Math2111

Tutorial Problems on Vector Calculus

School of Mathematics and Statistics, UNSW
April 10, 2017

Before the tutorial, you should attempt the recommended questions (or
parts of questions), which are numbered in bold. Harder questions are
marked with an asterisk *.
Week Problems
8 1–8
9 9–17
10 18–27
11 28–38
12 39–46

Contents
1 Prelude 2

2 Path Integrals 4

3 Surface Integrals 5

4 Vector Differential Operators 6

5 Vector Integral Theorems 8

6 Orthogonal Curvilinear Coordinates 11

A Summary of Curvilinear Coordinates 14

1
1 Prelude
1. For a general a = [a1 , a2 , a3 ]T ∈ R3 find the matrix A ∈ R3×3 such that

a × v = Av for all v ∈ R3 .

Verify that this matrix is skew-symmetric, i.e., AT = −A.

2. Let θ denote the angle between two non-zero vectors a and b in R3 .

(i) Show that if a and b are unit vectors, i.e., if ∥a∥ = ∥b∥ = 1, then

∥a − b∥2 = 2(1 − a · b),

and use trigonometry to show that a · b = cos θ.

(ii) Use (i) to show that in the general case, a · b = ∥a∥∥b∥ cos θ.

3. Show that
∥a × b∥2 + (a · b)2 = ∥a∥2 ∥b∥2 ,
and deduce that if θ is the angle between a and b then

∥a × b∥ = ∥a∥∥b∥ sin θ.

4. Use the vector triple product expansion to show that

a × (b × c) − (a × b) × c = (b · c)a − (a · b)c.

Hence show by a counterexample that the cross product is not associa-

tive.

5. Suppose that a, b ∈ Rn have the property that

a · x = b · x for every x ∈ Rn .

Does it follow that a = b?

6. Suppose that aij = uik vk wllj where we use the summation convention
and all indices range over 1, 2, 3. Write out a12 long hand.

2
 7. We saw in lectures that for every A ∈ R3×3 and u, v, w ∈ R3 ,

Au · (Av × Aw) = (det A)u · (v × w).

Use this identity to give a geometric interpretation of det A.

*8. A quaternion is a formal linear combination of 1, i, j and k,

q = q0 + q1 i + q2 j + q3 k, q0 , q1 , q2 , q3 ∈ R.

Denote the set of quaternions by H, and make H into an algebra by

imposing the relations

i2 = j 2 = k 2 = ijk = −1.

The scalar and vector parts of q are defined by

Scal(q) = q0 and Vect(q) = q1 i + q2 j + q3 k.

(i) Show that

ij = −ji = k, jk = −kj = i, ki = −ik = j

(ii) Find Scal(pq) and Vect(pq) if p and q ∈ H are pure vectors, that
is, Scal(p) = 0 = Scal(q) so that

p = p1 i + p2 j + p3 k and q = q1 i + q2 j + q3 k.

(iii) Show that if a ∈ H is such that a2 = −1, then eθa = cos θ + a sin θ
for all θ ∈ R, if we define these functions on H via their usual
power series.

2 Path Integrals
9. Consider the curve C with parametric representation

r = cos u i + sin u j + u k for 0 ≤ u ≤ 2π.

(i) Sketch C.
(ii) Calculate the length of C.
∫
10. Calculate C F · dr for the vector field

F (x, y, z) = (x2 + y 2 + z 2 ) i − z j + (y + 1) k

where the curve C from (0, 0, −1) to (0, 0, 1) is

3
 (i) the straight line joining the two points;
(ii) an arc of the circle y 2 + z 2 = 1 in the plane x = 0, oriented
counterclockwise when viewed from the positive x-axis;

Is F conservative? Explain.

11. Evaluate the line integral

∫ ( )
y 2 ex
2yz dx + (x + z) dy − dz
C z

if C is the oriented curve given by

2
x = u2 , y = u, z= for 1 ≤ u ≤ 2.
u

12. Evaluate the line integral

∫ ( )
yz dx − x cos z dy + (y + 2z) dz
C

given that the curve C has a parametric representation


x = log t, 

y = 2, for 1 ≤ t ≤ 2.


z = t − 1,
2

13. For each vector field F find a scalar potential ϕ such that F = grad ϕ.

(i) F = x i + y j + z k;
(ii) F = (cos x)yez i + (sin x)ez j + y(sin x)ez k;
(iii) F = 3y i + 3x j + k.

14. Let F = (yz + 1) i + xz j + (xy + 2e2z ) k.

(i) Find a scalar potential ϕ such that F = grad ϕ.

