Multiple Integrals

1 Double Integrals

Definite integrals appear when one solves

Area problem. Find the area A of the region R bounded above by
the curve y = f (x), below by the x-axis, and on the sides by x = a
and x = b.

ˆ b n
X
A= f (x) dx = lim f (x∗k )∆xk
a max ∆xi →0
k=1

Mass problem. Find the mass M of a rod of length L whose linear

density (the mass per unit length) is a function δ(x), where x is the
distance from a point of the rod to one of the rod’s ends.
ˆ L
M= δ(x) dx
0

1
Double integrals appear when one solves

Volume problem. Find the volume

V of the solid G enclosed between
the surface z = f (x, y) and a region R
in the xy-plane where f (x, y) is
continuous and nonnegative on R.

Mass problem. Find the mass M of

a lamina (a region R in the xy-plane)
whose density (the mass per unit area)
is a continuous nonnegative function
δ(x, y) defined as

∆M
δ(x, y) = lim
∆A→0 ∆A

where ∆M is the mass of the small

rectangle of area ∆A
which contains (x, y).

2
Let us consider the volume problem.

1. Divide the rectangle enclosing R into subrectangles, and exclude

all those rectangles that contain points outside of R. Let n be the
number of all the rectangles inside R, and let ∆Ak = ∆xk ∆yk be
the area of the k-th subrectangle.
2. Choose any point (x∗k , yk∗) in the k-th subrectangle. The volume
of a rectangular parallelepiped with base area ∆Ak and height
f (x∗k , yk∗) is ∆Vk = f (x∗k , yk∗)∆Ak . Thus,
X n X n n
X
V ≈ ∆Vk = f (x∗k , yk∗)∆Ak = f (x∗k , yk∗)∆xk ∆yk
k=1 k=1 k=1
This sum is called the Riemann sum.
3. Take the sides of all the subrectangles to 0, and therefore the num-
ber of them to infinity, and get
X n ¨
V = lim f (x∗k , yk∗)∆Ak = f (x, y) dA
max ∆xi ,∆yi →0 R
k=1
The last term is the notation for the limit of the Riemann sum,
and it is called the double integral of f (x, y) over R.

3
In what follows we identify
n
X n
X
lim · · · ≡ lim ···
max ∆xi ,∆yi →0 n→∞
k=1 k=1

If f is continuous but not nonnegative on R then the limit represents

a difference of volumes – above and below the xy-plane. It is called
the net signed volume between R and the surface z = f (x, y), and
it is given by the limit of the corresponding Riemann sum that is the
double integral of f (x, y) over R

¨ n
X n
X
f (x, y) dA = lim f (x∗k , yk∗)∆Ak = lim f (x∗k , yk∗)∆xk ∆yk
R n→∞ n→∞
k=1 k=1

Similarly, the mass M of a lamina with density δ(x, y) is

¨
M= δ(x, y) dA
R

4
Properties of double integrals

1. If f, g are continuous on R, and c, d are constants, then

¨ ¨ ¨


c f (x, y) + d g(x, y) dA = c f (x, y) dA + d g(x, y) dA
R R R

2. If R is divided into two regions R1 and R2, then

¨ ¨ ¨
f (x, y) dA = f (x, y) dA + f (x, y) dA
R R1 R2

The volume of the entire solid

is the sum of the volumes of
the solids above R1 and R2.

5
Double integrals over rectangular regions
The symbols
ˆ b ˆ d
f (x, y) dx and f (x, y) dy
a c

where in the first integral y is fixed while in the second integral x is

fixed, denote partial definite integrals.
Examples.
ˆ 2 ˆ 1
(i) sin(2x − 3y) dx , (ii) sin(2x − 3y) dy .
1 0

We can then integrate the resulting functions of y and x with respect

to y and x, respectively. This two-stage integration process is called
iterated or repeated integration.
Notation
ˆ dˆ b ˆ d ˆ b 
f (x, y) dx dy = f (x, y) dx dy
c a c a
ˆ bˆ d ˆ b ˆ d 
f (x, y) dy dx = f (x, y) dy dx
a c a c

These integrals are called iterated integrals.

