MODULE 5: Multiple Integration 1

Engr. Caesar Pobre Llapitan

TOPICS:
I. Double Integrals
II. Double Integrals in Polar Coordinates
III. Triple Integrals in Rectangular Coordinates

This module extends the integral of a function of one variable to the integral of functions
of two or three variables. Applications of double and triple integrals include finding
areas and volumes. The use of change of variables is also discussed to facilitate
evaluations of iterated integrals.

I. DOUBLE INTEGRALS

Learning Objectives
At the end of this section, the students should be able to
1. Represent double integral as volume of a solid between f(x, y) and the xy-plane over a
given domain.
2. Compute double integrals by iteration.
3. Use the Fubini’s theorems to compute the double integrals in rectangular and
nonrectangular regions.
4. Sketch the limits of integration involving double integrals in the xy-plane, and vice versa.
5. Determine the volume of solids using double integrals.
6. Determine the areas of bounded regions in a plane.

b
The definition of the definite integral, 
a
f ( x ) dx is motivated by the standard area problem,

namely, the problem of finding the area of the plane region bounded by the curve y = f(x), the
x-axis, and the lines x = a and x = b.

Similarly, we can motivate the double integral of a function of two variables over a domain D in
the plane by means of the standard volume problem of finding the volume of the three-
dimensional region S bounded by the surface z = f(x, y), the xy-plane, and the cylinder parallel
to the z-axis passing through the boundary of R. We call D the region (domain) of integration.

Figure 1: The double integral computes the volume of the solid region between the
graph of f (x, y) and the xy-plane over a domain D.
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Engr. Caesar Pobre Llapitan

We define the double integral of f(x, y) over the domain D

D f ( x , y ) dA
It represents the signed volume of the solid region between the graph of f(x, y) and a domain D
in the xy-plane (Figure 1), where the volume is positive for regions above the xy-plane and
negative for regions below.

There are many similarities between double integrals and the single integrals:
• Double integrals are defined as limits of sums.
• Double integrals are evaluated using the Fundamental Theorem of Calculus - we have
to use it twice

An important difference, however, is that the domain of integration plays a more prominent
role in the multivariable case. In one variable, the domain of integration is simply an interval
[a, b]. In two variables, the domain D is a plane region whose boundary may be curved (Figure
1).

A. Double Integrals over Rectangles

The Riemann sums for the integral of a single-variable function f(x) are obtained by partitioning
a finite interval into thin subintervals, multiplying the width of each subinterval by the value of
f at a point ck inside that subinterval, and then adding together all the products. A similar
method of partitioning, multiplying, and summing is used to construct double integrals.

We consider a function f(x, y) defined on a rectangular region R,

R: a  x  b, c  y  d

Figure 2: Rectangular grid partitioning the region R into small rectangles

To form a Riemann sum over R, we choose a point (xk, yk) in the kth small rectangle, multiply
the value of f at that point by the area Ak and add together the products:

n
Sn =  f ( xk , yk )  Ak
k =1
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Engr. Caesar Pobre Llapitan

We are interested in what happens to these Riemann sums as the widths and heights of all the
small rectangles in the partition of R approach zero. The norm of a partition P, written P , is
the largest width or height of any rectangle in the partition.
Taking the limit of the Riemann sum as P → 0 :

n
lim
P →0
 f ( xk , yk )  Ak
k =1

As P → 0 and the rectangles get narrow and short, their number n increases, so we can also
write this limit as

n
lim
n→
 f ( xk , yk )  Ak
k =1

with the understanding that  Ak → 0 as n→  and P → 0 .

When a limit of the sum’s Sn exists, giving the same limiting value no matter what choices are
made, then the function f is said to be integrable and the limit is called the double integral of f
over R, written as

 f ( x , y ) dA or
 f ( x , y ) dxdy
R R

DEFINITION 1
Suppose that f is a function of two variables and that f(x, y) exists throughout a region R in
the xy-plane. Then the double integral of f over R is given by

 f ( x , y ) dA or
 f ( x , y ) dxdy (1)
R R

Properties of Double Integrals

Like single integrals, double integrals of continuous functions have algebraic properties that are
useful in computations and applications.
1.  k f ( x , y ) dA = k  f ( x , y ) dA (any number k)
R R

2.   f ( x , y )  g ( x , y ) dA =  f ( x , y ) dA   g ( x , y ) dA
R R R

3.  f ( x , y ) dA  0 if f ( x , y )  0 on R
R

4.  f ( x , y ) dA   g ( x , y ) dA if f ( x, y )  g ( x, y )
R R

5. If R is the union of two non-overlapping regions R1 and R2

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Engr. Caesar Pobre Llapitan

 f ( x , y ) dA =  f ( x , y ) dA +  f ( x , y ) dA
R R1 R2

B. Fubini’s Theorems for Calculating Double Integrals

Rectangular Regions
Suppose that f is a function of two variables that is continuous on the rectangle R = [a, b]  [c,
d
d]. We use the notation
 c
f ( x , y ) dy to mean that x is held fixed and f(x, y) is integrated with

respect to y from c to d. This procedure is called partial integration with respect to y. (Notice its
d
similarity to partial differentiation.) Now
 c
f ( x , y ) dy is a number that depends on the value

of x, so it defines a function of x:

d
A(x)=

c
f ( x , y ) dy

If we now integrate the function A with respect to x from a to b, we get

b b d 
a A ( x ) dx =
a  c f ( x , y ) dy  dx


The integral on the right side is called an iterated integral. Usually the brackets are omitted.
Thus

b d b d 
a c f ( x , y ) dy dx =
a c

f ( x , y ) dy  dx


means that we first integrate with respect to y from c to d and then with respect to x from a to
b.

