SEHS2340 Mathematics II

Chapter 2

Triple Integrals

Contents
2.1 Triple integrals over a box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
2.2 Triple Integrals over a General Bounded Region . . . . . . . . . . . . . . . . . . . . 4
2.3 Properties of Triple Integrals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.4 Cylindrical Coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.5 Spherical Coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.6 Applications of triple integrals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

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2.1 Triple integrals over a box

Let f : B ⊆ R3 → R be a continuous function, where B = [a, b] × [c, d] × [r, s] is a rectangular solid.

Divide [a, b], [c, d] and [r, s] into l, m and n equal subintervals, respectively. Thus B is divided into
l × m × n small rectangular solids. Label each small rectangular solid by Cijk , where 1 ≤ i ≤ l,

1 ≤ j ≤ m and 1 ≤ k ≤ n. Inside each such Cijk , pick a point x∗ijk , yijk
∗ ∗
, zijk .
Denote the volume of Cijk by ∆V . Then we may form the Riemann sum:
l
m
n

f x∗ijk , yijk
∗ ∗
, zijk ∆V.
i=1 j=1 k=1

The triple integral of f over B is defined to

l
m
n

f (x, y, z) dV = lim f x∗ijk , yijk
∗ ∗
, zijk ∆V.
l,m,n→∞
B i=1 j=1 k=1

The limit exists if f is continuous.

Theorem 1 (Fubini’s Theorem for triple integrals) If f (x, y, z) is continuous on B = [a, b]×[c, d]×
[r, s], then
s d b s b d
f (x, y, z) dV = f (x, y, z) dxdydz = f (x, y, z) dydxdz = . . . etc.
r c a r a c
B

(Note that there are 3! = 6 such iterated integrals involved and they are all equal.) Furthermore,
the theorem is valid for a general closed and bounded solid.

Example 1 Let B be the rectangular box 0 ≤ x ≤ a, 0 ≤ y ≤ b, 0 ≤ z ≤ c. Evaluate

2
I= xy + z 3 dV.
B

2
Solution: As indicated in the following figure, we will slice with planes perpendicular to the
z-axis, so the z integral will be outermost in the iteration. The slices are rectangles, so the double
integrals over them can be immediately iterated also. We do it with the y integral outer and the x
integral inner, as suggested by the line shown in the slice.

c b a
I= xy 2 + z 3 dxdydz
0 0 0
c b 2 2 x=a
xy 3
= +z x dydz
0 0 2 x=0
c b
1 2 2 3
= a y + az dydz
0 0 2
c y=b
1 2 3 3
= a y + az y dz
0 6 y=0
c
1 2 3 3
= a (b) + a (b) z dz
0 6
z=c
1 2 3 z4
= a b z + ab
6 4 z=0
1 1
= a2 b3 c + abc4
6 4

Example 2 Evaluate xyz 2 dV , where B = [0, 1] × [−1, 2] × [0, 3].
B

3
Solution:
3 2 1
2
xyz dV = xyz 2 dxdydz
0 −1 0
B
3 2 x=1
x2 yz 2
= dydz
0 −1 2 x=0
3 2 2
yz
= dydz
0 −1 2
3 2 2 y=2
y z
= dz
0 4 y=−1
3
(2)2 z 2 (1)2 z 2
= − dz
0 4 4
3
3 2
= z dz
0 4
3 z=3
z
=
4 z=0
27
=
4

2.2 Triple Integrals over a General Bounded Region

Example 3 If T is the tetrahedron with vertices (0, 0, 0), (1, 0, 0), (0, 1, 0), and (0, 0, 1), evaluate

I= ydV.
T

Solution: The tetrahedron is shown in the following figure.

The plane slice in the plane normal to the x-axis at position x is the triangle T (x) shown in the
above figure; x is constant and y and z are variables in the slice. The double integral of y over T (x)

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is a function of x. We evaluate it by integrating first in the z direction and then in the y direction
as suggested by the vertical line shown in the slice:
1−x 1−x−y
ydA = ydzdy
0 0
T (x)
1−x
= [yz]z=1−x−y
z=0 dy
0 1−x
= y (1 − x − y) dy
0
y=1−x
y 2 y3 1
= (1 − x) − = (1 − x)3 .
2 3 y=0 6

The value of the triple integral I is the integral of this expression with respect to the remaining
variable x, to sum the contributions from all such slices between x = 0 and x = 1:
1 x=1
1 3 1 4 1
I= (1 − x) dx = − (1 − x) =
0 6 24 x=0 24

Note: Let u = 1 − x ⇒ du = −dx

3 3 3 u4 (1 − x)4
(1 − x) dx = u (−du) = − u du = − + C = − +C
4 4

For each of the following three types of solid regions, we may write down the triple integral as
an iterated integral of a double integral and a simple integral.