∫
(ii) Hence evaluate C F ·dr for any curve C from (1, 0, 0) to (1, 0, 4π).

15. Consider the force field F = (2xy + z 3 ) i + x2 j + 3xz 2 k.

(i) Show that F is conservative.

(ii) Find the work done by F when it acts on an object that moves
from (1, −2, 1) to (3, 1, 4).

4
3 Surface Integrals
16. Find parametric representations for the parts of the plane

2x + 3y + z = 4

where

(i) 1 ≤ x ≤ 2 and 2 ≤ z ≤ 4;
(ii) 0 ≤ x + y + z ≤ 7 and 2 ≤ x − y ≤ 4;
(iii) x ≥ 0 and x2 + y 2 ≤ 4.
√
17. Let Ω denote the conical region x2 + y 2 ≤ z ≤ 2.

(i) Find a parametric representation x(u, v) for S = ∂Ω, the bound-

ary of Ω. (You’ll need to split it into two parts.)
(ii) Use simple geometry to write down the outwards pointing unit
normal vector at each point on S.
(iii) Verify that these vectors are parallel to the normal vectors ob-
∂x ∂x
tained from the formula N (x) = × .
∂u ∂v
(iv) Find the surface area of the cone.

18. Find the surface area of the part of the plane 2x + y + 2z = 16 bounded
by the surfaces x = 0, y = 0 and x2 + y 2 = 64.

19. Let S be the triangle with vertices a = (1, 2, 3), b = (1, 1, 1) and
c = (3, 1, 2) and with unit normal n chosen so that n3 > 0. Let

F = y 2 i + x j.

(i) Find a parametric representation of S.

∫
(ii) Evaluate the flux integral S F · dS.
∫
20. Evaluate S F · dS if F = sinh x i + cosh y k and if S is given by

z = x + y2 for 0 ≤ y ≤ x and 0 ≤ x ≤ 1.
∫
21. Find S F · dS if F (x) = ϕ(∥x∥)x is a radial vector field and S is
the hemisphere x2 + y 2 + z 2 = a2 with z ≥ 0. Hint: use a geometric
argument to write down the outward unit normal to S.

5
4 Vector Differential Operators
22. Find curl F and div F for each of the following vector fields.

(i) F = y i − (x2 + y 2 ) j + (x + e4z ) k

(ii) F = (yexy + 4xz) i + xexy j + 2x2 k
(iii) F = z i + (x2 − 2) j + y cos x k

23. Prove the following identities for any sufficiently differentiable vector
fields F , G : R3 → R3 and sufficiently differentiable scalar field ϕ :
R3 → R.

(i) ∇ · (∇ × F ) = 0 (i.e., div curl F = 0)

(ii) ∇ × (∇ϕ) = 0 (i.e., curl ∇ϕ = 0)
(iii) ∇ · (F × G) = G · (∇ × F ) − F · (∇ × G)
(iv) ∇ × (ϕF ) = ϕ∇ × F + (∇ϕ) × F
*(v) ∇ × (F × G) = (∇ · G)F − (∇ · F )G + (G · ∇)F − (F · ∇)G.
(Note that (G · ∇)F is defined to be Gi ∂i Fj ej .)

24. Let a be a constant vector. Simplify

(i) grad(a · x);

(ii) grad(∥x∥2 );
(iii) div x;
(iv) curl x;
(v) div(a × x);
*(vi) curl(a × x) (Hint, use question 4(v)).

*25. Show that ( )

a×x 3(a · x)x a
curl = − .
∥x∥3 ∥x∥5 ∥x∥3

*26. Let Y ⊆ R3 and consider a C 2 mapping F : Y × R → R3 such that for

each t the mapping
y 7→ x = F (y, t) (1)
is one-one from Y onto the set

Ω(t) = { F (y, t) : y ∈ Y } ⊆ R3 .

6
Thus, we can define
∂F
v(x, t) = (y, t) for x = F (y, t) ∈ Ω(t).
∂t
In the terminology of fluid mechanics, v is the velocity of a fluid parti-
cle with Eulerian coordinates x = (x1 , x2 , x3 ) and Lagrangian coordi-
nates y = (y1 , y2 , y3 ). Let J (y, t) denote the Jacobian determinant of
the transformation (1), so that
 
a1
∂(x1 , x2 , x3 )
J (y, t) = 
= det a2 
∂(y1 , y2 , y3 )
a3

where the ith row of the determinant is the vector

[ ]
∂xi ∂xi ∂xi
ai = ∇y Fi = .
∂y1 ∂y2 ∂y3

(i) Show that

∂ai ∂vi
= aj .
∂t ∂xj
(ii) Use the fact that
     
∂a1 /∂t a1 a1
∂J
= det  a2  + det ∂a2 /∂t + det  a2 
∂t
a3 a3 ∂a3 /∂t

to show
1 ∂J
= div v.
J ∂t
(iii) Deduce that
∫
d[ ]
volume of Ω(t) = div v dV.
dt Ω(t)

