KIX 1001

Engineering Mathematics 1
Week 8– Integration
(An Introduction)
Dr. KHOO SHIN YEE
Office: Level 6, Engineering Tower
Department: Mechanical Engineering
Email: [email protected]

Part 5: (i) Substitution & (ii) Trigonometric Substitution

Recall Previous Appendix
The derivative of asin(x), atan(x) & Is simply negative of the derivative of
asec(x) acos(x), acot(x) & acsc(x)

d 1 d -1 1
Prove 2.1: (sin -1 x) = Prove 2.2 : (cos x) = -
dx dx 1- x 2
1- x 2
d 1 d 1
Prove 2.3: (tan -1 x) = Prove 2.6 : (cot -1 x) = -
dx 1+ x 2 dx 1+ x 2

d -1 1 d -1 1
Prove 2.4 : (sec x) = Prove 2.5 : (csc x) = -
dx x x 2 -1 dx x x 2 -1

• Derivative of sin-1(x), tan-1 (x) and sec-1 (x) are very useful for the application
of integration because it provides new antiderivative, such as trigonometric
substitution. [Important]
• In practical, we choose the trigonometric substitution x=asinθ; x=atanθ;
x=asecθ; instead of x=acosθ; x=acotθ; x=acscθ although both are acceptable
Where a = constant
2
© 2019 Dr Khoo Shin Yee
 Important Remark (Trigonometric Substitution)
Important Derivative & Integral
1
sin(ax + b)dx = - cos(ax + b) + C
a
1
cos(ax + b)dx = sin(ax + b) + C
a
1
tan(ax + b)dx = - ln cos(ax + b) + C
a
1
cotan(ax + b)dx = ln sin(ax + b) + C
Correct typo a
1
sec(ax + b)dx = ln sec(ax + b) + tan(ax + b) + C
a
1
cosec(ax + b)dx = - ln cosec(ax + b) + cotan(ax + b) + C
a

Important Trigonometric
sin 2 θ + cos 2 θ = 1 sin(α ± β ) = sin α cos β ± cos αsinβ
Identities
tan 2 θ +1 = sec2 θ cos(α ± β ) = cos α cos β sin αsinβ
sin( x) 1
tan( x) = cot( x) =
cos( x) tan( x) cot 2 θ +1 = csc2 θ
1 1
sec( x) = sin 𝐴 cos 𝐵 = sin 𝐴 + 𝐵 + sin(𝐴 − 𝐵)
cos( x) 2

1 1
cosec( x) = sin 𝐴 sin 𝐵 =
2
cos 𝐴 − 𝐵 − cos(𝐴 + 𝐵)
sin( x)
1
cos 𝐴 cos 𝐵 = cos 𝐴 − 𝐵 + cos(𝐴 + 𝐵)
2
sin(2 x) = 2sin x cos x
θ
cos(2 x) = cos2 x - sin 2 x = 2cos 2 x -1 = 1- 2sin 2 x

3
© 2019 Dr Khoo Shin Yee
Appendix: Inverse function
θ = sin -1 x θ = tan -1 x
𝜃 𝜃

θ = sec-1 x

𝜃
𝜃

x = sin θ x = tan θ
x≤1, x≥1
0 𝜃 𝜋, 𝜃 ≠
𝜋 θ
2

4
 8.2.2 Trigonometric Substitution
• Example 1(a): Solve 1- x 2 dx
Substitution
2 tdt t2 Normal
Let sqrt(1-x2)=t ;
𝒙
1- x dx = t ( ) = - dt substitution is not
dt/dx= −
𝒕
-x 1- t 2 working

become more complicated

than original
1- x 2
θ cos θ =
1 1 sin θ = x
1 − 𝑥2 x Trigonometric
sin θ = dx substitution
1 cos θ =
x dθ
tan θ =
𝑥 1- x 2

1- x 2 dx = 1- sin 2 θ (cos θdθ ) =

cos 2 θ (cos θdθ ) = cos 2 θdθ
cos(2θ ) +1
Double Angle cos(2θ ) = cos θ - sin θ = 2 cos θ -1 = 1- 2sin θ =
2 2 2 2
dθ
Trigonometric 2
Identity sin(2θ ) = 2sin θ cos θ

sin -1
x x 1- x 2 θ sin(2θ )
1- x 2 dx = + + C2 = + + C5
2 2 2 4 © 2019 Dr Khoo Shin Yee
 8.2.2 Trigonometric Substitution (Extra Info)
• Example 1(b): Solve 1- x 2 dx

