In Section 16.2, we learned to compute vector line integrals, $\int_C \vec{F} \cdot d\vec{r}$. This was often a long process of parametrizing a curve.
In Section 16.4, we learned **Green's Theorem**, a powerful tool that connects a line integral over a closed loop to a double integral over the region inside: $$ \oint_C P\,dx + Q\,dy = \iint_D (Q_x - P_y)\,dA $$
Now in Section 16.3, we will investigate a "special case" that is deeply connected to Green's Theorem. We will look for a shortcut for line integrals, similar to the Fundamental Theorem of Calculus from Calc I.
The big question is: Can we evaluate $\int_C \vec{F} \cdot d\vec{r}$ just by using the start and end points of the path $C$?
The answer is yes, but only for a very special class of vector fields.
The shortcut only works if the vector field $\vec{F}$ is the gradient of some scalar function $f$.
A vector field $\vec{F}$ is called a conservative vector field if it is the gradient of some scalar function $f$. That is, $\vec{F} = \nabla f$.
The scalar function $f$ is called the potential function for $\vec{F}$.
(Note: This name comes from physics, where the work done by a conservative force field, like gravity or an electric field, can be described by a change in potential energy, $f$.)
To show $\vec{F}$ is conservative, we must find a potential function $f(x,y)$ such that $\nabla f = \vec{F}$.
$\nabla f = \langle f_x, f_y \rangle = \langle 2x, 2y \rangle$
Since we found a potential function (we can just pick $K=0$, $f(x,y) = x^2+y^2$), the vector field $\vec{F} = \langle 2x, 2y \rangle$ is conservative.
Let's *try* to find a potential function $f(x,y)$ such that $\nabla f = \langle y, -x \rangle$.
The equation $g'(y) = -2x$ is a contradiction. The left side, $g'(y)$, must be a function of only $y$ (or a constant). The right side, $-2x$, is a function of $x$. It is impossible for a function of $y$ to equal a non-constant function of $x$.
Therefore, no such function $g(y)$ exists, which means no potential function $f(x,y)$ exists. The field is not conservative.
Problem. Is the vector field $\vec{F}(x,y) = \langle 3x^2y^2, 2x^3y \rangle$ conservative? If so, find a potential function $f$.
We are looking for $f(x,y)$ such that $f_x = 3x^2y^2$ and $f_y = 2x^3y$.
Finding the potential function $f$ just to prove a field is conservative is a lot of work. Example 1B (the failure) gives us a clue for a faster test.
If $\vec{F} = \langle P, Q \rangle = \nabla f = \langle f_x, f_y \rangle$, then $P = f_x$ and $Q = f_y$.
By Clairaut's Theorem on mixed partials, $f_{xy} = f_{yx}$.
But $f_{xy} = \frac{\partial}{\partial y}(f_x) = \frac{\partial P}{\partial y}$ (or $P_y$).
And $f_{yx} = \frac{\partial}{\partial x}(f_y) = \frac{\partial Q}{\partial x}$ (or $Q_x$).
Therefore, if $\vec{F}$ is conservative, we must have $P_y = Q_x$.
Let $\vec{F} = \langle P(x,y), Q(x,y) \rangle$ be a vector field on a simply-connected domain $D$.
$\vec{F}$ is conservative if and only if: $$ \frac{\partial P}{\partial y} = \frac{\partial Q}{\partial x} $$
A simply-connected domain is one that has no "holes". The $xy$-plane is simply-connected. A disk is simply-connected. The $xy$-plane minus the origin is not simply-connected (it has a "hole" at $(0,0)$). This "hole" is the source of many counter-examples, but for most problems in this class, the domain is all of $\mathbb{R}^2$ and this condition holds.
Problem. Use the 2D test to determine if $\vec{F} = \langle e^x \cos y, -e^x \sin y \rangle$ is conservative.
We just learned that if a 2D field $\vec{F} = \langle P, Q \rangle$ is conservative, then $P_y = Q_x$ (which means $Q_x - P_y = 0$).
What does Green's Theorem (Sec 16.4) tell us about this?
Green's Theorem states that for any simple closed path $C$ enclosing a region $D$: $$ \oint_C P\,dx + Q\,dy = \iint_D (Q_x - P_y)\,dA $$
Assuming $\vec{F} = \langle P(x,y) , Q(x,y) \rangle$, Let's apply this to a conservative vector field.
If $\vec{F}$ is conservative, we know $Q_x - P_y = 0$.