5

√
Example 4 Evaluate x2 + z 2 dV , where E is the solid region bounded by the paraboloid
E
y = x2 + z 2 and the plane y = 4.

Solution: E is a type 3 solid region whose projection onto the xz-plane is

D = (x, z) |x2 + z 2 ≤ 4 = {(r, θ) |0 ≤ θ ≤ 2π, 0 ≤ r ≤ 2} .

6
√ 4 √
2 2
x + z dV = x2 + z 2 dydA
x2 +z 2
E
D √ y=4
= y x2 + z 2 dA
y=x2 +z2
D √

= x2 + z 2 4 − x2 − z 2 dA
D
2π 2
= r(4 − r2 )rdrdθ (change to polar coordinates)
0 0
2π 2

= 4r2 − r4 drdθ
0 0
2π r=2
4 3 1 5
= r − r dθ
0 3 5 r=0
2π
64
= dθ
0 15
128π
=
15

Note: Let x = r cos θ, z = r sin θ,

dA = dxdz = rdrdθ

x2 + z 2 = r2 cos2 θ + r2 sin2 θ = r2

r(4 − r2 )r = −r2 (r2 − 4) = 4r2 − r4

√π/6 √π/6 2
Example 5 Evaluate 0 x 1
cos (y 2 ) dzdydx.

Solution:

7
√π/6 √π/6 2 √π/6 y 2

cos y 2 dzdxdy = cos y 2 dzdxdy
0 x 1 0 0 1
√π/6 y
z=2
= z cos y 2 z=1 dxdy
0 0
√π/6 y

= cos y 2 dxdy
0 0
√π/6
x=y
= x cos y 2 x=0 dy
0
√π/6

= y cos y 2 dy
0
√
1 2 y= π/6
= sin y
2 y=0
1 π 1
= sin =
2 6 4

Volume If f (x, y, z) = 1, then

f (x, y, z) dV = dV = volume of solid D
D D

Example 6 Use triple integration to find the volume of the tetrahedron T : x + y + z = 1 shown as
follow

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Solution: The volume of T is given by the triple integral

V = f (x, y, z) dV
T
1 1−x 1−x−y
= dzdydx
0 0 0
1 1−x
= [z]z=1−x−y
z=0 dydx
0 1 0 1−x
= (1 − x − y) dydx
0 0
1 y=1−x
1 2
= y − xy − y dx
0 2 y=0
1
1 2 1 2
= (1 − x) − x (1 − x) − (1 − x) − (0) − x (0) − (0) dx
0 2 2
1
1 1
= − x + x2 dx
0 2 2
x=1
1 1 2 1 3 1
= x− x + x =
2 2 6 x=0 6

2.3 Properties of Triple Integrals

1. Constant Multiple:

kf (x, y, z) dV = k f (x, y, z) dV
D D

2. Sum and difference:

[f (x, y, z) ± g (x, y, z)] dV = f (x, y, z) dV ± g (x, y, z) dV
D D D

3. Domination:

(a)
f (x, y, z) dV ≥ 0 if f (x, y, z) ≥ 0 on D
D

(b)

f (x, y, z) dV ≥ g (x, y, z) dV if f (x, y, z) ≥ g (x, y, z) on D
D D

4. Additivity:

f (x, y, z) dV = f (x, y, z) dV + f (x, y, z) dV
D D1 D2
if D is the union of two nonoverlapping cells D1 and D2 .

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2.4 Cylindrical Coordinates

Cylindrical Coordinates represent a point P in space by ordered triples (r, θ, z) in which

• r and θ are polar coordinates for the vertical projection of P on the xy-plane

• z is the rectangular vertical coordinate.

The relations between Cartesian and cylindrical coordinates are given by the following formulas:

y
r2 = x2 + y 2 , tan θ = , z=z
x

x = r cos θ, y = r sin θ, z=z

Example 7 The surface whose equation in cylindrical coordinates is z = r is a double cone with
the origin as the vertex.

