Basic Objects in 3D

-
center: -
2,3,-1
planes z 3 spheres x+ +z2 4x by 2z 6
= - =

y
+
+
-

radius:8

Vectors

same
magnitude h as
o no magnitude
equal position doesn'tm atter zero vector
same position I has no direction

Vectors and Points

vector between two points ICE AB=<x2-x., ye-y.,zz-z.3 position vector Da, b, c .Ca -0,b -
0,c -
oc

Vector Operations

additiona b (x,y,,z.) (Xz,yz,zz) +

= +
(x,
= +

xz,y, yz,z, zn)

+ +

scalar multiplication (a cxx,y,z xcx,cy,cz

= =

a
subtraction - 5 (x,,y,,z.)
= -

(Xz,yz,zz) (X,
= -

x2,y, yz,z, zn)

- -

Vector Operation Properties

i 5 I u a i w 5 E parallel rectors two vectors if a re scalar multiples e ach other

parallel they
= =
+ are of
+ + + = +

Unit
Vectors

magnitude Ca, b, c a
=

+ b c + unit vectors =1 if
I

is not a unit rector. I E

=

Standard Basis Coordinate UnitVectors

1 -1,0,0
=

6 0, 1,0
=
> k <0,0,k
=

DotProduct

. <u.,4z,uz).V., V2, Va
=
u,v,+uevetusve
=
result
the is a scalar geometrically . =

cosG

DotP roductProperties

5. + 5 4.x
=

+5.5 O.=0 Gor= rn cer=cnot not =

ni
= + u2 u3
+

Angles Between Vectors

acute
angles positive 5 F cosO 5 =
F
perpendicular vectors
in cost 0
=

O cos
=
-
1
* parallel vectors

Orthogonal
obtuse angles negative 5 F cosM = -
5 F - E.T 0
=

Projection

prosec"
T

a
T
project
-
If vec tor
the projection of a onto how much a lies
of in direction o f
the project a-proj t
-
-

proje
T proj =
scalate-I* the
=

magnitude the
of
projection and distance
the t h point
e
f ro m a to the
plane with
I
in it

Work

work:F.W t hprojection
e =
the
of force into the
direction of displacement
Cross Product

=
determined righthand
by the rule
magnitude direction
=
x = cave-now,-uvs-new, uva-uvs sink
a and I
or
thogonal to

Cross ProductProperties

ix
= = - xπ cu xd cd =
x parallelogram:FQxFR
parallel it
if x
then 8
=
area points
given the P, G, R
x +w 4x+4 x5
=

triangle: PQx*R

Torque turning forces

measures the
tendency of an
objectto rotate
naie* F= rxE magnitude I sind
=
max torque O E
=

Magnetic Force

F qx B
=

q charge
=
I velocity
=
B magnetic
=
field

Parametric Equations general curves

F t xxt,yt,z
=
+ x x =

y y z
+ =
t

zt
=

Lines

P F
a line
passing through direction
i n the
x, y, z X CV, v2, V3
=
=
+cx tv,y tvz,z trx)
+ + +

Vector Derivatives

tangentvector Fiti s a
tangent vector at
thpoint
e
corresponding to I t

F t xxt,yt,zt c r
=

t xxt,y't,zt
=

unit
tangentvector Ft =

Vector Antiderivatives

r t xx
=

+,y+,z (r
+
+ sx dt,/y dt,/z
=
+
+
dt)
+

givenadomain (r+ sx dt,y dt,z

=
+ +
dt
+

Motion

position r t <
=

xt,yt,z t c
velocity t <x't,y't,z't
=
acceleration a t (x" t,y"t,z" t
=

speed it =

x + 2 y' +
+ +
z' +
2
arc
length? Itd t distance + dt P<x' +,y't,z'
=
dt
+

Circular Motion

position t <kcost, ksint >

velocity Vt c ksint, kcost acceleration a t <- kcost, ksint
= - -
=
=

Planes

ways to make a
plane 3 distinctpoints on
not a line or I pointo n theplane and a normal vector

normal vector vector

the
orthogonal plane
to the
.
=<nn"e plane equation n, x -
x nzy -y0
+

nyz
+ -
z 0
=

Comparing Planes

parallel two planes are parallel their normal vectors

if are parallel perpendicular two planes are
perpendicular if their normal vectors are
perpendicular
Other
Sur faces