Similarly, the iterated integral

d b d b 
c a f ( x , y ) dx dy =
c  a f ( x , y ) dx  dy
means that we first integrate with respect to x (holding y fixed) from a to b and then we integrate
the resulting function of y with respect y to from c to d.

Example
Evaluate the iterated integrals.
3 2
a. 
0 1
x 2 y dydx
2 3
b. 
1 0
x 2 y dxdy

Solution:

a. Regarding x as a constant:
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Engr. Caesar Pobre Llapitan

y =2
2  y2 
1 x y dy =  x 2
2

 2 
y =1

 22   2
2 1
 3 2
= x2   − x   = x
 2
   2  2

We now integrate this function of from 0 to 3:

3
3 2 3 2  3 3 2 x3 27
0 1 x 0  1 0
2 2
y dydx = x y dy  dx = x dx = =
 2 2
0
2

b. Here we first integrate with respect to x

2 3 2 3 

1 0
x 2 y dxdy =
  
1 0
x 2 y dx  dy

x =3 2
2  x3  2 y2 27
=
 1
 y
 3  x =0
dy =
1
9 y dy = 9
2
1
=
2

Observation:
▪ The two iterated integrals are always equal; that is, the order of integration does not
matter. This is similar to Clairaut’s Theorem on the equality of the mixed partial
derivatives.

A theorem published in 1907 by Guido Fubini says that the double integral of any continuous
function over a rectangle can be calculated as an iterated integral in either order of integration.

THEOREM 1: Rectangular Regions

If f(x, y) is continuous on the rectangular region R: a  x  b, c  y  d, then

d b b d
 f ( x , y ) dA ) =
c a f ( x , y ) dxdy =
a c f ( x , y ) dydx (2)
R

▪ Fubini’s theorem says that double integrals over rectangles can be calculated as iterated
integrals. This means we can evaluate a double integral by integrating with respect to
one variable at a time.

▪ Fubini’s theorem also says that we may calculate the double integral by integrating in
either order, a genuine convenience. In particular, when we calculate a volume by
slicing, we may use either planes perpendicular to the x-axis or plane perpendicular to
the y-axis.

Example
1. Evaluate the double integral  R
f ( x , y ) dA for f ( x , y ) = 1 − 6 x 2 y and

R: 0  x  2, -1  y  1.

Solution:
By Fubini’s Theorem
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Engr. Caesar Pobre Llapitan

  ( 1 − 6 x y ) dx dy = 
1 2 1 x =2
R f ( x , y ) dA =  x − 2x 3 y 
2
dy
−1 0 −1   x =0
1 1
=
−1 ( 2 − 16 y ) dy =  2 y − 8 y 2  −1 = 4

Reversing the order of integration gives the same answer:

  ( 1 − 6 x y ) dy dx = 
2 1 2 y =1
2  y − 3x2 y2  dx
0 −1 0   y =−1

 ( ) ( )
2 2
=
0
 1 − 3 x 2 − −1 − 3 x 2  dx =
   0
2 dx = 4

R =  ( x , y ) 0  x  3, 0  y  1
2. Calculate  cos ( x + 2 y ) dA ,
R
1 3
- 0 0 cos ( x + 2 y ) dx dy
3 1
- 0 0 cos ( x + 2 y ) dy dx
Nonrectangular Regions
To define the double integral of a function f(x, y) over a bounded, nonrectangular region R, such
as the one in Figure below, we again begin by covering R with a grid of small rectangular cells
whose union contains all points of R.

Figure 3: A rectangular grid partitioning a bounded nonrectangular

region into rectangular cells

A partition of R is formed by taking the rectangles that lie completely inside it, not using any
that are either partly or completely outside. For commonly arising regions, more and more of R
is included as the norm of a partition (the largest width or height of any rectangle used)
approaches zero.

Once we have a partition of R, we number the rectangles in some order from 1 to n and let Ak
be the area of the kth rectangle. We then choose a point (xk, yk) in the kth rectangle and form
the Riemann sum

n
Sn =  f ( xk , yk )  Ak
k =1
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Engr. Caesar Pobre Llapitan

As the norm of the partition forming Sn goes to zero, P → 0 , the width and height of each
enclosed rectangle goes to zero and their number goes to infinity. If f(x, y) is a continuous
function, then these Riemann sums converge to a limiting value, not dependent on any of the
choices we made. This limit is called the double integral of f(x, y) over R:

n
lim
P →0
 f ( xk , yk )  Ak = R f ( x, y ) dA
k =1

Double integrals of continuous functions over nonrectangular regions have the same algebraic
properties as integrals over rectangular regions.

