Chapter 3 Multiple Integral

3.1 Double Integrals

3.2 Iterated Integrals

3.3 Double Integrals in Polar

Coordinates

3.4 Triple Integrals

 Triple Integrals in Cartesian

Coordinates

 Triple Integrals in Cylindrical

Coordinates

 Triple Integrals in Spherical

Coordinates

3.5 Moments and Centre of Mass

1
3.1 Double Integrals

Recall: We think of the integral in two

different ways.

In one way we interpret it as the area under

the graph y  f (x) , while the Fundamental
Theorem of Calculus enables us to compute
this using the process of anti-differentiation
 undoing the differentiation process.
We think of the area as
n b
A = lim f (x k ) x k f (x )dx
n k 1 a

where the first sum is thought of as a limiting

case, adding up the areas of a number of
rectangles each of height f (xk), and width xk.
This leads to the natural generalisation to
several variables.

2
 FIGURE 13.1b
Area under the curve

3
The double integral f (x ,y )dA has a similar
R
interpretation in terms of volume except that
the approximating elements will be
rectangular parallelepipeds rather than
rectangles.

4
We first suppose that f (x ,y ) 0. The graph of
f is a surface with equation z f (x ,y ). Let s
be the solid that lies above R and under the
graph of f.

5
 








Our goal is to find the volume of s .
 The first step of this process is to divide
the region R into small rectangles.
 We can then compare the part of z f (x ,y )
that lies above the small rectangle, and
this forms a thin box called rectangular
parallelepiped.
 The volume of this parallelepiped is the
area of the base times the height.
 Follow this procedure for all of the
rectangles and add the volumes of the
6
 corresponding parallelepipeds, we get an
approximation of the total volume of s :
n m
V f (x i ,y j ) A
i 1j 1

 Now, to find the area exactly, we simply

make the boxes on the region R infinitely
small (hence there are infinitely many).
We do this by taking the limit of the above
equation:
n m
V lim f (x i ,y j ) A
i ,j i 1j 1

7
 By taking the limit above, we arrive at the
definition of a double integral.

Definition 3.1
If f is a function of two variables that is defined
on a region R in the xy-plane, then the double
integral of f over R is given by
n m
f (x ,y )dA lim f (x i ,y j ) A
m ,n i 1j 1
R

8
provided this limit exists, in which case f is
said to be integrable over R.

Note
 The double integral of the surface
z f (x ,y ) is the volume between the
region R and below the surface.
 The sum:
n m
f (x i ,y j ) A
i 1j 1

is called the double Riemann sum and is

used as an approximation to the value of the
double integral.

9
The double integral inherits most of the
properties of the single integral.

3.1.1 Properties of Double Integrals

1. constant multiple rule

c f (x ,y )dA c f (x ,y )dA , c a constant
R R

2. linear rule
[ f (x ,y ) g (x ,y )]dA
R
f (x ,y )dA g (x ,y )dA
R R

3. subdivision rule
f (x ,y )dA f (x ,y )dA f (x ,y )dA
R R1 R1

4. dominance rule, if f (x ,y ) g (x ,y )
f (x ,y )dA g (x ,y )dA
R R

10
3.2 Iterated Integrals
3.2.1 Evaluating Double Integrals
 It is impractical to obtain the value of
double integral from the definition. We
evaluate the integrals by calculating
two successive single integrals.
d
We use the notation f (x ,y )dy to mean that
c
x is held fixed and f ( x, y ) is integrated
with respect to y from y  c to y  d .
This is called partial integration with
respect to y.
d
A(x ) f (x ,y )dy
c
Now we integrate the function A with
respect to x from x  a to x  b, we get:
b b d
A(x )dx f (x ,y )dy dx
a a c

11
This successive integration process is
called iterated integration.
f (x ,y )dxdy f (x ,y )dx dy

f (x ,y )dydx f (x ,y )dy dx

 These iterated integrals mean that we

first integrate with respect to one
variable (while holding the other fixed)
and then integrating with respect to the
other variable while holding the first
one fixed.

