HIT121: Engineering Maths 2

K. Mutangi

06 April 2016

K. Mutangi HIT121: Engineering Maths 2

Integration of vector functions
1 Line Integrals
Denition
Any integral which is to be evaluated along a curve is a line integral

Example
Let A(x , y , z ) = A1 i + A2 j + A3 k be a vector function of position
dened and continuous along C. Then the integral of the tangential
component of A along C from P1 to P2 , written as:
Z P 2
Z Z
A dr = A dr = A1 dx + A2 dy + A3 dz (1)
P 1 C C
is an example of a line integral. If C is a closed curve, then the
integral around C is denoted by
I I
A dr = A1 dx + A2 dy + A3 dz (2)
K. Mutangi HIT121: Engineering Maths 2
Integration of vector functions

1 Line Integrals
Suppose C is a curve parameterized by
x = f (t ), y = g (t ), a t b and A and B are the points (f(a),
g(a)) and (f(b),g(b)) respectively.
(i) C is a smooth curve if f 0 and g 0 are continuous on [a, b] and
not simultaneously zero on (a,b).
(ii) C is piecewise smooth if it can be expressed as a union of a
nite number of smooth curves.
(iii) C is a closed curve if A = B
(iv) C is a simple closed curve if A=B and the curve does not cross
itself.
(v) If C is not a closed curve, then the positive direction on C is
the direction corresponding to increasing values of t.

K. Mutangi HIT121: Engineering Maths 2

Integration of vector functions

1 Line integrals
Let z = G (x , y ) be a function of two variables x and y dened on a
region of the plane containing a smooth curve C, then the integral
of
R G along C from A to B with respect to arc length is
C G (x , y )ds.
If C is a smooth curve parameterized by
x = f (t ), y = g (t ), a t b, then we have
Z Z b
G (x , y )dx = G (f (t ), g (t ))f 0 (t )dt , dx = f 0 (t )dt . (3)
C a
Z Z b
G (x , y )dy = G (f (t ), g (t ))g 0 (t )dt , dy = g 0 (t )dt . (4)
C a
Z Z b q
G (x , y )ds = G (f (t ), g (t )) (f 0 (t ))2 + (g 0 (t ))2 dt (5)
C a

K. Mutangi HIT121: Engineering Maths 2

Integration of vector functions

If the curve is dened by an explicit function

y = f (x ), a x b, we canpuse x as a parameter. In this
case dy = f 0 (x )dx and ds = 1 + [f 0 (x )]2 dx, we then make
the appropriate substitutions in the equations above.

Example
Evaluate C xydx + x 2 dy where C is given by y = x 3 , 1 x 2
R

Solution: y = x 3 dy = 3x 2 dx, we use x as the parameter and

hence we have
2 2
132
Z Z Z
xydx + x 2 dy = x (x 3 )dx + x 2 (3x 2 dx ) = 4x 4 dx =
C 1 1 5

K. Mutangi HIT121: Engineering Maths 2

Integration of vector functions

Line Integrals along simple closed curves.

For a simple closed curve C, its essential to specify the
direction of intergration since the initial and nal points may
not be given. The positive direction around a simple closed
curve C is that direction a person must walk on C in order to
keep the region R bounded by C to the left.

Example
Evaluate C y 2 dx x 2 dy on the curve C shown in the gure below:
H

K. Mutangi HIT121: Engineering Maths 2

Integration of vector functions

y 6 (2,4)

c3

y = x2  6c2

0
- - -
c1 (2,0) x

C = C + C + RC , we use x as a parameter. On C1 , y = 0,
H R R R
1 2 3
R2
hence dy = 0 and C y dx x dy = 0 0dx x 2 (0) = 0. On C2 ,
2
1
2

we use y as a parameter, x 2, dx = 0,
K. Mutangi HIT121: Engineering Maths 2
Integration of vector functions

hence
Z Z 4 Z 4
2 2 2
y dx x dy = y (0) 4dy = 4dy = 4y |40 = 16
C 2 0 0

On C3 , we use x as a parameter, y = x 2 , dy = 2xdx implying that

0 0
8
Z Z Z
2 2 4 2
y dx x dy = x dx x (2xdx ) = (x 4 2x 3 )dx =
C 3 2 2 5
8 72
Hence C y 2 dx x 2 dy = 0 16 + =
H
5 5
Denition
A line integral whose value is the same for every curve connecting
A and B is said to be independent of the path

K. Mutangi HIT121: Engineering Maths 2

Integration of vector functions

Theorem
Suppose a function (x , y ) such that d R = Pdx + Qdy i.e
Pdx + Qdy is an exact dierential. Then C Pdx + Qdy depends
only on the endpoints A and B of the path C and

Z
Pdx + Qdy = (B ) (A) (6)
C

Theorem
Let P and Q be continuous and have continuousR rst partial
derivatives in a simply connected region. Then C Pdx + Qdy is
P Q
independent of the path C if and only if = for all (x,y) in
y x
the region.

