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5. Multiple Integrals
The definite integral can be extended to functions of several variables. The definite integral of a function of a
single variable is called a single integral and its generalization to a function of several variables is called a multiple
integral.
5.1 Double Integrals
A. Motivation (Volume Problem)

Let 𝐷 be a three dimensional region in 𝑥𝑦𝑧 −space bounded by

a. a closed bounded region 𝑅 in xy-plane from below,

b. the graph of a continuous nonnegative function 𝑓(𝑥, 𝑦)from above and
c. the surface through the boundary of R and perpendicular to 𝑥𝑦 plane from lateral side.

Such a region is called the region beneath the graph of f over R.

R’

Figure 1: Double integral: motivation

Our aim is to find the volume of 𝐷, 𝑉(𝐷). We can estimate 𝑉(𝐷) as follows.

1. Let 𝑅 ′ be a rectangular region containing R. Divide 𝑅 ′ into sub-rectangles by grids of lines parallel to
x- and y- axis. Let R1, R2,…, Rn be those sub-rectangles that lie entirely in R. For each 𝑘 ∈ {1, … , 𝑛},
choose (sk , 𝑡𝑘 ) ∈ 𝑅𝑘 . The set 𝒫: = {R1 , … , R n , (s1 , 𝑡1 ), … (sn , 𝑡𝑛 ) } is is called a tagged partition of
R.

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Notation:
∆𝐴𝑘 : = area of 𝑅𝑘 ,

∆Vk:= 𝑓(𝑠𝑘, 𝑡𝑘 )∆𝐴𝑘

‖𝒫‖: = max{∆A1 , … , ∆An }

The number ‖𝒫‖ is called the norm or mesh of 𝒫. The number ∆Vk is the volume of the parallelepiped
whose base stands on 𝑅𝑘 and whose height is 𝑓(𝑠𝑘, 𝑡𝑘 ).

2. Then 𝑉 (𝐷) ≈∑𝑛𝑘=1 𝑓(𝑠𝑘, 𝑡𝑘 )∆𝐴𝑘 , because the solid 𝐷 is roughly the union of the 𝑛 parallelepipeds
standing on the 𝑛 sub-rectangles in the partition of 𝑅 .
The number ∑𝑛𝑘=1 𝑓(𝑠𝑘, 𝑡𝑘 )∆𝐴𝑘 is called the Riemann sum of 𝑓 associated with the tagged partition 𝒫.
In analogy with the case of single variable, we can define upper and lower sums of 𝑓(𝑥, 𝑦). But we
omit that.

B. The Definition of Double Integral

Under appropriate assumptions on the region R and the function 𝑓, it holds true that

As n approaches ∞, ∑𝑛
𝑘=1 𝑓(𝑠𝑘, 𝑡𝑘 )∆𝐴𝑘 approaches volume (D).

In the language and notation of limits this is equivalent to saying

𝑣𝑜𝑙𝑢𝑚𝑒(𝐷) = lim ∑ 𝑓(𝑠𝑘, 𝑡𝑘 )∆𝐴𝑘

𝑛→∞
𝑘=1

The limit above can be used to express many other quantities besides volume. It is called the double integral
of f over R.

Definition 1: Let 𝑓 be a function defined on a closed bounded region 𝑅 in 𝑥𝑦-plane.

Let 𝒫: = {R1 , … , R n , (s1 , 𝑡1 ), … (sn , 𝑡𝑛 ) } be a tagged partition of 𝑅 and let ∆𝐴𝑘 represents the area of
𝑅𝑘 for each 𝑘 = 1, … , 𝑛. The double integral of f over R is denoted and defined by

∬𝑅 𝑓(𝑥, 𝑦)𝑑𝐴 = lim ∑𝑛𝑘=1 𝑓(𝑠𝑘, 𝑡𝑘 )∆𝐴𝑘 ;

𝑛→∞

provided that ‖𝒫‖ tends to 0 as n   .

Remark: In short, the double integral of 𝑓 over R can be denoted by ∬𝑅 𝑓𝑑𝐴 or even by ∬𝑅 𝑓. It can also be
denoted as ∬𝑅 𝑓(𝑥, 𝑦)𝑑𝑥𝑑𝑦 or ∬𝑅 𝑓(𝑥, 𝑦)𝑑𝑦𝑑𝑥

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C. Existence of Double Integrals

For a general closed region R, ∬𝑅 𝑓 may not exist; even if 𝑓 is continuous on R.

Theorem 1: If a function 𝑓 of two variables is continuous on a closed rectangular region R, then 𝑓 is

integrable on R.

Definition 2: A region 𝑅 in xy-plane is said to be

a) vertically simple if every line parallel to the y axis meet the boundary of R in, at most, two points
b) horizontally simple if every line parallel to the x axis meet the boundary of R in, at most, two points
c) simple if it is both vertically simple and horizontally simple
Equivalently, a region R is said to be
a) a vertically simple region if it is bounded by two vertical lines (say 𝑥 = 𝑎 and 𝑥 = 𝑏) and two continuous
functions of x (say 𝑦= 𝑔1 (𝑥) and 𝑦 = 𝑔2 (𝑥)), i.e.,
𝑅 = {(𝑥, 𝑦): 𝑎 ≤ 𝑥 ≤ 𝑏 & 𝑔1 (𝑥) ≤ 𝑦 ≤ 𝑔2 (𝑥)}
a) horizontally simple region if it is bounded by two horizontal lines (say y=c and y=d) and two continuous
functions of y (say x= ℎ1 (𝑥) and y= ℎ2 (𝑥)), i.e.,
𝑅 = {(𝑥, 𝑦): 𝑐 ≤ 𝑦 ≤ 𝑑 𝑎𝑛𝑑 ℎ1 (𝑦) ≤ 𝑥 ≤ ℎ2 (𝑦)}

𝑔2 𝑔2
R 𝑔1
𝑔1 R
R
𝑔1
𝑔2

Figure 2: vertically simple regions

ℎ2 ℎ1 ℎ2 ℎ1

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ℎ1 ℎ2
R
RR
R

Figure 3: Horizontally simple regions

Theorem 2: If a function 𝑓 of two variables is continuous on a region R that is either vertically or

horizontally simple, then 𝑓 is integrable on 𝑅.

D. Properties of Definite Integrals

Theorem 3 [basic properties of double integrals]: Assume that the indicated integrals of f and g exist.
Then
a) ∬𝑅 𝑓 + 𝑔 = ∬𝑅 𝑓 + ∬𝑅 𝑔 (Sum Rule)
b) ∬𝑅 𝑓 − 𝑔 = ∬𝑅 𝑓 − ∬𝑅 𝑔 (Difference Rule)
c) ∬𝑅 𝑘𝑓 = k ∬𝑅 𝑓 , where k is any constant (Constant Multiple Rule)
d) If 𝑚 & 𝑀 are constants satisfying 𝑚 ≤ 𝑓(𝑥, 𝑦) ≤ 𝑀 for all (𝑥, 𝑦) ∈ 𝑅 and if A is the area of R, then
𝑚𝐴 ≤ ∬𝑅 𝑓 ≤ 𝑀𝐴 (Comparison property)
e) If R1 and R2 are non-overlapping closed bounded regions and f is defined on 𝑅1 ∪ 𝑅2 ,
then∬𝑅 𝑓= ∬𝑅 𝑓 + ∬𝑅 𝑓 (Region Union/Addition Property)
1 ∪𝑅2 1 2

f) If f is continuous on a closed bounded region R and A is the area of R, then ∃𝑐 ∈ 𝑅 such that
𝑓(𝑐)𝐴 = ∬𝑅 𝑓 (Mean Value Theorem for Integral)
The number 𝑓(𝑐) in the above result is called the average value of f on R.

E. Evaluation of Double Integrals and Iterated Integrals

For functions of a single variable, the second fundamental theorem of calculus provides a method for
evaluating a definite integral by finding an antiderivative (indefinite integral) of the integrand. A double
integral is evaluated by performing two single integrations successively (iteratively). We use the interpretation
of double integral as the measure of a volume to motivate the method. Our discussion is intuitive. A rigorous
development of this method belongs to advanced calculus. The theorem that gives conditions under which it

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is possible to compute a double integral using iterated integrals (two single integrals one after another) is
called Fubini’s Theorem.

