APSC248 – Engineering Analysis III

Lecture 07 – Arc Length and Scalar Line Integral

(1) Arc Length
𝑡 = 𝑡!
𝑧 𝑃! (𝑡! )

𝐴
𝐵
𝑟⃑(𝑡$ )
𝑡 = 𝑡"
𝑟⃑(𝑡# ) 𝑃" (𝑡" )
𝑜
𝑦

𝑥 𝑡! ≤ 𝑡$ ≤ 𝑡# ≤ 𝑡"

Objective: to find the arc length 𝑠 of a curve 𝐶, from point 𝑃! (𝑡! ) and 𝑃" (𝑡" ) .

We can approximate the curve by a number of linear segments, and the sum of lengths

of those segments. Take segment between 𝐴 and 𝐵 as example. The arc length between

points 𝐴 and 𝐵 can be approximated by |Δ𝑟⃑| = |𝑟⃑(𝑡# ) − 𝑟⃑(𝑡$ )|. Let the arc length between

points 𝐴 and 𝐵 be Δ𝑠, then

Δ𝑠 ≈ |𝑟⃑(𝑡# ) − 𝑟⃑(𝑡$ )|

= |Δ𝑟⃑|

= 1Δ𝑟⃑ ∙ Δ𝑟⃑

Δ𝑟⃑ Δ𝑟⃑
= 3 ∙ Δ𝑡
Δ𝑡 Δ𝑡

In differential form, we have

d𝑟⃑ d𝑟⃑
d𝑠 = 3 ∙ d𝑡
d𝑡 d𝑡

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 APSC248 – Engineering Analysis III

Thus, the arc length from 𝑡 = 𝑡! to 𝑡 = 𝑡" is

&!
𝑠 = : 1𝑟⃑ % (𝑡) ∙ 𝑟⃑ % (𝑡) 𝑑𝑡
&"

'( ') '*

Let 𝑟⃑(𝑡) = 𝑥(𝑡)𝚤̂ + 𝑦(𝑡)𝚥̂ + 𝑧(𝑡)𝑘A and 𝑟⃑ % (𝑡) = '&
𝚤̂ + '& 𝚥̂ + '& 𝑘A, then

% (𝑡) % (𝑡)
𝑑𝑥 " 𝑑𝑦 " 𝑑𝑧 "
𝑟⃑ ∙ 𝑟⃑ =B C +B C +B C
𝑑𝑡 𝑑𝑡 𝑑𝑡

And

𝑑𝑥 " 𝑑𝑦 "
&!
𝑑𝑧 "
𝑠=: 3 B C + B C + B C 𝑑𝑡
&" 𝑑𝑡 𝑑𝑡 𝑑𝑡

Example 1: 𝑟⃑(𝑡) = cos 2𝑡 𝚤̂ + sin 2𝑡 𝚥̂, 0 ≤ 𝑡 ≤ 𝜋, what is the arc length?

𝑟⃑ % (𝑡) = −2 sin 2𝑡 𝚤̂ + 2 cos 2𝑡 𝚥̂

𝑟⃑ % (𝑡) ∙ 𝑟⃑ % (𝑡) = 4 sin" 2𝑡 + 4 cos " 2𝑡 = 4

Thus the arc length from 𝑡 = 0 to 𝑡 = 𝜋 is

+ +
𝑠 = : 1𝑟⃑ % (𝑡) ∙ 𝑟⃑ % (𝑡) 𝑑𝑡 = : M√4O𝑑𝑡 = 2𝜋
, ,

In general, at any time instant, the arc length for this example is
& &
𝑠(𝑡) = : 1𝑟⃑ % (𝑡) ∙ 𝑟⃑ % (𝑡) 𝑑𝑡 = : M√4O𝑑𝑡 = 2𝑡
, ,

-
Solve for 𝑡 gives 𝑡 = ". Substituting into the position vector 𝑟⃑ gives the following arc length

parameterization for the circle:

𝑟⃑(𝑠) = cos 𝑠 𝚤̂ + sin 𝑠 𝚥̂

The arc length parameterization is generally difficult to find analytically for a curve.

