Chapter 9.

Line Integrals
9.1
9.1.1

Introduction
Work Done I

(i) Let F be a constant force acting on a particle

in the displacement direction as shown in figure
(i) above. Suppose the distance moved by the
particle is s. The work done is given by
W = kFk s.
(ii) Let F be a constant force acting on a particle
in the direction which form an angle against

MA1505 Chapter 9. Line Integrals

the displacement direction (see figure (ii) above).

Suppose the distance moved by the particle is s.
The work done is given by
W = kFk cos s = (F T) s = F sT
where T is the unit vector in the displacement
direction.
9.1.2

Work Done II

Let F(x, y, z) be a variable force acting on a particle

which moves along the curve C with vector equation
r(t) = x(t)i + y(t)j + z(t)k as shown in the figure
below. Suppose the particle moves from point P to
point Q. What is the work done?
Solution: To solve this problem, we divide the
2

MA1505 Chapter 9. Line Integrals

curve C into n segments. If a segment i is small

enough, it can be treated as a straight line segment
and the force within which can be assumed to be constant Fi. Then the work done for such a segment is
approximately given by
Wi Fi ri
where ri = sTi and Ti is the unit tangent vector
along this segment.

MA1505 Chapter 9. Line Integrals

So the total work done is approximately

Wtotal

n
X

Fi ri.

As n , we write this as
Z
F dr
C

which gives the actual total work done.

9.1.3

Vector Fields

The vector function F is called in general a vector

field and the above integral is called the line integral
of F along the curve C. We shall see in section 9.3.7
how to evaluate this type of integral.

9.2
9.2.1

MA1505 Chapter 9. Line Integrals

Vector Fields
Vector field (two variables)

Let R be a region in xy-plane. A vector field on

R is a vector function F that assigns to each point
(x, y) in R a two-dimensional vector F(x, y).
y
..
........
...
..
...
..
...
..
...
..................................
..
.........
..................
..........
...
.................
........
..
......... .......
.......
.
.
.
.
.
.
.
.
.
.
...
.
.
....
.
..
........
.....
...
........
...
...
...
...
.. ......
...
... ...
.
.
.
...
.
.. .
.
.
.
.
.
.
......
......
.
.
.
.
...
.
.
.
.
.
.
.
.
... ...
.
.
.
.
......
.
..
.
.
.
.
.
.
.
.
... ..
.
.
.
.
..
.
..
.
.
.
.
.
........
... ...
.
.
..
.
.....
.
.
.
.
..
.
.
... ..
..
...
.
.
... ....
.
.
..
...
... .....
...
.
... .......
.
............. ..
.
.....
.
.
.
.
.
.
.
...
.
...
.
........
.
.
.
.
.
.....
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
...
.
.
.
.
....... .....
.
.
...
.
.......
...
.......
..
....
.......
...
.....
........
..
.....
........
.
.
.
.
.
.........
....
......
.............
...
....................................
..
..
.
.
.................................................................................................................................................................................................................
..
..
..
....

F(x, y)

We may write F(x, y) in terms of its component functions. That is

F(x, y) = P (x, y)i + Q(x, y)j
or simply F = P i + Qj.
5

9.2.2

MA1505 Chapter 9. Line Integrals

Vector field (three variables)

Let D be a solid region in xyz-space. A vector field

on D is a vector function F that assigns to each point
(x, y, z) in D a three-dimensional vector F(x, y, z).
That is, F(x, y, z) = P (x, y, z)i + Q(x, y, z)j + R(x, y, z)k.
9.2.3

Example

A vector field in xy-plane is defined by F(x, y) =

(y)i + xj. Show that F(x, y) is always perpendicular to the position vector of the point (x, y).
y

..
.........
...
..
...................................
.........
........
....
......
......
..
.
.
.
.
.
..
..
.
.
.
....................
..........
..
...
........
....
...
....
..
..
.
...
........
...
.
.
.
.
..............................................................................................................................................................................
.
.
...
.......
..
...
.
..
..
....
..
.
.........
......
.................
..
.....
... ..
...
.
..
.
...
......
...
......
...
.......
...
..........
..................................
...
..
..
...
..