THEOREM 2: Non-rectangular Regions

Let f(x, y) be continuous on region R
1. If R is defined by a  x  b, g1(x)  y  g2(x), with g1 and g2 continuous on [a, b], then

b g2 ( x )
 f ( x , y ) dA =
a g ( x )1
f ( x , y ) dydx (3)
R

2. If R is defined by c  y  d, h1(y)  x  h2(y), with h1 and h2 continuous on [c, d], then

d h2 ( y )
 f ( x , y ) dA =
c h ( y) 1
f ( x , y ) dxdy (4)
R

Note:
While Fubini’s theorem assures us that a double integral may be calculated as an iterated
integral in either order of integration, the value of one integral may be easier to find than
the value of the other.

Procedure for Finding Limits of Integration

A. To evaluate  f ( x , y ) dA over a region R, integrating first with respect to y and then with
R
respect to x, take the following steps:

1. A sketch. Sketch the region of integration and label the bounding curves.

2. The y-limits of integration. Imagine a vertical line L cutting through R in the direction of
increasing y. Mark the y-values where L enters and leaves. These are the y-limits of
integration
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Engr. Caesar Pobre Llapitan

3. The x-limits of integration. Choose x-limits that include all the vertical lines through R.

x =1 y= 1−x2
R f ( x , y ) dA = x =0 y =1 − x f ( x , y ) dy dx

B. To evaluate the same double integral as an iterated integral with the order of integration
reversed, use horizontal lines instead of vertical lines.

1 1 − y2
R f ( x , y ) dA = 0 1 − y f ( x , y ) dx dy

Examples
sin x
1. Calculate  x
dA where the base is the triangle in the xy-plane bounded by the x-axis,
R
the line y = x and the line x = 1.

Solution:
The region of integration is shown below.
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Engr. Caesar Pobre Llapitan

If we integrate first with respect to y and then with respect to x, we find

1 y=x
x sin x  1 sin x  1
  
0 0 x
dy  dx =
  
0
y
x  y =0
dx =
0
sin x dx

= − cos ( 1 ) + 1  0.46

(a) R viewed as an x-simple region (b) R viewed as a y-simple region

If we reverse the order of integration and attempt to calculate

1 1 sin x

0 y x
dx dy

sin x
 x
dx cannot be expressed in terms of elementary functions (there is no simple

antiderivative).

Note:
There is no general rule for predicting which order of integration will be the good one in
circumstances like these. If the order you first choose doesn’t work, try the other. Sometimes
neither order will work, and then we need to use numerical approximations.

2 2x
2. Sketch the region of integration for the integral 
0 x2
( 4 x + 2 ) dydx and write an equivalent
integral with the order reversed.

Solution:

2 2x

0 x2
( 4 x + 2 ) dy dx

The region of integration: x 2  y  2 x and 0  x  2

It is therefore the region bounded by the curves y = x2 and y = 2x between x = 0 and x = 2.

See Figure (a)
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Engr. Caesar Pobre Llapitan

To find limits for integrating in the reverse order, we imagine a horizontal line passing from
left to right through the region. It enters at x = y/2 and leaves at x = y . To include all such
lines, we let y run from y = 0 to y = 4 (see Figure b).

The integral is

4 y
0 y/2 ( 4 x + 2 ) dx dy

(a) R viewed as a y-simple region (b) R viewed as an x-simple region

 ( 2 x − y ) dA , where R is the region bounded by the parabola x = y

2
3. Evaluate and the
R
straight-line x – y = 2.

Solution:

The region R is shown in Figure below.

(a) R viewed as a y-simple region (b) R viewed as an x-simple region

Viewing R as a y-simple region (Figure a) and using Fubini’s Theorem, we find

1 x 4 x
 R
( 2 x − y ) dA = 
0 − x  ( 2 x − y ) dy dx + 
1  x −2
( 2 x − y ) dy dx (i)

Viewing R as a x-simple region (Figure b) and using Fubini’s Theorem, we find

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Engr. Caesar Pobre Llapitan

2 y +2
 R
( 2 x − y ) dA =  
−1 y 2
( 2 x − y ) dx dy (ii)

It is more convenient to view it as an x-simple region because the lower boundary of R

consists of two curves when viewed as a y-simple region. Thus, evaluating (ii)

2 y+2
 R
( 2 x − y ) dA =  
−1 y 2
( 2 x − y ) dx dy

( y + 2 ) 
2 x = y+2 2
  x 2 − xy 
 − y ( y + 2 )  −  y 4 − y 3  dy
2
= dy =
−1  x=y −1   
2
 1 
 (4 + 2y + y )
2 1
3 4
= −y dy =  4 y + y 2 + y 4 − y 5 
−1  4 5  −1
243
=
20

Classroom Activity 1
Sketch the region of integration and evaluate the integral.
2 
  ( 4 − y ) dydx
3 2 0 1
−1 −3 ( x + y + 1 ) dxdy   ( sin x + cos y ) dxdy
2
1. 2. 3.
0 0 0

Exercises 1
I. Integrate f over the given region.
1. f(x, y) = x/y over the region in the first quadrant bounded by the lines y = x, y = 2x, x =
1, x = 2
2. f(x, y) = x2 + y2 over the triangular region with vertices (0, 0), (1, 0) and (0, 1)
3. f(x, y) = 1/(xy) over the square 1  x  2, 1  y  2
4. f(x, y) = y cos xy over the rectangle 0  x  , 0  y  1

II. Sketch the region of integration and evaluate the integral.

ln 8 ln y  sin x 4 x 3 y/
1.  
1 0
e x + y dxdy 2.  
0 0
y dydx 3.
1 0 2
e x
dydx

III. Sketch the region of integration and write an equivalent double integral with the order of
integration reversed.
1 4 −2 x 1 y
1. 
0 2
dydx 2. 0 y dxdy

1 ex 3/2 9 −4 x 2
3.

