VECTORS

Straight line in space Solution

A straight line is uniquely determined in space if either; 𝒓 = 𝑎 + 𝜆𝑑
we know one point on the straight line and its direction or 𝑑 = 𝐴𝐵 = 𝑂𝐵 − 𝑂𝐴
two points on the straight line. 1 3 −2
Vector equation of a line (−1) − ( 4 ) = (−5)
The vector equation of a line is given by 6 −7 13
3 −2
r = a + λAB 𝒓 = ( 4 ) + 𝜆 (−5)(vector equation of line)
B −7 13
𝑥 3 −2
r = a + λAB (𝑦) = ( 4 ) + 𝜆 (−5)
𝑧 −7 13
A x = 3 – 2λ
r = a + λAB y = 4 - 5λ
r = a + λd z = -7+13λ
Where; a = any point on the line x3

d = directional vector of the line. 2
y4

The Cartesian equation is given by; 5
𝑥 − 𝑥𝑜 𝑦 − 𝑦𝑜 𝑧 − 𝑧𝑜
= = =𝜆 z7
𝑎 𝑏 𝑐 
Where a, b and c are direction vectors 13
Cartesian equation
Example 1 𝑥−3 𝑦−4 𝑧+7
= = =𝜆
Find the vector and Cartesian equation of a line passing −2 −5 13
through 3𝒊 − 𝒋 + 2𝒌 and is parallel to 3𝒊 − 𝒋 + 2𝒌
Example III
Solution;
Find the vector and Cartesian equation of a line passing
𝑟 = 𝑎 + 𝜆𝑑
3 3 through (2, -1, 1) and is parallel to the line whose equation
𝑟 = (−1) + 𝜆 (−1) 𝑥−3 𝑦+1 𝑧−2
= = =𝜆
2 2 2 7 −3
Cartesian equation Solution
𝑥 3 3 Since the lines are parallel, it implies that they have the
(𝑦) = (−1) + 𝜆 (−1) same parallel vectors.
𝑧 2 2 𝒓 = 𝑎 + 𝜆𝑑
𝑥 = 3 + 3𝜆 2 2
𝑦 = −1 − 𝜆 𝒓 = (−1) + 𝜆 ( 7 )
𝑧 = 2 + 2𝜆 1 −3
𝑥−3 𝑦+1 𝑧−2 Cartesian equation:
= 𝜆, =𝜆, =𝜆 𝑥 2 2
3 −1 2
𝑥−3 𝑦+1 𝑧−2 (𝑦) = (−1) + 𝜆 ( 7 )
= = =𝜆 𝑧 1 −3
3 −1 2
x2
x – 2 = 2λ  
Example II 2
Find the vector and the Cartesian equation of a line y 1
y + 1 = 7λ  
passing through A(3, 4, -7) and B(1, -1, 6) 7

213
 z 1 1
z – 1 = -3λ   𝑥 =2+
3 6
13
x  2 y 1 z 1 𝑥=
   6
2 7 3 7
𝑦 =3−
6
Example III 11
Find the vector and Cartesian equations of the a line 𝑦=
6
passing through the following points 13 11
The coordinates are ( , , 0)
(a) 5, -4, 6) and (3, 7, 2) 6 6

(b) (3, 4, -7) and (5, 1, 6) Example V

Solution Show that 4i – j – 12k lies on the line
r = a + λAB 𝒓 = 2𝒊 + 3𝒋 + 4𝒌 + 𝜆(𝒊 − 𝟐𝑗 + 4𝒌
r = a + λd Solution
3 5 −2 2 1
𝒅 = (7) − (−4) = ( 11 ) 𝒓 = (3) + 𝜆 (2)
2 6 −4 4 4
5 −2 (4, −1,12)
(a) 𝒓 = (−4) − 𝜆 ( 11 ) 4 2 1
6 −4 (−1) = (3) + 𝜆 (−2)
x5 y 4 z 6 12 4 4
   4 = 2 + 𝜆𝜆 = 2
2 11 4
(b) A(3, 4, -7) and B(5, 1, 6) −1 = 3 − 2 𝜆  𝜆 = 2 and
r = a + μd 12 = 4 + 4𝜆  𝜆 = 2
5 3 ∴ The point lies on the line since the values of μ are the
𝒅 = (1) − ( 4 ) same.
6 −7
2 Example V
𝒅 = (−3) The points A, B, C have position vectors
13 −4 5 8
3 2 ( 5 ) , (2) , (1). Find which of the three points lie in the
𝒓 = ( 4 ) + 𝜇 (−3)
−1 3 7
−7 13 −1 3
x3 y 4 z 7 line 𝒓 = ( 4 ) + 𝜆 (−1)
  
2 3 13 1 2
Solution
−1 3
Example IV 𝒓 = ( 4 ) + 𝜆 (−1)
Find the coordinates of the point where the line joining the 1 2
−4
points (2, 3, 1) and (3, -4 -5) meets the x-y plane For A, 𝒓 = ( 5 )
2 1 −1
𝒓 = (3) + 𝜆 (−7) −4 −1 3
1 −6 ( 5 ) = ( 4 ) + 𝜆 (−1)
𝑥 =2+𝜆 −1 1 2
𝑦 = 3 − 7𝜆 −4 = -1 + 3λ  λ = -1
𝑧 = 1 − 6𝜆 5 = 4 – λ  λ = -1
-1 = 1 + 2λ  λ = -1
For the line to meet the x-y plane, z = 0 −4
0 = 1 − 6𝜆 ⇒ ( 5 ) lies on the line.
1 −1
𝜆=
6

