VECTOR INTEGRATION

b
1. Ordinary vector integrals of the form ∫ R (u )du and ∫a
R(u )du are evaluated in a
manner analogous to elementary integral calculus.

2. R(u) is a vector which is a function of a scalar variable u

that is, R(u ) = R1 (u )i + R2 (u ) j + R3 (u )k

Thus, ∫ R(u)du = i ∫ R (u )du + jR ∫

1 2 (u )du + k ∫ R3 (u )du

3. Say S(u) is another vector which is also a function of u

It is possible that the first derivative of S(u) is equal to R(u) itself.

 d 
That is, R(u ) =  S (u ) 
 du 

Integrating both sides with respect du,

d
∫ R(u)du = ∫ du ( S (u) )du
∫ R(u)du = ∫ dS (u)
∫ R(u)du = S (u) + c note: c is an arbitrary constant vector independent of u

4. If limits for u are specified, the definite integral is:

b
∫ R(u )du = S (b) − S (a)
a

Where: a = lower limit of u

b = upper limit of u

5. Line integrals relate to the integration of the tangential component of a vector A

between two points along a curve.

Let the position vector r (u ) = x (u )i + y (u ) j + z (u )k define a curve C joining points

P1 and P2
Where: u = u1 at point P1 and u = u 2 at point P2
 Assume that C is composed of a finite number of curves for each of which r (u ) has
a continuous derivative.

Also, let: A( x, y, z ) = A1i + A2 j + A3k be a vector function of position defined and

continuous along C.

6. Note the following:

The curve is defined by the position vector r(u) = x(u)i+y(u)j+z(u)k which means
that each point (x,y,z) along the curve is the terminal point of a vector r(u) whose
tail end is at the origin.

On the other hand vector A is a function of position (x,y,z) which means that the
vector A is tangent to the curve the at terminal point (x,y,z) of r(u)

The tail end therefore of vector A is not at the origin.

7. The integral of the tangential component of A along C from P1 and P2 given by

P2
∫ p1
A ⋅ dr = ∫ A ⋅ dr = ∫ A1dx + A2 dy + A3dz is a Line Integral.
C C

Where: dr is a vector and a differential of r = xi + yj + zk

With A and dr being vectors, their dot product, and the integral of their dot
product, yields a scalar.

8. A specific integral symbol, ∫ , may also be used to denote that the curve is
closed

∫ A ⋅ dr = ∫ A dx + A dy + A dz
1 2 3 Line integral

Note: curve simply closes but does not intersect itself anywhere

In aerodynamics and fluid mechanics this integral is called the circulation of A

about C, where A represents the velocity of a fluid.

9. When the curve is in three dimensional space dr = dx i + dy j + dz k

When the curve is in the xy-plane dr = dx i + dy j since z = 0
When the curve is in the xz -plane dr = dx i + dz k since y = 0
When the curve is in the yz-plane dr = dy j + dz k since x = 0
10. If vector A is force on a particle moving along C, the line integral yields the
magnitude of the work done by the force on the particle

11. If the vector A is equal to the gradient of ф, the line integral is zero

∫ A • dr = 0 if A = ∇φ ,
C

A in this case is called a conservative field while ф is its scalar potential

12. Any vector field A is conservative if and only if ∇ × A = 0 , or equivalently A = ∇φ .

A ⋅ dr = A1dx + A2 dy + A3 dz
In such cases , an exact differential
A ⋅ dr = d φ

13. In general, any integral which is to be evaluated along a curve is called a line
integral. Such integrals can be defined ion terms of limits of sums as are the
integrals of elementary calculus.

14. Surface Integral relate to the flow of a vector across a surface; therefore a flux or
flow over an area.

• Let S be a two-sided surface. Arbitrarily choose any side as the positive

side (if S is a closed surface this is taken as the outer side).

• Any unit normal vector n at any point on this side is called a positive or
outward drawn unit normal

• Visualize another vector dS in the direction of n. The magnitude of dS is

of course dS , or dS = dS .