Theorem 4 [Fubini’s theorem for double integrals]:

a) If 𝑅 is the vertically simple region described by 𝑅 = {(𝑥, 𝑦): 𝑎 ≤ 𝑥 ≤ 𝑏 & 𝑔1 (𝑥) ≤ 𝑦 ≤ 𝑔2 (𝑥)},
then
𝑏 𝑔 (𝑥)
∬𝑅 𝑓𝑑𝐴 = ∫𝑎 (∫𝑔 2(𝑥) 𝑓(𝑥, 𝑦)𝑑𝑦) 𝑑𝑥 (𝑑𝑦𝑑𝑥 − 𝑚𝑒𝑡ℎ𝑜𝑑)
1

b) If 𝑅 is the horizontally simple region described by 𝑅 = {(𝑥, 𝑦): 𝑐 ≤ 𝑦 ≤ 𝑑 &ℎ1 (𝑦) ≤ 𝑥 ≤ ℎ2 (𝑦)},
then
𝑑
ℎ2 (𝑦)
∬ 𝑓𝑑𝐴 = ∫ (∫ 𝑓(𝑥, 𝑦)𝑑𝑥 ) 𝑑𝑦 (𝑑𝑥𝑑𝑦 − 𝑚𝑒𝑡ℎ𝑜𝑑)
ℎ1 (𝑦)
𝑅 𝑐

Remarks:
𝑏 𝑔 (𝑥) 𝑑 ℎ (𝑦)
a) The integrals ∫𝑎 (∫𝑔 2(𝑥) 𝑓(𝑥, 𝑦)𝑑𝑦) 𝑑𝑥 and ∫𝑐 (∫ℎ 2(𝑦) 𝑓(𝑥, 𝑦)𝑑𝑥 ) 𝑑𝑦 that appear in Fubini’s
1 1

theorems are called iterated integrals or repeated integrals. They can be denoted alternatively as follows:
𝑏 𝑔 (𝑥) 𝑏 𝑔 (𝑥) 𝑏 𝑔 (𝑥)
∫𝑎 (∫𝑔 2(𝑥) 𝑓(𝑥, 𝑦)𝑑𝑦) 𝑑𝑥=∫𝑎 𝑑𝑥 ∫𝑔 2(𝑥) 𝑓(𝑥, 𝑦)𝑑𝑦 = ∫𝑎 ∫𝑔 2(𝑥) 𝑓(𝑥, 𝑦)𝑑𝑦𝑑𝑥
1 1 1

𝑑 ℎ2 (𝑦) 𝑑 ℎ2 (𝑦) 𝑑 ℎ2 (𝑦)

∫𝑐 (∫ℎ (𝑦) 𝑓(𝑥, 𝑦)𝑑𝑥 ) 𝑑𝑦=∫𝑐 𝑑𝑦 ∫ℎ (𝑦) 𝑓(𝑥, 𝑦)𝑑𝑥 = ∫𝑐 ∫ℎ (𝑦) 𝑓(𝑥, 𝑦)𝑑𝑥𝑑𝑦
1 1 1

𝑏 𝑔 (𝑥)
b) To evaluate an iterated integral, say ∫𝑎 ∫𝑔 2(𝑥) 𝑓(𝑥, 𝑦)𝑑𝑦𝑑𝑥 for example, first
1

𝑔 (𝑥)
evaluate∫𝑔 2(𝑥) 𝑓(𝑥, 𝑦)𝑑𝑦 by using the fundamental theorem of calculus. While finding an
1

antiderivative of f(x, y), keep x as constant and integrate with respect to y only. This is called partial
𝑏 𝑏 𝑔 (𝑥)
integration. The result is a function of x, let it be 𝛼(𝑥). Then, ∫𝑎 𝛼(𝑥)𝑑𝑥 =∫𝑎 ∫𝑔 2(𝑥) 𝑓(𝑥, 𝑦)𝑑𝑦𝑑𝑥 . In
1

𝑑 ℎ2 (𝑦)
the same way, we can evaluate ∫𝑐 (∫ℎ (𝑦) 𝑓(𝑥, 𝑦)𝑑𝑥 ) 𝑑𝑦.
1

Figure 4: An illustration of Fubini's Theorem for double integrals over rectangles

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Notation: The rectangle R bounded by the planes 𝑥 = 𝑎, 𝑦 = 𝑏, 𝑦 = 𝑐 and 𝑦 = 𝑑 is denoted by

𝑅 = [𝑎, 𝑏] × [𝑐, 𝑑]
Example 1: Evaluate ∬𝑅(2𝑥 2 − 3𝑦)𝑑𝐴 , where 𝑅 = [−1, 2] × [1, 3].
2 3 2 3 3 2
Solution: ∫−1 ∫1 (2𝑥 2 − 3𝑦)𝑑𝑦 𝑑𝑥 = ∫−1 [2𝑥 2 𝑦 − 2 𝑦 2 ] 𝑑𝑥 = ∫−1[4𝑥 2 − 12] 𝑑𝑥 = −24 //
1

Example 2: Evaluate ∬𝑅 8𝑥𝑦𝑑𝐴 , where 𝑅 is the region in the first quadrant bounded by the curves 𝑥 2 +
𝑦 2 = 1 and 𝑥 + 2𝑦 = 1 and the 𝑌 axis.

Figure 5: The graph of 𝑹 = {(𝒙, 𝒚): 𝒙 ≥ 𝟎, 𝒙𝟐 + 𝒚𝟐 ≤ 𝟏 𝒂𝒏𝒅 𝒙 + 𝟐𝒚 ≥ 𝟏 }

The graph is plotted by online software at: https://quickmath.com/webMathematica3/quickmath/graphs/inequalities/advanced.jsp

1 √1−𝑥 2 11
Solution: ∫0 ∫1(1−𝑥) 8𝑥𝑦 𝑑𝑦 𝑑𝑥 = 12 //
2

Example 3: Evaluate ∬𝑅(𝑥 − 1)𝑑𝐴 , where 𝑅 is the region between the curves 𝑦 = 𝑥 and y = 𝑥 3 .
1 𝑥 0 𝑥3 1
Solution: ∬𝑅(𝑥 − 1)𝑑𝐴 = ∫0 ∫𝑥 3(𝑥 − 1)𝑑𝑦 𝑑𝑥 + ∫−1 ∫𝑥 (𝑥 − 1)𝑑𝑦 𝑑𝑥 = − 2 //

Example 4 [on properties of double integral]: Let R and S be non-overlapping regions. Given ∬𝑅 𝑓𝑑𝐴 =
2 , ∬𝑅 𝑔𝑑𝐴 = 3, ∬𝑆 𝑓𝑑𝐴 = 6 and ∬𝑆 𝑔𝑑𝐴 = 7, evaluate ∬𝑅∪𝑆[10𝑓 + 20𝑔]𝑑𝐴. Answer: 280

Reversing Order of Integration

If R is a simple region, you can apply both dxdy-method and dydx-method. In case it is impossible or difficult to
apply one of this, switch to the other.

1 1 2
Example 5 [reversing order of integration]: Evaluate ∫0 ∫𝑦 𝑒 𝑥 𝑑𝑥 𝑑𝑦
1 2 1 1 2
Solution: It is impossible to find∫𝑦 𝑒 𝑥 𝑑𝑥 . So the iterated integral ∫0 ∫𝑦 𝑒 𝑥 𝑑𝑥 𝑑𝑦 cannot be
evaluated in the given order.

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Let
𝑅 = {(𝑥, 𝑦): 0 ≤ 𝑦 ≤ 1 𝑎𝑛𝑑 𝑦 ≤ 𝑥 ≤ 1}. (as horizontally simple region)
R can also be described as
R={(𝑥, 𝑦): 0 ≤ 𝑥 ≤ 1 𝑎𝑛𝑑 1 ≤ 𝑦 ≤ 𝑥}. (as vertically simple region)
2
R is both vertically simple and horizontally simple, so ∬𝑅 𝑒 𝑥 𝑑𝐴 can be evaluated by both dxdy and dydx
1 1 2 2 2 1 𝑥 2
methods. Thus ∫0 ∫𝑦 𝑒 𝑥 𝑑𝑥 𝑑𝑦 = ∬𝑅 𝑒 𝑥 𝑑𝐴 and ∬𝑅 𝑒 𝑥 𝑑𝐴 = ∫0 ∫1 𝑒 𝑥 𝑑𝑦 𝑑𝑥. By transitivity,
1 1 2 1 𝑥 2 1
∫0 ∫𝑦 𝑒 𝑥 𝑑𝑥 𝑑𝑦 = ∫0 ∫1 𝑒 𝑥 𝑑𝑦 𝑑𝑥 = 2 (𝑒 − 1) //

