0.

1 Practical Guide - Double & Triple Integrals

0.1.1 Double Integrals
Note: in some gures "sqrt" stands for "
_
", because some graphical properties are not activated.
Notation A domain 1 R
2
, ) : 1 R , a continuous function on 1 .
__
1
)(r, j)drdj
for )(r, j) = 1 for all (r, j) 1 , we get the "area" of 1 =
__
1
1drdj
We present two basic situations when the double integral reduces to computing two successive simple integrals.
- a rectangle
- a domain which is projectable onto the Or or Oj axis, or may be "decomposed" into several such domains.
Case I. 1 is a rectangle, parallel to the Or and Oj axis.
1 = [a, /] [c, d] = (r, j) R
2
, r [a, /] and j [c, d] =
= (r, j) R
2
, a _ r _ / and c _ j _ d
x
y
a b
d
c
x
y
d
c
b a
1) 2)
__
1
)(r, j)drdj =
b
_
o
_
_
J
_
c
)(r, j)dj
_
_
dr
. .
1)
=
J
_
c
_
_
b
_
o
)(r, j)dr
_
_
dj
. .
2)
The "order" of integration makes no dierence. However we may think about (1) as "covering" the rectangle with
vertical lines j [c, d] , for each r [a, /] , and about (2) as "covering" the rectangle with horizontal lines r [a, /]
, for each j [c, d] .
1
Example. 1 = [1, 2] [1, 0] , )(r, j) = rj r +j + 2
i)
__
1
)(r, j)drdj =
2
_
1
_
_
0
_
1
(rj r +j + 2)dj
_
_
dr =
0
_
1
_
_
2
_
1
(rj r +j + 2)dr
_
_
dj
2
_
1
_
_
0
_
1
(rj r +j + 2)dj
_
_
dr =
2
_
1
_
r
j
2
2
rj +
j
2
2
+ 2j

0
1
_
dr =
=
2
_
1
_
r
1
2
r(1) +
1
2
2
_
dr =
r
2
4
+
r
2
2
+
1
2
r 2r

2
1
= 2 +
5
4
=
3
4
ii)
0
_
1
_
_
2
_
1
(rj r +j + 2)dr
_
_
dj =
0
_
1
(
r
2
2
j
r
2
2
+rj + 2r

2
1
)dj =
=
0
_
1
(4j + 2
3
2
j
3
2
)dj =
0
_
1
(
5
2
j +
1
2
)dj =
5
4
j
2
+
1
2
j

0
1
=
5
4
+
1
2
=
3
4
Comment. You clearly dont need to produce both computations. We did so here, just to show we get the
same value in both cases.
Case II. 1 is "projectable" on the Or axis, ,, c : [a, /] R continuous functions. Which actually means
the projections are "one to one".
1 = (r, j) R
2
, a _ r _ / and ,(r) _ j _ c(r)
a b x
y
x
y
(x)
(x)
__
1
)(r, j)drdj =
b
_
o
_
_
_
r(r)
_
,(r)
)(r, j)dj
_
_
_dr
Comment. You may think about "covering" the domain by vertical lines, in this case of dierent lenght. For
each r [a, /] we have the corresponding vertical line j [,(r), c(r)]
2
Example.
Compute the area of the domain 1 R
2
, which is bounded by the parabola j = r
2
1 and the line j = r+1.
First nd the intersection points between the line and the parabola
j = r
2
1 , j = r + 1 = r
2
1 = r + 1 = r
2
r 2 = 0
= r
1
= 1 , j
1
= 0 and r
2
= 2 , j
2
= 3
As for the line, we have r = 0 , j = 1 and j = 0 , r = 1
Consequently we may "describe" the domain as
1 = (r, j) R
2
, 1 _ r _ 2 and r
2
1 _ j _ r + 1
which proves it is projectable onto the Or axis.
x
y
y = x-1
y = x+1
y = x-1
y
x
-1 1 2
3
arca(1) =
__
1
1drdj =
2
_
1
_
_
r+1
_
r
2
1
1dj
_
_
dr =
2
_
1
_
r + 1 (r
2
1)
_
dr =
=
2
_
1
_
r
2
+r + 2)
_
dr =
r
3
3
+
r
2
2
+ 2r