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Let P be a point on this surface with cylindrical coordinates (r, θ, z). Since z = r, the triangle
OP Q in which ∠OQP is a right angle is isosceles with OQ = r = z = P Q. Thus the cone opens
up an angle of 45◦ with the z-axis. To convert the equation to Cartesian form, we can square both
sides of z = r, thus z 2 = x2 + y 2 is the Cartesian equation of the double cone. If we take positive
square root on both sides, the graph of the resulting equation z 2 = x2 + y 2 is the inverted cone on
the upper half space z ≥ 0.

Example 8 Find the equation of the ellipsoid 4x2 + 4y 2 + z 2 = 1 in cylindrical coordinates.

Solution: Let x = r cos θ, y = r sin θ, z = z.

4x2 + 4y 2 + z 2 = 1

4 (r cos θ)2 + 4 (r sin θ)2 + z 2 = 1

4r2 cos2 θ + 4r2 sin θ + z 2 = 1

4r2 + z 2 = 1

Hence z 2 = 1 − 4r2 .
Consider a rectangle in cylindrical coordinates as in the below figure:

E = {(r, θ, z)|α ≤ θ ≤ β, h1 (θ) ≤ r ≤ h2 (θ), u1 (r, θ) ≤ z ≤ u2 (r, θ)}.

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Consider the volume element in cylindrical coordinates. To do so, take any point P (r, θ, z).
Make an increment in each of the coordinates.
Let’s calculate the volume of the solid arising from these increments. An increment dr in r and
dθ in θ give rise to an area dA = rdθdr. And the thickness of this volume element is dz. Thus, the
volume is dV = rdθdrdz.
The triple integral of f (x, y, z) over E can be expressed as:
u2 (r,θ)

f (x, y, z) dV = f (r cos θ, r sin θ, z) dz dA
D u1 (r,θ)
E
β h2 (θ) u2 (r,θ)
= f (r cos θ, r sin θ, z) rdzdrdθ
α h1 (θ) u1 (r,θ)

Example 9 Convert
1 √1−y2 √x2 +y2
xyzdzdxdy
−1 0 x2 +y2

into an integral in cylindrical coordinates.

Solution: Here are the ranges of the variables from this iterated integral.

−1 ≤ y ≤ 1

0 ≤ x ≤ 1 − y2

x2 + y 2 ≤ z ≤ x2 + y 2

The first two inequalities define the region D and since the upper and lower bounds for the

x’s are x = 1 − y 2 and x = 0 we know that we’ve got at least part of the right half a circle of
radius 1 centered at the origin. Since the range of y’s is −1 ≤ y ≤ 1 we know that we have the

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complete right half of the disk of radius 1 centered at the origin. So, the ranges for D in cylindrical
coordinates are,

π π
− ≤θ≤
2 2
0≤r≤1

All that’s left to do now is to convert the limits of the z range, but that’s not too bad.

r2 ≤ z ≤ r

On a side note notice that the lower bound here is an elliptic paraboloid and the upper bound is a
cone. Therefore E is a portion of the region between these two surfaces.
The integral is,
√ 2 √
1 1−y x2 +y2 π/2 1 r
xyzdzdxdy = r (r cos θ) (r sin θ) zdzdrdθ
−1 0 x2 +y 2 −π/2 0 r2
π/2 1 r
= zr3 cos θ sin θdzdrdθ
−π/2 0 r2
π/2 1 z=r
z2 3
= r cos θ sin θ drdθ
−π/2 0 2 z=r2
2
π/2 1
(r)2 3 (r2 ) 3
= r cos θ sin θ
− r cos θ sin θ drdθ
−π/2 0 2 2
π/2 1
1 5 1 7
= r cos θ sin θ − r cos θ sin θ drdθ
−π/2 0 2 2
π/2
1
= sin θ cos θdθ
−π/2 48
π/2
1
= sin 2θdθ
−π/2 96
θ=π/2
1
= − cos 2θ
192 θ=−π/2
1 π 1 π
=− cos 2 − − cos 2
192 2 192 2
=0

Finding the limits of integration

Step 1: A sketch. Sketch the region D along with its projection R on the xy-plane. Label the surfaces
and curves that bound D and R.

