Frames Vector oa analysis 2 Learning outcomes When you have completed this Programme you will be able to: Evaluate the line integral of a scalar and a vector field in Cartesian coordinates ‘* Evaluate the volume integral of a vector field ‘* Evaluate the surface integral of a scalar and a vector field Determine whether or not a vector field is a conservative vector field Apply Gauss’ divergence theorem Apply Stokes’ theorem Determine the direction of unit normal vectors to a surface Apply Green’s theorem in the plane 744Vector analysis 2 745 ‘We dealt in some detail with line, surface and volume integrals in an earlier Programme, when we approached the subject analytically. In many practical problems, it is more convenient to express these integrals in vector form and the methods often lead to more concise working. Line integrals Let a point P on the curve ¢ joining A and B be denoted by the position vector r with respect (a) to a fixed origin O. If Q is a neighbouring point on the curve with position vector +r, then PQ = dr. ‘The curve c can be divided up 8 into many (n) such small arcs, (b)_ "Gy approximating to dri, dr2, drs Grp... so that AB=3> dry a where dry 1 a vector representing the clement of arc in both magnitude and direction. Scalar field If a scalar field V exists for all points on the curve, then A oo ae an Yo Veep with de -+0, defines the line integral of V along the curve c We can illustrate this inte- gral by erecting a continuous ordinate proportional to V at each point of the curve. [ae shen eset by the area of the curved surface between the ends A and B of the curve c. ‘To evaluate a line integral, the integrand is expressed in terms of x,y 2, with dr=746 Programme 18 & dr = idx +jdy +kdz In practice, x, y and z are often expressed in terms of parametric equations of a fourth variable (say w), Le. x= x(u); y = ylw); z= 2(u). From these, dx, dy and dz can be written in terms of w and the integral ‘evaluated in terms of this parameter 1. The following examples will show the method. Example 1 If V=297z, evaluate J V dr along the curve c having parametric equations x = 3u; y = 2; zu? between A (0, 0, 0) and B (3, 2, 1). v u)(4ut)(u!) = 1208 dr =idv+jay+kaz BS de =13du-+ udu + 3 du Limits: A (0, 0,0) corresponds to u = B(3, 2, 1) corresponds to u [vars f rave aan pandas 430? an ; Finish it off because [var 12 aston aucun which integrates directly to give the result quoted above. ‘Now for another example.Vector analysis 2 747 er 2) If V = ay +yz, evaluate J Vadr along the curve c defined by 2t; z= 145 between A (0, 0, 5) and B (4, 4, 7). As before, expressing V and dr in terms of the parameter t we have v ce de=., V=6t +200; dr=i2tdt+jadt+k dt @ Py(2e) + ARVs Also x = one 60 + 200 2dt dz =at dr =Ade-+§ dy +k de = Arde j2ae-+ke at J Var = { (60 +200742¢-+42-+K)ar Limits: 4 (0,0, 5) 3B, 4,7) I V de = [ (6+ 200028 +4244) at = -++ Complete the integration. a @ 7g (itd + 290} + 145K) [ve 2f co + 200°)4 + (6t° + 2002) + (Be? + 1012)ke} at The actual integration is simple enough and gives the result shown. All line integrals in scalar fields are done in the same way.748 Programme 18 GD vec field If a vector field F exists for all points of the curve c, then for each element of arc we can form the scalar product F- dr. Summing these products for all elements of arc, we have )~F- drp ri ‘Then, if dry -+0, the sum becomes the integral { F- dr, i.e. the line integral of F from A to B along the’stated curve [eae In this case, since F- dr is a scalar product, then the line integral is a scalar. ‘To evaluate the line integral, Fand dr are expressed in terms of x,y,z and the curve in parametric form. We have FoFithi+hk and dr =ide+jdy+kdz Then F- dr = (PA +F,j+ Fk): (idx + jdy+kdz) = Fede +Fydy+Frdz [rar [race | 5ars Fe ‘Now for an example to show it in operation. Example 1 WCF = xh +12) ~ 2yok, evaluate | F- de between A (0, 0,0) and B (4, 2, 1) along the curve having parametric equations x = 4; y = 21%; zat Expressing everything in terms of the parameter f, we have F=Vector analysis 2 749 F= 320i + 4r4j 40k @ dy =4tdt; dz Because sty = (160)(20) =32rt x =4t dx =4at az = (4)(8) =4t4 y=2 +. dy=4tat 2yx = (at2)(8) = 408 z=8 az =308dt ‘Then Jrear 5 Jorwts 4t4j — 48k). (i4de + j tat +30 dt) = ferzsee + 1608 — 121") at Limits: A (0, 0, 0) coon 5 B(4,2, 1) . A B (J . jr or [2st + 1608 — 1297) a0 = 0 128 8 3_ 803 we) 5p 72677 5 If the vector field F is