F (x, y) = (y)i + xj

The diagram above shows the vector field F.

6

9.2.4

MA1505 Chapter 9. Line Integrals

Gradient fields

If f (x, y) is a function of two variables, then

f (x, y) = fx(x, y)i + fy (x, y)j
is a vector field in the xy-plane and it is called the
gradient (field) of f .
Similarly, if f (x, y, z) is a function of three variables,
then
f (x, y, z) = fx(x, y, z)i+fy (x, y, z)j+fz (x, y, z)k
is a vector field in the xyz-space and it is called the
gradient (field) of f .

9.2.5

MA1505 Chapter 9. Line Integrals

Example

The gradient field of f (x, y) = xy 2 + x3 is

f (x, y) = (y 2 + 3x2)i + (2xy)j.
9.2.6

Conservative fields

A vector field F is called a conservative vector field

if it is the gradient of some (scalar) function. In other
words, there is a function f such that F = f . In
this case, f is called a potential function for F.
9.2.7

Example

By Example 9.2.5, F(x, y) = (y 2 + 3x2)i + (2xy)j is

conservative since it has a potential function f (x, y) =
xy 2 + x3.
8

9.2.8

MA1505 Chapter 9. Line Integrals

Example

Let F(x, y) = (3 + 2xy)i + (x2 3y 2)j. Find a

potential function f for F.
Solution: As f = F, we have fx(x, y) = 3+2xy.
Integrating with respect to x, we get f (x, y) = 3x +
x2y +g(y), where g(y) is an integration constant, but
it could be a function of y.
Thus fy (x, y) = x2 + g 0(y) so that x2 + g 0(y) =
x2 3y 2. That is, g 0(y) = 3y 2.
Integrating g 0(y) with respect to y, we obtain g(y) =
y 3 + K, where K is a constant.
Consequently, f (x, y) = 3x + x2y y 3 + K.

10

9.2.9

MA1505 Chapter 9. Line Integrals

Example

The gravitational field given by

!

m1m2Kx
G=
i
3
2
2
2
(x + y + z ) 2

!
!
m1m2Ky
m1m2Kz
+
j+
k
3
3
2
2
2
2
2
2
(x + y + z ) 2
(x + y + z ) 2
is conservative because it is the gradient of the gravitational potential function
m1m2K
p
,
g(x, y, z) =
2
2
2
x +y +z
where K is the gravitational constant, m1 and m2
are the masses of two objects. Think of the mass
m1 at the origin that creates the field and g is the
potential energy attained by the mass m2 situated at
(x, y, z).
10

11

MA1505 Chapter 9. Line Integrals

9.2.10

Criteria of conservative fields

Throughout this chapter, we will assume the component functions of any vector field to have continuous
partial derivatives, unless otherwise stated.
(a) Let F(x, y) = P (x, y)i + Q(x, y)j be a vector
field on the xy-plane.
Q
P
=
, then F is conservative.
If
y
x
(b) Let F(x, y, z) = P (x, y, z)i+Q(x, y, z)j+R(x, y, z)k
be a vector field on the xyz-space.
P
Q P
R Q R
If
=
,
=
,
=
,
y
x z
x z
y
then F is conservative.
The converse of (a) and (b) also hold.
11

12

9.2.11

MA1505 Chapter 9. Line Integrals

Example

Consider the vector field

F(x, y) = (3 + 2xy)i + (x2 3y 2)j.
(x2 3y 2)
(3 + 2xy)
As
= 2x =
,
x
y
F is conservative.
9.2.12

Example

Show that F(x, y, z) = xzi + xyzj y 2k is not conservative.

Solution: For example,
(xz)
equal to
= 0.
y

(xyz)
= yz which is not
x

So F is not conservative.

