A coordinate transformation is a continuously differentiable bijection from the open set onto an open subset , with continuously differentiable inverse. Equivalently, it is a diffeomorphism; its Jacobian determinant never vanishes. The inverse function theorem supplies the local inverse, while global injectivity is an additional requirement.
The change of variables formula for a Lebesgue integrable function isThe absolute Jacobian determinant accounts for area regardless of orientation. The formula also holds for nonnegative measurable functions with possibly infinite integral.
Put and . The square becomes , with , and absolute Jacobian determinant . On its support the denominator exceeds one and , so the nonnegative integrand is bounded by one on a set of finite area; it is therefore Lebesgue integrable. The change of variables formula and Fubini's theorem give
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