 It is traditional to omit the brackets and

write the iterated integral simply as
f (x ,y )dxdy

The following theorem gives a practical

method for evaluating a double integral by
expressing it as an iterated integral.
12
Theorem 3.1 Fubini’‛s Theorem
If f (x ,y ) is continuous over the rectangle
R :a x b,c y c , then
d b
f (x ,y )dA f (x ,y )dxdy
R c a
b d
f (x ,y )dydx
a c

Example 3.1 Prompts/Questions

Evaluate the integrals.  How are double
3 2
integrals evaluated as
(a) (1 8xy ) dydx iterated integrals?
0 1
2 3 o Which theorem do
(b) (1 8xy ) dxdy you use?
1 0  What is the inner
Compare (a) and (b). integral?
What can you say o Which variable is
about the integration? kept fixed?
 What is the outer
integral?
 What integral rules &
techniques do you
13
 know?
Solution
3 2 3 2
(a) (1 8xy )dydx (1 8xy )dy dx
0 1 0 1
3 2
2
= y 4xy dx
1
0
3
= 1 12xdx
0
23
=x 6x 57
0

2 3 2 3
(b) (1 8xy )dxdy (1 8xy )dx dy
1 0 1 0
2 3
2
= x 4x y dy
0
1
2
= 3 36ydy
1
22
= 3y 18y 57
1

14
Example 3.2 Prompts/Questions
Compute  How do you write the
(2 y )dA where R integral as an iterated
R integral?
is a rectangle with o Can you sketch the
vertices (0, 0), (3, 0), region of integration?
(3, 2) and (0, 2). o What are the limits of
integration
 Does the order of
integration matter?

Solution
 Sketch the region
of integration, R: (0, 2) (3, 2)
 Choose order of
integration: fixed
x (y-integration (0, 0) (3, 0)
first, vertical
arrow)
For each fixed x on the interval [0, 3], y
ranges from 0 up to 2 and we get the double
iterated integral,

15
 3 2 3 2 2
y
2 ydA (2 y )dydx 2y dx
2
R 0 0 0 0
3
2dx 6
0

Example 3.3 Prompts/Questions

Evaluate  Can you sketch the
x cos xydA over the region R ?
R  How do you write the
region R integral as an iterated
p integral?
0 x ,0 y 1.
2 o Which order of
integration is easier?
o What are the limits
of integration?
 What integration
formulas do you use?

16
Solution
 Sketch the region R:

0 fixed x p
2

 Choose order of integration and set up the

limits of integration: y-integration first,
fixed x
p2 1

x cos xydA (x cos xy )dydx

R 0 0
p2
sin xy 1
x dx
x 0
0
p2
p2
sin x dx cos x 0
= 0
1

17
3.2.2 Nonrectangular Regions
We limit our study of double integrals to
two basic types of regions: Type I and
Type II.
Definition 3.2
(a) A plane region R is said to be of
Type I if it lies between the graphs of
two continuous functions of x.
R (x ,y ):a x b, g1 (x ) y g2 (x )

(b) A plane region R is said to be of

Type II if it lies between the graphs
of two continuous functions of y.
R (x ,y ): h1 (y ) x h2 (y ), c y d

18
Type I Region - integrating first with
respect to y

Type I (Vertical Strip): x fixed between

a and b, y varies from g1 ( x) to g 2 ( x) .

Type II Region - integrating first with

respect to x

Type II (Horizontal Strip): y fixed between

c and d, x varies from h1 ( y ) to h2 ( y ) .

19
Theorem 3.2
(a) If R is a Type I region, then
b g2 (x )
f (x ,y )dA f (x ,y )dydx
R a g1 (x )

(b) If R is a Type II region, then

d h2 (y )
f (x ,y )dA f (x ,y )dxdy
R c h1 (y )

*Example 3.4a
Evaluate  ( x  y ) dA over the region
R
R enclosed by the lines y  0, y  2 x
and x  1.

20
 Solution
 Sketch the region: set up the limits of
integration

y = 2x
x=1

y=0
0 1

Choose order of integration: Type I, fixed x

1 2x
 ( x  y ) dA    ( x  y ) dydx
R 0 0

1  2  y 2x
1
y 2
=   xy   dx   4 x dx
0
2 0
y0
x 1
4 3 4
= x 
3 x0 3

21
Alternatively, reversing the order of
integration: Type II, fixed y

2
x = y/2

x=1

0 1

2 1
 ( x  y ) dA    ( x  y ) dxdy
R 0 y 2
x 1
x
1  2
=  xy  dy
0 
2  x y 2
1 1
5y2 
   y   dy
0
2 8 
2 3 y2
y y 5y 4
=   
2 2 24 3
y0

22
Example 3.4b Prompts/Questions
Evaluate How do write the
(2x y 2 ) dA over integral as an iterated
R integral?
the region R in the first o Can you identify
quadrant bounded by and sketch the
the axes and y 2 1 x . region of
integration?
o What are the limits
of integration?
Does the order of
integration matter?
What integral rules &
techniques do you
know?

