CALCULUS 2

5. Vector Calculus
(Chapter 16)

Nguyễn Anh Tú
[email protected]

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 Contents

1 Vector Fields

2 Line Integrals

3 Green’s Theorem

4 Curl and Divergence

5 Surface Integrals

6 Stokes’ Theorem

7 Divergence Theorem

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Introduction

• In this chapter we study line integrals and surface integrals of

functions and vector fields.
• The connections between these new types of integrals and the
single, double, and triple integrals are given by
higher-dimensional analogs of the FTC: Green’s Theorem,
Stokes’ Theorem, and the Divergence Theorem.

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 Section 1

Vector Fields

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Vector Fields

• A vector field is a function whose domain is a subset D of R2

taking valued in R2 .

San Francisco Bay wind velocity vector fields.

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Vector Fields

Ocean currents off the coast of Nova Scotia

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Vector Fields

Airflow past an inclined airfoil.

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Vector Fields

Definition 1.1
• Let D be a set in R2 (a plane region). A vector field on D is a
function that assigns to each point (x, y ) in D a
two-dimensional vector F (x, y ).
• Since F (x, y ) is a two-dimensional vector, we can write it in
terms of its component functions P and Q:

F (x, y ) = P(x, y )i + Q(x, y )j = ⟨P(x, y ), Q(x, y )⟩

or, for short,
F = P i + Q j = ⟨P, Q⟩.

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Vector Fields
Definition 1.2
Let E be a set in R3 . A vector field on E is a function that assigns
to each point (x, y , z) in E a three-dimensional vector F (x, y , z).

A vector field F on R3 can be expressed in terms of its component

functions as
F (x, y , z) = P(x, y , z)i + Q(x, y , z)j + R(x, y , z)k
= ⟨P(x, y , z), Q(x, y , z), R(x, y , z)⟩. (1)

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Vector Fields

• If we identify the point (x, y , z) with its position vector

r = ⟨x, y , z⟩ and write F (r ) instead of F (x, y , z).
Then F becomes a function that assigns a vector F (r ) to a
vector r .
• A vector field is continuous if and only if its component
functions are continuous.
• Similarly, a vector field is differentiable if and only if its
component functions are differentiable.

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Vector Fields

Example 1.1 Suppose an electric charge Q is located at the

origin. According to Coulomb’s Law, the electric force F (r ) exerted
by this charge on a charge q located at a point (x, y , z) with position
vector r = ⟨x, y , z⟩ is
ϵqQ
F (r ) = 3 r
|r |
where ϵ is a constant. This vector fields is a force field.
Physicists often consider the force per unit charge:
ϵQ
E (r ) = r.
|r |3

This vector field E is the electric field of Q.

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Gradient Fields

If f is a scalar function of two variables, its gradient ∇f is defined by

∇f (x, y ) = fx (x, y )i + fy (x, y )j .

Therefore ∇f is a vector field on R2 and is called a gradient vector

field.
Likewise, if f is a scalar function of three variables, its gradient is a
vector field on R3 given by

∇f (x, y , z) = fx (x, y , z)i + fy (x, y , z)j + fx (x, y , z)k .

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Example
Find the gradient of f (x, y ) = x 2 y − y 3 . Plot the gradient vector
field together with a contour map of f . How are they related?
Solution: The gradient is
∂f ∂f
∇f (x, y ) = i + j = 2xy i + (x 2 − 3y 2 )j .
∂x ∂y
The gradient vectors are perpendicular to the level curves. They are
long where the level curves are close to each other and short where
the curves are farther apart.

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Vector Fields
A vector field F is called conservative if it is the gradient of a
function, i.e., if there exists a function f such that

F = ∇f .

Such an f is called a potential function for F.

Theorem 1.1
If F (x, y ) = P(x, y )i + Q(x, y )j is a conservative vector field in a
domain D of the xy -plane, then at all points of D
∂P ∂Q
= ,
∂y ∂x

Example 1.3 Show that the vector field F = e x cos y , −e x sin y



is conservative by finding a potential function for it.

Answer: f (x, y ) = e x cos y
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 Section 2

Line Integrals

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Line Integrals

Let C be a plane curve given by the parametric equations

x = x(t), y = y (t) (a ≤ t ≤ b)

or, equivalently, by the vector equation

r (t) = x(t)i + y (t)j ,

and we assume that C is a smooth curve. (This means that
r ′ (t) = x ′ (t)i + y ′ (t)j is continuous and r ′ (t) ̸= 0).

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Line Integrals
• Divide the interval [a, b] into n
subintervals [ti−1 , ti ] of equal
length and let xi = x(ti ) and
yi = y (ti ).
• The corresponding points
Pi (xi , yi ) divide C into n subarcs
with lengths ∆s1 , ∆s2 , ..., ∆sn .
• Choose any point ti∗ in [ti−1 , ti ]
and let xi∗ = x(ti∗ ), yi∗ = y (ti∗ ).