12

13

9.2.13

MA1505 Chapter 9. Line Integrals

Exercise

Show that the vector field F(x, y, z) = x2i+y 2j+z 2k

is conservative. Find a function f such that f = F.
9.3

Line Integrals

We have mentioned in section 9.1 that a line integral

refers to an integration along a curve C. There are
two types of line integrals. One is for vector fields
and the other is for scalar functions.
9.3.1

Line integrals of scalar functions (Two

variables)

Suppose we want to find the area of the following

surface with the base, a plane curve C on the xyplane and the top is described by a function f (x, y).
13

14

MA1505 Chapter 9. Line Integrals

Let C be described by the vector function r(t) =

x(t)i + y(t)j for a t b. We assume C is a
smooth curve (meaning that r0(t) 6= 0) and r0(t) is
continuous for all t.
To find the surface area along C, we subdivide the
curve from r(a) to r(b) into n small arcs of length
4si, i = 1, n. Pick an arbitrary point (xi , yj) inside the ith small arc and form the sum
14

Pn

i=1 f (xi , yj )4si .

15

MA1505 Chapter 9. Line Integrals

The surface area is given by

lim

n
X

f (xi , yj)4si.

i=1

The above limit of sum is called the line integral

of the scalar function f along the plane curve
C, and is denoted by
Z
f (x, y) ds
C

Here, s denotes the arc length of C.

Recall from Chapter 6 that, if r(t) is the vector function of a curve C with a t b, the arc length of
C is given by
Z

s=

kr0(t)kdt.

If we replace the endpoint b by a variable t, then we

15

16

MA1505 Chapter 9. Line Integrals

obtain the arc length s(t) as a function of t:

Z t
s(t) =
kr0(u)kdu.
a

Then, by Fundamental Theorem of Calculus,

ds
=
dt

kr0(t)k.
Therefore, we can rewrite the line integral in terms
of t:
Z
Z b
f (x, y) ds =
f (x(t), y(t))kr0(t)kdt
C
a
s
2
Z b
2
dx
dy
=
f (x(t), y(t))
+
dt
dt
dt
a
where r(t) = x(t)i + y(t)j is the vector equation of
the plane curve C.
In other words, the formula above allows us to compute the line integral in terms of ordinary integration
of single variable function (in t).
16

17

MA1505 Chapter 9. Line Integrals

9.3.2

Example
Z
(2y + x2y)ds, where C is the upper half

Evaluate
C

of the unit circle centered at the origin.

Solution: The vector function of C is given by
r(t) = cos ti + sin tj with 0 t .

Thus kr (t)k = sin2 t + cos2 t and

0

Z
2

(2y + x y)ds =
C

(2 sin t + cos t sin t)

Z0

sin2 t + cos2 tdt

(2 sin t + cos2 t sin t) dt

0

1
= 2 cos t cos3 t
3
0
14
=
3

17

18

MA1505 Chapter 9. Line Integrals

9.3.3

Line integrals of scalar functions (Three

variables)

For line integral of a function f (x, y, z) along a space

curve C, we have the similar definitions:
Z
f (x, y, z) ds =
C

f (x(t), y(t), z(t))

a
9.3.4

dx
dt

dy
dt

dz
dt

2
dt

Example
Z

Evaluate

xy sin z ds, where C is the circular helix

C

r(t) = cos ti + sin tj + tk, t [0, /2].

18

19

MA1505 Chapter 9. Line Integrals

Solution:
Z
xy sin z ds
ZC/2
p
(cos t)(sin t)(sin t) sin2 t + cos2 t + 1 dt
=
0
Z /2
= 2
cos t sin2 tdt
0

2 3 /2
2
=
sin t 0 =
3
3
9.3.5

Piecewise smooth curves

We denote the union of a finite number of (smooth)

curves C1, C2, , Cn by
C = C1 + C2 + + Cn.
We say C is a piecewise-smooth curve.

C2 .................

..
.......
.........
.....
.
.
..
...
...
C1
...
.
.
........................................
...........
........
.......
.
.
.
.
.
....
.....

19

...
...
... C
.... 3
.... .
.......... ..........
...............