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Step 2: The z-limits of integration. Draw a line M through a typical point (r, θ) of R parallel to the
z-axis. As z increases, M enters D at z = g1 (r, θ) and leaves at z = g2 (r, θ) . These are the
z-limits of integration.

Step 3: The r-limits of integration. Draw a ray L through a typical point (r, θ) from the origin. The
ray enters R at r = h1 (θ) and leaves at r = h2 (θ) . These are the r-limits of integration.

Step 4: The θ-limits of integration. As L sweeps across R, the angle θ it makes with the positive
x-axis runs from θ = α to θ = β. These are the θ-limits of integration.
β h2 (θ) g2 (r,θ)
f (r, θ, z) dV = f (r, θ, z) rdzdrdθ
α h1 (θ) g1 (r,θ)
D

Example 10 Let E be the solid within the cylinder

x2 + y 2 = 1, below the plane z = 4, and above
the paraboloid z = 1 − x2 − y 2 . Evaluate x2 + y 2 dV .
E

Solution: The solid can be described in cylindrical coordinates as:

E = {(r, θ, z)|0 ≤ θ ≤ 2π, 0 ≤ r ≤ 1, 1 − r2 ≤ z ≤ 4}.

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Thus,
2π 1 4
2 2
x + y dV = rrdzdrdθ
0 0 1−r2
E
2π 1 2 z=4
= r z z=1−r2 drdθ
0 0
2π 1 2 2
= r (4) − r 1 − r2 drdθ
0 0
2π 1
2
= 3r + r4 drdθ
0 0
2π
3 1 5 r=1
= r + r dθ
0 5 r=0
2π
6
= dθ
0 5
6
= [θ]θ=2π
5 θ=0
= 12π/5.

Example 11 Find the volume of the solid D enclosed by the cylinder x2 + y 2 = 4 bounded above
by the paraboloid z = x2 + y 2 , and bounded below by the xy-plane.

Solution:

15
Now f (x, y, z) = 1,

f (x, y, z) dxdydz = rdrdθdz
D D
2π 2 r2
= rdzdrdθ
0 0 0
2π 2
2
= [rz]z=r
z=0 drdθ
0 0
2π 2
= r3 drdθ
0 0
2π 4 r=2
r
= dθ
0 4 r=0
2π
= 4dθ
0

= 8π

2.5 Spherical Coordinates

Spherical Coordinates represent a point P in space by ordered triples (ρ, φ, θ) in which

• ρ is the distance from P to the origin

−→
• φ is the angle OP makes with the positive z-axis (0 ≤ φ ≤ π)

• θ is measured in the counterclockwise sense from the x-axis with 0 ≤ θ ≤ 2π

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The relations between Cartesian and spherical coordinates are given by the following formulas:

ρ= x2 + y 2 + z 2
z
cos φ = , 0≤φ≤π
ρ
x
cos θ =
ρ sin φ

x = ρ sin φ cos θ, y = ρ sin φ sin θ, z = ρ cos φ

√
Example 12 The point (0, 2 3, −2) is in Cartesian coordinates. Find the spherical coordinates of
this point.
√
Solution: First, we have ρ = 02 + (2 3)2 + (−2)2 = 4. Next, cos φ = z/ρ = −1/2. As
0 ≤ φ ≤ π, we have φ = 2π/3. Lastly, cos θ = x/(ρ sin φ) = 0. Thus, θ = π/2 or 3π/2. As
√
y = 2 3 > 0, θ = 3π/2. That is θ = π/2. Therefore the spherical coordinates of the point is
(4, π/2, 2π/3).

Example 13 The surface whose equation in spherical coordinates is ρ = R, where R is positive

constant, is a sphere of radius R centred at the origin.

Example 14 Find the Cartesian equation of the surface whose equation in spherical coordinates is
ρ = sin θ sin φ.

Solution: x2 +y 2 +z 2 = ρ2 = ρ sin θ sin φ = y. Completing squares, we have x2 +(y− 12 )2 +z 2 = 14 .

Therefore, the surface is a sphere with centre (0, 12 , 0) and radius 1
2
.
Consider the volume element in spherical coordinates. To do so, take any point P (ρ, θ, φ). Make
an increment in each of the coordinates.

