2 1

Volume    (4  x  y )dydx
0 0

First integral: 1
 (4  x  y)dy Look at x as a constant
0
1

 (4  x  y)dy  A( x)  Surface area

0
2 y 1
y 7
 4 y  xy   x
2 y 0
2
Second integral:
2 x2
7 
2
7 x
0  2  x  dx  2 x  2 5
11
x 0
 We may change the order of integration as follows:
1 2
Volume    (4  x  y )dxdy
0 0
2
First integral:  (4  x  y)dx Look at y as a constant
0
2 2 x 2
x
0 (4  x  y)dx  4 x  yx  2  6  2y
x 0

Second integral: = surface area

1
2 y 1
 (6  2 y)dy  6 y  y
0
y 0
5

We still get the same answer!

b d d b

  f ( x, y)dydx    f ( x, y)dxdy
a c c a
12
Double integral on nonrectangular region R

Theorem 1: Suppose f(x,y) is continuous on the area R.

1. If region R is bounded by a  x  b, g1 ( x)  y  g2 ( x) where

g1 ( x), g2 ( x) are continuous on [a,b], then
b g2 ( x )

 f ( x, y)dA   
R a g1 ( x )
f ( x, y )dydx

2. If region R is bounded by c  y  d , h1 ( y)  x  h2 ( y) where

h1 ( y), h2 ( y)are continuous on [c,d], then
d h2 ( y )

 f ( x, y)dA   
R c h1 ( y )
f ( x, y )dxdy

13
How to find the limit bounds of double integrals
To apply theorem 1, we start by drawing a graph of region R in 2 dimensions.
We can do in two cases:
Case 1: Region R bounded by: a  x  b, g1 ( x)  y  g2 ( x)
Step 1 We first draw a vertical line x = some constant x0. It cuts through the
region R twice. The bottom cut of R is by y  g1 ( x) and the top cut of R is by
y. This
g 2 (two
x) intersection points make the lower and upper limits
for the first integral with respect to variable y.

Step 2 We may have the vertical line in step 1 anywhere between x=a and x=b.
So we put this two number into the limit of the second (outside) integral with
respect to variable x.
14
Double Integral in dy dx Order
Case 1 Region R: a  x  b, g1 ( x)  y  g2 ( x)
We first integrate the function with respect to y and get a function in term of x
only and then integrate with respect to x to get the answer.
1. Compute
g2 ( x )

 f ( x, y )dy to get yg ( x)

F ( x, y ) y  g2( x )
1
g1 ( x )

2. Eliminate variable y
F ( x, y) y  g  F ( x, y) y  g ( x )
2 ( x) 1

The result is a one variable function: H(x)

3. Integrate H with respect to x
b

 H ( x)dx
a
15
Example: Double Integral in dy dx Order
Find the volume of a prism with top surface z = 3- x - y
and a base triangle as in the figure below:
solution 1. Find limits of integration
z 1.1 From figure of the triangular base, the lower
plane
Limit is the x-axis (y=0) and the upper limit
z = 3-x-y
Is bounded by y = x
Triangular base 1.2 The values of x goes from x = 0 to x = 1
y b yg ( x)
Volume    f ( x, y)dydx
2

a y  g1 ( x )

x y Upper bound
1 x
   (3  x  y )dydx
y=x 0 0

Top view of a Lower bound

x
triangular base 0 y=0
1 16
Example: Double Integral in dy dx Order (continued)
1 x

z Volume    (3  x  y )dydx
plane 0 0
z = 3-x-y
2. First integral yx
yx
 y  2

y y 0 (3  x  y)dy   3 y  xy  2 
y 0

 x2   02  3x 2
  3x  x     3(0)  0 x    3x 
2

x  2  2 2
Triangular base 3. Second integral
y x 1
x 1
line y = x 3x 2
 3x x 
2 3

x0 (3x  2 )dx   2  2 

x 0

x  3(1)2 13   3(0) 2 03 
line y = 0      1 17
0 1  2 2  2 2
Procedure for Finding Limit of Integration in dy dx Order
Example Let the area of integration be bounded by x2+y2 = 1 and a line
x+y = 1 as shown in figure below.
Solution: 1. Decide which variable we want to integrate first. In this case,
we do it w.r.t. y first.
2. Then we need to write the bounds of the area in terms of another variable (x in
this case). Thus we have y = g1(x) as a lower limit and y = g2(x) an upper limit.
Lower limit: y  1  x
Upper limit y  1  x2
3. Limits of x are its max and min values.
In this caser, min x = 0
max x = 1 1 1 x 2