L L L L L
elliptic elliptic hyperboloid of hyperboloid of hyperbolic

L
ellipsoid two sheets paraboloid
paraboloid come one sheet

?? 3 =
-

22 3 2 =
+ + z Y? 3
=
+
+

x 3 22
+ -
1
= / -2 3 - +

2=1 z ?? 3
=
-

Traces

setof
the points where surface intersects plane parallel coordinate
a a to a plane

xy trace z k
=
xz trace y k
=

yz trace x =
k level curves curves where fx,y = k
xy trace

Surfaces as Functions 2
with Variables

domain all by thatmakef well defined input

the
range Ifx,y inR xy in D3 output
the

FirstOrder Partial Derivatives

=fxslope off in direction

the x
of
=fy slope off in direction
the of
y

Second Order Partial Derivatives

=fxx o f f for
concavity x
=fxy how much
changes
a
y
with

fxy is equal to fyx for all functions

=fyy o f f for
concavity y =fyx how much y changes with a

Chain Rule

=stat.
f z xt,y t
given x, y,
=

given
f z
=

x, y, x s, t, y s,t 82 4.x+.=

ImplicitDifferentiation

given z f
=
x, y 8= 82 -
=
Fs
Fz

Gradients

f
given fx,y
the direction t he steepests lope ata point
points in of
orthogonal <fx,fy
=

I direction
=

steepestascent
of -

I direction
=

steepestdescent
of
<-fy,
-
f
fx
or
<ti,f* direction
=
no
of
change

Directional Derivative

derivative
the of f x,y atN o,
yo in direction
the of E ca,b) =
Duf cfxx ,y, ,
=

fyxo,y.coab> scalar value

TangentPlane

plane tangent to f x,y atxo,yo fx 40,y0x -xo +

fy40,y0y -y0 fx0,y +
0
=

plane tangentto g y, z xo, Yo, to Gx Yo,to GyNo,Y0,toy-yo z Zo 0

- =

x, at x x0
-

xo,
- +

Second Derivative Test

local min at a, b Da, b > 0 and fxx a, b > 0 saddle pointa ta , b Da, b c O

discriminantD x,y fxxtyy

=
-

fxy
local max a,
at b Da, b > 0 and fxx a, b < 0 inconclusive ata , b Da, b 0
=
Absolute Extrema

closed a
set of
set points that contains all of its boundary points if f is continuous on a closed, bounded set,
f attains an absolute min and max on set
the
bounded set a set of points contained within a
bigger finite disk

Rectangular Domains

find and I find the the andcritical

I
classify critical
the points values of
endpoints points

I find the critical points on lower

the and
upper x and bounds compare
I candidates
the
y

Lagrange Multipliers
I find gradiento f
the f x, y, z I use
system
the of equations with
g and "f
either 7g
=
or if =
g to find x, y, z, x

function of
I find gradiento f
the constrained
the
g x, y, z C
=
4 evaluate at all combinations of points and compare values

you
If divide by a variable while solving for combinations, you must
justify thatt hvariable
e be
cannot zero
equal to

Critical Points

a, b is a critical pointof fxy is fx 0 and

=

fy 0
=
or fx
either or by does e xist
not

critical points do local extrema, they only candidates

n ot
guarantee as are

Local Extrema

local min f x,y f a, b f x,y fa,b

When x, y is near a, b, W
saddle point
f a, b local
the min/max value
local max f x,y f a, b
is
f x,y fa,b

Approximations

f x0,yo
fx,y (x,y =
linear approximation (x, y fxx0,y0x
=
-
x0 fy40,y0y -y0
+ +

quadratic approximation Qx,y fx =

x0,y0x -x0 +fyx0,y0y -yo + fx0,y *fxxx0,y0

+

xyfxyx0,y
+

?fyyx0,y0
+

Differentials

given (x, y and z =

fx,y dz worstpossible
calculates the er ror dz fxdx fydy
=
+

Comparing Integrals

?dx length
=

double
IdA= area
IJdV volume
=

single integrals integrals triple integrals

Ifx dx a re a
=

Ifx,y dA=volume
(If x, y, zd V mas
=

Properties Double
of Integral

I + x,y
gx,ydA
+ =

()f x,ydA (gx,ydA(cfx,ydA c(fx,ydA

+ =
iD D,
=
+

Deffx,ydA (fx,ydA 1fx,ydA =

+

Fubini's theorem

is itiscator orarectangurianxsollte dA=Ix.eddeasYeas*axdydz=?4f x, y, z dydxdzo r and e