If f is a function of two variables whose domain contains the curve C,

we form the sum n
X
f (xi∗ , yi∗ )∆si .
i=1

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Line Integrals

Definition 2.1
If f is defined on a smooth curve C given by

r (t) = ⟨x(t), y (t)⟩, a≤t≤b

then the line integral of f along C is

Z n
X
f (x, y )ds = lim f (xi∗ , yi∗ )∆si
C n→∞
i=1

if this limit exists.

R
We call the line integral C
f (x, y )ds the line integral with respect
to arc length.

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Line Integrals
It can be shown that if f is a continuous function, then the limit in
Definition 1.3 always exists and
Z Z b

q 2  2
f (x, y )ds = f x(t), y (t) x ′ (t) + y ′ (t) dt
C a
Z b
f r (t) |r ′ (t)|dt


=
a

In particular, the length of C is

Z Z b
L = ds = |r ′ (t)|dt
C a

Remark The value of a line integral does not depend on the

parametrization of the curve, provided that it is traversed exactly
once as t increases from a to b.
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Line Integrals

If C is the graph of a function y = y (x), we can choose x as the

parameter and the equations for C are

x = x, y = y (x), a≤x ≤b

then
Z Z b
q  2
f (x, y )ds = f x, y (x) 1 + y ′ (x) dx
C a

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Line Integrals
R
Example 2.1 Evaluate C (2 + x 2 y )ds, where C is the upper half
of the unit circle x 2 + y 2 = 1.
Solution: C can be parametrized

x = cos t, y = sin t, 0 ≤ t ≤ π.

Therefore,
Z Z π p
2
(2 + x y )ds = (2 + cos2 t sin t) (− sin t)2 + cos2 tdt
C
Z0 π  cos3 t π
= (2 + cos2 t sin t)dt = 2t +
3

0 0
2
= 2π + .
3

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Line Integrals

Suppose C is a piecewise-smooth curve; that is, C is a union of a

finite number of smooth curves C1 , C2 , ..., Cn where the initial point of
Ci+1 is the terminal point of Ci .
We define the integral of f along C as the sum of the integrals of f
along each of the smooth pieces of C:
Z Z Z Z
f (x, y )ds := f (x, y )ds + f (x, y )ds + · · · + f (x, y )ds.
C C1 C2 Cn

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Line Integrals

Two other line integrals are obtained by replacing ∆si by either

∆xi = xi − xi−1 or ∆yi = yi − yi−1 in Definition 1.3. They are called
the line integrals of f along C with respect to x and y :
Z n
X
f (x, y )dx = lim f (xi∗ , yi∗ )∆xi
C n→∞
i=1
Z n
X
f (x, y )dy = lim f (xi∗ , yi∗ )∆yi
C n→∞
i=1

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Line Integrals

If f is continuous on the piecewise-smooth curve C then

Z Z b
f x(t), y (t) x ′ (t)dt


f (x, y )dx =
C a
Z Z b
f x(t), y (t) y ′ (t)dt


f (x, y )dy =
C a

We also denote
Z Z Z
P(x, y )dx + Q(x, y )dy := P(x, y )dx + Q(x, y )dy
C C C

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Line Integrals

R
Example 2.2 Evaluate C y 2 dx + xdy , where
(a) C is the line segment from (−5, −3) to (0, 2) and
(b) C is the arc of the parabola x = 4 − y 2 from (−5, −3) to (0, 2).
Solution: (a) A parametric representation for the line segment is

x = 5t − 5, y = 5t − 3, 0≤t≤1

Then dx = 5dt, dy = 5dt, and

Z 1
5
Z
y dx + xdy = (5t − 3)2 (5dt) + (5t − 5)(5dt) = − .
2
 
C1 0 6

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Line Integrals

(b) Take y as the parameter and write C2 as

x = 4 − y 2, y = y, −3 ≤ y ≤ 2.

Then dx = −2ydy and we have

Z Z 2
2
 2
y (−2ydy ) + (4 − y 2 )(dy )

y dx + xdy =
C2 −3
Z 2
= (−2y 3 − y 2 + 4)dy
−3
h y4 y3 i2 5
= − − + 4y = 40 .
2 3 −3 6

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Line Integrals

If −C denotes the curve consisting of the same points as C but with

the opposite orientation, then we have
Z Z Z Z
f (x, y )dx = − f (x, y )dx, f (x, y )dy = − f (x, y )dy
−C C −C C

But if we integrate with respect to arc length, the value of the line
integral does not change when we reverse the orientation of the curve:
Z Z
f (x, y )ds = f (x, y )ds
−C C

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Line Integrals in Space
• Let C be a smooth curve in space given by the parametric
equations
r (t) = ⟨x(t), y (t), z(t)⟩.
• As for curves in plane, we define the line integral of f along C
by
Z
f (x, y , z)ds
C
Z b

q 2  2  2
= f x(t), y (t), z(t) x ′ (t) + y ′ (t) + z ′ (t) dt
a
Z b
f r (t) |r ′ (t)| dt


=
a

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Example
R
Evaluate C
y sin zds, where C is the helix given by

x = cos t, y = sin t, z = t, 0 ≤ t ≤ 2π.

