MATH 209

Calculus,
III
Volker Runde
Line integrals
in R
2
Types of line
integrals
Line integrals
in R
3
Line integrals
of vector elds
MATH 209Calculus, III
Volker Runde
University of Alberta
Edmonton, Fall 2011
MATH 209
Calculus,
III
Volker Runde
Line integrals
in R
2
Types of line
integrals
Line integrals
in R
3
Line integrals
of vector elds
Line integrals, I
The setting
Let C be a smooth curve in R
2
given by the parametric
equations
x = x(t), y = y(t), t [a, b]
or by the vector equation
r(t) = x(t)i + y(t)j.
We want to integrate a function f along C and dene the line
integral
_
C
f (x, y) ds.
Geometric interpretation
If f 0, the
_
C
f (x, y) ds is the area of the curtain with base
C and whose height above (x, y) is f (x, y).
MATH 209
Calculus,
III
Volker Runde
Line integrals
in R
2
Types of line
integrals
Line integrals
in R
3
Line integrals
of vector elds
Line integrals, II
The construction
Divide [a, b] into n subintervals [t
j 1
, t
j
].
Set x
j
= x(t
j
) and y
j
= y(t
j
). The corresponding points
P
j
(x
j
, y
j
) divide C into n subcurves with lengths s
1
, . . . , s
n
.
Pick a support point P
j
(x

j
, y

j
) on each subcurve.
Denition
The line integral of f along C is dened as
_
C
f (x, y) ds = lim
n
n

j =1
f (x

j
, y

j
)s
j
.
MATH 209
Calculus,
III
Volker Runde
Line integrals
in R
2
Types of line
integrals
Line integrals
in R
3
Line integrals
of vector elds
Line integrals, III
Theorem
For continuous f :
_
C
f (x, y) ds =
_
b
a
f (x(t), y(t))

_
dx
dt
_
2
+
_
dy
dt
_
2
dt.
Important
The value of the integral does not depend on the
parametrization of C as long as C is traversed exactly once as
t increases from a to b.
MATH 209
Calculus,
III
Volker Runde
Line integrals
in R
2
Types of line
integrals
Line integrals
in R
3
Line integrals
of vector elds
Line integrals, IV
To remember. . .
Let s(t) be the length of the curve from r(a) to r(t). Then
ds
dt
= s

(t) =

_
dx
dt
_
2
+
_
dy
dt
_
2
,
so that
ds =

_
dx
dt
_
2
+
_
dy
dt
_
2
dt.
MATH 209
Calculus,
III
Volker Runde
Line integrals
in R
2
Types of line
integrals
Line integrals
in R
3
Line integrals
of vector elds
Examples, I
Example
Let C be the right half of the circle x
2
+ y
2
= 16.
What is
_
C
xy
4
ds?
Set
x = 4 cos t, y = 4 sin t, t
_

2
,

2
_
.
Then:
_
C
xy
4
ds = 1024
_
2

2
cos t sin
4
t
_
16 sin
2
t + 16 cos
2
t dt
= 4096
_
2

2
cos t sin 4
t
dt = 4096
_
1
1
u
4
du
=
4046
5
u
5

u=1
u=1
=
8192
5
.
MATH 209
Calculus,
III
Volker Runde
Line integrals
in R
2
Types of line
integrals
Line integrals
in R
3
Line integrals
of vector elds
Examples, II
Example
Let C be the line segment from (0, 0) to (1, 1).
Evaluate
_
C
xy ds.
Set
x = t, y = t, t [0, 1].
Then:
_
C
xy ds =
_
1
0
t
2

1 + 1 dt =

2
_
1
0
t
2
dt =

2
3
.
MATH 209
Calculus,
III
Volker Runde
Line integrals
in R
2
Types of line
integrals
Line integrals
in R
3
Line integrals
of vector elds
Examples, III
Example
Let C be the line segment from (a, 0) to (b, 0).
Evaluate
_
C
f (x, y) ds for arbitrary continuous f .
Set
x = t, y = 0, t [a, b].
Then:
_
C
f (x, y) ds =
_
b
a
f (t, 0) dt.
MATH 209
Calculus,
III
Volker Runde
Line integrals
in R
2
Types of line
integrals
Line integrals
in R
3
Line integrals
of vector elds
Examples, IV
Example
Let C consist of the paraboloa y = x
2
from (0, 0) to (1, 1)
followed by the vertical line segment from (1, 1) to (1, 2).
Find
_
C
2x ds.
The curve C is not smooth, but piecewise smooth, i.e., of the
form C = C
1
C
2
with C
1
and C
2
smooth.
C
1
: the parabola y = x
2
from (0, 0) to (1, 1):
x = t, y = t
2
, t [0, 1].
C
2
: the line segment from (1, 1) to (1, 2):
r(t) = 1, 1 + t(1, 2 1, 1) = 1, 1 + t
for t [0, 1], i.e., x = 1, y = 1 + t, and t [0, 1].
MATH 209
Calculus,
III
Volker Runde
Line integrals
in R
2
Types of line
integrals
Line integrals
in R
3
Line integrals
of vector elds
Examples, V
Example (continued)
Then:
_
C
2x ds =
_
C
1
2x ds +
_
C
2
2x ds
=
_
1
0
2t
_
1 + 4t
2
dt +
_
1
0
dt
=
1
4
_
5
0