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Let’s calculate the volume of the solid arising from these increments. The projection of OP onto
the xy-plane has length ρ sin φ. Thus the thickness of this volume element is ρ sin φdθ. It opens up
a sector of width of ρdφ. Thus, the volume is dV = ρ2 sin φdρdθdφ.
Now consider a spherical rectangle

E = {(ρ, θ, φ) |a ≤ ρ ≤ b, α ≤ θ ≤ β, c ≤ φ ≤ d} ,

where a ≥ 0, β − α ≤ 2π, d − c ≤ π. The triple integral of f over E can be expressed as follow:

d β b
f (x, y, z) dV = f (ρ sin φ cos θ, ρ sin φ sin θ, ρ cos φ) ρ2 sin φdρdθdφ
c α a
E

Example 15 Convert
3 √9−y2 √18−x2 −y2

√ x2 + y 2 + z 2 dzdxdy
0 0 x2 +y2

into spherical coordinates.

Solution: Let’s first write down the limits for the variables.

0 ≤ y ≤ 3, 0≤x≤ 9 − y2, x2 + y 2 ≤ z ≤ 18 − x2 − y 2

The range for x tells us that we have a portion of the right half of a disk of radius 3 centered
at the origin. Since we are restricting y’s to positive values it looks like we will have the quarter
disk in the first quadrant. Therefore since D is in the first quadrant the region, E, must be in the
first octant and this in turn tells us that we have the following range for θ (since this is the angle
around the z-axis).
π
0≤θ≤
2
18

Now, let’s see what the range for z tells us. The lower bound, z = x2 + y 2 , is the upper half
of a cone. At this point we don’t need this quite yet, but we will later. The upper bound, z =

18 − x2 − y 2 , is the upper half of the sphere,

x2 + y 2 + z 2 = 18

and so from this we now have the following range for ρ

√ √
0 ≤ ρ ≤ 18 = 3 2

Now all that we need is the range for φ. There are two ways to get this. One is from where the
cone and the sphere intersect. Plugging in the equation for the cone into the sphere gives,
2
2
x +y 2 + z 2 = 18

z 2 + z 2 = 18

z2 = 9

z=3

Note that we can assume z is positive here since we know that we have the upper half of the cone
and/or sphere. Finally, plug this into the conversion for z and take advantage of the fact that we
√
know that ρ = 3 2 since we are intersecting on the sphere. This gives,

ρ cos φ = 3
√
3 2 cos φ = 3
1
cos φ = √
2
π
φ=
4
So, it looks like we have the following range,
π
0≤φ≤
4
The other way to get this range is from the cone by itself. By first converting the equation into
cylindrical coordinates and then into spherical coordinates we get the following,

z=r

ρ cos φ = ρ sin φ

tan φ = 1
π
φ=
4

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So, recalling that ρ2 = x2 + y 2 + z 2 , the integral is then,
3 √9−y2 √18−x2 −y2 π/4 π/2 √
3 2
2 2 2

√ x + y + z dzdxdy = ρ4 sin φdρdθdφ.
0 0 x2 +y 2 0 0 0

3/2
e(x +y +z )
2 2 2
Example 16 Evaluate dV , where E is the unit ball {(x, y, z)|x2 + y 2 + z 2 ≤ 1}.
E

Solution: Using spherical coordinates, we have

3/2
π 2π 1
2 3/2
e( x2 +y2 +z 2 )
dV = e(ρ ) ρ2 sin φdρdθdφ
0 0 0
E
π 2π 1
3
= eρ ρ2 sin φdρdθdφ
0 π 0 2π 0 1
3
= eρ ρ2 sin φdρdθdφ
0 0 0
π 2π ρ=1
1 ρ3
= (sin φ) e dθdφ
0 0 3 ρ=0
π 2π
1 1
= (sin φ) e − sin φ dθdφ
0 0 3 3
π θ=2π
1 1
= (sin φ) e − sin φ θ dφ
0 3 3 θ=0
π
1 1
= 2π e− (sin φ) dφ
0 3 3

1 1 φ=π
= 2π e− [− cos φ]φ=0
3 3
4
= π (e − 1)
3

Note that the corresponding triple integral formulated in Cartesian coordinates is very hard to
evaluate.
Finding the limits of integration

Step 1: A sketch. Sketch the region D along with its projection R on the xy-plane. Label the surfaces
that bound D.