Example.
ˆ 1ˆ 2 ˆ 2ˆ 1
(i) sin(2x − 3y) dx dy , (ii) sin(2x − 3y) dy dx
0 1 1 0

6
Theorem. Let R be the rectangle a ≤ x ≤ b, c ≤ y ≤ d. If f (x, y)
is continuous on R then
¨ ˆ dˆ b ˆ bˆ d
f (x, y) dA = f (x, y) dx dy = f (x, y) dy dx
R c a a c

Example. Use a double integral

to find V under the surface

z = 3πex sin y + e−x

and over the rectangle

R = {(x, y) : 0 ≤ x ≤ ln 3 , 0 ≤ y ≤ π}

38
V = π ≈ 39.7935 > 0
3

7
2 Double integrals over nonrectangular regions
ˆ bˆ d ˆ b ˆ d 
f (x, y) dy dx = f (x, y) dy dx
a c a c

Replace c → g1(x), d → g2(x). Then

ˆ bˆ g2 (x) ˆ b "ˆ g2 (x)
#
f (x, y) dy dx = f (x, y) dy dx
a g1 (x) a g1 (x)

y y

d y = g2(x)

c→g , d→g
−−−1−−−→
2

c y = g1(x)
x x
a x b a x b

Figure 1: The rectangle becomes a type I region: g2(x) ≥ g1(x).

Theorem. If R is a type I region on which f (x, y) is continuous, then

¨ ˆ bˆ g2 (x)
f (x, y) dA = f (x, y) dy dx
R a g1 (x)

Example. Find the volume V of the solid enclosed by the surfaces

z = 0, y 2 = x, and x + z = 1.
8
V =
15

8
Similarly, in
ˆ dˆ b ˆ d ˆ b 
f (x, y) dx dy = f (x, y) dx dy
c a c a

we replace a → h1(y), b → h2(y). Then

ˆ ˆ d h2 (y) ˆ "ˆ d h2 (y)
#
f (x, y) dx dy = f (x, y) dx dy
c h1 (y) c h1 (y)

y y

d d

y a→h , b→h
1 2
y
−−−− −−→
c c
x = h1(y) x = h2(y)
x x
a b

Figure 2: The rectangle becomes a type II region: h2(y) ≥ h1(y).

Theorem. If R is a type II region on which f (x, y) is continuous, then

¨ ˆ dˆ h2 (y)
f (x, y) dA = f (x, y) dx dy
R c h1 (y)

Example. Find the volume V of the solid enclosed by the surfaces

z = 0, y 2 = x, and x + z = 1.

9
Some regions belong to both type I and II, e.g. the region from the
previous example, a disc and a triangle.

Reversing the order of integration. Example.

ˆ 4ˆ 2
x3 1 8

√
e dx dy = e − 1
0 y 3

Area calculated as a double integral

The solid enclosed between
the plane z = 1, and a region R
is a right cylinder with base R,
height h = 1, and with
cross-sectional area A equal
to the area of R.
Its volume is

¨
V = Ah = A = 1 dA
R
Thus ¨ ¨
Area of R = 1 dA = dA
R R
1.0

y = xn
0.8

Example. Find A of R enclosed between

0.6

y = xm and y = xn.
0.4

0.2

y = xm
0.0

0.0 0.2 0.4 0.6 0.8 1.0

10
3 Double integrals in polar coordinates

Polar coordinates

Figure 3: x = r cos θ , y = r sin θ , r 2 = x2 + y 2 , tan θ = xy .

We identify (r, θ + 2πn) ∼ (r, θ) , n = ±1 , ±2 , . . .

and (−r, θ) ∼ (r, θ + π)
because they give the same x, y coordinates.

The graph of r = a is the circle of radius a centred at O.

The graph of θ = α, r ≥ 0 is the ray making an angle of α with the
polar axis.
2.0

A polar rectangle is a region enclosed r=b

between two rays, θ = α, θ = β, and 1.5

two circles r = a, r = b.
1.0
Its area is
A = 12 b2(β − α) − 12 a2(β − α) 0.5
θ=β
= 21 (b + a)(b − a)(β − α) r=a
0.0 θ=α
1
= r̄ ∆r ∆θ, where r̄ = 2 (b
+ a), 0.0 0.5 1.0 1.5 2.0

∆r = b − a is the radial thickness, ∆θ = β − α is the central angle.

