Introduction

Definition 1.1
Vector is a directed quantity, one with both
magnitude and direction.
For instance acceleration, velocity, force
Definition 1.2
Scalar is a quantity that has magnitude but not
direction.
For instance mass, volume, distance, time
1 2

Vector Products Differentiation of Vectors

If a  a1 i  a2 j  a3 k and b  b1 i  b2 j  b3 k , Let A be a vector depending on parameter u,
A  u   ax  u  i  a y  u  j  az  u  k
~ ~ ~ ~ ~ ~ ~ ~
1) Scalar Product (Dot product)

a  b  a1b1  a2b2  a3b3

~ ~
The derivative of A(u) is obtained by differentiating
2) Vector Product (Cross product) each component separately,
i j k
~ ~ dA dax da da
 i y j z k
~

a  b  a1 a2 a3 du du du du
~ ~
b1 b2 b3

  a2b3  a3b2  i   a1b3  a3b1  j   a1b2  a2b1  k 3 4

~ ~ ~

Example 2:
Example 1: A particle is moving along the curve C with the position x  4t  3,

A  3u 2 i  2uj  5k y  t 2  3t , z  t 3  5t 2 .
i) Find the velocity, v  t  and the acceleration, a  t  of the particle.
ii) Hence, calculate the magnitude of the velocity and acceleration at
Solution : t  1.

dA Solution :
~
 6u i  2 j position vector,
du ~ ~
r  xi  yj  zk
2
d A   4t  3 i  t 2  3t  j  t 3  5t 2  k
~
 6i
du 2 ~
velocity,

 4 i   2t  3 j   3t 2  10t  k
dr
5 v 6
dt

ElyanaSakib2017 1
 acceleration, Exercise 1:
d 2r A particle is moving along the curve C with the position
a  2  2 j   6t  10  k
dt vector r  2ti  t 4 j  t 2 k for t  0. Find the velocity, v  t 
at t  1, and the acceleration, a  t  of the particle. Hence, calculate
dr the magnitude of the velocity and acceleration at t  1.
v  4 i  5 j  13k
dt
Answer:
magnitude of velocity, dr
v t    2 i  4t 3 j  2tk
dr dt
 42  52  132  210  14.49
dt v 1  24
at t  1, magnitude of acceleration,
d 2r
d 2r a t    12t 2 j  2k
d 2r 7
dt 2 8
a  2  2 j  16k  22  162  260  16.12
dt dt 2 a 1  148

Partial derivatives of vectors Example 3

If vector A~ depends on more than one parameter, If F  3uv 2 i  (2u 2  v) j  (u 3  v 2 ) k
~ ~ ~ ~

i.e A(u1 , u2 ,  , un )  a x (u1 , u2 , , un ) i Solution:

~ ~

 a y (u1 , u2 , , un ) j F F
~ ~
 3v 2 i  4u j  3u 2 k ~
 6uv i  j  2v k
 a z (u1 , u2 , , un ) k u ~ ~ ~ v ~ ~ ~

Then, partial derivative of A with respect to u1 is given then,

~
by 2 F 2 F
A
~
 4 j  6u k ~
 6u i  2 k
a x a y
a u 2 ~ v 2 ~ ~
~
 i j  z k, ~

u1 u1 ~ u1 ~ u1 ~

2 A  2a x  2a y  2az 2 F 2 F
~
 i j k 9 ~
 ~
 6v i 10

u1u2 u1u2 ~ u1u2 ~ u1u2 ~ uv vu ~

Example 4
Integration of vectors
If F  (3t 2  4t ) i  (2t  5) j  4t 3 k ,
~ ~ ~ ~

If A(u )  a x (u ) i  a y (u ) j  a z (u ) k calculate  F dt.

3
~ ~ ~ ~
1 ~
then Answer
b b
 A(u ) du   a x (u ) du i 3 3 3 3
a ~ a ~ 
1
F dt 
~

1
(3t 2  4t ) dt i   (2t  5) dt j   4t 3 dt k
~ 1 ~ 1 ~
b b
  a y (u ) du j   a z (u ) du k .
a ~ a ~  [t 3  2t 2 ]13 i  [t 2  5t ]13 j  [t 4 ]13 k
~ ~ ~

 42 i  2 j  80 k .
~ ~ ~

11 12

ElyanaSakib2017 2
 Exercise 2: Del Operator (Nabla)
A moving particle starts at position r  0   2, 0, 0 with Operator  is called vector differential operator,
velocity, v  0   2, 1, 2 . Its acceleration is a  t   6t ,8t , 2 . defined as
    
Find its velocity and position function at time t.  i j k
 x y z 
Gradient
If f x,y,z is a scalar function of three variables
and f is differentiable, the gradient of f is defined as

f f f
grad f  f  i j k
x y z
13 14
*vector with the magnitude and direction of the maximum change of
the function in space.

