1P1 Calculus

MULTIPLE INTEGRALS II

Triple Integrals

Triple integrals can be treated as a logical extension of multiple integrals.

Instead of integrating a function of two variables over an area, we are integrating a function
of three variables over a volume.

Changes of variable can be made using Jacobians in much the same way as for double
integrals.

1
 1P1 Calculus
Example:
By transforming to spherical polar coordinates,
integrate the function f = (x 2 + y 2 + z 2 )
3/2

over the hemisphere defined by x 2 + y 2 + z 2 = 9 , z ≥ 0 .

(i) Integrand: (x 2
+ y 2 + z2 ) 3/2
= r3 (ii) Jacobian: dx dy dz → r 2 sinθ dr dθ dφ

(iii) Limits
θ : 0 →π /2
r : 0→3
θ : 0 →π /2
φ : 0 → 2π
φ : 0 → 2π

2π π /2 3 π /2 3
r 6 
∴ I= ∫ ∫ ∫ r 3 r 2 sinθ dr dθ dφ = 2π ∫   sinθ dθ
0 0 0 0  6 0

π /2
I = 243π [− cos θ ]0 = 243π .

2
 1P1 Calculus

Calculation of Areas and Volumes

One of the major applications of multiple integrals in engineering, particularly structures

and mechanics, is the determination of properties of plane (i.e. effectively 2-D) and solid
(i.e. 3-D) bodies – their volume, mass, centre of gravity, moment of inertia, etc.

An essential prerequisite to this topic is the ability to obtain expressions for elemental areas
and volumes in the various coordinate systems.

This can be done using a geometrical approach, or by making use of Jacobians.

3
 1P1 Calculus
Two-dimensional Systems

Cartesian: Plane polar:

dA = dx dy dA = r dφ dr

The result for the plane polar case could also be derived using the Jacobian:

∂( x, y )
=r → dx dy = r dr dφ .
∂(r ,φ )

4
 1P1 Calculus

Three-dimensional Systems

Cartesian dV = dx dy dz

Cylindrical polar: dV = r dφ dr dz

∂( x, y , z )
using Jacobian: =r → dx dy dz = r dr dφ dz
∂(r ,φ, z )

Spherical polar: dV = r dθ . dr . r sinθ dφ

∂( x, y , z )
using Jacobian: = r 2 sinθ → dx dy dz = r 2 sinθ dr dθ dφ .
∂( r , θ , φ )

5
 1P1 Calculus
Engineering Properties of Plane and Solid Bodies

In illustrating the calculation of the engineering properties of solid bodies, we will use the
example of the hemisphere defined by:

x 2 + y 2 + z2 = a2 , z ≥ 0 ,

with uniform density ρ.

Given the geometry of the body, it will be simplest to use spherical polar coordinates.

6
 1P1 Calculus

Volume is probably the simplest property we are likely to be interested in.

It is evaluated by integrating the expression for an elemental volume over the

body.
2π π /2 a
2 3
For the hemisphere: V = ∫ ∫ ∫ r 2 sinθ dr dθ dφ =
3
πa .
0 0 0

Similarly for a plane body, the area can be found simply by integrating the expression for
an elemental area.

7
 1P1 Calculus
Centroid – Consider first a plane body.

The centroid can be thought of as the centre of area of the body.

By definition, the moment of the area about a centroidal axis is zero:

u =a − y

∫ u dA = 0 where u = y − y
u =− y
y =a

∴ ∫ ( y − y ) dA = 0
y =0
a

∴
yA = ∫ y dA
0

8
 1P1 Calculus
A similar definition can be given for a 3-D body – the moment of the volume about a
centroidal plane is zero.

The position of the centroid can be found by summing (volume × centroidal coordinate) for
all the elemental volumes in the body, and equating the result to (total volume × centroidal
coordinate).

For any symmetrical body, the centroid must lie on the plane of symmetry. Hence, for the
hemisphere, both the x and y coordinates of the centroid are zero.

The z-coordinate is given by:

2π π /2 a π /2
a4 1
∫ ∫ ∫ ∫
2
Vz= r cos θ r sin θ dr dθ dφ = 2π sin 2θ dθ
0 0 0
4 0
2
π /2
πa 4  1  πa 4 4
2 3
πa z = V z = − cos 2θ =− [− 1 − 1] = πa
3 2  4 
0 8 4

3
∴ z= a .
8

9
 1P1 Calculus

Mass is an extremely important property in dynamics problems, relating the acceleration of

a body to the forces exerted on it (Newton’s 2nd Law).