0 1
dydx 4.
 
0 0
16 x dydx

1 1 − y2 1 1 − x2
5.
0  − 1 − y2
3 ydxdy 6.
0 1−x
dydx

C. Volumes of Solid

When f(x, y) is a positive function over a rectangular region R in the xy-plane, we may interpret
the double integral of f over R as the volume of the 3-dimensional solid region over the xy-plane
bounded below by R and above by the surface z = f(x, y).
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Engr. Caesar Pobre Llapitan

Each term f(xk, yk)Ak in the sum Sn =  f(xk, yk)Ak is the volume of a vertical rectangular box that
approximates the volume of the portion of the solid that stands directly above the base Ak. The
sum Sn thus approximates what we want to call the total volume of the solid.

Figure 4: Volume of a solid over a rectangular region

We define this volume to be

V = lim Sn =
n→  f ( x , y ) dA =  z dA (5)
R R

We define the volumes of solids with curved bases the same way we define the volumes of solids
with rectangular bases.

Figure 5: Volume of a solid over a nonrectangular region

Examples
1. Find the volume of the prism whose base is the triangle in the xy-plane bounded by the
x-axis and the lines y = x and x = 1 whose top lies in the plane z = f(x, y) = 3 – x – y.
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Solution:
The region of integration in the xy-plane

(a) (b)

For any x between 0 and 1, y may vary from y = 0 to y = x (Figure a). Hence,

1 x
V=

0 0
( 3 − x − y ) dy dx
y=x
1 y2 
0


=  3 y − xy − 
2 
y =0
x =1
1
3x2   3x2 x3 
0


=  3x −
2
 dx = 
  2
− 
2 
x =0
=1

When the order of integration is reversed (Figure b), the integral for the volume is

1 1
V =
  ( 3 − x − y ) dx dy
0 y
x =1
1
x2 
0


= 3 x −
2
− xy 
 x=y
dy

1 1 y2 
=
 0
 3 − − y − 3 y +
 2 2
+ y 2  dy


y =1
5 1 3  5 y3 

=  − 4 y + y 2  dy =  y − 2 y 2 +
02 2   2

2 
y =0
=1

2. Find the volume of the tetrahedron bounded by the planes x + 2y + z = 2, x = 2y, x = 0

and z = 0.

Solution:
In a question such as this, it’s wise to draw two diagrams: one of the three-dimensional
solid and another of the plane region D over which it lies.

The plane x + 2y + z = 2 can be written as z = 2 – x – 2y, so the required volume lies under
the graph of the function and above


D = ( x , y ) 0  x  1, x /2  y  1 − x /2 
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Therefore,
V=
D ( 2 − x − 2 y ) dA
1 1 − x /2
=
0 x/2 ( 2 − x − 2 y ) dy dx
1 y = 1 − x /2
=
  2 y − xy − y 2 
0  y = x /2
dx
1
 x3 
0 ( )
1 1
2
= x − 2 x + 1 dx =  − x2 + x  =
 3  0 3

Three-dimensional solid Plane region over which the solid lies

x + 2y + z = 2, x = 2y, x = 0 and z = 0
x + 2y + z = 2: xy-plane x + 2y = 2
xz-plane x+z=2
yz-plane 2y + z = 2

Classroom Activity 2
Find the volume of the solid shown in the figure.

V =
 z dA =  z dxdy
R R
4 3
=
0 0 ( 6 − y ) dxdy
1. Or

V =
 z dA =  z dxdy
R R
3 4
=
0 0 ( 6 − y ) dydx
 MODULE 5: Multiple Integration 15
Engr. Caesar Pobre Llapitan

R: x2 + y2 = 22 = 4
y =  x 2 − 4 or x =  y 2 − 4

V =
 z dA =  z dxdy V =
 z dA =  z dydx
R R R R
or
2 2
2 y −4 2 x −4
=4
0 0 zdxdy =4
0 0 zdxdy
2.
Or

V =
 z dA =  z dydx V =
 z dA =  z dxdy
R R R R
2
or 2
2 x −4 2 y −4
=2
0 − x 2 −4
zdydx =2
0 − y2 −4
zdxdy

3. 5.

4. 6.

Exercises 2
1. Find the volume of the region that lies under the parabola z = x2 + y2 and above the
triangle enclosed by the lines y = x, x = 0, and x + y = 2 in the xy-plane.
2. Find the volume of the solid that is bounded above by the cylinder z = x2 and below by
the region enclosed by the parabola y = 2 – x2 and the line y = x in the xy-plane.
3. Find the volume of the solid in the first octant bounded by the coordinate planes, the
plane x = 3, and the parabolic cylinder z = 4 – y2.
4. Find the volume of the wedge cut from the first octant by the cylinder z = 12 – 3y2 and
the plane x + y = 2.
 MODULE 5: Multiple Integration 16
Engr. Caesar Pobre Llapitan

5. Find the volume of the solid cut from the square column x + y  1 by the planes z = 0
and 3x + z = 3.

D. Areas of Bounded by Regions in the Plane

If we take f(x, y) = 1 in the definition of the double integral, the Riemann sums reduce to

n n
Sn =  f ( xk , yk )  Ak =   Ak
k =1 k =1

This is simply the sum of the areas of the small rectangles in the partition of R, and approximates
what we would like to call the area of R. As the norm of a partition of R approaches zero, the
height and width of all rectangles in the partition approach zero, and the coverage of R becomes
increasingly complete. We define the area of R to be the limit

n
Area = lim
P →0
  Ak = R dA
k =1

Figure 6: Partitioning of area over a region

DEFINITION 2
The area of a closed, bounded plane region R is

A=
 dA (6)
R

Examples
1. Find the area of the region R bounded by y = x and y = x2 in the first quadrant.