So, formula    f ( x, y18)dydx

0 1 x
Double Integral in dx dy Order
Case 2: Region R: c  y  d , h1 ( y)  x  h2 ( y)
In this case, x is between h1(y) and h2(y). We first integrate w.r.t. x in order to
eliminate the variable x before integrating w.r.t. variable y.
1. Compute
h2 ( y )

 f ( x, y )dx to get x  h2 ( y )
F ( x, y ) x h ( y )
1
h1 ( y )

2. Eliminate variable x
F ( x, y) x h ( y )  F ( x, y) x h ( y )
2 1

The result is a one variable function

G(y).
3. Integrate G with respect to y
d

 G( y)dy
c
19
Example: Double Integral in dx dy Order
Find the volume of a prism with top surface z = 3- x - y
and a base triangle as in the figure below:
Solution 1. Find limits of integration
z 1.1 From figure of the triangular base, the lower
limit is the equation x = y and the upper limit
is bounded by x = 1
1.2 The values of y goes from y = 0 to y = 1
y
d x  h2 ( y )
So, volume   f ( x, y )dxdy
c x  h1 ( y )
x y 1 1

Left bound 1 Right bound    (3  x  y )dxdy

x=y x=1 0 y

x
0 1 20
Example: Double Integral in dx dy Order (continued)
1 1

z Volume    (3  x  y )dxdy
0 y

2. First integral
x 1
x 1
 x2

y x y (3  x  y)dx   3x  2  xy 
x y

 12   y2 2 5 3 y2
  3(1)   (1) y    3 y   y    4y 
x  2   2  2 2
3. Second integral
y y 1 y 1
5 3y 2
 5y y  3

y 0 ( 2  4 y  2 )dy   2  2 y  2 
2

y 0

x  5(1) 13   5(0) 2 03 
  2(1)    
2
 2(0)    1
2
21
0 1  2 2  2 2
Procedure for Finding Limit of Integration in dx dy Order
Same example but start with integrating w.r.t. x.
Example Area bounded by x2+y2 = 1 and a line x+y = 1
1. Once we decide to integrate w.r.t. x first, we need to write both limits in terms
of y (left limit: x = h1(y) and right limit: x = h2(y))
Here, left limit is x  1  y Right limt x  1  y 2
2. Limits of y are its max and min values.
min y = 0
max y = 1
Integration:
1 1 y 2

  f ( x, y )dxdy
0 1 y
22
Example: Double Integral y
Evaluate  sin( x)
dA where R is the region in figure:
y=x
x
R
R
x
0 1

23
Example 2: Double Integral
Evaluate   xy  y  dA where R is the region bounded by x  y  1  0
R
and x2  2 x  1  y  0 as shown here
4.5

4 (3,4)
3.5

2.5

1.5 R
1 (0,1)
0.5

0
-0.5 0 0.5 1 1.5 2 2.5 3 3.5

x2  2 x  1  y  0

x  y 1  0
24
Areas of Bounded Regions in the Plane
Suppose f (x, y) = 1, Double integral of f is just the area R.
We can prove by partitioning R into small rectangles and sum up all area:
n
Sn   Ak
k 1
Sn is the estimated area of R.
When we take limits as n goes to infinity, we would have:
n

lim A   dA  Area of R
A0 k 1
k
R

Note: This is the same as finding the

area using just one integration on a
one variable function.

25
Example 1: Areas of Bounded Regions in the Plane
Find the area R in the figure here. y y  x2
yx
(1,1)

R
y
(0,0)

26
Example 2: Areas of Bounded Regions in the Plane
Find the area R bounded by y = x2 and a line y = x+2.
y
y  x2

(2,4)

R
(-1,1)
x
y  x2

27
Example 2: Areas of Bounded Regions in the Plane (cont.)
y  x2
y

(2,4)

R2
R1 x

28
Double Integrals in Polar Form
Previously, double integral:  f ( x, y)dxdy
in rectangular coordinate can be computed by
R

partitioning R into several small rectangles.