K. Mutangi HIT121: Engineering Maths 2

Integration of vector functions

Example
Show that the integral C (x 2 2y 3 )dx + (x + 5y )dy is not
R

independent of the path C.

Denition
Work Done:
Suppose that we are moving a particle in a vector eld along a
smooth path C. Let the force be F such that F is continuous. In
order to get the work done, partition C into N partitions
r1 , r2 , . . . , rN , then the work done in moving a partition ri is
approximately Wi = F ri . Summing over all partitions, we get
N N
W Wi = F ri
X X

i =1 i =1

K. Mutangi HIT121: Engineering Maths 2

Integration of vector functions

Thus the work done is

Z N
W = F d r = lim Wi (7)
X
C N
i =1
If r is a position vector, r = x i + y j + z k and hence
d r = dx i + dy j + dz k. Suppose F = F1 i + F2 j + F3 k then
Z Z
W= F dr = F1 dx + F2 dy + F3 dz . (8)
C C
I
For a closed path C, we have a closed integral W = F d r.

K. Mutangi HIT121: Engineering Maths 2

Integration of vector functions

Example
If F = x sin y i + cos y j is a force eld, calculate the work done in
moving a particle along the paths:
(a) A straight line from (0,0) to (1,0) and then to (1,1).
(b) From (0,0) to (1,1) along the curve y = 2x.
Solution:
(a) C F d r = C F d r + C F d r
R R R
1 2

Along C1 : F d r = F1 dx + F2 dy = x sin ydx + cos ydy

but, along C1 , y = 0, hence dy = 0, and sin y = sin(0) = 0
C F d r = 0.
R
1

Along C2 : x = 1, dx = 0 F d r = x sin ydx + cos ydy

Z 1
F dr = 0 + cos ydy = sin(1)
R
0
F d r = 0 + sin(1) = sin(1)
R

K. Mutangi HIT121: Engineering Maths 2

Integration of vector functions

(a) (b)

y y 6
(1,1)
6

(1,2)

C C
c2

c1 x
-
0 0
-
(1,0) x

K. Mutangi HIT121: Engineering Maths 2

Integration of vector functions

(b) On y = 2x , dy = 2dx hence

Z Z
F dr = (x sin 2x i + cos 2x j) (dx i + 2dx j)
C ZC
= (x sin 2x + 2 cos 2x )dx
C
1 1 1 1
Z
= x cos 2x 0 + cos 2xdx + sin 2x 10

2 2 0
1 5
= 1 cos 2 + sin 2
2 4

Example
Z
Evaluate the integral F d r where F = y i 5z j + (xz + z 2 )k
C
along the curve x = 1 t , y = t 2 and z = t + 1 from t = 1 to
t = 2.
K. Mutangi HIT121: Engineering Maths 2
Integration of vector functions
Denition
If a vector eld is conservative, then F = 0 and = 0,
where F = and is some scalar eld.

Example
Show that F = (e x sin y + 2 cos z )i + (e x cos y 2y )j 2x sin z k
represents a conservative eld and nd a scalar potential such
that F = .
Solution

i j k
 
 
 

F = 
 
x y z


 x x
 e sin y + 2 cos z e cos y 2y 2x sin z 


= 0i (2 sin z + 2 sin z )j + (e x cos y e x cos y )k

= 0i + 0j + 0k = 0.
K. Mutangi HIT121: Engineering Maths 2
Integration of vector functions

Now F = for some scalar , that is F = i + j + k.
x y z
Equating corresponding components, we nd

= e x sin y + 2 cos z. Integrating with respect to x gives
x
= e x sin y + 2x cos z + h(y , z ), we dierentiate with resp

= e x cos y + h0 (y , z ) comparing with F, gives
y
h0 (y , z ) = 2y , integrating with respect to y gives
h(y , z ) = y 2 + g (z )
Therefore = e x sin y + 2x cos z y 2 + g (z )
lastly, dierentiating with respect to z yields

= 2x sin z + g 0 (z )
z
giving g 0 (z ) = 0 g (z ) = k
where k is some arbitrary constant
K. Mutangi HIT121: Engineering Maths 2
Inetegration of vector functions

Therefore = e x sin y + 2x cos z y 2 + k

K. Mutangi HIT121: Engineering Maths 2