F. Double Integrals in Polar Coordinates

A coordinate system in a plane is a way of describing the location of a point in the plane relative to a
chosen frame of reference in the plane. The usual xy-coordinate system is not the only coordinate system
for a plane.
⃗⃗⃗⃗⃗ be a fixed ray emanating from O. We call the fixed point O,
Let O be a fixed point in a plane 𝜋 and 𝑂𝐴
the pole or the origin and the ray the polar axis. Given any point P in the plane, let 𝑟 = OP (the directed
distance from O to P) and let 𝜃 be the directed angle from the polar axis to ray ⃗⃗⃗⃗⃗
𝑂𝑃. The numbers (𝑟, 𝜃) are
called the polar coordinates of P. The polar coordinates of a point are not unique in general; but if we
restrict 𝜃to 0 ≤ 𝜃 < 2𝜋 and 𝑟 > 0, then every point has a unique pair (𝑟, 𝜃) of polar coordinates.
If the rectangular coordinates of a point are given, then we can obtain the polar coordinates of the
point and vice versa.
Conversion Formula from rectangular to Polar coordinates

𝑟 = √𝑥 2 + 𝑦 2
𝑦
𝜃 = 𝑡𝑎𝑛−1 (𝑥 ) if 𝑥 ≠ 0
Conversion Formula from polar to Rectangular coordinates
𝑥 = 𝑟 cos 𝜃
𝑦 = 𝑟 sin 𝜃

Example 6 [Conversion between polar and rectangular coordinates]:

𝜋 𝜋
a) Convert the polar coordinates (−2, 6 ) and (2, 6 ) to Cartesian coordinates.
b) Convert the Cartesian coordinates (-1, -1) to polar coordinates.
c) Convert the Cartesian equation 2𝑥 − 5𝑥 3 = 1 + 𝑥𝑦 into polar.

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d) Convert the polar equations r = 7 , r = -4cos𝜃 and r = 2/(3 − cos( )) to Cartesian equations.
Polar Equations and their Graphs
Curves on a plane can be described by equations involving the polar coordinates 𝑟 &𝜃.
Steps for Graphing Polar equations
1. Make a table of sample values of 𝑟 and 𝜃.
2. Plot the various (𝑟, 𝜃) points as found in the table. Prepare a polar graph paper (i.e., a grid of circles
and lines through pole) as shown below so that it can guide you.

Figure 6: A polar graph paper in radians

3. Join the plotted points with a curve as per its shape.

Example 7[graphing polar equations]: A table of some simple polar equations and their
corresponding graphs are given in the next table. The first two are obtained by setting one coordinate
equal to a constant.
Polar Equation/inequality Graph Description

𝑟=5 This is the circle with

centre at pole and radius
5. In general, the graph
of r= 𝑐 (constant) is
circle centered at pole
and with radius |𝑐|.
3𝜋 This is the line with
𝜃= inclination 1350 . In
4
general the graph of
𝜃 = 𝑐, where 𝑐 is any
constant (in radian) is
the line through pole
with inclination of c
radians
𝑟 = 2 𝑠𝑖𝑛 𝜃 circle In general the graph of
𝑟 = 𝑎 𝑠𝑖𝑛 𝜃 where 𝑎 is

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any constant, is a circle.

𝑟 = 2 𝑐𝑜𝑠 𝜃 circle In general the graph of

𝑟 = 𝑎 𝑐𝑜𝑠 𝜃 where 𝑎 is
any constant, is a circle.
r=cosθ+1 on the interval Such a curve is called a
[0, 2π] cardiod.

Such a curve is called a

r =2sinθ−1 on the limacon.
interval [0, 2π].

𝑟 2 = 9𝑐𝑜𝑠2𝜃 lemniscates

𝑟 = 𝑐𝑜𝑠𝑛𝜃 , where In general an equation

n=2,3,4 and 5 of the form

𝑟=
𝑎 ⋅ 𝑐𝑜𝑠(𝑛𝜃)𝑎𝑛𝑑𝑟 = 𝑎 ⋅
𝑠𝑖𝑛(𝑛𝜃), where a≠0,
produces a petal-like
shape called a rose curve.
If n is even it has 2n
petals and if n is odd it
has n petals.

Such a curve is called a

spiral.
𝑟 = 𝜃 on the interval [0,
2π]

Figure 7: Graphs of some polar equations

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Polar Inequalities and their Graphs

Regions on a plane can be described by inequalities involving polar coordinates.
Example 8 [graphing polar inequalities]: The next table gives some simple polar inequalities along with
their graphs.

Polar Equation/inequality Graph Description

𝑟 < 1 Circular disk centered at pole

𝜋 3𝜋
≤𝜃≤
4 4

3𝜋
𝜋≤𝜃≤
2

7𝜋 4𝜋 Intersection of the annulus between

≤𝜃≤ and 2 ≤ r ≤ 3.
6 3 the circles r=2 and r=3 with the
region between the rays 𝜃 =
7𝜋 4𝜋
6
&𝜃 = 3

Figure 8: Graphs of some simple Polar Inequalities

Sometimes it is easier to evaluate a double integral by using polar coordinates instead of Cartesian
coordinates. For example, for a region that is bounded by circular arcs, double integral over R can become
easier in polar coordinates than in rectangular.

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Theorem 5 (Fubini’s theorem for double integral in polar coordinates):

a) If 𝑅 is the region described in polar coordinates by 𝑅 = {(𝑟, 𝜃): 𝑎 ≤ 𝑟 ≤ 𝑏 &𝑔1 (𝑟) ≤ 𝜃 ≤ 𝑔2 (𝑟)},
then
𝑏 𝑔 (𝑟)
∬𝑅 𝑓(𝑥, 𝑦)𝑑𝐴 = ∫𝑎 ∫𝑔 2(𝑟) 𝑓(𝑟 𝑐𝑜𝑠 𝜃 , 𝑟 𝑠𝑖𝑛 𝜃)𝑟𝑑𝜃𝑑𝑟 (𝑑𝜃𝑑𝑟 Method)
1

b) If 𝑅 is region described in polar coordinates by 𝑅 = {(𝑟, 𝜃): 𝑐 ≤ 𝜃 ≤ 𝑑 & ℎ1 (𝜃) ≤ 𝑟 ≤ ℎ2 (𝜃)},

then
𝑑 ℎ (𝜃)
∬𝑅 𝑓𝑑𝐴 = ∫𝑐 ∫ℎ 2(𝜃) 𝑓(𝑟 𝑐𝑜𝑠 𝜃 , 𝑟 𝑠𝑖𝑛 𝜃) 𝑟𝑑𝑟 𝑑𝜃 (𝑑𝑟𝑑𝜃 Method)
1

Example 9 [double integral in polar coordinates]: Use polar coordinates to evaluate ∬𝑅(3 − 𝑥 − 𝑦)𝑑𝐴
where R is the region in the first quadrant that lies in the unit circle 𝑥 2 + 𝑦 2 =1.
𝜋
1
Solution: ∬𝑅(3 − 𝑥 − 𝑦)𝑑𝐴 = ∫0 ∫02 [3 − 𝑟 cos 𝜃 − 𝑟 sin 𝜃]𝑟𝑑𝜃𝑑𝑟
𝜋 1
1 1 3𝜋 3𝜋 2 3𝜋 2
= ∫0 𝑟[3𝜃 − 𝑟 sin 𝜃 + 𝑟𝑐𝑜𝑠𝜃]0 𝑑𝑟 = ∫0 [ 2 𝑟] 𝑑𝑟 = [ 2 𝑟 2 − 3 𝑟 3 ] =
2
−3 //
0 2

Concluding Remark on evaluation of double integrals: Besides Fubini’s theorem, the following tips can
be helpful in evaluating double integrals and iterated integrals.
- Use the properties of double integral listed in subsection (D) wherever necessary.
- Reverse the order of integration if it is necessary and applicable.
- Describe the region of integration and the integrand in terms of polar coordinates. (See Sub-section E).
- Change the variables of integration to other variables by making necessary substitutions. (See Section 5.3).
G. Applications
Double integrals have various physical and geometrical applications.
i. Volume
The volume V of the solid region beneath the surface 𝑧 = 𝑓(𝑥, 𝑦)and above a region R in the xy-plane is

𝑉 = ∬ 𝑓(𝑥, 𝑦)𝑑𝐴
𝑅
For the derivation of this formula, refer to the motivation at the start of this section.