n
Sn   f ( xk , yk )Ak
n k 1

So, lim f ( x , y )A   f ( x, y)dxdy

A0 k 1
k k k
R

Similarly, double integral in polar coordinates can be computed

n
partitioning R into several small rectangles. Sn   f (rk , k )Ak
k 1
Take limit when
A  0 Then
n

lim f (r ,
A0 k 1
k k )Ak

  f (r , )dA
29
R
Double Integrals in Polar Form
Difference of double integrals between rectangular coordinates and
polar coordinate is that dA is formed differently.
In polar coordinate dA is calculated by Integral formula in
Area of large triangles - small triangles: Polar coordinate
r  r 
2 2
1 1
A   rk       k
r      f (r , )rdrd
2 2  2 2 
R

  2rk r   rk  r   
2
Thus dA  rdrd

In rectangular coordinate system

A  xy
yk Ak
We have
xk dA  dxdy 30
Finding Limits of Integration in Polar Form
To find the limits of integration in polar coordinate system, we usually write
r as a function of  and then write limits of  as some constants.
1. First we define inner and outer radii:
Inner radius r  r1 ( )
Outer radius r  r2 ( )
2. Find the limits of 
From   
To   
So, we have formula:
 r2 ( )
  f (r , )rdrd
 r1 ( )

31
Finding Limits of Integration in Polar Form
1. Find limits of r: inner and outer radii
In general, the given region is in rectangular
coordinate system. Thus, we have to convert
to polar coordinate system by
x  r cos( ) y  r sin( )

Outer radius: x2  y 2  4 It has polar form:

(r cos )2  (r sin  )2  4
r2  4 or r = 2
Inner radius: y 2 It has polar form:
2
r sin   2 or r
sin 
 2 csc
32
Finding Limits of Integration in Polar Form (continued)
2. To find limits of , we measure angles from
positive x-axis to the smallest angle of the region
(1,1) first. Then go to the largest angle of the region.
Smallest   tan 1  1   
1 4

Largest 
2

3. Then put all limits into the double integral formula:

 r2 ( ) 

r 2
  f (r , )rdrd
2
Here, we have    f (r , )rdr d
 r1 ( )
 r  2 csc
4

Don’t forget r here! 33

Example: Finding Limits of Integration in Polar Form
Write the integral formula of f (r , )  r cos  in polar form of the region below.
r1  1  cos r2  1


 
2
Outer radius 

2


2 r 1
R
Inner radius
  
r 1 cos
r 2 cos  dr d
 
2
34
Area in Polar Coordinates (double integral)
 r2 ( )

Let f (r , )  1 . Thus the integral is   rdrd .

 r1 ( )
 r2 ( )
r 2  4cos 2
Area =  
r1 ( )
rdrd

Example: Find the area of r 2  4cos 2



4
r  2 cos 2
 0

35
Area in Polar Coordinates (continued)


4 

4 r  2 cos 2



0

r 0
rdr d

r  2 cos 2
r  2 cos 2 2
r

r 0
rdr 
2
 2 cos 2
r 0


4 



0
2 cos 2 d  sin 2 4
0
1

Thus, the total area = 4(1) = 4

36
Changing Cartesian Integrals into Polar Integrals
Converting from rectangular coordinate to polar coordinate systems may simplify
the integral as in example here.
y
x2  y 2  1 x 1 y  1 x 2

  x  y 2  dydx
2

x 0 y 0
R

1 x

1  x2 
3/ 2
3 y  1 x
2
y  1 x 2

  x2  y 2  dy  x2 y  y
3
 x2 1  x2 
3
y 0 y 0

1  x2 
3/ 2
x 1

 x2 1  x2 
3
dx  Not easy!
x 0

37
Changing Polar Integrals into Cartesian Integrals
Suppse we convert to a polar coordinate system:
y
1. Function f(x,y) becomes f(r,q) :
x2  y 2  1
f ( x, y)  x 2  y 2  r 2  cos2   sin 2    r 2
R
2. Find the limits of r and q
1 x

3. Integration
 r2 ( )   / 2 r 1   / 2 r 1
  f (r , )rdrd      rdrd 
r 2
  r 3drd
 r1 ( ) 
0 r 0  0 r 0
4. computation
  / 2 r 1   / 2 r 1
  / 2
r 
4
1 

 
0 r 0
r 3drd 


0
 4  d   4d  8
  r 0  0
38
Example: Changing from rectangular to polar form
x  y 
Evaluate  
 x2  y 2 
x 

y 
e dydx

39
Substitutions in Double Integrals

Suppose (x,y) and (u,v) have the following one-to-one relations:

x  g (u, v) y  h(u, v)

One point in uv-plane corresponds to a point in xy-plane

Thus for any function f (x,y), we can write it as a function

in terms of u and v by substitution. That is, we will have:
f (g(u,v),h(u,v))

40
Example 1: Substitutions in Double Integrals
Suppose
x  g (u, v) y  h(u, v)
Region G in uv-plane can be converted to region R in xy-plane

e.g.