23
Solution
We know the region R, what we want is to
determine the limits of the iterated integrals.
Sketch the region
R.
Choose order of
integration:
Type I, fixed x
(vertical strip, y-
integration first)
 Determine the limits of integration:
Recognise that for each fixed x on the
interval [0, 1], y ranges from 0 up to 1 x
and we get the iterated double integral,
1 1 x
(2x y 2 ) dA (2x y 2 ) dydx
R 0 0
1 1 x 1
y3
( 1 x )3
2xy dx 2x 1 x dx
3 3
0 0 0
2
3
24
Alternatively, choosing the other order of
integration: Type II, fixed y (horizontal strip,
x-integration first)
For each fixed y on the
interval [0, 1], x ranges
from 0 over to 1 y 2 and
we get the iterated
integral,

1 1 y2
(2x y 2 )dA (2x y 2 )dxdy
R 0 0
1 1 y2 1
2 2
x y x dy 1 y 2 dy
0 0 0

2
3
For Type I, the computation involves some
difficult integrals. Thus, in this case
integrating in the order dxdy (Type II) is more
convenient.
25
Note
 Unless the limits are constants, you cannot
simply swap the integral and limit signs
around. You have to draw out the entire
region and see how it changes.

Example 3.5 Prompts/Questions

Evaluate the integral by Which part of the
reversing the order of integral informs you
integration. about the region of
1 1 integration?
y 2e xy dydx o Identify and sketch
0 x the region.
o What are the limits
for the reversed
order?
Why is it worthwhile
to reverse the order of
integration?

26
Solution
Identify the region of integration R:
Read the limits of integration: y-integration
first
Integral is of Type I - for each fixed x on the
interval [0, 1], y runs from y x up to
y 1.
Sketch the region R: Complete the
solution…

Reverse order of integration: Type II, fixed

y (horizontal strip, x-integration first)
For each fixed y on the interval [0, 1], x runs
from x 0 over to x y . We obtain,
1 1 1 y
y 2e xy dydx y 2e xy dxdy
0 x 0 0

27
 1
xy y 1
2e y2
y dy ye dy
y
0 0
0

1 y2 1 1
e (e 1)
2 0
2

There are integrals that can be evaluated only

in one order and is impossible to do the
integral in the other order. See example
below.

Example 3.6 Prompts/Questions

4 2
y2 The integral is
Evaluate e dydx . impossible to evaluate
0 x 2
in the given order.
Why?
How do you reverse
the order of
integration?
o Can you identify and
sketch the region of
integration?
o What are the limits
of integration
28
Solution
In the given order, the integral cannot be
evaluated because the integrand e has no
y2

antiderivative.
Sketch the region R: Complete the
solution…
Given order: y- Reversed order:
integration first x-integration first

2
4 2 2 2y 2y
y2 y2 y2
e dydx e dxdy xe dy
0
0 x 2 0 0
0

2
y2
2ye dy e4 1
0

29
Example 3.7 Prompts/Questions
Construct TWO How do you know
examples of double the integral is easily
integrals that are readily evaluated in one
evaluated by integrating particular order?
in one order but not in
the reverse order.

30
3.2.3 Double Integral as Area and
Volume

Definition 3.3
(a) The area of the region R in the xy-
plane is given by
A dA
R

(b) If f is continuous and f (x ,y ) 0 on the

region R, the volume of the solid
under the surface z f (x ,y ) above the
region R is given by
V f (x ,y )dA
R

*Example 3.6
Find the area of the region bounded by
y  x and y  x 2 in the first quadrant.
31
Solution
Sketch the region:
y = x2
y=x

0 1

Order of integration: Type I, fixed x

1 x 1
Area =   dydx    y x 2 dx
x
0 x2 0

1 x 2 3 1
2 x 1
=  x  x dx      unit2
0 2 3 0 6

32
Example 3.7
Find the area of the region enclosed by the
parabola y  x 2 and the line y  x  2.

33
Example 3.7a
Find the area of the region bounded by the
graphs y  x 2 and the line y  x  2.

34
Example 3.8
Use a double integral to find the volume
of the tetrahedron bounded by the
coordinate planes and the plane
z  4  4x  2 y.

35
Example 3.8a
Find the volume of the solid lying in the
first octant and bounded by the graphs of
z  4  x 2 , x  y  2 , x = 0, y = 0 and
z = 0.

Example 3.8b
Find the volume of the solid lying in the
first octant and bounded by the graphs of
z  4  x 2  y 2 , y  2  2 x 2 , x = 0, y = 0
and z = 0.