• Since n is a unit vector in the same direction as dS, dS = n dS

• When a vector A fluxes over the surface S, this flux is given by:

∫∫ A ⋅ dS = ∫∫ A ⋅ ndS
S S
called flux of A over S

15. Other surface integrals are: ∫∫ φ dS , ∫∫ φndS , ∫∫ AxdS

S S S

In which φ is a scalar function

16. The notation ∫∫
S
is sometimes used instead of the usual double integral notation
to indicate integration over a closed surface.

17. To evaluate surface integrals, it is convenient to express them as double integrals

taken over the projected area of the surface S on one of the coordinate planes.

dxdy
∫∫ A ⋅ ndS = ∫∫ A n n k
S R
use when projected area of S is on the x-y plane

dxdz
∫∫ A ⋅ ndS = ∫∫ A n n k
S R
use when projected area of S is on the x-z plane

dydz
∫∫ A ⋅ ndS = ∫∫ A n n k
S R
use when projected area of S is on the y-z plane

This is possible if any line perpendicular to the coordinate plane chosen meets the
surface in no more than one point. However, this does not pose any real problem
since we can generally subdivide S into surfaces which do satisfy this restriction.

18. Volume Integrals

Consider a closed surface in space enclosing a volume V.
Then
∫ ∫ ∫ AdV and ∫ ∫ ∫ φdV
∇ ∇

are examples of volume integrals or space integrals as they are sometimes called.
VECTOR INTEGRAL EXAMPLES

1. ( )
If R (u ) = u − u 2 i + 2u 3 j − 3k , find (a )∫ R (u )du and (b )∫ R (u )du .
2

(a )∫ R(u )du = ∫ [(u − u 2 )i + 2u 3 j − 3k ]du

( )
= i ∫ u − u 2 du + j ∫ 2 u 3 du + k ∫ − 3 du
2 3
u u u4
= i ( − + c1 ) + j( + c2 ) + k ( −3u + c3 )
2 3 2
2 3 4
u u u
= ( − )i + j − 3uk + c1i + c2 j + c3k
2 3 2
2 3 4
u u u
= ( − )i + j − 3uk + c
2 3 2
Note that: c is the constant vector c1i + c2 j + c3k .

2
u3 u4
(b ) From (a ), ∫1 R(u )du = ( u
2
−
)i + j − 3uk + c |12
2 2 2
  2 2 23  2 4   12 13  14 
=  −  i + j − 3 ( 2 ) k + c  −  −  i + j − 3 (1) k + c 
 2 3  2   2 3  2 
5 15
= − i + j − 3k
6 2

Another approach

∫ R (u )du = i ∫ (u − u )du + j∫ 2u
2
2 3
du + k ∫ − 3du
1

u2 u3 2 u4 2
= i ( − ) |1 + j( ) |1 +k ( −3u ) |12
2 3 2
5 15
= − i + j − 3k
6 2

2. The acceleration of a particle at any time t ≥0 is given by

dv
a= = 12 cos 2ti − 8 sin 2tj + 16tk
dt
Find the velocity v and displacement r at any time, if the v and r are zero at
t = 0.
 dv
=a
dt
dv = adt

∫ dv = ∫ adt
v = ∫ adt
v = ∫ (12 cos 2ti − 8sin 2tj + 16tk )dt
v = i ∫ 12 cos 2tdt + j∫ −8sin 2tdt + k ∫ 16tdt
v = 6sin 2ti + 4 cos 2tj + 8t 2k + c1

when t = 0 , v = 0
0 = 0i + 4 j + 0k + c1
c1 = −4 j , substitute in v

v = 6 sin 2ti + (4 cos 2t − 4)j + 8t 2 k

dr
Recall v =
dt
= 6 sin 2ti + (4 cos 2t − 4 )j + 8t 2 k .
dr
So that
dt

∫ dt = ∫ ( 6sin 2ti + ( 4 cos 2t − 4 ) j + 8t k )