u du+2 =
u
3
2
6

u=5
u=1
+2 =
5

5 1
6
+2 =
5

5 11
6
.
MATH 209
Calculus,
III
Volker Runde
Line integrals
in R
2
Types of line
integrals
Line integrals
in R
3
Line integrals
of vector elds
Types of line integrals, I
More line integrals
We call
_
C
f (x, y) ds the line integral with respect to arclength.
Suppose that C is given by the parametric equations
x = x(t), y = y(t), t [a, b].
Then
dx
dt
= x

(t) and
dy
dt
= y

(t),
so that
dx = x

(t) dt and dy = y

(t) dt.
MATH 209
Calculus,
III
Volker Runde
Line integrals
in R
2
Types of line
integrals
Line integrals
in R
3
Line integrals
of vector elds
Types of line integrals, II
Denition
The line integrals of f swith respect to x and with respect to y,
respectively, are dened as
_
C
f (x, y) dx :=
_
b
a
f (x(t), y(t))x

(t) dt;
and
_
C
f (x, y) dy :=
_
b
a
f (x(t), y(t))y

(t) dt.
Shorthand
_
C
P(x, y) dx + Q(x, y) dy =
_
C
P(x, y) dx +
_
C
Q(x, y) dy.
MATH 209
Calculus,
III
Volker Runde
Line integrals
in R
2
Types of line
integrals
Line integrals
in R
3
Line integrals
of vector elds
Examples, VI
Example
Evaluate
_
C
y
2
dx + x dy where C is the line segment from
(5, 3) to (0, 2).
Parametrize the curve as
r(t) = 5, 3 + t(0, 2 5, 3) = 5 + 5t, 3 + 5t,
so that
x = 5 + 5t, y = 3 + 5t, t [0, 1].
MATH 209
Calculus,
III
Volker Runde
Line integrals
in R
2
Types of line
integrals
Line integrals
in R
3
Line integrals
of vector elds
Examples, VII
Example (continued)
Thus:
_
C
y
2
dx + x dy =
_
1
0
(5t 3)
2
5 dt +
_
1
0
(5t 5)5 dt
= 5
_
1
0
25t
2
25t + 4 dt dt
= 5
_
25t
3
3

25t
2
2
+ 4t

t=1
t=0
_
=
5
6
.
MATH 209
Calculus,
III
Volker Runde
Line integrals
in R
2
Types of line
integrals
Line integrals
in R
3
Line integrals
of vector elds
Examples, VIII
Example
Evaluate
_
C
y
2
dx + x dy where C is the arc of the parabola
x = 4 y
2
from (5, 3) to (0, 2).
The parametric equations are
x = 4 t
2
, y = t, t [3, 2].
MATH 209
Calculus,
III
Volker Runde
Line integrals
in R
2
Types of line
integrals
Line integrals
in R
3
Line integrals
of vector elds
Examples, IX
Example (continued)
Then:
_
C
y
2
dx + x dy =
_
2
3
t
2
(2t) dt +
_
2
3
4 t
2
dt
=
_
2
3
2t
3
t
2
+ 4 dt
t
4
2

t
3
3
+ 4t

t=2
t=3
= 40
5
6
.
Important
Both currves in the last two examples have the same starting
point and endpoint. Still, the two line integrals are dierent.
MATH 209
Calculus,
III
Volker Runde
Line integrals
in R
2
Types of line
integrals
Line integrals
in R
3
Line integrals
of vector elds
Examples, X
Example
Evaluate
_
C
y
2
dx + x dy where C is the line segment from
from (0, 2) to (5, 3).
Parametrize the curve as
r(t) = 0, 2 + t(5, 3 0, 2) = 5t, 2 5t,
so that
x = 5t, y = 5t + 2, t [0, 1].
MATH 209
Calculus,
III
Volker Runde
Line integrals
in R
2
Types of line
integrals
Line integrals
in R
3
Line integrals
of vector elds
Examples, XI
Example (continued)
We obtain:
_
C
y
2
dx + x dy
_
1
0
(5t + 2)
2
(5) dt +
_
1
0
25t dt
= 5
_
1
0
25t
2
25t + 4 dt
=
5
6
.
Note
This is precisely the negative of
_
C
y
2
dx + x dy where C is the
line segment from (5, 3) to (0, 2).
MATH 209
Calculus,
III
Volker Runde
Line integrals
in R
2
Types of line
integrals
Line integrals
in R
3
Line integrals
of vector elds
Properties of line integrals
Denition
If C is any curve in R
2
, we write C for the curve with
reversed orientation.
Properties
We have
_
C
f (x, y) dx =
_
C
f (x, y) dx
and
_
C
f (x, y) dy =
_
C
f (x, y) dy,
but
_
C
f (x, y) ds =
_
C
f (x, y) ds.
MATH 209
Calculus,
III
Volker Runde
Line integrals
in R
2
Types of line
integrals
Line integrals
in R
3
Line integrals
of vector elds
Line integrals in R
3
, I
As in R
2
. . .
_
C
f (x, y, z) ds
=
_
b
a
f (x(t), y(t), z(t))