36
Example 3.9
Find the volume of the solid bounded by
the cylinder x 2  y 2  4 and the plane
y  z  4 and z  0 .

37
Solution
2 4 x 2

Volume, V   z dA    4  y dy dx
R 2  4 x 2

2 4 x 2

 y2 
  4y   dx
 2
2  4 x 2

2
  8 4  x 2 dx
2

 32 cos 2  d

 sin 2 
 16   
 2 
2
 x  4  x 2
 x  
 16    sin 1   
 2  2  2   2

V = 16 unit3
38
3.3 Double Integral in Polar Form
3.3.1 Polar Coordinates System
A polar coordinate system consist of a
fixed point O called the origin or pole and
a line segment starting from the pole
called the polar axis.
Radial axis

 P(r, )
r

O Polar axis

r – radial coordinate
  polar angle

Definition 3.3
Polar coordinates of a point P is written as
r ,  where r is the distance of P from the
pole and  is the angle measured from the
polar axis to the line OP (radial axis).

1
3.3.2 Relationship between Polar and
Cartesian Coordinates
y
P(r, )


x
O

x  r cos  y  r sin  ,
2 2 2 y
x  y  r tan  
x
Note
(i) Polar coordinate of a point is not unique.
(ii)  is positive in an anticlockwise
direction, and negative if it is taken
clockwise.
(iii) A point  r ,   is in the opposite
direction of point r ,  .
2
Polar Grid

3
 3.3.3 Integrals in Polar Coordinates
If R is a circular region (involves x 2  y 2 ),
it is easily described using polar coordinates.
 Divide the region into polar rectangles.
=
r2

r1 R =

 Find the area of typical polar rectangle:

r 

O
Rk

Ak = area of large sector – area of small sector

  r
2
r  r
2
  r r 
  r      
2  k 2  k
2   k k k

4
Alternatively:

If the mesh is small enough, we can assume

that,
r0 r1 r
and with this assumption we can also assume
that our polar slab is close enough to a
rectangle,
A r q r

5
Thinking of volume, we make the equation
z  f (r cos  , r sin  ), thus the Riemann
sum can be written as:
m n
V    f (ri* ,  *j ) r *r
i 1 j 1

Taking the limit we have the actual volume,

f (x , y )dA f (r , q) r drd q
R R

A  version  of  Fubini’s  Theorem  now  says  

that the integral can be evaluated by
iteration with respect to r and .
Theorem 3.2
Let R be a simple polar region whose
boundaries are the rays    and   
and the curves r  r1 ( ) and r  r2 ( ) . If
f (r ,  ) is continuous on R, then

6
 q b r r2 (q )
f (x , y )dA f (r, q) r drd q
R q a r r1 (q )

7
3.3.4 Finding limits of Integration
Example 3.10
Find the limits of integration for integrating
f (r ,  ) over the region R that lies inside
the cardiod r  1  cos  and outside the
circle r = 1.

Solution
Step 1: Sketch R

 = /2
r = 1+ cos 
r=1
1 2

 = /2

8
Step 2: the r-limits of integration
A typical ray from the origin enters R
where r = 1 and leaves where
r  1  cos  .

Step 3: the -limits of integration

The rays from the origin that intersect R
run from   
 to    .
2 2
The integral is
p
2 1 cos q
f (r , q) r drd q
p 1
2

Note
We may, of course, integrate first with
respect to  and then with respect to r if
this is more convenient.

9
3.3.5 Changing Cartesian Integrals
into Polar Integrals
The procedure for changing Cartesian
integral f (x , y )dA into a polar integral
R

has two steps.

Step 1: Substitute x  r cos  ,

y  r sin  and replace dxdy by r drd
in the Cartesian integral.

Step 2: Supply polar limits of

integration for the boundary of R.

The Cartesian integral then becomes

b r2 (q )
f (r, q)dA f (r cos q, r sin q) rdrd q
R a r1 (q )

10
Example 3.11
Evaluate (x 2 y2 1)dA where R is the
R
region inside the circle x 2 y2 4.

Solution
We evaluate the integral in polar form.
KNOW: x 2  y 2  r 2
Region R: x 2  y 2  4  r 2  4 or r = 2

r=2

=0
2 2  = 2

2p 2
(x 2 y2 1)dA (r 2 1) r drd q
R 0 0

11
Example 3.12
Evaluate x dA where R is the region
R
bounded above by the line y  x and below
by the circle x 2  y 2  2 y  0.

12
Example 3.12a
To evaluate the integral
r 2 dr dq
R

where R is the region in the xy-plane bounded

by r  2 cos  , we obtain
p 2 cos q p 3 2 cos q
2 r
r dr d q dq
0 0 0
3 0
p 3 p
8 3 8 sin q
cos q d q sin q 0
3 0
3 3 0

Alternatively we can set up the integral as

 2 2 cos   2 3 2 cos 
r
  r 2 dr d   d
 2 0  2
3
0
 2  2
8 3 8 sin   3
32
  cos  d  sin   
3  2 3 3  9
 2
Both of these answers cannot be correct.
Which procedure is correct and why?

