Multiple integration

Samy Tindel

Purdue University

Multivariate calculus - MA 261

Mostly taken from Calculus, Early Transcendentals

by Briggs - Cochran - Gillett - Schulz

Samy T. Several variables Multivariate calculus 1 / 99

Outline

1 Double integrals over rectangular regions

2 Double integrals over general regions

3 Double integrals in polar coordinates

4 Triple integrals

5 Triple integrals in cylindrical and spherical coordinates

6 Integrals for mass calculations

Samy T. Several variables Multivariate calculus 2 / 99

Outline

1 Double integrals over rectangular regions

2 Double integrals over general regions

3 Double integrals in polar coordinates

4 Triple integrals

5 Triple integrals in cylindrical and spherical coordinates

6 Integrals for mass calculations

Samy T. Several variables Multivariate calculus 3 / 99

Integration in dimension 1 (1)

Approximation procedure:
Area under a curve is approximated by sum of rectangle areas

Samy T. Several variables Multivariate calculus 4 / 99

Integration in dimension 1 (2)
Riemann integral: In the limit we get
n
X Z b
lim f (xk ) ∆xk = f (x ) dx
n→∞ a
k=1

Samy T. Several variables Multivariate calculus 5 / 99

Volume approximation (1)

Aim: Approximate the volume V

,→ Under the surface defined by f on rectangle R = [a, b] × [c, d]

Approximation:
Divide R into boxes centered at (xk∗ , yk∗ )
Area of each box: ∆Ak = ∆xk ∆yk
Then the volume is approximated as
n
f (xk∗ , yk∗ ) ∆Ak
X
V ≃
k=1

Samy T. Several variables Multivariate calculus 6 / 99

Volume approximation (2)

Samy T. Several variables Multivariate calculus 7 / 99

Integration in dimension 1 (3)
Double integral: In the limit we get
n Z Z
(xk∗ , yk∗ ) ∆Ak
X
lim
n→∞
f = f (x , y ) dA
k=1 R

Samy T. Several variables Multivariate calculus 8 / 99

Computing double integrals

Basic recipe:
1 Integrate inside out
2 While integrating wrt one variable, keep the other one constant
3 Fubini: The order of integration does not matter

Samy T. Several variables Multivariate calculus 9 / 99

Example of double integration (1)

Function:
z = f (x , y ) = 6 − 2x − y

Region: Rectangle
R = [0, 1] × [0, 2]

Problem: Compute Z Z
f (x , y ) dA
R

Samy T. Several variables Multivariate calculus 10 / 99

Example of double integration (2)
Integrating: We get
Z Z Z 1 Z 2 
f (x , y ) dA = (6 − 2x − y ) dy dx
R 0 0
Z 1
= (10 − 4x ) dx
0
1
= 10x − 2x 2
0
Area: We get Z Z
f (x , y ) dA = 8
R

To be checked: We also have

Z Z Z 2 Z 1 
f (x , y ) dA = (6 − 2x − y ) dx dy
R 0 0

Samy T. Several variables Multivariate calculus 11 / 99

Illustration: integrating first in y

Samy T. Several variables Multivariate calculus 12 / 99

Illustration: integrating first in x

Samy T. Several variables Multivariate calculus 13 / 99

Choosing the correct order of integration (1)

Function:
3y 3
z = f (x , y ) = y 5 x 2 e x

Region: Rectangle
R = [0, 2] × [0, 1]

Problem: Compute Z Z
f (x , y ) dA
R

Samy T. Several variables Multivariate calculus 14 / 99

Choosing the correct order of integration (2)

Order of integration: We integrate wrt x first and compute

Z Z Z 1 Z 2 
2 3 2 x 3y 3
f (x , y ) dA = y y x e dx dy
R 0 0
!
1 Z 1 2 x 3 y 3 x =2
= y e dy
3 0 x =0
1 Z 1 2  8y 3 
= y e − 1 dy
3 0
1 8 1
= e −
72 9
≃ 41.29