20

MA1505 Chapter 9. Line Integrals

Then the line integral f along C is defined to be

Z

f (x, y) ds =
C
9.3.6

f (x, y) ds + +
C1

f (x, y) ds.
Cn

Example
Z

Evaluate

9y ds, where C consists of the arc C1 of

C

the cubic y = x3 from (0, 0) to (1, 1) followed by the

vertical line segment C2 from (1, 1) to (1, 5).
Solution: We first obtain the vector function for C1
and C2:
For C1, the Cartesian equation is y = x3. So we may
let x = t and get y = t3 with 0 t 1. Hence
p
r1(t) = ti + t j and kr 1(t)k = 1 + (3t2)2
3

20

21

MA1505 Chapter 9. Line Integrals

and
Z

1 + 9t4 dt
0
i1 1
1h
4 3/2
= (1 + 9t )
= (10 10 1).
0
6
6

9yds =
C1

9t

For C2, since it is a vertical line that passes through

x = 1, we have x = 1 and y = t with 1 t 5.

Hence r2(t) = i + tj and kr 2(t)k = 0 + 1.

0

9yds =

9t dt = 108.

C2

So
Z

9y ds =
C

9y ds +
C1

9y ds
C2

1
1
= (10 10 1) + 108 = (10 10 + 647).
6
6

21

22

9.3.7

MA1505 Chapter 9. Line Integrals

Line integrals of vector fields

Let F be a continuous (2 or 3 variable) vector field

defined on a domain containing a smooth curve C
given by a vector function r(t), t [a, b]. The line
integral of the vector field F along the curve C
is

Z
F dr =

F(r(t)) r0(t) dt.

If r(t) = x(t)i + y(t)j + z(t)k, then

F(r(t)) = F(x(t), y(t), z(t))
refers to the vector field along the curve.
Geometrically, the line integral of F over C is summing up the tangential component of F with respect
to the arc length of C.
22

23

9.3.8

MA1505 Chapter 9. Line Integrals

Example
Z

Evaluate

F dr, where
C

F(x, y, z) = xi + xyj + xyzk

and C is the curve r(t) = ti + t2j + t3k, t [0, 2].
Solution: First r0(t) = i + 2tj + 3t2k. Thus
F(r(t)) r0(t) = (ti + t t2j + t t2 t3k) (i + 2tj + 3t2k)
= t + 2t4 + 3t8.
Therefore,
Z

F dr =
F(r(t)) r0(t) dt
C
Z 20
=
(t + 2t4 + 3t8) dt = 2782/15.
0

23

24

9.3.9

MA1505 Chapter 9. Line Integrals

Orientation of curves

The vector equation of a curve C determines an orientation (direction) of C. The same curve with the
opposite orientation of C is denoted by C.
B

...
...
...
.
.
.
.
.... ..........
............................
........
....
.
.
.
...
...
...
..
.
..
..
..
..

We have

...
...
...
.
.
.
.
.
... .........
............................
........
....
.
.
.
...
...
...
..
.
..
..
..
..

Z
F dr =
C

F dr
C

as r0(t) changes sign in C.

On the other hand, for line integral of scalar functions,
Z

Z
f (x, y, z) ds =
C

f (x, y, z) ds
C

since the arc length is always positive.

24

25

MA1505 Chapter 9. Line Integrals

9.3.10

Line integrals in component form

Suppose
F(x, y) = P (x, y)i + Q(x, y)j
and C : r(t) = x(t)i + y(t)j, t [a, b].
Then we may write the line integral as
Z
Z
F dr =
P dx + Qdy.
C

Indeed
Z
F dr
ZCb
=

F(r(t)) r0(t) dt

Za b

dx
dy
=
[P (r(t))i + Q(r(t))j]
i + j dt
dt
dt

Za b
dx
dy
=
P (r(t)) + Q(r(t))
dt
dt
dt
Za
= P dx + Qdy.
C
25

26

MA1505 Chapter 9. Line Integrals

Similarly, for three variable vector field

F = P i + Qj + Rk,
we can write the line integral as
Z

Z
F dr =
C

9.3.11

P dx + Qdy + Rdz.
C

Example
Z
y 2dx + xdy, where

Evaluate the line integral

C

(a) C = C1 is the line segment from (5, 3) to

(0, 2),
(b) C = C2 is the arc of the parabola x = 4 y 2
from (5, 3) to (0, 2).
Solution:
(a) C1 is a line passing through the point (5, 3)
and parallel to the vector (2j) (5i 3j) = 5i + 5j.
26