41
Example 1: Substitutions in Double Integrals
From (u,v) to (x,y)

x uv
y  2v

From (x,y) to (u,v)

2x  y
u
2
y
v
2
42
Substitutions in Double Integrals
Double integral of f(x,y) on region R in xy-plane
is equal to f(g(u,v),h(u,v) on region G in uv-plane by:

 f ( x, y)dxdy   f ( g (u, v), h(u, v)) J (u, v) dudv

R G

where J (u, v)is Jacobian determinant or Jacobian defined by

x x
u v x y x y
J (u , v)   
y y u v v u
u v

Abbreviation: J (u, v)  ( x, y)
 (u, v)
43
Double Integral in Polar Form
x  g (r, )  r cos y  h(r, )  r sin 
x x
r  cos  r sin 
J ( r , )  
y y sin  r cos 
r 
 r (cos 2   sin 2  )  r
จาก
 f ( x, y)dxdy   f ( g (r, ), h(r, )) J (r, ) drd
R G

Therefore:

 f ( x, y)dxdy   f ( g (r, ), h(r, ))rdrd

R G 44
Example 2: Double Integral in Polar Form
Example: Suppose we want to integral over the region in xy-plane below.
y First convert to polar coordinate

2 x  g (r, )  r cos
1 y  h(r, )  r sin 

4 So, we get a new limit bounds
0 x in r-plane


As we can see, the region in r -plane is 2

rectangular which is easier to integrate 4
than the region in xy-plane. r
0 1 2
45
Example 3: Substitutions in Double Integrals
Example: y  4 x  y / 2 1
2x  y
 
y 0 x  y / 2
2
dxdy

46
Example 3: Substitutions in Double Integrals (cont.)

47
Example 3: Substitutions in Double Integrals (cont.)

2 1 2 1 2

    dv   dv  2
2
u 2 dudv u
0 0 0 0 0
48
Example 4: Substitutions in Double Integrals
1 1 x
Evaluate:

0 0
x  y ( y  2 x) 2 dydx

Use substitution:
u v 2u v
x  y 
3 3 3 3

49
Example 4: Substitutions in Double Integrals (cont.)

50
Example 4: Substitutions in Double Integrals (cont.)

1 1
2 9/ 2 2
  u du  u
7/2
 51
0
9 0 9
Chapter 7 Triple Integrals in Rectangular Coordinates
We want to integrate a function of 3 variables in
z
rectangular coordinate system:
Limits of a triple integral is the volume D
D as shown. We partition D into several
small boxes v of size x, y and z
y
v  xyz
x
Riemann sum:
z n
v Sn   f ( xk , yk , zk ) vk
x k 1
y n
  f ( xk , yk , zk )xk yk zk
As v approaches 0, k 1

lim  f ( x , y , z
v 0, n  k 1
k k k )vk   f ( x, y, z )dv   f ( x, y, z )dxdydz
52
D D
Properties of Triple Integrals

1.  kf ( x, y, z )dv  k  f ( x, y, z )dv

D D

2.   f ( x, y, z)  g ( x, y, z)  dv   f ( x, y, z)dv   g ( x, y, z)dv

D D D

3.  f ( x, y, z)dv  0
D
if f ( x, y, z)  0 on D

4.  f ( x, y, z )dv   g ( x, y, z )dv if f ( x, y, z)  g ( x, y, z) on D

D D

5. If
D  D1  D2 D=
D1 D2

 f ( x, y, z)dv  f ( x, y, z)dv   f ( x, y, z)dv

D D1 D2 53
Comparison Between Double integrals and Triple integrals
With double integral: dA refers to Area

 f ( x, y)dA
R
since limits of the integral is region R
in xy-plane.

z With triple integral, we use dV to refer to

Volume.
D
 f ( x, y, z )dv
D
dV y
since limits of the integral is the volume D
x in 3 dimensional space. 54
Procedure for Finding Limits of Integration in Triple Integrals

1. Identify the order of integration such as

dz dy dx, dx dy dz, etc.