General Regions

D:a =
x b
=

g,x y gx
= =

!St x, y dA= bes, x,y dydx

-
k, x, y
=
z k, x,y
=

() + x, dV
y, z (If
=

x, y, zdzdA

2D 3D h, zy h,x,z (S + dV
If dydA
=
x, z x, y, z
=

x, y, z

Dih,y =
y hyczy d(fx,ydA
= = =

as f x,y d
dy
9, y, z =
x =
G = y,z () + x, dV
y, z
(+
=

x, y, z dxdA

Double Integral in Polar Coordinates

-----

!
y

r,0 =

x,y
(fx,ydA lfrcost, rsinE
r
X rcos
=

y=rsinG r x =

xyz
=

rardO
⑦

Triple Integral in Cylindrical Coordinates

z
,
- - -

i
Ifx, y, d V S)f
__**
r, 0, z
=

x, y, z
X= rcos& y=rsinG z zr=

x
=

y)
+
z
=
rcocG, rsinG, z rdzdrdO

Triple Integral in Spherical Coordinates

-on
x JsOcocO
=

y=fsinsing
1,0,0 x, y, z
If Isin dldOdO
=

dV
())+exindcost, IsinsinG, fcoD
=

x, y, z
z fc010
=

1 x y2 z2
=
+ +

Average Values

f** me fx,
dV y, z
ID average of f x,y R 3D average density 1 x, y, z
= = = =

over

I!dV

Change of Variables

ID T:xu,v, yu,v (+ x,ydA =1 fx u,v, yu,v jdudv Jacobian=J

E ?-
=

-
=

3D T:x
u,v,w,yu,v,w,zu,v,w (1) + x,y,zdV
())
=
fxu,v,w,yu,v,w,zu,v,w5 dududw

Precursor to Vector Fields

one input
scalar functions multiple
of variables fx, fx,y, fx,y,z many outputs

many inputs
vector functions of one variable r t cx
=

t,yt,z actb
+

one output

Types Curves
of

a simple curve is one thatd oes not i tself

i ntersect a tendpoints
except - ~

simpled atand simple simple

not
a closed curve is one whose endpoints
a re equal
closed closed

Types Regions
of

connected two continuous

a
region is one where
you
can connect
any points by a curve all contained region
within the
simply connected

a
simply connected
region is one where
every simply closed curve encloses points only in
region
the not
simply connected

Vector Fields of Multiple Variables

D:s e to fpoints x,y in IR* or x, y, z

in IP or
higher
Fx, y, z <F, x,y,z, Fzx,y,z,Fzx,y,z
=

R:s e tofvectors * IRP

<v, VL in V, V, Vs higher
=

or in or
=
Conservative Vector Fields

ID If Ex , y is conservative, thenF YP =
=
<0x, Py>
I can be written as the
gradient of a
potential function o
3D If F x, y, z
is conservative, F P=<0x, y, Ozh
then =

Checking if a Vector Field is Conservative

Eis conservative in 2D if & =

IfF is continuous simply closed
on
region
a

Eis conservative in 3D if &* 8. 8, =

=
=

Finding Potential
the Function in ID

given thatF is conservative

E 0 (F.,Fz x0,,02
= =
=
18x,y (0,dx Cy = +

28 82
=
-

48x,y0x,y (0,dx
=

(42dy
+
k
+

Finding Potential
the Function in 3D

given thatF is conservative

18 x,y,z (0,dx (y,z
= +

28 =

82 -

44&x,y,z 30x,y,z (0,dx=

(42dy
+
cz
+

E 0 F.,Fz,Fz) <0.,02,0,
48 =0, d&x,y,z 50x,y,z (0,dx (4dy (a-dz
= = =

- =
+ +
k
+

Curl

3D curIF xF =

cc
=

0F_oE, -, -8
=
2D Fx,y 2F, x,y,F,x,y,0
=
- xF x0,0,82 8
= -

Conceptual Definition of Curl

XF
curl represents a point i c e measure rotation,
of and the direction is parallel t h e axis
to rotation
of

& -

Im e a s u re s how fastIrotates if xF 0 then

=
Fisirrotational

Divergence

divE = .F <
=

x0y'z .F.,Fz,Fx a 3 + =
+

ConceptualD efinition of Divergence

1- I- -Eco
&
~

. F
m e a s u re s local
the flux out of a point Eco E 0
=

Div andCurl Properties

-. -x
xE 0 FD -xF .F -.p x0x,dy10=.0x,0y,8z) 0x
-

if 0
conservative
0yy 0zz
=

nonsense
=
=
then =
= = =

x
+
+

Line of Scalar Functions

Integrals

z
f(x,y)
=
if f is defined on a smooth curve C, line
the integral off over C is
Ifx, y, ds