1- x 2
sin θ =
1
1 cos θ = x
1 − 𝑥2 x
cos θ = Trigonometric
1 dx substitution
-sin θ =
θ 1- x 2 dθ
tan θ =
x
𝑥

1- x 2 dx = 1- cos 2 θ (-sin θdθ ) = sin 2 θ (-sin θdθ ) = - sin 2 θdθ

Double Angle cos(2θ ) = cos 2 θ - sin 2 θ = 2 cos 2 θ -1 = 1- 2sin 2 θ 1- cos(2θ )
Trigonometric =- dθ
Identity sin(2θ ) = 2sin θ cos θ 2
-1 2 θ sin(2θ )
cos x x 1- x =- + +C
1- x 2 dx = - + + C1 2 4
2 2
6
© 2019 Dr Khoo Shin Yee
How if I define cos/sin based on different angles?
• Both results are acceptable when we compare both graphs
1- x 2 dx x is only valid in the domain [-1,1]

sin -1 x x 1- x 2 Observation:
2
1- x dx = + + C2 Same pattern and just
2 2 offset by some constant.
If C1 & C2 are known,
they will become the
same ans

θ2
2 cos-1 x x 1- x 2
1- x dx = - + + C1
2 2

θ1

x
7
© 2019 Dr Khoo Shin Yee
 8.2.2 Trigonometric Substitution
• Example 2: Solve 9 + x 2 dx
Substitution
2 tdt t2 Normal
Let sqrt(9+x2)=t ;
𝒙
9 + x dx = t ( ) = dt substitution is not
dt/dx=
𝒕
x 2
t -9 working

become more complicated

than original
x
sin θ =
9 + 𝑥2 9 + x2
3tan θ = x
𝑥 3 Trigonometric
cos θ = dx substitution
9 + x2 3sec θ =
2

θ x dθ
tan θ =
3 3

9 + x 2 dx = 9 + 9 tan 2 θ (3sec 2 θdθ ) = 9sec 2 θ (3sec 2 θdθ ) = sec3 θdθ

Continue…

8
© 2019 Dr Khoo Shin Yee
• Solve sec3 θdθ

sec3 θdθ = sec θ sec 2 θdθ

Normal
Integration by part
substitution is not
is working
working

let u = sec θ & dv = sec 2 θdθ sec2θ is easier to be

integrated ; choose
du =(sec θ tan θ )dθ & v = sec 2 θdθ = tan θ it as dv

sec3 θdθ = 9( uv - vdu ) = 9(sec θ tan θ - tan θ sec θ tan θdθ )

integration by part
= 9sec θ tan θ - 9 tan 2 θ sec θdθ
= 9sec θ tan θ - 9 sec 2 θ -1)sec θdθ
= 9sec θ tan θ - 9 sec3 θ - sec θ )dθ

18 sec3 θdθ = 9sec θ tan θ + 9 sec θdθ Continue…

9
© 2019 Dr Khoo Shin Yee
 • Solve secθdθ Recall the basic integral function in page 22

(sec θ + tan θ ) (sec 2 θ + sec θ tan θ )

sec θdθ = sec θ dθ = dθ
(sec θ + tan θ ) (sec θ + tan θ )
Normal
substitution is
working

let u = sec θ + tan θ

du =(sec θ tan θ + sec 2 θ )dθ
(sec2 θ + sec θ tan θ ) 1
sec θdθ = dθ = du = ln u + C
(sec θ + tan θ ) u
sec θdθ = ln sec θ + tan θ + C

18 sec3 θdθ = 9sec θ tan θ + 9 sec θdθ = 9sec θ tan θ + 9ln sec θ + tan θ + C
1
sec θdθ = (sec θ tan θ + ln sec θ + tan θ ) + C
3
2
10
© 2019 Dr Khoo Shin Yee
 8.2.2 Trigonometric Substitution
• Example 2: Solve 9 + x 2 dx (Cont.)
x
sin θ =
9 + 𝑥2 9 + x2
3tan θ = x
𝑥 3 Trigonometric
cos θ = dx substitution
9 + x2 3sec θ =
2