dr 2

∫ dr = ∫ ( 6sin 2ti + ( 4 cos 2t − 4) j + 8t k ) dt

2

r = i ∫ 6 sin 2tdt +j∫ (4 cos 2t − 4)dt + k ∫ 8t dt

2

8
r = −3cos 2ti + ( 2sin 2t − 4t ) j + t 3k + c2
3
Putting when t = 0 , r = 0
0 = −3i + 0 j + 0k + c 2
c 2 = 3i
Then substituting in r
r = (3 − 3 cos 2t )i + (2 sin 2t − 4t )j + t 3k
8
3

d 2A
3. Evaluate ∫ A × dt.
dt 2

d 2A d  dA 
First it can be shown that A × 2
= A×  as follows:
dt dt  dt 
 d  dA  d 2 A dA dA
A×  = A× 2 + ×
dt  dt  dt dt dt
d  dA  d 2A
 A ×  = A × +0
dt  dt  dt 2
d  dA  d 2A
Thus, A×  = A× 2
dt  dt  dt

d 2A d dA
Therefore, ∫ A × 2
dt = ∫ ( A × )dt
dt dt dt
d dA
Integrating, = ∫ ( A × )dt
dt dt
dA
= A× +c
dt

4. ( )
If A = 3x 2 + 6 y i − 14 yzj + 20 xz 2 k , evaluate ∫ A ⋅ dr from (0,0,0 ) to (1,1,1) along
C
the following paths C:

(a). x = t , y = t 2 , z = t 3
(b). the straight lines from (0,0,0 ) to (1,0,0) , then to (1,1,0 ) , and then to (1,1,1)
(c). the straight line joining (0,0,0 ) and (1,1,1)

First find ∫ A ⋅ dr
C

Recall: r = x i + y j + z k from which dr = dx i + dy j + dz k

∫ A ⋅ dr = ∫ [(3x ) ]
+ 6 y i − 14 yzj + 20 xz 2 k ⋅ (dxi + dyj + dzk )
2
C C

∫ A ⋅ dr = ∫ ( 3x + 6 y ) dx − 14 yzdy + 20 xz dz
2 2
C C

(a) If x = t , y = t 2 , z = t 3 then at (0,0,0 ) t=0 lower limit

If x = t , y = t 2 , z = t 3 then at (1,1,1) t=1 upper limit
Also,
dx = dt
dy = 2t dt
dx = 3t² dt
 Thus,
( ) ( )( )
∫0  3t + 6t dt − 14 t t ( 2tdt ) + 20 ( t ) t ( ) ( 3t dt )
1 2
∫C ⋅ = 2 2 2 3 3 2
A dr
1
= ∫ 9t 2 dt − 28t 6 dt + 60t 9 dt 
0
1
= ∫ 9t 2 − 28t 6 + 60t 9 dt
0

= 3t 3 − 4t 7 + 6t10 |10

∫ C
A ⋅ dr = 5
Another Method
(
Substitute x = t , y = t 2 , z = t 3 in A = 3 x 2 + 6 y i − 14 yzj + 20 xz 2 k )
and r = x i + y j + z k

A = 9t 2 i − 14t 5 j + 20t 7 k
r = ti + t 2 j + t 3k
From which dr = i + 2tj + 3t 2 k dt ( )

( )( )
1
Then ∫ A ⋅ dr = ∫  9t 2 i − 14t 5 j + 20t 7k ⋅ i + 2tj + 3t 2k dt 
C 0

= ∫ ( 9t 2 − 28t 6 + 60t 9 ) dt
1

∫ C
A ⋅ dr = 5 same as before

(b) evaluate from segment to segment then add results

along the straight line from (0,0,0 ) to, (1,0,0)

x = 0 to x = 1, there is a variation in x so dx is not 0
y = 0 to y =0, no variation in y so dy = 0
z = 0 to z = 0, no variation so dz = 0

this part of the path gives an integral:

