Contents
Foreword | VII
Notes to the reader | IX
1 Introduction/Background | 1
1.1 What is multivariable and vector calculus? | 1
1.2 Vectors, lines, and planes in ℝ3 | 2
1.2.1 Vectors | 2
1.2.2 Planes in ℝ3 | 7
1.2.3 Lines in ℝ3 | 9
1.2.4 Projections | 11
1.3 Basic surfaces in ℝ3 | 13
1.3.1 Quadratic surfaces | 13
1.4 Polar, cylindrical, and spherical coordinates | 15
1.4.1 Polar coordinates in ℝ2 | 15
1.4.2 Cylindrical and spherical coordinates in ℝ3 | 18
2 Vector functions | 25
2.1 Limits, derivatives, and integrals for vector functions | 25
2.2 Parametric Curves in ℝ2 and ℝ3 | 28
2.3 Particle motion in ℝ2 and ℝ3 | 32
2.3.1 Tangent vectors | 33
2.3.2 Normal vectors | 35
2.3.3 Acceleration | 36
2.4 Arc length | 37
2.4.1 Arc length between fixed points α and ω | 37
2.4.2 Arc length as a function of time: s(t) | 40
2.5 Acceleration decomposition | 41
3 Multivariable derivatives—differentiation in ℝn | 47
3.1 Limits in ℝn | 47
3.1.1 Definitions and the basics | 47
3.1.2 0/0 indeterminate form | 51
3.1.3 Something that does not work | 56
3.2 Continuity in ℝn | 57
3.2.1 Definition and examples | 57
3.2.2 Types of discontinuities | 60
3.2.3 Piecewise continuity | 61
3.3 The derivative in ℝn | 61
3.3.1 Partial derivatives | 62
XII | Contents
3.3.2 Higher-order partial derivatives | 63
3.3.3 Tangent planes and unique tangent planes | 64
3.3.4 Existence of the tangent plane | 67
3.3.5 Multivariable derivative | 69
3.4 The chain rule in ℝn | 70
3.4.1 The basic chain rule | 71
3.4.2 Several interesting extensions | 73
3.4.3 Implicit partial differentiation | 75
3.5 Directional derivatives | 76
4 Implications of multivariable derivatives | 83
4.1 Level curves, level surfaces | 83
4.2 The gradient ∇F for the surface F (x, y, z) = 0 | 84
4.3 Maximums and minimums for continuous functions on closed and
bounded domains | 86
4.4 Local extrema | 89
4.5 Lagrange multipliers | 93
5 Multiple integrals-integration in ℝn | 99
5.1 Riemann integration versus iterated integrals | 99
5.1.1 Single-variable Riemann integration | 99
5.1.2 Multivariable Riemann integration | 101
5.1.3 Iterated integrals | 102
5.1.4 The Fubini theorem and the relationship between Riemann and iterated
integrals | 103
5.1.5 When it all goes wrong: functions that are not Riemann
integrable | 105
5.2 Double integrals: integration over domains in ℝ2 | 106
5.2.1 Integration using rectangular coordinates | 106
5.2.2 Polar integration | 110
5.2.3 What does dA or dy dx become? | 111
5.2.4 What does it all mean? What do double integrals represent? | 113
5.3 Triple integrals: integration over domains in ℝ3 | 115
5.3.1 Integration using rectangular coordinates | 115
5.3.2 Integration using cylindrical and spherical coordinates | 120
6 Vector fields and vector calculus | 133
6.1 Line integrals: integration along curves in ℝ2 or ℝ3 | 133
6.1.1 Direct evaluation of line integrals | 135
6.1.2 Path dependence; path independence | 136
6.1.3 Flow crossing a curve | 140
6.2 Surface integrals: integration over surfaces in ℝ3 | 141
Contents | XIII
6.3 Differential operators | 143
6.3.1 Definitions | 143
6.3.2 Why is div(u) actually divergence? | 144
6.4 The theorems of Gauss, Green, and Stokes | 147
6.4.1 The divergence theorem | 147
6.4.2 Green’s identities | 151
6.4.3 Stokes’ theorem | 151
6.5 All together now: a unified theorem | 155
Bibliography | 161
Index | 163