Solution:
Z Z 2π p
y sin zds = (sin t)(sin t) (− sin t)2 + (cos t)2 + 1 dt
C 0
√ Z 2π
√ Z 2π 2 2
= 2 sin tdt = (1 − cos 2t)dt
0 2 0
√ h i2π √
2 1
= t − sin 2t = 2π.
2 2 0

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Line Integrals
• Line integrals along C with respect to x, y , and z are defined as
for planar curve, for example,
Z Z b
f r (t) z ′ (t)dt


f (x, y , z)dz =
C a

• Combine integrals of the form

Z
P(x, y , z)dx + Q(x, y , z)dy + R(x, y , z)dz
C

are defined by summing the three separated integrals, i.e.

Z b
P r (t) x ′ (t) + Q r (t) y ′ (t) + R r (t) z ′ (t) dt.




a

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Line Integrals of Vector Fields
Definition
Let F be a continuous vector field defined on a smooth curve C given
by a vector function r (t), a ≤ t ≤ b. Then the line integral of F
along C is Z Z b
F · d r = F r (t) · r ′ (t)dt.


C a

• If F = ⟨P, Q, R⟩ then
Z Z
F · d r = Pdx + Qdy + Rdz.
C C
• Z Z
F · dr = − F · dr
−C C
• If F is a force field, this integral represents the work done by F
on a particle moving along the curve C
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Example
Evaluate C F · d r , where F (x, y , z) = xy i + yz j + zx k
R
and C is the
twisted cubic given by

x = t, y = t 2, z = t 3, 0 ≤ t ≤ 1.

Solution: We have
r (t) = t i + t 2 j + t 3 k
r ′ (t) = i + 2t j + 3t 2 k
F r (t) = t 3 i + t 5 j + t 4 k

Thus,
1 1
27
Z Z Z
F · dr = F r (t) · r ′ (t)dt = (t 3 + 5t 6 )dt =


.
C 0 0 28

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Fundamental Theorem for Line Integrals
Theorem
Let C be a smooth curve parameterized by r (t), a ≤ t ≤ b. Let f be
a continuously differentiable function. Then
Z
∇f · d r = f r (b) − f r (a)



C

Example: Find the work done by the gravitational field

GmM
F (r ) = − 3 r
|r |
when a particle with mass m moves from (3, 4, 12) to (2, 2, 0).
Solution: F is a conservative vector field with potential
f (r ) = GmM/|r |. Thus,
 1 1
W = f (2, 2, 0) − f (3, 4, 12) = mMG √ − .
2 2 13
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Example
Let F (x, y ) = (3 + 2xy )i + (x 2 − 3y 2 )j .
(a) Find a function f such that F = ∇f .
(b) Evaluate the line integral C F · d r , where C is the curve given by
R

r (t) = e t sin t i + e t cos t j , 0 ≤ t ≤ π.

Solution: (a) We need

fx (x, y ) = 3 + 2xy (2)

fy (x, y ) = x 2 − 3y 2 . (3)

Integrating (2) with respect to x, we obtain

f (x, y ) = 3x + x 2 y + g (y ). (4)

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Example

Next we differentiate both sides of (4) with respect to y :

fy (x, y ) = x 2 + g ′ (y ). (5)

Comparing (3) and (5), we see that g ′ (y ) = −3y 2 . So

g (y ) = −y 3 + K where K is a constant. Thus,
f (x, y ) = 3x + x 2 y − y 3 + K . (c) The initial and terminal points of C
are r (0) = (0, 1) and r (π) = (0, −e π ). Thus we have
Z Z
F · d r = ∇f · d r = f (0, −e π ) − f (0, 1)
C C
3π
=e − (−1) = e 3π + 1.

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 Section 3

Green’s Theorem

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Green’s Theorem
Positive orientation
Let D be a domain in R2 whose boundary is a curve C . The positive
orientation of C is the direction with respect to which the domain D
is always on the left.

Green’s Theorem
Let D be a domain in R2 whose boundary is a curve C is positively
oriented. If P and Q are continuously differentiable then
Z ZZ  
∂Q ∂P
Pdx + Qdy = − dA
C ∂x ∂y
D

H
Note The notation C Pdx + Qdy is also used to indicate that the
line integral is calculated using the positive orientation of the closed
curve C.
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Example

Evaluate I p
(3y − e sin x )dx + (7x + y 4 + 1)dy ,
C

where C is the circle x 2 + y 2 = 9.

Solution: The region D bounded by C is the disk x 2 + y 2 ≤ 9, so
applying Green’s Theorem we get
I p
(3y − e sin x )dx + (7x + y 4 + 1)dy
C ZZ ZZ
= (7 − 3)dA = 4 dA = 4A(D) = 36π.
D D

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Example

H
Evaluate C y 2 dx + 3xydy , where C is the boundary of the
semiannular region D in the upper half-plane between the circles
x 2 + y 2 = 1 and x 2 + y 2 = 4.