a force field, then the line integral J Fede represents the work done in moving a unit particle along the prescribed curve ¢ from A to B. Now for another example. Example 2 If B= x2yh +2y2) +322xk, evaluate I F-dr between A (0, 0,0) and B(1, 2,3) } (@) along the straight lines cy from (0, 0, 0) to (1, 0, 0) then cz from (1, 0, 0) to (1, 2, 0) and 3 from (1, 2, 0) to (1, 2, 3) (©) along the straight line cy joining (0, 0, 0) to (1, 2, 3) As before, we first obtain an expression for F dr which is750 Programme 18 (ez) F- dr =32ydx + 2yzdy + 322xdz (vit 2yzj + 322xk)- (idx + J dy + dz) JF de = [xiyars [2yedy+ [aear (@) Here the integration is made in three sections, along cy, cz and cs. Qa: y=0,2=0,dy=0,dz=0 [ Far-o+0+0-0 2) cy: The conditions along cz are &s) ca x 0, dx=0, dz . [ Fear-0+0+0-0 @) cs: x=1,y=2, dr=0,dy=0 [rare ww 2 Because [Far-040+ ['32ae=27 Summing the three partial results [2ruenosoeent [edenVector analysis 2 751 (©) If tis taken as the parameter, the parametric equations of ¢ are and the limits of f are dt Ga) As in Example 1, we now express everything in terms of t and complete the integral, finally getting Because P= 204+ 120) +270 dr =i dr+jdy+kedz= i dt-+j2dt-+k3at Le ar= [eet $120) +276) - (42) + 3k) at si 0 H 1 5 J (28 +248 +810) at = j (83? +240) ae 0 Jo feat’. gps]'_ 11S _ = [sa +-8¢ |e 8 78 So the value of the line integral depends on the path taken between the two end points A and B @ [Fede via, cande = 27 &) [Fear vac = 2875 ‘We shall refer to this topic later. ‘One further example on your own. The working is just the same as before. >752 Programme 18 Example 3 If F=2y% 4°) + 2k, evaluate J F dr along the curve x= 202, y= 3u, 2=W between A (2, 3, ~1) and B (2,3, 1). Proceed as before. You will have no difficulty. [Fo [eee Here is the working for you to check, x= y=3u z=u xy? = (4u')(9u2) =36ue dx = dud yz = (27)(u?) = 2706 dy =3du Paw dz = 3? du Limits: A (2, ~3, —1) corresponds to u B(2,3,1) corresponds to u [rar [i@visra+en) (idx+) dy +k dz) 1 f (36u‘4 + 2705) + uk) (dud +j3du+k3u?du) i J .ssu? +8108 + 3°) a 5 Blu”)! _ 500 = [isa HY Ss ‘Now on to the next section Volume integrals BS If Vis a closed region bounded by a surface $ and Fis a vector field at each point of V and on its boundary surface S, then [FAV is the volume integral of F throughout the region. dVadxdyde J,Fav= Er [FazayaxVector analysis 2 753 Example 1 Evaluate [) FaV where V is the region bounded by the planes x0, Vv X=2,y=0,y=3,2=0,2=4, and P= ayk +4 — 2k. We start, as in most cases, by sketching the diagram, which is Then F=xyi+zj-a2k and dV =dedydz _ r0r= [ff foots ety araya ° 8 -[ f@1+248x) oe csssss+s Complete the integral. a [rer=sors =e Fav = 4(91 +12) — 8k) Because [nev fire Dye ~Snx] jae = [loteea- Ke) dz : pas 32y— sak] o = 36t + 45) — 32k = (9+ 12) 8k) Now another.754 Programme 18 Example 2 Evaluate [| FAV where Vis the region bounded by the planes x ~ 0, y=0,2=Oand 2x+y+2=2, and F=22+yk. To sketch the surface 2x +y-+z=2, note that when z when y when x Inserting these in the planes ‘The diagram is therefore So 2x-+y-+z= 2 cuts the axes at A (1, 0, 0); B (0, 2, 0); C (0, 0, 2). Also F=2a+yk; 2=2~2x—y=20-x)-y 1 (201-8) tt-a)-y Jrav= [fp Op eater yazayax yv oto do -[ re [Pera] a eva 1-3 yt aay [Pea -28 40 -2y +1201 —9y -P Tk) aya = [fo sty 2a arabe +{a-ay 2 Finish the last stageVector analysis 2 755 Because [yrev= [ge = nthe Fl —ate} ax -[-2, 4 2 tel 2 -[ 2a la otk] dear) And now one more, slightly different. Example 3 Evaluate || FV where B= 21 +27) + yk and Vis the region bounded by the planes 2=0, z=4 and the surface +? =9. z It will be convenient to use cylindrical polar coordinates (p, 6, 2) 50 the rele- ay Vant transformations are x joys z= i v= ren [ rav= [ff ex+2-+yaray ae Changing into cylindrical polar coordinates with appropriate change of limits this becomes frev=f [ff get 26+esinordzpdras =f off [eae esinean]! “ff (81+ 16) + 4psindk) dds pdpds ° =a] “| (ol + 4p) + PPsingk) dpdg Jo Jo Completing the working, we finally get [ray756 — Programme 18 SB 72n(4 +2)) Because |, Fav= af" ja +20) + Sing Je = 4 [t+ 19) +9sinpk) ap = a6 fa +2) +singk)ag lo = 36[e4+ 24 ~cosgh] = 36{(2n4 + 4x4 —k) ~ (-k)} = 72x(h+-2)) You will, of course, remember that in appropriate cases, the use of cylindrical polar coordinates or spherical polar coordinates often simplifies the subsequent calculations. So keep them in mind, Now let us tura to surface integrals ~ in the next frame Surface integrals ‘The vector product of two vectors A. and B has magnitude |A x B| = AB sin at right angles to the plane of A and B to form a right- handed set. If 0=5, then |AxB)=AB in the 8 direction of the normal. Therefore, if A ‘isa unit normal then AxB=|AlBla = AB aVector analysis 2 737 IfP (x, ») isa point in the x-y plane, the element of area dxdy has a ‘vector area dS = (1 dx) x (§ dy). .e, dS = dedy(i xj) = drdyk ie. a vector of magnitude dxdy acting in the direction of k and referred to as the vector area, ZX For a general surface S in space, each element of surface dS has a vector area dS such that dS = dS a ‘You will remember we established previously that for a surface S given by the equation 4(x,y, 2) = constant, the unit normal # is given by — grad _ Ve |grad 9 [Vel Let us see how we can apply these results to the following examples. fields Example 1 A scalar field V aye exists over the curved surface 5 defined by x24? =4 between the planes z=Oand z= 3 in the first octant. Evaluate | VS over this surface s Wehave Vay S22 4y2— ve I¥6} =0, 2=0 to 2=3 as. ds where a= Now V6= 88, | 86, Bett gph + gg = 2a+2y) and Vo | = ae + 4p? = 2/0? + 2 = 2VE=4 Therefore Ve x+y = 32 -2p4 oma as = [ves=[ vias vs-[, 1 2 ay bas 5] ovat atayas a758 Programme 18 We have to evaluate this integral over the prescribed surface. Changing to cylindrical coordinates with p = 2 «yz = (4.008 §)(2sin (2) cos* psin dz 22c0s4)(4sin® ¢)(2) ‘Then result (1) above becomes ip jvaf [iecos*osinot +8cosesin?oz) 2dzas 2 =f [costesingt +cosesin* gf) 2rdzas 2 =f (cos? $sin + cos ¢sin? 64) 946 and this eventually gives [jvas-.Vector analysis 2 759 [ves= 120+» Gy Because [,vas=a6[-S2 Poy, Sn if” 1204 +1) Example 2 A scalar field V=x+y+z exists over the surface § defined by 2x + 2y +2 =2 bounded by x=0, y=0, z=0 in the first octant. Dra f 788 oer ti sue |, S: Wt2y4+72=2 z=2-2y z=2-2x yei-x ave where a= ES) Now vp = 4s Fei ek = 2+2)+k and ol= VRPT ~v=3 ‘Therefore ve k so that dS = ads 4 (2t+2)+K)as [Vol If we now project dS onto the x-y plane, dR = dScos760 Programme 18 @ 2 Fit a+k Because EE3) Vector fields Example 1 A vector field F=yi+2)+ exists over a surface § defined by x24)? +22 =9 bounded by x=0, y=0, 2=0 in the first octant. boat [F48over the sue nda @S= ads where A= ES where ¢ =a 4? +22 pa eae gene (2x1 +29) +2246) (ad + yj + 2k) i [Faas [piraist date ypeayas i K Before iterating over the surface, we convert to spherical pola coowdnates,Vector analysis 2 761 x=3singcosd; y= 3sindsing &) z= 300s6, ds=9sineasag Limits of and pate @=0%0%; ¢=010F ar [¥-os-2" ["osntosnsomg + suming 3 4 3cosd) 9sinodods =9[" [asin asin cos + 2sin*osing lo ++sinacosé) dod Complete the integral Because a pet [v-a8-9°(esmscons+fsing +!) a6 sin? —Zcosp—$]"= 9143" =9fs 6— Foose sy 9(1+¥) Example 2 Evaluate | F. dS where F = 2yj + 2 and Sis the surface x? + y= 4 in the first two octants bounded by the planes z= 0, z= § and y =0.762 Programme 18 SoS” Fe!!!” | yds Because [ras =[oaem Jotrypas , 3),2r)as= [as 2); , This is cleanly a case for using cylindtical polar coordinates t= : Be cccsneed Gy x= 20054; y=2sing ds=2dddz jr as=[yas-{ Jasin’ o2dpas 8] fsin?oapar " f 7 F =Otoz=S ° [re ww 2, Because [iF as=af fa ~c0s 24) dbdz “LS Limits: ¢=0 to @ wf ae= fe an Example 3 Evaluate J F- dS where Fis the field x2 ~ yj + 2zk and Sis the surface s 2x +y+2z=2 bounded by x= 0, y =0, z= 0 in the first octant. We can sketch the diagram by putting x =0, Oin tum in ‘the equation for S. When 0 y42e—2 ysO x4z2=1 z=0 x+y So the diagram is763 Vector analysis 2 x+y+22-2=0 22k l= et soe 1 oy? 3 fee-y=4as @ Because i as [2 —+22K) JQt+4+2k)as = 3 [22 -v+4nvas ai I we now project the element of surface d5 onto the x-y plane ko - dR=a-kas -, as=2¥ ak AR=dScosy cosy A+ )}+2k)-(k)=F 2 dS =F dxay Using these new relationships, { F- aS =| F-ads s s764 — Programme 18 &® 7 SJ (222 — y-+42) dxay (2x? — y +42) dS jar ys snare (2x? —y +42) dxdy Limits: y=Otoy=2-2x; x=Otox 1 1 _ [easel Peeysisara 2, 1 But 2x+y+22=2 3 @-2x-y) [paas-.. ; Complete the integration (2x? —y +4 4x —2y)ayax [fee -ar4-apoe [[er-sray 2) a While we are concerned with vector fields, let us move on to a further point of interest.Vector analysis 2 765 Conservative vector fields In general, the value of the line integral | F-dr between two stated (3) points A and B depends on the particular path of integration followed. If, however, the line integral