Vector Fields
Definition
A vector field on R 3 R^3 R3 with domain as D is a function F ⃗ \vec F F that assign to each point within D a vector F ⃗ ( x , y , z ) \vec F(x,y,z) F(x,y,z). We often write it as < P ( x , y , z ) , Q ( x , y , z ) , R ( x , y , z ) > <P(x,y,z),Q(x,y,z),R(x,y,z)> <P(x,y,z),Q(x,y,z),R(x,y,z)> where P, Q, and R are scaler-valued functions.
Use Gravitation as an example.
∣ F ⃗ ∣ = G m M r 2 F ⃗ ( x , y , z ) = G m M ( x 2 + y 2 + z 2 ) 3 2 ( x , y , z ) |\vec F| = \frac{GmM}{r^2} \\\\ \vec F(x,y,z) = \frac{GmM}{(x^2+y^2+z^2)^\frac{3}{2}}(x,y,z) ∣F∣=r2GmMF(x,y,z)=(x2+y2+z2)23GmM(x,y,z)
Conservative Fields
A special kind of vector fields is called gradient fields. If f is a scalar function of three variables, its gradient ∇ f = ( f x , f y , f z ) \nabla f = (f_x, f_y,f_z) ∇f=(fx,fy,fz). ∇ f \nabla f ∇f is called a gradient vector field.
F ⃗ \vec F F is called a conservative vector field if it is the gradient of some scaler function. That is, there exists f s.t. F ⃗ = ∇ f \vec F = \nabla f F=∇f.
Line Integrals
Definition
Also called path integrals. Line integrals are generalizations of single integral.
A planar curve C with parametrization of x = x ( t ) , y = y ( t ) x=x(t),y=y(t) x=x(t),y=y(t) and the height function f ( x , y ) f(x,y) f(x,y). Cut C into small pieces, and pretend each small piece is a line segment. We used Δ s i = ∣ x ′ ( t i ) ∣ 2 + ∣ y ′ ( t i ) ∣ 2 ( t i + 1 − t i ) \Delta s_i = \sqrt{|x'(t_i)|^2 + |y'(t_i)|^2}(t_{i+1} - t_i) Δsi=∣x′(ti)∣2+∣y′(ti)∣2(ti+1−ti) to denote the length of the curve from t i t_i ti to t i + 1 t_{i+1} ti+1. Sum them up, we can get
∫ C f ( x , y ) d S = l i m ∑ i f ( x ( t i ) , y ( t i ) ) ∣ x ′ ( t i ) ∣ 2 + ∣ y ′ ( t i ) ∣ 2 Δ t i = ∑ i F ( t i ) Δ t i = ∫ a b F ( t ) d t = ∫ a b f ( x ( t ) , y ( t ) ) ∣ x ′ ( t ) ∣ 2 + ∣ y ′ ( t ) ∣ 2 d t \int_C f(x,y) dS = lim \sum_i f(x(t_i),y(t_i)) \sqrt{|x'(t_i)|^2 + |y'(t_i)|^2}\Delta t_i \\\\ = \sum_i F(t_i) \Delta t_i \\\\ = \int_a^b F(t) dt \\\\ = \int_a^b f(x(t),y(t))\sqrt{|x'(t)|^2 + |y'(t)|^2} dt ∫Cf(x,y)dS=limi∑f(x(ti),y(ti))∣x′(ti)∣2+∣y′(ti)∣2Δti=i∑F(ti)Δti=∫abF(t)dt=∫abf(x(t),y(t))∣x′(t)∣2+∣y′(t)∣2dt
E.x.
Evaluate ∫ C ( 2 + x 2 y ) d S \int_C (2+x^2y) dS ∫C(2+x2y)dS where C is the unit circle above x-axis.
sol:
First, parametrize C as ( c o s θ , s i n θ ) (cos \theta, sin \theta) (cosθ,sinθ), 0 ≤ θ ≤ π 0 \le \theta \le \pi 0≤θ≤π. Other valid parametrization also works.