Upper region 2. Find the limits of the first variable (in this case
variable z) and write them in terms of the other
variables (in this case x and y) such that
upper region z = f2(x,y)
lower region z = f1(x,y)
Lower region

55
Procedure for Finding Limits of Integration in Triple Integrals

3. Project D onto the xy-plane. Then find the

limits of the next variable (in this case y) in terms
of the rest variable (x here) as follows:
Lower margin y = g1(x)
Upper margin y = g2(x)
4. Write the limits of last variable (in this
case x) in terms of its max and min
Projection of D onto xy-plane Min x = a
Max x = b
Integral is x b y  g 2 ( x ) z  f 2 ( x , y )
   
x  a y  g1 ( x ) z  f1 ( x , y )
F ( x, y, z )dzdydx
56
Example2: Volume of a Region in Space
If f(x,y,z) = 1, the triple integral of f gives the volume.
Example Find the volume between z = x2+3y2 and z = 8-x2-y2

Upper curve

x
y
Lower curve
57
Example2: Volume of a Region in Space (continued)
top 4  x2
y y
2
2
-2 2 x

 2 bottom
4  x2
y
2

58
Example2: Volume of a Region in Space (continued)

59
Example3: Finding Limits of Integration in Triple Integrals

z
Integral formula for this prism
y+z=1
1
There are 6 possible integrations:
z 1 y 1 z x  2

y a)   
z 0 y 0 x 0
dxdydz
1
y 1 z 1 y x  2
x 2 b)   
y 0 z 0 x 0
dxdzdy

z 1 x  2 y 1 z x 1 z 1 y 1 z

c)    dydxdz d)   
x 0 z 0 y 0
dydzdx
z 0 x 0 y 0

y 1 x  2 z 1 y x  2 y 1 z 1 y

e)    dzdxdy f)   
x 0 y 0 z 0
dzdydx
y 0 x 0 z 0

60
Example4: Volume of a Region in Space
Find the volume between two cylinders below

 
x 1 y  1 x z  1 x 2 x 1 y  1 x
2 2

  
x 0 y 0

z 0
dzdydx   
x 0 y 0
1  x 2 dydx

x 1

  
x 1
 x 3
 2
 1  x2 1  x dx   x   
2

x 0  3  x 0 3

61
Average Value in Space
1
z
Average value of f(x,y,z) = 
Volume of D D
f ( x, y, z )dV

2 Example: Find the average value of f (x,y,) = xyz in the box

0  x  2, 0  y  2, 0  z  2
D 2 y
z 2 y 2 x2 x2
2 2 2
 x yz 
2
x
z 0 y0 x0 xyzdxdydz  0 0  2  dydz
x 0
Volume of the box 2 2 2
y 2
2

= 23 =8    2 yzdydz    y 2 z  dz   4 zdz
y 0
0 0 0 0
2
  2 z   8
2
0

Thus average value = 8/8 = 1 62

Relationship Between (r, , z ) and (x,y,z)
Cylindrical versus rectangular coordinate:
From Cylindrical To
Cartesian
x  r cos
y  r sin 

zz
From Cartesian To
Cylindrical
r x2  y 2
 y
  arctan  
 x
zz
Note: z in cylindrical and Cartesian is the same. 63
Objects of Constant r,, z in Cylindrical Coordinate
Let’s take a look at the cylinder.
1. When r = r0, it’s the cylinder with
circle ends. z is the central axis and r0
is the circular radius.

2. When z = z0, it’s a circular surface

Parallel to xy-plane and its distance
From xy-plane is z0.