11
A simple polar region
is a region enclosed between
two rays, θ = α, θ = β, and
two continuous polar curves
r = r1(θ), r = r2(θ) which satisfy
(i) α ≤ β,
(ii) β − α ≤ 2π,
(iii) 0 ≤ r1(θ) ≤ r2(θ).

Examples.
y

2.0 r = r2(θ)
1.5

1.0

0.5

0.0
θ=β θ=α
-1.0 -0.5 0.0 0.5 1.0 1.5 2.0

Figure 4: r1(θ) = 0 and β − α < 2π

r1(θ) = 0 and β − α = 2π r1(θ) 6= 0 and β − α = 2π

12
Let us consider the volume problem in polar coordinates.

1. Divide the rectangle enclosing R into polar subrectangles, and

exclude all those rectangles that contain points outside of R. Let
n be the number of all the rectangles inside R, and let
∆Ak = r̄k ∆rk ∆θk be the area of the k-th polar subrectangle.
2. Choose any point (rk∗ , θk∗ ) in the k-th subrectangle. The volume
of a right cylinder with base area ∆Ak and height f (rk∗ , θk∗ ) is
∆Vk = f (rk∗ , θk∗ )∆Ak . Thus,
Xn Xn n
X
∗ ∗
V ≈ ∆Vk = f (rk , θk )∆Ak = f (rk∗ , θk∗ ) r̄k ∆rk ∆θk
k=1 k=1 k=1
This sum is called the polar Riemann sum.
3. Take the sides of all the subrectangles to 0, and therefore the num-
ber of them to infinity, and get
X n ¨
V = lim f (rk∗ , θk∗ )∆Ak = f (r, θ) dA
n→∞ R
k=1
The last term is the notation for the limit of the Riemann sum,
and it is called the polar double integral of f (r, θ) over R.

13
The limit of the polar Riemann sum is the same for any choice of
points (rk∗ , θk∗ ). Let us choose (rk∗ , θk∗ ) to be the centre of the k-th polar
rectangle, that is rk∗ = r̄k , θk∗ = θ̄k = 12 (θk−1 + θk ). Then, the polar
double integral is given by
¨ n
X
f (r, θ) dA = lim f (r̄k , θ̄k ) r̄k ∆rk ∆θk
R n→∞
k=1

This formula is similar to the one for the double integral in rectangular
coordinates, and it is valid for any region R.

Theorem. If R is a simple polar region enclosed between two rays,

θ = α, θ = β, and two continuous polar curves r = r1(θ), r = r2(θ),
and if f (r, θ is continuous on R, then
¨ ˆ β ˆ r2 (θ)
f (r, θ) dA = f (r, θ) r dr dθ
R α r1 (θ)

Example. Find the volume of the solid below z = 1 − x2 − y 2, inside

of x2 + y 2 − x = 0, and above z = 0. Answer : V = 5π/32

¨ ˆ β ˆ r2 (θ) ˆ β
1
r2(θ)2 −r1(θ)2 dθ


Area of R = dA = r dr dθ =
R α r1 (θ) 2 α

Example. Find A of R in the first quadrant that is outside r = 2

and inside the cardioid r = 2(1 + cos θ). Answer : A = 4 + π/2
Example. Find A enclosed by the three-petaled rose r = cos 3θ.
Answer : A = π/4
14
Converting double integrals from rectangular to
polar coordinates

¨ ¨
f (x, y) dA = f (r cos θ, r sin θ) r dr dθ
R
appropriate
limits

It is especially useful if f (x, y) = g(x2 + y 2) = g(r)

or f (x, y) = g(y/x) = g(tan θ)

Example.
ˆ 1 ˆ √
1−x2
π
(x2 + y 2)3/2 dy dx =
−1 0 5

Example.
ˆ 1 ˆ √4−x2 ˆ 2ˆ √
4−x2
x x 3
√ p dy dx + p dy dx =
0 1−x2 2
x +y 2 1 0 x2 + y 2 2

Example. ˆ ∞ √
2
e−x dx = π
−∞

15
4 Parametric surfaces

A curve: x = x(t) , y = y(t) , z = z(t) , t0 ≤ t ≤ t1

z

Pa

Pb y
t x
a b
orientation orientation

A surface: x = x(u, v) , y = y(u, v) , z = z(u, v) , (u, v) ∈ R

16
Example. z = 4 − x2 − y 2
Rectangular coordinates: x = u, y = v, z = 4 − u2 − v 2
Polar coordinates: x = r cos θ, y = r sin θ, z = 4 − r2