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Figure 9: Volume beneath 𝒇(𝒙, 𝒚) over 𝑹

We can also consider volumes of more general solids. For instance:

Let 𝑓 and 𝑔 be continuous functions on a closed, bounded region 𝑅, where 𝑓(𝑥, 𝑦) ≥ 𝑔(𝑥, 𝑦) for
all (𝑥, 𝑦) in R. The volume 𝑉 of the solid between 𝑓 and 𝑔 over 𝑅 is:

𝑉 = ∬ (𝑓(𝑥, 𝑦) − 𝑔(𝑥, 𝑦)) 𝑑𝐴.

𝑅
Example 10 (volume between two surfaces via double integral): Use double integral to find the volume
of the solid in the first octant bounded by the graphs of 𝑥 2 + 𝑦 2 = 1& 𝑧 = 3 − 𝑥 − 𝑦 and the coordinate
planes.
3𝜋 2
Answer: 4
−3

Example 11 (volume by double integral): Find the volume of the solid bounded by the graph of 𝑧 =
5 − 𝑥 2 − 𝑦 2 and the plane 𝑧 = 1.
Answer: 8𝜋
Example 12 (volume by double integral): Find the volume of part of the sphere of radius 3 that is left
after drilling a cylindrical hole of radius 2 through the centre.
20𝜋
Answer: 3
√5
ii. Area
The area 𝐴 of a region R in xy-plane is

𝐴 = ∬ 𝑑𝐴
𝑅

Derivation: From the above volume formula, the volume 𝑉 of the solid region beneath the function
𝑓(𝑥, 𝑦) = 1 and above the region 𝑅 is given by

𝑉 = ∬ 𝑑𝐴
𝑅

On the other hand, since the region is a cylinder, so its volume is given by
𝑣 = (𝐵𝑎𝑠𝑒 𝑎𝑟𝑒𝑎)(ℎ𝑒𝑖𝑔ℎ𝑡) = (𝐴)(1) = 𝐴. Hence, 𝐴 = ∬𝑅 𝑑𝐴.

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Example 13 (area by double integral): Use double integral to compute the area of the region bounded by
the graphs of 𝑦 = 𝑥 2 &𝑦 = 8 − 𝑥 2 .
64
Answer: 3
iii. Surface Area
The surface area 𝑆 of the surface 𝑧 = 𝑓(𝑥, 𝑦) over the region R in xy-plane is given by

𝑆 = ∬𝑅 √[𝑓𝑥 (𝑥, 𝑦)]2 + [𝑓𝑦 (𝑥, 𝑦)]2 + 1 𝑑𝐴 ;

where 𝜌(𝑥, 𝑦, 𝑧) is the density (mass per unit area) of the lamina at the point (𝑥, 𝑦, 𝑧).
Derivation: Partition R into 𝑛 sub-rectangles R1, …, 𝑅𝑛 . Let (𝑥𝑘 , 𝑦𝑘 , 𝑧𝑘 ) be a vertex of 𝑅𝑘 𝑎𝑛𝑑 𝑆𝑘 and 𝜋𝑘 be
respectively the projections of 𝑅𝑘 onto the graph of 𝑓 and onto the tangent plane to 𝑓 at (𝑥𝑘 , 𝑦𝑘 , 𝑧𝑘 ) .
Let 𝑑𝐴, 𝑑𝐴′ 𝑎𝑛𝑑 𝑑𝑠 be respectively the areas of 𝑅𝑘, 𝑆𝑘 and 𝜋𝑘 . Let ∆𝑥𝑘 and ∆𝑦𝑘 be the dimensions of 𝑅𝑘 . If
⃗ =∆𝑥𝑘 𝑖 + 𝑓𝑥 (𝑥𝑘 , 𝑦𝑘 ) ∆𝑥𝑘 𝑗 and 𝑣 =∆𝑥𝑘 𝑖 + 𝑓𝑦 (𝑥𝑘 , 𝑦𝑘 ) ∆𝑥𝑘 𝑗, then the area 𝑑𝐴′ of 𝜋𝑘 is ‖𝑢
𝑢 ⃗ × 𝑣‖ =

√[𝑓𝑥 (𝑥𝑘 , 𝑦𝑘 )]2 + [𝑓𝑦 (𝑥𝑘 , 𝑦𝑘 )]2 + 1 ∆𝑥𝑘 ∆𝑦𝑘 . Hence, 𝑑𝑠 ≈ √[𝑓𝑥 (𝑥𝑘 , 𝑦𝑘 )]2 + [𝑓𝑦 (𝑥𝑘 , 𝑦𝑘 )]2 + 1 ∆𝑥𝑘 ∆𝑦𝑘 .

It follows that 𝑆 = ∬𝑅 𝑑𝑠 = ∬𝑅 √[𝑓𝑥 (𝑥, 𝑦)]2 + [𝑓𝑦 (𝑥, 𝑦)]2 + 1 𝑑𝐴.

Example 14 (surface area by double integral): Find the area of part of the paraboloid 𝑧 = 𝑥 2 + 𝑦 2 that
lies under the plane 𝑧 = 9.
𝜋
Answer: [37√37 − 1]
6
3
2
Example 15 (surface area by double integral): Find the surface area of the graph of 𝑓(𝑥, 𝑦) = 3 𝑥 2 over

the rectangle 𝑅: [0,3] × [0,2]. Ans. 28/3

iv. Mass , Moments of mass and Center of mass

The mass 𝑚 of a lamina (a two dimensional physical object) that occupies a closed and bounded region 𝑅 in
xy-plane is given by
𝑚 = ∬𝑅 𝜌(𝑥, 𝑦, 𝑧)𝑑𝐴 ;
where 𝜌(𝑥, 𝑦, 𝑧) is the density (mass per unit area) of the lamina at the point (x,y,z).
Derivation: Partition R into n sub-rectangles R1, …, 𝑅𝑛 . If n is large so that the area of each Rk is sufficiently
small, then the density of the lamina in Rk is almost constant, say 𝜌(𝑥𝑘 , 𝑦𝑘 ). Thus
𝑚 ≈ ∑𝑛𝑘=1 𝜌(𝑥𝑘 , 𝑦𝑘 ) ∆𝐴𝑘 .
It implies that
𝑚 = lim𝑛→∞ ∑𝑛𝑘=1 𝜌(𝑥𝑘 , 𝑦𝑘 ) ∆𝐴𝑘 .

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Rk

Figure 10: Mass via double

integral

The moment of (eg. mass, force, or any physical quantity) of a body about a reference (point, line or plane) is
the product of the physical quantity and its distance from the reference. The center of gravity of a two
dimensional object (or a lamina) is the point where it balances horizontally if suspended from that point. In
other words, it is the point where fulcrum (pivot, support) must be placed so that the object balances
horizontally. The center of mass of a body is the point at which an external force must be applied so that it
moves without rotating (i.e., it moves as if it is a point mass). In a uniform gravitational field the centre of
gravity and center of mass of a body coincide. In this course we assume that these two terms are
synonymous. The centroid of a figure is the point which corresponds to the mean position of all the points in
a figure. If a lamina has a uniform density, the centere of mass and the centroid of the lamina coincide.

Figure 11: Determination of Centre of gravity of a lamina by

pivoting and suspension
The moment of a mass/force about a point/line is a measure of its tendency to cause a body to rotate about
the point/line.
Let a lamina of mass 𝑀 lies over a closed bounded region R in 𝑥𝑦 plane. Then
a) 𝑀𝑦 ≔ ∬𝑅 𝑥𝜌(𝑥, 𝑦)𝑑𝐴 is the moment of mass about the y-axis of the lamina .
b) 𝑀𝑥 ≔ ∬𝑅 𝑦𝜌(𝑥, 𝑦)𝑑𝐴 is the moment of mass about the x-axis of the lamina.
𝑀 𝑀𝑥
c) The point ( 𝑚𝑦 , ) is the center of mass of the lamina.
𝑚

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Example 16 (centre of mass by double integral): A thin plate covers the triangular region bounded by the
x axis and the lines 𝑥 = 1 and 𝑦 = 2𝑥 in the first quadrant. The plate’s density at the point (x, y) is
𝜌(𝑥, 𝑦) ≔ 6𝑥 + 6𝑦 + 6. Find the centre of mass of this plate.
1 2𝑥
𝑀𝑦 ∫0 ∫0 𝑥[6𝑥+6𝑦+6]𝑑𝑦𝑑𝑥 5
Solution: 𝑥̅ = = 1 2𝑥 = 7 and
𝑚 ∫0 ∫0 [6𝑥+6𝑦+6]𝑑𝑦𝑑𝑥
1 2𝑥
𝑀𝑦 ∫0 ∫0 𝑦[6𝑥+6𝑦+6]𝑑𝑦𝑑𝑥 11
𝑦̅ = = 1 2𝑥 = 14 //
𝑚 ∫0 ∫0 [6𝑥+6𝑦+6]𝑑𝑦𝑑𝑥