3. When q = q0, it’s a surface

perpendicular to xy-plane and
make angle q0 with xy-plane.64
dV in Cylindrical Coordinate
Triple integrals contains dV where dV refers to small volumes.

 f (r, , z)dV

D

For cylindrical coordinates, dV is shown in the figure.

dV  dz  rdr  d
Thus we have

 f (r, , z)rdzdrd

D

65
Triple Integral in Cylindrical Coordinate
We usually define z as a function of (r,)
and r a function of  :
   r  h2 ( ) z  g 2 ( r , )

 f (r, , z)dv     

D 

r  h1 ( ) z  g1 ( r , )
f (r , , z )dz rdr d

Order of integration is dz dr d. We have to find all limits

1. Finding Limit of z in Cylindrical Coordinate
Limits of z are
upper surface z = g2(r,)
lower surface z = g1(r,)

66
Finding Limit of Integration in Cylindrical Coordinate
2. Finding Limit of r in Cylindrical Coordinate
After step 1, we have only 2 variables: (r,). We find the limits
of (r,) as in the case of polar coordinate one variable function:
2.1 Look at projection of region onto xy-plane
3. Finding Limit of 
2.2 Write limits of r as a function of  Start:  
inner r  h1 ( ) outer r  h2 ( ) End:  

   r  h2 ( ) z  g2 ( r , )


 

 

r  h1 ( ) z  g1 ( r , )
f (r , , z )dz rdrd

67
Example 1: Finding Limit of Integration in Cylindrical Coordinate
z
2
z=2-y

1
x y=x

Top view

y
y=x

x 68
0 1
Example 1: Finding Limit of Integration in Cylindrical Coordinate (cont.)

z
2
z=2-y

1
x y=x

y
y=x   / 4 r 1/ cos z  2  r sin





0

r 0
 f (r, , z) zrdrd
z 0
4 x 69
0 1
Example2: Triple Integral in Cylindrical Coordinate
Write the integral formula over the surface given below:

70
Example2: Triple Integral in Cylindrical Coordinate (cont.)

r  2sin 

(0,1)

x
Projection on
to xy-plane
  r  2sin z  r 2



0
  r 0 z 0
f (r , , z )dz rdrd

71
Spherical Coordinate
It consists of 3 values: r,  and f :
0    2 0 f 

r is the distance between (0,0,0) and (x,y,z)

 is the angle of the project of line OP onto xy-plane made with x-axis.
f is the angle the line OP made with z-axis.

This system is similar to

latitude (, longitude (f and
altitude (height.

72
Relation between r, , f and other coordinates

From Cartesian to Spherical

r  x2  y 2  z 2
r x2  y 2
 y r
  arctan   f  arctan  
 x z

From Spherical to Cartesian

This system is good for r  r sin f
spheres and cones.
x  r sin f cos
Note  is the same in both y  r sin f sin 
cylindrical and spherical
coordinate systems. z  r cos f 73
Objects of Constant r, , f in Spherical Coordinate
Let’s take a look here:

1. If f = f0 , it’s a cone with z as

a central axis and it opens f0 degree
measured from z-axis

2. If  = 0 , it’s a half plane

perpendicular to xy-plane
passing z-axis and made angle
0 with xy-plane.

3. If r = r0 , it’s just a sphere

centered at (0,0,0) with radius
r0
74
Example 1: Objects in Spherical Coordinate
Write the equation in spherical coordinate system.
x2  y 2  ( z  1)2  1

(0,0,1)

x 75
Example 2: Objects in Spherical Coordinate
Convert the equation z x 2  yto2 spherical coordinate system

x  r sin f cos y  r sin f sin  z  r cos f

z 
f
4

y
76
x
dV in Spherical Coordinate

 f ( r , ,f )dV
D

For spherical coordinate system, dV is shown in the figure below:

dV  d r  r df  rd
 d r  r df  r sin f d
 r 2 sin f d r df d

Spherical integral:


D
f ( r , , f ) r 2 sin f d r df d

77
Triple Integral in Spherical Coordinate
First we define r as a function of (,f). The limits of f and 
are constants.
   f fmax r  g 2 ( ,f )


D
f ( r , , f )dv   
 f f
 
 f
r  g1 ( , )
f ( r , , f ) r 2sinf d r df d
min

Order of integration: dr df d

1. Finding Limit of r in Spherical Coordinate

outer radius r = g2(,f)

inner radius r = g1(,f)

78
Finding Limit of Integration in Spherical Coordinate
2. Finding Limit of f in Spherical Coordinate
Limits of f are just its max and min: fmin  f  fmax

