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68 viewsChapter 13
calculus 3 chapter 13
Uploaded by
tthanhhoai67Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF or read online on Scribd
/ 136
CHAPTER 13
Es
VECTOR ANALYSIS
Lo matiemetics, you never understand things: you just get
used 10 thei.
sgn HB Mn An eo ft OR 9 8
PREVIEW
In this chapter, we combine what we have learned about differentiation, integration, and
vectors to study the calculus of vector functions defined on a set of points in 3
We introduce fine integrals and surface integrats to study such things as fluid flow and
then obtain a result called Green's theorem that enables line integrals to be computed
in (erms of ordinary double integrals, This result is extended into R> to obtain Stokes
theorens and the divergence theorem, which have extensive applications in areas such as
{uid dynamics and electromagnetic theory.
Voltage from an electric field u
PERSPECTIVE
How much work is done by a variable force acting along a given curve in space? How
ccan the amount of heat lowing across a particular surface in unit time be measured, and
js the measurement similar to measuring the flow of water or electricity’? We will use
line integrals and surface integrals to answer these and other questions from physics and
cengincering mathematics.
CONTENTS
a4
13.2
13.8
134
Bs
13.6
13.7
Properties of a Vector
Field: Divergence and Curl
Dofiniton of a vector fold
Divergence
Curl
Line Integrals
Definition of a line inte
Line imegels with respect to
eyed 2
Line
Applications of ine in
nse and work
‘The Fundamental Theorem
and Path independence
Fundamental theorem for Hine
integrals
Conservative vector fekls
Independence of path
Green's Theorem
Green's theorem
Area a a line integral
Green's theorem for
rmullply-connected regions
Aernate forms of Green
theorem
Normal derivatives
Surface Integrals
Surfuce integration
Fiux integrals
Invegrals over parametreally
defined surfaces
‘Stokes’ Theorem and
Applications
Stokes theorem
Theoretical applications of
Stokes’ theorem
‘Stokes’ theorem
Divergence Theorem and
Applications:
‘The divergence theorem
Applications of the divergence
‘theorem
Physical interpret
divergence
Chapter 13 Review
Research Project
Cumulative Review
1017 1018 13.1. Properties of a Vector Field: Divergence and Curt
13.1 PROPERTIES OF A VECTOR FIELD: DIVERGENCE AND CURL
IN THIS SECTION: Definition of a vector field, divergence, curl
Jn otder to mxel properties of electricity, magnetism, uid dynamics, and other applications, we use the notion of a
vector field. After introducing some basic terminology, we consider two concepts, called the divergence and the ctr,
which involve vector differentiation, We conclude by considering applications of these concepts in the study of uid
motions.
Definition of a Vector Field
‘The satellite photograph in Figure 13.1 shows wind measurements over the world’s
‘oceans. Wind direction is indicated by directed line segments, showing wind direction
and wind speed.
ona/ram ars Sy renner ver 322
Figure 18.1 The arrows on this world map show wind direction and magnitude
This is an example of a vector fetd, in which every point in a given region oF the plane
co space is assigned a vector. Here is the definition of a vector field in 3.
For example,
Fa 2xtte'}+ (tanZ)k
ig-a vector field with f-component 2x2y, j-component e'*, and k-component tan § 18.1 Properties of a Vector Field: Divergence and Curl 1019
A vector field in R? can he thought of as a special case where there are no
--coordinates and no k-components, ‘That is, a vector field in R? has the form
For, 9) = May + NOY
‘To visualize a particular vector field Ffx,y,2), it often helps to select a number of
points in the domain of F and then draw an artow emanating {rom each point P(a,b,)
with the dizection of K(a,6,€) and length representing the magnitude [F¢a, b,c). We
will refer to such a representation as the graph of F. Here is an example involving the
_gcaph of a vector field in
Example 1 Graph of a vector field
Sketch the graph of the vector field F¢x,y) = yi~x,
Solution We will evaluate F at various points, For example,
FQ4) js and F(-1,2) = 24-1)
a+)
We can generate as many such vector values of F as we wish, Several are shown in
Figure |
‘Vector fields are difficult to draw by hand, so most of the vector fields you see in Figure 13.2 The graph of a
books are computer generated. It would be worthwhile o investigate drawing a vector YECtOr fold
iicld sing a ealeulator or a computer.