Example 17 (centroid by double integral): Find the centroid of the region bounded by 𝑦 = 𝑥 3 &𝑦 = √𝑥.
11 3
Answer: (25 , 7)
v. Moments of Inertia (Read)
Exercise 5.1:
1. Evaluate the following double integrals.
a. ∬𝑅(𝑥 3 + 𝑦 3 ) 𝑑𝐴 where R is the region bounded by the curves 2𝑦 = 𝑥, 𝑦 = 𝑥 & 𝑥 = 4.
𝑦3
b. ∬𝑅 𝑥 2 𝑑𝐴 where R is the region bounded by the curves 3𝑦 = 𝑥&𝑦 = √𝑥 .
c. ∬𝑅(𝑥 2 + 3𝑦 2 ) 𝑑𝐴 where R is the region bounded by the circle 𝑥 2 + 𝑦 2 = 1.
2. Evaluate the following iterated integrals by reversing the order of integration or by changing to polar
coordinates, if necessary.
1 1 4 1 1 𝑦 1 √1−𝑥 2
a. ∫0 ∫𝑥 𝑥 2 𝑒 𝑦 𝑑𝑦𝑑𝑥 b. ∫0 ∫𝑥 𝑒 𝑥 𝑑𝑦𝑑𝑥 c. ∫0 ∫0 𝑑𝑦𝑑𝑥
√𝜋 √𝜋
d. ∫0 ∫𝑦 cos(𝑥 2 )𝑑𝑥𝑑𝑦
3. Find the average value of 𝑓(𝑥, 𝑦) = 𝑥 2 𝑦 over the rectangle with vertices (−1,0), (−1,5), (1,5) and
(1, 0).
4. Graph the polar equation 𝑟 = 3𝑐𝑜𝑠2𝜃.
5. Find the area of the surface which is cut from the plane 𝑥 + 𝑦 + 𝑦 = 1 by the cylinder 𝑥 2 + 𝑦 2 =
1.
6. Find the surface area of the part of the paraboloid 𝑧 = 1 − 𝑥 2 − 𝑦 2 that lies above the 𝑥𝑦 plane.
7. Derive the formula for the area of the surface of a sphere by revolving a semicircle about its
diameter.
2
8. Use double integral to prove that the volume V of the hemi-sphere with radius 𝑟 is 𝑉 = 3 𝜋𝑟 3 .
9. Use double integrals to find the area of the region inside 𝑟 = 1 + 𝑐𝑜𝑠𝜃.
10. Use double integrals to find the area of the region between the circles inside 𝑟 = 2& 𝑟 = 4𝑠𝑖𝑛𝜃.

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5.2 Triple Integrals

A. Definition
Definition 1: Let 𝐷 be a closed bounded region in 𝑥𝑦𝑧- coordinate space. Let 𝑓 be a function defined on D.
Let 𝐵 be a box containing D. For each natural number m, partition 𝐵 into m sub-boxes by grids of planes
parallel to coordinate planes in arbitrary manner. Let B1,…,Bn be those sub-boxes that lie entirely in D. Let
∆𝑉𝑘 ≔ 𝑣𝑜𝑙𝑢𝑚𝑒 𝑜𝑓 𝐵𝑘 and ∆𝑉 ≔ max{∆𝑉1 , … , ∆𝑉𝑛 }. Choose a point (𝑥𝑘 , 𝑦𝑘 , 𝑧𝑘 ) from each Bk in arbitrary
manner. Then the triple integral of 𝑓 over 𝐷 is denoted and defined by:
𝑛
∭ 𝑓(𝑥, 𝑦, 𝑧)𝑑𝑉 = lim ∑ 𝑓(𝑥𝑘 , 𝑦𝑘 , 𝑧𝑘 )
𝑛→∞ 𝑘=1
𝐷

(Provided that ∆𝑉 approaches to 0 as n approaches to ∞)

The triple integral of f over D can also be denoted as∭𝐷 𝑓𝑑𝑉 or ∭𝐷 𝑓.

B. Existence
The triple integral of f over D may or may not exist. Its existence depends on the extent to which f and D are
complicated.
Theorem 1: If D is bounded by smooth surfaces joined along continuous curves and if f(x, y, z) is
continuous on D, then ∭𝐷 𝑓(𝑥, 𝑦, 𝑧)dV exists.

C. Properties

Theorem 2 [Basic Properties of Triple Integrals]:

∭[𝑓(𝑥, 𝑦, 𝑧) + 𝑔(𝑥, 𝑦, 𝑧)]𝑑𝑉 = ∭ 𝑓(𝑥, 𝑦, 𝑧)𝑑𝑣 + ∭ 𝑓(𝑥, 𝑦, 𝑧)𝑑𝑣

𝐷 𝐷 𝐷

∭[𝑓(𝑥, 𝑦, 𝑧) − 𝑔(𝑥, 𝑦, 𝑧)]𝑑𝑉 = ∭ 𝑓(𝑥, 𝑦, 𝑧)𝑑𝑣 − ∭ 𝑓(𝑥, 𝑦, 𝑧)𝑑𝑣

𝐷 𝐷 𝐷

∭ 𝑓(𝑥, 𝑦, 𝑧)𝑑𝑉 = 𝑘 ∭ 𝑓(𝑥, 𝑦, 𝑧)𝑑𝑣

𝐷 𝐷

∭𝐷 𝐷2
𝑓(𝑥, 𝑦, 𝑧)𝑑𝑉 = ∭𝐷 𝑓(𝑥, 𝑦, 𝑧)𝑑𝑣 + ∭𝐷 𝑓(𝑥, 𝑦, 𝑧)𝑑𝑣 (if D1 and D2 are non-overlapping closed
1∪ 1 2

bounded regions [
If 𝑓 ≥ 𝑔 on 𝐷 , then ∭𝐷 𝑓𝑑𝑉 ≥ ∭𝐷 𝑔𝑑𝑉 (monotonicity)
If 𝑚 & 𝑀 are constants satisfying 𝑚 ≤ 𝑓(𝑥, 𝑦, 𝑧) ≤ 𝑀 for all (𝑥, 𝑦) ∈ 𝐷 and if V is the volume of , then

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𝑚𝑉 ≤ ∭𝐷 𝑓𝑑𝑉 ≤ 𝑀𝑉 (Comparison property)

D. Evaluation
We evaluate triple integrals by using three iterated single integrals. Below, we define the types of regions
over which evaluation of triple integrals is possible.
Definition 2: A three dimensional region 𝐷 is said to be of
a) type I (z-simple)if no line perpendicular to xy-plane intersects the boundary of D at more than two
points.
b) type II (x--simple)if no line perpendicular to yz-plane intersects the boundary of D at more than two
points.
c) type III (y-simple) if no line perpendicular to xz-plane intersects the boundary of D at more than two
points.

Theorem 3 [Fubini’s Theorem for Type I Regions]:

Let R be a closed bounded region in XY-plane. Let 𝑧 = 𝑢1 (𝑥, 𝑦) and 𝑧 = 𝑢2 (𝑥, 𝑦) be continuous
functions defined on R with 𝑢1 (𝑥, 𝑦) ≤ 𝑢2 (𝑥, 𝑦) on R.
Let 𝐷 = {(𝑥, 𝑦, 𝑧): (𝑥, 𝑦) ∈ 𝑅 & 𝑢1 (𝑥, 𝑦) ≤ 𝑧 ≤ 𝑢2 (𝑥, 𝑦) ) ∀(𝑥, 𝑦) ∈ 𝑅}. Then
𝑢2 (𝑥,𝑦)
∭ 𝑓(𝑥, 𝑦, 𝑧)𝑑𝑉 = ∬ (∫ 𝑓(𝑥, 𝑦, 𝑧)𝑑𝑧) 𝑑𝐴
𝑢1 (𝑥,𝑦)
𝐷 𝑅

Notation: The rectangular box bounded by the planes x = a, y = b, y = c, y = d, z = e and z = f is

denoted by
𝐵 = [𝑎, 𝑏] × [𝑐, 𝑑] × [𝑒, 𝑓]

Example 1: Evaluate
∭𝐵 8𝑥𝑦𝑧𝑑𝑉 ; where 𝐵 = [2, 3] × [1, 2] × [0, 1].