2
1
= 6
8
3

1
3

1
2
+ 2 = 5
1
2
Case III. 1 is "projectable" on the Oj axis, c, , : [c, d] R continuous functions. Which actually means
the projections are "one to one".
1 = (r, j) R
2
, c _ j _ d and c(j) _ r _ ,(j)
3
x
y
y
x
c
d
(y) (y)
__
1
)(r, j)drdj =
J
_
c
_
_
_
o()
_
o()
)(r, j)dr
_
_
_dj
Comment. You may think about "covering" the domain by horizontal lines, in this case of dierent lenght.
For each j [c, d] we have the corresponding horizontal line r [c(j), ,(j)]
Example. Compute the area of the domain 1 R
2
, which is bounded by the parabola r = 4 j
2
and the
line r = 1.
First nd the intersection between the line and the parabola.
r = 4 j
2
, r = 1 = j
2
= 5 = j =
_
5
4
x
y
-1
2
-2
x = -1
x = 4-y
x
4
We may "describe" the domain as
1 = (r, j) R
2
,
_
5 _ j _
_
5 and 1 _ r _ 4 j
2

arca(1) =
__
1
1drdj =
p
5
_

p
5
_
_
_
4
2
_
1
1dr
_
_
_dj =
p
5
_

p
5
_
4 j
2
+ 1
_
dj =
=
p
5
_

p
5
_
5 j
2
_
dj = 5j
j
3
3

p
5

p
5
= 5 2
_
5
1
3
2 5
_
5 =
20
3
_
5
Comment. In both examples, we may consider the "opposite" projection.
5
x
y
-1
y = sqrt( 4-x)
y = -sqrt( 4-x)
x = sqrt( 1+y) x = -sqrt( 1+y)
x = y-1
4
-1
3
1) 2)
However the successive simple integrals we get seem to be more "complicated". We have
1)
__
1
1drdj =
0
_
1
_
_
_
p
+1
_

p
+1
1dr
_
_
_dj +
3
_
0
_
_
_
p
+1
_
1
1dr
_
_
_dj =
=
0
_
1
2
_
j + 1dj +
3
_
0
_
j + 1 (j 1)dj =
4
3
_
j + 1
3

0
1
+
2
3
_
j + 1
3

3
0

j
2
2
j

3
0
=
4
3
+
16
3

2
3

9
2
+ 3 =
9
2
2)
__
1
1drdj =
4
_
1
_
_
_
p
4r
_

p
4r
1dj
_
_
_dr =
4
_
1
2
_
4 rdr =
4
3
_
4 r
3

4
1
=
4
3
5
_
5 =
20
3
_
5
Change of variable for double integrals.
Consider two domains 1, 1 R
2
Let / : 1 1 bijective (one to one), of class C
1
(n, ) (r, j) ,
r = r(n, ) , j = j(n, ) , /(n, ) = (r(n, ), j(n, ))
and the jacobian nonzero at any point (n, )
det J
|
= det
_
Jr
Ju
Jr
Ju
J
Ju
J
Ju
_
,= 0
__
1
)(r, j)drdj =
__
J
)(r(n, ), j(n, )) [det J
|
[ dnd
Comment. The main purpose to use a change of variable in a double integral is not to get a simpler function,
but a "simpler" domain "1" instead of "1". We can imagine innitely many changes of variable. However for
"school" problems, polar and elliptical cordinates would be frequently used, whenever the domain 1 is "round"
shaped.
Example.
1) Compute the area of the disc 1 = (r, j) R
2
, r
2
+j
2
_ R
2

6
x
y
Consider polar coordinates r = r(r, t) = r cos t , j = j(r, t) = r sint ,
To cover the whole disc we need r [0, 1] and t [0, 2] , with the previous notation 1 = [0, 1] [0, 2]
The jacobian for polar coodinates is
det J = det
_
Jr
J:
Jr
J|
J
J:
J
J|
_
= det
_
cos t r sint
sint r cos t
_
= r cos
2
t +r sin
2
t = r
arca(1) =
__
1
1drdj =
__
J
1 rdrdt =
2t
_
0
_
_
1
_
0
rdr
_
_
dt =
2t
_
0
_
r
2
2