One of the most important applications of vector fits isin Avid dynamics, which
is a part of fluid mechanics which deals with Nuid flows. A one-dimensional Rov is
{flow that has spatial variations in one direction only, A two-dimensional Now is
low in which special variations occur in some planar surface (thus involving two dire
tions) A three-dimensional flow has spatial variations everywhere in a thre- dimensional
space, The graph of a vector field often yields asetul information about the prop:
erties of the field, A flow is said to be irroutional it the angular velocity st any
point of the flow is zero, at any moment in ime. Otherwise, the flow is std to be
rotational
“The flow in Figure 13.30 is an irotational one, wherous Figure 13.3b suggests
rotational Now, Sometimes, an irotaional flow is informally said to be parallel, and
rotational flow is sad tobe circular, but these terms are imprecise.
4, An irrotational fluid flow A rotational flow
Figure 13.3. Flow diagrams
In fluid dynamies, if time derivatives of a flow field vanish, then the flow is con-
sidered to be a steady flow. Otherwise, the fluid flow is said to be unsteady, Note that a 1020
‘a. A central force field
18.1 Properties of a Vector Field: Divergence and Curl
How field can be ierotational and at the same time unsteady? One should not confuse the
trajectories of the flow particles with its other physical properties,
Gravitational, electrical, and magnetic vector fields play an important role in physica!
applications. We will discuss gravitational fields now, and electrical and! magnetic fields
later in this section. Accordingly, we begin with Newton’s law of gravitation which says
that a point mass (particle) m at the origin exerts on a unit point mass Toeated at the
point P(x,,',2) a force F(r,y,z) given by
where G is a constant (the universal gravi
‘extending from the point P toward the origin, The vector field F(x, ),2) is called the
gravitational field of the point mass m, Because
ucsy.2) ib yj 2k)
Jere
it follows that
FC )62) = a ar ltl by toh)
2) = Tar A Ht
Note that the gravitational field F always points toward the origin and has the same
magnitude for any point m located r= y’x# + y* +22 units from the origin. Such a
vector field is called a central force field. This force field is shown in Figure L3.4a,
Other physical vector fields are shown in Figure (3.4b and Figure 13.4
b. Air flow vector field Wind velocity on a map
Figure 13.4 Examples of physical vector fields
Divergence
Divergence and curt ave two operations on vector fields that originated in connection
with the study of fluid flow. Divergence may be defined as follows, 18.1 Properties of a Vector Fil: Divergence and Gurl 1021
D ire arenere ofa vector
fied 8.4 seatar fmetion,
Example 2 Divergence of a vector field
Find the divergence of each of the following vector fics.
Fis) =2yibay) bGl,y.2) = abt y%e3j tart
Sotution
a div F +397
b. divG D4 3y2c? 4 Sic? .
Suppose the vector field
Veey.) = ules sci + vl yyc)i + whey, Zdke
represents the voloeiy of a ‘lid with density a¢r,y.2) ata point (r.y.2) in a cenain
region & in RS, Then the vector field pV is called the flux density and is denoted by D.
We can think of D = pV as measuring the “mass flow" of the iui
‘Assuring there are no extemal processes acting onthe fi that would tend to create
‘or desroy fluid, it ean be shown that div D gives the negative of the rate of change of
density with respect to time, that is
a
divp =
‘This is often referred o as the continuity equation of fluid dynamics. (A derivation
is given in Section 13,7.) When div D = 0, D is said to be incompressible. By virtue of
the continuity equation, incompressible flow represents Now in which the material density
is constant within an infinitesimal volume that moves with the velocity of the Mid, I
div D > 0 at a point (x,y0,20), the point is called a souree; if div D <0, the point
called a sink (sce Figure 13.5). The terms sink, Source, and incompressible apply to any
vector field F and are not reserved only for fluid applications.