between A and B is independent of the path of ZL /' integration between the two end points, then the vector field F is said to be conservative. Ie follows that, fora closed path in conservative field, f F- dr = 0 LS caus the fds consenative if eric a Far-[ Par a Jes (AB), Jca(AB) de 2 Jea(BA) Jeo(AB) Hence, for the closed path AB., + BA, Lo” es Jo? fou P9 a8) eas) =f Fat- fg Far=o Ja) Jas) .. frar=0 Note that this result holds good only for a closed curve and when the vector field is a conservative field. Now for an example. Exampl If F = 2xyzi +222) +a2ykk, evaluate the line integral fF dr between AO, 0,0) and B (2, 4, 6) (@ along the curve ¢ whose parametric equations are x= 1, y= 12, z=3u () along the three straight lines c:: (0, 0, 0) to (2, 0, 0); cz: (2, 0, 0) to (2, 4,0); cs: (2, 4,0) to (2, 4, 6). Hence determine whether or not F is a conservative field First draw the diagram766 Programme 18 (@) B= 2a +327) +22) xe ye x= du; dy=2udu; dz=3du. (Qxyzh +222} + 22yke)- de +f dy +k dz) ; z=3u = 2ayzd + xtzdy +2 de Using the transformations shown above, we can now express F-dr in terms of u. ae Because 2ayadx = (2u)(u2)(3u) du = 6u! du 22a dy = (u?)(3u)(2u) du = 6u du eydz = (u2\(u2)3du = Buda de = 614 du + 6ut du + 3u4 due = 1514 du ‘The limits of integration in w areVector analysis 2 767 (sus]2= 96 [Feae=96 [Pears [ rsutau (b) The diagram for (b) is as shown, We consider each straight line section in tum, : 82.4.6) 4 a6 ae 4 [Fear = fxax+s%2dy +2°y 2) cx: (0,0,0) t0 (0,0); y=0,2=0, dy=0, dz=0 [Fear-0+0+0-0 In the same way, we evaluate the line integral along c2 and cs, [Fes i [Fars Because we have [F-de = [(2xyeds +x%edy + s*yd2) 2! (2,0,0) to (2,4,0); x=2, 2=0, dx=0, dz=0 [.F:4e=0+0+0-0 [Faro cs: (24,0) to (24,6); x=2, y=4, dx=0, dy=0 Le dr 0404 [ s6az~ [16] =96 Jo 0 0 [(vcr=s Cotcing he hee eatogethr [Far-or0s9 2 | Fdenoe768 — Programme 18 In this particular example, the value of the line integral is independent of the two paths we have used joining the same two end points and indicates that F may be a conservative field. It follows that [por [Rear=0 te. frdr=o So, if Fis a conservative field, fF: dr =0 Make a note of this for future use ‘Two tests can be applied to establish that a given vector field Is conservative. If Fis a conservative field (@) cul F=0 (b) F can be expressed as grad V where V is a scalar field to be determined. For example, in the work we have just completed, we showed that F = 2ayal + x22] + x2yk is a conservative field. (a) If we determine curl F in this case, we have curl F w [aar=o] Because ijk a 8 a alk=|5 5 & lxyz x22 x2y| = (x? — 2°) — (2xy — 2xy)j + (2xz— 2xz)k = 0 curl F=0 () We can attempt to express Fas grad V where Visa scalar in x, y, 2. IV =P, y2) ov, ov, ov grad VF and we have F = 2xyzi + xj + 227k av 4 Va=xye +f 2) av WY axe LVs oy OV 8 ay ave o We therefore have to find a scalar function V that satisfies the three requirements. Vs...Vector analysis 2 769 Vaxy (0) Because BY aye Vaxy+f,2) av Way Ve xtynt glx 2 an 2+ 80% 2) av a ‘These three ae satisfied If FY, 2) =s(2, 2) = Max y) <0 grad V where V=22y2 So two tests can be applied to determine whether or not a vector field Is conservative. They are (a) o) & =xy 2, Vast +htx,y) Any one of these conditions can be applied as is convenient. Now what about these? Exercise Determine which of the following vector fields are conservative. @ FH @tyty-aiearyeak ©) F= xt yt era te+yk (©) F=ysinzi +xsin2j + (xycos2+22)k (@) B= 2xyh + (x? + 4y2)f + 2772 (@) F=ycosxcoszi+sinxcoszj ~ysinxsinzk. Complete all five and check your findings with the next frame. @ No ) Yes (© Yes (@) No (6) Yes @&)770 Programme 18 Divergence theorem (Gauss’ theorem) y For a closed surface $, enclosing a region V in a vector field F, J, away = | ras In general, this means that the volume integral (tiple integral) on the left-hand side can be expressed as a surface integral (double integral) on the right-hand side. Let us work through one or two examples. Example 1 Verify the divergence theorem for the vector field F = x4+z)+yk taken over the region bounded by the planes z ~0, z= 2,x~0,x=1, y=O,y=3. Start off, as always, by sketching the relevant diagram, which is ar...) | av =axdydz We have to show that I) 5 | fjaweav= [ros (@) To find I. div Fav a,, 2,8 ; divF=V F- (Js 345k) (i+ a+ yi) 2ey+2e+Zo)ars0r0=2 [j avrav =f asav= [ff 2sacayen Imei the ins a coping the nein [, aveav=Vector analysis 