214
 5 1 3
For B, (2) 𝑑1 = (2) 𝑑2 = (2)
3 2 6
−1 3 1 3
𝒓 = ( 4 ) + 𝜆 (−1) (2) . (2)
1 2 cos 𝜃 = 2 6
5 −1 3 √12 + 22 + 22 √32 + 22 + 62
(2) = ( 4 ) + 𝜆 (−1) 3 + 4 + 12
3 1 2 cos 𝜃 =
√9√49
5 = -1 + 3λ  λ = 2 19
2=4–λ  λ=2 cos 𝜃 =
21
3 = 1 + 2λ  λ = 1 19
𝜃 = cos −1 ( )
Since the values of λ are not the same, point B does 21
not lie on the line. 𝜃 = 25.2°
8
For C, (1) Example II
7 Find the angles between the lines
−1 3
𝑥+4 𝑦+1 𝑧+3 𝑥+1 𝑦−4 𝑧−5
𝒓 = ( 4 ) + 𝜆 (−1) = = & = =
1 2 3 5 4 1 1 2
8 −1 3 Solution
(1) = ( 4 ) + 𝜆 (−1) 𝑑1 . 𝑑2
cos 𝜃 =
7 1 2 |𝑑1 ||𝑑2 |
8 = -1 + 3λ  λ = 3 3 1
1=4–λ  λ=3 𝑑1 = (5) , 𝑑2 = (1)
7 = 1 + 2λ  λ = 3 4 2
3 1
 Since the vales of λ are the same, point C lies on (5) . (1)
the line. 4 2
cos 𝜃 =
√32 + 52 + 42 √12 + 12 + 22
3+5+8
cos 𝜃 =
(√50)√6
Angle between two lines
16
The angle between two lines is the angle between their cos 𝜃 =
directional vectors √300
16
Consider two lines L1 and L2 with vector 𝜃 = cos −1 ( )
equations √300
r = a + λd1 and r = b + μd2 respectively 𝜃 = 22.5°
The angle between the two lines is given by
d d Example III
the formula 1 2 Find the acute angle between the lines:
| d1 || d2 |
x 1 y  2 z  2 1 x y  3 z  7
Examples   and  
1. Find the angle between the lines; 2 1 1 2 1 2
𝒓 = 3𝒊 + 2𝒋 − 4𝒌 + 𝜆(𝒊 + 2𝒋 + 2𝒌) Solution
𝒓 = 5𝒊 − 2𝒋 + 𝜇(3𝒊 + 2𝒋 + 6𝒌) x 1 y  2 z  2 x 1 y  3 z  7
   and  
𝒂. 𝒃 = |𝒂||𝒃|𝑐𝑜𝑠 𝜽 2 1 1 2 1 2
𝑎. 𝑏 x 1 y  3 z  7
𝑐𝑜𝑠 𝜽 =   
|𝑎||𝑏| 2 1 2
𝑑1 . 𝑑2 2 −2
cos 𝜃 = 𝒅𝟏 = ( 1 ) and 𝒅𝟐 = ( 1 )
|𝑑1 ||𝑑2 |
−1 2

215
 d1  d 2 𝑧−5
cos  =𝜆
| d1 |  | d 2 | −1
2 −2 𝑧 − 5 = −𝜆
( 1 ).( 1 ) 𝑧 = −𝜆 + 5 ………………………. (v)
−1 2 From equation (ii)
cosθ =
√2 + 1 + (−1) √(−2)2 + 12 + (2)2
2 2 2 𝑥 = −𝜇 + 1 ………………………. (vi)
−4 + 1 − 2 𝑦 + 3 = −3𝜇
cosθ =
√6 . √9 𝑦 = −3𝜇 − 3 … … … … … … … … … … (vii)
 The acute angle between the two lines is 47.1° z = μ + 4 …………………………... (viii)
𝜆 = −𝜇 + 1 … … … … … … … … … … (∗)
Example IV 2𝜆 − 2 = −3𝜇 − 3
Find the angle between the lines: 2𝜆 + 3𝜇 = −1 … … … … … … … … . . (∗∗)
x 1 y 1 z  2 x  5 y 1 z
    and    Substituting Eqn (*) in Eqn (**)
3 2 1 1 1 2
Solution 2(1 − 𝜇) + 3𝜇 = −1
3 1 2 − 2𝜇 + 3𝜇 = −1
𝒅𝟏 = (2) and 𝒅𝟐 = (1) 2 + 𝜇 = −1
1 2 𝜇 = −3
d d 𝜆 = −𝜇 + 1
cos  1 2
| d1 |  | d 2 | 𝜆 =3+1
3 1 𝜆=4
(2) . (1) Equating Eqn (v) and Eqn (viii)
cosθ = 1 2 −𝜆 + 5 = 𝜇 + 4
√3 + 2 + (1) √(1)2 + 12 + (2)2
2 2 2
−4 + 5 = −3 + 4
3+2+2
cosθ = 1=1
√14 . √6 The two lines intersect
θ = 40.2° 𝑥=4
 The acute angle between the two lines is 40.2° 𝑦 = 2𝜆 − 2
𝑦 =8−2
Note: If two lines are perpendicular, then 𝑦=6
(𝒅𝟏 . 𝒅𝟐 ) = 𝟎
𝑧 = −4 + 5
Point of Intersection of two Lines 𝑧 = −4 + 5=1
Example The point of intersection of the lines is (4, 6, 1)
Find the point of intersection of the lines
Example II
𝑥 𝑦+2 𝑧−5 𝑥−1 𝑦+3 𝑧−4
= = & = = Find the point of intersection of the line
1 2 −1 −1 −3 1
𝒓 = 𝒊 − 2𝒋 + 3𝒌 + 𝜆(2𝒊 + 𝒋 − 𝒌)
Solution 𝒓 = −𝒊 + 3𝒋 + 7𝒌 + 𝜇(−2𝒊 + 𝒋 + 2𝒌)
𝑥 𝑦+2 𝑧−5 Solution
1
= 2 = −1 = 𝜆 ………………. (i)
𝑥−1 𝑦+3 𝑧−4 From 𝒓 = 𝒊 − 2𝒋 + 3𝒌 + 𝜆(2𝒊 + 𝒋 − 𝒌)
−1
= −3 = 1 = 𝜇 ……………. (ii) 1 2
From equation (i) 𝒓 = (−2) + 𝜆 ( 1 )
x = λ ………………………………. (iii) 3 −1
𝑦+2 𝒙 1 + 2𝜆
=𝜆 (𝒚) = (−2 + 𝜆)…………………… (1)
2 𝒛 3−𝜆
𝑦 + 2 = 2𝜆
𝒓 = −𝒊 + 3𝒋 + 7𝒌 + 𝜇(−2𝒊 + 𝒋 + 2𝒌)
𝑦 = 2𝜆 − 2 ………………………. (iv)

