Chapter 12.

Multiple Integration

Le Cong Nhan

Faculty of Applied Sciences

HCMC University of Technology and Education

December 19, 2020

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 Content

1 Double Integration over Rectangular Region

2 Double Integrals over General Regions

3 Double Integrals in Polar Coordinates

4 Surface Area

5 Triple Integrals

6 Mass, Moments, and Probability Density Functions

7 Cylindrical and Spherical Coordinates

8 Jacobians: Change of Variables

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 12.1 Double Integration over Rectangular Region
Let V be the solid that lies above region R and under the graph of f , where
z = f (x, y ) ≥ 0 be a function of two variables defined on a closed rectangle

R = [a, b] × [c, d] = (x, y ) ∈ R2 : a ≤ x ≤ b, c ≤ y ≤ d .



How to find the volume of V ?


Figure: V = (x, y , z) ∈ R3 : 0 ≤ z ≤ f (x, y ), (x, y ) ∈ R

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 (1) Dividing the rectangle R into subrectangles

Rij = [xi−1 , xi ] × [yj−1 , yj ]

= (x, y ) ∈ R2 : xi−1 ≤ x ≤ xi , yj−1 ≤ y ≤ yj ,


with area ∆A = (∆x)(∆y ).

Figure: Dividing R into subrectangles

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(2) Choosing a sample point xij∗ , yij∗ ∈ Rij , we get an approximation to
the total volume of V :
n X
X m
f xij∗ , yij∗ ∆A.


V ≈ (1)
i=1 j=1

Figure: Volume approximated by rectangular parallelepipeds

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 By taking m → ∞ and n → ∞, we get
n X
X m
f xij∗ , yij∗ ∆A.


V = lim (2)
m,n→∞
i=1 j=1

Definition 1 (Double Integral)

The double integral of f over the rectangle R is
ZZ n X
X m
f xij∗ , yij∗ ∆A.


f (x, y )dA = lim (3)
R m,n→∞
i=1 j=1

if this limit exists.

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 Remark

(i) The sum

n X
X m
f xij∗ , yij∗ ∆A

i=1 j=1

is called a double Riemann sum.

(ii) If the limit in the right side of (3) exists, then f is called an integrable
function.
(iii) If f (x, y ) ≥ 0, then the volume V of the solid that lies above the
rectangle R and below the surface z = f (x, y ) is
ZZ
V = f (x, y )dA. (4)
R

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 Properties of Double Integrals
Assume that all of integrals exist, then we have
Linearity rule: For constants a and b
ZZ ZZ ZZ
[af (x, y ) + bg (x, y )] dA = a f (x, y )dA + b g (x, y )dA.
R R R
(5)

Dominance rule: If f (x, y ) ≤ g (x, y ) for all (x, y ) ∈ R, then

ZZ ZZ
f (x, y )dA ≤ g (x, y )dA. (6)
R R

Subdivision rule: If the rectangular region of integration R is

subdivided into two subrectangles R1 and R2 , then
ZZ ZZ ZZ
f (x, y )dA = f (x, y )dA + f (x, y )dA. (7)
R R1 R2

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 Example 2
RR
Evaluate R (2 − y ) dA, where R is the rectangle in the xy -plane with
vertices

(0, 0), (2, 0), (2, 2), and (0, 2).

By definition of double integral;

By volume interpretation.

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 Iterated Integrals

Suppose that f is a function of two variables that is integrable on the

rectangle R = [a, b] × [c, d].

We define the partial integration with

respect to y as follows
Z d
A(x) = f (x, y )dy . (8)
c

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

Z b Z b Z d  Z bZ d
A(x)dx = f (x, y )dy dx := f (x, y )dydx (9)
a a c a c

is said to be an interated integral.