1

∫ ( 3x + 6 ( 0 ) ) dx − 14 ( 0 )( 0 )( 0 ) + 20 x ( 0 ) ( 0 )
2 2

x =0

∫ ( 3x + 6 ( 0 ) ) dx − 14 ( 0 )( 0 )( 0 ) + 20 x ( 0 ) ( 0 )
1 2 2

x =0

= ∫
1
3x 2 dx
x =0

= x3 |10
=1
 along the straight line from (1, 0, 0 ) to, (1,1, 0 )
x = 1 to x = 1,no variation in x so dx=0
y = 0 to y =1, there is a variation in y so dy is not 0
z = 0 to z = 0, no variation so dz = 0

this part of the path gives an integral:

∫ ( 3 (1) )
1
+ 6 y 0 − 14 y ( 0 ) dy + 20 (1)( 0 ) 0
2 2

y =0

=0

along the straight line from (1,1, 0 ) to, (1,1,1)

x = 1 to x = 1,no variation in x so dx=0
y = 1 to y =1, no variation in y so dy = 0
z = 0 to z = 1, there is a variation z so dz is not 0

this part of the path gives an integral:

∫ ( 3 (1) )
1
+ 6 (1) 0 − 14 (1) z ( 0 ) + 20 (1) z 2 dz
2

z =0

20 z 3 1
= ∫ 20 z 2 dz =
1
|0
Z =0
3
20
=
3

Adding all results in each segment to obtain ∫ A ⋅ dr

C
20
∫ C
A ⋅ dr = 1 + 0 +
3
23
∫C
A ⋅ dr =
3

(c) straight line joining (0,0,0 ) and (1,1,1) given in parametric from by
x = t, y = t, z = t

At (0,0,0) t=0
At (1,1,1) t =1

x =t ; dx = dt
y = t ; dy = dt
z = t ; dz = dt

substitute in:
 ∫C
(
A ⋅ dr = ∫ 3 x 2 + 6 y dx − 14 yzdy + 20 xz 2 dz
C
)
1

∫ A ⋅ dr = ∫ ( 3t )
+ 6t dt − 14 ( t )( t ) dt + 20 ( t )( t ) dt
2 2
C
t =0
1
= ∫ ( 3t + 6t − 14t 2 + 20t 3 ) dt
2

t =0
1
= ∫ ( 6t − 11t )
+ 20t 3 dt
2

t =0

13
∫C
A ⋅ dr =
3

5. Find the total work done in moving a particle in a force field given by
F = 3xyi − 5 zj + 10 zk along the curve x = t 2 + 1, y = 2t 2 , z = t 3 from t = 1 to t = 2 .

Total Work = ∫ A ⋅ dr = ∫ F ⋅ dr
C C

Total work = ∫ F ⋅ dr = ∫ (3 xyi − 5 zj + 10 xk ) ⋅ (dxi + dyj + dzk )

C C

= ∫ 3 xydx − 5 zdy + 10 xdz

C

= ∫ 3 ( t 2 + 1)( 2t 2 ) d ( t 2 + 1) − 5 ( t 3 ) d ( 2t 2 ) + 10 ( t 2 + 1) d ( t 3 )
1

= ∫ (12t 5 + 10t 4 + 12t 3 + 30t 2 ) dt

2

1
Total work = 303

6. If F = ∇φ , where φ is single-valued and has continuous partial derivatives, show

that the work done in moving a particle from one point P1 = ( x1 , y1 , z1 ) in this
field to another point P2 = ( x 2 , y 2 , z 2 ) is independent of the path joining the two
points.

P2 P2
Work done = ∫ F ⋅ dr = ∫ ∇φ ⋅ dr
P1 P1

∂ϕ ∂ϕ ∂ϕ
k ) ⋅ ( dxi + dyj + dzk )
P2
=∫ ( i+ j+
∂x
P1 ∂y ∂z
P2 ∂φ ∂φ ∂φ
=∫ dx + dy + dz
P1 ∂x ∂y ∂z
P2
= ∫ dφ
P1
 = φ ( P2 ) − φ ( P1 )
Work done = φ ( x2, y2, z2 ) − φ ( x2, y2, z2 )

Then the integral depends only on points P1 and P2 and not on the path
joining them. This is true of course only if φ ( x, y, z ) is single-valued at all
points P1 and P2 .