216
 −1 −2 𝑦 = 𝜇 + 8 … … … … … … … … … … … … … … (5)
𝒓 = ( 3 )+𝜆( 1 ) 𝑧 − 3 = 2𝜇
1 2 𝑧 = 2𝜇 + 3 … … … … … … … … … … … … … … (6)
−1 − 2𝜇
(𝒓) = ( 3 + 𝜇 ) Equating the corresponding components
1 + 2𝜇 2+𝜆 =1−𝜇
𝒙 −1 − 2𝜇 𝜇 + 𝜆 = −1 … … … … … … … … … … … … … (7)
(𝒚) = ( 3 + 𝜇 ) … … … … … … … . (2)
𝜇 + 8 = 4𝜆 − 3
𝒛 7 + 2𝜇
Equating the corresponding x components: 𝜇 − 4𝜆 = −11 … … … … … … … … … … … (8)
Eqn(8) - (7)
1 + 2𝜆 = −1 − 2𝜇
-5𝜆 = −10
2𝜆 + 2𝜇 = −2
𝜆=2
𝜆 + 𝜇 = −1 … … … … … … … … … … … (3)
Equating the corresponding y components: Substitute λ = 2 in Eqn (8)
−2 + 𝜆 = 3 + 𝜇 𝜇 − 4 × 2 = −11
𝜆 − 𝜇 = 5 … … … … … … … … … … … … (4) 𝜇 = −3
Equating the corresponding z component; ∴ The point of intersection is (4, 5, 9)
3 − 𝜆 = 7 + 2𝜇
2𝜇 + 𝜆 = −4 ……………………….. (5)
PLANES
Eqn (3) –eqn (4) A plane is a surface which contains at least three non-
2𝜇 = −6 collinear points. If two points are taken then the lines
joining the two lines lies completely on the surface of the
𝜇 = −3
plane.
From Eqn (4)
A plane is completely known if we know one point that lie
𝜆 − (−3) = 5
on the plane and then the normal to the plane.
𝜆=2
Substituting 𝜆 = 2 and 𝜇 = −3 in Eqn (5);
Equation of a Plane
 The two lines intersect at (5, 0, 1)
Suppose a plane P passes through a point A with a
position vector a and is perpendicular to vector n. Let r be
Example III
any point (x, y, z) in the plane.
Find the point of intersection of the lines
𝑦+3 𝑧−5 𝑥−1 𝑦−8 𝑧−3 If two lines are perpendicular, dot product of their direction
𝑥−2= = & = = vector = 0
4 2 −1 1 −2
Solution n
𝑦+3 𝑧−5
𝑥−2= = = 𝜆 … … … … … … (∗)
4 2
𝑥−1 𝑦−8 𝑧−3
= = = 𝜇 … … … … … … (∗∗) A R
−1 1 −2
From equation (*)
𝑥−2=𝜆 a r
𝑥 = 2 + 𝜆 … … … … … … … … … … … … … (1)
𝑦 + 3 = 4𝜆
𝑦 = 4𝜆 − 3 … … … … … … … … … … … … … (2) O
𝑧 − 5 = 2𝜆 𝐴𝑅. 𝑛 = 0
𝑧 = 2𝜆 + 5 … … … … … … … … … … … … … (3) (𝐴𝑂 + 𝑂𝑅). 𝑛 = 0
From equation (**) (−𝒂 + 𝒓). 𝑛 = 0
𝑥 − 1 = −𝜇 (−𝑛. 𝒂 + 𝑛. 𝒓) = 0
𝑥 = 1 − 𝜇 … … … … … … … … … … … … … … (4) 𝑛. 𝒂 = 𝑛. 𝒓
𝑦−8 =𝜇

217
 2 3
Equation of a plane is given by 𝐧. 𝒓 = 𝐧. 𝒂 𝑛1 = (3) , 𝑛2 = ( 4 )
Where n = normal and a = the point that lies on the plane. 5 −1
𝑛1 . 𝑛2
cos 𝜃 =
Example I |𝑛1 ||𝑛2 |
Find the equation of a plane passing through (1, 2, 3), and 2 3
(3) ( 4 )
is perpendicular to vector 𝟒𝒊 + 5𝒋 + 6𝒌
cos 𝜃 = 5 −1
Solution
√2 + 3 + 52 . √32 + 42 + 12
2 2
𝐧. 𝐫 = 𝐧. 𝒂 6 + 12 − 5 13
4 𝑥 4 1 cos 𝜃 = =
𝑦
(5) . ( ) = (5) . (2) √38. √26 √38. √26
13
6 𝑧 6 3 θ = cos−1
4𝑥 + 5𝑦 + 6𝑧 = 4 + 10 + 18 √38. √26
4𝑥 + 5𝑦 + 6𝑧 = 32 θ = 65.6°

Example II Example II
Find the equation of a plane which contains A with Find the angle between the planes 3x – 3y – z = 0 and 𝑥 +
position vector 𝟑𝒊 + 4𝒋 + 2𝒌 and is perpendicular to 𝒊 + 4𝑦 − 2𝑧 = 4
2𝒋 − 2𝒌. Solution
Solution 3 1
𝑛1 = (−3) , 𝑛2 = ( 4 )
𝑛. 𝒓 = 𝑛. 𝒂
−1 −2
1 𝑥 1 3 𝑛1 𝑛2
( 2 ) . (𝑦) = ( 2 ) . (4) cos 𝜃 =
|𝑛1 ||𝑛2 |
−2 𝑧 −2 2 3 1
𝑥 + 2𝑦 − 2𝑧 = 3 + 8 − 4 (−3) ( 4 )
𝑥 + 2𝑦 − 2𝑦 = 7 −1 −2
cos 𝜃 =
√3 + (−3) + (−1)2 . √12 + 42 + (−2)2
2 2
Example III 3 − 12 + 2 −7
Find the equation of a plane passing through a point A cos 𝜃 = =
√19. √21 √21. √19
with a position vector −2𝒊 + 4𝒌 and is perpendicular to −7
the vector 𝒊 + 3𝒋 − 2𝒌. θ = cos−1 ( )
√21. √19
Solution
θ = 69.5°
𝐧 𝐫 = 𝐧 𝒂
1 𝑥 1 −2 Angle between a line and a plane
( 3 ) . (𝑦) = ( 3 ) . ( 0 )
−2 𝑧 −2 4 n
𝑥 + 3𝑦 − 2𝑧 = −2 + 0 − 8 r=a+λd
𝑥 + 3𝑦 − 2𝑧 = −10 α
𝑥 + 3𝑦 − 2𝑧 + 10 = 0

Angle between two planes

θ
The angle between two planes is the angle between their
normals Line
𝑛1 . 𝑛2
cos 𝜃 =
|𝑛1 ||𝑛2 |
Example I n. d = |𝑛||𝑑| cos 𝛼
Find the angle between the planes 2𝑥 + 3𝑦 + 5𝑧 = 7, 𝜃 + 90° + 𝛼 = 180°
3𝑥 + 4𝑦 − 𝑧 = 8 𝜃 + 𝛼 = 90°
Solution 𝛼 = 90° − 𝜃