2 771 Because Jarrer= [11 = [fon] a= f sax [6 Son mvt in [78 ; © Totind | Fas te. | Fatas s \n ‘The enclosing surface 5 consists of six separate plane faces denoted as Si, S2,-.., 8¢ a8 shown. We consider each face in turn. Faxtideyk () $1 (base: z= Ae on domed F=ityk — dS; =deay [pads [ff oatriocrodras =f [naa JoJo 2) 8 (top): 2=2;772 Programme 18 S 2 [LF sas = [f+ 24+ yh) Ce) dye “Ilyee-k @) S: (ight-hand end): y=3; @=j ds; =dedz Favitztyk ir aas=| (PA+ 2 + 3k): Gaze Because [pF mas= | cet+a oe) -Ctacax zt 2 ea oae-2 Now for the remaining two sides $s and Ss, Evaluate these in the same manner, obtaining [Faas [pFaas.Vector analysis 2 73 Check: (5) Ss (front): x [reas [fens marae [f 19/46 =i dSs=dydz ©) 86 (oacky: x 5g = aya [LF aas= J[avm (Aaya ff odyar 0 Now on to the next frame where we will collect our results together For the whole surface $ we therefore have Ga) 9,9 Fe ds=-24242-24640= [jr a= $45 42-2464 and tom or preous wrk nection [ava = ; Me hve therfore wee gue hn hit example | avnav=[ ras We have made rather a meal of this since we have set out the working in detail. In practice, the actual writing can often be considerably simplified. Let us move on to another example. Example 2 Verify the Gauss divergence theorem for the vector field F=ad +2) +k taken over the region bounded by the planes z =O and the surface x+y? = 4 in the first octant. Divergence theorem [, awear~ [eas S consists of five surfaces Si, Say---y Ss as shown, ) (a 42)42k)774 — Programme 18 J, awrav =| v-rav 1422 [.a+2perayae Changing to cylindrical polar coordinates (p, 6, 2) x= pcos y=psing AV = pdpdg dz ‘Transforming the variables and inserting the appropriate limits, we then have div Fav =... Finish it @ [>] Decne [, avrav=["| f , ai i (b) Now we evaluate sas Is 2 dg kp [f 4039200 165) Age [[a +20 aepdoas 2 pnts [fates 07 () Fd over the closed surface, ‘The unit normal vector for each surface is shown. Fan+2)+7kVector analysis 2 775 (2) Sat 4 Ak Pam Q4 16K 1. [Pads | od+2) +166) txyas=[, 16as Is, Is I, =i) 16 In the same way for $3: le ads=.. and forS«: | R-iads = Is ; @ J I Fads = ~16; Pads=0 ss Because we have 3) Sx: = [2945 = -2@) = -16 A Se =O; 4 F=2j+2%k J, Fa [@i+2e) (-i)as=0 Is Is Finally we have (8) Se 4 el a= Fads) Because 4-420 VS _ 2442 _xity) Wi" Yateae 2 [prema faye) (EM) as Converting to cylindrical polar coordinates, this gives 2), +28 [reaes= Is776 — Programme 18 Because we have iP aas [ee ranes 2 also x=2c0sd; — y=2sing 2su dS = 2dedz [aase}f{ [scars sano2eec 2 = 2. [Ca +e0s20) +2snd) daz -l(¢) 20 =2['G+2)ar—an+16 ‘Therefore, for the total surface $ [F tes=04 160 —16+0-442+16 = 207 @ s » [ava = | #-as 20% v s Other examples are worked in much the same way. You will remember that, for a closed surface, the normal vectors at all points are drawn in an outward direction. Now we move on to a further important theorem. Stokes’ theorem A If Fis a vector field existing over an ss) as open surface S and around its boundary, closed curve c, then Jome-as—f rae s This means that we can express a surface integral in terms of a line integral round the boundary curve. ‘The proof of this theorem is rather lengthy and is to be found in the Appendix. Let us demonstrate its application in the following examples.Vector analysis 2 77 Example 1 A hemisphere $ is defined by x2 +)? +22 =4 (2>0). A vector field F = 2yi —x +a2k exists over the surface and around its boundary c. Verity Stokes’ theorem, that | cur F-aS 4 Pde. s ke 2442-420 2yk — x) +a2k cis the dicle x2 +)? = 4, Jen — xj tak): (Lede +) dy +k dz) = [(rax—noy+ 2002 Converting to polar coordinates x=2cos6; 2sing; ° dx=—2sin8d9; dy =2cosedd; Limits @=0to 2 Making the substitutions and completing the integral fear fear =—12e Because ae fF de J (4sin 6[-2sin@dé] — 2cos82cos0dd) -f " (asin? 0+ cos? 6) d0 ~2foo- 2924 125 : a -fa + sin?) d@= fe cos 26) a0 o 2 Io On to the next frame778 Programme 18 (es) (&) Now we determine | curl F-d5 s four as= | cut r-aas P= 2yi apt ack &w curl F= —2j 3k Because =4(0- 0) -j(z-0) +k (-1-2) = 2) - 3k (VS 2xd+ 242k _ ah typ tke IWS] ax? + ay? + az? 2 ‘ten [ cul F aas~ | 2} — 3k) (evita s 1 =Mco2-m9as Now Expressing this in spherical polar coordinates and integrating, we get [cute nas s (es) “i Because x=2sind cosd; y=2sindsing; z=2c0sd; dS=4sinadedd [,cutr-ads=3/ Jresinosine 2cos0— 6cos0)4 sinedsdge -4f ° f (2sin? @cos asin g +3sin# cos) dadg lo Jo f2sin? sing _ 3sin? 6)" [Peery 