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Solution: In polar coordinates we can write

D = {(r , θ)| 1 ≤ r ≤ 2, 0 ≤ θ ≤ π}.

Therefore Green’s Theorem gives

I ZZ h
2 ∂ ∂ 2 i
y dx + 3xydy = (3xy ) − (y ) dA
C ∂x ∂y
D
ZZ Z πZ 2
= ydA = (r sin θ)rdrdθ
0 1
D
Z π  Z 2 
2
= sin θdθ r dr
0 1
 π  r 3 2  14
= − cos θ0  =
3 1 3

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Formulae for Areas
• If F = ⟨0, x⟩ or ⟨−y , 0⟩ or − 21 y , 12 x then ∂Q − ∂P


∂x ∂y
= 1.
• Hence, the Green’s Theorem gives the following formulas for the
area A of D:
1
I I I
A = xdy = − ydx = xdy − ydx
C C 2 C

2
x2
Example: Find the area enclosed by the ellipse a2
+ yb2 = 1. Solution:
The ellipse has parametric equations

x = a cos t, y = b sin t, 0 ≤ t ≤ 2π.

Thus,
2π
1 1
I Z
A= xdy − ydx = ab(cos2 t + sin2 t)dt = πab.
2 C 2 0

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 Section 4

Curl and Divergence

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Curl
• If F = ⟨P, Q, R⟩ is a differentiable vector field on R3 then curl
of F is the vector field
D ∂R ∂Q ∂P ∂R ∂Q ∂P E
curl F = − , − , −
∂y ∂z ∂z ∂x ∂x ∂y
• Formally,
∂ ∂ ∂
∇ = ⟨ , , ⟩.
∂x ∂y ∂z
then
curl F = ∇ × F

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Curl

Theorem
If f has continuous second order partial derivatives, then

curl(∇f ) = 0.

Example: Show that the vector field

F (x, y , z) = ⟨xz, xyz, −y 2 ⟩

is not conservative.
Solution: We have

curl F = ⟨−2y − xy , x, yz⟩

is nonzero. Thus F is not conservative.

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Divergence
• If F = ⟨P, Q, R⟩ is a differentiable vector field on R3 then then
the divergence of F is the function
∂P ∂Q ∂R
div F = + + .
∂x ∂y ∂z
• Formally,
div F = ∇ · F .

Theorem
If F is a twice differentiable vector field in R3 then

div(curl F ) = 0.

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Vector Forms of Green’s Theorem

• A vector field F (x, y ) = ⟨P(x, y ), Q(x, y )⟩ in R2 can be extend

to a vector field in R3 via

F (x, y , z) = ⟨P(x, y ), Q(x, y ), 0⟩

Then,  ∂Q ∂P 
curl F (x, y , z) = − k.
∂x ∂y
• The Green’s theorem can be recast as
I ZZ
F · d r = (curl F ) · k dA
C
D

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 Section 5

Surface Integrals

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Parametric Surfaces
• A parametric surface is a set of the form
S = {(x(u, v ), y (u, v ), z(u, v )), (u, v ) ∈ D}, (6)
where D is a region in the uv -plane and x, y , and z, are
functions of the two variables u and v .
• We say S is parameterized by
x = x(u, v ), y = y (u, v ), z = z(u, v )
or by the vector equation
r (u, v ) = ⟨x(u, v ), y (u, v ), z(u, v )⟩.

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Example
The sphere
x 2 + y 2 + z 2 = a2
has a parameterization given by

r (θ, ϕ) = ⟨a sin ϕ sin θ, a sin ϕ cos θ, a cos ϕ⟩.

with the parameters domain D = [0, π] × [0, 2π].

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Examples
1 Identify and sketch the surface with vector equation
r (u, v ) = ⟨2 cos u, v , 2 sin u⟩.
Solution: For a point (x, y , z) on the surface, we have

x 2 + z 2 = 4 cos2 u + 4 sin2 u = 4.

This means that cross-sections parallel to the xz-plane are circles

of radius 2. As there is no restriction on v , the surface is a
circular cylinder with radius 2 whose axis is the y -axis.
2 The graph of a function of two variables g (x, y ) on a domain D
is a parametric surface

r (x, y ) = ⟨x, y , g (x, y )⟩.

with parameters (x, y ) ∈ D.
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Tangent Planes
• We now find the tangent plane to the parametric surface S at
P0 = r (u0 , v0 ).
• If we keep u constant by putting u = u0 , then r (u0 , v ) becomes
a vector function of the single parameter v and defines a curve
C1 lying on S.
• Similarly, if we keep v constant, v = v0 , we get a curve C2 given
by r (u, v0 ) that lies on S.