(iv) Prove the Reynold’s transport theorem: for a C 1 scalar func-

tion g = g(x, t),
∫ ∫ ( )
d ∂g
g dV = + v · ∇g + g div v dV.
dt Ω(t) Ω(t) ∂t

7
5 Vector Integral Theorems
I
27. Evaluate (x2 − 2xy) dx + (x2 y + 3) dy around the boundary of the
region contained by y 2 = 8x and x = 2.
28. Prove Green’s theorem,
∫∫ ( ) I
∂Q ∂P ( )
− dx dy = P dx + Q dy ,
Ω ∂x ∂y ∂Ω

for the special case of a rectangle

Ω = (a, b) × (c, d) = { (x, y) : a < x < b, c < y < d }.

29. Evaluate the flux integral

I
F · dS
∂U

where F = r = x i + y j + z k and U is the upper hemisphere

x2 + y 2 + z 2 < 1 and z > 0.

30. Show that for any planar region Ω,

I
1 ( )
area(Ω) = x dy − y dx . (2)
2 ∂Ω

31. Use (2) to find the area of the planar region enclosed by the astroid
x2/3 + y 2/3 = a2/3 for a > 0.
32. Prove the divergence theorem,
∫ I
div F dV = F · dS,
T ∂T

for the special case of a rectangular solid

T = (a1 , b1 ) × (a2 , b2 ) × (a3 , b3 ) = { x ∈ R3 : ai < xi < bi , i = 1, 2, 3 }.

33. Use two methods to calculate the flux integral

∫
(∇ × F ) · n dS
S

where F = (y, z, x y ) and S is the surface given by z = x2 + y 2 and

2 2

0 ≤ z ≤ 4, oriented so that n points downward.

8
34. Define
−y x
P = and Q = for (x, y) ̸= (0, 0).
x2
+ y2 x2 + y2
∂Q ∂P
(i) Verify that − = 0 for (x, y) ̸= 0
∂x ∂y
H
(ii) Show that C (P dx + Q dy) = 2π if C is any circle with centre
(0, 0) oriented counterclockwise.
(iii) Why can we not apply Green’s formula and deduce that the line
integral in part (ii) is zero?
H
(iv) Show that ∂Ω (P dx + Q dy) = 2π if Ω is any open set containing
(0, 0) and with a sufficiently regular boundary. Hint: to avoid
the origin, apply Green’s formula over the region Ωϵ obtained by
excising a sufficiently small disc of radius ϵ centred at (0, 0).

35. Let D(a, n, r) denote the open disk with centre a ∈ R3 , unit normal n
and radius r > 0. Prove that if F is a C 1 vector field, then
∫
1
n · curl F (a) = lim ( ) F · dr.
r→0 area D(a, n, r) ∂D(a,n,r)

Is it necessary to use a disk here?

36. Let B(a, ρ) denote the open ball with centre a ∈ R3 and radius ρ > 0.
Prove that if F is a C 1 vector field, then
∫
1
div F (a) = lim ( ) F · dS.
ρ→0 vol B(a, ρ) ∂B(a,ρ)

Is it necessary to use a ball here?

*37. Consider a fluid with velocity field u = u(x, t) for x ∈ R3 , t ∈ R. We
define the material derivative Df /Dt of a function f (x, t) as follows:
given (x0 , t0 ) let
x = ϕ(t)
be the trajectory of a fluid particle that passes through the point x0 at
time t0 (hence x0 = ϕ(t0 )), and put

Df d ( )
(x0 , t0 ) = f ϕ(t), t  .
Dt dt t=t0

Thus, Df /Dt gives the rate of change of f seen by an observer moving

with the fluid.

9
 (i) Show that
Df ∂f
= + u · ∇f, (3)
Dt ∂t
where that ∇f is the gradient of f with respect to the spatial
variables x = (x1 , x2 , x3 ) only.
(ii) Let ϱ denote the density of the fluid, and use the continuity equa-
tion (proved in lectures) to show that

1 Dϱ
∇·u=− .
ϱ Dt

*38. An ideal fluid obeys the Euler equations,

Du
ϱ + ∇p = ϱf , ∇ · u = 0.
Dt
where D/Dt is the material derivative defined in (3), so

Du ∂u
= + (u · ∇)u.
Dt ∂t

The density ϱ is constant (because ∇ · u = 0) but the velocity u,

pressure p and body force per unit mass f may depend on x and t.