Example 5 Determine grad  at P 1,3, 2 

Let   x yz  xy z . Determine grad 
2 3 2 2

At P  (1,3,2),
Solution:
   2(1)(3)(2)3  (3) 2 (2) 2  i  (1) 2 (2)3  2(1)(3)(2) 2  j

 2 xyz 3  y 2 z 2
~ ~
x  3(1) 2 (3)(2) 2  2(1)(3) 2 (2)  k .
 ~
 x 2 z 3  2 xyz 2  84 i  32 j  72 k .
y ~ ~
~

 3 x 2 yz 2  2 xy 2 z
z
Therefore,
  
  i j k
x ~ y ~ z ~ 15 16

 (2 xyz  y z ) i  ( x 2 z 3  2 xyz 2 ) j  (3x 2 yz 2  2 xy 2 z ) k

3 2 2
~ ~ ~

Exercise 3:
Directional Derivatives
Given   3x 2 y  xyz  4 y 2 z 2  3, determine grad . *measure the rates of change of a function with respect to distance in
any direction.
Answer:
Definition:
   6 xy  yz  i   3x 2  xz  8 yz 2  j   xy  8 y 2 z  k
Let   x, y, z  and a is a unit vector, then the directional
Grad properties: derivative of  in the direction of a is denoted as Dd and
If A and B are two scalars, then defined as
1) ( A  B)  A  B Dd  a  grad   a  
2) ( AB)  A(B)  B(A)

17 18

ElyanaSakib2017 3
 Example 6 At P 1, 2, 1 ,
Compute the directional derivative of   x 2 z  2 xy 2  yz 2
  
  2 1 1  2  2  i  4 1 2    1
2 2
 j  1 2

 2  2  1 k
at point P 1, 2, 1 in the direction of vector A  2,3, 4
~ ~ ~

 6 i  9 j 3 k
~ ~ ~
Solution:
unit vector of A, Dd  a  
2 i  3 j  4k 2 i  3 j  4k  2 4  
k    6 i  9 j  3 k 
A 2 3 4 3
a    i j k  i j
A 2  3   4   29 29   ~ ~ ~
2
2 2 29 29 29 29 29
51
  x2 z  2xy 2  yz 2   9.470462
  
29
grad    i j k
x ~ y ~ z ~
  2 xz  2 y 2  i   4 xy  z 2  j   x 2  2 yz  k 19 20
~ ~ ~

Example 7 Example 8
A particle has a position vector at time t given by r  t   t 2 i  4cos 2tj  3sin 2tk . Given a function f  x, y   x3 y  3 y 2 ,
 i) what is the direction along which f  x, y  decrease most rapidly at point  3, 2  ?
Find the component of its velocity in the direction of 2i  j  2k at t  .
4 ii) find a direction u such that u f 1,1  5.
Solution:
Solution:
unit vector of 2i  j  2k ,
i)
2 i  j  2k 2 i  j  2k 2 1 2
a   i j k f  3x 2 yi   x3  6 y  j
2  1   2  3 3 3 3
2 2 2

Rapid decrease f it point  3, 2 

r  t   t 2 i  4 cos 2tj  3sin 2tk
dr  t    
f  3, 2    3  3  2  i  2  3  6  2  j  54 i  39 j
2 3

v t    2ti  8sin 2tj  6 cos 2tk

dt ii)
Hence, the component of the velocity in the required direction is let u  ai  bj for f 1,1  5,
2 1
3 3
2 
3 
 4 8

a  v  t    i  j  k   2ti  8sin 2tj  6cos 2tk   sin 2t  4cos 2t
3 3
since f 1,1  3i  7 j,