Ne sk SS
“\s arS “SS
Figure 19.5 Flow of a fluid across a plane region, D
A useful way to think of the divergence div V is in terms of the del operator defined by
a8’
itDitek
ve a 1022 18.1. Properties of a Vector Field: Divergence and Curl
Recall (from Section 11.6) that applying the del operator 1o the differentiable function
(0.942) produces the gradient field
FY,
i+ d+ ak
= oat ay
Similarly, by taking the dot product of the operator V with the vector field
V = uley,2)1 + vO, 342)) + wl y2)k, we obtain the divergence
a
a a
veve(2i4 2j4 26
va (fie fie
yt a a
Ro + ay” + am
fn. oy bw
Tory Pe
avy
5) + +p
Curl
‘The del operator may also be used to describe another derivative operation for vector
fields, called the cur
S The curl ofa vector field
isavecior fuetion.
Note that
cw (22 -8.-(te
vxv
fj kJ < Standard basis vectors
23a al og
oR E
« vou) «¥
‘A vector field V such that curl V is identically equal to zero al every point is said to be
inrotational. In case of a Muid flow, the flow velocity V is « vector field. The field curt
is called the vorticity of the flow. The Mluid flow is said (0 be irrolational iF its velocity
field V is inrotational, that is, if its vorticity (curl V) is identically equal to zero.
‘The determinant form of curt ¥ is a convenient device For remembering the definition
and is helpful in organizing computations. 18.1 Properties of a Vector Field: Divergence and Cur! 1023
Note tha div isa seatarane! ext
Example 3. Curl of a vector field
Find the cur! of each of the following vector fields:
and G = (eos y)i + ay
Solution
ii ok
otre|2 2 2
istyz aye aye?
= [292 -Zeyta]i-[2eye4 -
= [Fo a of [om
di
8 tsp 2,
+ [zero
20
x va]
2 (52? y+ Gy = pe + O72 = PDK
=
a
=
0
ay?) ]i-[o- Zeros Sey?
oa ]i fo a nfs +[2eo
= 7 +xsiny)k s
Example 4 A vector field with constant components has divergence and curl zero
Let F = ai + 6j-+ck. Show that div F = 0 and curl F = 0. Example 4 shows that the diver-
Solution Let F-= a+ + ck fr constants, , and Then revecendeurofaconnt
ik ‘not mean theif div F = Dad
j cutl F = 0, then F mst be a
constant For instance, the non
constant vector field
a8 a
GPs Os TO+ TO onal &
ja be Fecyc) aad ty) ~2ck
= 01-0) +0k has bor div F = Oanet
-o col P=. 1024
The Laplacian is named for the
reach mathematician Pierre
LLupluce (1749-1827). See the
Sistorieal Quest Section 12:3,
Problem 60.
13.1. Properties of a Vector Field: Divergence and Cur,
Combinations of the gradient, divergence, and curl appear in a variety of applications.
In particular, note that iff isa differentiable scalar function, its gradient Vf is a vector
field, and we ean compute
aa af. af tL)
J y+ tn). (4i4 4j4 He
Ger sitet): (Seg
ay er ee
ax? * ay
vos
div F
In the following box, we introduce some special notation and terminology for this
operation.
LAPLACIAN OPERATOR Lot (x,y,z) define a function with continuous first
and second partial derivatives. Then the Laplacian of f is
vip =V-VF
af ef, vf
tater a
= Soa thy the
‘The equation V2/ = 0 is called Laplace's equation, and a function that satisties
such an equation in ¢ region D is said to be harmonic in D.
Note that if,fG0.9) is a function of two variables x and y, V2f = fey) + fy Osy)
Example § Showing a function is harmonic
Show that f(x,y) = e*e0sy is harmonic
Solution —fult.y) =e" cosy
fia ls.y) = €* cosy
fley) = et siny
Soy =e" cosy
The Laplacian of fis given by
VF Oy) = fe 8) tft)
Thus, f is harmonic 18.1 Properties of a Vector Field: Divergence and Curl 1025
CR (rete marcel
‘Mople, Matlab, Mathematica, and many calculators will carry out most vector operations, For Example 2, we
define Gor,y.2) +.2%k, and use technology:
div bey's%az") simplifies to Ba? + 3y2s? +1
‘You may need to enter a zero, as with Fox,y tay, as shown here:
div [x?y,ay°,0] simplifies to xy? 4.29)
Next, consider the vector field F from Example 3, F =.°yzi-+ay?2j taye7he
‘We can find the curt:
curl [x?yz,ay"2,ayz"] simplifies to [x(@? —y*), ya? —
Finally, consider the function f(x.) = e eos, to find
LAPLACIAN(e*x cos(y). ft.) simplifies wo
In many ways, the study of electricity and magnetism is analogous 10 that of Mud
‘dynamies, and the curl and divergence play an important role in this study. In elecira-
‘magnetic theory, itis olten convenient to regard interaction hetween electrical charges as
forces somewhat like the gravitational foree between masses and then to seek quantitative
measure of these forces.