17
 z

6
Polar coordinates are useful for 5

surfaces of revolution 4

3
generated by revolving a curve
2

z = f (x), x ≥ 0 in the xz-plane, 1

or, equivalently, a curve 1 2 3 4 5 6

x

z = f (y), y ≥ 0 in the yz-plane

about the z-axis.
These surfaces are graphs of
p
functions z = f ( x2 + y 2),
and can be parametrised as
x = r cos θ, y = r sin θ, z = f (r)

Example. A right cone of height h and base radius a oriented along

the z-axis, with vertex pointing up, and with the base located at z = 0.

r
x = r cos θ , y = r sin θ , z = h(1 − ) , 0 ≤ r ≤ a , 0 ≤ θ ≤ 2π
a

18
Cylindrical coordinates

x = r cos θ , y = r sin θ , z
r ≥ 0 , 0 ≤ θ ≤ 2π

Plane: z = const
Circular cylinder: r = const
Half-plane: θ = const

Cylindrical coordinates are useful for z

6
surfaces of revolution generated
5
by revolving a curve x = f (z)
4
in the xz-plane or, equivalently,
3
a curve y = f (z) in the yz-plane
2
about the z-axis.
1

These surfaces are parametrised as

x
1 2 3 4 5 6

x = f (ζ) cos θ, y = f (ζ) sin θ, z = ζ

Example. A right cone of height h

and base radius a oriented along the z-axis, with vertex pointing up,
and with the base located at z = 0.

ζ ζ
x = (1− )a cos θ , y = (1− )a sin θ , z = ζ , 0 ≤ ζ ≤ h , 0 ≤ θ ≤ 2π
h h

19
Spherical coordinates
x = ρ sin φ cos θ ,
y = ρ sin φ sin θ ,
z = ρ cos φ ,
ρ ≥ 0 , 0 ≤ θ ≤ 2π ,
0 ≤ φ ≤ π.
Sphere: r = const
Half-plane: θ = const
Cone: φ = const

Example. x2 + y 2 + z 2 = 9 ⇒ ρ = 3
x = 3 sin φ cos θ , y = 3 sin φ sin θ , z = 3 cos φ ,
0 ≤ θ ≤ 2π , 0 ≤ φ ≤ π .
The constant φ-curves are the lines of latitude.
The constant θ-curves are the lines of longitude.
q
2 2
Example. z = x +y 3 ⇒ φ = π3
√ √
3 3
x= 2 ρ cos θ , y= 2 ρ sin θ , z = 12 ρ ,
ρ ≥ 0 , 0 ≤ θ ≤ 2π .
The constant ρ-curves are circles.
The constant θ-curves are half-lines.

20
Sphere is an example of a z

3.0
surface of revolution generated by
2.5
revolving a parametric curve
2.0
x = f (t), z = g(t) or, equivalently,
1.5

a parametric curve y = f (t), z = g(t) 1.0

about the z-axis. 0.5

Such a surface is parametrised as 1 2 3 4

x

x = f (t) cos θ , y = f (t) sin θ , z = g(t) .

Example. Torus.

Similarly, we can get surfaces of revolution by

revolving a parametric curve
y = f (u), x = g(u) or, equivalently,
a parametric curve z = f (u), x = g(u)
about the x-axis.
They are parametrised as
x = g(u) ,
y = f (u) cos v ,
z = f (u) sin v

Finally, we can get surfaces of

revolution by revolving a parametric curve z = f (u), y = g(u) or,
equivalently, a parametric curve x = f (u), y = g(u) about the y-axis.
They are parametrised as
x = f (u) sin v , y = g(u) , z = f (u) cos v

21
Vector-valued functions of two variables

The vector form of parametric eqs for a surface

~r = ~r(u, v) = x(u, v)~i + y(u, v) ~j + z(u, v) ~k

~r(u, v) is a vector-valued functions of two variables.

Partial derivatives

∂~r ∂x ~ ∂y ~ ∂z ~
~ru = = i+ j+ k
∂u ∂u ∂u ∂u
∂~r ∂x ~ ∂y ~ ∂z ~
~rv = = i+ j+ k
∂v ∂v ∂v ∂v

Tangent planes to parametric surfaces

Let σ be a parametric surface in 3-space.