∫ C ( 2 + x 2 y ) d S = ∫ 0 π ( 2 + c o s 2 θ s i n θ ∣ x ′ ( θ ) ∣ 2 + ∣ y ′ ( θ ) ∣ 2 ) d θ = ∫ 0 π ( 2 + c o s 2 θ s i n θ ) d θ \int_C (2+x^2y) dS = \int_0^\pi (2+cos^2\theta sin \theta \sqrt{|x'(\theta)|^2 + |y'(\theta)|^2}) d\theta \\\\ = \int_0^\pi (2+cos^2\theta sin \theta) d\theta \\\\ ∫C(2+x2y)dS=∫0π(2+cos2θsinθ∣x′(θ)∣2+∣y′(θ)∣2)dθ=∫0π(2+cos2θsinθ)dθ
E.x.
Evaluate ∫ C 2 x d S \int_C 2x dS ∫C2xdS where C contains C1 and C2. C1 is y = x 2 y=x^2 y=x2. C2 is y = x 3 y=x^3 y=x3.
sol:
Integrate two parts separately and add them up.
E.x.
Compute mass. We have density function ρ ( x , y ) = 1 − y \rho(x,y)=1-y ρ(x,y)=1−y. Evaluate ∫ C ρ d S \int_C \rho dS ∫CρdS where C is the unit circle above x-axis.
sol:
First, parametrize C as ( c o s θ , s i n θ ) (cos \theta, sin \theta) (cosθ,sinθ), 0 ≤ θ ≤ π 0 \le \theta \le \pi 0≤θ≤π.
∫ C ρ d S \int_C \rho dS ∫CρdS
Orientation
Line integrals with respect to x and y.
∫ C f ( x , y ) d x = ∫ a b f ( x ( t ) , y ( t ) ) x ′ ( t ) d t ∫ C f ( x , y ) d y = ∫ a b f ( x ( t ) , y ( t ) ) y ′ ( t ) d t \int_C f(x,y) dx = \int_a^b f(x(t),y(t)) x'(t) dt\\\\ \int_C f(x,y) dy = \int_a^b f(x(t),y(t)) y'(t) dt ∫Cf(x,y)dx=∫abf(x(t),y(t))x′(t)dt∫Cf(x,y)dy=∫abf(x(t),y(t))y′(t)dt
For C = ( x ( t ) , y ( t ) ) C=(x(t), y(t)) C=(x(t),y(t)), a ≤ t ≤ b a \le t \le b a≤t≤b and C ′ = ( x ( − t ) , y ( − t ) ) C' = (x(-t), y(-t)) C′=(x(−t),y(−t)), − b ≤ t ≤ − a -b \le t \le -a −b≤t≤−a. It is easy to find that
∫ C f ( x , y ) d y = ∫ a b f ( x ( t ) , y ( t ) ) y ′ ( t ) d t ∫ C ′ f ( x , y ) d y = ∫ − b − a f ( x ( − t ) , y ( − t ) ) y ′ ( − t ) d t = − ∫ a b f ( x ( t ) , y ( t ) ) y ′ ( t ) d t \int_C f(x,y) dy = \int_a^b f(x(t),y(t)) y'(t) dt \\\\ \int_{C'} f(x,y) dy = \int_{-b}^{-a} f(x(-t),y(-t)) y'(-t) dt \\\\ = -\int_a^b f(x(t),y(t)) y'(t) dt \\\\ ∫Cf(x,y)dy=∫abf(x(t),y(t))y′(t)dt∫C′f(x,y)dy=∫−b−af(x(−t),y(−t))y′(−t)dt=−∫abf(x(t),y(t))y′(t)dt
This is due to different orientation.
Line Integral of Vector Fields
Assume a gradient field.
∫ C F ⃗ d r ⃗ = ∫ a b F ⃗ ( r ⃗ ( t ) ) r ⃗ ′ ( t ) d t = ∫ a b F ⃗ ( x ( t ) , y ( t ) ) ⋅ ( x ′ ( t ) , y ′ ( t ) ) d t \int_C \vec F d\vec r = \int_a^b \vec F(\vec r(t)) \vec r'(t) dt \\\\ = \int_a^b \vec F(x(t), y(t)) \cdot (x'(t), y'(t)) dt \\\\ ∫CFdr=∫abF(r(t))r′(t)dt=∫abF(x(t),y(t))⋅(x′(t),y′(t))dt
E.x.
