Chapter 3 Multiple Integral
3.1 Double Integrals
3.2 Iterated Integrals
3.3 Double Integrals in Polar
Coordinates
3.4 Triple Integrals
Triple Integrals in Cartesian
Coordinates
Triple Integrals in Cylindrical
Coordinates
Triple Integrals in Spherical
Coordinates
3.5 Moments and Centre of Mass
3.4 Triple Integrals
Definition
If f is a function defined over a closed,
bounded solid region G, then the triple integral
of f over G is defined as
n
* * *
f ( x , y , z ) dV lim f ( xk , yk , zk ) Vk
G n k 1
3.4.1 Iterated Integration
Just as for double integrals, the practical method
for evaluating triple integrals is to expressed
them as iterated integrals as in the following
theorem:
Theorem
If f ( x, y, z ) is continuous over a rectangle
solid G: a x b, c y d , k z l ,
then the triple integral may be evaluated by the
iterated integral
l db
f ( x, y, z ) dV f ( x, y, z ) dxdydz
G k ca
The iterated integration can be performed in any
order (with appropriate adjustments) to the limits
of integration:
dx dy dz dx dz dy
dy dx dz dy dz dx
dz dy dx dz dx dy
Example
2 x
Evaluate z ye dV , over the rectangular
G
box G defined by
0 x 1, 1 y 2, 1 z 1
Solution
We shall evaluate the integral in the order
dx dy dz .
1 2 1
dV
2 x 2 x
z ye z ye dxdydz
G 1 1 0
1 2 1 2
1
0 dydz (e 1)
y dydz
2 x 2
= z y e z
1 1 1 1
1 2
2 2
= (e 1) z [ y 2] dz
1
1
1
3 2
= (e 1) z dz e 1
2 1
3.4.2. Integral Over General Regions
We restrict our attention to continuous functions
f and to certain simple types of regions.
3 types of region:
Type I – integrating over simple xy-solid
Type II – integrating over simple xz-solid
Type III – integrating over simple yz-solid
Definition
A solid region G is said to be of Type 1 if it lies
between the graphs of two continuous functions
of x and y,
G ( x, y, z ) : x, y R, k1 ( x, y) z k2 ( x, y)
where R is the projection of G onto the
xy-plane, then
k2 ( x , y )
f ( x, y, z ) dV f ( x, y, z ) dz dA
G k1 ( x , y )
R
Type I Regions
k2 ( x , y )
f ( x, y, z ) dV
f ( x, y, z ) dz dA
G k1 ( x , y )
R
Type II Regions
g2 ( x , z )
f ( x, y, z ) dV
f ( x, y, z ) dy dA
G g1 ( x , z )
R
Type III Regions
h2 ( y , z )
f ( x, y, z ) dV
f ( x, y, z ) dx dA
G h1 ( y , z )
R
Example
Let G be the wedge in the first octant cut from
2 2
the cylindrical solid y z 1 by the planes
y x and x 0. Evaluate
z dV
G
Solution
Sketch the solid: choose Type I
y
y2 + z2 = 1
1
y=x x=0
y=x
1
x
2 2
upper bounding surface: y z 1
lower bounding surface: xy-plane
The z-limits of integration: Draw a line L
parallel to z-axis passing through solid
region.
As z increases, L enters G at z = 0 and leaves
2
at z 1 y
1 y 2
z dV z dz dA
G R 0
The x-limits of integration: Draw a line M
parallel to x-axis passing through plane
region R.
As x increases, M enters R at x = 0 and
leaves at x = y.
The y-limits of integration: Choose
y-limits that include all lines parallel to the
x-axis.
The integral is
2
1 y 1 y
z dV z dz dx dy
G 0 0 0
1 y 2
1 y z2 1 y 1
dx dy (1 y 2 ) dx dy
0 0 2 0
0 0 2
1
2 y 11 3 1
= (1 y ) x dy = ( y y ) dy
0
0 20 8
Alternatively, we evaluate the integral by
integrating first with respect to x (Type III).
The solid is bounded in the back by the plane x
= 0 and in the front by the plane y x .
y
z dV z dx dA
G R 0
1 y2 + z2 =1
1 1 z 2 y
z dV
G 0 0 0
z dx dy dz
Question 1
In questions 1(a) - 1(b), evaluate the triple integral.
1 2 x
(a) x 2 dy dx dz
1 0 0
2 z y
(b) e x dx dy dz
1 0 0
Question 2
Sketch the solid bounded by the graph of the
given equation and express f x, y, z dV as
iterated integrals in six different ways.
x 2y 3z 6, x 0, y 0, z 0.
Question 3
In questions 3(a) - 3(b), evaluate the triple integral.