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 Similarly, we have the interated integral
Z d Z d Z b  Z d Z b
A(y )dy = f (x, y )dx dy := f (x, y )dxdy (10)
c c a c a

Z d Z b
Figure: V = f (x, y )dxdy
c a

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 Theorem 3 (Fubini’s Theorem)
If f is continuous on the rectangle R = [a, b] × [c, d], then
ZZ Z b Z d Z d Z b
f (x, y )dA = f (x, y )dydx = f (x, y )dxdy (11)
R a c c a

Z b Z d
Z d Z b
Figure: V = f (x, y )dydx Figure: V = f (x, y )dxdy
a c c a

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 Example 4
Evaluate the iterated integrals
Z 3Z 2 Z 2Z 3
a. x 2 ydydx b. x 2 ydxdy
0 1 1 0

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 Example 5
RR
a. Evaluate R (2 − y ) dA, where R is the rectangle in the xy -plane
with vertices (0, 0), (2, 0), (2, 2), and (0, 2).
b. Evaluate R x − 3y 2 dA, where R = [0, 2] × [1, 2].
RR

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 Example 6 (Choosing the order of integration for a double integral)
RR
Evaluate R y sin (xy ) dA, where

R = [0, 2] × [0, π] = {(x, y ) : 0 ≤ x ≤ 2, 0 ≤ y ≤ π}.

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 12.2 Double Integrals over General Regions

Definition 7 (Double Integrals)

How to define the double integral of the function f (x, y ) over regions D of
more general shape ZZ
f (x, y )dA.
D

Definition
Applications: Area and Volume
Computation of Double integrals

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 Applications: Area and Volume

(i) If f is continuous and f (x, y ) ≥ 0, then the volume of the solid that
lies above D and under the surface z = f (x, y ) is
ZZ
V = f (x, y )dA (12)
D

(ii) If f (x, y ) = 1, then we get the the

area of the region D:
ZZ
A= 1dA (13)
D

Figure: Cylinder with base D and

height 1

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 Double Integrals
Type I Region

The region D is of the form

D = {(x, y ) : a ≤ x ≤ b, g1 (x) ≤ y ≤ g2 (x)} , (14)
where g1 and g2 are continuous on [a, b].
ZZ Z b Z g2 (x)
f (x, y )dA = f (x, y )dydx. (15)
D a g1 (x)

Figure: Some type I regions

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 Double Integrals
Type II Region

The region D is of the form

D = {(x, y ) : c ≤ y ≤ d, h1 (y ) ≤ x ≤ h2 (y )} , (16)

where h1 and h2 are continuous on [c, d].

ZZ Z d Z h2 (y )
f (x, y )dA = f (x, y )dxdy . (17)
D c h1 (y )

Figure: Some type II regions

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 Example 8
Find the area of the region D between y = cos x and y = sin x over the
interval 0 ≤ x ≤ π4 using:
a. a single integral;
b. a double integral.

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 Example 9
Find the volume of the solid that lies under the paraboloid z = x 2 + y 2
and above the region D in the xy -plane bounded by the line y = 2x and
the parabola y = x 2 .

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 Example 9
Find the volume of the solid that lies under the paraboloid z = x 2 + y 2
and above the region D in the xy -plane bounded by the line y = 2x and
the parabola y = x 2 .

We know that
ZZ
x 2 + y 2 dA.


V =
D

We see that D is a type I region

D = (x, y ) : 0 ≤ x ≤ 2, x 2 ≤ y ≤ 2x .


Therefore, the volume under z = x 2 + y 2

and above D is
Z 2 Z 2x
Figure: Region D: Type I
x 2 + y 2 dydx.


V =
0 x2
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 The region D can also be written as type II
region
 
1 √
D = (x, y ) : 0 ≤ y ≤ 4, y ≤ x ≤ y .
2

Therefore, another expression for V is

ZZ
x 2 + y 2 dA


V =
D
√
Z 4Z y
x 2 + y 2 dxdy .


=
Figure: Region D: Type II 0 1
y
2

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 Example 10
RR
Evaluate D (x + 2y ) dA, where D is the region bounded by parabolas
y = 2x 2 and y = 1 + x 2 .

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 Example 10
RR
Evaluate D (x + 2y ) dA, where D is the region bounded by parabolas
y = 2x 2 and y = 1 + x 2 .

It is noticed that

D = (x, y ) : −1 ≤ x ≤ 1, 2x 2 ≤ y ≤ 1 + x 2 .


Hence, we get
ZZ Z 1 Z 1+x 2
(x + 2y ) dA = (x + 2y ) dydx.
D −1 2x 2

Figure: Region D

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 Example 11
RR
Evaluate D xydA, where D is the region bounded by the line y = x − 1
and the parabola y 2 = 2x + 6.