4° Gsmo+3) 6-100 a So we have from our two results (1) and @2) [jcute-as=f Far Before we proceed with another example, let us clarify a point relating to the direction of unit normal vectors now that we are dealing with surfaces. $0 on to the next frameVector analysis 2 Direction of unit normal vectors to a surface S When we were dealing with the divergence theorem, the normal vectors were drawn in a direction outward from the enclosed region. With an open surface as we now have, there is in fact no inward or outward direction. With any general surface, a normal vector can be drawn in either of two opposite directions. To avoid confusion, a convention must therefore be agreed upon and the established rule is as follows. ‘A.unit normal is drawn perpendicular to the surface Sat any point in the direction indicated by applying a right-handed screw sense to the direction of integration round the boundary ¢. Having noted that point, we can now deal with the next example. 0. Example 2 ‘A surface consists of five sections formed by the planes x=0, |, ¥=0, y=3, 2=2 in the first octant. If the vector field F=yi+24j+xyk exists over the surface and around its boundary, verify Stokes’ theorem. If we progress round the boundary along ci, C2, 3, C4 in an anti- clockwise manner, the normals to the surfaces will be as shown. We veo ety tat [cu F-0S=f de (@) We will star off by finding f Far frear- 779780 Programme 18 Oo Ire] F-dr= |(ydx+ 2 dy +xydz) (1) Along cx: y= dy=0; dz=0 J F-dr=[(0+0+0)= @) Alonge: x=1) 2 ve [Poe 0; dx=0; dz=0 In the same way [Fars Because 8) Alonges: y= y= [ ae=flaacroe) Anges 2 , dno | Far=fo+o+=0 2 fae-0+0-340 fFar=—3 aw (b) Now we have to find [_ curl F- ds, First we need an expression for curl F. Fe pls 2jsayk * curl FE.Vector analysis 2 Because ijk aa0 cul P=VxR=]5 Fy a y 2 x =1(x— 22) - 4-0) + (0-1) =(x- 22k - yj —k ‘Then, for each section, we obtain [ curl F- a8 ~ { curl Fads () 8: (op a= ke . {, om CD Because f, curl Fad =f (@- 2-1 - (kas 3 -| (-1) dS =—(area of 1) Is, Then, likewise (2) Sp (right-hand end): a =j 1 [ene nase | (oat —wy 00s I, Js = [nas But y = 3 for this section [, amr-aasa[ -oareea=—s Is Ns @) 5; (efthand end): a=) J, cane nas 5782 Programme 18 B 0 Because curl F Is, [,(@- 208 98 -19-Cnas But y=0 over S3 [, auw-aas~0 Working in the same way [ome batecg [, omeaas.. , Is Because (#) Ss (fron: a4 J, cute aas = [(— 208 - i Ke) as Is Is = [245 Is, But x= 1 over Ss [,eweeaasa ff fo-ensear= [fee a7 : : =[\-e0-[-a]--« i ; (5) Ss (back): = —4 with x = 0 over Ss Similar working to that above gives J curl F-idS = 12 ae ee [con aas= sVector analysis 2 783 " [apass penne) o ! curl B-ads 640-641: 2 Is So, referring back to our result for section (a) we see that [cute -as—f rar Of course we can, on occasions, make use of Stokes’ theorem to lighten. the working - as in the next example. Example 3 A surface S consists of that part of the cylinder x? +)? =9 between z=0 and z=4 for y > 0 and the two semicircles of radius 3 in the iC Peak eh, rte [co Fs planes z=0 and over the surface. ‘The surface $ consists of three sections (@) the curved surface of the cylinder (b) the top and bottom semicircles. ‘We could therefore evaluate [utr-es 2] pik ‘over each of these separately. However, we know by Stokes’ theorem that [anes ; Ba dt yj tack fF ar. fetta saat) yl ide +f dy +k dz) = fae +ayay +x2de) C 173 Now we can work through this eastly enough, taking ¢1, C2, ¢s, cx in turn, and summing the results, which gives [oneees =f rae784 Programme 18 Here isthe working in detal. F-dr=4 (2dr +aydy-+s2d2) yy Mer y [,Foe=[ +040) 0 0; Qa x y=0; dx=0; [ Fear=[_(0+0-a2a2) = Bes y=; 2=4 dy [orear=[ar+0+0)=[ sar—24 es ls a eu x y=0; de=0; ay 20 pep Is [Fae [ rosea Totaling w he four ts, me ae 24 fr-ar=0=24024-24- tof cane-os =f re [cute as = ; ; This working is a good deal easter than calculating f curl F-€8 over s the three separate surfaces direct. So, if you have not already done so, make a note of Stokes’ theorem: [omr.os=f rae ‘Then on to the next section of the workVector analysis 2 785 Green’s theorem Green’s theorem enables an integral over a plane area to be expressed in terms of a line integral round its boundary curve. We showed in Programme 14 that, if P and Qare two single-valued functions of x and y, continuous over a plane surface S, and c is its boundary curve, then ff (222 ferars aay =|] (F2-F) axay where the line integral is taken round c