Samy T. Several variables Multivariate calculus 15 / 99

Average value

Definition 1.
Let
f function of 2 variables
R rectangle

Then the average value of f on R is given by

1 Z Z
f¯ = f (x , y ) dA
Area(R) R

Samy T. Several variables Multivariate calculus 16 / 99

Example of average value (1)

Function:
z = f (x , y ) = 2 − x − y

Region: Rectangle
R = [0, 2] × [0, 2]

Problem:
Compute the average value of f on R

Samy T. Several variables Multivariate calculus 17 / 99

Example of average value (2)
Integrating: We get
1 Z Z
f¯ = f (x , y ) dA
Area(R) R
1Z 2
Z 2 
= (2 − x − y ) dx dy
4 0 0
Z 2
1
= (2 − 2y ) dy
4 0
= 0

Average value: We find that f is centered on R, ie

f¯ = 0

Samy T. Several variables Multivariate calculus 18 / 99

Outline

1 Double integrals over rectangular regions

2 Double integrals over general regions

3 Double integrals in polar coordinates

4 Triple integrals

5 Triple integrals in cylindrical and spherical coordinates

6 Integrals for mass calculations

Samy T. Several variables Multivariate calculus 19 / 99

Description of the problem
New situation:
The region R of integration is not a rectangle

Consequence: Order of integration is important

,→ and cannot be switched arbitrarily

Samy T. Several variables Multivariate calculus 20 / 99

Special form of domain

Particular case: We have

n o
R = (x , y ) ∈ R2 ; x ∈ [a, b], f (x ) ≤ y ≤ g(x )

Recipe:

Integrate wrt variable with constant bounds last

Samy T. Several variables Multivariate calculus 21 / 99

Example of integration (1)

Function:
z = f (x , y ) = xy 2

Region: Of the form

n √ o
R = (x , y ) ∈ R2 ; x ∈ [0, 2], x 2 ≤ y ≤ 2

Problem: Compute Z Z
f (x , y ) dA
R

Samy T. Several variables Multivariate calculus 22 / 99

Example of integration (2)

Order of integration: We integrate wrt y first and compute

Z Z Z √2 Z 2 
2
f (x , y ) dA = xy dy dx
R 0 x2
√
8Z
1 2
= x − x 7 dx
0 3 3√
8 2 1 2
= x − x8
6 24 0
= 2

Samy T. Several variables Multivariate calculus 23 / 99

Example of integration (3)

Switching order of integration:

One has to be more careful than for rectangles. We get that
n √ o
R = (x , y ) ∈ R2 ; x ∈ [0, 2], x 2 ≤ y ≤ 2

can also be written as

n √ o
R = (x , y ) ∈ R2 ; y ∈ [0, 2], 0 ≤ x ≤ y

Samy T. Several variables Multivariate calculus 24 / 99

Example of integration (4)

Integration with order switched: We integrate wrt x first and

compute
Z Z Z 2 Z √y !
2
f (x , y ) dA = xy dx dy
R 0 0
1Z 2 3
= y dy
2 0
1 42
= y
8 0
= 2

Samy T. Several variables Multivariate calculus 25 / 99

Switching order of integration (1)
Function: consider a general function

z = f (x , y )

Region: Of the form

n o
R = (x , y ) ∈ R2 ; x ∈ [0, 2], e −x ≤ y ≤ e x

Problem: Switch the order of integration for

Z Z Z 2 Z ex
f (x , y ) dA = f (x , y ) dy dx
R 0 e −x

Samy T. Several variables Multivariate calculus 26 / 99

Switching order of integration (2)

Changing the definition of R: We have

n o
R = (x , y ) ∈ R2 ; x ∈ [0, 2], e −x ≤ y ≤ e x
n o
= (x , y ) ∈ R2 ; y ∈ [e −2 , 1], − ln(y ) ≤ x ≤ 2
[n o
(x , y ) ∈ R2 ; y ∈ [1, e 2 ], ln(y ) ≤ x ≤ 2

New formula for the integral:

Z Z Z 1 Z 2 Z e2 Z 2
f (x , y ) dA = f (x , y ) dx dy + f (x , y ) dx dy
R e −2 − ln(y ) 1 ln(y )

Samy T. Several variables Multivariate calculus 27 / 99

Choosing order of integration (1)

Function:  
z = f (x , y ) = sin x 2

Region: Of the form

n √ √ o
R = (x , y ) ∈ R2 ; y ∈ [0, π], y ≤ x ≤ π

Problem: Compute Z Z
f (x , y ) dA
R

Samy T. Several variables Multivariate calculus 28 / 99

Choosing order of integration (2)

Impossible computation: Write

Z Z Z √π Z √π  
f (x , y ) dA = sin x 2 dx dy
R 0 y

Then antiderivative of sin(x 2 ) not known!

Solution: Switch order of integration, ie write

n √ o
R = (x , y ) ∈ R2 ; x ∈ [0, π], 0 ≤ y ≤ x

Samy T. Several variables Multivariate calculus 29 / 99

Choosing order of integration (3)

Samy T. Several variables Multivariate calculus 30 / 99

Choosing order of integration (3)

Computing the integral:

Z Z Z √π Z x  
f (x , y ) dA = sin x 2 dy dx
R 0 0
Z √π  
= x sin x 2 dx
0
√
1   π
= − cos x 2
2 0
= 1

Remark: This trick does not always work!

Samy T. Several variables Multivariate calculus 31 / 99

Outline

1 Double integrals over rectangular regions

2 Double integrals over general regions

3 Double integrals in polar coordinates

4 Triple integrals

5 Triple integrals in cylindrical and spherical coordinates

6 Integrals for mass calculations

Samy T. Several variables Multivariate calculus 32 / 99

Recalling polar coordinates
Cartesian coordinates: (x , y )

Polar coordinates: (r , θ) with

r ≡ distance from origin
θ ≡ angle wrt x -axis

Polar to Cartesian: We have

x = r cos(θ), y = r sin(θ).

Cartesian to polar: We have

y
q  
r= x 2 + y 2, θ = tan−1 .
x

Samy T. Several variables Multivariate calculus 33 / 99

Area of a small pizza crust (1)
Recall: For integration in Cartesian coordinates
,→ We used area of small rectangles ∆x ∆y

New aim: Find area of a small rectangle in polar coordinates

Samy T. Several variables Multivariate calculus 34 / 99

Area of a small pizza crust (2)

Approximation: If ∆r and ∆θ are small, then

Area(Pizza crust) ≃ Area(Small rectangle)

= ∆r (r ∆θ)
= r ∆r ∆θ

Samy T. Several variables Multivariate calculus 35 / 99

Polar change of coordinates

Theorem 2.
Let
f (x , y ) continuous function
R polar region of the form

R = {(r , θ); a ≤ r ≤ b, α ≤ θ ≤ β}

Then we have
Z Z Z βZ b
f (x , y ) dA = f (r cos(θ), r sin(θ)) r dr dθ
R α a

Samy T. Several variables Multivariate calculus 36 / 99

Computing a volume (1)
Problem: Find the volume bounded by
Paraboloid z = 9 − x 2 − y 2
xy -plane

Samy T. Several variables Multivariate calculus 37 / 99

Computing a volume (2)

Intersection with xy -plane: Circle defined by

x2 + y2 = 9

Polar coordinates domain:

R = {(r , θ); 0 ≤ r ≤ 3, 0 ≤ θ ≤ 2π}

Samy T. Several variables Multivariate calculus 38 / 99

Computing a volume (3)

Volume as an integral: We have

Z 2π Z 3  
V = 9 − r 2 dr dθ
0 0
Z 2π
9 2 1 43
= r − r dθ
0 2 4 0
Z 2π
81
= dθ
0 4

Thus
81π
V =
2

Samy T. Several variables Multivariate calculus 39 / 99

Example of polar integral (1)

Problem: Compute
√
Z 1 Z 1−y 2  3/2
I= x2 + y2 dx dy
−1 0

Remark:
The integral looks terrible in Cartesian coordinates!