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 Example 11
RR
Evaluate D xydA, where D is the region bounded by the line y = x − 1
and the parabola y 2 = 2x + 6.

We prefer to express D as type II region

y2
 
D = (x, y ) : −2 ≤ y ≤ 4, −3≤x ≤y +1 .
2
And therefore, one has
ZZ Z 4 Z y +1
V = xydA = xydxdy .
y2
D −2 2
−3

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 Example 12 (Evaluating a double integral by reversing the order)
R1R1
sin y 2 dydx.


Evaluate the iterated integral 0 x

Firstly, we express the given iterated integral as a double integral

Z 1Z 1 ZZ
2
sin y 2 dydx,



sin y dydx = (18)
0 x D
where D = {(x, y ) : 0 ≤ x ≤ 1, x ≤ y ≤ 1}.

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 Example 12 (Evaluating a double integral by reversing the order)
R1R1
sin y 2 dydx.


Evaluate the iterated integral 0 x

Firstly, we express the given iterated integral as a double integral

Z 1Z 1 ZZ
2
sin y 2 dydx,



sin y dydx = (18)
0 x D
where D = {(x, y ) : 0 ≤ x ≤ 1, x ≤ y ≤ 1}.

Figure: Figure:
D = {(x, y ) : 0 ≤ x ≤ 1, x ≤ y ≤ 1} D = {(x, y ) : 0 ≤ y ≤ 1, 0 ≤ x ≤ y }
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 Then we see that an alternative description of D is

D = {(x, y ) : 0 ≤ y ≤ 1, 0 ≤ x ≤ y }

Eventually, we express the double integral (18) as an iterated integral in the

reverse order
Z 1Z 1 ZZ
2
sin y 2 dydx



sin y dydx =
0 x D
Z 1Z y
sin y 2 dxdy


=
0 0
Z 1
y sin y 2 dy


=
0
Z 1
1
sin y 2 d(y 2 )


=
0 2
 1
1 2 1
= − cos(y ) = (1 − cos 1) .
2 0 2

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 12.3 Double Integrals in Polar Coordinates

Suppose that we want to evaluate a double integral

ZZ
f (x, y )dA,
R

where R is one of the regions shown in the following figure.

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 Definition 13
The polar coordinates of a point P (r , θ) that are related to its rectangular
coordinates P(x, y ) by the equations:
(x, y ) 7→ (r , θ), where
y
r 2 = x 2 + y 2, tan θ =
x
(r , θ) 7→ (x, y ), where

x = r cos θ, y = r sin θ

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 Theorem 14 (Change to Polar Coordinates in a Double Integral)
If f is continuous on a polar region

D = {(r , θ) : α ≤ θ ≤ β, h1 (θ) ≤ r ≤ h2 (θ)} ,

where 0 ≤ β − α ≤ 2π, then

ZZ Z β Z h2 (θ)
f (x, y )dA = f (r cos θ, r sin θ) rdrdθ (19)
D α h1 (θ)

Figure: Polar region D Figure: Polar rectangle dA = rdrdθ

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 Change of Variable in a Double Integral
Suppose that under the change of variable (x, y ) 7→ (u, v ) given by

x = x (u, v ) , y = y (u, v ) ,

the region D(x, y ) 7→ D ∗ (u, v ) (one-to-one), then

ZZ ZZ
f (x, y )dA = f (u, v ) |J(u, v )| dudv , (20)
D D∗

where the determinant J(u, v ) is so-called the Jacobian of the transforma-

tion.
∂x ∂x
∂u ∂v
J(u, v ) =
∂y ∂y
∂u ∂v

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 Example 15
Evaluate R x 2 + y 2 + 1 dA, where D is the region inside the circle
RR

x 2 + y 2 = 4.

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 Applications: Area and Volume in Polar Form
Example 16
Compute the area of the region D bounded above by the line y = x and
below by the circle x 2 + y 2 − 2y = 0.

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 Example 17
Use the polar double integral to show that a sphere of radius a has volume
4 3
3 πa .

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 Example 18
Evaluate D x1 dA, where D is the region that lies inside the circle
RR

r = 3 cos θ and outside the cardioid r = 1 + cos θ.

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 Example 19 (Converting an integral to polar form)
R 2 R √2x−x 2 p
Evaluate 0 0 y x 2 + y 2 dydx by converting to polar coordinates.