at t  , a.v  t  
 8
21
 
u f 1,1  ai  bj  3i  7 j  5  22

4 3  3a  7b  5 1

since u is a unit vector, hence Unit Normal Vector

u 1
*a perpendicular vector to any surface at a certain point
a 2  b2  1
Definition
 a 2  b2  1  2
If   x, y, z   k is a differentiable function and n denotes a unit normal
vector to the surface, then
Solving 1 and  2  , 
n
if b  0.9006, a  0.4347 
u  0.4347 i  0.9006 j
Example 9:

if b  0.3063, a  0.9520 Find a unit normal vector to the surface x2  y 2  z  6 at the point 1, 1, 4

u  0.9520 i  0.3063 j   x, y , z  = x 2  y 2  z
  2 xi  2 yj  k
at 1, 1, 4  ,
  2 1 i  2  1 j  k  2 i  2 j  k
23 24
 2i  2 j  k 2i  2 j  k 2 2 1
n    i j k
 22   2    1
2 2 3 3 3 3

ElyanaSakib2017 4
 Divergence of Vector Example 10
*measure of compression and decompression of a vector field. If A  x 2 y i  xyz j  yz 2 k , determine div A at point (1,2,3).
~ ~ ~ ~ ~

If A  ax i  a y j  az k , the divergence of A is Solution:

~ ~ ~ ~ ~
ax a y az
defined as div A  . A   
~ ~ x y z
div A   A
 2  
  x y     xyz    yz 2 
~ ~

     x y z
 i  j  k  (ax i  a y j  az k )
 x ~ y ~ z ~  ~ ~ ~  2 xy  xz  2 yz.
a a y az At point (1,2,3),
 div A   A  x  
~ ~ x y z div A  2(1)(2)  (1)(3)  2(2)(3)
Remark: ~

if divA  0
25
 13. 26

 A is called solenoid vector

Curl of Vector Example 11

*measure of rotation per unit area of a vector field. If A  ( y 4  x 2 z 2 ) i  ( x 2  y 2 ) j  x 2 yz k , determine curl A at (1,3, 2).
~ ~ ~ ~ ~
Solution:
If A  a x i  a y j  a z k , the curl of A is defined by i j k
~ ~ ~ ~ ~ ~ ~
~

curl A    A   
~ ~ curl A    A 
~ ~ x y z
   
  i  j  k   (a x i  a y j  a z k ) y 4  x2 z 2 x2  y 2  x 2 yz
 x ~ y ~ z ~  ~ ~ ~

i j k       4 2 2 
  ( x 2 yz )  ( x 2  y 2 )  i   ( x yz )  ( y  x z )  j
2
~ ~
~
 y z  ~  x z ~
  
 curl A    A  .    
~ ~ x y z   ( x2  y 2 )  ( y 4  x2 z 2 )  k
ax ay az  x y ~
27
  x 2 z i  (2 xyz  2 x 2 z ) j  (2 x  4 y 3 ) k . 28

~ ~ ~

HOMEWORK 1 (Due: Next class!)

At (1,3,-2), 1. Find the maximum rate of change of f at the given point and the direction

curl A  (1) 2 (2) i  (2(1)(3)(2)  2(1) 2 (2)) j in which it occurs.

~ ~ y2
a) f  x, y   ,  2, 4 
~

 (2(1)  4(3) ) k 3 x
~ b) f  x, y   sin  xy  , 1, 0 
 2 i  8 j  106 k . c) f  x, y, z   x 2  y 2  z 2 ,  3, 6, 2 
~ ~ ~
2. Find the directions in which the directional derivatives of f  x, y   ye  xy at
the point  0, 2  has the value 1.
Remark 3. Let   x, y, z  be a scalar field and F x, y, z be a vector field. State whether each
expression exist or not. Explain your answer.
A is a vector function and curl A is also a vector function. a) curl b) grad  divF  c)  grad    divF 
~ ~
4. Let F  2 x 2 yi  y 2 j  4 xz 2 k . Find curl grad div F .
29 30

ElyanaSakib2017 5
 Parametrization
Ordinary integral  f (x) dx, a function of single Curve Parametric Equation
variable over an interval [a,b], so we integrate
along the x-axis, which is; b x  r cos t
Circle : x2  y2  r 2
 f ( x) dx
a
y  r sin t
LINE
xt
INTEGRAL y  f ( x)
y  f (t )
• It involve the integration of the function f(x,y) or
f(x,y,z), a function of two/three variables, and the x  g (t )
values of x, y and z that we’re going to use will be x  g ( y)
yt
the points,(x,y,z), that lie on a curve C.
Line segment,