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3 2 1
Solution: ∭𝐵 8𝑥𝑦𝑧𝑑𝑉 = ∫2 ∫1 ∫0 8𝑥𝑦𝑧 𝑑𝑧𝑑𝑦𝑑𝑥 =15

Example 2: Evaluate
∭𝐵 8𝑥𝑦𝑧𝑑𝑉 ; where 𝐵 = [2, 3] × [1, 2] × [0, 1].

3 2 1
Solution: ∭𝐵 8𝑥𝑦𝑧𝑑𝑉 = ∫2 ∫1 ∫0 8𝑥𝑦𝑧 𝑑𝑧𝑑𝑦𝑑𝑥 =15

Example 3: Evaluate
∭𝐸 2𝑥𝑑𝑉;
where E is the region under the plane 2𝑥 + 3𝑦 + 𝑧 = 6 that lies in the first octant.

−2
3 𝑥+2 6−2𝑥−3𝑦
Solution: ∭𝐵 2𝑥𝑑𝑉 = ∫0 ∫13 ∫0 2𝑥𝑦 𝑑𝑧𝑑𝑦𝑑𝑥 =9

Theorem 4[Fubini’s Theorem for Type II Regions]:

Let 𝑅 be a closed bounded region in 𝑦𝑧 plane. Let x = u1(y, z) and x = u2(y, z) be continuous functions
defined on R with 𝑢1 (𝑦, 𝑧) ≤ 𝑢2 (𝑦, 𝑧) on R. Let 𝐷 = {(𝑥, 𝑦, 𝑧): (𝑦, 𝑧) ∈ 𝑅 and 𝑢1 (𝑦, 𝑧) ≤ 𝑥 ≤
𝑢2 (𝑦, 𝑧)
Then
𝑢2 (𝑦,𝑧)
∭ 𝑓(𝑥, 𝑦, 𝑧)𝑑𝑉 = ∬ (∫ 𝑓(𝑥, 𝑦, 𝑧)𝑑𝑥 ) 𝑑𝐴
𝑢1 (𝑦,𝑧)
𝐷 𝑅

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Example 4: Find ∭𝐸 𝑑𝑉 where E is the region that lies behind the plane 𝑥 + 𝑦 + 𝑧 = 8 and in front of the
3 3 49
region in the 𝑦𝑧-plane that is bounded by 𝑧 = 2 √𝑦 &𝑧 = 4 𝑦. Answer: .
5

Theorem 5 [Fubini’s Theorem for Type III Regions]:

Let R be a closed bounded region in 𝑥𝑧-plane. Let 𝑦 = 𝑢1 (𝑥, 𝑧)and 𝑦 = 𝑢2 (𝑥, 𝑧) be continuous functions
defined on R with 𝑢1 (𝑥, 𝑧) ≤ 𝑢2 (𝑥, 𝑧) on R. Let D = {(x, y, z): (x, z) ∈ R and 𝑢1 (𝑥, 𝑧) ≤ 𝑦 ≤ 𝑢2 (𝑥, 𝑧)
Then
𝑢2 (𝑥,𝑧)
∭ 𝑓(𝑥, 𝑦, 𝑧)𝑑𝑉 = ∬ (∫ 𝑓(𝑥, 𝑦, 𝑧)𝑑𝑦) 𝑑𝐴
𝑢1 (𝑥,𝑧)
𝐷 𝑅

Example 5: Find ∭𝐸 √3𝑥 2 + 3𝑧 2 𝑑𝑉 where E is the solid bounded by the plane 𝑦 = 8 and the surface
256√3𝜋
𝑦 = 2𝑥 2 + 2𝑧 2 . Answer:
15

Note: when evaluating a triple integral it is useful to draw two diagrams: the solid region 𝐷 in xyz-space and
its projection R on a coordinate plane.

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Remark [Change of Order in triple integrals]: To evaluate a triple integral we evaluate triple iterated
integrals. There will be six different orders of evaluating the triple iterated integrals. We can:

 Integrate with respect to z first, and then with respect to x and then y (Type 1 Region).
 Integrate with respect to z first, and then with respect to y and then x (Type 1 Region).
 Integrate with respect to x first, and then with respect to y and then z (Type 2 Region).
 Integrate with respect to x first, and then with respect to z and then y (Type 2 Region).
 Integrate with respect to y first, and then with respect to x and then z (Type 3 Region).
 Integrate with respect to y first, and then with respect to z and then x (Type 3 Region).

In some problems, it may be difficult or even impossibly to evaluate a particular order of integration, but
much easier to evaluate a different order of integration just like with evaluating double integrals. In this case
switch to the easier. This process is called reversing the order of triple integration.

Example 6: Consider the region E satisfying the inequalities √𝑥 2 + 𝑦 2 ≤ 𝑧 ≤ 1. Write down iterated
integrals which equal the triple integral of a function 𝑓(𝑥, 𝑦, 𝑧) over the region E with order 𝑑𝑧 𝑑𝑦 𝑑𝑥 and
𝑑𝑥 𝑑𝑦 𝑑𝑧.
1 √1−𝑥 2 1 1 𝑧 √𝑧 2 −𝑦 2
Answer: ∫−1 ∫−√1−𝑥 2 ∫√𝑥 2+𝑦2 𝑓(𝑥, 𝑦, 𝑧) 𝑑𝑧𝑑𝑦𝑑𝑥 and ∫0 ∫−𝑧 ∫−√𝑧2−𝑦2 𝑓(𝑥, 𝑦, 𝑧) 𝑑𝑥𝑑𝑦𝑑𝑧

E. Triple Integral in Cylindrical Coordinates

If a solid 𝐷 has a cylindrical bounding surface, the evaluation of ∭𝐷 𝑑𝑉 can be easier if it is transformed
into cylindrical coordinates.
Let 𝑃(𝑥, 𝑦, 𝑧) be a point in 𝑥𝑦𝑧-space and O be the origin. Let R be the projection of P onto xy-plane,
𝑖. 𝑒., 𝑅 = (𝑥, 𝑦, 0).
Put
𝑟 ≔the directed distance from O to R
𝜃 ≔the directed angle from positive X-axis to vector ⃗⃗⃗⃗⃗
𝑂𝑅.
The range of admissible values of 𝜃 is 0 ≤ 𝜃 ≤ 2𝜋.
Then the numbers (𝑟, 𝜃, 𝑧) are called the cylindrical coordinates of point P.

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Conversion formulas:
Rectangular to cylindrical coordinate system:

𝑟 = √𝑥 2 + 𝑦 2
𝑦
𝜃 = 𝑡𝑎𝑛−1 ( ) 𝑖𝑓 𝑥 ≠ 0
𝑥
𝑧=𝑧
Cylindrical to rectangular coordinate System:
𝑥 = 𝑟 cos 𝜃
𝑦 = 𝑟 sin 𝜃
𝑧=𝑧

Graphs of simple equations in cylindrical coordinates

Cylindrical equation graph
𝑟 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 Circular cylinder
𝜃 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 Plane perpendicular to xy-plane
𝑧 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 plane

Theorem 6 [triple integrals in cylindrical coordinates: 𝒅𝒛𝒅𝒓𝒅𝜽 − method]:

If 𝐷 = {(𝑟, 𝜃, 𝑧)|𝛼 ≤ 𝜃 ≤ 𝛽 ,ℎ1 (𝜃) ≤ r ≤ ℎ2 (𝜃)𝑎𝑛𝑑 𝑔1 (𝑟, 𝜃) ≤ z ≤ 𝑔2 (𝑟, 𝜃)}, then
𝛽 ℎ2 𝑔2
∭ 𝑓(𝑥, 𝑦, 𝑧)𝑑𝑉 = ∫ ∫ ∫ 𝑓(𝑟 cos 𝜃, 𝑟 sin 𝜃, 𝑧) 𝑟𝑑𝑧𝑑𝑟𝑑𝜃
𝛼 ℎ1 𝑔1
𝐷