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 12.4 Surface Area

If S is the portion of the surface z = f (x, y )

that lies over D, then the surface area
ZZ q
S= fx2 + fy2 + 1dA (21)
D

If S is parameterized by the vector function

R(u, v ) = x(u, v )i + y (u, v )j + z(u, v )k

on the region D in the uv -plane, then

ZZ
Figure: Surface area of S
S= kRu × Rv k dudv (22)
D

Here Ru × Rv is so-called the fundamental

cross product.
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 Sketch the Proof

Dividing D into small rectangles Rij with

area
∆A = ∆x∆y .
Let ∆Sij the area of the part of S that
lies directly above Rij and ∆Tij the area
of the part of the tangent plane to S at
Pij (a parallelogram) that lies directly
above Rij .
X
∆Sij ≈ ∆Tij ⇒ S ≈ ∆Tij
Figure: Approximation: ∆Sij ≈ ∆Tij i,j

Therefore we define the surface area of S

m X
X n
S= lim ∆Tij (23)
m,n→∞
i=1 j=1

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 We have that

a = ∆xi + fx (xi , yj ) ∆xk

b = ∆y j + fx (xi , yj ) ∆y k

and
i j k
a×b= ∆x 0 fx (xi , yj ) ∆x
0 ∆y fy (xi , yj ) ∆y
Figure: ∆Tij = ka × bk = (−fx (xi , yj ) i − fy (xi , yj ) j + k) ∆A
The area ∆Tij
q
∆Tij = ka × bk = [fx (xi , yj )]2 + [fy (xi , yj )]2 + 1 ∆A
From the Definition (23)
m X
X n q
S= lim [fx (xi , yj )]2 + [fy (xi , yj )]2 + 1 ∆A (24)
m,n→∞
i=1 j=1
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 Example 20
Find the surface area of the portion of the plane x + y + z = 1 that lies in
the first octant.

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 Example 21
Find the surface area (to the nearest hundredth square unit) of that part
of the paraboloid x 2 + y 2 + z = 5 and lies above the plane z = 1.

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 Example 22
Find the surface area (to the nearest square unit) of the surface given
parametrically by

R(u, v ) = (u sin v ) i + (u cos v ) j + u 2 k

for 0 ≤ u ≤ 3 and 0 ≤ v ≤ 2π.

The required surface area is

ZZ
S= kRu × Rv k dA
D
where D = [0, 3] × [0, 2π] is the rectangle in the uv -plane.

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 Example 22
Find the surface area (to the nearest square unit) of the surface given
parametrically by

R(u, v ) = (u sin v ) i + (u cos v ) j + u 2 k

for 0 ≤ u ≤ 3 and 0 ≤ v ≤ 2π.

The required surface area is

ZZ
S= kRu × Rv k dA
D
where D = [0, 3] × [0, 2π] is the rectangle in the uv -plane.
Ru = (sin v ) i + (cos v ) j + 2uk
Rv = (u cos v ) i + (−u sin v ) j + 0k
 
cos v 2u sin v 2u sin v cos v
Ru × Rv = ,− ,
−u sin v 0 u cos v 0 u cos v −u sin v

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 So we have Ru × Rv = 2u 2 sin v , 2u 2 cos v , −u and
p p
kRu × Rv k = 4u 4 + u 2 = u 4u 2 + 1

And hence, one has

Z 3 Z 2π p
S= u 4u 2 + 1dvdu
0 0
Z 3 p
=2π u 4u 2 + 1du
0
Z 3
1p 2
=2π 4u + 1d(4u 2 + 1)
0 8
3
π (4u 2 + 1)3/2 π √
= = (37 37 − 1).
4 3/2 6
0

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 12.5 Triple Integrals

The triple integral for the function of three variables f (x, y , z) on closed,
bounded solid region E ⊂ R3 , denoted by

ZZZ
f (x, y , z)dV (25)
E

Simplest case: E is a rectangular box B

B = {(x, y , z) : a ≤ x ≤ b, c ≤ y ≤ d, r ≤ z ≤ s} ,

General region E .

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 Triple Integrals over Rectangular Box B

Dividing the rectangular box B

into subrectanglular boxes

Bijk = [xi−1 , xi ]×[yi−1 , yi ]×[zi−1 , zi ]

with volume

∆V = ∆x∆y ∆z.

