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1.5 Equations of Lines and Planes in 3-D
1.5 Equations of Lines and Planes in 3-D
1.5
Recall that given a point P = (a; b; c), one can draw a vector from the origin
to P . Such a vector is called the position vector of the point P and its
coordinates are ha; b; ci, the same as P . Position vectors are usually denoted !
r.
In this section, we derive the equations of lines and planes in 3-D . We do
so by nding the conditions a point P = (x; y; z) or its corresponding position
vector !
r = hx; y; zi must satisfy in order to belong to the object being studied
(line or plane).
1.5.1
In 3-D, like in 2-D, a line is uniquely determined when one point on the line
and the direction of the line are given. In this section, we assume we are given
a point P0 = (x0 ; y0 ; z0 ) on the line and a direction vector !
v = ha; b; ci. Our
goal is to determine the equation of the line L which goes through P0 and is
parallel to !
v.
Denition 65 a, b, and c are called the direction numbers of the line L.
Let P (x; y; z) be an arbitrary point on L. We wish to nd the conditions P
must satisfy to be on the line L.
41
Vector Equation
Consider gure 1.16. We see that a necessary and su cient condition for the
!
point P to be on the line L is that P0 P be parallel to !
v . This means that there
exists a scalar t such that
!
P0 P = t!
v
!
!
Let r be the position vector of P and r be the position vector of P . Then,
0
!
P0 P = !
r
Thus, we obtain
!
r
That is
!
r0
!
r0 = t!
v
!
r =!
r0 + t!
v
(1.9)
hx0 ; y0 ; z0 i + t ha; b; ci
Two vectors are equal when their corresponding coordinates are equal. Thus,
we obtain
8
< x = x0 + at
y = y0 + bt
(1.10)
:
z = z0 + ct
42
x0
y0
x0
(1.12)
z0
c
y0
b
b
x
z0
c
In the case one of the direction numbers is 0, the symmetric equation simply
becomes the equation from 1.12 which does not involve the direction number
being 0. The variable corresponding to the direction number being 0 is simply
set to the corresponding coordinate of the given point. For example, if a = 0
then the symmetric equations are
x
y0
= x0
z z0
=
c
b
Examples
Example 70 Find the parametric and symmetric equations of the line through
P ( 1; 4; 2) in the direction of !
v = h1; 2; 3i
The parametric equations are
8
< x= 1+t
y = 4 + 2t
:
z = 2 + 3t
The symmetric equations are
x+1=
4
2
2
3
Example 71 Find the parametric and symmetric equations of the line through
P1 (1; 2; 3) and P2 (2; 4; 1).
First, we need to nd the direction vector. Since the line goes through P1 and
!
P2 , the vector P1 P2 will be parallel to the line.
!
P1 P2 = h1; 2; 2i
Using equation 1.10, we get
8
< x=1+t
y = 2 + 2t
:
z = 3 2t
1=
2
2
3
2
43
Recall that in 2-D two lines were either parallel or intersected. In 3-D it is also
possible for two lines to not be parallel and to not intersect. Such lines are
called skew lines.
Two lines are parallel if their direction vectors are parallel. If two lines are
not parallel, we can nd if they intersect if there exists values of the parameters
in their equations which produce the same point. More specically, if the rst
!
line has equation !
r0 + t!
v and the second line has equation R0 + s!
u then they
!
will intersect if there exists a value for t and s such that !
r0 + t!
v = R0 + s!
u.
Also, when two lines intersect, we can nd the angle between them by nding
the smallest angle between their direction vectors (using the dot product).
Finally, two lines are perpendicular if their direction vectors are perpendicular.
44
Remark 73 You will note that we used a di erent letter for the parameter in
each equation because it may be a di erent value of the parameter which will
produce the same point in each equation.
We illustrate this with some examples.
Example 74 Let L1 be the line through (1; 6; 2) with direction vector h1; 2; 1i
and L2 be the line through (0; 4; 1) with direction vector h2; 1; 2i. Determine if
the lines are parallel, if they intersect or if they are skew. If they intersect, nd
the point at which they intersect.
For the lines to be parallel, their direction vectors would have to be parallel,
that is there would have to exist a constant c such that
h1; 2; 1i = c h2; 1; 2i
Which would imply
8
< 1 = 2c
2=c
:
1 = 2c
For L2
8
<
x=1+t
y = 6 + 2t
:
z =2+t
8
<
x = 2s
y =4+s
:
z = 1 + 2s
t = 2s
4+s
1)
4+s
4+s
3s =
12
s =
45
1 + 2 (4)
8
< x=8
y=8
:
z=9
cos
cos
2+2+2
p p
6 9
6
p
3 6
35:26
Example 76 Find the points at which L1 in the example above intersects with
the coordinate planes.
The parametric equations of L1 are
8
< x=1+t
y = 6 + 2t
:
z =2+t
46
1.5.2
Planes
47
a (x
x0 ; y
x0 ) + b (y
y0 ; z
z0 i =
y0 ) + c (z
z0 )
(1.15)
where d = ax0 by0 cz0 . This is known as the scalar equation of a plane.
It is also the equation of a plane in implicit form.
Remark 77 Note that when we know the scalar equation of a plane, we automatically know its normal; it is given by the coe cients of x, y, and z.
Remark 78 A plane in 3D is the analogous of a line in 2D. Recall that a
normal to the line ax + by + c = 0 in 2D is ha; bi. Similarly, a normal to the
plane ax + by + cz + d = 0 is ha; b; ci.
Example 79 The normal to the plane 3x + 2y
z = 10 is h3; 2; 1i.
Example 80 The scalar equation of a plane through (1; 2; 3) with normal h2; 1; 4i
is
2 (x
1) + 1 (y
2) + 4 (z
3)
2x + y + 4z
16
!
