MATH 1920: Multivariable Calculus for Engineers Formulas/Equations to Know

2 2 2
1 0 1 0 1 0
( ) ( ) ( ) D x x y y z z = + +
1 1 2 2 3 3
, , PQ q p q p q p = ( )

Dot product: cos u v u v u =

0 u v u v =



1 1 2 2 3 3
u v u v u v u v = + +



v
u v v u v
proj u v
v v v v

= =

Work done by a constant force: F D



Cross product:

sin u v u v n u =

|| 0 u v u v =

sin u v u v u =



1 2 3 2 3 3 2 3 1 1 3 1 2 2 1
1 2 3
( ) ( ) ( ) u v u u u u v u v u v u v u v u v
v v v
| |
|
= = + +
|
|
\ .
i j k
i j k


Area of a parallelogram: u v

Torque: r F



Scalar Triple Product:

1 2 3
1 2 3
1 2 3
( )
u u u
u v w v v v
w w w
| |
|
=
|
|
\ .

Volume of a box: ( ) u v w



Lines: Direction
1 2 3
, , v v v v = ( )

through
0 0 0 0
( , , ) P x y z =

0 1
0 2
0 3
x x tv
y y tv
z z tv
= +
= +
= +

0
0
0 0 0
( ) ( )
( ) , ,
( ) , ,
r t r t tv
r t x y z
r t x y z
= +
= ( )
= ( )

Distance from a point to a line:
P is any point on line L , S is the point off the line, v

is a vector parallel to L
( , )
v PS
dist L S
v

=



Planes: , , n A B C = ( )

Vector in plane
0 0 0 0
, , PP x x y y z z = ( )

Equation for a plane:
0 0 0
0
( ) ( ) ( ) 0
o
P P n
A x x B y y C z z
Ax By Cz D
=
+ + =
+ + =


Intersections of planes: direction vector of the line of intersection
1 2
n n =


Distance from a point to a plane:
P is any point in the plane with normal vector n

, S is the point outside of the plane

=



Vector Functions:

( ) position
( ) ( ) velocity
( ) ( ) ( ) acceleration
r t
v t r t
a t v t r t
=
'
= =
' ''
= = =

Total distance traveled: ( )
b
a
v t dt
}

(arc length)
Arc length parameter:
0
( )
t
t
v t dt
}

Line Integrals: ( )
b
C a
fds f v t dt =
} }

density: ( , , ) x y z o Mass:
C
ds o
}

Center of mass: ( , , ) x y z , where , ,
yz xy
C xz C C
C C C
x ds y ds z ds
M M
M
x y z
M M M
ds ds ds
o o o
o o o
= = = = = =
} } }
} } }

Moment of Inertia:
2
L
C
I r ds o =
}
(about a line L) Radius of gyration:
L
I
M

2 2
( )
x
C
I y z ds o = +
}

2 2
( )
y
C
I x z ds o = +
}

2 2
( )
z
C
I x y ds o = +
}


Vector Fields:
( , , ) ( , , ) ( , , ) ( , , ) F x y z M x y z N x y z P x y z = + + i j k

Work:
b
C C a
dr
W F dr F Tds F dt
dt
= = =
} } }



Flow, circulation:
b b
a a
dr
F Tds F dt
dt
=
} }



Flux:

( ( ) ( ) )
C C C
dy dx
F nds Mdy Ndx M t N t dt
dt dt
= =
} } }

Regions in the Plane:
Interior of
O
R R = Boundary of R R = c
R is open if
O
R R = R is closed if R c is in R
A region can be bounded and unbounded

Partial Derivatives: , ,
x x y y z z
f f f
f D f f D f f D f
x y z
c c c
= = = = = =
c c c


2 2 2 2
2 2
, , ,
f f f f
x y x y y x
c c c c
c c c c c c

If ( , ), , , ,
x y xy yx
f x y f f f f are defined on an open region around ( , ) a b and are continuous at ( , ) a b ,
then
( , ) ( , )
xy yx
a b a b
f f =
Chain rule:
dw f dx f dy f dz
dt x dt y dt z dt
c c c
= + +
c c c
when ( ) ( ( ), ( ), ( )) w t f x t y t z t =
Implicit differentiation: Given ( , , ) F x y z ,
x
y
F y
x F
c
=
c


Directional Derivatives and Gradients:
Gradient , ,
f f f
f
x y z
c c c
V = ( )
c c c

Directional Derivative

0 0
( ) ( )
P P
u
D f f u = V

Properties of Gradients:
2
( )
( )
( ) if 0
( )
f g f g
fg g f f g
f g f f g
g
g g
kf k f
V + = V +V
V = V + V
V V
V = =
V = V


Tangent Planes and Differentials:
Tangent plane:
0 0 0 0 0 0
( )( ) ( )( ) ( )( ) 0
x y z
f P x x f P y y f P z z + + =
Normal line:
0
0
0
( )
( )
( )
x o
y o
z o
x x f P t
y y f P t
z z f P t
= +
= +
= +

Change in f in a Direction

u :