218
 n. d = |𝑛||𝑑| cos(90° − 𝜃) 𝑛. 𝑑
sin 𝜃 =
n. d = |𝑛||𝑑| sin 𝜃 |𝑛||𝑑|
𝑛. 𝑑 1 2
sin 𝜃 = (1) ( 5 )
|𝑛||𝑑|
𝒏. 𝒅 sin 𝜃 1 −1
𝐬𝐢𝐧 𝜽 = √12 + 12 + 12 . √22 + 52 + 12
|𝒏||𝒅|
2+5−1
sin 𝜃 =
Example √3. √30
Find the angle between the lines 6
sin 𝜃 = ( )
𝒓 = 𝒊 + 2𝒋 − 2𝒌 + 𝜇(𝒊 − 𝒋 + 𝒌) and the plane 2𝑥 − 𝑦 + √90
𝑧=4 6
𝜃 = sin−1 ( )
Solution √90
𝑛. 𝑑 𝜃 = 39.2°
sin 𝜃 =
|𝑛||𝑑|
1 2 Point of intersection of a line and a plane
(−1) (−1) Example I
1 1 𝑥+1 𝑦−3 𝑧+1
sin 𝜃 Find the point of intersection of the line 2
= 5
= −1
√12 + (−1)2 + 12 . √22 + (−1)2 + 12
and 𝑥 + 𝑦 + 𝑧 = 19
2+1+1
sin 𝜃 = Solution
√3. √6 x 1 y  3 z 1
4     ………………. (*)
sin 𝜃 = ( ) 5 1 1
√18 From (*)
4
𝜃 = sin−1 ( ) 𝑥 + 1 = 2𝜆
√18
𝑥 = 2𝜆 − 1……………….. (1)
𝜃 = 70.5°
𝑦 − 3 = 5𝜆
Find the acute angle between the line 𝑦 = 3 + 5𝜆……………….…. (2)
𝑥−1 𝑦−8 𝑧−3 𝑧 + 1 = −𝜆
−1
= 1
= −2
and 7𝑥 − 𝑦 + 5𝑧 = −5 𝑧 = −1 − 𝜆………………..... (3)
Solution 𝑥 + 𝑦 + 𝑧 = 12
𝑛. 𝑑 (2𝜆 − 1) + (5 + 3𝜆) + (−𝜆 − 1) = 12
sin 𝜃 =
|𝑛||𝑑| 4𝜆 = 16
5 7 𝜆=4
(−1) (−1) From equation (1)
sin 𝜃 1 5 𝑥 = 2(4) − 1 = 7
√5 + (−1) + 1 . √72 + (−1)2 + 52
2 2 2
From equation (2)
35 + 1 + 5 𝑦 = 5(4) + 3 = 23
sin 𝜃 =
√27. √75 From equation (3)
41 𝑧 = −1 − 4 = −5
sin 𝜃 = ( ) ∴ The point of intersection (7, 23, −5)
√2025
41
𝜃 = sin−1 ( ) Example II
√2025 x y  2 z 1
𝜃 = 65.7° Find the point of intersection of the line   and
5 2 4
Solution the plane 3𝑥 + 4𝑦 + 2𝑧 = 25
𝑥+1 𝑦−3 𝑧+1 Solution
Find the angle between the line = = and 𝑥 +
2 5 −1 x y  2 z 1
𝑦 + 𝑧 = 12     ……………….. (*)
5 2 4
Solution
𝑥 = 5𝜆………………………….. (1)

219
 𝑦 + 2 = 2𝜆 2𝑥 − 𝑦 + 3𝑧 − 21 = 0;
𝑦 = 2𝜆 − 2……………………... (2) 𝑎 = 2, 𝑏 = −1, 𝑐 = 3, 𝑑 = −21
𝑧 − 1 = 4𝜆 −4 + 0 + 18 − 21
𝐷=| |
𝑧 = 4𝜆 + 1…………………….. (3) √22 + (−1)2 + 32
3𝑥 + 4𝑦 + 2𝑧 = 25 −7 −7
𝐷= = Units
3(5𝜆) + 4(2𝜆 − 2) + 2(4 𝜆 + 1) = 25 √4+1+9 √14

15𝜆 + 8𝜆 − 8 + 8𝜆 + 2 = 25
31𝜆 = 25 + 6 Line of intersection of two planes
31𝜆 = 31 Two planes intersect in a line
𝜆=1
Examples I
𝑥 = 5, 𝑦 = 2 − 2 = 0, 𝑧=5
Find the line of intersection of the planes 2x + 3y + 4z = 1
∴ The point of intersection = (5, 0, 5)
and x + y + 3z=0
Example Solution
𝑥+2 𝑦−2 2𝑥 + 3𝑦 + 4𝑧 = 1
Find the point of intersection of the line; = =𝑧−
−1 2 𝑥 + 𝑦 + 3𝑧 = 0
4 and the plane 2𝑥 − 𝑦 + 3𝑧 = 10 Let 𝑧 = 𝜆
Solution 2𝑥 + 3𝑦 = 1 − 4𝜆…………………….. (1)
𝑥+2 𝑦−2
= =𝑧−4=𝜆 𝑥 + 𝑦 = −3𝜆 … … … … … … … … … … … . . (2)
−1 2 Eqn (2) ×2
𝑥 = −𝜆 − 2…………….. (1)
2𝑥 + 2𝑦 = −6𝜆 ………………………. (3)
𝑦 = 2𝜆 + 2……………... (2)
Eqn (1) – Eqn (3);
𝑧 = 𝜆 + 4………………. (3)
𝑦 = 1 + 2𝜆
2𝑥 − 𝑦 + 3𝑧 = 10 𝑦−1
2(−𝜆 − 2) − (2𝜆 + 2) + 3(𝜆 + 4) = 10 =𝜆
2
−2𝜆 − 4 − 2𝜆 − 2 + 3𝜆 + 12 = 10 From Eqn (2);
−4𝜆 + 3𝜆 + 6 = 10 But y = 1 + 2 𝜆
−𝜆 = 4 x + y = -3λ
𝜆 = −4 x + 1 + 2λ = -3λ
𝑥 = −4 − 2 = −6, 𝑦 = −8 + 2 = −6, 𝑥 + 1 = −3𝜆 − 2𝜆
𝑧 = −4 + 4 = 0 𝑥 + 1 = −5𝜆
The point of intersection (-6, -6, 0) 𝑥+1
=𝜆
−5
Perpendicular distance of a point from a 𝑥+1 𝑦−1
= =𝑧=𝜆
plane −5 2

The perpendicular distance of a point (𝑥1 , 𝑦1 , 𝑧1 ) from the Example II

plane 𝑎𝑥 + 𝑏𝑦 + 𝑐𝑧 + 𝑑 = 0 is given by the formula; Find the line of intersection of planes 2x + 3y – z = 4 and x
𝑎𝑥 + 𝑏𝑦 + 𝑐𝑧 + 𝑑 – y + 2z = 5.
𝐷=| |
√𝑎2 + 𝑏 2 + 𝑐 2 Solution
Example 2𝑥 + 3𝑦 − 𝑧 = 4
Find the distance of a point (−2, 0, 6) from the plane 2𝑥 − 𝑥 − 𝑦 + 2𝑧 = 5
𝑦 + 3𝑧 = 21 Let 𝑧 = 𝜆
Solution 2𝑥 + 3𝑦 − 𝜆 = 4
𝑎𝑥 + 𝑏𝑦 + 𝑐𝑧 + 𝑑 𝑥 − 𝑦 + 2𝜆 = 5
𝐷=| |
√𝑎2 + 𝑏 2 + 𝑐 2 2𝑥 + 3𝑦 = 4 + 𝜆 ……………… (i)
𝑥1 , 𝑦1 , 𝑧1 = (−2, 0, 6) 𝑥 − 𝑦 = 5 − 2𝜆……………….. (ii)
Comparing 𝑎𝑥 + 𝑏𝑦 + 𝑐𝑧 + 𝑑 = 0 with