13
Area between the lines q a,q b and the
curves r f (q) , r g(q).

b f (q )
dA r dr d q
R a g (q )

14
Area between the circles r a,r b and the
curves q (r ) , q j(r ).

b j(r )
dA r d q dr
R a (r )

15
Example 3.13
Use polar double integral to find the area
enclosed by the three-petal rose r  sin 3 .
Solution
Sketch the region:

r = sin 3

KNOW: Area, A =   dA
R
The graph is symmetry, so we will calculate
the area of the petal in the first quadrant and
multiply by 3.
 3 sin 3
A = 3  dA  3   r drd
R1 0 0
16
Example 3.14
Find the area bounded by the polar axis, part of
the spiral r  2 and between the graphs
r  2 and r  3.
Solution
 Sketch the region of integration. Complete
the  solution…

 Determine limits of integration: choose

order of integration
Choose  -integration first. For each fixed r
between 2 and 3,  varies from q 0 over
2
to q .
r
 Set up the integral and evaluate:
3 2r
Area dA r d qdr 2
R1 2 0
17
Alternatively, r-integration first will give us
the integral,
23 3 1 2q
Area r drd q r drd q 2
0 2 23 2

18
Example 3.15 (Example 3.9 revisited)
Find the volume of the solid bounded by
2 2
the cylinder x  y  4 and the plane
y  z  4 and z  0 .

19
Example 3.15a
Find the volume of the solid under the
x2  y2
surface z  e and above the region

1  r  3, 0    .
4

Example 3.15b
Find the volume of the solid bounded by
the graphs z  4  x  y and
2 2

zx y.
2 2

20
3.4 Triple Integral
Focus of Attention
 Definition as a limit of Riemann sum –
interpretation as volume of solid
 How are triple integrals evaluated as
iterated integrals?
 Does the order of integration matter?
 How are the limits of integration
determined?
 How is triple integral use to find volume?
 How do you transform a triple integral in
rectangular coordinates into a triple
integral in cylindrical coordinates or
spherical coordinates?
 What do you look for when considering
using cylindrical coordinates or spherical
coordinates?

1
Recall that
 A single integral  f ( x) dx is evaluated
over a closed interval on the x-axis.
 A double integral  f ( x, y) dA is
R
evaluated over a closed bounded region in
the plane.
and in essentially the same way
 A triple integral    f ( x, y, z ) dV is
G
evaluated over a closed, bounded solid
region in 3 .

2
Definition 3.4
If f is a function defined over a closed,
bounded solid region G, then the triple
integral of f over G is defined as
n
* * *
 f ( x , y , z ) dV  lim  f ( xk , yk , zk ) Vk
G n   k 1

The properties of triple integrals are

analogous to those of double integrals.

 Constant Multiple Rule

 Sum Rule

 Dominance Rule

 Subdivision/Additivity Rule

3
3.4.1 Iterated Integration
Just as for double integrals, the practical
method for evaluating triple integrals is to
expressed them as iterated integrals as in
the following theorem:
Theorem 3.3
If f ( x, y, z ) is continuous over a rectangle
solid G: a  x  b, c  y  d , k  z  l ,
then the triple integral may be evaluated by
the iterated integral
l db
   f ( x, y, z ) dV     f ( x, y, z ) dxdydz
G k ca

The iterated integration can be performed

in any order (with appropriate adjustments)
to the limits of integration:
dx dy dz dx dz dy
dy dx dz dy dz dx
dz dy dx dz dx dy
4
Example 3.15
2 x
Evaluate    z ye dV , over the
G
rectangular box G defined by
0  x  1, 1  y  2,  1  z  1

Solution
We shall evaluate the integral in the order
dx dy dz .
1 2 1

 dV   
2 x 2 x
z ye z ye dxdydz
G 1 1 0
1 2 1 2
1
    0 dydz  (e  1) 
  y dydz
2 2
= z y e x
z
1 1 1 1

1 2
2 2
= (e  1)  z [ y 2] dz
1
1
1
3
= (e  1)  z 2 dz  e  1
2 1

5
3.4.2. Integral Over General Regions
We restrict our attention to continuous
functions f and to certain simple types of
regions.
3 types of region:
Type I – integrating over simple xy-solid
Type II – integrating over simple xz-solid
Type III – integrating over simple yz-solid

Definition 3.5
A solid region G is said to be of Type 1 if
it lies between the graphs of two
continuous functions of x and y,
G  ( x, y, z ) : x, y  R, k1 ( x, y )  z  k2 ( x, y )
where R is the projection of G onto the
xy-plane, then
  k2 ( x , y ) 
 f ( x, y, z ) dV     f ( x, y, z ) dz  dA
  