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 ∗ , y∗ , z∗ ) ∈ B
Choosing a sample point (xijk ijk ijk ijk and forming the triple
Riemann sum
n X
X m X
l
∗ ∗ ∗
f (xijk , yijk , zijk )∆V .
i=1 j=1 k=1

The triple integral of f over the box B is

ZZZ n X
X m X
l
∗ ∗ ∗
f (x, y , z)dV = lim f (xijk , yijk , zijk )∆V . (26)
B n,m,l→∞
i=1 j=1 k=1

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 Triple Integral over a General Bounded Region E

We enclose E in a box B and then define


 f (x, y , z) if (x, y , z) ∈ E
F (x, y , z) =
0 if (x, y , z) ∈ B\E .


Then the triple integral of f over E is

ZZZ ZZZ
f (x, y , z)dV = F (x, y , z)dV . (27)
E B

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 Properties of Triple Integrals
Linearity rule: For constants a and b
ZZZ
[af (x, y , z) + bg (x, y , z)] dV
E ZZZ ZZZ
=a f (x, y , z)dV + b g (x, y , z)dV ; (28)
E E

Dominance rule: If f (x, y , z) ≤ g (x, y , z) for all (x, y , z) ∈ E , then

ZZZ ZZZ
f (x, y , z)dV ≤ g (x, y , z)dV . (29)
E E

Subdivision rule: If the solid region of integration E is subdivided into

two two solid subregions E1 and E2 , then
ZZZ ZZZ ZZZ
f (x, y , z)dV = f (x, y , z)dV + f (x, y , z)dV .
E E1 E2
(30)
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 Iterated Integration

Theorem 23 (Fubini’s Theorem for Triple Integrals)

If f is continuous on the rectangular box B = [a, b] × [c, d] × [r , s], then
ZZZ Z s Z d Z b
f (x, y , z)dV = f (x, y , z)dxdydz. (31)
B r c a

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 Example 24
xyz 2 dV , where B is a rectangular box given by
RRR
Evaluate B

B = {(x, y , z)|0 ≤ x ≤ 1, −1 ≤ y ≤ 2, 0 ≤ z ≤ 3} .

By Fubini’s Theorem we have that

ZZZ Z 3Z 2 Z 1
xyz 2 dV = xyz 2 dxdydz
B 0 −1 0
3Z 2 x=1
x2 2
Z  
= yz dydz
0 −1 2 x=0
Z 3Z 2
1 2
= yz dydz
0 −1 2
Z 3  2  y =2
y 2
= z dz
0 4 y =−1
3 z=3
z3
Z
3 2 27
= z dz = =
0 4 4 z=0 4
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 Type 1 Solid Region
(1) If E is of type 1 solid region

E = (x, y , z) ∈ R3 |(x, y ) ∈ D, u1 (x, y ) ≤ z ≤ u2 (x, y ) ,



where D is the projection of E onto the xy -plane, then

ZZZ Z Z "Z u2 (x,y ) #
f (x, y , z)dV = f (x, y , z)dz dA. (32)
E D u1 (x,y )

Figure: A type 1 solid region

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 Example 25
RRR
Evaluate E zdV , where E is the solid tetrahedron bounded by the four
planes x = 0, y = 0, z = 0 và x + y + z = 1.

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 Type 2 Solid Region
(2) If E is of the type II solid region
E = (y , z) ∈ R3 |(y , z) ∈ D, u1 (y , z) ≤ x ≤ u2 (y , z) ,


where D is the projection of E onto the yz-plane, then

ZZZ Z Z "Z u2 (y ,z) #
f (x, y , z)dV = f (x, y , z)dx dA. (33)
E D u1 (y ,z)

Figure: A type 2 solid region

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 Example 26
RRR p
Evaluate E y 2 + z 2 dV , where E is the region bounded by the
paraboloid x = y + z 2 and plane x = 4.
2

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 Type 3 Solid Region
(3) If E is of the type III solid region
E = (x, y , z) ∈ R3 |(x, z) ∈ D, u1 (x, z) ≤ y ≤ u2 (x, z) ,


where D is the projection of E onto the xz-plane, then

ZZZ Z Z "Z u2 (x,z) #
f (x, y , z)dV = f (x, y , z)dy dA. (34)
E D u1 (x,z)

Figure: A type 3 solid region

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 Example 27
RRR √
Evaluate E x 2 + z 2 dV , where E is the region bounded by paraboloid
2 2
y = x + z and plane y = 1.