Samy T. Several variables Multivariate calculus 40 / 99

Example of polar integral (2)

Domain in Cartesian coordinates:

 q 
R = (x , y ); −1 ≤ y ≤ 1, 0 ≤ x ≤ 1 − y2

Domain in polar coordinates:

π π
 
R = (r , θ); 0 ≤ r ≤ 1, − ≤θ≤
2 2

Samy T. Several variables Multivariate calculus 41 / 99

Example of polar integral (3)

Integral in polar coordinates: We get

π Z 1
Z
2 π
I= r 3 r dr dθ =
− π2 0 5

Samy T. Several variables Multivariate calculus 42 / 99

Region bounded by 2 surfaces (1)
Problem: Find the volume bounded by
Paraboloid z = x 2 + y 2
√
Cone z = 2 − x 2 + y 2

Samy T. Several variables Multivariate calculus 43 / 99

Region bounded by 2 surfaces (2)

Expression as an integral: We have

Z Z  q  
2 2
V = 2− x2 + y2 − x +y dA,
R

Integration region: The region R is defined as

R ≡ region with boundary C

given as intersection of paraboloid and cone

Samy T. Several variables Multivariate calculus 44 / 99

Region bounded by 2 surfaces (3)

Definition of C : Write
q
x2 + y2 = 2 − x2 + y2

In polar coordinates in the plane, this gives

r2 + r − 2 = 0

Physical solution to the equation: Circle in the xy -plane,

x2 + y2 = 1

Samy T. Several variables Multivariate calculus 45 / 99

Region bounded by 2 surfaces (4)

Volume in polar coordinates: We have

Z Z  q  
2 2
V = 2− x2 + y2 − x +y dA
R
Z 2π Z 1  
= 2 − r − r 2 r dr dθ
0 0
Z 2π   1
1 1
= r2 − r3 − r4
0 3 4 0

Thus
5π
V =
6

Samy T. Several variables Multivariate calculus 46 / 99

Outline

1 Double integrals over rectangular regions

2 Double integrals over general regions

3 Double integrals in polar coordinates

4 Triple integrals

5 Triple integrals in cylindrical and spherical coordinates

6 Integrals for mass calculations

Samy T. Several variables Multivariate calculus 47 / 99

Triple integral approximation (1)

Aim: For w = f (x , y , z), compute

,→ The integral of f on a domain D ⊂ R3

Approximation:
Divide D into boxes centered at (xk∗ , yk∗ , zk∗ )
Area of each box: ∆Vk = ∆xk ∆yk ∆zk
Then we obtain the integral as a limit
Z Z Z n
f (xk∗ , yk∗ , zk∗ ) ∆Vk
X
f (x , y , z) dV =
D k=1

Samy T. Several variables Multivariate calculus 48 / 99

Triple integral approximation (2)

Samy T. Several variables Multivariate calculus 49 / 99

Choosing the order of integration
Theorem 3.
Let
f continuous function on R3
D domain of the form

D = (x , y , z); a ≤ x ≤ b, g(x ) ≤ y ≤ h(x ),

G(x , y ) ≤ z ≤ H(x , y )

Then we have
Z Z Z Z b Z h(x ) Z H(x ,y )
f (x , y , z) dV = f (x , y , z) dzdy dx
D a g(x ) G(x ,y )

Samy T. Several variables Multivariate calculus 50 / 99

Volume of a prism (1)
Problem: Compute the volume of a prism D
In the first octant
Bounded by planes y = 4 − 2x and z = 6

Samy T. Several variables Multivariate calculus 51 / 99

Volume of a prism (2)

Strategy of integration:
1 Upper surface: y = 4 − 2x
2 Base: y = 0, 0 ≤ x ≤ 2, 0 ≤ z ≤ 6
,→ We get a rectangle (easy surface)

Conclusion: an easy way to integrate is in this order,

dy dx dz

Samy T. Several variables Multivariate calculus 52 / 99

Volume of a prism (3)