‘One of the great scientific achievements of the 19th eentury was the discovery of the
Jays of electromagnetism by the English scientist James Clerk Maxwell (see Sisiorical
ucst, Section 13.7, Problems 57-60). These laws have an elegant expression in terms
of the divergence and curl. It is known empirically that the force acting on a charge
due to an electromagnetic field depends on the position, velocity, and amount of the
particular charge, and not on the number of other charges that may be present or how
those oer charges are moving. Suppose a charge is located at the point (x.y.
div (eH) =
a ae
Gu eur B) =
where @ is the electric charge density (charge per unit volume), J is the electric current
density (rate at which the charge flows through a unit area per second), B is the magnetic
lus density, ¢ is the speed of light, and je and ¢ are constants called the permeability: and
permittivity, respectively. Working with these equations and terms is beyond the scope of
this course, but if you are interested there are many references you can consult. One of
the best (despite being almost 50 years old) isthe classic Feynman Lectures in Physies
(Reading, Mass: Addison-Wesley, 1963), by Nobel laureate Richard Feynman, Robert
Leighton, and Matthew Sands. 1026
PROBLEM SET 13.1
13.1. Properties of a Vector Field: Divergence and Curl
RATION PROBLEM. Discuss the del oper-
ator and its use in computing the divergence and curl.
(ON PROBLEM. Discuss the dilfer-
cence beween a vector valued Function and a vector
field.
In Problems 3-6, find div F and curl F for the given vector
fiction.
3. Foxy
4. Foy) E4024 ?y
5. Fsys2) = 29)
6. Pix,y,2) zi —J+2yk
It Problems 7-12, find div B ane curl R for each vector
field F at she given point.
7. Fosy.c) 145+ kat 21,3)
8, Fosy,2) saht+yzj back at (1,12)
9. Fes, wei ty)tabat (23)
10. F(s,3,2) = (eos y+ (Sin yj + k at F270)
AL Fos,y,2) =e Pit ej +e kat B,2,0)
12, F(x,9,2) = (7 sinyli +(e cosy j + kat
(3.2)
Find div F and curl F for each vector field F given in
Problems 13-26.
13, F=Ginx)i+(eosy)j 1d. P= (—eoss i+ (6iny)j
15. Pasinys mxityj
VPs
1B. F=81-y9) 2k
20, Pasty petk BL Payttel+ak
2, i tatytetj tb ytetk
23, P= (lnz)i-+ ej + tan! (2)k
ei + (re 9k
is harmonic.
27. als eo eosy ~
31. Find div F,
F(eey2) = ayhe?,
32, Find div F, given tha F = Vf, where
Fls.y,2) aye?
33. JR (e,9,2) = 21-4 28j + 3ykeand
G(x, yz) = x1 = 9) + ek, find curl(F x G),
34 WFO y ot tyes + 27K and
G(x,y,2) = sit yj — zk, find curl x G).
35. 1R(,y2) = 2420) + 3yk and
G(x,y,2) = xl 3) + 2k, find div(F x G).
36. IFC 9 vityeg + <7 and
GOxy,2) = xi 9) = 2k, find div(F x G).
37. Lot A be a constant vector and let R= xi-+yj-+zk.
Show that div(A x R) = 0.
38, Let A be # constant vector and let R= xi-+yJ-+2k.
‘Show that curl(A x R) = 2A,
39, Consider a rigid body that is rotating about the z-axis
(Counterclockwise from above) with constant angular
velocity « = ai +bj-+ek. IF isa point in the body
located at R= xi-+yj-+ 2k; the velocity at P is given
by the veetor field VW = ox R.