1
0
_
dt =
2t
_
0
1
2
2
dt = 1
2
Example.
2) Compute the area bounded by the ellipse
r
2
o
2
+

2
b
2
= 1 , that is the domain 1 R
2
1 = (r, j) R
2
,
r
2
a
2
+
j
2
/
2
_ 1
x
y
a
b
7
This is how we get "elliptical" (or "generalized" polar) coordinates
r
2
a
2
+
j
2
/
2
= r
2
_ 1
and clearly r [0, 1] , for r = 0 we get the origin (0, 0) and for r = 1 we get a point on the ellipse.
r
2
a
2
r
2
+
j
2
/
2
r
2
= 1 =
r
2
a
2
r
2
= cos
2
t ,
j
2
/
2
r
2
= sin
2
t
r = ar cos t , j = /r sint
and in order to cover the domain 1 we need r [0, 1] , t [0, 2] , so 1 = [0, 1] [0, 2]
det J = det
_
Jr
J:
Jr
J|
J
J:
J
J|
_
= det
_
a cos t ar sint
/ sint /r cos t
_
= a/r cos
2
t +a/r sin
2
t = a/r
arca(1) =
__
1
1drdj =
__
J
a/ rdrdt =
2t
_
0
_
_
1
_
0
a/rdr
_
_
dt =
2t
_
0
_
a/
r
2
2

1
0
_
dt =
2t
_
0
a/
2
dt = a/
Example.
3) Compute the area of the domain 1 R
2
bounded by the curve of equation
(r
2
+j
2
)
2
= a
2
(j
2
r
2
) , a 0
First remark that this curve has left-right symmetry, ( it is symmetric with respect to Oj axis) since the equation
does not change by replacing r with r .
Also up-down symmetry, (it is symmetric with respect to Or axis) since the equation does not change by
replacing j with j .
We use polar coordinates, and write the equation of the curve in polar coodinates r = r cos t , j = r sint
(r
2
cos
2
t +r
2
sin
2
t)
2
= a
2
(r
2
sin
2
t r
2
cos
2
t)
r
2
= a
2
(sin
2
t cos
2
t) = a
2
cos 2t
r = a
_
cos 2t
This means cos 2t _ 0 , therefore 2t [
t
2
,
3t
2
] , = t [
t
4
,
3t
4
] also t [
5t
4
,
7t
4
] due to up-down symmetry.
To cover the domain 1 we need t [
t
4
,
3t
4
] , t [
5t
4
,
7t
4
] and r [0,
_
cos 2t]
1 = (r, t) , t [

4
,
3
4
] ' [
5
4
,
7
4
] , r [0,
_
cos 2t]
8
x
y
r = a sqrt(-cos2t)
Also due to up-down symmetry the arca(1) is twice the area for j _ 0
arca(1) =
__
1
1drdj =
__
J
1 rdrdt = 2
3
4
_

4
_
_
_
o
p
cos 2|
_
0
rdr
_
_
_dt = 2
3
4
_

4
_
r
2
2

o
p
cos 2|
0
_
dt =
= 2
3
4
_

4
a
2
cos 2t
2
dt = 2a
2
sin2t
4

3
4

4
=
1
2
(sin
3
2
sin

2
) = a
2
Example.
4) Compute the integral
__
1
rdrdj
where 1 R
2
is the domain 1 = (r, j) R
2
, r
2
+j
2
_ 4r.
First we determine the domain 1.
r
2
+j
2
_ 4r = r
2
+j
2
4r + 4 = (r 2)
2
+j
2
_ 4
which means 1 is the disc centered at (2, 0) with radius = 2.
9
x
y
r = 4cost
4 2
t
We use polar coordinates, r = r cos t , j = r sint , the previous inequality becomes
r
2
+j
2
_ 4r = r
2
_ 4r cos t = r _ 4 cos t
Therefore cos t _ 0 and so t [
t
2
,
t
2
] , 0 _ r _ 4 cos t . By using this change of variable we get
__
1
rdrdj =

