Motivation

Motivation
We would like to estimate the volume of the lower sediment that
Mars rover detected lying above the surface of Mars over a
particular region.
9.5 Surface integrals

Let f (x, y , z) be a continuous function defined on a surface S

given as a parametric surface of R3 , that is, f can be evaluated
at all point S(u, v ) where (u, v ) ∈ D and is continuous in both u
and v .
Definition: Surface integral
We define the integral of a function f (x, y , z) over a surface
S = {S(u, v ) | (u, v ) ∈ D} to be
ZZ ZZ
f dS := f (S(u, v )) |N(u, v )| du dv ,
S D

∂S ∂S
where N(u, v ) = ∂u (u, v ) × ∂v (u, v ).
9.5 Surface integrals

Example 4
2
RR S given by z = x + y + 5, 0 ≤ x ≤ 1 and
Consider the surface
0 ≤ y ≤ 2. Find S y dS.
 
u
 
S(u, v ) =  , for u ∈ [0, 1], v ∈ [0, 2].

v

 
u + v2 + 5
Then    
1 0
   
Su = 0 , Sv =  1  .
   
   
1 2v
9.5 Surface integrals
Hence
N(u, v ) = Su × Sv = (−1, −2v , 1).
Thus
p √ p
|N(u, v )| = 1 + 4v 2 + 1 = 2 1 + 2v 2 .

ZZ √ Z 1 Z 2 p
y dS = 2 v 1 + 2v 2 dv du
S u=0 v =0
√ Z 1  2
1
= 2 (1 + 2v 2 )3/2 du
u=0 6 0
√ Z 1
1
= 2 (27 − 1)du
u=0 6
√ 13
= 2 .
3
9.5 Surface integrals

Example 2: Integrate over a cone.

Consider
RR the surface S of the cone z 2 = x 2 + y 2 for 0 ≤ z ≤ 1.
2
Find S x dS.
A parametric form for the cone is
 
v cos u
 
S(u, v ) =  v sin u  , for u ∈ [0, 2π], v ∈ [0, 1].
 
 
v
Example 2 (cont.)

Then    
−v sin u cos u
   
Su =  v cos u  , Sv =  sin u  ,
   
   
0 1
therefore  
v cos u
 
N(u, v ) = Su × Sv =  v sin u 
 
 
−v
p √
and so |N(u, v )| = v 2 cos2 u + v 2 sin2 u + v 2 = 2 v .
Example 2 (cont.)
Hence
ZZ
2
Z 2π Z 1 √
x dS = (v cos u)2 2v dv du
S u=0 v =0
√ Z 2π 1
v4

2
= 2 (cos u) du
u=0 4 0
√ 1 Z 2π
= 2 (cos u)2 du
4 u=0
√ Z 2π
2 1 + cos(2u)
= du
4 u=0 2
√ 
2 u sin(2u) 2π

= +
4 2 4 0
√
π 2
= .
4
9.5 Surface integrals

Example 3: Integrate over a sphere.

Consider the surface
RR S of the unit sphere x 2 + y 2 + z 2 = 1 for
2
0 ≤ z ≤ 1. Find S x dS.
We considered the sphere in Example 3 in Sect. 9.4 and
worked out that
 
cos u sin v
 
S(u, v ) =  sin u sin v  , 0 ≤ u ≤ 2π, 0 ≤ v ≤ π.
 
 
cos v

and |N(u, v )| = sin v .

9.5 Surface integrals

Therefore, as the function f (x, y , z) = x 2 , we have

f (S(u, v )) = cos2 u sin2 v we get
ZZ Z 2π Z π
2
x dS = cos2 u sin2 v sin v dv du
S u=0 v =0
Z 2π Z π
= cos2 u sin3 v dv du
u=0 v =0
Z 2π Z π  
= cos2 u
sin v − sin v cos2 v dvdu
u=0 v =0
Z 2π  π
2 1 3
= cos u − cos v + cos v du
u=0 3 0
4 2π 1 + cos(2u)
Z
4π
= du = .
3 u=0 2 3
10. Vector Fields
Motivation

In many situations we might like to describe properties of points

in space.
Wind
At each point in this image we describe the speed and the
direction of wind by a vector.
Motivation

Magnetic field
This image depicts iron fragments in a magnetic field. We could
describe it by drawing at each point surrounding the magnet a
vector describing the magnitude and the direction of the
magnetic influence.
Motivation

I Vector fields assign to each point in R2 or R3 a vector. The

various entries of the vector might describe different
properties that the location possesses.
I The properties could be different at different locations (e.g.
the wind might be stronger higher up) and so depend on
the location.
10. Vector Fields

Vector fields
A vector field in Rp (p = 2 or 3) is a continuously differentiable
map from Rp to Rp .

 
  p(x, y , z)
p(x, y ) 2
 
F(x, y ) =   in R , F(x, y , z) = q(x, y , z) in R3 .
 
q(x, y )  
r (x, y , z)

For each point v of Rp the vector field gives us a vector F(v),

whose components are given by the scalar functions p, q, r
evaluated at v.
10.1 Path integrals of vector fields in 2D
Motivation
Suppose a sailing boat travels along the Swan river C in R2 .
The boat is subjected to strong wind. At each point on C, we
know the direction and the force of the wind.
Question
How much work is done by the force exerted by the wind
pushing the boat along the river?