Solution:
Sketching the region R and noting where the two curves intersect, the area is

1 x 1
0 x 0  y x
x
A= 2
dy dx = 2 dx

= ( x − x 2 ) dx
1
0
1
 x2 x3  1
= −  =
 2 3  6
0
 MODULE 5: Multiple Integration 17
Engr. Caesar Pobre Llapitan

2. Find the area of the region R enclosed by the parabola y = x2 and the line y = x + 2.

Solution:
If we divide R into the regions R1 and R2 shown in Figure (a), we may calculate the area as

1 y 4 y
A=
R 1
dA +
R 2
dA =
0 − y
dx dy +
1 y −2 dx dy (i)

On the other hand, reversing the order of integration (Figure b) gives

2 x +2
A=
 
−1 x 2
dy dx (ii)

Since (ii) requires only one integral, is simpler and is the only one we would bother to write
down in practice. The area is

2 x +2 2 x +2
A=
−1 x dy dx = −1  y x
2
2 dx

= ( x + 2 − x 2 ) dx
2
−1
2
 x2 x3  9
= + 2x −  =
 2 x  −1 2

(a) (b)
 MODULE 5: Multiple Integration 18
Engr. Caesar Pobre Llapitan

Classroom Activity 3
Sketch each region, label each bounding curve with its equation, and give the coordinates of the
points where the curves intersect. Then find the area of the region.
6 2y  /4 cos x 0 1−x 2 1−x
1. 
0 2
y /3
dxdy 2.  
0 sin x
dydx 3. −1 −2 x dydx +
0 − x/2 dydx
Exercises 3
I. Sketch the region bounded by the given lines and curves. Then express the region’s area as
an iterated double integral and evaluate the integral.
1. The region R bounded by y = x and y = x2 in the first quadrant.
2. The region R enclosed by the parabola y = x2 and the line y = x + 2.
3. The curve y = ex and the lines y = 0, x = 0 and x = ln 2.
4. The parabolas x = y2 and x = 2y – y2.
5. The parabolas x = y2 and x = 2y2 – 2

II. Sketch each region, label each bounding curve with its equation, and give the coordinates
of the points where the curves intersect. Then find the area of the region.
2 0 4 x
1. 0 x −4 2
dydx +
0 0 dydx
3 x ( x − 2)
2.

0 −x
dydx
2 y +2
3.  
−1 y 2
dxdy

II. DOUBLE INTEGRALS IN POLAR COORDINATES

Learning Objectives
At the end of this section, the students should be able to
1. Define double integrals in polar coordinates.
2. Sketch and determine the limits of double integration in polar coordinates.
3. Evaluate the area of a closed and bounded region R in the polar coordinate plane.
4. Evaluate double integrals from Cartesian coordinates into polar integrals.
5. Evaluate Cartesian integrals by change of order.

A region in a polar coordinate plane of the type illustrated below which is bounded by arcs of
circles of radii r1 and r2 with center at the pole and by two rays from the origin, will be called an
elementary polar region.

r
r2

r1


 MODULE 5: Multiple Integration 19
Engr. Caesar Pobre Llapitan

If  denotes the radian measure of the angle between the rays and r = r2 – r1, then the area A
of the region is given by

1 2 1
A = r2  − r12 
2 2

This formula may also be written

A =
2
(
1 2
) 1
r2 − r12  = ( r2 + r1 )( r2 − r1 ) 
2

1
If we denote the average radius ( r1 + r2 ) = r , then A = r r 
2

If f is a continuous function of the polar variables r and , then it can be proved that

 g2 ( )
lim
P →0
 f ( ri ,i ) ri ri i =  f ( r , ) dA =  g ( ) f ( r , ) r dr d
1
(7)
i R

R
r = g2()

r = g1()
 
O

A. Limits of Integration in Polar Coordinates

To evaluate  f ( r , ) dA over a region R in polar coordinates, integrating first with respect to
R
r and then with respect to , take the following steps:
1. A sketch. Sketch the region and label the bounding curves.

2. The r-limits of integration. Imagine a ray L from the origin cutting through R in the
direction of increasing r. Mark the r-values where L enters and leaves R. These are the r-
limits of integration. They usually depend on the angle  that L makes with the positive
x-axis.
 MODULE 5: Multiple Integration 20
Engr. Caesar Pobre Llapitan

3. The -limits of integration. Find the smallest and largest -values that bound R. These
are the -limits of integration.

Example
Find the limits of integration for integration f(r, ) over the region R that lies inside the cardioids
r = 1 + cos  and outside the circle r = 1.