From  x0 , y0 , z0  to  x1 , y1 , z1  r  r0  tv, 0  t  1
31

Line Integral of Vector Function Example 12:

(work done of a moving object on curve C) Calculate  C
F dr from A  (0,0,0) to B  (4,2,1) along
If there exists a vector field F along a curve C, then the line integral of F
along C is defined by the curve C given by x  4t , y  2t 2 ,z  t 3 ,
if F  x 2 yi  xzj  2 yzk


.Solution:
F dr
c ~
x  4t  dx  4dt
where F  Fx i  Fy j  Fz k y  2t 2  dy  4tdt
dr  dxi  dyj  dzk.

z  t3  dz  3t 2 dt  4dti  4tdtj  3t 2 dtk

and dr  dxi  dyj  dzk
F  x 2 yi  xzj  2 yzk
  4t   2t 2  i   4t   t 3  j  2  2t 2  t 3  k
2
33 34

 32t 4 i  4t 4 j  4t 5k

At point A  0, 0, 0  At point B  4, 2,1 1

 F dr   128t  16t 5  12t 7  dt

B
4
4t  0  t  0  4t  4  t  1 
t 0
  A
2t 2  0  t  0  t  0 2t 2  2  t  1 t  1 1
128 5 16 6 12 8 
t  0  t  0 
3
t  1  t  1 
3  t  t  t 
 5 6 8 0
0  t 1
128 16 12
  
5 6 8

F dr  32t 4 i  4t 4 j  4t 5k   4dti  4tdtj  3t dtk 
2
23
 26  26.7667
30
 32t 4  4dt   4t 4  4tdt   4t 5  3t 2 dt 
 128t 4 dt  16t 5 dt  12t 7 dt
 128t 4  16t 5  12t 7  dt
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ElyanaSakib2017 6
 Example 13:
Exercise 5:
Calculate  F dr along the curve C given by y  e x , from  2, e 2 
C Compute  F dr ,
to  0,1 and F  x 2 i  yj.
c

1. C is a line segment from  2,3 to  0,3 and F  x,  y

.
Solution: 2. C is the part of the circle of radius 3 in the 1st quadrant and F  1,  y

#1: Parameterization From  2, e 2

   0,1 Answer :
xt t 2t 0
y  ex 
y  et 1. F dr  2
C
F  x 2 i  yj dr  dxi  dyj F  dr  t , e  dt , e dt
2 t t
15
2. F dr  
 t 2 i  et j  dti  et dtj   t 2  e2t  dt C
2

0 0
t 3 e 2t
 F  dr    t  e2t  dt 
37 38
19 1 4
2
   e
C 2
3 2 2
6 2

Line integral over piecewise smooth curves Solution:

C3 C2 Parametrization:
 F  dr   F  dr   F  dr   F  dr
C C1 C2 C3
C1 : x  t , y  1  2  t  0
C1 C2 : x  t , y  t 3  1 0  t  1
C3 : x  1, y  t 0  t  2

Example 14: Line integral over each curve

If F  x3i  xj , evaluate  F  dr where C is the curve shown below.
C C1 : x  t , y  1 ,  2  t  0
dx  dt , dy  0
F  x3 , x  t 3 , t
dr  dx, dy  1, 0 dt
0 4 0
t
 F  dr   t 3 , t  1, 0 dt   t 3dt 
2
4
 4
C1 C1 2

C2 : x  t , y  t 3  1 0  t  1
Exercise 6:
dx  dt , dy  3t 2 dt
F  x , x  t ,t
3 3 Find the work done in moving particle in the force field
dr  dx, dy  1,3t 2 dt F  3x 2i  (2 xz  y ) j  zk along the curve c : x  2t 2 , y  t ,
1 1
t 3 , t  1,3t 2 dt    t 3  3t 3  dt   4t 3dt  t 4  1 z  4t 2  t from t  0 to t  1
 F  dr  
1

0
C2 C2 0 0
Ans:14.2
C3 : x  1, y  t 0  t  2
dx  0, dy  dt
  F  dr   F  dr 
Homework 2
F  x3 , x  1,1  F  dr   F  dr
C C1 C2 C3 Given F  3xyi  5 zj  10 xk , find the work done by a force in moving
dr  dx, dy  0,1 dt  4  1  2
2
 1 a particle from the 1,0,0  to  2, 2,1 along the following path
 F  dr   1,1  0,1 dt   1dt  t 0  2
2

C3 C3 0 i) along the curve c : x  t 2  1, y  2t 2 , z  t 3 , 0  t  1

42
ii) along the straight line segment connecting the two points.