Therefore, Green's Theorem simplifies:
$$ \oint_C P\,dx + Q\,dy = \iint_D (0)\,dA = 0 $$
Thanks to Green's Theorem, we have now *proven* that for any conservative vector field $\vec{F}$ on a simply-connected domain:
The line integral over any simple closed loop $C$ is zero. $$ \oint_C \vec{F} \cdot d\vec{r} = 0 $$
This is a major component of the Fundamental Theorem, and we proved it using our knowledge of Section 16.4!
This result—that closed-loop integrals are zero—is what leads us to our big shortcut.
The fact that $\oint_C \vec{F} \cdot d\vec{r} = 0$ for conservative fields has a profound consequence.
Consider two different paths, $C_1$ and $C_2$, that both start at $A$ and end at $B$.
If we go from $A$ to $B$ along $C_1$, and then *backwards* from $B$ to $A$ along $C_2$ (call this $-C_2$), we've created a single closed loop $C = C_1 \cup (-C_2)$.
The integral over this loop must be zero: $\oint_C \vec{F} \cdot d\vec{r} = \int_{C_1} \vec{F} \cdot d\vec{r} + \int_{-C_2} \vec{F} \cdot d\vec{r} = 0$.
Since $\int_{-C_2} = -\int_{C_2}$, this means $\int_{C_1} \vec{F} \cdot d\vec{r} - \int_{C_2} \vec{F} \cdot d\vec{r} = 0$.
This proves: $\int_{C_1} \vec{F} \cdot d\vec{r} = \int_{C_2} \vec{F} \cdot d\vec{r}$.
A line integral $\int_C \vec{F} \cdot d\vec{r}$ is path-independent on a domain $D$ if and only if $\oint_C \vec{F} \cdot d\vec{r} = 0$ for all closed paths $C$ in $D$.
Think of the potential function $f(x,y)$ as a mountain or a landscape, where the value $f$ is the altitude at point $(x,y)$.
This brings all our ideas together. The *only* vector fields that have this path-independent "altitude" property are conservative vector fields.
For a vector field $\vec{F}$ on a simply-connected domain $D$, the following statements are all equivalent (if one is true, all are true):
If the integral only depends on the start and end points, there must be a simple way to evaluate it. This is the Fundamental Theorem.
Let $C$ be a smooth curve with start point $A = \vec{r}(a)$ and end point $B = \vec{r}(b)$.
If $\vec{F}$ is a continuous conservative vector field with potential function $f$ (meaning $\vec{F} = \nabla f$), then:
$$ \int_C \vec{F} \cdot d\vec{r} = \int_C \nabla f \cdot d\vec{r} = f(B) - f(A) $$In words: The line integral of a conservative field is just (Potential at End) - (Potential at Start).
Where $\vec{F} = \langle 2x, 2y \rangle$ and $C$ is the top half of the unit circle $x^2+y^2=1$ from $(1,0)$ to $(-1,0)$.
Compare: The old way would be $\vec{r}(t) = \langle \cos t, \sin t \rangle$ for $t=0$ to $t=\pi$. $d\vec{r} = \langle -\sin t, \cos t \rangle dt$. $\vec{F} = \langle 2\cos t, 2\sin t \rangle$. $\vec{F} \cdot d\vec{r} = (-2\cos t \sin t + 2\sin t \cos t)dt = 0 \,dt$. The integral is $\int_0^\pi 0 \,dt = 0$. The theorem gave us the same answer with almost no work.
Compute $\oint_C (y\,dx + x\,dy)$, where $C$ is the closed path from $A=(0,0)$ to $B=(1,1)$ along the parabola $y=x^2$, and then from $B=(1,1)$ back to $A=(0,0)$ along the line $y=x$.
Problem. Let $\vec{F} = \langle 3x^2y^2, 2x^3y \rangle$.
(a) Is $\vec{F}$ conservative?
(b) What is $\int_C \vec{F} \cdot d\vec{r}$ for any path $C$ from $(1, 2)$ to $(3, 0)$?
A major application of the Fundamental Theorem is in physics, where it leads directly to the Law of Conservation of Energy.
Let's consider a particle of mass $m$ moving along a path $C$, parametrized by $\vec{r}(t)$.
Its velocity is $\vec{v}(t) = \vec{r}'(t)$.
Its acceleration is $\vec{a}(t) = \vec{r}''(t)$.
By Newton's Second Law, the force $\vec{F}$ acting on the particle is $\vec{F}(\vec{r}(t)) = m\vec{a}(t) = m\vec{r}''(t)$.
