Lecture Notes 10: Change of Variables and Triple Integral

Ruipeng Shen
June 6, 2014

Change of Variable

Theorem 1 (Change of Variables). Let D and D? be elementary regions in R2 and let T : D?

D be a C 1 , one-to-one map such that T(D? ) = D. For any integrable function f : D R,


ZZ
ZZ
 (x, y)  ?

 dA ,
f (x, y)dA =
f (x(u, v), y(u, v)) 
(u, v) 
D
D?
where


x/u
(x, y)
= det(DT) = 
y/u
(u, v)


x/v  x y x y
=

.
y/v  u v
v u

is called the Jacobian of T.

Example 2 (Polar Coordinates). Let T(r, ) = (r cos , r sin ) be the mapping that defines the
polar coordinates. This is a one-to-one map from [r1 , r2 ] [1 , 2 ] to its image if 0 < r1 < r2
and 0 1 < 2 < 2. Its Jacobian is r.
Definition 3 (Affine Maps). A map T : R2 R2 defined by
  
   
u
a11 a12 u
b
T
=
+ 1
v
a21 a22 v
b2
is called an affine map. If b1 = b2 = 0, it is also called a linear map.
Example 4. Calculate the Jacobian of an affine map.
Theorem 5. Let Tu = Au + b be an affine map and det(A) 6= 0. Then
(a) T is one-to-one.
(b) T maps lines to lines, parallel lines to parallel lines.
(c) T maps a parallelogram to a parallelogram.
(d) Its inverse T1 u = A1 u A1 b is another affine map.
Example 6. Let F be an affine map and D? = [0, 1] [0, 1], f = C. Check theorem 1.
RR
Example 7. Find the integral D (x+y)4 (xy)4 dA, here D is the square {(x, y) : |x|+|y| 1}.
RR
2
2
Example 8. Let B(0, R) = {(x, y)|x2 + y 2 R2 }, calculate B(0,R) ex y dA.
Example 9. Find the area of the region bounded by the x-axis, y-axis and the spiral c(t) =
(et cos t, et sin t) with t [0, /2].

Triple Integral

Definition of triple integral over a rectangular box

integral is defined as the limit of Riemann sums.

Similar to the double integral, the

Theorem 10 (Fubinis theorem). Let f (x, y, z) be an integrable function defined on a rectangular

box W = [a1 , b1 ] [a2 , b2 ] [a3 , b3 ]. Then
! !
ZZZ
Z b3 Z b2 Z b1
f (x, y, z)dx dy dz.
f (x, y, z)dV =
W

a1

a2

a3

Furthermore, let D = [a1 , b1 ] [a2 , b2 ]

ZZZ
ZZ
f (x, y, z)dV =
W

b3

f (x, y, z)dz
D

dA.

a3

Example 11. Let W = [0, 1] [0, 2] [0, 3], calculate

RRR
W

z 2 (2x + y)dV

Triple integral over a general region If f (x, y, z) is defined in a general region W , we can
choose a large rectangular box W1 so that W W1 and a new function

f (x, y, z), (x, y, z) W ;
F (x, y, z) =
0,
(x, y, z) W1 \ W.
and define

ZZZ

ZZZ
F (x, y, z)dV.

f (x, y, z)dV =
W

W1

Type 1 region Let the region W be given by

W = {(x, y, z) R3 : (x, y) D R2 , g1 (x, y) z g2 (x, y)}.
Here D is an elementary region in R2 ; The functions g1 (x, y) and g2 (x, y) are continuously defined
on D such that g1 (x, y) g2 (x, y) for each (x, y) D. Then we have
!
Z g2 (x,y)
ZZZ
ZZ
f (x, y, z)dV =
f (x, y, z)dz dA.
W

Example 12. Calculate the triple integral

octant bounded by x + y + z = 3.

g1 (x,y)

RRR
W

2xdV . Here W is the tetrahedron in the first

Theorem 13 (Change of Variables). Let W and W ? be elementary regions in R3 and let

T = T(u, v, w) = (x(u, v, w), y(u, v, w), z(u, v, w)) : W ? W
be a C 1 , one-to-one map such that T(W ? ) = W . For any integrable function f : W R,


ZZZ
ZZZ
 (x, y, z)  ?

 dV ,
f (x, y, z)dV =
f (x(u, v, w), y(u, v, w), z(u, v, w)) 
(u, v, w) 
W
W?
where


x/u

(x, y, z)
= det(DT) = y/u
(u, v, w)
 z/u
is called the Jacobian of T.

x/v
y/v
z/v


x/w
y/w 
z/w 

Example 14. Let W be the ball {(x, y, z)|x2 + y 2 + z 2 1}, find the integral
ZZZ p
x2 + y 2 + z 2 dV.
W

Use the spherical coordinates (x, y, z) = ( sin cos , sin sin , cos )
2