ElyanaSakib2017 7
 Example 14: B 

 F dr    72cos t sin ti  72sin tj  9k    2sin ti  2cos tj  dt

2
Calculate the work perfomed by the force field F  18 xyi  36 yj  9k
A
0
on a particle that moves in an anti clockwise sense around the circle

x 2  y 2  4, z  0 from  2, 0, 0  to  0, 2, 0 
   144 cos t sin 2 t  144sin t cos t  dt
2
y
Solution: 2 0
x 2  y 2  4  x 2  y 2  22  

x  2cos t , y  2sin t 0t 

 144   cos t sin 2 t  sin t cos t  dt
2
2 x integrate using substitution
F  18 xyi  36 yj  9k 2 0

 18  2 cos t  2sin t  i  36  2sin t  j  9k 1 1 2
 144  sin 3 t  sin 2 t 
 72 cos t sin ti  72sin tj  9k 3 2 0
 120
r  t   xi  yj  zk dr
  2sin ti  2cos tj
 2cos ti  2sin tj dt
43 44

A SURFACE INTEGRAL
Surface Integral of Vector Field
is about an integration of
functions over some Let F be a continuous vector field defined on an oriented
surface, S, in three- surface S. The surface integral of F (the flux of F ) is defined
dimensional space. as

This figure shows the  F  ndS

S
region S which lie above
some region D that lies
where at any point on the surface, n is a unit normal
in the xy-plane.
vector to the surface.
In some other cases, the region D 45 46
also can lies in the yz-plane.

Unit Normal Vector for Non-Parametric Surface

SURFACE INTEGRAL
Let  be a surface on the form z  g ( x, y ), y  g ( x, z ) or x  g ( y, z ) and suppose
that the component functions of the vector field F are continuous on  , then


S
F . N dS where N is:
Parametric Surface Non-Parametric Surface
z  g ( x, y) y  g ( x, z) x  g ( y, z)
z z y y x x
N   i j k N  i j k N  i j k
x ~ y ~ ~ x ~ ~ z ~ ~ y ~ z ~
cylinder : x  y  r
2 2 2
z  g ( x, y ) e.g : z  9  x  y
2 2

Positive oriented Positive oriented Positive oriented

sphere : x 2  y 2  z 2  r 2 y  g ( x, z ) e.g : y  4  x  z
z z y y x x
N i j k N i j N   i j
x  g ( y, z ) e.g : x  y2  z2 x ~ y ~ ~
k
y ~ z ~
k

S x ~ ~ z ~ ~

n Negative oriented
S
Negative oriented Negative oriented
47 48

ElyanaSakib2017 8
 Example 17: 1
 F  ndS   y, z, 2 x  x, y dS
Evaluate  S
F ndS where F  yi  zj  2 xk bounded by the surface s s

1
2

2 s
S : x 2  y 2  4 between z  0 and z  3 in the first octant.  xy  yzdS

x  r cos   2 cos 
3 2
1
 2sin   2 cos    2 z sin   2ddz
2 z0 0 
 
0  
y  r sin   2sin  2 
zz z 3 2

dS  r d dz  2 d dz
   4sin  cos   2 z sin  ddz
z 0 0
3 

   2sin   2 z cos   02 dz
2
F ndS
S z 0

2 xi  2 yj
3
S 1   2  2 zdz  2 z  z
2 3
  15
n   x, y 49
0
50
S  2x   2 y 
2 2 2 z 0

