Formulas

d d
sin x = cos x, cos x = − sin x
dx dx
d x d n
a = ax ln a, x = nxn−1
dx dx
a · b = |a||b| cos θ
|a × b| = |a||b| sin θ
r(t) = r0 + tv
|ax1 + by1 + cz1 + d|
The distance from P (x1 , y1 , z1 ) to ax + by + cz + d = 0 is √ .
a2 + b 2 + c 2
(z − z0 ) = fx (x0 , y0 )(x − x0 ) + fy (x0 , y0 )(y − y0 )
a·b
compa b =
|a|
(a · b)
proja b = a
(a · a)
a × (b × c) = (a · c)b − (a · b)c
a · (b × c) = (a × b) · c
   0 
 dT   T (t)  |r0 (t) × r00 (t)|
κ =   =  0  =
ds r (t) |r0 (t)|3
|f 00 (x)|
κ= 3
[1 + (f 0 (x))2 ] 2
r0 (t)
T(t) =
|r0 (t)|
T0 (t) u (r0 · r00 ) 0
N(t) = = where u = r00 − r
|T0 (t)| |u| (r0 · r0 )
B(t) = T(t) × N(t)
|r0 (t) × r00 (t)|
aN =
|r0 (t)|
r0 (t) · r00 (t)
aT =
|r0 (t)|
∂z Fx ∂z Fy
=− , =− ,
∂x Fz ∂y Fz
∇f (x, y, z) = fx i + fy j + fz k
∂P ∂Q ∂R
div F = + + , F = P i + Qj + Rk
∂x ∂y ∂z
1
2
 
 
 i j k 
 
 ∂ ∂ ∂ , F = P i + Qj + Rk
curl F =  ∂x ∂y ∂z 


 P Q R 
 

2
D = fxx fyy − fxy , D > 0 and fxx > 0 implies local min
D > 0 and fxx < 0 implies local max
D < 0 implies saddle

RR RR
R
f (x, y) dA = S
f (r cos θ, r sin θ) r dr dθ

Center of mass - 2 dimensions

Z Z
mass = m = ρ(x, y) dA
D
Z Z
My
My = x ρ(x, y) dA, x̄ =
D m
Z Z
Mx
Mx = y ρ(x, y) dA, ȳ =
D m

Center of mass - 3 dimensions

Z Z Z
mass = m = ρ(x, y, z) dV
E
Z Z Z
Myz
Myz = x ρ(x, y, z) dV, x̄ =
E m
Z Z Z
Mxz
Mxz = y ρ(x, y, z) dV, ȳ =
E m
Z Z Z
Mxy
Mxy = z ρ(x, y, z) dV, z̄ =
E m

Center of mass - a wire in the plane

Z
mass = m = ρ(x, y) ds
C
Z
My
My = x ρ(x, y) ds, x̄ =
C m
Z
Mx
Mx = y ρ(x, y) ds, ȳ =
C m

Cylindrical coordinates:
x = r cos θ, y = r sin θ, z = z, dV = r drdθdz.
Spherical coordinates:
x = ρ sin φ cos θ, y = ρ sin φ sin θ, z = ρ cos φ, dV = ρ2 sin φ dρdθdφ.
 3

Change
Z Z of variables:
Z Z  
 ∂(x, y) 
f (x, y) dx dy = f (x(u, v), y(u, v)) 
  du dv
R S ∂(u, v) 
SurfaceZ Area:
Z
A(S) = |ru × rv | dA
Ds
Z Z  2   2
∂z ∂z
A(S) = 1+ + dA
D ∂x ∂y
Green’s Theorem:
Z Z Z  
∂Q ∂P
P dx + Q dy = − dA
C D ∂x ∂y
Surface
Z Z Integrals:
Z Z Z Z
F · n dS = F · dS = F · (ru × rv ) dA
S S D
ru × rv
dS = (ru × rv ) dA, dS = |ru × rv | dA, n =
|ru × rv |
Be careful with the next formula. It’s only valid when the surface is the graph of z = g(x, y).
Z Z Z Z  
∂g ∂g
F · dS = −P −Q + R dA
S D ∂x ∂y
Stokes’
Z Theorem:
Z Z
F · dr = curl F · dS
C S

The
Z Z Divergence
Z Z Theorem:
Z
F · dS = divF dV
S E