_
dx
dt
_
2
+
_
dy
dt
_
2
+
_
dz
dt
_
2
dt
and. . .
MATH 209
Calculus,
III
Volker Runde
Line integrals
in R
2
Types of line
integrals
Line integrals
in R
3
Line integrals
of vector elds
Line integrals in R
3
, II
As in R
2
. . . (continued)
and. . .
_
C
P(x, y, z) dx + Q(x, y, z) dy + R(x, y, z) dz
=
_
b
a
P(x(t), y(t), z(t))x

(t) dt
+
_
b
a
Q(x(t), y(t), z(t))y

(t) dt
+
_
b
a
R(x(t), y(t), z(t))z

(t) dt.
MATH 209
Calculus,
III
Volker Runde
Line integrals
in R
2
Types of line
integrals
Line integrals
in R
3
Line integrals
of vector elds
Examples, XII
Example
Let C be the helix given by
x = cos t, y = sin t, z = t, t [0, 2].
Then:
_
C
y sin z dx =
_
2
0
sin
2
t
_
sin
2
t + cos
2
t + 1 dt
=

2
_
2
0
sin
2
t dt =
1

2
_
2
0
1 cos 2t dt
=
1

2
_
t
sin 2t
2

t=2
t=0
_
=

2.
MATH 209
Calculus,
III
Volker Runde
Line integrals
in R
2
Types of line
integrals
Line integrals
in R
3
Line integrals
of vector elds
Examples, XIII
Example
Let C = C
1
C
2
with:
C
1
= line segment from (2, 0, 0) to (3, 4, 5),
C
2
= line segment from (3, 4, 5) to (3, 4, 0).
Evaluate
_
C
y dx + z dy + x dz
=
_
C
1
y dx + z dy + x dz +
_
C
2
y dx + z dy + x dz.
MATH 209
Calculus,
III
Volker Runde
Line integrals
in R
2
Types of line
integrals
Line integrals
in R
3
Line integrals
of vector elds
Examples, XIV
Example (continued)
Parametrize C
1
:
r(t) = 2, 0, 0 + t(3, 4, 5 2, 0, 0) = 2 + t, 4t, 5t,
i.e.,
x = 2 + t, y = 4t, z = 5t, t [0, 1].
Thus:
_
C
1
y dx +z dy +x dz =
_
1
0
4t dt +4
_
1
0
5t dt +5
_
1
0
2+t dt
=
_
1
0
10 + 29t dt = 10t +
29t
2
2

t=1
t=0
=
49
2
.
MATH 209
Calculus,
III
Volker Runde
Line integrals
in R
2
Types of line
integrals
Line integrals
in R
3
Line integrals
of vector elds
Examples, XV
Example (continued)
Parametrize C
2
:
x = 3, y = 4, z = 5 5t, t [0, 1].
Thus:
_
C
2
y dx + z dy + x dz = 15
_
1
0
dt = 15.
All in all:
_
C
y dx + z dy + x dz =
49
2
15 =
19
2
.
MATH 209
Calculus,
III
Volker Runde
Line integrals
in R
2
Types of line
integrals
Line integrals
in R
3
Line integrals
of vector elds
Line integrals of vector elds, I
Problem
Let F = Pi +Qj +Rk be a continuous vector eld on R
3
which
moves a particle along a smooth curve C. What is the work W
done?
Easy case
If F is constant and moves the particle along a line segment
from P to Q,
W = F D,
where D =

PQ is the displacement vector.