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 APSC248 – Engineering Analysis III

Example 2: The arc length of the path a glider travels

A glider is moving upward along the helix 𝑟⃑(𝑡) = cos 𝑡 𝚤̂ + sin 𝑡 𝚥̂ + 𝑡𝑘A. How far does

the glider travel along its path from 𝑡 = 0 to 𝑡 = 2𝜋?

𝑟⃑ % (𝑡) = − sin 𝑡 𝚤̂ + cos 𝑡 𝚥̂ + 𝑘A

"+
𝑠 = : 1𝑟⃑ % (𝑡) ∙ 𝑟⃑ % (𝑡) 𝑑𝑡
,

"+
= : 1sin" 𝑡 + cos " 𝑡 + 1 𝑑𝑡 = 2√2 𝜋
,

Remarks:

• Arc length and speed

Concept of arc length is similar to displacement. Thus if we consider the arc length as

the displacement a point travels, then the speed of this particle is

𝑑𝑠
= |𝑣⃑| > 0
𝑑𝑡

𝑠 is an increasing function of 𝑡.

• Unit tangent vector 𝑇A(𝑡) for a smooth curve

We already learned that the velocity vector 𝑣⃑ = 𝑑𝑟⃑/𝑑𝑡 is tangent to the curve and unit

/⃑
.
tangent vector of the curve is 𝑇A(𝑡) = |./⃑|. Then

𝑣⃑ 𝑑𝑟⃑/𝑑𝑡 𝑑𝑟⃑
𝑇A(𝑡) = = =
|𝑣⃑| 𝑑𝑠/𝑑𝑡 𝑑𝑠

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 APSC248 – Engineering Analysis III

(2) Line Integral (Scalar)

Recall how to find the mass of a thin straight rod lying along the 𝑥-axis from 𝑥 = 𝑎 to

𝑥 = 𝑏. We can cut the rod into small pieces of mass by a partition of the interval [𝑎, 𝑏].

Choose 𝑥2 to be any point in the 𝑘th subinterval of the partition. The 𝑘th piece is Δ𝑥2 units

long and lies approximately 𝑥2 units from the origin.

Let 𝜌(𝑥) be the density (mass per unit length) of the rod defined from 𝑥 = 𝑎 to 𝑥 = 𝑏. Then

Δ𝑚2 = 𝜌(𝑥2 ) Δ𝑥2

3

rod mass = _ 𝜌(𝑥2 ) Δ𝑥2

24!

As 𝑛 → ∞, the sequence of sum converges to a limit

5
rod mass = : 𝜌(𝑥)𝑑𝑥
6

It is an integration over the line segment along the 𝑥-axis.

Now suppose that we want to calculate the mass of a rod or wire in 3D space. We need to

integrate over the curve in 3D space. We need a more general integral, which is called “line

integral” (although curve integral is more suitable).

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 APSC248 – Engineering Analysis III

Suppose that 𝑓(𝑥, 𝑦, 𝑧) is a real-valued function defined over the curve 𝐶.

𝐶: 𝑟⃑(𝑡) = 𝑥(𝑡)𝚤̂ + 𝑦(𝑡)𝚥̂ + 𝑧(𝑡)𝑘A, 𝑎 ≤ 𝑡 ≤ 𝑏

The values of ƒ along the curve are given by the composite function𝑓M𝑥(𝑡), 𝑦(𝑡), 𝑧(𝑡)O.

We are going to integrate 𝑓(𝑥, 𝑦, 𝑧) with respect to the arc length from 𝑡 = 𝑎 to 𝑡 = 𝑏.