(a) x 0, y 0, z 0, 3x 6y z 6.
(b) z y 2, z 0, x 0, x 1, y 1, y 1.
Question 4
In questions 4(a) and 4(b), sketch the solid whose
volume is given by the iterated integral.
2
3 9 x y 6
(a) 2
dz dy dx
3 9 x 0
1 1 1 y
(b) 2
dz dy dx
1 x 0
3.4.3 Cylindrical Coordinates
3
Generalization of polar coordinates in
We convert a triple integral from rectangular
to cylindrical coordinates by writing
x r cos , y r sin , z = z
The element of integration,
dV r dr d dz
The function f ( x, y, z ) is transform to
f ( x, y, z ) f (r cos , r sin , z )
Cylindrical coordinates are convenient for
representing cylindrical surfaces and surfaces
for which the z-axis is the axis of symmetry.
The cylindrical coordinate system
z
(x, y,
z)(r, ,
z)
y
r
(r, ) or (x, y)
x
Theorem
Let G be a solid with upper surface
z g 2 (r , ) and lower surface z g1 (r , )
and let R be the projection of the solid on the xy-
plane expressed in polar coordinates. Then if
f (r , , z ) is continuous on R, we have
g 2 ( r , )
f (r , , z ) dV f (r , , z ) r dz dr d
G R g1 ( r , )
Example
Use cylindrical coordinates to evaluate
3 9 x 2 9 x 2 y 2
3 9 x 2
0
x 2 dz dy dx
Solution
3 9 x 2 9 x 2 y2
x 2 dzdydx x 2 dV
3 9 x2 0 G
2 3 9 r2
r 2 cos2 rdzdrd
0 0 0
2 3
3 2 9 r2
r cos z drd
0
0 0
2
243
cos2 d
4 0
2
243 1 cos 2 243
d
4 2 4
0
Question 1
In questions 1(a) - 1(c), use cylindrical coordinates
to find the volume of the solid bounded by the
given surfaces.
(a) z x 2 y 2, z 9.
2 2 2 2
(b) z x y ,x y 1 1, z 0.
(c) z x2 y 2, x 2 y2 4, z 0.
Question 2
In questions 2(a) - 2(b), evaluate the integrals by
changing the coordinates to cylindrical
coordinates.
1 1 y2 4 x 2 y2
(a) z dz dx dy.
0 0 0
1 1 y2 x
(b) x2 y 2 dz dx dy
1 0 0
3.4.4 Spherical Coordinates
Definition
Spherical coordinates represent a point P in space
by ordered triples ( , , ) in which
1. is the distance from P to the origin
2. is the angle OP makes with the positive
z-axis ( 0 )
3. is the angle from cylindrical coordinates.
The spherical coordinate system
Since r sin ,
x r cos sin cos
y r sin sin sin
2 2 2 2
and z cos , x y z
z
P(, , )
z = cos
y
x
r
y
x
The function f ( x, y, z ) is transform to
f ( x, y, z ) f ( sin cos , sin sin , cos )
The element of integration,
dV 2 sin d d d
Triple integrals in spherical coordinates
are then evaluated as iterated integrals.
The integral is
2
f ( , , ) dV f ( , , ) sin d d d
G G
Question 1
In questions 1(a) - 1(b), use spherical coordinates
to evaluate the integrals.
3
2 2 2
(a) cos x y z dV where G is
G
the solid bounded by z 1 x2 y 2 and
z 0.
3
x 2 y2 z 2
(b) e dV where G is the solid
G
bounded by z 1 x2 y 2 and
z x2 y2 .
Question 2
In questions 2(a) - 2(b), evaluate the integrals by
changing the coordinates to spherical coordinates.
2 4 x2 8 x 2 y2
(a) x2 y2 z 2 dz dy dx .
2 4 x2 x 2 y2
2 4 y2 4 x 2 y2
(b) x2 y2 z 2 dz dx dy.
0 y 0
2 4 x2 4 x 2 y2
(c) dz dy dx .
2 4 x2 4 x 2 y2
3.5 Moments and Centre of Mass
3.5.1 Notation and Terminology
Lamina - a solid object that is sufficiently “flat”
to be regarded as two-dimensional.
Density: mass per unit area, ( x, y )
Mass: quantity of matter in a body, m
Moment of mass: tendency of mass to produce
a rotation about a point, line or plane
Positive moment – clockwise rotation
Negative moment – counterclockwise
rotation
Center of Gravity/Center of Mass:
a point where a system behaves as if all its mass
is concentrated there (balance point).
Centroid: center of mass of a homogeneous
body
Moment of inertia: tendency to resist a
change in the rotational motion about an
axis.