The theorem is only one case of six possible iterated integrals in cylindrical coordinates. Depending on how
D is described the order of integration can be 𝑑𝑧𝑑𝜃𝑑𝑟, 𝑑𝑟𝑑𝑧𝑑𝜃, 𝑑𝑟𝑑𝜃𝑑𝑟, 𝑑𝜃𝑑𝑟𝑑𝑧 𝑎𝑛𝑑 𝑑𝜃𝑑𝑧𝑑𝑟.
Example 7: Use cylindrical coordinates to evaluate ∭𝐷 𝑑𝑉 where D is the region bounded by = 0 , 𝑧 = 2
and 𝑥 2 +𝑦 2 = 1.
2 2𝜋 1
Solution: ∭𝐷 𝑑𝑉 = ∫0 ∫0 ∫0 𝑑𝑧𝑑𝜃𝑑𝑟
1 √1−𝑥 2 2−𝑥 2 −𝑦 2
Example 8: Evaluate ∫−1 ∫−√1−𝑥2 ∫𝑥 2 +𝑦2 𝑑𝑧𝑑𝜃𝑑𝑟 where D is the region bounded by = 0 , 𝑧 = 2 and

𝑥 2 +𝑦 2 = 1.
1 √1−𝑥 2 2−𝑥 2 −𝑦 2 1 2𝜋 2−𝑟 2 8𝜋
Solution: ∫−1 ∫−√1−𝑥2 ∫𝑥 2 +𝑦2 𝑑𝑧𝑑𝜃𝑑𝑟 = ∫0 ∫0 ∫𝑟2 𝑟𝑑𝑧𝑑𝜃𝑑𝑟 = 35

Example 9: Use cylindrical coordinates to evaluate∭𝐸 𝑦𝑑𝑉 where E is the three dimensional region that lies
below the plane 𝑧 = 𝑥 + 2 , above the xy-plane and between the cylinders 𝑥 2 +𝑦 2 = 1 and 𝑥 2 +𝑦 2 = 4.

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2 2𝜋 2+cos θ
Solution: ∭𝐸 𝑦𝑑𝑉 = ∫1 ∫0 ∫0 𝑟𝑑𝑧𝑑𝜃𝑑𝑟 = 0.

Figure 12: triple integral in cylindrical

F. Triple Integral in Spherical Coordinates

If a solid D has a conical or spherical bounding surface, the evaluation of ∭𝐷 𝑑𝑉 can be easier in spherical
coordinates than in rectangular and cylindrical coordinates.
Let 𝑃(𝑥, 𝑦, 𝑧) be a point in xyz-space and O be the origin. Let R be the projection of P onto xy-plane.
Put
𝜌 ≔the distance from O to P
𝜙 ≔the angle from positive z-axis to vector ⃗⃗⃗⃗⃗
𝑂𝑃.
𝜃 ≔the angle from positive X-axis to vector ⃗⃗⃗⃗⃗
𝑂𝑅.
The range of admissible values of 𝜃 is 0 ≤ 𝜃 ≤ 2𝜋 and of 𝜙 is 0 ≤ 𝜃 ≤ 𝜋.
Then the numbers (𝜌, 𝜙, 𝜃) are called the spherical coordinates of point P.
Conversion formulas:
Rectangular to spherical coordinate system:
𝜌 = √𝑥 2 + 𝑦 2 + 𝑧 2
𝑧
𝜙 = 𝑐𝑜𝑠 −1 (𝜌) if 𝑥 ≠ 0
𝑦
𝜃 = 𝑡𝑎𝑛−1 (𝑥 ) if 𝑥 ≠ 0
Spherical to rectangular coordinate System:
𝑥 = 𝜌 sin 𝜙 𝑟 cos 𝜃
𝑦 = 𝜌 sin 𝜙 𝑟 sin 𝜃
𝑧 = 𝜌 cos 𝜙

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Simple Graphs in cylindrical coordinate system

Spherical equation graph
𝜌 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 Sphere with center at the origin
and radius 𝜌
𝜙 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 cone

𝜃 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 plane

Theorem 7 (triple integrals in spherical coordinates: 𝒅𝝆𝒅𝝓𝒅𝜽 −method):

If 𝐷 = {(𝜌, 𝜙, 𝜃)|𝛼 ≤ 𝜃 ≤ 𝛽 ,ℎ1 (𝜃) ≤ ϕ ≤ ℎ2 (𝜃)𝑎𝑛𝑑 𝑔1 (𝑟, 𝜃) ≤ ρ ≤ 𝑔2 (𝑟, 𝜃)}, then
𝛽 ℎ2 𝑔2
∭ 𝑓(𝑥, 𝑦, 𝑧)𝑑𝑉 = ∫ ∫ ∫ 𝑓(𝜌 sin 𝜙 cos 𝜃, 𝜌 sin 𝜙 sin 𝜃, 𝜌𝑐𝑜𝑠𝜙)𝜌2 sin 𝜙 𝑑𝜌𝑑𝜙𝑑𝜃
𝛼 ℎ1 𝑔1
𝐷

The theorem presents only one case of six possible forms of triple integrals in spherical coordinates. The
reader can state the remaining five cases.
Example 10: Evaluate ∭𝐸 16𝑧𝑑𝑉 where E is the region bounded by the upper half of the sphere
𝑥 2 +𝑦 2 + +𝑧 2 = 1.
𝜋
1 2𝜋
Solution: ∭𝐸 16𝑧𝑑𝑉 = ∫0 ∫0 ∫02 𝑑𝜙𝑑𝜃𝑑𝜌 = 4𝜋 //

G. Applications
Triple integrals have various geometrical and physical applications. Its application to the computation of
volume, area, surface area and center of mass are given below.
i. Volume
The volume V of a closed bounded three dimensional region D is
𝑉 = ∭𝐷 𝑑𝑉 .

4
Example 11: Use triple integral to prove that the volume V of a sphere of radius r is 𝑉 = 3 𝜋𝑟 3 .

Example 12: Use triple integral to find the volume of the solid above the cone 𝑧 2 = 𝑥 2 + 𝑦 2 and below the
𝜋
plane 𝑧 = 1 Answer: 3

ii. Mass, moments of mass and center of mass

Let a solid fits to a closed bounded three dimensional region D in xyz-space and assume that its density at any
point (𝑥, 𝑦, 𝑧 )is 𝜌(𝑥, 𝑦, 𝑧). Then

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a) the mass m of the lamina is given by:

𝑚 = ∭𝐷 𝜌(𝑥, 𝑦, 𝑧)𝑑𝑉 .

b) The moments of mass of the solid about the coordinate planes 𝑥𝑦, 𝑥𝑧, 𝑦𝑧 are given respectively
by the formulas:
𝑀𝑥𝑦 ≔ ∬𝑅 𝑧𝜌(𝑥, 𝑦, 𝑧)𝑑𝑉 ,
𝑀𝑥𝑧 ≔ ∬𝑅 𝑦𝜌(𝑥, 𝑦, 𝑧)𝑑𝑉 and
𝑀𝑦𝑧 ≔ ∬𝑅 𝑥𝜌(𝑥, 𝑦, 𝑧)𝑑𝑉
c) The coordinates (𝑥̅ , 𝑦̅, 𝑧̅) of the centre of gravity of the body are given by:
𝑀𝑦𝑧 𝑀𝑥𝑧 𝑀𝑥𝑦
(𝑥̅ , 𝑦̅, 𝑧̅) = , (𝑥̅ , 𝑦̅, 𝑧̅) = and (𝑥̅ , 𝑦̅, 𝑧̅) =
𝑚 𝑚 𝑚
Example 13: Find the centre of mass of a solid of constant density that is bounded by the parabolic cylinder
5 5
𝑥 = 𝑦 2 and the planes 𝑥 = 𝑧, 𝑧 = 0 & 𝑥 = 1. Answer: (7 , 0, 14)

iii. moments of inertia [read]

Exercise 5.2:
1. Evaluate the following triple integrals. Change to cylindrical or spherical coordinates, if necessary.
2 +𝑦2 +𝑧 2
a) ∭𝐷 𝑥𝑒 𝑥 where D = {(𝑥, 𝑦. 𝑧): 𝑥 2 + 𝑦 2 + 𝑧 2 ≤ 4} .
2 +𝑦2 +𝑧 2
b) ∭𝐷 𝑥𝑒 𝑥 where D = {(𝑥, 𝑦. 𝑧): 𝑥 2 + 𝑦 2 + 𝑧 2 ≤ 4} .
c) ∭𝐸 𝑥𝑑𝑉 where E is enclosed by z=0, z=x+y+5 , 𝑥 2 + 𝑦 2 = 9 & 𝑥 2 + 𝑦 2 = 4.
d) ∭𝐸 𝑧𝑑𝑉 where 𝐸 = {(𝑥, 𝑦, 𝑧): 𝑥 ≥ 0, 𝑧 ≥ 0, 𝑦 ≥ 3𝑥, & 9 ≥ 𝑦 2 + 𝑧 2 } . ans. 45/8

e) ∭𝐸 √𝑥 2 + 𝑧 2 𝑑𝑉; where E is the region bounded by the plane 𝑧 = 4 and the paraboloid
128𝜋
𝑦 = 𝑥 2 + 𝑧 2 . Answer:
15
𝑑𝑥𝑑𝑦𝑑𝑧
2. Find the upper and lower bounds of ∭𝐷
√100−𝑥 2 −𝑦 2 −𝑧 2

3. Evaluate the following iterated integrals by reversing the order of integration or by changing to
cylindrical or spherical coordinates, if necessary.
1 1−𝑥 2−𝑦 1 1−𝑥 2−𝑦
a. ∬0 ∫0 ∫0 𝑥𝑦𝑧𝑑𝑧𝑑𝑦𝑑𝑥 b. ∬0 ∫0 ∫0 𝑥𝑦𝑧𝑑𝑧𝑑𝑦𝑑𝑥 c.