1, Express V in terms of the vectors, j, and k:
', Find div V and curl V,
40, EXPLORATION PROBLEM ITP = (f,2,4)
is an arbitrary vector field whose components
are twice differentiable, what can be said about
cuifeurl F)?
Which (if any) of the following is the same as
divPxG) for all vector fields F and G?
1. div Pv @)
1, (curl F)-G—F- (curl G)
Ml, Fidiy G) + (div YG
IV. (curl F)-G-+F -(eurl G)
42, Show tha the fietd
41
B bali yt
is incompressible,
43, IFO) Sula. y)i + vGr.3 show that curl F = Oi
au du
and only if
In Problems 44-51, prove the given property for ihe vee-
tor fields F and G, sealarc, and scalar functions f and g
Assume that alf required partial derivatives exist and are
continuous.
44, div(cR) =e div F
4S. div(F-+G) =div F+divG
46, curl(F +G) =curl F+-curl G
47. curl(eR)
48, curly E) =f cul P+ (Vf F)
49, div(fF) =f div F+ (Vf-F)
50. curl(VF + curl F)=curl( Vf) + euri(eurl Fy
SL, div'Vg) =f div Vg + VF Ve
cour 18.2 Line Integrals 1027
32,
The curl ofthe gradient of a function is always 0,"That $4. curl R= 0; whatisdivR?
Vx (Tf) =0. he) = ceuri( 4
53, Thedivegenceaf theca vectored is@. Tats, (HR) =O 56 ew
div(curl F) = 0. 87, div(rR) = 4r 58, diver) = 2
PLORATION PROBLEM State and prove an
ep ideatty for div C8 Ug), where fang ave diferen
tiable sealar functions of, y. and
Jn Problems 54-58, R= (x,42),and 60, Think Tank Problem Let F = (vy. 97,9"). Bither
r= IRI = Vt + y? $24, In cach case, verify the given find a veetor field G such that F = curi G, or show that
identity or answer the question. no such G exists.
13.2 LINE INTEGRALS
IN THIS SECTION: Definition of a tine integral; line integrals with respect to x.y. and z; line integrals of
vector fields: applications of line integrals: mass and work
In Section 5.3, we introduced a Riemann integral and then in Section 6.5 we used it 10 compute the work done when
an object moves along a line segment against a given orce, In this section, we ask the question, what if the object
moves along a curve in space? To anywer that question, we introduce the notion of a line integral.
A line integral is an integral whose integrand is evaluated at points along a curve in
cor in B3. We will introduce line integrals in this section and show how they can be used
for a variety of purposes in mathematics and physics
Definition of a Line Integral
Let C be 8 smooth curve, with parametric equations x 200) for
@ $1 $ b, that lies within the domain ofa function (v.32). We say that C is orientable
IF is possible to deseribe direction along the curve lor increasing.
‘To define a line integral, we begin by partitioning C into n subares, the kh of which
has length Ase. Let (af,p{+52) be a point chosen arbitrarily from the kth subarc (see
Figure 13.6).
Figure 19.6 The curve C partitioned into subaros
Form the Riemann sum
das
Tres
Fa
and let || As] denote the largest subare length in the partition. Then, if the limit
arto.
lim Of agog ebm
fat
exists, we call this imit the fine integral of f over C and denote it by fof (s,yy2) as 1028
rc &
G
Figure 13.7 Piecewise
‘smooth curve
18.2 Line Integrals
LINE INTEGRAL If /(x,y,2) is defined on the smooth curve C with parametric
equations x = x(0), y= y(), z= z(f)s then the line integral of f over C is given by
[soos.2.d0= fim, Drotseedan
. « ‘kel
aslo
provided that this limit exists, IFC isa elosed curve, we sometimes indicate the fine
integral of f around C by Jef ds.
It cam be shown thatthe limit that defines the line integral fof ds always exists if
Fis continious at each point of C. Also, since the curve C is smooth, the component
functions x (¢), (0), and 2(¢) will all be continuously differentiable. Thus, we have
ds = Vie'OP + OP OP dt
so the line integral can be written entirely in terms of 1:
i
[yenoe =[ FW. 90.20) VOPR FW OP + OF at
Finally, if f(x,y) is a function of only wo variables and C is a curve in the plane, then
»
[rona= FD, 9) VPOP +O at
xample 1 Evaluating a line integral in three variables
Evaluate the Jine integral f.x22 ds, where C is the helix x = cost,y = 2r, 2 = int,
frosts.