MATH 209
Calculus,
III
Volker Runde
Line integrals
in R
2
Types of line
integrals
Line integrals
in R
3
Line integrals
of vector elds
Line integrals of vector elds, II
The general case
Divide C into n subarcs P
j 1
, P
j
with lengths s
j
by dividing
the parameter interval [a, b] into n subintervals of equal length.
Choose a point P

j
(x

j
, y

j
, z

j
) on the j -th subarc, and let
t

j
[t
j 1
, t
j
] be the corresponding parameter.
If s
j
is small: as the particle moves from P
j 1
to P
j
, it
proceeds approximately in the direction of T(t

j
), the unit
tangent vector to C at P

j
(x

j
, y

j
, z

j
).
MATH 209
Calculus,
III
Volker Runde
Line integrals
in R
2
Types of line
integrals
Line integrals
in R
3
Line integrals
of vector elds
Line integrals of vector elds, III
The general case (continued)
If W
j
is the work to move the particle from P
j 1
to P
j
, then
W
j
F(x

j
, y

j
, z

j
) s
j
T(t

j
).
Hence,
W
n

j =1
F(x

j
, y

j
, z

j
) s
j
T(t

j
),
and thus
W = lim
n
n

j =1
F(x

j
, y

j
, z

j
) s
j
T(t

j
)
=
_
F
F(x, y, z) T(x, y, z) ds.
MATH 209
Calculus,
III
Volker Runde
Line integrals
in R
2
Types of line
integrals
Line integrals
in R
3
Line integrals
of vector elds
Line integrals of vector elds, IV
The general case (continued)
Let C be given by the vector equation
r(t) = x(t)i + y(t)j + z(t)k, t [a, b].
Then:
T(t) =
r

(t)
|r

(t)|
.
Thus:
_
C
F Tdx =
_
b
a
F(r(t))
r

(t)
|r

(t)|
|r

(t)| dt
=
_
b
a
F(r(t)) r

(t) dt =
MATH 209
Calculus,
III
Volker Runde
Line integrals
in R
2
Types of line
integrals
Line integrals
in R
3
Line integrals
of vector elds
Line integrals of vector elds, V
The general case (continued)
=
_
b
a
F(r(t)) r

(t) dt
=
_
b
a
P(x(t), y(t), z(t))x

(t) dt
+
_
b
a
Q(x(t), y(t), z(t))y

(t) dt
+
_
b
a
R(x(t), y(t), z(t))z

(t) dt
=
_
C
P(x, y, z) dx + Q(x, y, z) dy + R(x, y, z) dz.
MATH 209
Calculus,
III
Volker Runde
Line integrals
in R
2
Types of line
integrals
Line integrals
in R
3
Line integrals
of vector elds
Line integrals of vector elds, VI
Denition
Let F = Pi + Qj + Rk be a continuous vector eld on R
3
, and
let C be a smooth curve given by the vector function r(t) for
t [a, b]. The line integral of F along C is
_
C
F dr =
_
b
a
F(r(t)) r

(t) dt
=
_
C
P(x, y, z) dx + Q(x, y, z) dy + R(x, y, z) dz.
MATH 209
Calculus,
III
Volker Runde
Line integrals
in R
2
Types of line
integrals
Line integrals
in R
3
Line integrals
of vector elds
Examples, XVI
Example
A force eld
F(x, y) = x sin yi + yj
moves a particle from (1, 1) to (2, 4) along the parabola
y = x
2
. Compute the total work W.
Parametrize C as
r(t) = ti + t
2
j, t [1, 2].
Then:
r

(t) = i + 2tj
and
F(r(t)) = t sin(t
2
)i + t
2
j.
MATH 209
Calculus,
III
Volker Runde
Line integrals
in R
2
Types of line
integrals
Line integrals
in R
3
Line integrals
of vector elds
Examples, XVII
Example (continued)
Thus:
W =
_
C
F dr =
_
2
1
(t sin(t
2
)i + t
2
j) (i + 2tj) dt
=
_
2
1
t sin(t
2
) + 2t
3
dt =
1
2
_
4
1
sin u du +
t
4
2

t=2
t=1
=
cos u
2

u=4
u=1
+
15
2
=
1
2
(15 cos 4 + cos 1).
MATH 209
Calculus,
III
Volker Runde
Line integrals
in R
2
Types of line
integrals
Line integrals
in R
3
Line integrals
of vector elds
Examples, XVIII
Example
Let
F(x, y, z) = xyi + yzj + zxk,
and let C be given by
x = t, y = t
2
, z = t
3
, t [0, 1].
i.e., by
r(t) = ti + t
2
j + t
3
k, t [0, 1].
Thus:
r

(t) = i + 2tj + 3t
2
k
and
F(r(t)) = t
3
i + t
5
j + t
4
k.
MATH 209
Calculus,
III
Volker Runde
Line integrals
in R
2
Types of line
integrals
Line integrals
in R
3
Line integrals
of vector elds
Examples, XIX
Example (continued)
Therefore:
_
C
F dr =
_
1
0
t
3
+ 2t
6
+ 3t
6
dt
=
_
1
0
t
3
+ 5t
6
dt
=
t
4
4
+
5t
7
7

t=1
t=0
=
27
28
.