27

MA1505 Chapter 9. Line Integrals

So the vector function of C1 is given by

r(t) = (5i 3j) + t(5i + 5j) = (5t 5)i + (5t 3)j
with 0 t 1. Thus,
Z

Z 1
dx
dy
2
2
y dx + xdy =
(5t 3)
(5t 5) dt
dt +
dt
dt
C1
0
0
Z 1
Z 1
=
(5t 3)25dt +
(5t 5)5dt
1

= 5/6.
(b) By setting y = t, we have the vector function of
C2 given by
r(t) = (4 t2)i + tj with 3 t 2. Thus
Z

C2

dy
(4 t2) dt
dt
dt
3
3
Z 2
Z 2
=
t2(2t)dt +
(4 t2)dt

y dx + xdy =

2 dx

dt +

= 245/6.
27

28

9.3.12

MA1505 Chapter 9. Line Integrals

The fundamental theorem for line integrals

Recall the fundamental theorem for Calculus:

Z

F 0(x) dx = F (b) F (a).

It has the following generalization in terms of line

integrals:
Let C be a smooth curve with vector function r(t),
t [a, b].
If f is a function of 2 or 3 variables whose gradient
f is continuous. Then
Z
f dr = f (r(b)) f (r(a)).
C

28

29

9.3.13

MA1505 Chapter 9. Line Integrals

Example

Find the work done by the (earth) gravitational field

(see Example 9.2.9) in moving a particle of mass m
from the point (3, 4, 12) to the point (1, 0, 0) along a
curve C.
Solution:
Z
W

Z
G dr =

g dr = g(1, 0, 0)g(3, 4, 12).

C

mM K
Since the potential function g(x, y, z) = p
x2 + y 2 + z 2
where M is the mass of the earth and K the gravitational constant, we have W = 12mM K/13.

29

30

9.3.14

MA1505 Chapter 9. Line Integrals

Consequences of conservative fields

Z

(I) If F is a conservative vector field, then

F dr
C

is independent of path,
Z
Z
i.e.
F dr =
F dr for any 2 paths C1 and
C1

C2

C2 that have the same initial and terminal points.

I
(II) If F is a conservative vector field, then F dr = 0
`

for any closed curve ` (i.e. a curve with terminal

point coincides with its initial point).
Notation: If a curve ` is closed, we write the line
integral as

I
F dr.
`

30

31

9.3.15

MA1505 Chapter 9. Line Integrals

Example

Let F(x, y) = (y 2 +3x2)i+(2xy)j. Show that the line

Z
integral F dr is independent of path and evaluate
C

this integral over the curve C where C is

(i) given by r(t) = cos ti + et sin tj, t [0, ];
(ii) the unit circle.
Solution:

We have seen in Example 9.2.5 that

f = F where f (x, y) = xy 2 + x3 is the potential

function of F. So F is conservative. By section 9.3.14
Z
(I), the line integral
F dr is independent of path.
C

(i) The initial point of C is given r(0) = i which corresponds to the coordinates (1, 0); and the terminal
point is given r() = i which corresponds to the
31

32

MA1505 Chapter 9. Line Integrals

coordinates (1, 0). Since F = f , by Fundamental

Theorem, we have
Z
F dr = f (1, 0) f (1, 0) = 2.
C

(ii) Since the unit circle is a closed path and F is

conservative, by section 9.3.14 (II),
Z
F dr = 0.
C
9.4

Greens Theorem

Let D be a bounded region in the xy-plane and D

the boundary of D. Suppose P (x, y) and Q(x, y)
has continuous partial derivatives on D. Then
ZZ

I
P dx + Qdy =
D

Q P

x
y

dA.

The orientation of D is such that, as one traverses

32

33

MA1505 Chapter 9. Line Integrals

along the boundary in this direction, the region D

is always on the left hand side. We call this the
positive orientation of the boundary.
9.4.1

Example
I
2xy dx + xy 2dy, where C is the trian-

Evaluate
C

gular curve consisting of the line segments from (0, 0)

to (2, 0), from (2, 0) to (0, 2) and from (0, 2) to (0, 0).
Solution: The functions
P (x, y) = 2xy and Q(x, y) = xy 2
have continuous partial derivatives on the xy-plane.
y

..
........
....
...
..
..
...
(0, 2) ......
.............
.....................
...............................C
......................................
...............................................
.................................
y =2x
............................................................
................................................
....................................................
.....................................
............................D
. . . . . . . . . . . ..
........................................................................................
................................................................................................
...............................................................................
.........................................................................................................................................................................
.
x (2, 0)
(0, 0) ......
.