The curve is partitioned into a finite number 𝑛 of subarcs. In each subarc, we choose a point

(𝑥2 , 𝑦2 , 𝑧2 ). A sum can be formed

3

𝑆3 = _ ƒ(𝑥2 , 𝑦2 , 𝑧2 ) Δ𝑠2
24!

As 𝑛 → ∞, the sum 𝑆3 approaches a limit, and Δ𝑠2 → 0 (𝑑𝑠). This limit is called, “Line

integral of 𝑓 over the curve from 𝑎 → 𝑏”.

Denote the curve with 𝐶, the notion of line integral is

:𝑓(𝑥, 𝑦, 𝑧)𝑑𝑠
8

Meaning the integral of 𝑓 over 𝐶. Since 𝑑𝑠 = 1𝑟⃑ % (𝑡) ∙ 𝑟⃑ % (𝑡) 𝑑𝑡, thus

:𝑓(𝑥, 𝑦, 𝑧)𝑑𝑠 = :𝑓M𝑥(𝑡), 𝑦(𝑡), 𝑧(𝑡)O1𝑟⃑ % (𝑡) ∙ 𝑟⃑ % (𝑡) 𝑑𝑡

8 8

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 APSC248 – Engineering Analysis III

Example 3: Integrate 𝑓 (𝑥, 𝑦, 𝑧) = 𝑥 − 3𝑦 ! + 𝑧 over the line segment 𝐶

joining the origin and point (1,1,1)

𝑧
Solution:

First, we need to obtain a parametric equation for curve 𝐶. (1,1,1)

Since 𝐶 is a straight line, it is obvious that 𝐶
𝑜 𝑦
𝐶: 𝑟⃑(𝑡) = 𝑡𝚤̂ + 𝑡𝚥̂ + 𝑡𝑘A, 0 ≤ 𝑡 ≤ 1
𝑥 (1,1,0)

𝑟⃑ % (𝑡) = 𝚤̂ + 𝚥̂ + 𝑘A = 〈1,1,1〉

!
:𝑓(𝑥, 𝑦, 𝑧)𝑑𝑠 = : 𝑓(𝑡, 𝑡, 𝑡)1〈1,1,1〉 ∙ 〈1,1,1〉 𝑑𝑡
8 ,

!
= : (𝑡 − 3𝑡 " + 𝑡)√3 𝑑𝑡
,

!
= √3 : (2𝑡 − 3𝑡 " ) 𝑑𝑡
,

!
= √3(𝑡 " − 𝑡 9 )j,

=0

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 APSC248 – Engineering Analysis III

(3) Properties of Line Integral

• Linearity, (𝛼, 𝛽 are constants, 𝑓, 𝑔 are functions)

:(𝛼𝑓 + 𝛽𝑔)𝑑𝑠 = 𝛼 :𝑓𝑑𝑠 + 𝛽 :𝑔𝑑𝑠

8 8 8

• Additive

If a curve 𝐶 is made by joining a finite number of curves 𝐶! , 𝐶" , …, 𝐶3 , then

:𝑓𝑑𝑠 = : 𝑓𝑑𝑠 + : 𝑓𝑑𝑠 + ⋯ + : 𝑓𝑑𝑠

8 8" 8! 8#

Example 4: Integrate 𝑓(𝑥, 𝑦, 𝑧) = 𝑥 − 3𝑦 ! + 𝑧 over 𝐶" ∪ 𝐶!

Solution:
𝑧
Parametric equation for curves 𝐶! and 𝐶" are

𝐶! : 𝑟⃑! (𝑡) = 𝑡𝚤̂ + 𝑡𝚥̂, 0 ≤ 𝑡 ≤ 1 (1,1,1)

𝐶" : 𝑟⃑" (𝑡) = 𝚤̂ + 𝚥̂ + 𝑡𝑘A, 0 ≤ 𝑡 ≤ 1 𝐶"

𝑜 𝑦
𝐶!
𝑟⃑!% (𝑡) = 𝚤̂ + 𝚥̂ = 〈1,1,0〉 𝑥 (1,1,0)

𝑟⃑"% (𝑡) = 𝑘A = 〈0,0,1〉

: 𝑓𝑑𝑠 = : 𝑓𝑑𝑠 + : 𝑓𝑑𝑠

𝐶1 ∪𝐶2 8" 8!