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Tangent Planes
• The tangent vector to C1 at P0 is

∂x ∂y ∂z
r v (u0 , v0 ) =

(u0 , v0 ), (u0 , v0 ), (u0 , v0 ) .
∂v ∂v ∂v
• Likewise, the tangent vector to C2 at P0 is

∂x ∂y ∂z
r u (u0 , v0 ) =

(u0 , v0 ), (u0 , v0 ), (u0 , v0 ) .
∂u ∂u ∂u
• The tangent plane to S at P0 is the plane that contains the
two tangent vectors r u and r v . Thus, r u × r v is a normal vector
to the tangent plane.
• Example: Find the tangent plane to the surface with parametric
equations x = u 2 , y = v 3 , z = u + v 2 at the point (1, 0, −1).

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Surface Integrals
• Let f be a function defined on a surface S with parameterization

r (u, v ) = ⟨x(u, v ), y (u, v ), z(u, v )⟩ (u, v ) ∈ D.

• We first assume that D is a rectangle and we divide it into

subrectangles Rij with dimensions ∆u and ∆v .

Nguyễn Anh Tú [email protected] 5. Vector Calculus Fall 2022 53 / 88

Surface Integrals
• The surface S is divided into corresponding patches Sij . In each
patch, choose a point Pij∗ and approximate f on Sij by f (Pij∗ ).
Choosing Pij∗ = Pij gives the Riemann sum
m X
X n
f (Pij )∆Sij .
i=1 j=1

• The surface integral of f over S is the limit of the Riemann

sums
ZZ m X
X n
f (x, y , z) dS = lim f (Pij )∆Sij (7)
m,n→∞
S i=1 j=1

provided that this limit exists.

Nguyễn Anh Tú [email protected] 5. Vector Calculus Fall 2022 54 / 88

Surface Integrals

• Approximate the area of a patch by the area of the parallelogram

with sides ∆u r u (ui , vj ) and ∆v r v (ui , vj ) we get

∆Sij ≈ |r u (ui , vj ) × r v (ui , vj )|∆u∆v .

Nguyễn Anh Tú [email protected] 5. Vector Calculus Fall 2022 55 / 88

Surface Integrals
• Thus the Riemann sum in (??) is approximated by
m X
n
f (r (ui , vj ))|r u (ui , vj ) × r v (ui , vj )|∆u∆v .
X
(8)
i=1 j=1

• This is the double Riemann sum of the function

f (r (u, v ))|r u (u, v ) × r v (u, v )|

• Thus, taking the limit we obtain

ZZ ZZ
r (u, v ) |r u × r v | dA


f (x, y , z) dS = f (9)
S D

Nguyễn Anh Tú [email protected] 5. Vector Calculus Fall 2022 56 / 88

Example

RR
Compute the surface integral x 2 dS, where S is the unit sphere
S
x 2 + y 2 + z 2 = 1.

Solution: We use the parametric representation of the unit sphere

x = sin ϕ cos θ, y = sin ϕ sin θ, z = cos ϕ,

0 ≤ ϕ ≤ π, 0 ≤ θ ≤ 2π,

that is, r (ϕ, θ) = sin ϕ cos θi + sin ϕ sin θj + cos ϕk . We can compute
that |r ϕ × r θ | = sin ϕ.

Nguyễn Anh Tú [email protected] 5. Vector Calculus Fall 2022 57 / 88

Therefore,
ZZ ZZ
2
x dS = (sin ϕ cos θ)2 |r ϕ × r θ |dA
S D
Z 2π Z π
= sin2 ϕ cos2 θ sin ϕdϕdθ
0 0
Z π  Z 2π 
3
= sin ϕdϕ cos2 θdθ
 Z 0π 0
 Z 2π 
2 1
= (1 − cos ϕ) sin ϕdϕ (1 + cos 2θ)dθ
0 2 0
 π  1  2π  4π
1 3 1
= cos ϕ − cos ϕ θ + sin 2θ  = .
 
3 0 2 2 0 3

Nguyễn Anh Tú [email protected] 5. Vector Calculus Fall 2022 58 / 88

Surface Integrals
• The graph z = g (x, y ), of the function g over D is
parameterized by

x =x y =y z = g (x, y )

• We have
r x = ⟨1, 0, gx ⟩, r y = ⟨0, 1, gy ⟩.
Thus
r x × r y = ⟨−gx , −gy , 1⟩.
• Therefore, the integral over the graph S of g is
ZZ ZZ