Definition. A plane is said to be tangent to σ at P0 provided a line
through P0 lies in the plane if and only if it is a tangent line at P0 to
a curve on σ.

σ : ~r(u, v) , P0(a, b, c) ∈ σ
a = x(u0, v0) , b = y(u0, v0) , c = z(u0, v0)
∂~r
If ∂u 6= 0 then it is tangent to the constant v-curve.
∂~r
If ∂v 6= 0 then it is tangent to the constant u-curve.
∂~r ∂~r
Thus, if ∂u × ∂v 6= 0 at (u0, v0) then it is orthogonal to both tangent
vectors and is normal to the tangent plane and the surface at P0.

22
 ∂~r ∂~r
∂u × ∂v
~n =  ∂~r 
∂~r 

∂u × ∂v

is called the principle normal vector

to the surface ~r = ~r(u, v) at (u0, v0).
Thus, the tangent plane equation is
~n · (~r − ~r0) = 0

Example. Tangent plane to

x = uv , y = u , z = v 2 at (2, −1)

Figure 5: Whitney’s umbrella.

Answer : x + y + z = 1

23
Surface area

Let ~r = x(u, v)~i + y(u, v) ~j + z(u, v) ~k be a smooth parametric

∂~r ∂~r
surface on a region R of the uv-plane, that is ∂u × ∂v 6= 0 on R, and
therefore there is a tangent plane for every (u, v) ∈ R.

Rk : ∆Ak = ∆uk ∆vk

 
 ∂~r ∂~r 
∆Sk ≈ Area of parallelogram =  ∆uk × ∆vk 

∂u ∂v

   
 ∂~r ∂~r   ∂~r ∂~r 
=  ×  ∆uk ∆vk =  ×  ∆Ak
∂u ∂v ∂u ∂v
Thus,
n  
X  ∂~r ∂~r 
S≈  ×  ∆Ak
 ∂u ∂v 
k=1
In the limit n → ∞
¨  
 ∂~r ∂~r 
S=  ×  dA
R ∂u ∂v 


Examples. Surfaces of revolution: Sphere, cone, torus

24
Surface area of surfaces of the form z = f (x, y)

x = u , y = v , z = f (u, v) , ~r = u~i + v ~j + z ~k

∂~r ~ ∂z ~ ∂~r ~ ∂z ~
=i+ k, =j+ k
∂u ∂u ∂v ∂v
∂~r ∂~r ~ ∂z ~ ∂z ~
× =k− j− i
∂u ∂v ∂v ∂u
  s  2  2
 ∂~r ∂~r 
 ×  = 1 + ∂z + ∂z
 ∂u ∂v  ∂u ∂v

¨
s  2  2
∂z ∂z
S= 1+ + dA
R ∂x ∂y

Example. S √ of z = x2 + y 2 below z = 1.
Answer : π6 (5 5 − 1) ≈ 5.330

25
5 Triple Integrals

Mass problem. Find the mass

M of a solid G whose density
(the mass per unit volume)
is a continuous nonnegative
function δ(x, y, z).

1. Divide the box enclosing G into

subboxes, and exclude all those
subboxes that contain points
outside of G. Let n be the number
of all the subboxes inside G, and
let ∆Vk = ∆xk ∆yk ∆zk be the volume of the k-th subbox.
2. Choose any point (x∗k , yk∗, zk∗) in the k-th subbox. The mass of the
k-th subbox is ∆Mk ≈ δ(x∗k , yk∗, zk∗)∆Vk . Thus,
n
X n
X n
X
M≈ ∆Mk = δ(x∗k , yk∗, zk∗)∆Vk = δ(x∗k , yk∗, zk∗)∆xk ∆yk ∆zk
k=1 k=1 k=1

This sum is called the Riemann sum.

3. Take the sides of all the subboxes to 0, and therefore the number
of them to infinity, and get
X n ˚
M = lim δ(x∗k , yk∗, zk∗)∆Vk = δ(x, y, z) dV
n→∞ G
k=1

The last term is the notation for the limit of the Riemann sum,
and it is called the triple integral of δ(x, y, z) over G.

