Calculus - Period 4 • A piecewise-smooth curve - A union of a fi-

nite number of smooth curves.

• A closed curve - A curve of which its terminal
point coincides with its initial point.
Three-Dimensional Integrals • A simple curve - A curve that doesn’t inter-
sect itself anywhere between its endpoints.
Cylindrical Coordinates:
• An open region - A region which doesn’t con-
x = r cos θ y = r sin θ z=z (1) tain any of its boundary points.
• A connected region - A region D for which
y any two points in D can be connected by a
r2 = x2 + y 2 tan θ = z=z (2)
x path that lies in D.
• A simply-connected region - A region D such
Integrating Over Cylindrical Coordinates: that every simple closed curve in D encloses
only points that are in D. It contains no
R β R h2 (θ)
holes and consists of only one piece.
RRR
f (x, y, z)dV = ...
R u (r cosEθ,r sin θ) α h1 (θ)
(3) • Positive orientation - The positive orienta-
. . . u12(r cos θ,r sin θ) rf (r cos θ, r sin θ, z)dzdrdθ
tion of a simple closed curve C refers to a
single counterclockwise traversal of C.
Spherical Coordinates:
Vector Field:
x = ρ cos θ sin φ y = ρ sin θ sin φ z = ρ cos φ (4)
A vector field on Rn is a function F that assigns
ρ2 = x2 + y 2 + z 2 (5) to each point (x, y) in an n-dimensional set an n-
dimensional vector F(x, y). The gradient ∇f is
defined by:
Integrating Over Spherical Coordinates:
If E is the spherical wedge given by E = {(ρ, θ, φ)|a ≤ ∇f (x, y, . . .) = fx i + fy j + . . . (9)
ρ ≤ b, α ≤ θ ≤ β, c ≤ φ ≤ d}, then:
and is called the gradient vector field. A vector
RRR RbRβRd 2
E
f (x, y, z)dV = a α c ρ sin φ . . . field F is called a conservative vector field if it is
(6) the gradient of some scalar function.
. . . f (ρ sin φ cos θ, ρ sin φ sin θ, ρ cos φ)dρdθdφ

Line Integrals:
Change of Variables: The line integral of f along C is:
The Jacobian of the transformation T given by x = s 
Z Z b 2  2
g(u, v) and y = h(u, v) is: dx dy
f (x, y)ds = f (x(t), y(t)) + dt
  C a dt dt
∂x ∂x 
∂(x, y)  ∂u ∂v  = ∂x ∂y − ∂x ∂y (10)
=  ∂y ∂y (7)
∂(u, v)  ∂u  ∂u ∂v ∂v ∂u The line integral of f along C with respect to x is:

∂v
Z Z b
If the Jacobian is nonzero and the transformation dx
f (x, y)dx = f (x(t), y(t)) dt (11)
is one-to-one, then: C a dt
ZZ ZZ  
 dudv The line integral of a vector field F along C is:
 ∂(x, y) 
f (x, y)dA = f (x(u, v), y(u, v)) 

R S ∂(u, v)  Z Z b Z
(8) F·dr = F(r(t))·r0 (t) dt = F·T ds (12)
This method is similar to the one for triple inte- C a C
grals, for which the Jacobian has a bigger matrix 0
and the change-of-variable equation has some more Where T = |rr0 | is the unit tangent vector.
terms.
Conservative Vector Fields:
If C is the curve given by r(t) (a ≤ t ≤ b), then:
Basic Vector Field Theorems Z
∇f · dr = f (r(b)) − f (r(a)) (13)
Definitions C

1
 R
The integral RC F · dr is independent of path in D For a surface graph of g(x, y), the normal vector is
if and only if C F · dr = 0 for every closed path C given by:
in D.
∂g ∂g
If F(x, y) = P (x, y)i + Q(x, y)j is a conservative − ∂x i − ∂y j+k
n= r (20)
vector field, then:  2  2
∂g ∂g
1 + ∂x + ∂y
∂P ∂Q
= (14)
∂y ∂x
Also, if D is an open simply-connected region, and Flux:
∂Q If F is a vector field on a surface S with unit normal
if ∂P
∂y = ∂x , then F is conservative in D.
vector n, then the surface integral of F over S is:
ZZ ZZ
Surfaces F · dS = F · n dS (21)
S S

Parametric Surfaces: This integral is also called the flux of F across S.