3. Finding Limit of  in
Spherical Coordinate
   

Spherical integral:
   f fmax r  g2 ( ,f )

 
 f f
 
 f
r  g1 ( , )
f ( r , , f ) r 2sinf d r df d
min

(Don’t forget the term: r 2sin!)f

79
Example 3: Triple Integral in Spherical Coordinate
Find the volume of an object covered by r = 1 and a cone: f = /3
   f fmax r  g 2 ( ,f )
Volume   
 f f
 
 f
r  g1 ( , )
r 2sinf d r df d
min

2  / 3 1
   sinf d r df d
r 2

0 0 0
80
Example 3: Triple Integral in Spherical Coordinate (cont.)
2  / 3 1
Volume    sinf d r df d
r 2

0 0 0
2  / 3 r 1 2  / 3
r  3
sinf
 
0 0
sinf   df d 
 3  r 0

0 0
3
df d

2  /3 2
 cos f   1 1
 
0
  3  df d  0   6  3 d
0

2
 1 1 1 
     d   2  0  
0 
6 3 6 3
81
Formula for 3-D Coordinate Systems

From Cylindrical To From Spherical to Cartesian

Cartesian
x  r sin f cos
x  r cos
y  r sin f sin 
y  r sin 
z  r cos f
zz

dV
From Spherical to Cylindrical
dV  dxdydz
r  r sin f
dV  r 2 sin f d r df d
z  r cos f
dV  dz  rdr  d   82
Substitutions in Triple Integrals

 F ( x, y, z)dxdydz
D

Substitutions by

x  g (u, v, w) y  h(u, v, w) z  k (u, v, w)

F ( x, y, z)  F ( g (u, v, w), h(u, v, w), k (u, v, w))  H (u, v, w)

Triple integral:

 F ( x, y, z)dxdydz   H (u, v, w) J (u, v, w) dudvdw

D G

where D is the volume in xyz, but G is the volume in uvw.

83
Jacobian Determinant in 3D

x x x
u v w
y y y  ( x, y , z )
J (u , v, w)  
u v w  (u , v, w)
z z z
u v w
Example: rectangular versus cylindrical coordinate systems

x  r cos
cos r sin  0
y  r sin  J (r , , z )  sin  r cos  0  r cos 2   r sin 2   r
0 0 1
zz
84
Example 5: Substitutions in Triple Integrals
Integral becomes:

 F ( x, y, z )dxdydz   H (r , , z ) J (r , , z ) dzdrd

D G

  H ( r,  , z) rdzdrd
G

x  r cos
y  r sin 

zz

85
Example 6: Substitutions in Triple Integrals
Rectangular versus spherical coordinate systems:
x  r sin f cos y  r sin f sin  z  r cos f

x x x
r f 
y y y
J ( r , f , ) 
r f 
z z z
r f 
sin f cos  r cos f cos  r sin f sin 
 sin f sin  r cos f sin  r sin f cos  r 2 sin f
cos f  r sin f 0
86
Example 6: Substitutions in Triple Integrals (cont.)
Integral becomes:

 F ( x, y, z)dxdydz   H ( r , f , ) J ( r , f , ) d r df d

D G

  H ( r , f ,  ) r 2 sin f d r df d
G

87
Example 7: Substitutions in Triple Integrals
3 4 x  y / 2 1
 2x  y z 
Evaluate:
 
0 0 x y / 2

 2
  dxdydz
3
Let x u v
y  2v

z  3w

88
Example 7: Substitutions in Triple Integrals (cont.)

89
Example 7: Substitutions in Triple Integrals (cont.)

Jacobian determinant
1 1 0
J (u, v, w)  0 2 0  6
0 0 3

2x  y z
 uw
2 3

 F ( x, y, z)dxdydz   H (u, v, w) J (u, v, w) dudvdw

D G

3 4 x  y / 2 1
 2x  y z 
1 2 1

     dxdydz      u  w (6)dudvdw
0 0 x y / 2  2 3 0 0 0 90
Exercise
1. Use u = x + 2y and v = x – y to find
22 y
 x  2 y  e( y  x ) dxdy
2/3
 
0 y

2. Let R be Quadrant 1 in xy-plane bounded by

xy = 1, xy = 9 and lines y = x and y = 4x. Use
x = u/v and y = uv when u > 0 and v > 0 to evaluate
 y 
R  x
 xy  dxdy
 

3. Compute  xyz dxdydz above the ellipse:

R
2 2
x y z2
2
 2  2 1 where x = au, y = bv, and z = cw
a b c
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