C
ds =
+
d t- (+x,y,zds Ifx
=
+
,yt,zt dt
t

Yfr
=

v' dt
+ t

Piecewise Smooth
Line Integrals

22
Ifa c,c,x, (f(x,y,z)ds (f(x,y,z)ds (f(x,y,z)ds (f(x,y,z)ds f(x,y,z)d
C2
comprised and ay + +

of
+
is
=

C3
C
 Comments On Line Integrals

arclength (ds v't dt

mass=1f y, zd s if 1 x, y, mass of
length thin defined by C
= =

x, i s the
z a wire
per unit

Line Integrals of Vector Fields work

F Fover
If is a continuous vector fuld defined on a
piecewise smooth curve, C,
defined by tactib line
the integral of
C=S F.F ds

notation: F.Fds IF + .' d t

(F.d = IF Fa Edt (F,dx Fdy F,dz
=
= = = +
t + + +

Circulation

*
E
If Fic a continuous vector field of a fluid and C is a closed curve

tangentvector
the field line integral
C

w
circulation
the F on
of C is netflow
the
along curve.
the
SFdI

Flux

I'
- If Fic a continuous vector field of a fluid and C is a closed curve

The normal vector field line integral

2

w
E
flux
the is how much E
of
goes across
G
C: F.ds =
F.-F@* dt
GF,dy- Fdx
=

Fundamental Theorem Line

of Integrals

C be
let curve ita b
given by
a smooth
piecewise
for any conservative vector fuld F 0.
=

SEdr=Sb.dF=Orb Dra
Let f be a multivariable function whose gradienti s continuous

Path
Independence

F
If is a continuous vector field with
domain D, the line integral of E is independento fpath
if
IEdS Eade for two curves on D, the
with same endpoints
any

EquivalentStatements

assuming
I is continuous on an
open connected
region, D, following
the statements are
equivalent.

F F Ep FJ SF dr GF.dr 0
-

is conservative =
x
=
is independent of path =
for all closed curves on D

Positive
Orientation

the positive orientation of simple, closed curve is counterclockwise

the traversal of C

,
a

C
If encloses a
region, D, then D is the
to leftof C as
you traverse it

Green's Theorem
2D curl circulation

oriented precewise smooth, ID

LetC be a positively simply closed curve in the plane
form
I- dA GF, F) od=
SF,dx+Fidy
=

circulation

D be the
Let bounded by C
region
flux form ((+) dA G(F.n) as
=

F. (x, y) containing D
If and Ex,y) have continuous partial derivatives on an open region
flux
divergence

Green's theorem on Surfaces Holes

with

Ci

x
SS - dA =???- dA+??-dA =

F.ar+ F. dr
o
 Area Using Circulation Form

options F x0,x
=
or Fx
=
-

y,0) or F Ix=
-

y,x)
Area D
CdA
=
i f - **=1 then
IF.d== I -dA=1 I dA= a re a

-> all options in

result
8-8 1
=

Parametric Surfaces

vector functions of two parameters Eu,v <

=

xu,v,yu,v,zu,v

TangentPlanes of Parametric Surfaces

tangentplane formula n, x -xo nyy -y0

+

n,z
+ -
z 0
=
of and Iare vectors
tangent the
to surface, so i EuxEr given Eu, v
=

Surface Integrals of Vector Functions

S:E4, x
=

uv, yuv, zu,v> fx,y,zd= f =

nv EuxErdA surface a re a
Id,S=S EnxEr dA

Average Values of Surface Integral

average value f
of x, y, z
ove r surface,S
the
(, +
=
d,S:
x, y, z
IdS If
=
=
nv EuxErdA: SS FuxEr dA

Surface Integrals of Vector Fields

in
general, sur face
the integral of a continuous vector field F over an oriented surface,S' with normal vector
au n i t i is fluxof
the F across S

: En,v flux
IE. IF.d=SIE EuxEr
E
< x
u,v,yu,v, z u ,v dS n .v. dA
=
=
=

Surface Orientation

I
+

/ - I
m
=
=

positive orientation
the for a closed surface
boundary of a solid
region
V is one
the outward
with
pointing i

Stokes' The
orem

let,' be an oriented piecewise sur face

smooth bounded
by a
simple piecewise smooth curve C positive
with orientation

letIbe a vector fold whose components have continuous partial derivatives on an

open region in MP
containing S

S:Eu,v cxu,v,yu,v,zu,v =

IS -xE.d,5=F.d IxEE u ,v.

EuxErdA=IF it or'tdt
C: F t (x
=

t,yt,z
+
b
ca=t =

Properties of Stokes' Theorem

??Fods=FaSE
If two surfaces, I, and ,S', same
share the boundary curve, C, andhave same
the orientation . e

If two surfaces, I, and Si, same

share the boundary curve, C, andhave opposite orientations

The Divergence Theorem

V be
let a simple solid region and let iS' be the
boundary surface of V, which has positive orientation

letI
SS T.F
aV=SE.dsH u x
be vector field whose components have continuous partial derivatives v
open region containing
a on an