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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
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 .
(i) Show that if a and b are unit vectors, i.e., if ∥a∥ = ∥b∥ = 1, then
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.
a × (b × c) − (a × b) × c = (b · c)a − (a · b)c.
a · x = b · x for every x ∈ Rn .
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 ,
q = q0 + q1 i + q2 j + q3 k, q0 , q1 , q2 , q3 ∈ R.
i2 = j 2 = k 2 = ijk = −1.
(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
(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
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.
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.
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.
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.
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.
23. Prove the following identities for any sufficiently differentiable vector
fields F , G : R3 → R3 and sufficiently differentiable scalar field ϕ :
R3 → R.
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
to show
1 ∂J
= div v.
J ∂t
(iii) Deduce that
∫
d[ ]
volume of Ω(t) = div v dV.
dt Ω(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
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
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)
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
Du ∂u
= + (u · ∇)u.
Dt ∂t
(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.
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
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