Find the work done by the force field F ⃗ ( x , y ) = ( x 2 , − x y ) \vec F(x,y)=(x^2, -xy) F(x,y)=(x2,−xy) where C is the unit circle in the first quadrant travelling from the x-axis.
sol:
r ⃗ ( t ) = ( c o s t , s i n t ) , 0 ≤ t ≤ π / 2 ∫ a b F ⃗ ( r ⃗ ( t ) ) r ⃗ ′ ( t ) d t = ∫ 0 π / 2 ( c o s 2 t , − s i n t c o s t ) ⋅ ( − s i n t , c o s t ) d t = ∫ 0 π / 2 − 2 c o s 2 ( t ) s i n ( t ) d t \vec r(t) = (cost,sin t), 0 \le t \le \pi/2 \\\\ \int_a^b \vec F(\vec r(t)) \vec r'(t) dt \\\\ = \int_0^{\pi/2} (cos^2 t, -sint \ cost) \cdot (-sint, cost) dt \\\\ = \int_0^{\pi/2} -2 cos^2(t)sin(t) \ dt \\\\ r(t)=(cost,sint),0≤t≤π/2∫abF(r(t))r′(t)dt=∫0π/2(cos2t,−sint cost)⋅(−sint,cost)dt=∫0π/2−2cos2(t)sin(t) dt
Connections of Different Line Integrals
F ⃗ ( x , y ) = ( P ( x , y ) , Q ( x , y ) ) r ⃗ ( t ) = ( x ( t ) , y ( t ) ) , a ≤ t ≤ b ∫ C F ⃗ d r ⃗ = ∫ a b F ⃗ ( r ⃗ ( t ) ) r ⃗ ′ ( t ) d t = ∫ a b [ P ( x ( t ) , y ( t ) ) ⋅ x ′ ( t ) + Q ( x ( t ) , y ( t ) ) ⋅ y ′ ( t ) ] d t = ∫ C P d x + ∫ C Q d y \vec F(x, y) = (P(x,y), Q(x,y)) \\\\ \vec r(t) = (x(t), y(t)), a \le t \le b \\\\ \int_C \vec F d\vec r = \int_a^b \vec F(\vec r(t)) \vec r'(t) dt \\\\ = \int_a^b [P(x(t),y(t)) \cdot x'(t) + Q(x(t),y(t)) \cdot y'(t)] dt \\\\ = \int_C P dx + \int_C Q dy F(x,y)=(P(x,y),Q(x,y))r(t)=(x(t),y(t)),a≤t≤b∫CFdr=∫abF(r(t))r′(t)dt=∫ab[P(x(t),y(t))⋅x′(t)+Q(x(t),y(t))⋅y′(t)]dt=∫CPdx+∫CQdy
The Fundamental Theorem for Line Integrals
The Fundamental Theorem
Suppose f is a function of two variable, then we have following theorem.
C is continuously differentiable, r ⃗ ( t ) ≠ 0 \vec r(t) \ne 0 r(t)=0;
f is continuously differentiable, and ∫ C ∇ f d r ⃗ = f ( r ⃗ ( b ) ) − f ( r ⃗ ( a ) ) \int_C \nabla f d\vec r = f(\vec r(b)) - f(\vec r(a)) ∫C∇fdr=f(r(b))−f(r(a));
Proof
∫ C ∇ f d r ⃗ = ∫ a b ∇ f ( r ⃗ ( t ) ) ⋅ r ⃗ ′ ( t ) d t = ∫ a b f x ( x ( t ) , y ( t ) ) ⋅ x ′ ( t ) + f y ( x ( t ) , y ( t ) ) ⋅ y ′ ( t ) d t = f ( r ⃗ ( b ) ) − f ( r ⃗ ( a ) ) \int_C \nabla f d\vec r = \int_a^b \nabla f(\vec r(t)) \cdot \vec r'(t)dt \\\\ = \int_a^b f_x(x(t), y(t)) \cdot x'(t) + f_y(x(t), y(t)) \cdot y'(t)dt \\\\ = f(\vec r(b)) - f(\vec r(a)) ∫C∇fdr=∫ab