220
Multiply Eqn (ii) by 3; 2z − 13
=λ
3𝑥 − 3𝑦 = 15 − 6𝜆 …………… (iii) −17
13
Eqn (iii) + Eqn (i); 2 (z − 2 )
=λ
5𝑥 = 19 − 5𝜆 −17
5𝜆 = −𝑥 + 19 1 13
(y + 2) (z − 2 )
19 𝑥= =− =λ
𝜆 = −𝑥 + 7 17
5 2 2
19 1 13
(𝑥 − ) (y + 2) (z − 2 )
𝜆= 5
−1 𝑥= = =λ
7 17
Multiply Eqn (ii) by 2; 2 − 2
2𝑥 − 2𝑦 = 10 − 4𝜆 …………… (iv)
Eqn (iv) – Eqn (i); Equation of a Plane
−5𝑦 = 6 − 5𝜆 Given three points on the plane, we can find the equation
5𝜆 = −6 + 5𝑦 of a plane;
−6
𝜆= +𝑦 Example I
5
6 Find the Cartesian equation of a plane passing through A
𝑦−
𝜆= 5 (0, 3, -4) B (2, -1, 2) and C (7, 4, -1)
1 Solution
19 6 𝑝
𝑥− 𝑦−
5 = 5=𝑧=𝜆
Let the normal = (𝑞)
−1 1
𝑟
2 0 2
Example 𝐴𝐵 = (−1) − ( 3 ) = (−4)
Find the Cartesian equation of a line of intersection of the 2 −4 6
lines. 7 0 7
2𝑥 − 3𝑦 − 𝑧 = 1 𝐴𝐶 = ( 4 ) − ( 3 ) = (1)
3𝑥 + 4𝑦 + 2𝑧 = 3 −1 −4 3
𝑝 2
Let 𝑥 = 𝜆
(𝑞) . (−4) = 0
−3𝑦 − 𝑧 = 1 − 2𝜆 …………… (i) 𝑟 6
4𝑦 + 2𝑧 = 3 − 3𝜆 …………… (ii) 2𝑝 − 4𝑞 + 6𝑟 = 0
Eqn (i) × 2 𝑝 − 2𝑞 + 3𝑟 = 0 …………………… (i)
𝑝 7
−6𝑦 − 2𝑧 = 2 − 4𝜆 ………….. (iii)
(𝑞) . (1) = 0
Eqn (iii) + Eqn (ii) 𝑟 3
−2𝑦 = 5 − 7𝜆 7𝑝 + 𝑞 + 3𝑟 = 0 …………………… (ii)
−2𝑦 − 5 = −7𝜆 From (i)
−2𝑦 − 5 𝑝 = 2𝑞 − 3𝑟 ………………………… (iii)
=𝜆
−7 ⇒ 7(2𝑞 − 3𝑟) + 𝑞 + 3𝑟 = 0
5
−2 (𝑦 + 2) 14𝑞 − 21𝑟 + 𝑞 + 3𝑟 = 0
=𝜆 15𝑞 − 18𝑟 = 0
−7
Eqn (i) × 4 5𝑞 − 6𝑟 = 0
⇒ −12𝑦 − 4𝑧 = 4 − 8𝜆 ……….. (iv) 5𝑞 = 6𝑟
6
Eqn (ii) × 3 𝑞 = 5 𝑟……………………………… (iv)
6𝑟
12y + 6z = 9 − 9λ ………………. (v) ⇒ 𝑝 = 2 ( ) − 3𝑟
Eqn (iv) + Eqn (v) 5
12
2z = 13 − 17λ 𝑝= 𝑟 − 3𝑟
5
221
 3 −3r
𝑝=− 𝑟 p
5 7 r −3
𝑝 −3𝑟⁄ (q ) = 4r = ( 4 )
5 𝑟 −3 r 7
7
(𝑞) = ( 6𝑟⁄ ) = ( 6 ) 7
𝑟 5 5 ( r )
𝑟 5
−3
−3 𝑛=( 4 )
∴𝑛=( 6 ) 7
5 n. r = n. a
𝑛. 𝒓 = 𝑛. 𝒂 x −3 −3 4
𝑥 −3 −3 0 (y) ( 4 ) = ( 4 ) . (2)
(𝑦 ) . ( 6 ) = ( 6 ) . ( 3 ) z 7 7 3
𝑧 5 5 −4 −3x + 4y + 7z = −12 + 8 + 21
−3𝑥 + 6𝑦 + 5𝑧 = 0 + 18 − 20 −3x + 4y + 7z = 17
−3𝑥 + 6𝑦 + 5𝑧 = −2 3x − 4y − 7z + 17 = 0
3𝑥 − 6𝑦 − 5𝑧 − 2 = 0
Example III
Example II Find the equation of the planes passing through the
Find the equation of a plane passing through points P(4, 2, following points:
3), Q(5, 1, 4) and R(-2, 1, 1). (i) A (0, 2, -4) B (2, 0, 2) C (-8, 4, 0)
Solution Solution
𝑝 𝑝
Let the normal to the plane be (𝑞) Let the normal 𝑛 = (𝑞 )
𝑟 𝑟
5 4 1 2 0 2
𝑃𝑄 = (1) − (2) = (−1) 𝐴𝐵 = (0) − ( 2 ) = (−2)
4 3 1 2 −4 6
−2 4 −6 −8 0 −8
𝑃𝑅 = ( 1 ) − (2) = (−1) 𝐴𝐶 = ( 4 ) − ( 2 ) = ( 2 )
1 3 −2 0 −4 4
𝑝 1 𝑝 2
(𝑞) . (−1) = 0 (𝑞) . (−2) = 0
𝑟 1 𝑟 6
𝑝 − 𝑞 − 𝑟 = 0 …………………… (i) 2𝑝 − 2𝑞 + 6𝑟 = 0
𝑝 −6 p – q + 3r = 0 …………………… (i)
𝑞
( ) . (−1) = 0
𝑝 −8
𝑟 −2
(𝑞) . ( 2 ) = 0
−6𝑝 − 𝑞 − 2𝑟 = 0 𝑟 4
6𝑝 + 𝑞 + 2𝑟 = 0 ………………… (ii) −8𝑝 + 2𝑞 + 4𝑟 = 0
From Eqn (i); -4p + q + 2r = 0 …………………… (ii)
𝑝 =𝑞−𝑟 𝑝 − 𝑞 + 3𝑟 = 0
6(𝑞 − 𝑟) + 𝑞 + 2𝑟 = 0 𝑝 = 𝑞 − 3𝑟
6𝑞 − 6𝑟 + 𝑞 + 2𝑟 = 0 −8(𝑞 − 3𝑟) + 2𝑞 + 4𝑟 = 0
7𝑞 − 4𝑟 = 0 −8𝑞 + 24𝑟 + 2𝑞 + 4𝑟 = 0
7𝑞 = 4𝑟 −6𝑞 + 28𝑟 = 0
4𝑟 6𝑞 = 28𝑟
𝑞= 14𝑟
7 𝑞=
4𝑟 3
𝑝= −𝑟 14𝑟 5𝑟
7
−3r 𝑝= − 3𝑟 =
3 3
p=
7