Integral computation: We get

Z 6 Z 2 Z 4−2x
V = dy dx dz
0 0 0
Z 6Z 2
= (4 − 2x ) dx dz
0 0

Thus we get

V = 24

Samy T. Several variables Multivariate calculus 53 / 99

Volume of a wedge (1)
Problem:
Compute the volume of the cylinder C : x 2 + y 2 = 1 delimited by
xy -plane z = 0
Plane z = y

Samy T. Several variables Multivariate calculus 54 / 99

Volume of a wedge (2)

Strategy of integration:
In xy -plane, surface delimited by x 2 + y 2 = 1 and y ≥ 0
,→ Easy domain D (half circle)

Conclusion: an easy way to integrate is in this order,

dz dy dx

Samy T. Several variables Multivariate calculus 55 / 99

Volume of a wedge (3)
Integral computation: We get
Z 1 Z √1−x 2 Z y
V = dz dy dx
−1 0 0
Z 1 Z √1−x 2
= y dy dx
−1 0
1Z 1
= (1 − x 2 ) dx
2 −1

Thus we get
2
V =
3

Samy T. Several variables Multivariate calculus 56 / 99

Volume between two cones (1)

Problem:
Compute the volume
√
Above cone C1 : z = x 2 + y 2
√
Below cone C2 : z = 2 − x 2 + y 2

Samy T. Several variables Multivariate calculus 57 / 99

Volume between two cones (2)

Intersection of the 2 cones: Its projection on xy -plane is

x2 + y2 = 1

Strategy of integration:
In xy -plane, surface delimited by x 2 + y 2 = 1
,→ Easy domain (circle)

Conclusion: an easy way to integrate is in this order,

dz dy dx

Samy T. Several variables Multivariate calculus 58 / 99

Volume between two cones (3)

Integral computation: We get

Z
√
Z 2− x 2 +y 2
V = √ dz dy dx
x 2 +y 2 ≤1 x 2 +y 2
Z  q 
= 2 − 2 x 2 + y 2 dy dx
x 2 +y 2 ≤1

Remark:
Terrible integral in Cartesian coordinates!

Samy T. Several variables Multivariate calculus 59 / 99

Volume between two cones (4)

Polar domain:
0 ≤ r ≤ 1, 0 ≤ θ ≤ 2π
Volume in polar coordinates:
Z 2π Z 1
V = (2 − 2r ) r dr dθ
0 0
1
= 2π ×
3
We get
2π
V =
3

Samy T. Several variables Multivariate calculus 60 / 99

Outline

1 Double integrals over rectangular regions

2 Double integrals over general regions

3 Double integrals in polar coordinates

4 Triple integrals

5 Triple integrals in cylindrical and spherical coordinates

6 Integrals for mass calculations

Samy T. Several variables Multivariate calculus 61 / 99

Definition of cylindrical coordinates

Notation for cylindrical coordinates: Similar to polar coordinates

(r , θ, z)

Conversion Cartesian to cylindrical:

y
r 2 = x 2 + y 2, tan(θ) = , z =z
x

Conversion cylindrical to Cartesian:

x = r cos(θ), y = r sin(θ), z =z

Samy T. Several variables Multivariate calculus 62 / 99

Cylindrical coordinates: illustration

Samy T. Several variables Multivariate calculus 63 / 99

Example of cylindrical coordinates

Point in Cartesian coordinates:

√
P(−3, 3 3, 1)

Problem:

Find cylindrical coordinates for P

Answer:
2π
 
6, ,1
3

Samy T. Several variables Multivariate calculus 64 / 99

Sets easily written in cylindrical coordinates
Cylinder:
r =a

Cylindrical shell:
a≤r ≤b

Vertical half plane:

θ = θ0

Horizontal plane:
z =a

Cone:
z = ar

Samy T. Several variables Multivariate calculus 65 / 99

Another domain in cylindrical coordinates (1)