4. Find the average value of the function 𝑓(𝑥, 𝑦, 𝑧) = 𝑥 + 𝑦 + 𝑧 over the parallelepiped determined
by 𝑥 = 0, 𝑥 = 1, 𝑦 = 0, 𝑦 = 3, 𝑧 = 0, and 𝑧 = 5.
5. Find a spherical coordinate equation for the sphere 𝑥 2 + 𝑦 2 + (𝑧 − 1)2 = 1.
6. Use a triple integral to find the volume of the solid enclosed by the cylinder 𝑥 2 + 𝑦 2 = 9 and the
planes 𝑦 + 𝑧 = 5 and 𝑧 = 1.

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7. Derive the formula for the area of the surface of a sphere by revolving a semicircle about its
diameter.
4
8. Use triple integral to prove that the volume V of a sphere with radius 𝑟 is 𝑉 = 3 𝜋𝑟 3 .
9. Use triple integrals to find the mass( in kg) of a ball, which has a radius of 2m and a
density, δ(x,y,z)=2 kg / m3.
10. Use triple integrals to find the volume of the tetrahedron with corners
at (0,0,0) , (0,3,0), 2,3,0), and (2,3,5).
11. Suppose the density of an object is given by 𝜌(𝑥, 𝑦, 𝑧) ≔𝑥𝑧, and the object occupies the tetrahedron
with corners (0,0,0), (0,1,0), (1,1,0)and (0,1,1). Find the mass and center of mass of the object.
12. Find the region E for which ∫ ∫ ∫𝐸 (1 − 𝑥 2 − 𝑦 2 − 𝑧 2 )𝑑𝑉 is a maximum.

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5 .3 Change of Variables in Multiple Integrals

A. Change of Variables in Double Integrals

Sometimes, it is advantageous to evaluate ∬𝑅 𝑓(𝑥, 𝑦)𝑑𝐴 in a coordinate system other than the 𝑥𝑦-coordinate
system. This may be as a consequence either of the shape of the region, or of the complexity of the integrand.

Theorem 1 [Change of variables in double integrals]:

Assume that a transformation 𝑇: ℝ2 → ℝ2 of the plane given b𝑦 𝑥 = g(u, v) & 𝑦 = h(u, v) transforms the
closed bounded region S in the uv-plane into the closed bounded region R in the xy plane and assume that T
is one to one.
Then
∬𝑅 𝑓(𝑥, 𝑦)𝑑𝑥𝑑𝑦 = ∬𝑅 𝑓(𝑔(𝑢, 𝑣), ℎ(𝑢, 𝑣))|𝐽𝑇 (𝑢, 𝑣)|𝑑𝑢𝑑𝑣 ,
𝜕𝑥 𝜕𝑥
𝜕𝑢 𝜕𝑣
Where 𝐽𝑇 = |𝜕𝑦 𝜕𝑦
| and 𝐽𝑇 ≠ 0. The determinant 𝐽𝑇 is called the Jacobian of T.
𝜕𝑢 𝜕𝑣

Steps for a change of variables in a double integral:

1. Sketch the region given by the problem in the xy-plane and then write the equations of the curves
that form the boundary.
2. Depending on the region or the integrand, choose the transformations 𝑥 = 𝑔(𝑢, 𝑣) and 𝑦 =
ℎ(𝑢, 𝑣).
3. Determine the new limits of integration in the uvuv-plane.
4. Find the Jacobian 𝐽 𝑇 .
5. In the integrand, replace the variables to obtain the new integrand.

6. Replace 𝑑𝑦𝑑𝑥 𝑜𝑟 𝑑𝑥𝑑𝑦, whichever occurs, by 𝐽(𝑢, 𝑣)𝑑𝑢𝑑𝑣.

Example 1: Calculate the double integral ∬𝑅(y − x)dxdy, where the region 𝑅 is bounded by 𝑦 = 𝑥 +
𝑥 𝑥
1, 𝑦 = 𝑥 − 3, 𝑦 = − + 2, 𝑦 = − + 4.
3 3

Answer: -6

Example 2: Show that when changing to polar coordinates we have 𝑑𝐴 = 𝑟𝑑𝑟𝑑𝜃.

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B. Change of Variables in Triple Integrals

As with double integrals, triple integrals can often be easier to evaluate by making the change of variables.
This allows simplifying the region of integration or the integrand. Let a triple integral ∭𝐷 𝑓(𝑥, 𝑦, 𝑧)𝑑𝑥𝑑𝑦𝑑𝑧
be given.
We need to calculate this integral in the new coordinates 𝑢, 𝑣, 𝑤. The relationship between the old and new
coordinates is given by:
𝑥 = 𝑔(𝑢, 𝑣, 𝑤), 𝑦 = ℎ(𝑢, 𝑣, 𝑤), 𝑧 = 𝑘(𝑢, 𝑣, 𝑤).
Theorem 2[Change of variables in triple integrals]:
Assume that a transformation 𝑇: ℝ3 → ℝ3 of space given by 𝑥 = g(u, v, w) , y = h(u, v, w)&𝑧 =
𝑘(𝑢, 𝑣, 𝑤) transforms the closed bounded 3D region G in the 𝑢𝑣𝑤-space into the closed bounded region D
in the xyz- space and assume that T is one to one.
Then
∭𝐷 𝑓(𝑥, 𝑦, 𝑧)𝑑𝑥𝑑𝑦𝑑𝑧 = ∭𝐺 𝑓(𝑔(𝑢, 𝑣, 𝑤), ℎ(𝑢, 𝑣, 𝑤), 𝑘(𝑢, 𝑣, 𝑤))|𝐽𝑇 |𝑑𝑢𝑑𝑣𝑑𝑤.
Where
𝑔𝑢 𝑔𝑣 𝑔𝑤
𝐽𝑇 = |ℎ𝑢 ℎ𝑣 ℎ𝑤 | and 𝐽𝑇 ≠ 0. The determinant 𝐽𝑇 is called the Jacobian of T.
𝑘𝑢 𝑘𝑣 𝑘𝑤

𝑥2 𝑦2
Example 3: Calculate the triple integral ∬𝐷 ydV, where𝐷 is the ellipsoid 9
+ 4
+ 𝑧 2 ≤ 1.

Example 4: Verify that 𝑑𝑉 = 𝜌2 𝑠𝑖𝑛 𝜑𝑑𝜌𝑑𝜃𝑑𝜑 when using spherical coordinates.

Exercise 5.3:
1. Evaluate the following double integrals by making necessary change of variables.
a) ∬𝑅(3𝑥 + 6𝑦)2 𝑑𝐴 where R is the region bounded by the lines 𝑥 − 2𝑦 = 2, 𝑥 − 2𝑦 =
−2, 𝑥 + 2𝑦 = 2& 𝑥 + 2𝑦 = −2.
b) ∬𝑅(𝑥 − 𝑦) 𝑑𝐴 where R is the parallelogram with vertices (1,2), (3,4), (4,3)𝑎𝑛𝑑 (6,5).
𝑥+𝑦
c) ∬𝑅 𝑒 𝑥−𝑦 𝑑𝐴 where R is the trapezoidal region with vertices (1, 0), (2, 0), (0, –2), (0,–1).

2. Let D be the region in xyz-space defined by 1 ≤ 𝑥 ≤ 2,0 ≤ 𝑥𝑦 ≤ 2 and 0 ≤ 𝑧 ≤ 1.

Evaluate ∭𝐷[𝑥 2 𝑦 + 3𝑥𝑦𝑧]𝑑𝐴 by using the transformation 𝑢 = 𝑥, 𝑣 = 𝑥𝑦 and 𝑤 = 3𝑧.

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