in an anticlockwise manner. In vector terms, this becomes: $ is @ two-dimensional space enclosed by a simple closed curve c. dS = dxdy dS = ads =k dxdy If F= Pi-+ QJ where P= P(x, y) and Q= Q(x, ») then curl F= 8Q_ at 25) @ Because 1 a cut B= |2 P (0-55 aQ But in the x-y plane, [> Jgesien al a oglor 10-2) (@-5) =o. 2, conP=K (32 Ox [owas [ ont 86s nin hey pane, [owes-x(G-§) me | (- ae J,cuar-as~ | (2-2) axay ® ‘Now by Stokes’ theorem786 Programme 18 and, inthis case,f Fd = f (Ph + Q}) «(Ade +) dy-+ Ke dz) = fpax+aay Fede =f Par+ Quy) @) Therefore from (1) and (2) Stokes theorem | “curl F-d$ = F- dein two dimensions becomes s t Green's theorem J OQ axay =f Pax+Qa) |, ax ay, f Example Verify Green's theorem for the integral § {02 +P) dx-+ (x +2) dy} taken round the boundary curve c defined by | 7 yoo ocxe2 e Mapas ocrs2 ° «2 * cents here: ff (22-2) axay =f rax-+aay Im this case (x? +y2) dx + (x+2y) dy = Pax + Qay Pax2+y? and Q=x+2y We now take cy, ¢, ¢3 in turn, @ cz y=0; dy=0 Bil (Pax + Qay) = = “Bl: 7 =4 Qa: #+y~P=4 me 4 ra Xb dy= x4 242) fyb ay 29 ae _ gyi a | [es 0 = Make any necessary substitutions and evaluate the line integral for czVector analysis 2 787 ; @) Because we have I, Par +aay)=[ {4+ +avi=m) “lem Putting x=2sin, V4—x?=2cos@ dx —2cosods 5 0 =0. Limit x=2, 4sin? [rocco =f {+ ine $38 scste ay = fase sat} (9-8 a Finally @) cq: x=0; dx=0 - [@arraan= foray [P| = ©. Collecting our three partial results firacnaay Serta ‘That is one part done. Now we have to evaluate | [ @ z) axay s op Pax Puy +P ice Qaxty 2B [LG2-$) [Joao It will be more convenient to work in polar coordinates, so we make the substitutions Aereoshy yearsing, A= dedy = dew {COB axay= f° fa -arsnny arn Complete it788 Programme 18 Here it is: {C= anay= [fleas rae [GS = [1 f2—Ban a Pes = pr Boot (2) So we have established once again that feasaan || (2-2) aay ‘And that brings us to the end of this particular Programme. We have covered a number of important sections, so check carefully down the Revision summary and the Can You? checklist, and then work through the Test exercise that follows. The Further problems provide valuable additional practice. (ea) Revision summary 18 1. Line integrals (@ Scalar field vif V dr The curve ¢ is expressed in parametric form. dr = Ade + dy +k dz (Vector field [ F-de PH PAs Bj + Fak dr =1de+ J dy+kaz Bedr=Fyde+Fydy +Fedz 2 Volume integrals Fis a vector field; V a closed region with boundary surface S. Jprav=[° [° [aca ax v I de,Vector analysis 2 789 3. Surface integrals (surface defined by 6(x, y, 2) = constant) (a) Scalar field Vix, , 2): Ve rad d Wel israd] (b) Vector field F= Rui + Fy) + Fok [ves= | vaas ve Ive] [ros-[racs 8 4 Polar coordinates (a) Plane polar coordinates (r, 6) f cos6; y= rsind oly dS =r drag i (b) Cylindrical polar coordinates (p, 4, z) Pez) pdodz oS dV = pdpdgdz (© Spherical polar coordinates (r, 6, $) 7 rae rsinocosé rsindsing reos0 9 |_____as=r’sinoaoag 7 * av =/*sing drdsag 5 Conservative vector fields A vector field F is conservative if (©) fFeae=0 forall closed curves ) cul F=0 (© F= grad V where V is a scalar.790 Programme 18 6 Divergence theorem (Gauss’ theorem) Closed surface $ enclosing a region V in a vector field F. [, avrav [ras area |, 7 Stokes’ theorem ‘An open surface $ bounded by a simple closed curve c, then [,oute-as=f rar The curve c isa simple closed curve enclosing a plane space Sin the x-y plane. P and Q are functions of both x and y. (Pax+Qey). {% Can You? Checklist 18 Check this list before and after you try the end of Programme test. On a scale of 1 to 5 how confident are you that Frames you can: ‘¢ Evaluate the line integral of a scalar and a vector field in Cartesian coordinates? Ys O GC O O O Wo Evaluate the volume integral of a vector field? ys O O OF D0 O WoVector analysis 2 791 « Evaluate the surface integral of a scalar and a vector field? ys 1 OF OF O OO No ‘ Determine whether or not a vector field is a conservative vector field? ys (1 OF OF O O No ‘* Apply Gauss’ divergence theorem? vs O OF OF O O Wo Apply Stokes’ theorem? ys O OF OF O QO No ‘¢ Determine the direction of unit normal vectors to a surface? a vy O O O O O no Apply Green’s theorem in the plane? vy O O O UO O No (& Test exercise 18 1 If Vexy42x2+yz, evaluate [ver between A (0,0,0) and (3) 8 (2, 1, ~3) along the curve with parametric equations x = 2t, y= ©, 2238. “3 2 If Pox Pity2j+22k, evaluate [Fae along the curve x= 30, u, z= 2u? between A (3, — 1, — 2) and B (3, 1,2). 