Domain: n o
D = (r , θ, z); r 2 ≤ z ≤ 4

Problem:

Identify this domain

Samy T. Several variables Multivariate calculus 66 / 99

Another domain in cylindrical coordinates (2)

Lower bound on z: Given by the surface

z = r2 ⇐⇒ z = x2 + y2

This is a paraboloid

Upper bound on z: Given by the surface

z =4

This is a horizontal plane

Samy T. Several variables Multivariate calculus 67 / 99

Integration in cylindrical coordinates

Basic formula: In cylindrical coordinates (r , θ, z),

Z Z Z Z Z Z
f (x , y , z) dV = f (r cos(θ), r sin(θ), z) r dr dθdz
D D

When to use cylindrical coordinates: If

1 The domain D is one of the cylinder type domains
,→ mentioned before
2 f is a function of x 2 + y 2

Samy T. Several variables Multivariate calculus 68 / 99

Example of cylindrical integral (1)

Problem: Compute
Z 3 Z √9−x 2 Z 9−x 2 −y 2 q
I= x 2 + y 2 dzdy dx
−3 0 0

Preliminary remark:
Awful integral in Cartesian coordinates!

Samy T. Several variables Multivariate calculus 69 / 99

Example of cylindrical integral (2)
Domain:
√
−3 ≤ x ≤ 3 and 0 ≤ y ≤ 9 − x 2
⇐⇒
0 ≤ r ≤ 3 and 0 ≤ θ ≤ π

Computing the integral: With cylindrical coordinates,

Z π Z 3 Z 9−r 2
I= r dz r dr dθ
0 0 0

We get
162π
I=
5

Samy T. Several variables Multivariate calculus 70 / 99

Mass of a solid paraboloid (1)

Definition of the solid: Bounded by

Paraboloid z = 4 − r 2
Plane z = 0

Problem: Find mass of solid if density is

f (r , θ, z) = 5 − z

Samy T. Several variables Multivariate calculus 71 / 99

Mass of a solid paraboloid (2)
Domain: We have
n o
D = 0 ≤ r ≤ 2, 0 ≤ θ ≤ 2π, 0 ≤ z ≤ 4 − r 2

Mass: We compute
Z Z Z
M = f (r , θ, z) dV
D
Z 2π Z 2 Z 4−r 2
= (5 − z) dz r dr dθ
0 0 0
1Z 2π Z 2  
= 24r − 2r 3 − r 5 r dr dθ
2 0 0
Z 2π
44 88π
= dθ =
0 3 3

Samy T. Several variables Multivariate calculus 72 / 99

Definition of spherical coordinates

Notation for spherical coordinates: Similar to polar coordinates

(ρ, φ, θ), with ρ ≥ 0, 0 ≤ φ ≤ π, 0 ≤ θ ≤ 2π

Conversion Cartesian to spherical:

ρ2 = x 2 + y 2 + z 2 , + trigonometry to find φ, θ

Conversion spherical to Cartesian:

x = ρ sin(φ) cos(θ), y = ρ sin(φ) sin(θ), z = ρ cos(φ)

Samy T. Several variables Multivariate calculus 73 / 99

Spherical coordinates: illustration

Samy T. Several variables Multivariate calculus 74 / 99

Example of spherical coordinates

Point in spherical coordinates:

π π
 
P 1, ,
6 3

Problem:

Find Cartesian coordinates for P

Answer: √ √ !
1 3 3
, ,
4 4 2

Samy T. Several variables Multivariate calculus 75 / 99

Sets easily written in spherical coordinates
Sphere:
ρ=a

Vertical half plane:

θ = θ0

Horizontal plane:
ρ = a sec(φ)

Cone:
φ = φ0

Samy T. Several variables Multivariate calculus 76 / 99

Small spherical volume
Formula: We have
dV = ρ2 sin(φ) dρ dθ dφ

Samy T. Several variables Multivariate calculus 77 / 99

Integration in spherical coordinates

Basic formula: In spherical coordinates (r , θ, z),

Z Z Z
f (x , y , z) dV
Z Z ZD
= f (ρ cos(θ) sin(φ), ρ sin(θ) sin(φ), ρ cos(φ)) ρ2 sin(φ) dρ dθ dφ
D

When to use spherical coordinates: If

1 The domain D is one of the spherical type domains
,→ mentioned before
2 f is a function of x 2 + y 2 + z 2

Samy T. Several variables Multivariate calculus 78 / 99

Example of spherical integral (1)

Domain: We consider

D = region in the first octant between two spheres of radius 1 and 2

centered at the origin.