A surface described by r(u, v) is called a paramet- For a parametric surface, the flux is given by:
∂r ∂r
ric surface. ru = ∂u and rv = ∂v . For smooth ZZ ZZ
surfaces (ru × rv 6= 0 for every u and v) the tan-
F · dS = F · (ru × rv ) dA (22)
gent plane is the plane that contains the tangent S D
vectors ru and rv , and the vector ru × rv is the
normal vector to the tangent plane. For a surface graph of g(x, y), the flux is given by:
ZZ ZZ  
Surface Areas: ∂g ∂g
F · dS = −P −Q + R dA (23)
For a parametric surface, the surface area is given S D ∂x ∂y
by: ZZ
A= |ru × rv |dA (15)
D
For a surface graph of g(x, y), the surface area is
Advanced Vector Field Theorems
given by:
Curl:
If F = P i + Qj + Rk, then the curl of F, denoted
s  2  2
ZZ
∂g ∂g
A= 1+ + dA (16) by curl F or also ∇ × F, is defined by:
D ∂x ∂y
     
∂R ∂Q ∂P ∂R ∂Q ∂P
− i+ − j+ − k
Surface Integrals: ∂y ∂z ∂z ∂x ∂x ∂y
(24)
For a parametric surface, the surface integral is
If f is a function of three variables, then:
given by:
curl(∇f ) = 0 (25)
ZZ ZZ
f (x, y, z) dS = f (r(u, v))|ru ×rv |dA (17)
S D
This implies that if F is conservative, then curl F =
For a surface graph of g(x, y), the surface integral 0. The converse is only true if F is defined on all of
is given by: Rn . So if F is defined on all of Rn and if curl F = 0,
ZZ then F is a conservative vector field.
f (x, y, z) dS =
S Divergence:
ZZ
s  2  2 If F = P i + Qj + Rk, then the divergence of F,
∂g ∂g denoted by div F or also ∇ · F, is defined by:
f (x, y, g(x, y)) 1 + + dA
D ∂x ∂y
(18) ∂P ∂Q ∂R
div F = + + (26)
∂x ∂y ∂z
Normal Vectors:
For a parametric surface, the normal vector is given If F is a vector field on Rn , then div curl F = 0.
by: If div F = 0, then F is said to be incompressible.
ru × rv Note that curl F returns a vector field and div F
n= (19) returns a scalar field.
|ru × rv |

2
Green’s Theorem:
Let C be a positively oriented piecewise-smooth
simple closed curve in the plane and D be the re-
gion bounded by C. Now:
Z ZZ  
∂Q ∂P
P dx + Q dy = − dA (27)
C D ∂x ∂y

This can also be useful for calculating areas. To

calculate an area, take functions P and Q such that
∂Q ∂P
∂x − ∂y = 1 and then apply Green’s theorem.
In vector form, Green’s theorem can also be writ-
ten as:
Z ZZ
F · dr = (curl F) · k dA (28)
C D
Z ZZ
F · n ds = div F(x, y) dA (29)
C D

Stoke’s Theorem:
Let S be an oriented piecewise-smooth surface that
is bounded by a simple, closed, piecewise-smooth
boundary curve C with positive orientation. Let F
be a vector field that contains S. Then:
Z ZZ
F · dr = curl F · dS (30)
C S

The Divergence Theorem:

Let E be a simple solid region and let S be the
boundary surface of E, given with positive (out-
ward) orientation. Let F be a vector field on an
open region that contains E. Then:
ZZ ZZZ
F · dS = div F dV (31)
S E