26
Properties of triple integrals

1. If f, g are continuous on G, and c, d are constants, then

˚ ˚


c f (x, y, z) + d g(x, y, z) dV = c f (x, y, z) dV
G ˚G
+d g(x, y, z) dV
G

2. If G is divided into two solids G1 and G2, then

˚ ˚ ˚
f (x, y, z) dV = f (x, y, z) dV + f (x, y, z) dV
G G1 G2

The mass of the entire solid

is the sum of the masses of
the solids G1 and G2.

27
Evaluating triple integrals over rectangular boxes

a ≤ x ≤ b, c ≤ y ≤ d, k≤z≤l
˚ ˆ bˆ dˆ l
f (x, y, z) dV = f (x, y, z) dz dy dx
G a c k

or any permutation, e.g.

˚ ˆ dˆ lˆ b
f (x, y, z) dV = f (x, y, z) dx dz dy
G c k a

Example. Find the mass of the box

1 1
≤x≤ , 0 ≤ y ≤ π, 0≤z≤1
3 2
if its density is
δ(x, y, z) = xz sin(xy)

√
1 3 1
Answer : M = 12 + 4π − 2π ≈ 0.0620106

28
Evaluating triple integrals over simple xy-, xz-, yz-solids

A solid G is called a simple xy-solid

if it is bounded above by a surface
z = g2(x, y), below by a surface
z = g1(x, y), and its projection
on the xy plane is a region R.

˚ ¨ "ˆ g2 (x,y)
#
f (x, y, z) dV = f (x, y, z) dz dA
G R g1 (x,y)

Example. Find the mass of the solid G defined by the inequalities

π π π
≤ y ≤ , y ≤ x ≤ , 0 ≤ z ≤ xy
6 2 2
if its density is
δ(x, y, z) = cos(z/y)

√
5π 3
Answer : M = 12 − 2 ≈ 0.442972

29
 ˚
Volume of G = dV
G

Example. Find V of G bounded by the surfaces

y = x2 , y + z = 4, z=0
256
Answer : V = 15

Integration in other orders

A simple xz-solid
˚ ¨ "ˆ g2 (x,z)
#
f (x, y, z) dV = f (x, y, z) dy dA
G R g1 (x,z)

A simple yz-solid
˚ ¨ "ˆ g2 (y,z)
#
f (x, y, z) dV = f (x, y, z) dx dA
G R g1 (y,z)

30
6 Centre of gravity and centroid

Mass, centre of gravity and centroid of a lamina

Recall that a lamina is an idealised flat object that is thin enough to
be viewed as a 2-d plane region R.
The mass M of a lamina with density δ(x, y) is
¨
M= δ(x, y) dA
R

The centre of gravity of

a lamina is a unique point (x̄, ȳ)
such that the effect of gravity
on the lamina is equivalent to
that of a single force acting
at the point (x̄, ȳ)

¨ ¨
1 1
x̄ = x δ(x, y) dA , ȳ = y δ(x, y) dA
M R M R

Example. Find the centre of gravity of a lamina with density

δ(x, y) = x + 1 bounded by x2 + (y + 1)2 = 1
Answer : M = π , x̄ = 1/4 , ȳ = −1

31
For a homogeneous lamina with δ(x, y) = const,
the centre of gravity is called the centroid of the lamina
or the centroid of the region R
because it does not depend on δ(x, y) = const.
¨ ¨ ¨
1 1
x̄ = x dA , ȳ = y dA , A= dA
A R A R R

Example. Find the centroid of a region bounded by

(x − 1)2 + y 2 = 1 , and (x − 2)2 + y 2 = 4

Answer : A = 3π , x̄ = 7/3 , ȳ = 0

32
Mass, centre of gravity and centroid of a solid
The centre of gravity of a solid G with density δ(x, y, z) is a unique
point (x̄, ȳ, z̄) such that the effect of gravity on the solid is equivalent
to that of a single force acting at the point (x̄, ȳ, z̄)
˚ ˚
1 1
x̄ = x δ(x, y, z) dV , ȳ = y δ(x, y, z) dV
M G M G