G   k1 ( x , y )
R
6
Type I Regions
  k2 ( x , y ) 
 f ( x, y, z ) dV     f ( x, y, z ) dz  dA
  
G   k1 ( x , y )
R

Type II Regions
  g2 ( x , z ) 
 f ( x, y, z ) dV     f ( x, y, z ) dy  dA
  
G   g1 ( x , z )
R

Type III Regions

  h2 ( y , z ) 
 f ( x, y, z ) dV     f ( x, y, z ) dx  dA
  
G   h1 ( y , z )
R

Example 3.16
Let G be the wedge in the first octant cut
from the cylindrical solid y 2  z 2  1 by
the planes y  x and x  0. Evaluate
   z dV
G
7
Solution
 Sketch the solid: choose Type I
y
y2 + z2 = 1
1
y=x x=0
y=x
1
x

upper bounding surface: y 2  z 2  1

lower bounding surface: xy-plane
 The z-limits of integration: Draw a line
L parallel to z-axis passing through
solid region.
As z increases, L enters G at z = 0 and
leaves at z  1  y 2
1 y 2

 z dV     z dz  dA
G R 0

8
 The x-limits of integration: Draw a line
M parallel to x-axis passing through
plane region R.
As x increases, M enters R at x = 0 and
leaves at x = y.

 The y-limits of integration: Choose

y-limits that include all lines parallel to
the x-axis.

The integral is
2
1 y 1 y
   z dV     z dz dx dy
G 0 0 0

1 y2 1 y 2 1 y
z 1 2
=  dx dy    (1  y ) dx dy
0 0
2 0 0
2
0
1 y
2
=  (1  y ) x dy
0
0

11 1
=  ( y  y 3 ) dy 
20 8
9
Alternatively, we evaluate the integral by
integrating first with respect to x (Type III).
The solid is bounded in the back by the
plane x = 0 and in the front by the plane
y  x.
y

 z dV    z dx  dA
G R 0

1 y2 + z2 =1

1 1 z 2 y

 z dV    
G 0 0 0
z dx dy dz

10
Example 3.17
The volume of a closed bounded region G
in space is given by
1 0 y2

   dV    
G 0 1 0
dz dy dx

Rewrite the integral as an equivalent

iterated integral in the order
(a) dy dz dx (b) dx dy dz

11
Example 3.18
Find the volume of the region in the first
octant bounded by the coordinate planes,
the plane y  z  2 and the cylinder
x  4  y 2.

12
Example 3.19
Find the volume of the region bounded
above by z  4  x 2  y 2 , below by z  0
and laterally by x 2  y 2  1.
Solution
1 1 x 2 4 x 2 y2
V dV 4 dzdydx
G 0 0 0

1 1 x2
4 4 x 2 y 2 dydx
0 0
1
( 1 x 2 )3
4 4 1 x2 x2 1 x2 dx
3
0

p2
4
cos q
4 4cos2 q sin2 q cos2 q qd q
3
0
7
2

13
3.4.3 Cylindrical Coordinates
 Generalization of polar coordinates in
3

 We convert a triple integral from

rectangular to cylindrical coordinates by
writing

x  r cos  , y  r sin  , z = z

The element of integration,

dV  r dr d dz

The function f ( x, y, z ) is transform to

f ( x, y, z )  f (r cos  , r sin  , z )

 Cylindrical coordinates are convenient

for representing cylindrical surfaces and
surfaces for which the z-axis is the axis
of symmetry.

14
The cylindrical coordinate system
z

(x, y, z)
(r, , z)

y
 r

(r, ) or (x, y)
x

15
Theorem 3.4
Let G be a solid with upper surface
z  g 2 (r ,  ) and lower surface z  g1 (r ,  )
and let R be the projection of the solid on
the xy-plane expressed in polar coordinates.
Then if f (r ,  , z ) is continuous on R, we
have
g 2 ( r , )
   f (r ,  , z ) dV     f (r ,  , z ) r dz dr d
G R g1 ( r , )

16
Example 3.20
Use cylindrical coordinates to evaluate
3 9 x 2 9 x 2  y 2

 
3  9 x 2
0
x 2 dz dy dx

Solution
3 9 x 2 9 x 2 y2
x 2 dzdydx x 2 dV
3 9 x2 0 G
2p 3 9 r 2
r 2 cos2 q rdzdrd q
0 0 0
2p 3
9 r2
3
r cos2 qz drd q
0
0 0

2p
243
cos2 q d q
4 0
2p
243 1 cos 2q 243
dq p
4 2 4
0

17
Finding limits in cylindrical
coordinates

Example 3.20a
Find the limits of integration in cylindrical
coordinates for integrating a function
f (r ,  , z ) over the region G bounded
below by the plane z  0 , laterally by the
circular cylinder x 2  y 2  2 y and above
by the paraboloid z  x 2  y 2 .