Solution:

 /2 1 + cos 
The integral is − /2 1 f ( r , ) r dr d

If f(r, ) is the constant function whose value is 1, then the integral of ƒ over R is the area of R
 MODULE 5: Multiple Integration 21
Engr. Caesar Pobre Llapitan

B. Area in Polar Coordinates

The area of a closed and bounded region R in the polar coordinate plane is

A=
 r dr d (8)
R

Examples
1. Find the area enclosed by the lemniscate r2 = 4 cos 2.

Solution:
Graph the lemniscate to determine the limits of integration

By symmetry of the region, the total area is 4 times the first-quadrant portion.

r = 4 cos 2
 /4 4 cos 2  /4  r 2
A=4
  0 0
r dr d = 4

0
 
 2  r = 0
d

 /4  /4
=4
 0
2 cos 2 d = 4 sin 2 0
=4

2. Use a double integral to find the area enclosed by one loop of the three-leaved rose r =
sin 3.

Solution:

The loop of the rose is described by the region


R = ( r , ) 0    π/3, 0  r  sin 3 
 MODULE 5: Multiple Integration 22
Engr. Caesar Pobre Llapitan

 /3 sin 3
A=
 R
dA =
 
0 0
r dr d

 /3  1 r = sin 3
2
=

0
2 r 
 r = 0
d

1  /3 1  /3
=
2  0
sin 2 3 d =
4 
0
( 1 − cos 6 ) d
 =  /3
1 1  
=  − sin 6  =
4 6  = 0 12

C. Changing Cartesian Integrals to Polar Integrals

The procedure for changing a Cartesian integral  f ( x , y ) dxdy into a polar integral has two
R
steps.
1. Substitute x = r cos  and y = r sin , and replace dxdy (or dydx) by r dr d in the Cartesian
integral.
2. Supply polar limits of integration for the boundary of R.

The Cartesian integral then becomes

 f ( x , y ) dxdy =  f ( r cos  , r sin  ) r dr d (9)

R G

where G denotes the region of integration in polar coordinates.

Examples

R e
x2 + y2
1. Evaluate dy dx , where R is the semicircular region bounded by the x-axis

and the curve y = 1 − x 2

Solution:
In Cartesian coordinates, the integral in question is a non-elementary integral and there is
2 2
no direct way to integrate e x + y with respect to either x or y. Yet this integral and others
like it are important in mathematics—in statistics, for example – and we need to find a way
to evaluate it. Changing to polar makes possible its integration.

Substituting x = r cos , y = r sin  and replacing dy dx by r dr d enables us to evaluate the

integral as
 MODULE 5: Multiple Integration 23
Engr. Caesar Pobre Llapitan

  1
1  1 r2 
R 0 0 0
2
+ y2 2
ex dy dx = e r r dr d =  2 e  d
 0
 1 
=
0 2 ( e − 1 ) d = 2 ( e − 1 )
2. Evaluate R ( 2 x + 3 y ) dA , where R is the region in the first quadrant bounded by the
circles x2 + y2 = 1 and x2 + y2 = 4.

Solution:
The region R is a polar rectangle that can also be described in terms of polar coordinates
by


R = ( r , ) 1  r  2, 0    π/2 

 /2  /2
 ( 2r )
2 2
 ( 2 x + 3 y ) dA =   ( 2r cos  + 3r sin  ) r dr d =  cos  + 3 r 2 sin  dr d
2
R 0 1 0 1
r =2
 /2  2   /2 14 
  r cos  + r sin     cos  + 7 sin   d
3 3
= =
0 3 r = 1 0  3 
 /2
 14  35
=  sin  − 7 cos   =
3 o 3

D. Evaluation of Cartesian Integral by Change of Order

Classroom Activity 4
1 1 ydxdy 2 1
1.
0 y 
x2 + y2
3.  0 (1/2) y
sin x 2 dxdy

  x(x )
1 1 3/2 1 1

2
2. + y2 dydx 4. 1 + y 3 dydx
0 x 0 x

Exercises 4
1. Find the area of the region that lies inside the cardioids r = 1 + cos  and outside the
circle r = 1.
2. Find the area enclosed by one leaf of the rose r = 12 cos 3.
3. Find the area of the region cut from the first quadrant by the cardioids r = 1 + sin .
 MODULE 5: Multiple Integration 24
Engr. Caesar Pobre Llapitan

4. Find the area of the region common to the interiors of the cardioids r = 1 + cos  and r =
1 – cos .

Change the Cartesian integral into an equivalent polar integral. Then evaluate the polar integral.
1 1 ydxdy
1. 0 y  2
x +y 2 2.
1

0 0
1−x2 2 2
e − x − y dydx

1 1 x 6 dxdy
3.
a
0 0
a2 − x 2
2 2 2
x + y dydx 4. 0 y
x
(x )
5/2
2
+ y2
0 0 2
5. −1 − 1−x 2
1+ x +y 2 2
dydx 6.
ln 2
0 0
(ln 2)2 − y 2
e
x 2 + y2
dxdy

1 −( x − 1 )
2 2 0
x−y
0 −
1
7.
0 0 x −y2 2
dydx 8.
1 −( y − 1 )
2
xy 2 dxdy

III. TRIPLE INTEGRALS IN RECTANGULAR COORDINATES

Learning Objectives
At the end of this section, the students should be able to
1. Illustrate triple integrals bounded by a surface and its projection in the plane.
2. Evaluate triple integrals.
3. Use Fubini’s theorems to determine the limits of integrations.
4. Sketch the regions bounded by the graphs of the given equations and use a triple
integral to find its volume
5. Represent the volume of a region D described by iterated integrals

A. Definition of Triple Integrals

If F(x, y, z) is a function defined on a closed bounded region D in space – the region occupied
by a solid ball, for example, or a lump of clay – then the integral of F over D may be defined in
the following way.

