Unit: VECTORS AND 3-DIMENSIONAL GEOMETRY Concepts and Formulae

VECTORS

Positio n Vector
Directi on cosines
Directi on ratios

Definiti on
Definiti on

The position vector of point P (x1,y1,z1) with respect to the origin is given by:
OP = r = x 2 + y 2 + z2 If the position vector OP of a point P makes angles , and with x, y and z axis respectively, then , and are called the direction angles and cos, cos and cos are called the Direction cosines of the position vector. The magnitude (r), direction ratios (a, b, c) and direction cosines ( , m, n) of
any vector are related as: a m c = , m= , n= r r r

Vector Additio n

Relation betwee n drs dcs and magnit ude of the vector Laws

Triangle Law: Suppose two vectors are represented by two sides of a triangle in sequence, then the third closing side of the triangle represents the sum of the two vectors

PQ + QR = PR

Parallelogram Law: If two vectors a and b are represented by two adjacent sides of a parallelogram in magnitude and direction, then their sum a +b is represented in magnitude and direction by the diagonal of the parallelogram.

OA ??+ OB = OC

Multipli catiof of a vec 0or by a scalar

Definiti on

Properti es

Vector joining two points

Definiti on

Magnitu de

Compo nent Form

Operati ons

Prcpert ies of vector a`ditio n

Commu tative ropert y

For any two vectors a and b, a+b =b+a

Associa tive propert y

For any three vectors a,b and c,

( a + b ) + c = a + (b + c )
If a is a vector and a scalar. Product of vector a by the scalar is a. Also, |a| = |||a|

Let a and b be any two vectors and k and m being two scalars then (i)k a +m a =(k+m) a (ii)k(m a )= (km) a (iii)k( a +b )=k a +kb

The vector P1P2 joining points P1(x1 , y1 , z1 ) and P2 (x2 , y2 , z2 ) (O is the origin) is given by: P1P2 = OP2 OP1

The magnitude of vector P1P2 is given by P1P2 = (x2 x1 )2 + (y2 y1 )2 + (z2 z1 )2 Vector in component form
r = x i+ y j + z k

Equality of vectors

a = a1 i + a 2 j + a 3 k b = b1 i + b 2 j + b3 k a = b a1 = b1 , a 2 = b 2 and a 3 = b3
a = a1 i + a 2 j + a 3 k and b = b1 i + b 2 j + b3 k

Addition of vectors

a + b =( a1 +

) i +(

a 2 + b 2 ) j +( a 3 + b3 ) k

a b a b a Subtraction of vectors a - b =( 1 - 1 ) i +( 2 - 2 ) j +( 3 b3 ) k
a and b are collinear b = a . where

is a non zero scalar.

Product of Two Vectors Scalar (or dot) product of two vectors
Properti es of scalar Product

Scalar product of two nonzero vectors a and b, denoted by a b is: a.b= |a||b|cos, where is the angle between a and b, 0

(i) a b is a real number. (ii)If a and b are non zero vectors then a b =0 a b .

(iii) Scalar product is commutative : a b =b.a (iv)If =0 then a b= a . b (v) If = then a b=- a . b
(vi) scalar product distribute over addition Let a, b and c be three vectors, then a (b+c)= a b + a c (vii)Let a and b be two vectors, and be any scalar. Then (a).b=(a).b= (a.b)=a.(b) (viii) Angle between two non zero vectors a and b is a.b given by cos = a.b

Projecti on of a vector

Projection of a vector a on other vector b is given by

or a. b or 1 a.b a.b b b

( )

Section formula

The position vector of a point R dividing a line segment joining the points na+mb m+n mb-na mn

P and Q whose position vectors are a and b respectively, in the ratio m : n (i) internally, is given by (ii) externally, is given by

Inequali ties

Cauchy-Schwartz Inequality a.b a . b Triangle Inequality:

Vector (or cross) product of two vectors

The vector product of two nonzero vectors a and b, denoted by a b and defined as a b=|a||b|sinn where, is the angle between a and b,0 and is a unit vector perpendicular to both a and b n such that a,b and form a right handed system. n (i) a b is a vector (ii) If a and b are non zero vectors then a b =0 iff a and b are collinear. (iii) If = , then a b = a . b 2 (iv) vector product distribute over addition If a,b andc are three vectors and is a scalar, then
(i) a (b+c)= a b + ( a c ) (ii) (a b)=(a) b=a (b)

Properti es of cross product of vectors

(v) If we have two vectors a and b given in component form as a=a1 2 3k and b=b1 2 3k i+a j+a i+b j+b i then a b= a1 j a2 k a3

b1 b2 b3

Three-DIMENSIONAL GEOMETRY

Direction Cosines

Definition

The direction cosines of the line joining P( x1 ,y1 ,z1 ) and Q( x2 ,y2 ,z2 ) are x2 -x1 y2 -y1 z2 z1 , , PQ PQ PQ where PQ= (x2 -x1 )2 +(y2 -y1 )2 +(z2 -z1 )2