3. Pvaluate [FAV where F= 38+ 2)+2yk and Vis the region bounded by the planes z =0, z= 3 and the surface x? +? = 4, 4 If V is the scalar field V =ay22, evaluate |, VaS over the surface S Is defined by x2 +y? =9 between z Oandz in the first octant. 5 Evaluate j, F--dS over the surface 5 defined by x? +y? +2? = 4 forz>0 and bounded by x=0, y=0, 2 =0 in the frst octant where a+ 27) +yk.792 Programme 18 6 Determine which of the following vector fields are conservative. (a) F= (2xy +2) + (2 +22) + (+7) (0) B= (2+ 2y i+ (x2 + 22))+ Cy +3)k (© F= (2431+ (x2? +2))+ ay + 4)k. 7 By the use of the divergence theorem, determine | F-dS where F ad-+ayj+2k, taken over the region bounded by the planes 224, x=0, y = Oand the surface x? +)? = 9 in the first octant. 8 A surface consists of parts of the planes x =0, x=2, y=0, y=2 and z=3-y in the region z>0. Apply Stokes’ theorem to evaluate J cus over the surface where F-= 2x4 +2 + ye where S les in s the 2 0 plane 9 Verify Greens theorem inthe plane forthe integral f(a? 2a) ae + (2+ 209*)89) Where ¢ is the square with vertices at (1, 1), (-1, 1), (-1, - 1) and (l, = 1). ( Further problems 18 7, evaluate [ V de between A (0, 0,0) and B (6, 2, 4) (@ along the straight lines c1: (0, 0, 0) to (6, 0, 0) 2 (6, 0, 0) to (6, 2, 0) cs: (6, 2, 0) to (6, 2, 4) (©) along the path cs having parametric equations x = 3t, y 2a 2. 2 If V =ay*+yz, evaluate to one decimal place j V dr along the curve c having parametric equations x=2, y=4t, 2=3t+5 between (0, 0, 5) and B (8, 8, 11) 3 Evaluate to one decimal place the integral [ (aye -+ 4x7) de along the Ww, 2= 30 between curve c with parametric equations A(2,1,3)and B (4, 4, 24). 2u, 4 Peay ty7) + deyaic, evaluate J Pode between A (0,2,0) and B (3,6,1) where c has the parametric equations x= 3u, y=4u+2, z=,Vector analysis 2 793 5 F=x4-2ay)+yek. Evaluate [ F-dr between A (2,1,2) and B (4, 4, 5) where cis the path with parametric equations x = 2u, y= 2, z= 3u-1 6 Aunit particle is moved in an anticlockwise manner round a circle with centre (0, 0, 4) and radius 2 in the plane z = 4 ina force field defined as F= (xy +2)i+ (2x +p) + (-+y +2)k. Find the work done. 7 Bvaluate J FAV where F-=4— y+ and Vs the region bounded by the plane 2 = 0 and the hemisphere x? +)? +2 8 Vis the region bounded by the planes x=0, surfaces y= 4-3? (z>0) and y= 4-27 (y>0). 1 F= 2147) ~k, evaluate | FAV throughout the region, , for z > 0. 0, 2=0 and the 9 MF 31+2) - 2xk, evaluate | RAV where Vis the region bounded by the planes y= 0, 7=0, 2 = 4~y (22 0) and the surface +)? = 16. 10 A scalar field V = x+y exists over a surface S defined by PtP +2 =9, bounded by the planes x ~0, y= 0, 2 ~0 in the first octant. Evaluate {08 over cme ace 11 A surface § is defined by 2 +2=4 and is bounded by the planes x=0,2=3,y=0, 20 in the frst octant. Evaluate {_V dS over this curved surface where V denotes the scalar field V = xyz, 12 Evaluate [curl F-d8 over the surface $ defined by 2x-+2y+2= 2and bounded by x=0, y=0, 2=0 in the first octant and where Fi 2924 bay 13. Evaluate J F-dS over the hemisphere defined by x*+7 +2 s with 2 > 0, where B= (x+y) ~ 27) + yk 14 A vector field F= 2 +2)-+yk exists over a surface § defined by #+)+22=16, bounded by the planes 2=0, 2=3, x=0, y=0. Dra [8 oe tested cared sc, f794 Programme 18 1s 16 7 18 19 2 Evaluate [ F-45, where Fis the vector fleld 344-22) —yke, over the curved surface 5 defined by x2 +»? = 25 and bounded by z = 0, 2= 6, yo. A region V is defined by the quartersphere x2-+)?+22 = 16, z>0, y= Oand the planes z = 0, y = 0. A vector field F= xy + y*j +k exists throughout and on the boundary of the region. Verify the Gauss divergence theorem for the region stated. ‘A surface consists of parts of the planes x = 0, x= 1, y=0, y=2, 7=1 in the first octant. If F= yi + x*zj +ayk, verify Stokes’ theorem. Sis the surface z=? + y* bounded by the planes z=0 and Verify Stokes’ theorem for a vector field F = xyi +28) 2k. ‘A vector field F = xyi + 2°) +xyzk exists over the surfaces +) +22 =a, x=0andy=0 Inthe fist octant. Verity Stokes’ theorem that [curl F-< s A surface is defined by z* = 4(x? +y*) where 0 < z <6. If a vector field F=i+ay°j+22zk exists over the surface and on the boundary circle c, show that f F-dr = [cus F-4s, f s Verity Green’s theorem inthe plane forthe integral fener yr+ma} where c is the circle with unit radius, centred on the origin.