P 1 P3 =
=
=
! !
i
j
1
1
1
4
!
!
2 i +2j
h2; 2; 3i
!
k
0
2
!
3k
48
!
P1 P2
1; z
!
P1 P3
1i h2; 2; 3i =
2x + 2 (y
1)
3 (z
2x + 2y
0
0
1)
3z + 1
! n
!j
jn
1
2
!
!k
kn1 k kn
2
(1.16)
1 = 0 and
cos
cos
cos
! n
!j
jn
1
2
!
!k
kn1 k kn
2
2
p p
3 14
2
p
42
72
Intersection: When two planes are not parallel, they intersect in a line.
To nd the equation of a line, we need a point and a direction. The
! and n
!. Thus, it can
direction of the line will be perpendicular to both n
1
2
!
!
be found with n1 n2 .
!
n
1
!
n
2
=
=
! ! !
i
j
k
1
1
1
1
2 3
!
!
!
5i
2j
3k
= h5; 2; 3i
We also need a point on the line. For this, we can use the equations of the
planes. To be on the line, a point must belong to the two planes. However,
that gives us only two equations and we have three unknowns. So, we can
49
In addition, using the material studied so far, you should be able to do the
following:
1. Be able to nd the equation of a plane given a point on the plane and a
normal to the plane.
2. Be able to nd the equation of a plane given three points on the plane.
3. Be able to nd the equation of a plane through a point and parallel to a
given plane.
4. Be able to nd the equation of a plane through a point and a line not
containing the point.
5. Be able to tell if two planes are parallel, perpendicular.
6. Be able to nd the angle between two planes.
7. Be able to nd the traces of a plane.
8. Be able to nd the intersection of two planes.
Make sure you can do the above before attempting the problems.
1.5.3
Problems
50
10. Find the equation of the plane through P = (1; 1; 1), Q = (2; 0; 2) and
R = (0; 2; 1).
11. Find8the equation of the plane through P = (2; 4; 5) perpendicular to the
< x=5+t
y = 1 + 3t
line
:
z = 4t
8
8
< x = 1 + 2t
< x=2+s
y = 2 + 3t and
y = 4 + 2s .
12. Find the point of intersection of the lines
:
:
z = 3 + 4t
z = 1 4s
Then, nd the plane determined by these two lines.
8
< x= 1+t
y = 2 + t and
13. Find the plane determined by intersecting the lines
:
z=1 t
8
< x = 1 4s
y = 1 + 2s
:
z = 2 2s
14. Find the plane through P0 = (2; 1; 1) perpendicular to the line of intersection of the planes 2x + y z = 3 and x + 2y + z = 2.
8
< x = 4t
y = 2t
15. Find the distance from the point P = (0; 0; 12) to the line
:
z = 2t
8
< x = 2 + 2t
y = 1 + 6t
16. Find the distance from the point P = (2; 1; 3) to the line
:
z=3
17. Find the distance from the point P = (2; 3; 4) to the plane x + 2y + 2z =
13.
51
12.
19. Find the distance between the two planes x+2y +6z = 1 and x+2y +6z =
10.
20. Find the angle between the two planes 2x+2y+2z = 3 and 2x 2y z = 5.
8
< x=1 t
y = 3t and the plane
21. Find the point of intersection between the line
:
z =1+t
2x y + 3z = 6.
22. Determine whether the lines taken two at a time are parallel, intersect or
skew. If they intersect, nd their point of intersection.
8
< x = 3 + 2t
y = 1 + 4t
L1 :
:
z=2 t
8
< x = 1 + 4s
y = 1 + 2s
L2 :
:
z = 3 + 4s
8
< x = 3 + 2r
y =2+r
L3 :
:
z = 2 + 2r
8
< x = 1 + 2t
y = 1 t meet the coordinate
23. Find the points in which the line
:
z = 3t
planes.
24. In the plane, the slope-intercept form of the equation of a line is y = mx+b
where m is the slope and b the y-intercept. Show that the vector (1; m) is
a direction vector of the line y = mx + b. (hint: Pick 2 points P1 and P2
!
on the line the vector P1 P2 is a direction vector for the line).
25. Another form of the equation of a line in the plane is ax + by + c = 0.
Using a similar approach as the one in the previous problem, show that
(b; a) is a direction vector for such a line. What is a vector perpendicular
to the line?
change in y
26. For a line in space, the notion of slope (
) does not carry over
change in x
because there are three variables changing, it is replaced by the direction
vector. However, if a line is one of the coordinate planes, then there are
only two variables involved. If the line is in the xy-plane, then only x
and y are changing. If a line is in the xz-plane, then only x and z are
changing. If a line is in the yz-plane, then only y and z are changing.
Find the direction vector of a line having its slope equal to m in each of
the coordinate planes. (hint: use problem ??).
52
27. Let L be the line that passes through the points Q and R and let P be
a point not on L. Show that the distance between P and L is
!
!
QR QP
!
QR
Show that this agrees with the formula in the book for the distance be!
PS !
v
tween a point S and a line through P parallel to !
v which is
.
vk
k!
28. Let P be a point not on the plane determined by the points Q, R and S.
Show that the distance between P and the plane is
!
QR
!
!
QS QP
! !
QR QS
29. Show that the distance from the point P1 = (x1 ; y1 ) to the line ax+by+c =
1 +cj
0 is jaxp1a+by
.
2 +b2
30. Show that the distance from the point P1 = (x1 ; y1 ; z1 ) and the plane
1 +by1 +cz1 +dj
.
ax + by + cz + d = 0 is jaxp
a2 +b2 +c2
31. Assuming d1 6= d2 , explain why the two planes given by ax+by+cz+d1 = 0
and ax + by + cz + d2 = 0 are parallel, then compute the distance between
them.