Skew Lines

Definition

Angle between skew lines

Skew lines are lines in space which are neither parallel nor intersecting. They lie in different planes. Angle between skew lines is the angle between two intersecting lines drawn from any point (preferably through the origin) parallel to each of the skew lines.
The angle between two vectors OA = a1i + b1 j + c1k and OB = a2 i + b2 j + c2 k is given by cos = a1a2 +b1b2 +c1c2 a +b12 +c12 a22 +b22 +c22
2 1

Angle between two lines

Equation of a line

Vector Equation

Vector equation of a line that passes through the given point whose position vector is a and parallel to a given vector b is r=a+b Direction ratios of the line L are a, b, c. Then, cartesian form of equation of the line L is :

Cartesian Equation

Equation of line passing through two given points

x-x1 y-y1 z-z1 = = a b c 1) Vector Equation The vector equation of a line which passes through two points whose position vectors are a and b is r=a+(b-a)

2) Cartesian Equation

Cartesian equation of a line that passes through two points (x1 , y1 , z1 ) and (x2 , y2 , z2 ) is x-x1 y-y1 z-z1 = = x2 -x1 y2 -y1 z2 -z1 Condition for perpendicu larity Condition for parallel lines Two lines with direction ratios a1, a2, a3 and b1, b2, b3 respectively are perpendicular if: a1b1 +2b2 c1c 2 0 a Two lines with direction ratios a1, a2, a3 and b1, a b c b2, b3 respectively are parallel if 1 = 1 = 1 a2 b2 c2

Shortest Distance between two lines in space

Distance between two skew lines:

1) Vector form: Shortest distance between two skew lines L and m, r = a1 + b1 and r = a2 + b2 is
d=

b1b2.(a2 - a1 ) b1b2

2) Cartesian form The equations of the lines in Cartesian form x-x1 y-y1 z-z1 x-x2 y-y2 z-z2 = = and = = a1 b1 c1 a2 b2 c2 Then the shortest distance between them is x2 -x1 y2 -y1 z2 -z1

d=

Distance between parallel lines Equation of plane

Distance between parallel lines r = a1 + b and r = a2 + b is d= b(a2 -a1 ) b

In the vector form, equation of a plane which is at a distance d from the origin, and is the unit n vector normal to the plane through the origin is

a1 a2

b1 b2

c1 c2

(b1c2 -b2c1 )2 +(c1a2 -c2a1 )2 +(a1b2 -a2b1 )2

Equation of plane

r.n = d Equation of a plane which is at a distance of d from the origin and the direction cosines of the normal to the plane as l, m, n is lx + my + nz = d. Equation of a plane perpendicular to a given line with direction ratios A, B, C and passing through a given point (x1, y1, z1) is A (x x1) + B (y y1) + C (z z1 ) = 0 Equation of a plane passing through three non collinear points (x1, y1, z1), (x2, y2, z2) and (x3, y3, z3) is x-x1 y-y1 z-z1 x2 x1 y2 y1 z2 z1 =0
x3 x1 y3 y1 z3 z1

Equation of plane

Equation of plane

Equation of plane

Intercept form of equation of plane. Equation of a plane passing through the intersectio n of two given planes. Coplanarity of two lines

Equation of a plane that makes intercepts a, b and c with x, y and z-axes respectively is x y z + + =1 a b c Any plane passing thru the intersection of two planes r . n1 =d1 and r . n2 =d2 is given by, r. n1 + n2 = d1 + d2

Equation of plane

1) Vector form: The given lines r = a1 + b1 and r = a2 + b2 are coplanar if and only a2 a1 . b1 b2 = 0

)(

2) Cartesian Form Let (x1 ,y1 ,z1 ) and (x2 ,y2 ,z2 ) be the coordinates of the points M and N respectively. Let a1, b1, c1 and a2, b2, c2 be the direction ratios

of b1 and

respectively. The given lines are

coplanar if and only if x2 -x1 y2 -y1 z2 -z1 a1 b1 c1 =0 a2 Angle between two planes Vector form b2 c2

If n1 and n2 are normals to the planes r.n1 =d1and r.n2 = d2 and is the angle between the normals drawn from some common point. cos = n1.n2 n1 n2

Cartesian form

Let is the angle between two planes A1x+B1y+C1z+D1=0, A2x+B2y+C2z+D2=0 The direction ratios of the normal to the planes are 11222. cos = OP = r = x 2 + y 2 + z 2 Let the angle between the line and the normal to the plane = cos= b.n b n

Angle between a line and a plane

Distance of a point from a plane

Distance of point P with position vector a from a plane r.N =d is

a.N-d N

where N is the normal to

the plane