Problem: Compute
Z Z Z  −3/2
I= x2 + y2 + z2 dV
D

Samy T. Several variables Multivariate calculus 79 / 99

Example of spherical integral (2)
Expressing D in spherical coordinates:
π π
 
D = 1 ≤ ρ ≤ 2, 0 ≤ φ ≤ , 0 ≤ θ ≤
2 2

Samy T. Several variables Multivariate calculus 80 / 99

Example of spherical integral (3)
Integral in spherical coordinates:
Z π/2 Z π/2 Z 2
I= ρ−3 ρ2 sin(φ) dρ dφ dθ
0 0 1

Computation:
Z π/2 Z π/2 2
I = ln(ρ) sin(φ) dφ dθ
0 0 1
Z π/2 π/2
= ln(2) (− cos(φ)) dθ
0 0
ln(2) π
=
2

Samy T. Several variables Multivariate calculus 81 / 99

Volume of an ice cream cone (1)

Domain: We consider
π
D = region between cone φ = 6
and sphere ρ = 4.

Problem: Compute
Z Z Z
V = Volume of D = dV
D

Samy T. Several variables Multivariate calculus 82 / 99

Volume of an ice cream cone (2)
Expressing D in spherical coordinates:
π
 
D = 0 ≤ ρ ≤ 4, 0 ≤ φ ≤ , 0 ≤ θ ≤ 2π
6

Samy T. Several variables Multivariate calculus 83 / 99

Volume of an ice cream cone (3)
Integral in spherical coordinates:
Z 2π Z π/6 Z 4
I= ρ2 sin(φ) dρ dφ dθ
0 0 0

Computation:
Z 2π Z π/6 3 4
ρ
I = sin(φ) dφ dθ
0 0 3 0
64 Z 2π π/6
= (− cos(φ)) dθ
3 0 0
√ !
64 3
= 1− 2π
3 2
√
64π(2 − 3)
=
3

Samy T. Several variables Multivariate calculus 84 / 99

Outline

1 Double integrals over rectangular regions

2 Double integrals over general regions

3 Double integrals in polar coordinates

4 Triple integrals

5 Triple integrals in cylindrical and spherical coordinates

6 Integrals for mass calculations

Samy T. Several variables Multivariate calculus 85 / 99

A playground example (1)

Seesaw principle: Seesaw in equilibrium if

m1 d 1 = m2 d 2

Samy T. Several variables Multivariate calculus 86 / 99

A playground example (2)
Notation:
Call x̄ the center of mass for the 2-body seesaw system

Seesaw principle revisited: Seesaw in equilibrium if

m1 (x1 − x̄ ) = m2 (x̄ − x2 )

Solving for x̄ : We get

m1 x 1 + m 2 x 2 Average(mass × distance)
x̄ = =
m1 + m 2 Average(mass)

Samy T. Several variables Multivariate calculus 87 / 99

Center of mass of a 3-d body
Theorem 4.
Let
D closed bounded region in R3
ρ = Density function on D
RRR
Mass of D given by m = D ρ(x , y , z) dV

Then the coordinates of center of mass for D are

Myz 1 Z Z Z
x̄ = = x ρ(x , y , z) dV
m m D
Mxz 1 Z Z Z
ȳ = = y ρ(x , y , z) dV
m m D
Mxy 1 Z Z Z
z̄ = = z ρ(x , y , z) dV
m m D

Samy T. Several variables Multivariate calculus 88 / 99

Moments

Definition of moment: In center of mass definition, the quantity

Z Z Z
Mxy = z ρ(x , y , z) dV
D

is called moment with respect to the xy -plane.