˚ ˚
1
z̄ = z δ(x, y, z) dV , M= δ(x, y, z) dV
M G G

Example. Find the centre of gravity of a solid G bounded by the

surfaces x2 + y 2 = 1 and x2 + y 2 = 4, above by the surface z =
5 − x2 − y 2, and below by the surface z = 0 with the density
2 −y 2 −z
δ(x, y, z) = e5−x
2e4 −2e−21
Answer : M = π(e4 − e − 3) ≈ 153.561 , z̄ = 2(e4 −e−3)
≈ 0.85

For a homogeneous solid with δ(x, y) = const, the centre of gravity

is called the centroid of the solid.
˚ ˚
1 1
x̄ = x dV , ȳ = y dV
V G V G

˚ ˚
1
z̄ = z dV , V = dV
V G G

Example. Find the centroid of the solid below z = 10 − x2 − y 2,

inside of x2 + y 2 = 1, and above z = 0
Answer : V = 19π/2 , x̄ = 0 , ȳ = 0 , z̄ = 271/57 ≈ 4.75439
33
 7 Triple integrals in cylindrical and spherical coordi-
nates

Cylindrical coordinates
Cylindrical wedge or
cylindrical element of volume
is interior of intersection of
two cylinders: r = r1 , r = r2
two half-planes: θ = θ1 , θ = θ2
two planes: z = z1 , z = z2

The dimensions: θ2 − θ1 , r2 − r1 , z2 − z1 are called the central angle,

thickness and height of the wedge.

Divide G by cylindrical wedges

˚ ∞
X
f (r, θ, z) dV = lim f (rk∗ , θk∗ , zk∗)∆Vk
G n→∞
n=1

∆Vk = [ area of base ] · [ height ]

= rk∗ ∆rk ∆θk ∆zk

34
Theorem.
Let G be a solid whose upper suface is
z = g2(r, θ) and whose lower suface is
z = g1(r, θ) in cylindrical coordinates.
If projection of G on the xy-plane is
a simple polar region R, and
if f (r, θ, z) is continuous on G, then

˚ ¨ "ˆ g2 (r,θ)
#
f (r, θ, z) dV = f (r, θ, z) dz dA
G R g1 (r,θ)
ˆ θ2 ˆ r2 (θ) ˆ g2 (r,θ)
= f (r, θ, z) r dz dr dθ
θ1 r1 (θ) g1 (r,θ)

Example. V and centroid of G bounded above by

p
z = 25 − x2 − y 2, below by z = 0, and laterally by x2 + y 2 = 9.
Answer : V = 122π/3 , z̄ = 1107/488

Converting triple integrals from rectangular to cylindrical

coordinates
˚ ˚
f (x, y, z) dV = f (r cos θ, r sin θ, z) r dz dr dθ
G
appropriate
limits
Example.
ˆ 3 ˆ √
9−x2 ˆ 9−x2 −y 2
243
√ x2 dz dy dx = π
−3 − 9−x2 0 4

35
Spherical coordinates
Spherical wedge or
spherical element of volume
is interior of intersection of
two spheres: ρ = ρ1 , ρ = ρ2
two half-planes: θ = θ1 , θ = θ2
nappes of two right circular
cones: φ = φ1 , φ = φ2

The numbers:
θ2 − θ1 , ρ2 − ρ1 , φ2 − φ1
are the dimensions of the wedge.

Divide G by spherical wedges

˚ ∞
X
f (r, θ, φ) dV = lim f (rk∗ , θk∗ , φ∗k )∆Vk
G n→∞
n=1

∆Vk = (ρ∗k )2 sin φ∗k ∆ρk ∆φk ∆θk

˚ ˚
f (r, θ, φ) dV = f (r, θ, φ) ρ2 sin φ dρ dφ dθ
G
appropriate
limits

36
 Example. V and centroid of G bounded above by
p
2 2 2
x + y + z = 16 and below by z = x2 + y 2.
√ √
Answer : V = 64(2 − 2)π/3 > 0 , z̄ = 3/2(2 − 2) ≈ 2.56

Converting triple integrals from rectangular to spherical

coordinates

˚ ˚
f (x, y, z) dV = f (ρ sin φ cos θ, ρ sin φ sin θ, ρ cos φ) ρ2 sin φ dρ dφ dθ
G
appropriate
limits

Example.
ˆ 2ˆ √
4−x2 ˆ √4−x2−y2 p
2 64
√ z x2 + y 2 + z 2 dz dy dx = π
−2 − 4−x2 0 9

37