7. ( )
Show that F = 2 xy + z 3 i + x 2 j + 3 xz 2 k is a conservative force field

A necessary and sufficient condition that a force will be conservative is that

curl F = ∇ × F = 0 .

 ∂
∇×F =  i +
 ∂x
∂
∂y
∂ 
(
j + k  x ( 2 xy + z 3 ) i + x 2 j + 3 xz 2k
∂z 
)
i j k
∂ ∂ ∂
Now ∇ × F =
∂x ∂y ∂z
2 xy + z 3 x2 3 xz 2

 ∂ ∂   ∂ ∂   ∂ ∂ 
∇ × F =  3 xz 2 − x 2  −  3xz 2 − ( 2 xy + z 3 )  +  x 2 − ( 2 xy + z 3 ) 
 ∂y ∂z   ∂x ∂z   ∂x ∂y 

∇ × F = ( 0 − 0 ) − (3z 2 − 3z 2 ) + ( 2 x − 2 x )
∇ × F = 0 proving that F is a conservative force field.

8. Evaluate ∫∫ A ⋅ ndS
S
if A = 18 zi − 12 j + 3 yk and S is part of the plane

2 x + 3 y + 6 z = 12 which is located in the first octant as shown.

Evaluate using,
dxdy
∫∫ A ⋅ ndS = ∫∫ A n n k
S R
since 2 x + 3 y + 6 z = 12 can be projected on the xy-plane.

On the xy plane z = 0, thus, 2x + 3y = 12 intersects the x and y axes on the xy-

plane. The x- axis is intersected at (6,0,0)

∇φ
The unit vector n can be obtained from
∇φ
∇φ = ∇ ( 2 x + 3 y + 6 z )
∇φ = 2 i + 3 j + 6 k
∇φ 2i + 3 j + 6k
=
∇φ 22 + 32 + 62
∇φ 2i + 3 j + 6k 2 3 6
n= = = i+ j+ k
∇φ 7 7 7 7
 2 3 6 
n k = i+ j+ k k
7 7 7 
6
nk=
7
6
nk =
7
dxdy dxdy
=
nk 6
7
dxdy 7
= dxdy
nk 6

2 3 6 
A n = (18 zi − 12 j + 3 yk)  i + j + k 
7 7 7 
36 z 36 18 y
A n= − +
7 7 7
12 − 2 x − 3 y
substitute z = from the equation of the plane
6

 12 − 2 x − 3 y 
36   36 18 y
A n=  6  − +
7 7 7

72 12 x 18 y 36 18 y
A n= − − − +
7 7 7 7 7

36 12 x 36 − 12 x
A n= − =
7 7 7

dxdy
Substitute values in ∫∫ A ⋅ ndS = ∫∫ A n n k
S R

 36 − 12 x  7 
∫∫ A ⋅ ndS = ∫∫ 
S R
7
 dxdy 
 6 

∫∫ A ⋅ ndS = ∫∫ ( 6 − 2 x )dydx
S R

12 − 2 x
Note from the figure, on the projected area, y is from y= 0 to y =
3
 while x is from x = 0 to x = 6

12 − 2 x
6
∫∫ A ⋅ ndS = ∫
S
x =0 ∫ 3
y =0
(6 − 2 x)dydx

Integrate with respect to y first treating x as constant

12 − 2 x

( 6 y − 2 xy )]0 3
6
∫∫ A ⋅ ndS = ∫
S
x =0
(dx)

6   12 − 2 x   12 − 2 x 
∫∫ A ⋅ ndS = ∫
S
x =0  6
  3
− 0  − 2x 
  3
− 0  dx


Integrate in x

6  4 
∫∫ A ⋅ ndS = ∫
S
x =0 

24 − 12 x + x 2 dx
3 

6
12 x 2 4 x3 
∫∫S A ⋅ n dS = 24 x −
2
+ 
3(3)  0

∫∫ A ⋅ ndS = 24
S

9. Evaluate ∫∫∫ Fdv if F = 3xyi − 5 zj + 10 zk and V is the region bounded by the

V

surfaces along the curve x = 0, y = 0, z = x 2 , z = 4 as shown.