1. Partition a rectangular region containing D into rectangular cells by planes parallel to

the coordinate planes.
2. Number the cells that lie inside D from 1 to n in some order, a typical cell having
dimensions xk by yk by zk and volume Vk.
3. Choose a point (xk, yk, zk) in each cell and form the sum

n
Sn =  F ( xk , yk , zk ) Vk
k =1
 MODULE 5: Multiple Integration 25
Engr. Caesar Pobre Llapitan

Figure 7: Partitioning a solid with rectangular cells of volume Vk

If F is continuous and the bounding surface of D is made of smooth surfaces joined along
continuous curves, then as xk, yk and zk approach zero independently the sums Sn approach
a limit

lim Sn =
n→  F ( x , y, z ) dV (10)
D

We call this limit the triple integral of F over G. The limit also exists for some discontinuous
function.

Properties of Triple Integrals

Triple integrals have the same properties as double and single integrals. If F = F(x, y, z) and G =
G(x, y, z) are continuous, then
1.  k F dV = k  F dV for any number k
D D

2.  ( F  G ) dV =  F dV   G dV

D D D

3.  F dV  0 if F  0 on D
D

4.  F dV   G dV if F  G on D
D D

5.  F dV =  F dV +  F dV + +

 F dV
D D1 D2 Dn

B. Triple Integrals Over a Rectangular Box

Triple integrals of functions f (x, y, z) of three variables are a fairly straightforward generalization
of double integrals. Instead of a rectangle in the plane, our domain is a box (Figure 8).

B = [a, b] × [c, d] × [p, q]

consisting of all points (x, y, z) in R3 such that

a ≤ x ≤ b, c ≤ y ≤ d, p≤z≤q
 MODULE 5: Multiple Integration 26
Engr. Caesar Pobre Llapitan

To integrate over this box, we subdivide the box (as usual) into “sub”-boxes

Bijk = [xi−1, xi] × [yj−1, yj] × [zk−1, zk]

by choosing partitions of the three intervals

a = x0 < x1 < … < xi - 1 < x i < … < xl = b

c = y0 < y1 < … < yj - 1 _ yj < … < ym = d
p = z0 < z1 < … < zk - 1 < z k < … < zn = q

The volume of Bijk is Vijk = xi yj zk where

xi = xi − xi−1, yj = yj − yj−1, zk = zk − zk−1

Then, we choose a sample point Pijk in each box Bijk and form the Riemann sum

l m n
Sl , m , n =  f ( Pijk ) Vijk
i=1 j =1 k =1

Let P be the maximum of the widths xi, yj, zk. If the sums Sl,m,n approach a limit as P →
0 for arbitrary choices of sample points, we say that f is integrable over B. The limit value is
denoted

lim Sl , m, n =
P →0 B f ( x, y, z ) dV

Figure 8: The box B = [a, b] × [c, d] × [p, q] decomposed into smaller boxes.

THEOREM 3: Fubini’s Theorem for Triple Integrals

The triple integral of a continuous function f (x, y, z) over a box B = [a, b] × [c, d] × [p, q] is
equal to the iterated integral:
 MODULE 5: Multiple Integration 27
Engr. Caesar Pobre Llapitan

b d q
B
f ( x , y , z ) dV =
  
x =a y=c z= p
f ( x , y , z ) dz dy dx (11)

As we know, there are sometimes (but not always) two different orders in which the single
integrations for evaluating a double integral may be worked. For triple integrals, there could be
as many as six. For instance, consider the volume of the prism illustrated below.
z
1
y+z=1

1
2
y
x

Each of the following integrals gives the volume of the solid shown.

1 1−z 2 1 1−y 2
a)  
0 0 0
dxdydz b)  
0 0 0
dxdzdy
1 2 1−z 2 1 1−z
c) 
0 0 0
dydxdz d) 
0 0 0
dydzdx
1 2 1−y 2 1 1−y
e) 
0 0 0
dzdxdy f) 
0 0 0
dzdydx

C. Triple Integrals Between Two Surfaces

Consider a solid region W between two surfaces z = z1(x, y) and z = z2(x, y) over a domain D in
the xy-plane. In this case,
W = {(x, y, z): (x, y) ∈ D and z1(x, y) ≤ z ≤ z2(x, y)}

The domain D is the projection of W onto the xy-plane.