(i) Prove the identity

1
(u · ∇)u + u × (∇ × u) = ∇(∥u∥2 ).
2

(ii) Hence show that, in the case of an ideal fluid, if f = −∇χ for
some scalar potential χ then
∂u p 1
+ ω × u = −∇H, where H = + ∥u∥2 + χ
∂t ϱ 2
and where ω = ∇ × u denotes the vorticity.
(iii) Deduce that if the flow is steady, that is u, f , p and χ are inde-
pendent of t, then DH/Dt = 0.
(iv) (Bernoulli’s Theorem.) Show that if the flow is not only steady
but also irrotational (i.e., ω = 0), then H is constant everywhere.

10
6 Orthogonal Curvilinear Coordinates
39. Toroidal coordinates (w, θ, ψ) are defined by
x = (a + w cos ψ) cos θ,
y = (a + w cos ψ) sin θ,
z = w sin ψ.
Here, a is a constant and 0 < w < a.
(i) Describe the curve θ = π/2, w = b if b is a constant with 0 < b < a.
(ii) Verify that (w, θ, ψ) is a right-handed, orthogonal coordinate sys-
tem. Find the scale factors and orthonormal basis vectors.
(iii) Write down the metric.
(iv) Find the surface area of the torus w = b if 0 < b < a.
40. Consider the surface S whose parametric representation in cylindrical
coordinates is given by
x = r cos θ, y = r sin θ, z = a − r,
for 0 < r < a and −π < θ < π, oriented so the the z-component of the
unit normal n is positive.
(i) Describe S.
∫
(ii) Evaluate the flux integral S
F · dS if F = ∥x∥2 x.
(iii) Calculate the surface area of S.

41. Let F = y i−x j+z k and let the surface S be the part of the paraboloid
z = 4 − x2 −∫ y 2 with z ≥ 0, oriented with n upwards. Calculate the
flux integral S F · dS using
(i) Cartesian coordinates;
(ii) cylindrical coordinates.
42. Find the area of the surface z = xy for x2 + y 2 ≤ 4.
43. Use spherical coordinates to find all radially-symmetric functions f =
f (ρ) that satisfy ∇2 f = 0 for ρ > 0.
44. Find curl F and div F in spherical coordinates for a vector field of the
form
F = f (ϕ, θ) eρ .

11
*45. A current I flows in a straight, infinitely long, thin wire. It is known
that if the wire lies on the z-axis, then the induced magnetic field is
I
H= eθ .
2πr
(i) Verify that curl H = 0 for r > 0.
H
(ii) Show that C H · dr = I for any circular path C of the form

r = a, −π ≤ θ ≤ π, z = b.

(iii) Let S be any oriented surface whose boundary ∂S is a closed

curve that encircles the wire. Prove that the magnetic circulation
around ∂S is I
H · dr = ±I.
∂S
What determines the sign here?

Answers
 
0 −a3 a2
1. A =  a3 0 −a1  5. Yes: take x = a − b.
(−a2 a1 0 )
6. a12 = u11 v1 + u12 v2 + u13 v3 (w112 + w222 + w332 ).
8. (ii) Scal(pq) = −(p1 q1 + p2 q2 + p3 q3 ) and
Vect(pq) = (p2 q3 − p3 q2 )i +√(p3 q1 − p1 q3 )j + (p1 q2 − p2 q1 )k.
9. (i) C is a spiral. (ii) 2 2π 10. (i) 2 (ii) π + 2. No, the line integral
7
depends on C. 11. 12 + + 2 log 2 + 12 (e4 − e) 12. 18 − 2 log 2.
3
13. (i) 21 (x2 +y 2 +z 2 ) (ii) (sin x)yez (iii) 3xy+z 14. (i) ϕ = xyz +x+e2z
(ii) e − 1
8π
15. (i) F = grad ϕ where ϕ = x2 y + xz 3 (ii) ϕ(3, 1, 4) −
ϕ(1, −2, 1) = 202 16. (i) r = u i + 31 (4 − 2u − v) j + v k, 1 ≤ u ≤ 2,
2 ≤ v ≤ 4[ ]
(ii) r = 13 (−u+2v +4) i−(u+v −4) j +(5u−v −8) k , 0 ≤ u ≤ 7, 2 ≤ v ≤ 4
√
(iii) r = u i+v j +(4−2u−3v) k, u ≥ 0, u2 +v 2 ≤ 4 17. (iv) 4π(1+ 2)
18. 24π
19. (i) r = a + u(b − a) + v(c − a) for 0 ≤ u ≤ 1 and 0 ≤ v ≤ 1 − u.
(ii) −17/4. 20. sinh 1 − 1 21. 2πa3 ϕ(a) 22. (i) div F =
4e − 2y, curl F = −j − (2x + 1) k
4z

(ii) div F = (x2 + y 2 )exy + 4z, curl F = 0

(iii) div F = 0, curl F = cos x i + (1 + y sin x) j + 2x k.