Solution Since x"(¢) = —sint, y/(t) = 2, 2/(t) = cost, the line integral is
if Peas = [ wore OP +b'OP + EOP a
= (e081)? (sin yin? + DE + OSE dr
On
= [feos sine at
"
‘The definition of a line integral can be extended (o curves that are piecewise smooth
in the sense that they are the union of a finite number of smooth curves with only.
endpoints in common, as shown in Figure 13.7.
In particular, if C is comprised of a number of smooth subares C1, C2,.+.5Cy, then
‘This definition of line integration is illustrated in the following example. 18.2 Line Integrals 1029
Example 2 Evaluating a line integral over a union of curves
Evaluate the line integral J xy ds, where C consists of th line segment Cy from (~3,3)
10 (0,0), followed by the portion of the curve Cz: L6y =. between (0,0) and (21).
Solution The curve C is shown in Figure 13.8,
‘The segment C; is part of the line y
ye
and can be parameterized by the equations
+ over the interval —3 < ¢ <0. On this curve, we have
sods = V(IP + (IP ar = V2ar
and the line integral of f(x,y) = ay over Cy is
°
[vas [ocnvia
a ls
= [View
vO=s iyo
3 Figure 19.8. The curve Cin
VE Example 2
‘The curve Cz, 16y = x, ean be parameterized by the equations x = 21,
et = en! =e for 0.sr 5 1. We find that
(= 2,30 = 48, s0 ds = YORE GPP at
‘and the line integral over Cs is
[oe
es
[ener a
[
1489)
SW3—1)
‘Thus, the line integral over C is given by the sum.
[ve
;
[vat [ war=9v04 hov5—0
Icy ley 9
Let f be a given scalar funetion defined with respect ta s on a pigcewise smooth, ori
ceatable curve C, Then, for any constant k,
Constant mutipte rule: fara
lc
& [ye
[ovtina= [sar [pas
Ic le
where fi and f° ae scalar
respect to s on C.
[se
where —C denotes the curve C traversed in the oppo-
site direction
Sum r
Opposite direction rul 1030
13.2 Line Integrals
Subdivision rule: f fase] fast] fsbo + f fds
‘where C i$ the union of smooth orientable subares
C=C) UC, U--UCy with only endpoints in
Proof: The proof follows dirccily from the properties of limits and the definition of a
line integral +
Line Integrals with Respect to x, y, and z
If As is replaced by Ax in the discussion leading to the definition of the line integral
fe ft,y.2)ds, we obtain a definition for the line integral fe. flx.y,z)dx. Since x = x(0)
iS dtferemiabie, we haved —x"(r)dlt and the line integral of f with respact 10. can
be evaluated as Tollows:
»
[fonae FLOIO.LOL Wat
Similarly, if ¢ and fe are continuous on C, then
fees
By combi
obi
avocinvind — frde= fmro.v,smre'ora
g the line integrals with respect to the coordinate variables x, y', and z, we
cera of the form
ise
Example 3 Evaluating a
dad + gOxy.zddy + hos y.e)de]
1¢ integral with respect to coordinate variables
Evaluate the Tine integral
Solution Since x'(1) = 21, y°) = ~e7%, and 2'(0) =e", we have
:
fire sisrea
[
[-2eHe Ie ele? — 20+ 21h
S[-de t+ 1 tel —242))-[-2 +042)
onde et
Line Integrals of Vector Fields
We will now discuss what it means to compute the line integral of a vector field. 18.2 Line Integrals 1031
LINE INTEGRAL OF A VECTOR FIELD
Let Flay, 2) = w6tsy,2)i-b vy, 2) + way, 2)k be a vector field, and let C be
4 piecewise smooth orientable curve with parametric representation
R= xii + yOI+ OK fora ptag.yfesphdon = [oes
“ J
‘The center of mass of the wire is then the point (x, 2), where
1
£ fs
1033 1034
13.2 Line Integrals
Example 7 Computing the mass of a thin wire using line integration.
‘A wite has the shape of the eurve
Visins yy scost g=eost for O