18
Example 3.21 (Example 3.19 revisited)
Find the volume of the region bounded
above by z  4  x 2  y 2 , below by z  0
and laterally by x 2  y 2  1.

19
Example 3.22
Find the volume of solid in the first octant
that is bounded by the cylinder
x 2  y 2  2 y , by the cone z  x 2  y 2
and the xy-plane.

20
3.4.4 Spherical Coordinates
 Useful when you have spherical, or ice-
cream cone like surfaces.
 Locate points in space with angles and a
distance

Definition 3.6
Spherical coordinates represent a point P in
space by ordered triples (  ,  ,  ) in which
1.  is the distance from P to the origin

2.  is the angle OP makes with the

positive z-axis ( 0     )
3.  is the angle from cylindrical
coordinates.

21
The spherical coordinate system

P(, , )


 z =  cos 
y
x 
r

y
x

Since r   sin  ,
x  r cos    sin  cos 
y  r sin    sin  sin 

and z   cos  , x 2  y 2  z 2   2

22
2
= 2
r = sin()
z = cos()

23
24
25
  The function f ( x, y, z ) is transform to
f ( x, y , z ) 
f (  sin  cos  ,  sin  sin  ,  cos  )

 The element of integration,

dV   2 sin  d d d

 Triple integrals in spherical coordinates

are then evaluated as iterated integrals.
The integral is
2
   f (  ,  ,  ) dV     f (  ,  ,  )  sin  d d d
G G

26
27
28
 Example 3.23
Use spherical coordinates to evaluate

2 4  x2 4  x2  y2
   z2 x 2  y 2  z 2 dz dy dx
 2  4  x2 0

Solution
Sketch the region G of integration.
 From the z-limits of integration:
The upper surface of G is the hemisphere
z  4  x 2  y 2 and the lower surface
is the xy-plane z  0 .

 From the x- and y-limits of integration:

The projection of the solid G on the xy-
plane is the region enclosed by the circle
x 2  y 2  4.
29
 y

2 z  4  x2  y2

x
2 2

x2 + y2 = 4 x2 + y2 = 4

2 4  x2 4  x2  y2
   z2 x 2  y 2  z 2 dz dy dx
 2  4  x2 0

=    z 2 x 2  y 2  z 2 dV
G

2  2 2
5 2
=     cos  sin  d d d
0 0 0

2  2 6 2
2 
=   cos  sin  6 d d
0 0 0

30
 32 2  2 2
=   cos  sin  d d
3 0 0
 2
2 cos  3
32
=   d
3 0 3
0

32 2 64
=  d  
3 0 9

31
Example 3.24
Let G be the region bounded below by the
cone z  x 2  y 2 and above by the plane
z  1. Set up the triple integrals in spherical
coordinates that give the volume of G using
the following orders of integration.
(a) d d d (b) d d d

24
Example 3.24a
Let G be the region bounded below by the
plane z  0 , above by the sphere
x 2  y 2  z 2  4 and on the sides by the
cylinder x 2  y 2  1. Set up the triple
integrals in spherical coordinates that give the
volume of G.

25
Example 3.25
Find  the  volume  of  the  “ice  cream  cone”  G cut
from the solid sphere   1 by the cone

  .
3

26
Summary
Coordinate Conversion Formulas
Cylindrical Spherical to Spherical to
to Rectangular Cylindrical
Rectangular
x  r cos  x   sin  cos  r   sin 
y  r sin  y   sin  sin  z   cos 
z=z z   cos   
Corresponding volume elements
dV  dz dy dx
 dz r dr d
  2 sin  d d d

27
3.5 Moments and Centre of Mass
3.5.1 Notation and Terminology
Lamina - a solid object that is sufficiently
“flat”  to  be  regarded  as  two-dimensional.
Density: mass per unit area,  ( x, y )
Mass: quantity of matter in a body, m
Moment of mass: tendency of mass to
produce a rotation about a point, line or plane
Positive moment – clockwise rotation
Negative moment – counterclockwise rotation
Center of Gravity/Center of Mass:
a point where a system behaves as if all its
mass is concentrated there (balance point).
Centroid: center of mass of a
homogeneous body
Moment of inertia: tendency to resist a
change in the rotational motion about an
axis.
1
Definition 3.6
If  is a continuous density function on the
lamina corresponding to a plane region R,
then
 Mass, m     ( x, y ) dA
R

 Moments of mass about the x- and y-

axes,
M x    y  ( x, y ) dA
R
M y    x  ( x, y ) dA
R

 Centre of mass
My Mx 
( x, y ) =  , 
 m m 

 If the density  is constant, the point

( x, y ) is called the centroid of the
region.