12
23. (i) Note that ∂i ∂j = −∂j ∂i . 24. (i) a (ii) 2x (iii) 3 (iv) 0 (v) 0
(vi) 2a 27. 128/5 29. 2π 30. Hint: apply Green’s theorem
with P = −y and Q = x.
31. 3πa2 /8 (Let x = a cos3 θ and y = a sin3 θ.) 33. 4π 34. (iii) To
derive Green’s formula we would integrate ∂Q/∂x along lines parallel to the
x-axis, but on the line y = 0 we have ∂Q/∂x = −1/x2 which is not integrable
over any interval that contains x = 0. A similar problem occurs with ∂P/∂y.
38. (ii) Hint: in the steady case, ∂H/∂t = 0 so DH/Dt = (u · ∇)H.
39. (i) x = 0 and (y − a)2 + z 2 = b2 is a circle in the yz-plane with centre
(a, 0) and radius b. (ii) hw = 1, hθ = a + w cos θ, hψ = w,
ew = (cos ψ cos θ, cos ψ sin θ, sin ψ), eθ = (− sin θ, cos θ),
eψ = (− sin ψ cos θ, − sin ψ sin θ, cos ψ)
(iii) ds2 = dw2 + (a + w cos θ)2 dθ2 + w2 dψ 2 (iv) 4π 2 ab
40. (i) S is the top surface of a cone. The base of the cone is a disc in
the xy-plane with radius a and center ∫ a 2 the origin.2 The cone has height
√ a,2
so its apex is at (0, 0, a). (ii) 2πa 0 [r + (a − r) ]r dr = 3 πa (iii) 2 πa
2 5
√
5 5−1 a
41. 8π 42. 2π 43. f = + b for arbitrary constants a
3 ρ
and b. ( )
44. curl F = (ρ sin ϕ)−1 fθ eϕ − fϕ sin ϕ eθ and div F = 2f /ρ.

13
A Summary of Curvilinear Coordinates
Assumptions: (x1 , x2 , x3 ) = Φ(ξ1 , ξ2 , ξ3 ) such that
∂(x1 , x2 , x3 ) ∂x ∂x
>0 and · = 0 whenever i ̸= j.
∂(ξ1 , ξ2 , ξ3 ) ∂ξi ∂ξj
Scale factors and unit vectors:
 
 ∂x  1 ∂x
hi = hξi =   and eξi = (no sum over i)
∂ξi hi ∂ξi
Right-handed orthonormal basis:
eξi · eξj = δij and eξi × eξj = ϵijk eξk .
Metric:
ds2 = h21 dξ12 + h22 dξ22 + h23 dξ32 .
Vector line element:
dx = h1 dξ1 eξ1 + h2 dξ2 eξ2 + h3 dξ3 eξ3 .
Vector surface element: for x = x(u, v),
 
eξ1 eξ2 eξ3
 
 ∂ξ 
∂x ∂x  1 ∂ξ 2 ∂ξ 3 
dS = × du dv = det  h1
 ∂u
h2
∂u
h3 
∂u  du dv.
∂u ∂v  
 ∂ξ ∂ξ2 ∂ξ3 
1
h1 h2 h3
∂v ∂v ∂v
Volume element:
dV = h1 h2 h3 dξ1 dξ2 dξ3 .
Gradient:
1 ∂f 1 ∂f 1 ∂f
∇f = eξ1 + eξ2 + eξ .
h1 ∂ξ1 h2 ∂ξ2 h3 ∂ξ3 3
Divergence:
( )
1 ∂ ( ) ∂ ( ) ∂ ( )
∇·F = h2 h3 Fξ1 + h3 h1 Fξ2 + h1 h2 Fξ3 .
h1 h2 h3 ∂ξ1 ∂ξ2 ∂ξ3
Curl:  
h1 eξ1 h2 eξ2 h3 eξ3
 
1  ∂ ∂ ∂ 
curl F = det 
 ∂ξ1
.

h1 h2 h3  ∂ξ 2 ∂ξ 3 
h1 Fξ1 h2 Fξ2 h3 Fξ3

14