! !
= : 𝑓(𝑡, 𝑡, 0)1〈1,1,0〉 ∙ 〈1,1,0〉 𝑑𝑡 + : 𝑓(1,1, 𝑡 )1〈0,0,1〉 ∙ 〈0,0,1〉 𝑑𝑡
, ,

! !
= : (𝑡 − 3𝑡 " )√2 𝑑𝑡 + : (1 − 3 + 𝑡)(1)𝑑𝑡
, ,

! !
𝑡" 𝑡" √2 3
= √2 o − 𝑡 9 p + o − 2𝑡p = − −
2 ,
2 ,
2 2

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 APSC248 – Engineering Analysis III

The parametric equation for 𝐶" could also be

𝐶" : 𝑟⃑" (𝑡) = 𝚤̂ + 𝚥̂ + (𝑡 − 1)𝑘A, 𝑡: 1 → 2

The result of the scalar line integral is the same as shown below.
"
: 𝑓𝑑𝑠 = : 𝑓(1,1, 𝑡 − 1 )1〈0,0,1〉 ∙ 〈0,0,1〉 𝑑𝑡
8! !

"
= : (1 − 3 + 𝑡 − 1)(1)𝑑𝑡
!

"
𝑡"
= o − 3𝑡p
2 !

1 3
= (2 − 6) − B − 3C = −
2 2

The parametric equation for 𝐶" could also be

𝐶" : 𝑟⃑" (𝑡) = 𝚤̂ + 𝚥̂ + (1 − 𝑡)𝑘A, 𝑡: 0 → 1

This means that it starts at (1,1,1) when 𝑡 = 0 and ends at (1,1,0) when 𝑡 = 1

The result of the scalar line integral is still the same as shown below.
,
: 𝑓𝑑𝑠 = : 𝑓(1,1,1 − 𝑡 )1〈0,0, −1〉 ∙ 〈0,0, −1〉 𝑑𝑡
8! ,

!
= : (1 − 3 + 1 − 𝑡)(1)𝑑𝑡
,

!
𝑡"
= o− − 𝑡p
2 ,

1 3
= B− − 1C = −
2 2

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 APSC248 – Engineering Analysis III

Interpretation of scalar line integral

Consider a smooth curve 𝐶 in 𝑥𝑦-plane and a function of two variable 𝑓(𝑥, 𝑦) which gives a

surface. When integrating 𝑓(𝑥, 𝑦) over curve 𝐶 , we essentially integrate over the curve

intersected between the surface 𝑧 = 𝑓(𝑥, 𝑦) and generalized cylindrical surface created by

curve 𝐶.

At (𝑥2 , 𝑦2 ), take a small arc length Δ𝑠. Then create a rectangle with height 𝑓(𝑥2 , 𝑦2 ). The

area of the rectangle is 𝑓(𝑥2 , 𝑦2 )Δ𝑠. Then the area under the curve on surface 𝑧 = 𝑓(𝑥, 𝑦)

can be approximated as
3

_ 𝑓(𝑥2 , 𝑦2 )Δ𝑠
24!

As 𝑛 → ∞, we have
3

lim s_ 𝑓(𝑥2 , 𝑦2 )Δ𝑠t = :𝑓(𝑥, 𝑦)𝑑𝑠

3→; 8
24!

https://www.geogebra.org/m/vyrspxgb

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 APSC248 – Engineering Analysis III

https://www.geogebra.org/m/ma2n5KNH

https://www.geogebra.org/m/WCXTg3t2

https://www.geogebra.org/m/fRHzaMnF

https://www.geogebra.org/m/PcUKXhAr

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