q
f (x, y , z)dS = f x, y , g (x, y ) 1 + (gx )2 + (gy )2 dA
S D

Nguyễn Anh Tú [email protected] 5. Vector Calculus Fall 2022 59 / 88

Example
RR p
Evaluate zdS over the conical surface z = x 2 + y 2 between
S
z = 0 and z = 1.
Solution: We have gx = x/z and gy = y /z. Therefore
q √
1 + (gx )2 + (gy )2 = 2.
The projection of the surface onto the xy -plane is the disk
D = {(x, y ) : x 2 + y 2 ≤ 1}. In polar coordinates,
D = {(r , θ)| 0 ≤ θ ≤ 2π, 0 ≤ r ≤ 1}.
Thus,
ZZ ZZ √ p √ Z 2π Z 1
zdS = 2 2
2 x + y dA = 2 r · rdrdθ
0 0
S D
√
√ 2π 1
Z  Z 
2 2 2π
= 2 dθ r dr = .
0 0 3
Nguyễn Anh Tú [email protected] 5. Vector Calculus Fall 2022 60 / 88
Example
RR
Evaluate z dS, where S is the surface whose side S1 are given by
S
the cylinder x 2 + y 2 = 1, whose bottom S2 is the disk x 2 + y 2 ≤ 1 in
the plane z = 0, and whose top S3 is the part of the plane z = x + 1
that lies above S2 .

Nguyễn Anh Tú [email protected] 5. Vector Calculus Fall 2022 61 / 88

Solution: For S1 we use θ and z as parameters and write its
parametric equations as

x = cos θ, y = sin θ, z = z,
0 ≤ θ ≤ 2π, 0 ≤ z ≤ 1 + x = 1 + cos θ.

Therefore
r θ × r z = cos θi + sin θj and
|r θ × r z | = cos2 θ + sin2 θ = 1.
p

Nguyễn Anh Tú [email protected] 5. Vector Calculus Fall 2022 62 / 88

Thus the surface integral over S1 is
ZZ ZZ ZZ
z dS = z|r θ × r z | dA = z dA
S1 D1 D1
2π 1+cos θ 2π
1
Z Z Z
= (1 + cos θ)2 dθ
z dzdθ =
0 0 0 2
Z 2π h
1 1 i
= 1 + 2 cos θ + (1 + cos 2θ) dθ
2 0 2
 2π
1 3 1  3π
= θ + 2 sin θ + sin 2θ  = .
2 2 4 0 2

Nguyễn Anh Tú [email protected] 5. Vector Calculus Fall 2022 63 / 88

Since S2 lies in the plane z = 0, we have
ZZ ZZ
z dS = 0 dS = 0.
S2 S2

The top surface S3 is given by z = 1 + x, (x, y ) ∈ D3 , where

D3 = {(x, y )| x 2 + y 2 ≤ 1}.

So ZZ ZZ q
z dS = (1 + x) 1 + (zx )2 + (zy )2 dA
S3 D3
2π 1 √
Z Z
= (1 + r cos θ) 1 + 1 + 0 r drdθ
0 0

Nguyễn Anh Tú [email protected] 5. Vector Calculus Fall 2022 64 / 88

 √ Z 2π Z 1 √ Z 2π 1 1
 
2
= 2 (r + r cos θ) drdθ = 2 + cos θ dθ
0 0 0 2 3
2π
√ 1 √

1 
= 2 θ + sin θ  = 2π.
2 3 0

Therefore
ZZ ZZ ZZ ZZ
z dS = z dS + z dS + z dS
S S1 S2 S3
√ 3 √
 
3π
= +0+ 2π = + 2 π.
2 2

Nguyễn Anh Tú [email protected] 5. Vector Calculus Fall 2022 65 / 88

Oriented Surfaces

• A surface S is orientable if it is possible to choose a unit

normal vector n at every point of S so that n varies
continuously over S. If such a choice of n is specified, we call S
an oriented surface and say n gives S an orientation.

• If S is orientable then there are two ways to define orientation

on S, as −n gives another orientation.

Nguyễn Anh Tú [email protected] 5. Vector Calculus Fall 2022 66 / 88

Closed Surfaces

• A closed surface, that is, a surface that is the boundary of a

solid region E is always orientable.
• The convention is that the positive orientation is the one for
which the normal vectors point outward from E , and
inward-pointing normals give the negative orientation.

Nguyễn Anh Tú [email protected] 5. Vector Calculus Fall 2022 67 / 88

Parametric Surfaces
• If S is a smooth orientable surface given in parametric form by a
vector function r (u, v ), then it is automatically supplied with the
orientation of the unit normal vector
ru × rv
n= (10)
|r u × r v |

and the opposite orientation is given by −n.

• For a surface given as the graph of z = g (x, y ), we associate
with the surface a natural orientation given by the unit normal
vector
−g i − g j + k
n = p x 2y (11)
1 + (gx ) + (gy )2
Since the k -component is positive, this gives the upward
orientation of the surface.
Nguyễn Anh Tú [email protected] 5. Vector Calculus Fall 2022 68 / 88
Surface Integrals of Vector Fields
Definition
• If F is a continuous vector field on an oriented surface S with
unit normal vector n, then the surface integral of F over S is
ZZ ZZ
F · dS = F · n dS.
S S

This integral is also called the flux of F across S.