The **Work** done by this force field from $t=a$ to $t=b$ is: $$ W = \int_C \vec{F} \cdot d\vec{r} = \int_a^b \vec{F}(\vec{r}(t)) \cdot \vec{r}'(t) \,dt $$ Substitute $\vec{F} = m\vec{r}''$ and $\vec{v} = \vec{r}'$: $$ W = \int_a^b (m\vec{r}''(t)) \cdot \vec{r}'(t) \,dt = m \int_a^b \vec{r}'' \cdot \vec{r}' \,dt $$
Now, let's use a clever derivative trick. What is $\frac{d}{dt}(\vec{v} \cdot \vec{v})$?
By the dot product rule: $\frac{d}{dt}(\vec{v} \cdot \vec{v}) = \vec{v}' \cdot \vec{v} + \vec{v} \cdot \vec{v}' = 2(\vec{v} \cdot \vec{v}') = 2(\vec{r}' \cdot \vec{r}'')$.
So, $\vec{r}' \cdot \vec{r}'' = \frac{1}{2} \frac{d}{dt}(\vec{v} \cdot \vec{v}) = \frac{1}{2} \frac{d}{dt}|\vec{v}|^2$.
Substitute this back into the work integral: $$ W = m \int_a^b \left( \frac{1}{2} \frac{d}{dt}|\vec{v}(t)|^2 \right) \,dt = \frac{1}{2}m \int_a^b \frac{d}{dt}|\vec{v}(t)|^2 \,dt $$
By the Calc I FTC, this integral is: $$ W = \frac{1}{2}m \left[ |\vec{v}(t)|^2 \right]_a^b = \frac{1}{2}m \left( |\vec{v}(b)|^2 - |\vec{v}(a)|^2 \right) $$
We define $K = \frac{1}{2}m|\vec{v}|^2$ as the Kinetic Energy. Let $K(A)$ and $K(B)$ be the kinetic energies at the start and end points.
The work done by a force field $\vec{F}$ on a particle along a path $C$ is equal to the change in the particle's kinetic energy:
$$ W = \int_C \vec{F} \cdot d\vec{r} = K(B) - K(A) = \Delta K $$
Now, what if the force field $\vec{F}$ is conservative?
If $\vec{F}$ is conservative, then $\vec{F} = \nabla f$ for some potential $f$.
By the FTLI, $W = \int_C \vec{F} \cdot d\vec{r} = f(B) - f(A)$.
Let's combine our two results for Work:
$W = K(B) - K(A)$
$W = f(B) - f(A)$
Therefore: $K(B) - K(A) = f(B) - f(A)$.
In physics, it's conventional to define the Potential Energy $P$ as the negative of the potential function $f$. So $P = -f$. This means $\vec{F} = \nabla f = -\nabla P$.
With this definition, $f(B) - f(A) = -P(B) - (-P(A)) = P(A) - P(B)$.
So, $K(B) - K(A) = P(A) - P(B)$.
Rearranging gives: $K(B) + P(B) = K(A) + P(A)$.
If a particle moves under the influence of a conservative force field $\vec{F}$, its total energy (Kinetic + Potential) is constant.
Let $E = K + P$ be the total energy. Then $E(B) = E(A)$.
$$ \frac{1}{2}m|\vec{v}(b)|^2 + P(B) = \frac{1}{2}m|\vec{v}(a)|^2 + P(A) $$A particle of mass $m=2$ moves along a path $C$. Its velocity at the start $A$ is $|\vec{v}(a)| = 3$. At the end $B$, its velocity is $|\vec{v}(b)| = 5$. What is the total work done on the particle by the force field $\vec{F}$ that moved it?
A particle of mass $m=4$ is at rest ($K(A)=0$) at point $A=(1,0)$. It is moved by the conservative force field $\vec{F} = \langle 2x, 2y \rangle$. What is the particle's speed when it reaches point $B=(0,2)$?
Problem. A particle with mass $m=10$ moves in a conservative force field $\vec{F}$ with potential energy $P(x,y) = x^2 + 3y$. The particle is at $A=(1, 5)$ and has speed 2. It moves to $B=(3, 1)$. What is its speed at $B$?
Problem. Let $\vec{F} = \langle 4x^3y^2 - 2xy^3, 2x^4y - 3x^2y^2 \rangle$.
(a) Show that $\vec{F}$ is conservative using the 2D test.
(b) Find a potential function $f(x,y)$.
(c) Evaluate $\int_C \vec{F} \cdot d\vec{r}$ where $C$ is the curve $\vec{r}(t) = \langle t \cos(\pi t), t + \sin(\pi t) \rangle$ from $t=0$ to $t=1$.
Problem. Let $\vec{F} = \langle e^z, 1, xe^z \rangle$.
(a) Find a potential function $f(x,y,z)$ (assume it is conservative).
(b) Evaluate $\int_C \vec{F} \cdot d\vec{r}$ where $C$ is the line segment from $(0,0,0)$ to $(1, 2, 3)$.