222
 𝑝 5𝑟⁄ Find the Cartesian equation of a plane containing the
3 𝑟 5
(𝑞) = (14𝑟⁄ ) = (14) point (1, 3, 1) and it’s parallel to vectors (1, -1, -3) and (2,
𝑟 3 3 1, -3)
𝑟 3
5 Solution
𝑛 = (14) 1 2
3 𝐴𝐵 = (−1)and 𝐴𝐶 = ( 1 )
𝑛. 𝒓 = 𝑛. 𝒂 3 −3
𝑝
𝑥 5 5 0
Let the normal = (𝑞)
(𝑦) . (14) = (14) ( 2 )
𝑟
𝑧 3 3 −4 𝑝 1
5𝑥 + 14𝑦 + 3𝑧 = 0 + 28 − 12 (𝑞) . (−1) = 0
5𝑥 + 14𝑦 + 3𝑧 − 16 = 0 𝑟 3
𝑝 − 𝑞 + 3𝑟 = 0 ……………….. (i)
(ii) A (-1, 0, 1), B(3, 3, -2), C(-1, 1, 1) 𝑝 2
𝑝 (𝑞) ( 1 ) = 0
Let the normal = (𝑞) 𝑟 −3
𝑟 2𝑝 + 𝑞 − 3𝑟 = 0 ……………… (ii)
3 −1 4
AB = ( 3 ) − ( 0 ) = ( 3 ) 𝑝 = 𝑞 − 3𝑟
−2 1 −3 2(𝑞 − 3𝑟) + 𝑞 − 3𝑟 = 0
−1 −1 0 2𝑞 − 6𝑟 + 𝑞 − 3𝑟 = 0
𝐴𝐶 = ( 1 ) − ( 0 ) = (1) 3𝑞 − 9𝑟 = 0
1 1 0 q = 3r
𝒑 4
(𝒒) . ( 3 ) = 0 p = 3r – 3r
𝒓 −3 p=0
4𝑝 + 3𝑞 − 3𝑟 = 0 ………………… (i) 𝑝 0
𝑝 0 (𝑞) = (3𝑟)
(𝑞) . (1) = 0 𝑟 𝑟
𝑝 0
𝑟 0
(𝑞) = 𝑟 (3)
𝑞=0
𝑟 1
Substitute q = 0 in Eqn (i); r n = n a
4𝑝 = 3𝑟 0
p
3r 𝑛 = (3)
4 1
𝑝 3𝑟⁄ 𝑥 0 0 1
4 𝑟 3 (𝑦) . (3) = (3) . (3)
(𝑞) = ( 0 ) = (0)
𝑟 4 𝑧 1 1 1
𝑟 4
3𝑦 + 𝑧 = 10
3
𝑛 = (0)
Example V
4
𝑛. 𝒓 = 𝑛. 𝒂 Find the Cartesian equation of the plane passing through
𝑥 3 3 −1 the points A(1, 0, -2), B (3, -1, 1) parallel to the line
(𝑦) . (0) = (0) ( 0 ) 𝒓 = 3𝒊 + (2𝛼 − 1)𝒋 + (5 − 𝛼)𝒌
𝑧 4 4 1 Solution:
3𝑥 + 4𝑧 = −3 + 4 𝒓 = 3𝒊 + 2𝛼𝒋 − 𝒋 + 5𝒌 − 𝛼𝒌
(3𝑥 + 4𝑧 = 1) 𝒓 = 3𝒊 − 𝒋 + 5𝒌 − 𝛼(𝟎𝒋 + 𝟐𝒋 − 𝒌)
3𝑥 + 4𝑧 − 1 = 0 3 1 2
𝐴𝐵 = (−1) − ( 0 ) = (−1)
Example IV 1 −2 3

223
 2 𝑝 −1
𝐴𝐵 = (−1) (𝑞 ) ( 1 ) = 0
3 𝑟 2
0 -p + q + 2r = 0……………….. (ii)
𝐴𝐶 = ( 2 ) From Eqn (i);
−1 r = –2p + q
2 𝑝
(−1) . (𝑞) = 0 ⇒ p – q – 2(q – 2p) = 0
3 𝑟 p – q – 2q + 4p = 0
2p – q + 3r = 0 …………………….. (i) 5p – 3q = 0
𝑝 0 3q
(𝑞 ) . ( 2 ) = 0 p=
5
𝑟 −1
 3q 
2𝑞 − 𝑟 = 0………………………… (ii) r  2    q
 5 
From Eqn (ii);
q
⇒ 𝑟 = 2𝑞 r
5
2𝑝 − 𝑞 + 3(2𝑞) = 0
3q
2𝑝 − 𝑞 + 6𝑞 = 0 𝑝 5 3
2𝑝 + 5𝑞 = 0 𝑛 = (𝑞 ) = 𝑞 = q
(5)
5
−5 𝑟 q −1
𝑝= 𝑞 5
2 ( )
𝑝 5 q 𝑛. 𝒓 = 𝑛. 𝒂
2 𝑞 −5 𝑥
(𝑞 ) = ( 𝑞 ) = ( 2 ) 3 3 1
𝑟 2 (𝑦) . ( 5 ) = ( 5 ) (−1)
2𝑞 4
𝑧 −1 −1 0
−5
3x + 5y – z = 3 – 5 + 0
𝑛=( 2 )
4 3x + 5y – z = -2
𝑛. 𝒓 = 𝑛. 𝒂
𝑥 −5 −5 1 Example VII
(𝑦 ) ( 2 ) = ( 2 ) ( 0 ) Find the Cartesian equation of the plane formed by the
𝑧 4 4 −2 lines r = -2i + 5j – 11k + λ(3i + j + 3k) and
−5𝑥 + 2𝑦 + 4𝑧 = −5 − 8 r = 8i + 9j + λ(4i + 2j + 5k)
(−5𝑥 + 2𝑦 + 4𝑧 = −13) Solution
5𝑥 − 2𝑦 − 4𝑧 − 13 = 0 𝑝 𝑝 3
𝐿𝑒𝑡 𝑛 = (𝑞 ) ⟹ (𝑞 ) . (1) = 0
Example VI 𝑟 𝑟 3
Find the equation of the plane containing line 3p + q + 3r = 0 …………….. ….(i)
1 −2 𝑝 4
𝑟 = (−1) + 𝑡 ( 1 ) and is parallel to the line (𝑞 ) . (2) = 0
0 −1 𝑟 5
2 −1 4p + 2q + 5r = 0 ……………… (ii)
𝑟 = ( 1) + 𝑆 ( 1 ) From Eqn (i);
1 2 q = -3p – 3r
−2 −1 𝑝 4p + 2(-3p – 3r) + 5r = 0
𝐴𝐵 = ( 1 ) , 𝐴𝐶 = ( 1 ) , 𝑛 = (𝑞 )
4p – 6p – 6r + 5r = 0
−1 2 𝑟
𝑝 −2 -2p – r = 0
(𝑞 ) . ( 1 ) = 0 ; r = -2p
𝑟 −1 q = -3p – 3(-2p)
−2p + q – r = 0 q = 3p
⇒2p – q + r = 0 ……………….. (i)