2
_

2
_
_
4 cos |
_
0
r cos t rdr
_
_
dt =

2
_

2
_
_
4 cos |
_
0
cos t r
2
dr
_
_
dt =
=

2
_

2
_
cos t
r
3
3

4 cos |
0
_
dt =

2
_

2
4
3
3
cos
4
tdt =
4
3
3

2
_

2
_
1 + cos 2t
2
_
2
dt =
=
4
2
3

2
_

2
_
1 + 2 cos 2t + cos
2
2t
_
dt =
4
2
3

2
_

2
_
1 + 2 cos 2t +
1 + cos 4t
2
_
dt =
=
16
3
_
3
2
+ sin2t +
sin4t
8

t/2
t/2
_
= 8

0.1.2 Triple Integrals

Notation A domain ' R
3
) : ' R , continuous function on ' .
___
1
)(r, j, .)drdjd.
for )(r, j, .) = 1 for all (r, j, .) ' , we get the "volume" of ' =
___
1
1drdjd.
10
We present only two basic situations when a triple integral reduces to three successive simple integrals.
- a parallelipiped
- a domain which is projectable onto one of the planes rOj , rO. or jO. or may be "decomposed" into such
domains.
Case I. ' is a parallelepiped ' = [a, /] [c, d] [c, ,]
a
b
d c

M
y
z
x
___
1
)(r, j, .)drdjd. =
b
_
o
_
_
J
_
c
_
_
o
_
o
)(r, j, .)d.
_
_
dj
_
_
dr
or any other order of integration, there are 6 of them.
Example. For ' = [0, 1] [2, 3] [1, 0] we have
___
1
(r +j +.)drdjd. =
1
_
0
_
_
3
_
2
_
_
0
_
1
(r +j +.d.
_
_
dj
_
_
dr =
=
1
_
0
_
_
3
_
2
_
_
0
_
1
r. +j. +
.
2
2

:=0
:=1
_
_
dj
_
_
dr =
1
_
0
_
_
3
_
2
_
r +j
1
2
_
dj
_
_
dr =
=
1
_
0
_
rj +
j
2
2

1
2
j

=3
=2
_
dr =
1
_
0
(r + 2) dr =
r
2
2
+ 2r

1
0
=
5
2
Case II ' is a "projectable" on the "horizontal" plane ( the rOj plane). Which actually means the
projection is "one to one".
Let 1 be the projection of ' onto the rOj plane.
We may say ' is between two surfaces o
1
and o
2
, dened by . = c(r, j) , . = ,(r, j)
11
S1
S2
D
x
y
z
O
z = (x,y)
z = (x,y)
z
' = (r, j, .) R
3
, (r, j) 1 R
2
, . [c(r, j), ,(r, j)]
___
1
)(r, j, .)drdjd. =
__
1
_
_
_
o(r,)
_
o(r,)
)(r, j, .)d.
_
_
_drdj
Comment. We clearly identify R
2
with the rOj plane by (r, j) (r, j, 0)
We actually reduce the triple integral to a simple integral along the O. axis and a double integral into the rOj
plane.
Example.
Compute the volume of a sphere o = (r, j, .) R
3
, r
2
+j
2
+.
2
_ 1
2

We can project the sphere into the horizontal plane rOj and we get the disk
1 = (r, j) R
2
, r
2
+j
2
_ 1
2

o = (r, j, .) R
3
, .
_

_
1
2
r
2
j
2
,
_
1
2
r
2
j
2
_
, r
2
+j
2
_ 1
2

12
x
z
y
z = sqrt(R-x-y)
z = -sqrt(R-x-y)
vol (o) =
___
S
1drdjd. =
__
1
_
_
_
_
_
1
2
r
2

2
_

_
1
2
r
2

2
1d.
_
_
_
_
drdj =
__
1
_
2
_
1
2
r
2
j
2
_
drdj =
then we use polar coordinates as we did for double integrals r = r cos t , j = r sint
we need r [0, 1] and t [0, 2] to cover the whole disk 1 .
=
2t
_
0
_
_
1
_
0
2
_
1
2
r
2
rdr
_
_
dt =
2t
_
0
_
2
3
_
1
2
r
2
3