Step 2: The ρ-limits of integration. Draw a ray M from the origin through D making an angle φ with
the positive z-axis. Also draw the projection of M on xy-plane (call the projection L). The
ray L makes an angle θ with the positive x-axis. As ρ increases, M enters D at ρ = g1 (φ, θ)
and leaves at ρ = g2 (φ, θ) . These are the ρ-limits of integration.

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Step 3: The φ-limits of integration. For any given θ, the angle φ that M makes with z-axis. runs
from φ = φmin to φ = φmax These are the φ-limits of integration.

Step 4: The θ-limits of integration. The ray L sweeps over R as θ runs from θ = α to θ = β. These
are the θ-limits of integration.

f (x, y, z) dxdydz = f (ρ, φ, θ) ρ2 sin φdρdφdθ
D D

Example 17 Find the volume of the “ice cream” D cut from the solid sphere ρ ≤ 1 by the cone
φ = π/3.

Solution:

21
Now, f (x, y, z) = 1

f (x, y, z) dxdydz = ρ2 sin φdρdφdθ
D D
2π π/3 1
= ρ2 sin φdρdφdθ
0 0 0
2π π/3 3 ρ=1
ρ
= sin φdφdθ
0 0 3 ρ=0

1 2π π/3
= sin φdφdθ
3 0 0

1 2π φ=π/3
= [− cos φ]φ=0 dθ
3 0

1 1 θ=2π π
= =
3 2 θ=0 3

Example 18 Evaluate 16zdV, where D is the upper half of the sphere x2 + y 2 + z 2 = 1.
D

Solution: Since we are taking the upper half of the sphere the limits for the variables are,

π
0 ≤ ρ ≤ 1, 0 ≤ θ ≤ 2π, 0≤φ≤
2

The integral is then,

π/2 2π 1
16zdV = (16ρ cos φ) ρ2 sin φdρdθdφ
0 0 0
D
π/2 2π 1
= 8ρ3 (2 sin φ cos φ) dρdθdφ
0 0 0
π/2 2π 1

= 8ρ3 sin 2φ dρdθdφ
0 0 0
π/2 2π ρ=1
ρ4
= 8 × sin 2φ dθdφ
0 0 4 ρ=0
π/2 2π
= 2 sin 2φdθdφ
0 0
π/2
= [(2 sin 2φ) θ]θ=2π
θ=0 dφ
0
π/2
= 4π sin 2φdφ
0
φ=π/2
= [−2π cos 2φ]φ=0

= 4π

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2.6 Applications of triple integrals

Mass Suppose δ (x, y, z) represents density = mass per unit volume.

n
n

M = lim ∆mi = lim δ (xk , yk , zk ) ∆Vk = δ (x, y, z) dV
n→∞ n→∞
k=1 k=1 D

Example 19 Find the mass of the region given by 9x2 + 9y 2 + z 2 = 81, lying above the xy-plane.
The density at a point in the solid is proportional to the distance between the point and xy-plane.

Solution: Density = kz and

√
0≤z≤ 81 − 9x2 − 9y 2 = 3 9 − r2

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3 √
2π 3 9−r2
M= kzrdzdrdθ
0 0 0
2π 3 z=3√9−r2
z2
= kr drdθ
0 0 2 z=0
2π 3
81 9 3
= kr − kr drdθ
0 0 2 2
2π
81 2 9 4 r=3
= kr − kr dθ
0 4 8 r=0
2π
81 2 9 4 81 2 9 4
= k (3) − k (3) − k (0) − k (0) dθ
0 4 8 4 8
2π
729
= kdθ
0 8
θ=2π
729
= kθ
8 θ=0
729
= πk
4

Example 20 Find the mass of the sphere x2 + y 2 + z 2 = 4 with the density at any point is propor-
tional to the distance between the point and the origin.

Solution: Density = k x2 + y 2 + z 2 = kρ and
π 2π 2

M= kρ ρ2 sin φ dρdθdφ
0 0 0
π 2π 4 ρ=2
ρ
=k sin φ dθdφ
0 0 4 ρ=0
π 2π
=k 4 sin φdθdφ
0 0
π
=k [4θ sin φ]θ=2π
θ=0 dφ
0
π
=k 8π sin φdφ
0

= k [−8π cos φ]π0

= 16kπ

First moment First moment about yz-plane:

n
n

Myz = lim xk ∆mi = lim xk δ (xk , yk , zk ) ∆Vk = xδ (x, y, z) dV
n→∞ n→∞
k=1 k=1 D

24
First moment about xz-plane:

Mxz = yδ (x, y, z) dV
D

First moment about xy-plane:

Mxy = zδ (x, y, z) dV
D

Example 21 Find the center of gravity of the cone with base radius R and height h, assuming that
its density at any point is proportional to the distance and the axis of the cone.