Figure 9: The point P = (x, y, z) in the simple region W if (x, y) ∈ D and

z1(x, y) ≤ z ≤ z2(x, y).
 MODULE 5: Multiple Integration 28
Engr. Caesar Pobre Llapitan

THEOREM 4
The triple integral of a continuous function f over the region W: (x, y) ∈ D, z1(x, y) ≤ z ≤ z2(x,
y) is equal to the iterated integral

 z = z2 ( x , y ) 
 B
f ( x , y , z ) dV =
  
D z = z1 ( x , y )
f ( x , y , z ) dz  dA

(12)

Geometric interpretation of triple integrals

▪ A double integral represents the signed volume of the three-dimensional region between
a graph z = f (x, y) and the xy-plane.
▪ The graph of a function f (x, y, z) of three variables lives in four-dimensional space, and
thus a triple integral represents a four-dimensional volume. This volume is hard or
impossible to visualize. On the other hand, triple integrals represent many other types
of quantities. Some examples are total mass, average value, probabilities, and centers of
mass
▪ More generally, integrals of functions of n variables (for any n) arise naturally in many
different contexts. For example, the average distance between two points in a ball is
expressed as a six-fold integral because we integrate over all possible coordinates of the
two points. Each point has three coordinates for a total of six variables.

D. Volume of a Region in Space

If F is constant function whose value is 1, then

Sn =  F ( xk , yk , zk ) Vk =  1  Vk =  Vk

As as xk, yk and zk approach zero, the cells Vk become smaller and more numerous and fill
up more and more of D. We therefore define the volume of D to be the triple integral

V=  dV (13)
D

This integral enables us to calculate the volumes of solids enclosed by curved surfaces

E. Evaluation of Triple Integrals

We seldom evaluate a triple integral from its definition as a limit. Instead, we apply a three-
dimensional version of Fubini’s theorem to evaluate it by repeated single integrations. As with
double integrals, there is a geometric procedure for finding the limits of integration.

To evaluate  F ( x , y, z ) dV over a region D, integrating first with respect to z, then with
D
respect to y, finally with x, take the following steps:
 MODULE 5: Multiple Integration 29
Engr. Caesar Pobre Llapitan

1. A sketch. Sketch the region D along

with its “shadow” R (vertical
projection) in the xy-plane. Label the
upper and lower bounding surfaces of
D and the upper and lower bounding
curves of R.

2. The z-limits of integration. Draw a

lime M passing through a typical point
(x, y) in R parallel to the z-axis. As z
increases, M enters D at z = f1(x, y) and
leaves z = f2(x, y). These are the z-
limits of integration.
 MODULE 5: Multiple Integration 30
Engr. Caesar Pobre Llapitan

3. The y-limits of integration. Draw a line

L through (x, y) parallel to the y-axis.
As y increases, L enters R at y = g1(x)
and leaves at y = g2(x). These are the y-
limits of integration.

4. The x-limits of integration. Choose x-limits that include all lines through R parallel to the y-
axis ( x = a and x = b). These are the x-limits of integration.

The integral is

x =b y = g2 ( x ) z = f2 ( x ,y)
 
x =a y = g1 ( x ) 
z= f1 ( x ,y)
F ( x , y , z ) dz dy dx

Follow similar procedure if you change the order of integration. The “shadow” of region D lies
in the plane of the last variables with respect to which the iterated integration takes place.

Examples
1. Find the volume of the region D enclosed by the surfaces z = x2 + 3y2 and z = 8 – x2 – y2.
2. Set up the limits of integration for evaluating the triple integral of a function F(x, y, z)
over the tetrahedron D with vertices (0, 0, 0), (1, 1, 0), (0, 1, 0) and (0, 1, 1).
3. Evaluate  x 2 + y 2 dV where D is the region bounded by the paraboloid y = x2 + z2
D
and the plane y = 4.
4. Use triple integral to find the volume of the tetrahedral bounded by the planes x + 2y +
z = 2, x = 2y, x = 0, and z = 0.

Classroom Activity 5
Evaluate the iterated integrals.
1 2x x+z 1 x2 x+y
1.  
0 1+x z
xdydzdx 2.
  
−1 1 0
2 x 2 dzdydx
1 3y yz 2 z2 x−z
3.  
2 0 1
( 2 x + y + z ) dxdzdy 4.
 
1 0 x+z
zdydxdz
 MODULE 5: Multiple Integration 31
Engr. Caesar Pobre Llapitan

Exercises 5
I. Sketch the regions D bounded by the graph of the given equations and express

 f ( x , y, z ) dV as an iterated integral in six different ways.

D
1. x + 2y + 3z = 6, x = 0, y = 0, z = 0
2. x2 + y2 = 9, z = 0, z = 2
3. z = 9 – 4x2 – y2, z = 0
4. 36x2 + 9y2 + 4z2 = 36

II. Sketch the regions bounded by the graphs of the given equations and use a triple integral to
find its volume.
1. z + x2 = 4, y + z = 4, y = 0, z = 0
2. x2 + z2 = 4, y2 + z2 = 4
3. y2 + z2 = 1, x + y + z = 2, x = 0
4. z = x2, z = x3, y = z2, y = 0
5. y = x2 + z2, z = x2, z = 4, y = 0

III. Represent the volume of a region D described by the following iterated integrals.
1 4−z 3 1 z 4−x
1.
 0 1−z 2
dxdydz 2.
 
0 z3 0
dydxdz
2 2x x+ y 1 3x xy
3.  0 x2 0
dzdydx 4.  
0 x 0
dzdydx

References
[1] Adams, R. A. & Essex, C. (2010). Calculus – A Complete Course. Pearson: Canada
Toronto.
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