θ x dθ
tan θ =
3 3

9 + x 2 dx = 9 + 9 tan 2 θ (3sec 2 θdθ ) = 9sec 2 θ (3sec 2 θdθ ) = sec3 θdθ

9
9 + x dx = (sec θ tan θ + ln sec θ + tan θ ) + C
2
2
2 2
2 9 9 + x x 9 + x x
9 + x dx = ( ( ) + ln +( ))+C
2 3 3 3 3
Back 2
substitution 1 9 x + 9 + x
9 + x 2 dx = x 9 + x 2 + ln )+C
2 2 3
11
© 2019 Dr Khoo Shin Yee
 8.2.2 Trigonometric Substitution
• Example 3: Solve x 2 - 4dx
Substitution
2 tdt t2 Normal
Let sqrt(9+x2)=t ;
𝒙
x - 4dx = t ( ) = dt substitution is not
dt/dx=
𝒕
x 2
t -9 working

become more complicated

than original
x2 - 4
sin θ = 2
𝑥 x = 2sec θ = x
2 cos θ Trigonometric
𝑥2 − 4 cos θ = substitution
x dx
2sec θ tan θ =
θ x2 - 4 dθ
tan θ =
2 2

x 2 - 4dx = 4sec2 θ - 4(2sec θ tan θdθ ) = 4 tan 2 θ (2sec θ tan θdθ ) = sec θ tan 2 θdθ

Continue…

12
© 2019 Dr Khoo Shin Yee
 • Solve sec θ tan 2 θdθ

sec θ tan 2 θdθ = 4 tan θ.sec θ tan θdθ

Normal
Integration by part
substitution is not
is working
working

let u = tan θ & dv = sec θ tan θdθ secθ tanθ is easier

to be integrated ;
du =(sec2 θ )dθ & v = sec θ tan θdθ = sec θ choose it as dv

sec θ tan 2 θdθ = 4( uv - vdu ) = 4(tan θ sec θ - sec θ sec 2 θdθ )

Integration by part

1
Previously, we get sec θdθ = (sec θ tan θ + ln sec θ + tan θ ) + C
3
2
1
sec θ tan θdθ = 4(tan θ sec θ - (sec θ tan θ + ln sec θ + tan θ ) + C )
2
2
Continue…
sec θ tan θdθ = 4 tan θ sec θ - 2sec θ tan θ - 2ln sec θ + tan θ ) + C
2

13
© 2019 Dr Khoo Shin Yee
 8.2.2 Trigonometric Substitution
• Example 3: Solve x 2 - 4dx (Continue)
x2 - 4
sin θ = 2
𝑥 x = 2sec θ = x
2 cos θ Trigonometric
𝑥2 − 4 cos θ = substitution
x dx
2sec θ tan θ =
θ x2 - 4 dθ
tan θ =
2 2
x 2 - 4dx = 4sec2 θ - 4(2sec θ tan θdθ ) = 4 tan 2 θ (2sec θ tan θdθ ) = sec θ tan 2 θdθ

sec θ tan 2 θdθ = 4 tan θ sec θ - 2sec θ tan θ - 2ln sec θ + tan θ ) + C

Back x 2 - 4dx = 4 tan θ sec θ - 2sec θ tan θ - 2ln sec θ + tan θ ) + C

substitution 2 2 2
2 x - 4 x x x - 4 x x -4
x - 4dx = 4( )( ) - 2( )( ) - 2ln + )+C
2 2 2 2 2 2
2 2
2 2 x x - 4 x + x -4
x - 4dx = x x - 4 - ( ) - 2ln )+C
2 2 14
© 2019 Dr Khoo Shin Yee
More examples for integrand requires
trigonometry substitution
3
9 - x2 𝑥
dx let x =3sin θ
x2 θ

9 − 𝑥2

𝑥2 + 6
𝑥
x2 + 6 let x = 6tanθ
dx θ
2
x
6

𝑥
2
𝑥2 − 15
x -15 let x = 15 sec θ θ
2 dx
x
15 15
© 2019 Dr Khoo Shin Yee