224
 𝑝 𝑝 1 4 1
(𝑞 ) = ( 3𝑝 ) = 𝑝 ( 3 ) 𝑂𝑅 = 2 (−3) + 1 (0)
𝑟 −2𝑝 −2 5 2
1 9
𝑛=( 3 ) (−6)
−2 𝑂𝑅 = 12
𝑛. 𝒓 = 𝑛. 𝒂 3
𝑥 1 1 −2 1 0
(𝑦 ) . ( 3 ) = ( 3 ) . ( 5 ) 𝑂𝑅 = (−6)
3
𝑧 −2 −2 −11 12
x + 3y – 2z = -2 + 15 + 22 𝑅 = (3, −2, 4)
x + 3y – 2z = 35
Example II
INTERNAL AND EXTERNAL DIVISIONS 2 7
The points A (−1) and 𝐵 (6) form a line segment
Let A and B be points in space with position vectors A
6 1
and B.
which is divided externally in the ratio of 4:-1. Find the
coordinates of T
A 2 7
−1 (−1) + 4 (6)
𝜆 6 1
(𝑂𝑇) =
−1 + 4
R −2 + 28
μ ( 1 + 24 )
a
B
𝑂𝑇 = −6 + 4
3
1 26
b = ( ) ( 25 )
3
−2
0 26 25 2
𝑂𝑇 = ( , , − )
Let R be a point on a line segment AB dividing AB 3 3 3
internally in the ratio of 𝜆 ∶ 𝜇 Example III
OR = OA + AR 3 9
𝜇 Find the position vectors (−2) and ( 1 ) , Find the
𝑂𝑅 = 𝒂 + 𝐴𝐵 5 −1
𝜆+𝜇
𝝀 position vectors of C which divides AB externally in the
=𝒂+ (𝒃 − 𝒂) ratio of 5:-3
𝜆+𝜇
𝑎𝜆 + 𝑎𝜇 + 𝑏𝜆 − 𝑎𝜆 Solution:
𝑂𝑅 = 3 9
𝜆+𝜇 −3 (−2) + 5 ( 1 )
𝑎𝜇 + 𝑏𝜆 5 −1
𝑂𝑅 =
𝜆+𝜇 5 + −3
−9 45
Example I ( 6 )+( 5 )
4 1
−15 −5
Given that; 𝑂𝑃 = (−3) , 𝑂𝑄 = (0). Find the coordinates
2
5 2
of R such that PR :RQ = 1:2 −9 + 45
𝒂𝜇 + 𝒃𝜆 ( 6+5 )
𝒓= −15 − 5
𝜆+𝜇
2

225
1 36 C
( 11 )
2
−20
18
11
𝑂𝐶 = ( ⁄2)
10
A B
11
𝐶 = (18, , −10) 𝑨𝑩 + 𝑩𝑪 + 𝑪𝑨 = 𝟎
2 𝑶𝑩 − 𝑶𝑨 + 𝑶𝑪 − 𝑶𝑩 + 𝑶𝑨 − 𝑶𝑪 = 𝟎
Example IV
Example
Given that A(0, 5, -3), B(2, 3, -4) and C(1, -1, 2). Find
Show that 3𝒊 + 3𝒋 + 𝒌, 8𝒊 + 𝟕𝒋 + 4𝒌 and
the coordinates of D if ABCD is a rectangle or
𝟏𝟏𝒊 + 𝟒𝒋 + 𝟓𝒌 are vertices of a triangle
parallelogram.
C(11, 4, 5
D
C (1, -1,2)

B (2, 3, -4) B(8, 7, 4

A (0, 5, -3) A(3, 3,1)

𝐴𝐵 = 𝐷𝐶 𝐴𝐵 + 𝐵𝐶 + 𝐶𝐴 = 0

(𝑂𝐵 − 𝑂𝐴) = (𝑂𝐶 − 𝑂𝐷) 𝑂𝐵 − 𝑂𝐴 + 𝑂𝐶 − 𝑂𝐵 + 𝑂𝐴 − 𝑂𝐶

𝑂𝐷 = 𝑂𝐶 + 𝑂𝐴 − 𝑂𝐵 8 3 11 8 3 11
= (7) − (3) + ( 4 ) − (7) + (3) − ( 4 )
1 0 2 4 1 5 4 1 5
𝑂𝐷 = (−1) + ( 5 ) − ( 3 )
2 −3 −4 5 3 −8
= (4) (−3) + (−1)
1 2 3 1 −4
𝑂𝐷 = ( 4 ) − ( 3 )
−1 −4 8 −8 0
(1) + (−1) = (0) = 0
−1 4 −4 0
𝑂𝐷 = ( 1 )
3

𝐷 = (−1, 1,3) Length and the equation of the perpendicular drawn

from the point
Proving that three points are vertices of a
Example I
triangle Find the equation and length of the perpendicular drawn
Give a triangle ABC with vertices from a point (2, 3, -4) to the line
4−𝑥 𝑦 1−𝑧
𝐴 = (𝑥1 𝑦1 𝑧1 ) B (x2, y2, z2) C (x3, y3, z3) = =
2 6 3
Solution
4−𝑥 𝑦 1−𝑧
= =
2 6 3
𝑥−4 𝑦 𝑧−1
⇒ = =
−2 6 −3

226
 A(2, 3, -4) 24⁄
49
𝐴𝐵 = 75⁄49
134⁄
( 49)
B(4-2λ), 6λ, (1-3λ) 24
49
2
75
𝑟 = ( 3 )+𝜆 49

4 −2 −4 134
𝑟 = ( 0 )+𝜆( 6 ) ( 49 )
−1 −3 Equation of the perpendicular
x2 y 3 z4
𝑥 4 −2  
72 69 186
49 49 49
(𝑦 ) = ( 0 ) + 𝜆 ( 6 )
𝑧 −1 −3 Length of the perpendicular AB