33

34

MA1505 Chapter 9. Line Integrals

The region D is given by: 0 y 2x, 0 x 2.

By Greens Theorem,
ZZ

I
2

2xy dx + xy dy =
C

Z ZD

(xy ) 2xy
dA

x
y

(y 2 2x) dydx

=
D
Z 2Z

=
0

4
= .
3
9.4.2

2x

(y 2 2x) dydx

Example
I
x2

(4y e )dx + (9x + sin(y 2 1))dy, where

Evaluate
C

C is the circle x2 + y 2 = 4.
Solution: C bounds the circular disk D of radius 2
and is given the positive orientation.

34

35

MA1505 Chapter 9. Line Integrals

By Greens Theorem,
I
2

(4y ex )dx + (9x + sin y 2 1)dy

C
#
ZZ "
2
x2
(9x + sin y 1) (4y e )
=
dA

x
y
D
ZZ
ZZ
=
5 dA = 5
dA
D

= 5 (area of D) = 5(22) = 20.

9.4.3

Exercise

Evaluate by Greens Theorem

I
ex sin y dx + ex cos y dy
C

where C is the rectangle with vertices at (0, 0), (, 0),

(, /2), (0, /2).
[Answer: 2(e 1)]

35

36

9.4.4

MA1505 Chapter 9. Line Integrals

Example

Let F(x, y) = yi + yj and D a region in xy-plane

bounded by the two circles centered at the origin with
radius 1 and 2.
y

...
........
...
..
..
..
.............
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
... ...................
.
.
.....
.
.
.
.
.
.
.........
.
.
.
...
....
.
.
.......
.
.
.
.
..
.......
2
...
.
.
.
.
.
..
....
..
.
.
.
.
....
.
.
.
.
.
....
.
.
..
.
.
.
.
.
...
.............
...
...
............ .... ................... 1
..
...
.......
....
..
...
..
....
....
.
.
..
.
.
...
...
..
..
..
.
..
.
..
..
..
.
..
...
..
..
...
.
...
...
....................................................................................................................................................................................................................................................................................................................
..
..
.
.
.
.
..
..
.
.
.
.
.
.
...
..
..
..
....
..
...
..
..
..
..
....
...
...
..
...
......
....
.
.
.
...
.
........
.
.
.
.
....................................
..
...
..
....
...
....
....
..
.............
....
.
.
......
....
.....
.......
...
.......
........
........
..........
...........................................................
...
..
..
...
..
...
..
...
.

Verify Greens Theorem.

Solution:
Z
(i) Compute

F dr directly:
D

The boundary of D is made up of two disjoint

curves C1 and C2.
36

37

MA1505 Chapter 9. Line Integrals

Now C1 : r1 = cos ti + sin tj and C2 : r2 =

2 cos ti + 2 sin tj with t [0, 2]. Note that
the equations give counterclockwise orientation to
both curves.
However, to get positive orientation for the boundary of D, the outer boundary should traverse
counterclockwise while the inner boundary should
traverse clockwise.
Hence D = C2 C1.
Z
Z 2
F dr =
(sin ti + sin tj) ( sin ti + cos tj) dt
C1
0
Z 2
=
( sin2 t + sin t cos t) dt
Z0 2
1
=
(cos 2t 1 + sin 2t) dt
2
0

2
cos 2t
1 sin 2t
t
=
=
2
2
2 0
37

38

MA1505 Chapter 9. Line Integrals

Z
Similarly,
F dr = 4.
C2
Z
Z
Z
So
F dr =
F dr
F dr = 3.
D

C2

C1

(ii) Using Greens Theorem, we have

ZZ

Z
Fdr =
D

y y

x y

ZZ
dA =

(1) dA.
D

In polar coordinates, D is given by

1 r 2,

0 2.

So we have
Z

ZZ

(1) dA =
D

r dr d = 3.
0

38