Example 18: 2 2

 F  ndS    r  12  rdrd
2
Evaluate 
S
F ndS if F  2 xi  2 yj  3zk and S is the positive
s  0 r 0
oriented surface of the paraboloid z  4  x  y above the 2 2
2 2
xy  plane.    r  12r  drd
3

z  4 x  y 2 2 x  r cos   0 r 0

z z y  r sin  r 4
2

2

n i jk     6 r  d
2
x x z  4 x  y  4r
2 2 2

 0  4 0
 2 xi  2 yj  k dS  r drd
2
2
F  n  2 x, 2 y,3z  2 x, 2 y,1 

 28d  28
0
0
 56
 4 x 2  4 y 2  3z
51 52

 4  x 2  y 2   3  4  r 2   r 2  12

Example 19:
Exercise 9:
1. Vector field F  2 i  zj  yk bounded by the surface
 F ndS for vector field F  xi  2 j  z k , where closed surface
2
Evaluate
S

S is the combination of S1 : x 2  y 2  4, S 2 : z  4, S3 : z  0, S 4 : y  0 S : x 2  y 2  z 2  2 and bounded by x  0, y  0 and

and S5 : x  0 in the first octant. z  0 in the first octant. Evaluate S
F  ndS .

z 2. Evaluate  S
F ndS for vector field F  xyi  yj  zk , where
S2
4 S is the surface of the cube bounded by x  0, x  1, y  0, y  1,
S4 z  0 and z  1.
S5
O
2 y
S3
2
S1
x
53 54

ElyanaSakib2017 9
 Example 20:
Scalar function F  2 x is defined in a cubic that has been
VOLUME INTEGRAL built by planes x  0, x  1, y  0, y  3, z  0 and z  2.
is the triple integral of F  x, y, z  over a closed Evaluate volume integral F of the cubic.
3D region. .
z
2 0  x 1

 V
F dV   Fdxdydz
V O 3 y
0 y3
0 z2
1
x

55 56

Example 21:

2 3 1
FdV     2 xdxdydz
V z 0 y 0 x 0 Evaluate 
V
FdV where F  3x  2 y and V is the closed region
2 1
2 3 2x bounded by the sphere x 2  y 2  z 2  16, and planes y  0 and z  0.
  dydz
z 0 y 0 2
0
x2  y 2  z 2  r 2
2 3
  1dydz Polar coordinates
z 0 y 0

2 3 x  r sin  cos 
  z 0
y
0 4
y  r sin  sin 
2 z  r cos 

4
3dz
z 0
dV  r 2 sin  dr d d
 3z 0
2
6
57
 58

0  r  4, 0    , 0  
2

V
FdV Example 22:

  3 x  2 ydV
Evaluate 
V
FdV where F  x  1 and V is the closed region
bounded by the paraboloid z  4  x 2  y 2 and disk x 2  y 2  4 at z  0.
V


   3r sin  cos   2r sin  sin    r sin  drd d 

 4
 2 2
 0  0 r 0


   3r sin  cos   2r sin  sin   drd d

 4
 2 3 2 3 2
 0  0 r 0
Polar coordinates
0  r  2, 0    2 , 0  z  4  r 2
 4
 r4 
   2    3sin 2  cos   2sin 2  sin   d d


 0  0 4
 0
x  r cos 



64  3sin 2  cos   2sin 2  sin   d d
y  r sin 

 0  0
2


 zz
  2
64 sin 2   3cos   2sin   d d
 0  0

dV  r drd dz
 1 sin 2  2
 64     3cos   2sin   d
 0
2 4  0

 16  3cos   2sin   d 59 60
 0

 16 3sin   2 cos  0  64



ElyanaSakib2017 10
  FdV    x  1 dV Exercise 10:


V V
2 4r 2 Evaluate FdV where
   r cos   1 rdzd dr 
2

V

r 0 0 z 0 i. F  2 x  y and V is the closed region bounded by the surface z  4  x 2

and planes x  0, y  0, y  2 and z  0
  r cos   r dzddr
2 2 4r 2
 2
ii. F  2  y and V is the closed region bounded by the paraboloid z  2  x 2  y 2
r 0  0 z 0

2 2 4r 2 and the disk x 2  y 2  2 on the xy -plane.


r  0   0 
 r 2 cos  z  rz  ddr .
0
2 2
  4r 2 cos   r 4 cos   4r  r 3ddr
r 0  0 Answer :
2 2
   4r 2 sin   r 4 sin   4r  r 3  dr i.
80
r 0 0
3
2
  8 r  2 r 3 dr ii. 4
r 0
61 62

2

 4 r 2  r 4  8
2 0

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