Definition
If is a continuous density function on the
lamina corresponding to a plane region R, then
Mass, m ( x, y ) dA
R
Moments of mass about the x- and y-axes,
M x y ( x, y ) dA
R
M y x ( x, y ) dA
R
My Mx
Centre of mass, ( x, y ) = ,
m m
If the density is constant, the point ( x, y )
is called the centroid of the region.
Example
2
A lamina of density ( x, y ) x occupies a
2
region R bounded by the parabola y 2 x
and the line y x . Find
(a) mass
(b) centre of mass of the lamina.
Solution
sketch the region R
(a) mass of lamina,
1 2 x2
2
m ( x, y ) dA = x dy dx
R 2 x
1
2 x 2
x
2
= yx dx
2
1
2 63 4 3
m = (2 x x x ) dx =
2 20
(b) centre of mass, ( x, y )
My Mx
KNOW: x , y
m m
M x y ( x, y ) dA
R
1
2
2y 2 x
2
1 2 x 2
2
= y x dy dx = x dx
2
2 x x
2
1 1 6 9
M x = ( x 5 x 4 4 x 2 ) dx =
2 2 7
M y x ( x, y ) dA
R
1 2 x2 1
3 3 2 x2
= x dy dx = x y x
dx
2 x 2
1
18
M y = (2 x 3 x 5 x 4 ) dx =
2 5
63
From (a) we found m = , so the centre of
20
mass is ( x, y ) where
My 18 5 8
x 1.14
m 63 20 7
Mx 97 20
y 0.41
m 63 20 49
In an analogous way, we can use the triple
integral to find mass and the center of mass of a
. The density ( x, y, z ) at a point
3
solid in
in the solid now refers to mass per unit volume.
Mass m ( x, y, z ) dV
G
Moments
M yz x ( x, y, z ) dV
G
M xz y ( x, y, z ) dV
G
M xy z ( x, y, z ) dV
G
Centre of mass
M yz M xz M xy
( x, y, z ) = , ,
m m m
If the density is constant, the point
( x, y, z ) is called the centroid.
Example
Find the centroid of a solid of constant density
2 2
bounded below by the disk x y 4 in the
plane z 0 and above by the paraboloid
z 4 x 2 y 2.
Solution
y
2 z 4 x2 y2
c.m
x
2 2
2 2
x +y =4
x2 + y2 = 4
By symmetry, x y 0. So we only need to
find z .
M xy
z
m
M xy z ( x, y, z ) dV
G
4 x2 y2
= z dz dy dx
R 0
2 2
2 4 x y
z
= 2 dy dx
R 0
2 2 2
= (4 x y ) dy dx
2 R
2 2
2 2
= ( 4 r ) r dr d
2 0 0
2 2
1 2 3
= ( 4 r ) dx
2 0 6 0
2
16
= d
3 0
32
M xy =
3
A similar calculation gives
m ( x, y, z ) dV
G
4 x2 y2
= dz dy dx = 8
R 0
M xy 32 3 4
Therefore z .
m 8 3
Thus the centroid is ( x, y, z ) = (0, 0, 43).
Question
A solid is the tetrahedron bounded by the
coordinate planes and the plane
x y z 2. If the density
( x, y, z ) 2 x , find the centre of mass.
3.5.3 Moments of Inertia
Also called the second moments
Definition
The moments of inertia of a lamina of density
covering the planar region R about the x-, y-,
and z-axis are given by
I x y 2 ( x, y ) dA
R
2
I y x ( x, y ) dA
R
I z ( x 2 y 2 ) ( x, y ) dA
R
z
(x, y)
R
x
The concept of moments of inertia generalise
easily to solid regions.
Suppose the solid occupies a region R and that
the density at each point (x, y, z) in R is given
by ( x, y, z ) . The moments of inertia of the
solid about the x-, y-, and z-axis are given by
I x ( y 2 z 2 ) ( x, y, z ) dV
G
I y ( x 2 z 2 ) ( x, y, z ) dV
G
I z ( x 2 y 2 ) ( x, y, z ) dV
G
Question 1
2
A lamina of density ( x, y ) x y occupies
the region R in the plane that is bounded by the
2
parabola y x and the lines x 2 and
y 1. Find the moments of inertia of the
lamina about the x-axis and the y-axis.
Question 2
Find the moment of inertia of the “ice cream
cone” G cut from the solid sphere 1 by the
cone about the z-axis. (Take = 1)
3
Question 3
Find the moment of inertia of a solid
hemisphere of radius 2 with respect to its axis of
symmetry, if the density is proportional to the
distance from the axis of symmetry.