2
Example 3.26
A lamina of density  ( x, y )  x 2 occupies
a region R bounded by the parabola
y  2  x 2 and the line y  x . Find
(a) mass
(b) centre of mass
of the lamina.
Solution
 sketch the region R

3
(a) mass of lamina,
1 2  x2
2
m     ( x, y ) dA =   x dy dx
R 2 x
1
2 x 2
x
2
= yx dx
2

1
63 2 4 3
 m =  (2 x  x  x ) dx =
2 20

(b) centre of mass, ( x, y )

My Mx
KNOW: x  , y 
m m
M x    y  ( x, y ) dA
R
1
2

 2y 2 x
2
1 2 x 2

 
2
= y x dy dx =  x dx
 2
2 x  x
2

4
 1 1 6 4 2 9
 M x =  ( x  5 x  4 x ) dx = 
2 2 7

M y    x  ( x, y ) dA
R

1 2  x2 1
3 3 2  x2
=   x dy dx =  x y x
dx
2 x 2
1
3 5 4 18
 M y =  (2 x  x  x ) dx = 
2 5

63
From (a) we found m = , so the centre
20
of mass is ( x, y ) where
My  18 5 8
x      1.14
m 63 20 7
Mx 97 20
y      0.41
m 63 20 49

5
In an analogous way, we can use the triple
integral to find mass and the center of
mass of a solid in 3 . The density
 ( x, y, z ) at a point in the solid now refers
to mass per unit volume.
 Mass m      ( x, y, z ) dV
G

 Moments M yz     x  ( x, y, z ) dV
G
M xz     y  ( x, y, z ) dV
G
M xy     z  ( x, y, z ) dV
G

 Centre of mass
 M yz M xz M xy 
( x, y, z ) =  , , 
 m m m 

 If the density  is constant, the point

( x, y, z ) is called the centroid.

6
Example 3.27
Find the centroid of a solid of constant
density  bounded below by the disk
x 2  y 2  4 in the plane z  0 and above
by the paraboloid z  4  x 2  y 2.
Solution

y
2 z  4  x2  y2

 c.m
x
2 2
x2 + y2 = 4
x2 + y2 = 4

By symmetry, x  y  0. So we only
need to find z .
M xy
z 
m
7
 M xy     z  ( x, y, z ) dV
G

4  x2  y2
=  z dz dy dx
R 0
2 2
2 4  x  y
z
=  dy dx
R 2 0

 2 2 2
=   ( 4  x  y ) dy dx
2 R
2 2
 2 2
=   ( 4  r ) r dr d
2 0 0
2 2
 1 2 3
=   ( 4  r ) dx
2 0 6 0

2
16
=  d
3 0

32
 M xy =
3
8
A similar calculation gives
m      ( x, y, z ) dV
G

4  x2  y2
=   dz dy dx = 8
R 0

M xy 32 3 4
Therefore z    .
m 8 3

Thus the centroid is ( x, y, z ) = (0, 0, 43).

9
Example 3.28
A solid is the tetrahedron bounded by the
coordinate planes and the plane
x  y  z  2. If the density
 ( x, y, z )  2 x , find the centre of mass.

10
3.5.3 Moments of Inertia
 Also called the second moments
Definition 3.7
The moments of inertia of a lamina of
density  covering the planar region R
about the x-, y-, and z-axis are given by
I x    y 2 ( x, y ) dA
R
I y    x 2 ( x, y ) dA
R
I z    ( x 2  y 2 ) ( x, y ) dA
R
z

 (x, y)
R
x
11
The concept of moments of inertia
generalise easily to solid regions.
Suppose the solid occupies a region R and
that the density at each point (x, y, z) in R
is given by  ( x, y, z ). The moments of
inertia of the solid about the x-, y-, and z-
axis are given by
I x     ( y 2  z 2 ) ( x, y, z ) dV
G
I y     ( x 2  z 2 ) ( x, y, z ) dV
G
I z     ( x 2  y 2 ) ( x, y, z ) dV
G
z

dV

z
y
x
y
x
12
Example 3.29
A lamina of density  ( x, y )  x 2 y
occupies the region R in the plane that is
bounded by the parabola y  x 2 and the
lines x  2 and y  1. Find the moments
of inertia of the lamina about the x-axis
and the y-axis.

13
Example 3.30
Find the moment of inertia of  the  “ice  
cream  cone”  G cut from the solid sphere

  1 by the cone   about the z-axis.
3
(Take  = 1)

14
Example 3.31
Find the moment of inertia of a solid
hemisphere of radius 2 with respect to its
axis of symmetry, if the density is
proportional to the distance from the axis
of symmetry.

15