You should provide us with your mathematical background first, right?
What do you mean by easy ways?
Well, you just integrate each of the components normally one at a time. Depending on your limits.
Assuming you have Cartesian coordinates (x,y,z). Convert each component to its Spherical/Cylindrical counterpart and multiply by the Jacobian of the new coordinate system. So, just convert to the new coordinate system, multiply by the Jacobian and then integrate normally.
I'm reviewing Meirovitch's "Methods of Analytical Dynamics," and I don't understand the commutation of the derivative from r to dr:
$$
\mathbf{F} \cdot d\mathbf{r} = m \ddot{\mathbf{r}} \cdot d\mathbf{r} = m\mathbf{\dot{r}} \cdot d\mathbf{\dot{r}}
$$