:=1
:=0
_
dt =
2t
_
0
_
2
3
1
_
dt =
41
3
3
Example.
Compute the volume of the domain bounded by the surface o dened by . = r
2
+ j
2
and the plane . = 4 .
Looks like a "cup".
The equation . = r
2
+j
2
represents a paraboloid, and . = 4 a horizontal plane.
First nd the intersection between the paraboloid and the plane
. = r
2
+j
2
, . = 4 = r
2
+j
2
= 4
we get a circle centered at (0, 0, 4) with radius 2 .
13
x
y
z
4
z = 4
z = x+y
D
Consequently we may project the domain onto the rOj plane into the disk 1 = (r, j) R
2
, r
2
+j
2
_ 4
Therefore we may "describe" the domain as
' = (r, j, .) R
3
, r
2
+j
2
_ . _ 4 , r
2
+j
2
_ 4
and compute the volume as
vol (') =
___
1
1drdjd. =
__
1
_
_
_
4
_
r
2
+
2
1d.
_
_
_drdj =
__
1
_
4 r
2
j
2
_
drdj =
next use polar coordinates to compute the double integral, r = r cos t , j = r sint , r [0, 2] , t [0, 2]
=
2t
_
0
_
_
2
_
0
(4 r
2
)rdr
_
_
dt =
2
_
0
_
_
2t
_
0
(4 r
2
)dt
_
_
rdr = 2
2
_
0
(4 r
2
)rdr = 2
_
4r
r
3
3

:=2
:=0
_
= 2(8
8
3
)

For domains which are "projectable" on the plane rO. or the plane jO. the procedure is quite similar.
Change of variable for triple integrals
Let / : ' , bijective (one to one) of class C
1
(n, , t) (r, j, .) '
r = r(n, , t) , j = j(n, , t) , . = .(n, , t) , and the jacobian nonzero at every point (n, , t)
J
|
= det
_
_
Jr
Ju
Jr
Ju
Jr
J|
J
Ju
J
Ju
J
J|
J:
Ju
J:
Ju
J:
J|
_
_
,= 0
o|(') =
___
1
1drdjd. =
___

)(r(n, , t), j(n, , t), .(n, , t)) [J

|
[ dnddt
Example. Compute the volume of a sphere o = (r, j, .) R
3
, r
2
+ j
2
+ .
2
_ 1
2
and we use spherical
coordinates
r = r cos ,sin0 , r = r sin,sin0 , r = r cos 0
14
were r [0, 1] , , [0, 2] , 0 [0, ] so = [0, 1] [0, 2] [0, ] and the Jacobian is
J
|
= det
_
_
_
Jr
J:
Jr
J0
Jr
J,
J
J:
J
J0
J
J,
J:
J:
J:
J0
J:
J,
_
_
_ =

cos ,sin0 r cos ,cos 0 r sin,sin0

sin,sin0 r sin,cos 0 r cos ,sin0
cos 0 r sin0 0

= ... = r
2
sin0
o|(o) =
___
S
1drdjd. =
___

1 r
2
sin0drd,d0 =
t
_
0
_
_
1
_
0
_
_
2t
_
0
r
2
sin0d,
_
_
dr
_
_
d0 =
=
t
_
0
_
_
1
_
0
2r
2
sin0dr
_
_
d0 =
t
_
0
_
_
1
_
0
2r
3
3
sin0

1
0
_
_
d0 =
t
_
0
21
3
3
sin0d0 =
=
21
3
3
cos 0

t
0
=
21
3
3
(cos + cos 0) =
41
3
3

Example. Compute the volume of an ellipsoid (the "rugby ball")