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 Applications: Volume by Triple Integrals

Volume
The the volume of a solid E can be represented as the triple integral:
ZZZ
V = dV (35)
E

Example 28
Find the volume of the tetrahedron T bounded by the plane 2x +y +3z = 6
and the coordinate planes x = 0, y = 0, and z = 0.

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 Example 29
Find the volume of the tetrahedron T bounded by the coordinate planes
and the plane 2x + y + 3z = 6 in the first octant by projecting onto the
yz-plane.

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 Example 30
Set up a triple integral for the volume of the solid E that is bounded
above by the sphere x 2 + y 2 + z 2 = 4 and below by the plane y + z = 2.

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 Example 31
Find the volume of the solid E bounded below by the paraboloid
z = x 2 + y 2 and above by the plane 2x + z = 3.

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 12.6 Mass, Moments, and Probability Density Functions

Mass and Moments in R2

Suppose the lamina occupies a region D of the xy -plane and its density (in
units of mass per unit area) at a point (x, y ) in D is given by ρ(x, y ),
where ρ is a continuous function on D.

The mass of D is

m = (density) × (area)

The the moments of D about

the y -axis and the x-axis are
given by

My = (mass) × (distance to the y -axis)

Mx = (mass) × (distance to the x-axis)

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 The total mass of the lamina is
ZZ
m= ρ (x, y ) dA (36)
D

The moments about the two coordinate axes are

ZZ ZZ
Mx = y ρ (x, y ) dA, My = xρ (x, y ) dA (37)
D D

The center of mass of the lamina is located at the point (x̄, ȳ ),

where
My Mx
x̄ = , ȳ = (38)
m m

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 Mass and Moments in R3
Suppose the density function at the point (x, y , z) of a solid object that
occupies the region E is ρ (x, y , z) (in units of mass per unit volume).

The mass is
ZZZ
m= ρ (x, y , z) dV
E | {z } |{z}
density volume

The moments about the three coordinate planes are

ZZZ ZZZ
Myz = xρ (x, y , z) dV , Mxz = y ρ (x, y , z) dV
E ZZZ E

Mxy = zρ (x, y , z) dV
E

The center of mass is located at the point (x̄, ȳ , z̄), where

Myz Mxz Mxy
x̄ = , ȳ = , z̄ =
m m m
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 Example 32
Find the mass and center of mass of a triangular lamina with vertices
(0, 0), (1, 0), and (0, 2) if the density function is ρ(x, y ) = 1 + 3x + y .

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 Example 33
The density at any point on a semicircular lamina is proportional to the
distance from the center of the circle. Find the center of mass of the
lamina.

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 Moments of Inertia
Moments of Inertia of a Lamina

The moments of inertia of a lamina of density ρ covering the planar region

R about the coordinate axes

ZZ
Ix = y 2 ρ(x, y , z)dA
Z ZR
Iy = x 2 ρ(x, y , z)dA
ZZ R

Iz = (x 2 + y 2 )ρ(x, y , z)dA
R

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 Example 34
A lamina occupies the region R in the plane that is bounded by the
parabola y = x 2 and the lines x = 2 and y = 1. The density of the lamina
at each point (x, y ) is ρ(x, y ) = x 2 y . Find the moments of inertia
(rounded to the nearest hundredth) of the lamina about the x-axis and
y -axis.

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 Moments of Inertia
Moments of Inertia of a Solid

Suppose the solid occupies a region R and that the density at each point
(x, y , z) in R is given by ρ(x, y , z). The moments of inertia about the x-,
y -, and z-axis are, respectively,

ZZZ
Ix = (y 2 + z 2 )ρ(x, y , z)dV
Z Z ZR
Iy = (x 2 + z 2 )ρ(x, y , z)dV
Z Z ZR
Iz = (x 2 + y 2 )ρ(x, y , z)dV
R

Figure: A typical solid R

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 Example 35
Find the moment of inertia about the z-axis of the solid tetrahedron S with
vertices (0, 0, 0), (1, 0, 0), (0, 1, 0), (0, 0, 1), and density ρ(x, y , z) = x.