0
( | )
P
df f u ds = V
Linearization:
0
0 0 0 0 0 0 0
( , ) ( , ) ( , ) ( , )( ) ( , )( )
P o x y
f x y L x y f x y f x y x x f x y y y ~ = + +

2
0 0
1
( , ) ( )
2
E x y M x x y y s + where M is any upper bound for the values of
, ,
xx yy xy
f f f on R
Total differential:
0 0 0 0
( , ) ( , )
x y
df f x y dx f x y dy = +

Extreme Values and Saddle Points:
First Derivative test: to find local extrema
1) ( , ) 0 f a b V =


2) If one or both of ( , )
x
f a b and ( , )
y
f a b do not exist
3) Check boundary of the domain
Second Derivative test:
If ( , ) 0 f a b V =

, set
2
xx yy xy
D f f f =
- If ( , ) 0 D a b > and ( , ) 0
xx
f a b < , then ( , ) a b is a local maximum
- If ( , ) 0 D a b > and ( , ) 0
xx
f a b > , then ( , ) a b is a local minimum
- If ( , ) 0 D a b < , then ( , ) a b is a saddle point
- If ( , ) 0 D a b = , no conclusion may be drawn
To check the boundary, convert ( , ) f x y to a function in either x or y and set '( ) 0 f x =
Lagrange Multiplier:
To find extreme values of a given function f subject to a constraint function ( , , ) 0 g x y z =
f g V = V
1 2
f g g V = V + V

Double Integrals:
Fubinis Theorem: If f is continuous on R , ( , ) ( , )
b d d b
R a c c a
fdA f x y dydx f x y dxdy = =
}} } } } }

If
1 2
R R R = , then
1 2
R R R
fdA fdA fdA = +
}} }} }}

Area:
R
dA
}}
Mass:
R
dA o
}}

Center of mass: ( , ) x y , where ,
yz
xz R R
R R
x dA y dA
M
M
x y
M M
dA dA
o o
o o
= = = =
}} }}
}} }}

Moment of Inertia:
2
( , ) ( , )
L
R
I r x y x y dA o =
}}
(about a line L)

2
( , )
x
R
I y x y dA o =
}}

2
( , )
y
R
I x x y dA o =
}}

Average value of
1
over
area of
R
f R fdA
R
=
}}

Polar:
R R R
fdA fdydx frdrdu = =
}} }} }}


Triple Integrals:
Mass:
S
dV o
}}}


S
fdV
}}}

2
sin dV rdzdrd d d d u | | u = =

Potential Functions:
Let , , , ,
f f f
F M N P
x y z
c c c
= ( ) = ( )
c c c

is conservative if:
B
C A
F dr F dr =
} }


Mdx Ndy Pdz + + is exact if: , ,
M N M P N P
y x z x z y
c c c c c c
= = =
c c c c c c

( ) ( )
C C
F dr f dr f B f A = V =
} }



Greens Theorem:
Flux-divergence:

(div )
C C
F nds F dA =
} }}

( )
C R
M N
Mdy Ndx dA
x y
c c
= +
c c
} }}

Circulation-curl:

(curl )
C R
F dr F kdA =
} }}

( )
C R
N M
Mdx Ndy dA
x y
c c
+ =
c c
} }}


Surface Area:

S R
f
d dA
f p
o
V
=
V
}} }}
where

p is a unit vector normal to R

( , , )
R
f
g x y z dA
f p
V
V
}}

Flux:

( )
S S S
g
g F g
F nd F dA dA
g
g p g p
o
V
V V
= =
V
V V
}} }} }}

Mass ( , , )
S
x y z d o o
}}
Radius of gyration:
L
L
I
R
M
=

Parameterized Surfaces:
Parameterize the surface into ( , ) ( , ), ( , ), ( , ) r u v f u v g u v h u v = ( )

a u b s s , c v d s s

d b
u v
S c a
A d r r dudv o = =
}} } }


( , , ) ( ( , ), ( , ), ( , ))
d b
u v
S c a
G x y z d G f u v g u v h u v r r dudv o =
}} } }


Flux:

( ) ( ( ))
d b d b
u v
u v u v
S c a c a
u v
r r
F nd F r r dudv F r r dudv
r r
o

= =

}} } } } }




Stokes Theorem:
curl ( ) ( ) ( )
P N M P N M
F F
y z z x x y
c c c c c c
= V = + +
c c c c c c
i j k


Counterclockwise circulation:

(curl )
C S S
F dr F nd F nd o o = = V
} }} }}

( )
u v
f
nd dA r r dudv
f p
o
V
= =
V


curl grad 0 f f =VV =

Divergence Theorem:
div
M N P
F F
x y z
c c c
= V = + +
c c c


Outward flux:

(div )
S D D
F nd F dV FdV o = = V
}} }}} }}}


General rule: ( ) ( ) f F f F f F V = V +V


Gausss law:

0 S
q
E ndo
c
=
}}

Continuity of hydrodynamics:
d
F
dt
o
V =

Harmonic functions:
2 2 2
2
2 2 2
0
f f f
f f
x y z
c c c
V = V V = + + =
c c c