' = (r, j, .) R
3
,
r
2
a
2
+
j
2
/
2
+
.
2
c
2
_ 1
We use 3D-elliptical coordinates ("generalized" spherical coordinates). This is how we get them
r
2
a
2
+
j
2
/
2
+
.
2
c
2
= r
2
_ 1
and clearly r [0, 1] , for r = 0 we get the origin (0, 0, 0) and for r = 1 we get a point on the ellipsoid.
r
2
a
2
r
2
+
j
2
/
2
r
2
+
.
2
c
2
r
2
= 1 =
_
r
2
a
2
r
2
+
j
2
/
2
r
2
_
+
_
.
cr
_
2
= 1
it is natural to let
_
r
2
a
2
r
2
+
j
2
/
2
r
2
_
= sin0
2
,
_
.
cr
_
2
= cos
2
0 = . = cr cos 0 , 0 [0, ]
r
2
a
2
r
2
sin0
2
+
j
2
/
2
r
2
sin0
2
= 1 and again
r
2
a
2
r
2
sin0
2
= cos
2
, ,
j
2
/
2
r
2
sin0
2
= sin
2
,
so nally we get r [0, 1] , , [0, 2] , 0 [0, ]
r = ar cos ,sin0 , j = /r sin,sin0 , . = cr cos 0
just as before the jacobian is
J
|
= det
_
_
_
Jr
J:
Jr
J0
Jr
J,
J
J:
J
J0
J
J,
J:
J:
J:
J0
J:
J,
_
_
_ =

a cos ,sin0 ar cos ,cos 0 ar sin,sin0

/ sin,sin0 /r sin,cos 0 /r cos ,sin0
c cos 0 cr sin0 0

= ... = a/cr
2
sin0
So we may compute the volume
o|(') =
___
1
1drdjd. =
___

a/cr
2
sin0drd,d0 =
=
t
_
0
_
_
1
_
0
_
_
2t
_
0
r
2
sin0d,
_
_
dr
_
_
d0 =
15
= a/c
t
_
0
_
_
1
_
0
_
2r
2
sin0
_
dr
_
_
d0 = a/c
t
_
0
_
_
1
_
0
2
r
3
3
sin0

1
0
_
_
d0 =
2a/c
3
t
_
0
sin0d0 =
=
2a/c
3
(cos 0)[
t
0
=
2a/c
3
(cos + cos 0) =
4a/c
3

Example. Compute the volume of the domain ' R

3
located at the intersection of the following domains :
the ball 1 dened by r
2
+j
2
+.
2
_ 9 , exterior of the cone dened by .
2
= r
2
+j
2
and the upper half space . _ 0
.
We use spherical coordinates and write the inequalities in spherical coordinates
r
2
+j
2
+.
2
_ 9 = r
2
_ 9 = r [0, 3] , . _ 0 = 0 [0,

2
]
.
2
_ r
2
+j
2
= r
2
cos
2
0 _ (r cos ,sin0)
2
+ (r sin,sin0)
2
= r
2
sin
2
0 =
= cos 0 _ sin0 = 0 [

4
,

2
] because 0 [0,

2
]
x
y
z

3
3
First nd the intersection between these surfaces
r
2
+j
2
+.
2
= 9 , .
2
= r
2
+j
2
= 2.
2
= 9 = . =
3
_
2
16
y
z

O C
A
B
Consequently sin0 =
3
p
2
3
=
1
p
2
= 0 =
t
4
. Or you may think "geometrically", cut the cone .
2
= r
2
+j
2
with
the jO. plane, that is . = 0 , we get .
2
= j
2
which leads to . = j and . = j , two lines, the "main" bisectors,
so clearly the angle 0 =
t
4
we nally get "" = [0, 3] [
t
4
,
t
2
] [0, 2] and compute
o|(') =
___
1
1drdjd. =
___

r
2
sin0drd,d0 =
=
t/2
_
t/4
_
_
3
_
0
_
_
2t
_
0
r
2
sin0d,
_
_
dr
_
_
d0 =
=
t/2
_
t/4
_
_
3
_
0
_
2r
2
sin0
_
dr
_
_
d0 =
t/2
_
t/4
_
_
3
_
0
2
r
3
3
sin0

3
0
_
_
d0 =
= 18
t/2
_
t/4
sin0d0 = 18(cos

2
+ cos

4
) =
18
_
2

17