If a body has uniform density (as in our example), then the mass is simply the volume
multiplied by the density:
2
M = ρV = πa3 ρ
3

If the density is a variable function, then the mass of an elemental volume at a given
location is:
dM = ρ ( x, y, z ) dV

and the total mass must be found by integration:

M = ∫∫∫ dM = ∫∫∫ ρ ( x, y , z ) dV
V

10
 1P1 Calculus

Centre of mass and centre of gravity are the same, so long as gravity is constant.
Additionally, if the density is constant (as in our example) then the centre of mass coincides
with the centroid.

If the density were not constant, then the centre of mass calculation would be:

M z = ∫∫∫ ρ ( x, y , z ) z dV
V

Moment of inertia is a property which is fundamental to rotational behaviour.

It can be thought of as the rotational equivalent of mass, so that, just as we have

Force = mass × acceleration

so also
Torque = moment of inertia × angular acceleration

11
 1P1 Calculus

It is possible to calculate many different moments of inertia for a body, the correct choice
depending on which axis it is rotating about.

The moment of inertia about an axis is the second moment of the mass about that axis.

That is: I = ∫∫∫ y 2 dM = ∫∫∫ ρ y 2 dV

V

where y is the distance of an elemental volume from the axis.

12
 1P1 Calculus

For the case of the hemisphere, the moment of inertia about the z-axis is:

2π π /2 a π /2
a5
∫ ∫ ∫ ∫ sin
2 2 2 3
I zz = ρ r sin θ . r sinθ dr dθ dφ = 2π ρ θ dθ
0 0 0
5 0

π /2 π /2
2πρa 5 2πρa 5  
I zz =
5
(
∫ sin θ 1 − cos θ dθ = 5
2
)  − cos θ +
1
3
cos 3 θ 
0
0

2πρa5 2 2 2
I zz = . = Ma2 since M = πρa 3 .
5 3 5 3

13
 1P1 Calculus

One other useful property is the radius of gyration, k.

This is defined by the formula:

I = M k2

Thus k is the radius of a fictional thin-walled cylinder having the same mass and
moment of inertia as the body under consideration.

For the hemisphere, the radius of gyration about the z-axis is:

I 2 2 2
k= = a = a = 0.632 a .
M 5 5

14
 1P1 Calculus

Some Trickier Volume Calculations

Example 1
2 2 2 2
Find the fraction of the volume of the sphere x + y + z = 4a lying above the plane z =
a. The principal difficulty in calculations of this sort is choosing the correct limits.
Use spherical coordinates, and consider a vertical slice through the sphere:

15
 1P1 Calculus
φ : 0 → 2π
a π
θ : 0 → θo where θ o = cos −1 =
2a 3
a
r : r (θ ) → 2a where r (θ ) =
cos θ

2π π /3 2a π /3 2a
r 3 
∴ V= ∫ ∫ ∫ r 2 sinθ dr dθ dφ = 2π ∫   sinθ dθ
0 0 a / cos θ 0  3  a / cosθ
π /3 π /3
 8a 3 3  π 3
∫ (8 sinθ − tan θ sec )
 a  2 a
∫
2
V = 2π  3 − 3 cos 3 θ  sin θ dθ = 3 θ dθ
0   0
3 π /3
2πa  1 2  2πa 3  3  5πa
3
V = − 8 cos θ − tan θ = − 4 − 2 + 8 + 0 = 3
3  2 0 3

4 3 32 3 5
NB: Total volume of sphere = π ( 2a ) = πa . ∴ Volume of cap = × total volume .
3 3 32

16
 1P1 Calculus

Example 2:

A circle of radius a has its centre 3a from the z-axis.

What is the volume of the body created by revolving the circle around the z -axis?

This creates a ring, or torus.

17
 1P1 Calculus

Volume swept out by small element = 2πy . dA = 2πy . dy dz .

z1 + 2a y2

Therefore, we could write: V = ∫ ∫ 2πy dy dz .

z1 y1

But calculating limits y1 and y2 is messy.

Instead put u = y − 3a → du = dy, and if y2 → u1 then y1 → -u1.

The integral therefore becomes

z1 + 2a u1 z1 + 2a u1 z1 + 2a u1
V = ∫ ∫ 2π (u + 3a ) du dz = 2π ∫ ∫ u du dz + 6πa ∫ ∫ d u dz
z1 −u1 z1 −u1 z1 −u1

odd function area of circle

V = 0 + 6πa .πa 2 = 6π 2a 3 .

18
 1P1 Calculus
In general:

For any body generated by revolving an area A about an axis a distance h from its
centroid: V = 2πh . A

THE END! .

19