Remark: Moments are of the form

Average(mass × distance)

Samy T. Several variables Multivariate calculus 89 / 99

A 2-d example (1)

Domain: We consider D ⊂ R2 defined by

n o\
R = (x , y ); 1 ≤ x 2 + y 2 ≤ 4 First quadrant

Density of mass: Given by

q
ρ(x , y ) = x2 + y2

Problem:

Find the center of mass of this object

Samy T. Several variables Multivariate calculus 90 / 99

A 2-d example (2)

Total mass: We get (with convenient polar coordinates)

Z Z
m = ρ dA
R
Z π/2 Z 2
= ρ r dr dθ
0 1
Z π/2 Z 2
= r 2 dr dθ
0 1

Thus
7π
m=
6

Samy T. Several variables Multivariate calculus 91 / 99

A 2-d example (3)

Center of mass on the y -axis: We have

1 Z Z
ȳ = y ρ dA
m R
6π Z π/2 Z 2
= r sin(θ)ρ r dr dθ
7 0 1
Z π/2 Z 2
6π
= r 3 sin(θ) dr dθ
7 0 1
45
=
14π
Thus
ȳ ≃ 1.023

Samy T. Several variables Multivariate calculus 92 / 99

A 2-d example (4)

Center of mass on the x -axis: We have

1 Z Z
x̄ = x ρ dA
m R
6π Z π/2 Z 2
= r cos(θ)ρ r dr dθ
7 0 1
6π Z π/2 Z 2 3
= r cos(θ) dr dθ
7 0 1
45
=
14π
Thus
x̄ ≃ 1.023

Samy T. Several variables Multivariate calculus 93 / 99

A 2-d example (5)

Conclusion: The center of mass is

(x̄ , ȳ ) = (1.023, 1.023)

Samy T. Several variables Multivariate calculus 94 / 99

A 3-d example (1)

Domain: We consider D ⊂ R3 bounded by

Hemisphere with radius a
xy -plane

Density of mass: Given by (object heavier close to the center)

ρ
f (ρ, φ, θ) = 2 −
a
Problem:

Find the center of mass of this object

Samy T. Several variables Multivariate calculus 95 / 99

A 3-d example (2)

Graph of the situation:

Samy T. Several variables Multivariate calculus 96 / 99

A 3-d example (3)
Total mass: We get (with convenient spherical coordinates)
Z Z
m = f dV
D
Z 2π Z π/2 Z a
ρ

= 2− ρ2 sin(φ) dρdφdθ
0 0 0 a!
Z 2π Z π/2
2ρ3 ρ4 a
= − sin(φ) dρdφdθ
0 0 3 4a 0
3 Z 2π Z π/2
5a
= sin(φ) dρdφdθ
12 0 0
5a3
= × 2π
12
Thus
5πa3
m=
6
Samy T. Several variables Multivariate calculus 97 / 99
A 3-d example (4)
Moment wrt the xy -axis: We have
Z Z
Mxy = z f dV
D
Z 2π Z π/2 Z a
ρ
 
= ρ cos(φ) 2 − ρ2 sin(φ) dρdφdθ
0 0 0 a
ρ4 ρ5 a
Z 2π Z π/2 !
= − cos(φ) sin(φ) dρdφdθ
0 0 2 5a 0
3a4 Z 2π Z π/2 1
= sin(2φ) dρdφdθ
10 0 0 2
3a4 1
= × × 2π
10 2
Thus
3πa4
Mxy =
10
Samy T. Several variables Multivariate calculus 98 / 99
A 3-d example (5)

Center of mass on the z-axis: We have

Mxy
z̄ =
m
3πa4 /10
=
5πa3 /6

Thus
9a
z̄ = = 0.36a
25
Remark: For a uniform half sphere we would find
,→ z̄ = 0.375a

Samy T. Several variables Multivariate calculus 99 / 99