• If S is given by a vector function r (u, v ), then n is given by
(??), and we have
ZZ ZZ
F · dS = F · (r u × r v ) dA (12)
S D

Nguyễn Anh Tú [email protected] 5. Vector Calculus Fall 2022 69 / 88

Example
Find the flux of the vector field F (x, y , z) = z i + y j + x k across the
unit sphere x 2 + y 2 + z 2 .

Solution: Using the parametric representation

r (ϕ, θ) = sin ϕ cos θi + sin ϕ sin θj + cos ϕk ,
0 ≤ ϕ ≤ π, 0 ≤ θ ≤ 2π,
we have
F r (ϕ, θ) = cos ϕi + sin ϕ sin θj + sin ϕ cos θk

and
r ϕ × r θ = sin2 ϕ cos θi + sin2 ϕ sin θj + sin ϕ cos ϕk .
Therefore
F r (u, v ) · (r ϕ × r θ )

= cos ϕ sin2 ϕ cos θ + sin3 ϕ sin2 θ + sin2 ϕ cos ϕ cos θ

= 2 cos ϕ sin2 ϕ cos θ + sin3 ϕ sin2 θ
Nguyễn Anh Tú [email protected] 5. Vector Calculus Fall 2022 70 / 88
Thus, the flux is
ZZ ZZ
F · dS = F · (r ϕ × r θ ) dA
S D
Z 2π Z π
= (2 sin2 ϕ cos ϕ cos θ + sin3 ϕ sin2 θ) dϕdθ
0 0
 Z π  Z 2π 
2
=2 sin ϕ cos ϕdϕ cos θdθ
0 0
Z π  Z 2π 
3 2
+ sin ϕdϕ sin θdθ
0 0
4π 4π
=0+ = .
3 3

Nguyễn Anh Tú [email protected] 5. Vector Calculus Fall 2022 71 / 88

Integrals over Graphs

In the case where S is a graph z = g (x, y ), we use the formula (??)

for the normal vector and obtain
∂g ∂g
F · (r x × r y ) = −P −Q + R.
∂x ∂y

Thus ZZ ZZ  
∂g ∂g
F · dS = −P −Q + R dA
∂x ∂y
S D

Note:This formula assumes the upward orientation of S. Similar

formulas hold for the case S is given by y = h(x, z) or x = k(y , z).

Nguyễn Anh Tú [email protected] 5. Vector Calculus Fall 2022 72 / 88

Example

Evaluate
ZZ
F ·d S
S

where
F (x, y , z) = y i + x j + z k
and S is the boundary of the solid
region E enclosed by the paraboloid
z = 1 − x2 − y2
and the plane z = 0.

Nguyễn Anh Tú [email protected] 5. Vector Calculus Fall 2022 73 / 88

Solution:
• Recall that by convention, the surface S is outwardly oriented. S
consists of a parabolic top surface S1 and a circular bottom
surface S2 .
• From the picture, S1 is oriented upward, thus correponding to
the orientation given by considering its as the graph of
g (x, y ) = 1 − x 2 − y 2 over the disc x 2 + y 2 ≤ 1.
• We have
ZZ ZZ  
∂g ∂g
F · dS = −P −Q + R dA
∂x ∂y
S1 D
ZZ
− y (−2x) − x(−2y ) + 1 − x 2 − y 2 dA
 
=
D

Nguyễn Anh Tú [email protected] 5. Vector Calculus Fall 2022 74 / 88

 ZZ
= (1 + 4xy − x 2 − y 2 )dA
D
Z 2π Z 1
= (1 + 4r 2 cos θ sin θ − r 2 )r drdθ
0 0
Z 2π  
1 1 π
= + cos θ sin θ dθ = (2π) + 0 = .
0 4 4 2
• The disk S2 is oriented downward, so its unit normal vector is
nZ=Z −k and weZZ
have
ZZ ZZ
F · d S = F · (−k ) dS = (−z)dA = 0dA = 0
S2 S2 D D

since z = 0 on S2 .
• Finally,
ZZ ZZ ZZ
π
F · dS = F · dS + F · dS = .
2
S
Nguyễn Anh Tú [email protected]
S5.1 Vector Calculus
S2 Fall 2022 75 / 88
 Section 6

Stokes’ Theorem

Nguyễn Anh Tú [email protected] 5. Vector Calculus Fall 2022 76 / 88

Stokes’ Theorem
• Stokes’ Theorem is a generalization of Green’s Theorem. It
relates a surface integral over a surface S to a line integral
around the boundary curve of S.
• The orientation of S induces the positive orientation of the
boundary curve C: if you walks on C in the positive direction
with your head pointing in the direction of n, then the surface
will always be on your left.

Nguyễn Anh Tú [email protected] 5. Vector Calculus Fall 2022 77 / 88

Stokes’ Theorem

Theorem
Let S be an oriented surface and let C be its boundary with the
induced positive orientation. Then for any differentiable vector field F
Z ZZ
F · dr = curl F · d S
C
S

Note: Stokes’ Theorem states that the line integral of the tangential
component of F over the boundary of S is equal to the surface
integral of the normal component of the curl of F .