F
Motivation

At each point, only some part of the force of the wind pushes
the boat along. We break up the force of the wind at a point on
C into
I the tangent component: in the direction of the tangent to C
at the point
I the normal component: perpendicular to the tangent to C
at the point.

F
Motivation

At each point, only some part of the force of the wind pushes
the boat along. We break up the force of the wind at a point on
C into
I the tangent component pushes the boat along (or the
opposite).
I the normal component has no influence.

F
Circulation

Given C in parametric form r(t) for t in some interval.

How can we find the tangent component of F at r(t)?
It is tangent to C at the point r(t). A unit vector in the direction
of the tangent is
ṙ(t)
T= .
|ṙ(t)|
Hence the tangent component of F at the point r(t) is

1
F(r(t)) · T = F(r(t)) · ṙ(t).
|ṙ(t)|
Circulation

To find out how much the wind force acts to push the boat along
the curve, we integrate at each point t over the value of the
tangent component of the force at that point.

F
Circulation

Recall from Sect. 9.3 that the path integral of the function f over
the path C is
Z Z b
f ds := f (r(t))|ṙ(t)|dt.
C a
We want to integrate the tangent component along the path, so
we take
f = F · T.
Circulation

Hence, integrating the tangent component along the path we

find:
Z Z b
F · Tds = F · T |ṙ(t)| dt
C a
Z b  
ṙ(t)
= F(r(t)) · |ṙ(t)| dt
a |ṙ(t)|
Z b
= F(r(t)) · ṙ(t) dt
a
Circulation

10.1.1 Definition
Let F : Rp → Rp be a vector field (where p = 2, 3). Let C be a
curve parameterised by r(t) for t ∈ [a, b]. Then the circulation of
F along C is
Z Z b
F · dr := F(r(t)) · ṙ(t) dt.
C a

Convention: If C is a closed curve in R2 , we parameterise it

anti-clockwise.
Work done by force

If a vector field F describes a force (as in our sailing example)

the path integral of the tangent component of the vector field
yields the work done by the vector field to move a particle along
this path.
10.1.2 Theorem
Let r(t) for t ∈ [a, b] describe the path of a particle moving
through a force field F. The work done by the force to move the
particle along the path is the circulation of F along the path:
Z Z b
W = F · dr = F(r(t)) · ṙ(t)dt.
C a
Example 1

Circulation
Consider the closed path C in the following diagram and the
vector field F(x, y ) = (x + y , x 2 (y − 1)). Compute the
circulation of F along C.
1
r3 (t)
r (t)
2
x=0

y= 1−x

y=0 r1(t) 1
Example 1 (cont.)
We first parameterise the path in the anti-clockwise direction.
For this we need 3 parts:

r1 (t) = (t, 0), t ∈ [0, 1]

r2 (t) = (1 − t, t), t ∈ [0, 1]
r3 (t) = (0, 1 − t), t ∈ [0, 1].

1
r3 (t)
r (t)
2
x=0

y= 1−x

y=0 r1(t) 1
Example 1 (cont.)

This yields the following derivatives:

ṙ1 (t) = (1, 0), t ∈ [0, 1]

ṙ2 (t) = (−1, 1), t ∈ [0, 1]
ṙ3 (t) = (0, −1), t ∈ [0, 1].

1
r3 (t)
r (t)
2
x=0

y= 1−x

y=0 r1(t) 1
Example 1 (cont.)

Recall F(x, y ) = (x + y , x 2 (y − 1)).

 
t
F(r1 (t)) =  , F(r1 (t)) · ṙ1 (t) = t,
−t 2
 
1
F(r2 (t)) =   , F(r2 (t)) · ṙ2 (t) =
−(1 − t) 3

−1 − (1 − t)3 ,
 
1−t
F(r3 (t)) =  , F(r3 (t)) · ṙ3 (t) = 0.
0
Example 1 (cont.)

The circulation:
Z Z b
F · dr = F(r(t)) · ṙ(t) dt
C a
Z 1 Z 1 
= t dt + −1 − (1 − t)3 dt + 0
0 0
1 1 3
= −1− =− .
2 4 4
Example 2

Circulation
Consider the path C on the unit sphere going from the north
pole to the south pole in the plane x = y and the vector field
F(x, y , z) = (y + x, 0, 2x + z). Compute the circulation of F
along C.
We first parameterise the path using spherical coordinates with
r = 1 and θ = π/4:
√ √
2 2
r(t) = ( sin t, sin t, cos t) 0 ≤ t ≤ π.
2 2
√ √
Thus F(r(t))
√
= (√ 2 sin t, 0, 2 sin t + cos t) and
ṙ(t) = ( 22 cos t, 22 cos t, − sin t).
Example 2 (cont.)

Therefore √ √
F(r(t)) · ṙ(t) = sin t cos t + 0 − sin t( 2 sin t + cos t) = − 2 sin2 t.

Z Z b √ Z π
F · dr = F(r(t)) · ṙ(t) dt = − 2 sin2 t dt
C a 0
√ 
√ Z π sin(2t) π

1 − cos(2t) 2
= − 2 dt = − t−
0 2 2 2 0
√
2π
= −
2