The differential volume dV is dz dy dx in which z is from x² to 4, y is from 0 to 6,
and x is from 0 to 2

∫ ( 2 xzi − xj + y k ) dzdydx
2 6 4
∫∫∫ FdV = ∫ ∫
2
x =0 y =0 z = x2
V

( 2 xz ) dzdydx − j ∫x=0 ∫y =0 ∫z = x ( x ) dzdydx + k ∫x=0 ∫y =0 ∫z = x ( y ) dzdydx

2 6 4 2 6 4 2 6 4
∫∫∫ FdV = i ∫ ∫ ∫
2
x =0 y =0 z=x 2 2 2
V

First hold both x and y constant and integrate in z

4
2 6 2 xz 2 2 6 2 6 4
∫∫∫ FdV = i ∫ ∫ dydx − j ∫ ∫ xz x2 dydx + k ∫ ∫
4
y 2 z 2 dydx
x =0 y =0 2 x =0 y =0 x =0 y =0 x
V x2
2 4
2 6 2 xz 2 6 2 6 4
∫∫∫ FdV = i ∫ ∫ dydx − j ∫ ∫ xz x2 dydx + k ∫ ∫
4
y 2 z 2 dydx
x =0 y =0 2 x =0 y =0 x =0 y =0 x
V x2

( ) ( ) ( )
2 6 2 6 2 6
∫∫∫ FdV = i ∫
V
x =0 ∫ y =0
x (4) 2 − ( x 2 ) 2 dydx − j ∫
x =0 ∫ y =0
x 4 − x 2 dydx + k ∫
x =0 ∫ y =0
y 2 4 − x 2 dydx

( ) ( ) ( )
2 6 2 6 2 6
∫∫∫ FdV = i ∫
V
x =0 ∫ y =0
x 16 − x 4 dydx − j ∫
x =0 ∫ y =0
x 4 − x 2 dydx + k ∫
x=0 ∫ y =0
y 2 4 − x 2 dydx

(16 x − x ) dydx − j ∫ ∫ ( 4 x − x ) dydx + k ∫ ∫ ( )

2 6 2 6 2 6
∫∫∫ FdV = i ∫ ∫ y 2 4 − x 2 dydx
5 3
x =0 y =0 x =0 y =0 x=0 y =0
V

Hold x constant and integrate in y

6
y3
( ) ∫ ( ) ( )
2 2 6 2 6
∫∫∫ FdV = i ∫ 16 x − x 5 y 0 dx − j ∫ 4 x − x 3 y 0 dx + k ∫ ∫ 4 − x2
6 6
dx
x =0 x =0 y =0 x =0 y =0 3 0
V
6

(16 x − x ) y ∫ ( 4x − x ) y (4 − x ) y3
2 2 6 2 6
∫∫∫ FdV = i ∫ dx − j ∫ dx + k ∫ ∫
5 6 3 6 2
dx
x =0 0 x =0 y =0 0 x =0 y =0 3 0
V
  3
− 03 
(16 x − x ) (6 − 0)dx − j ∫ ( 4 x − x ) (6 − 0)dx + k ∫ (4 − x ) 6
2 2 2
∫∫∫ FdV = i ∫
5 3 2
x =0 x =0 x=0
 dx
V  3 

∫∫∫ FdV = i ∫ ( 96 x − 6 x ) dx − j ∫ ( 24 x − 6 x ) dx + k ∫ ( 288 − 72 x ) dx

2 2 2
5 3 2
x =0 x =0 x=0
V

Integrate with respect to x

2 2
96 x 2 6 x 6 24 x 2 6 x 4 72 x3
∫∫∫
V
F dV = i
2
−
6 0
− j
2
−
4 0
+ k 288 x −
3

∫∫∫ FdV = i (191 − 64) − j (48 − 24) + k (576 − 192)

V

∫∫∫ FdV = 128i − 24 j + 384k

V