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 12.7 Cylindrical and Spherical Coordinates
Cylindrical Coordinates

Cylindrical to rectangular coordinates:

P(r , θ, z) 7→ P(x, y , z)

x = r cos θ y = r sin θ z =z

Rectangular to cylindrical coordinates:

P(x, y , z) 7→ P(r , θ, z)
y
Figure: The cylindrical r2 = x2 + y2 tan θ = z =z
x
coordinates of a point

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 Suppose that E is a type 1 region
E = (x, y , z) ∈ R3 |(x, y ) ∈ D, u1 (x, y ) ≤ z ≤ u2 (x, y ) ,


where D is given in polar coordinates by

D = {(r , θ) : α ≤ θ ≤ β, h1 (θ) ≤ r ≤ h2 (θ)}
then we have
ZZZ Z Z "Z u2 (x,y )
#
f (x, y , z)dV = f (x, y , z)dz dA
E D u1 (x,y )

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 Example 36
Find the volume of the solid in the first octant
p that is bounded by the
cylinder x 2 + y 2 = 2y , the half-cone z = x 2 + y 2 and the xy -plane.

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 12.7 Cylindrical and Spherical Coordinates
Spherical Coordinates

Spherical to rectangular coordinates:

P(ρ, θ, φ) 7→ P(x, y , z)

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

Rectangular to cylindrical coordinates:

P(ρ, θ, φ) 7→ P(x, y , z)
Figure: The spherical
coordinates of a point p y
ρ= x2 + y2 + z2 tan θ =
x
!
z
φ = cos−1 p
x + y2 + z2
2

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 Example 37
Find the expression in spherical coordinates of the solid E which is
bounded by the sphere x 2 + y 2 + z 2 = 1.

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 Triple Integration in Spherical Coordinates
ZZZ
f (x, y , z)dV
E ZZZ
= f (ρ sin φ cos θ, ρ sin φ sin θ, ρ cos φ) ρ2 sin φdρdθdφ
E

where E is the region E expressed in spherical coordinates.

Figure: Volume element: dV = ρ2 sin φdρdθdφ

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 Example 38
In geometry, it is shown that a sphere of radius R has volume V = 43 πR 3 .
Verify this formula using integration.

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 Example 39
Use spherical p
coordinates to find the volume of the solid that lies above
the cone z = x 2 + y 2 and below the sphere x 2 + y 2 + z 2 = z.

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 12.8 Jacobians: Change of Variables
Change of Variables in a Double Integral

Suppose that under the change of variable (x, y ) 7→ (u, v ) given by

x = x (u, v ) , y = y (u, v ) ,

the region D(x, y ) 7→ D ∗ (u, v ) (one-to-one), then

ZZ ZZ
f (x, y )dA = f (u, v ) |J(u, v )| dudv , (39)
D D∗

where the determinant J(u, v ) is so-called the Jacobian of the transforma-

tion.
∂x ∂x
∂u ∂v
J(u, v ) =
∂y ∂y
∂u ∂v
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 Change of Variables in a Triple Integral
Suppose that under the change of variable (x, y , z) 7→ (u, v , w ) given by
x = x (u, v , w ) , y = y (u, v , w ) , z = z(u, v , w )
the solid R(x, y , z) 7→ R ∗ (u, v , w ) (one-to-one), then
ZZZ ZZZ
f (x, y , z)dV = f (u, v , w ) |J(u, v , w )| dudvdw , (40)
R R∗

where J(u, v , w ) is so-called the Jacobian of the transformation

∂x ∂x ∂x
∂u ∂v ∂w
∂y ∂y ∂y
J(u, v , w ) =
∂u ∂v ∂w
∂z ∂z ∂z
∂u ∂v ∂w
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 Example 40
Let D be the triangular region bounded by the line x + y = 1 and the
coordinates axes. Compute the double integral
ZZ  4
x −y
dA.
D x +y

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 Example 41
Find the area of the region D bounded by the ellipse

x2 y2
+ 2 = 1.
a2 b

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 Example 42
Find the centroid (correct to the nearest tenth) of the region D in the
xy -plane that is bounded by the lines y = 41 x and y = 52 x and the
hyperbolas xy = 1 and xy = 5.

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