Solution: Density = k x2 + y 2 = kr

z h
=
r R

2π R h
M= krdV = k r2 dzdrdθ
hr
T 0 0 R
2π R
z=h
=k r2 z z= hr drdθ
0 0 R
2π R
Rr − r3
2
=k h drdθ
0 0 R
2π r=R
h 1 4 1 3
=k − r + Rr dθ
0 R 4 3 r=0
2π
1 3
=k R hdθ
0 12
θ=2π
1 3
= kR hθ
12 θ=0
1
= kπR3 h
6

25
and
2π R h
Mxy = zkrdV = k r2 zdzdrdθ
hr
T 0 0 R
2π R
2 z=h
z
=k r2 drdθ
0 0 2 z= hr
R
2π R
1 2 R2 r 2 − r 4
=k h drdθ
0 0 2 R2
2π 2 r=R
1h 1 5 1 2 3
=k − r + Rr dθ
0 2 R2 5 3 r=0
2π
1 3 2 2
=k R h dθ = kπR3 h2
0 15 15

Hence,
2
Mxy 15
kπR3 h2 4
z̄ = = 1 = h
M 6
kπR3 h 5
and by symmetry x̄ = ȳ = 0.

Example 22 Find the center of gravity of the cone with base radius h and height h, assuming that
its density at any point is proportional to the distance and the vertex of the cone.

Solution:

base
R

26

Now, density = k x2 + y 2 + z 2 = kρ. On the base, ρ cos φ = h. The mass is

M= kρdV
T
2π π/4 h sec φ
= kρ3 sin φdρdφdθ
0 0 0
2π π/4 h sec φ ρ=h sec φ
1 4
= kρ sin φ dφdθ
0 0 0 4 ρ=0
2π π/4
1 4 4
= kh sec φ sin φdφdθ
0 0 4
2π π/4
1 4 sin φ
= kh dφdθ
0 0 4 cos4 φ
2π φ=π/4
1 4 1
= − kh dθ
0 12 cos3 φ φ=0
2π
1 4 1
= hk − 1 dθ
0 12 cos π4
3

1 √
= πh4 k 2 2 − 1
6

Note: Let u = cos φ ⇒ du = − sin φdφ

sin φ −du 1 1
4
dφ = 4
= − u−4 du = − u−3 + C = (cos φ)−3 + C
cos φ u −3 3

Also,

Mxy = kρzdV
T
2π π/4 h sec φ
= kρ4 cos φ sin φdρdφdθ
0 0 0
2π π/4 h sec φ
1 5
= kρ cos φ sin φ dφdθ
0 0 5 0
2π π/4
1 5
= h k sec4 φ sin φdφdθ
0 0 5
2π φ=π/4
1 5 1
= hk dθ
0 5 3 cos3 φ φ=0
2π
1 5 1 1
= hk π − dθ
0 5 3
3 cos 4 3 cos3 (0)
2π √
2 5 1 5
= 2h k − h k dθ
0 15 15
4 √ 2
= π 2h5 k − πh5 k
15 15

27
4
√ 2 4
√ 2
Mxy 15
π 2h5 k − 15
πh5 k 15
π 2h5 k − 15
πh5 k 4
z̄ = = 1
√ 1
= 1
√ 1
= h
M 3
π 2h4 k − 6
πh4 k 3
π 2h4 k − 6
πh4 k 5
and by symmetry x̄ = ȳ = 0.

Second moment or Moment of inertia Second moment about x-axis:

n
n

2 2
2 2
2
Ix = lim yk + zk ∆mi = lim yk + zk δ (xk , yk , zk ) ∆Vk = y + z 2 δ (x, y, z) dV
n→∞ n→∞
k=1 k=1 D

Second moment about y-axis:

2
Iy = x + z 2 δ (x, y, z) dV
D

Second moment about z-axis:

Iz = x2 + y 2 δ (x, y, z) dV
D

Example 23 Find the moment of inertia of a cube of edge a about one of the edge, if the density
varies as the sum of the distances from three coordinate planes.