Nguyễn Anh Tú [email protected] 5. Vector Calculus Fall 2022 78 / 88

Example
Evaluate C F · d r , where F (x, y , z) = ⟨−y 2 , x, z 2 ⟩ and C is the curve
R

of intersection of the plane y + z = 2 and the cylinder x 2 + y 2 = 1.

(Orient C to be counterclockwise when viewed from above.)

Nguyễn Anh Tú [email protected] 5. Vector Calculus Fall 2022 79 / 88

Solution: We first compute
curl F = ⟨0, 0, 1 + 2y ⟩.
C is the boundary of the elliptical region S in the plane y + z = 2. If
we orient S upward, then C has the induced positive orientation. The
projection D of S on the xy -plane is the disk x 2 + y 2 ≤ 1 and so we
have
Z ZZ ZZ
F · dr = curl F · d S = (1 + 2y )dA
C
S D
Z 2π Z 1
= (1 + 2r sin θ)r drdθ
0 0
Z 2π  2 r =1 
r 2 3
= + r sin θ dθ

0 2 3 r =0
Z 2π 
1 2  1
= + sin θ dθ = (2π) + 0 = π.
0 2 3 2
Nguyễn Anh Tú [email protected] 5. Vector Calculus Fall 2022 80 / 88
Example
Let S be the part of the sphere x 2 + y 2 + z 2 = 4 that lies inside the
cylinder x 2 + y 2 = 1 and above the xy -plane. Compute the integral
ZZ
curl F · d S
S

where F (x, y , z) = xz i + yz j + xy k .

Nguyễn Anh Tú [email protected] 5. Vector Calculus Fall 2022 81 / 88

 2 2
√ curve C is the circle given by the equations
Solution: The boundary
x + y = 1 and z = 3. A vector equation of C is
√
r (t) = cos t i + sin t j + 3k
so
r ′ (t) = − sin t i + cos t j .
Also, we have
√ √
F r (t) 3 cos t i + 3 sin t j + cos t sin t k .


=

Therefore, by Stokes’ Theorem,

ZZ Z Z 2π
curl F · d S = F · d r = F r (t) · r ′ (t)dt


C 0
S
Z 2π √ √
= (− 3 cos t sin t + 3 sin t cos t)dt = 0.
0

Nguyễn Anh Tú [email protected] 5. Vector Calculus Fall 2022 82 / 88

 Section 7

Divergence Theorem

Nguyễn Anh Tú [email protected] 5. Vector Calculus Fall 2022 83 / 88

Divergence Theorem

Theorem
Let E be a simple solid region and let S be the boundary surface of
E with positive (outward) orientation. Let F be a differentiable
vector field. Then
ZZ ZZZ
F · dS = div F dV
S E

Note: The Divergence Theorem states that the flux of F across the
boundary surface of E is equal to the triple integral of the divergence
of F over E .

Nguyễn Anh Tú [email protected] 5. Vector Calculus Fall 2022 84 / 88

Example
F · d S , where
RR
Evaluate
S

F (x, y , z) = xy i + y 2 + e xz
2
j + sin(xy )k

and S is the surface of the region E bounded by the parabolic

cylinder z = 1 − x 2 and the planes z = 0, y = 0, and y + z = 2.

Nguyễn Anh Tú [email protected] 5. Vector Calculus Fall 2022 85 / 88

Solution:
∂ ∂ 2 ∂
div F =
2
(y + e xz ) +


(xy ) + sin(xy ) = 3y .
∂x ∂y ∂z
Express E as a type 3 region:
E = (x, y , z)| − 1 ≤ x ≤ 1, 0 ≤ z ≤ 1 − x 2 , 0 ≤ y ≤ 2 − z .


Then we have
ZZ ZZZ ZZZ
F · dS = div F dV = 3ydV
S E E
Z 1 Z 1−x 2 Z 2−z
=3 ydydzdx
−1 0 0
Z 1 1−x 2
(2 − z)2
Z
=3 dzdx
−1 0 2
1 1 184
Z
(1 + x 2 )3 − 8 dx =

=− .
2 −1 35
Nguyễn Anh Tú [email protected] 5. Vector Calculus Fall 2022 86 / 88
Summary
The main results of this chapter are higher-dimensional versions of the
Fundamental Theorem of Calculus. In each case, we have an equality
between the integral of a “derivative” of a function over some region
and the integeal of the function on the boundary of that region.

Rb ′
FTC F (x) dx = F (a) − F (b)
Ra
r r r



FT for Line Integrals C
∇f · d = f (b) − f (a)
Z
RR  ∂Q ∂P 
Green’s Theorem ∂x
− ∂y dA = Pdx + Qdy
D C
Z
curl F · d S F · dr
RR
Stokes’ Theorem =
S C
ZZ
div F dV F · dS
RRR
Divergence Theorem =
E
S

Nguyễn Anh Tú [email protected] 5. Vector Calculus Fall 2022 87 / 88