28
Solution: Write δ = k (x + y + z) , where k is the constant of proportionality. The moment of
inertia about x-axis is


Ix = k y 2 + z 2 (x + y + z) dV
D
a a a 2
=k y + z 2 (x + y + z) dzdydx
0 a 0 a 0 a
= 2k z 2 (x + y + z) dzdydx
0 a 0 a 0 z=a
1 4 1 3
= 2k z + (x + y) z dydx
0 0 4 3 z=0
a a
1 4 1 3 1 3
= 2k a + a x + a y dydx
0 0 4 3 3
a y=a
1 4 1 3 1 3 2
= 2k a y + a xy + a y dx
0 4 3 6 y=0
a
5 5 1 4
= 2k a + a x dx
0 12 3
x=a
5 5 1 4 2
= 2k a x+ a x
12 6 x=0
7 6
= ka
6

Example 24 Find the moment of inertia about the axis of symmetry of the solid bounded by the
paraboloid z = x2 +y 2 and the plane z = a2 . The density at each point is proportional to the distance
between the point and the z-axis.

Solution:

Density = k x2 + y 2 and the moment of inertia about z-axis is


Iz = k x2 + y 2 x2 + y 2 dV
D

29
z is bounded by r2 = x2 + y 2 ≤ z ≤ a2
2π a a2
Iz = kr2 (r) rdzdrdθ
0 0 r2
2π a z=a2
= kr4 z z=r2
drdθ
0 0
2π a
= a2 kr4 − kr6 drdθ
0 0
2π
1 2 5 1 7 r=a
= a kr − kr dθ
0 5 7 r=0
2π
2 7
= ka dθ
0 35
4
= πka7
35

Example 25 Find the moment of inertia about the z-axis of the solid lying between two concentric
sphere of radii a and b with uniform density.

Solution:

30

2
Iz = x + y 2 dV
D
π 2π b

= ρ2 sin2 φ ρ2 sin φ dρdθdφ
0 0 a
π 2π 5 ρ=b
ρ 3
= sin φ dθdφ
0 0 5 ρ=a
π 2π 5
b − a5 3
= sin φ dθdφ
0 0 5
5 π
b − a5
= 2π sin3 φdφ
5
5 0 π
b − a5
= −2π 1 − cos2 φ d cos φ
5 0
5 5
φ=π
b −a cos3 φ
= −2π cos φ −
5 3 φ=0
8 5 8 5
= πb − πa
15 15

31
Summary

f (x, y, z) f (x, y, z) dV
D

f (x, y, z) = 1 Volume of the solid D

f (x, y, z) = δ (x, y, z) = density Mass of the solid D
f (x, y, z) = xδ (x, y, z) Myz = First moment about the yz-plane
f (x, y, z) = yδ (x, y, z) Mxz = First moment about the xz-plane
f (x, y, z) = zδ (x, y, z) Mxy = First moment about the xy-plane
xδ (x, y, z)
f (x, y, z) = x̄ = center of gravity(x-coordinate) of solid D
ρ (x, y) dV
D
yδ (x, y, z)
f (x, y, z) = ȳ = center of gravity(y-coordinate) of solid D
ρ (x, y, z) dV
D
zδ (x, y, z)
f (x, y, z) = z̄ = center of gravity(z-coordinate) of solid D
ρ (x, y, z) dV
D
x
f (x, y, z) = x̄ = centroid(x-coordinate) of solid D
dV
D
y
f (x, y, z) = ȳ = centroid(y-coordinate) of solid D
dV
D
z
f (x, y, z) = z̄ = centroid(z-coordinate) of solid D
dV
D

f (x, y, z) = (y + z 2 ) δ (x, y, z)
2
Ix = moment of inertia about the x-axis
f (x, y, z) = (x2 + z 2 ) δ (x, y, z) Iy = moment of inertia about the y-axis
f (x, y, z) = (x2 + y 2 ) δ (x, y, z) Iz = moment of inertia about the z-axis
f (x, y, z) = (r (x, y, z))2 δ (x, y, z) IL = moment of inertia about a line L
where r (x, y, z) = distance from (x, y, z) to L

32