𝑥 4 − 2𝜆 24 2 75 2 134 2
𝐴𝐵 = √( ) +( ) +( )
(𝑦) = ( 6𝜆 ) 49 49 49
𝑧 −1 − 3𝜆 AB = 3.1719 units
−2 Find the length and equation of the perpendicular drawn
𝐴𝐵. ( 6 ) = 0 from a point (5, 4, -1) to the line; 𝒓 = 𝒊 + 𝜆(2𝒊 + 9𝒋 +
−3 5𝒌)
Solution
𝐴𝐵 = 𝑂𝐵 − 𝑂𝐴
A(5, 4, -1)
4 − 2𝜆 − 2 2 − 2𝜆
= ( 6𝜆 − 3 ) = (6𝜆 − 3)
1 − 3𝜆 − 4 5 − 3𝜆
2 − 2𝜆 −2 B(1+2λ, 9λ, 5λ)
(6𝜆 − 3) ( 6 )=0
5 − 3𝜆 −3
1 2
(−2(2 − 2𝜆) + 6(6𝜆 − 3) − 3(5 − 3𝜆) = 0 𝑟 = (0) + 𝜆 (9)
0 5
−4 + 4𝜆 + 36𝜆 − 18 − 15 + 9𝜆 = 0 𝑥 1 2𝜆
(𝑦) = (0) + (9𝜆)
36𝜆 + 9𝜆 + 4𝜆 − 18 − 15 − 4 = 0 𝑧 0 5𝜆
𝑥 1 + 2𝜆
49𝜆 = 37 (𝑦) = ( 9𝜆 )
𝑧 5𝜆
37
𝜆= 1 + 2𝜆 − 5 2𝜆 − 4
49
𝐴𝐵 = ( 9𝜆 − 4 ) = (9𝜆 − 4)
37 5𝜆 + 1 5𝜆 + 1
2 − 2( )
49
37 𝐴𝐵. 𝑑 = 0
𝐴𝐵 = 6 ( ) − 3 2
49
37 𝑑 = (9)
(5 − 3 (49)) 5
2𝜆 − 4 2
(9𝜆 − 4) (9) = 0
5𝜆 + 1 5
(2(2𝜆 − 4) + 9(9𝜆 − 4) + 5(5𝜆 + 1) = 0

227
4𝜆 − 8 + 81𝜆 − 36 + 25𝜆 + 5 = 0 2𝒊 + 5𝒋 − 14𝒌
𝑟. ( )=2
81𝜆 + 25𝜆 + 4𝜆 − 8 + 5 − 36 = 0 15
110𝜆 = 39
39 Plane 2
𝜆=
110 𝑟. 2𝒊 + 5𝒋 − 14𝒌 = −15
39
2( )−4
110 2𝒊 + 5𝒋 − 14𝒌
39 𝑟. ( ) = −1
𝐴𝐵 = 9 ( )−4 15
110
39
( 110) + 1)
5 (
−362
110
−89
=
110 2 units
−305
( 110 )
O 1 unit
−362 2 −89 2 −305 2
√
|𝐴𝐵| = ( ) ( ) ( )
110 110 110

|𝐴𝐵| = 4.379 units

Equation of the perpendicular bisector is

362
110 Example II
5
𝑟 =( 4 )+𝜇 89 Find the perpendicular distance between two parallel
110
−1 planes;
305
( )
110 𝑥 + 2𝑦 − 𝑧 = −4 𝑎𝑛𝑑 𝑥 + 2𝑦 − 𝑧 = 3
𝑥−5 𝑦−4 𝑧+1 r.nˆ  d1
= = =𝜇
−362⁄ −89⁄ 305⁄ For plane 1
110 110 110
r.(i  2 j  k )  4
(i  2 j  k ) 4
Shortest Distance between Parallel Planes r. 
6 6
Example I
Find the perpendicular distance between two parallel For plane 2
planes; r.(i  2 j  k )  3
2𝑥 + 5𝑦 − 14𝑧 = 30 0 (i  2 j  k ) 3
2𝑥 + 5𝑦 − 14𝑧 = −15 r. 
6 6
Solution
r.nˆ  d1
Plane 1

2𝒊 + 5𝒋 − 14𝒌 30
𝑟. ( )=
15 15
2𝒊 + 5𝒋 − 14𝒌
𝑟. ( )=2
15

228
 x 1 y  3 z 1
 
1 1 2

AB   2  1  1  3   3  1
2 2 2
units
O AB  17
unit
AB  OB  OA

−1 2 −3
( 3 ) − (1) = ( 2 )
1 3 −2
3 4 7
   units A (2, 1, 3)
6 6 6 θ

d
Shortest distance between two parallel lines
θ
A B (-1, 3, 1)
θ
AB.d
cos  
d AB .d

−3 1
θ
( 2 ) . (−1)
O B
cos 𝜃 = −2 2
√17√6
A
−9
𝜃 = cos−1 ( )
√100
d 𝜃 = 26.8°

𝑑
sin 26.8° =
√17
O B 𝑑 = 1.859 𝑢𝑛𝑖𝑡s

Distance between a point A and line B Example II

d  AB sin Find the distance between the following pairs of
parallel lines
Example I 2 1
Find the shortest distance between the following pairs 𝑟 = (0) + 𝜆 (−1)
of parallel lines 3 2
1 1
x  2 y 1 z  3 𝑟 = (−1) + 𝜇 (−1)
  4 2
1 1 2 Solution
and

229
 A (2, 0, 3)  2   (1   )   2    1 
   
θ
 1    (2  2 )      2  3 
1  3  (3   )   3    2 
   
d
 2    1  1 
  
θ    2  3   2   0
 3    2  1 
B (1, -1, 4)   
AB   2  1   0  1   3  4 
2 2 2
2    1  2  4  6  3    2  0
7   6  7.......................(1)
AB  1  1  1
 2    1   2 
AB  3   
2    2  3   1   0
cos 𝜃 =  3    2   3 
√18   
𝜃 = cos −1 (
2
) 4   2  2    2  3  9  3  6  0
√18 14   7  7  0
𝜃 = 61.9°
𝑑 14   7  7........................(2)
sin 𝜃 =
1 7
√3  ,  
𝑑 5 5
sin 61.9° =
√3
𝑑 = √3 sin 61.9° 2 
 
𝑑 = 1.52789 𝑢𝑛𝑖𝑡𝑠 AB   0.4 
 1.2 
SKEW LINES
 
These are lines which are neither parallel nor AB  22  (0.4) 2  (1.2) 2  2.3664units
perpendicular
Shortest distance between two skew lines Example II
Find the shortest distance between the following pairs
Example I of skew lines
Find the shortest distance between the following skew x  2 y 1 z x 1 y 1 z 1
  and  
lines 0 1 2 1 3 2
−1 1 0 2 Solution
𝒓 = ( 2 ) + 𝜆 (2) and 𝒓 = (−1) + 𝜇 (1)
3 1 1 3 2  0  1  1 
   ,    
r   1     1  r   1      3 
0   2 1   2 
       

AB  OB  OA

230
   1     2   3 
A
   
AB  OB  OA  1  3    1       3    2 
  1  2  2 
 1  2   2   
C D
 3 0
  
 3     2   1   0
 1  2   2   2 
   O E
B
3    2  2  4   4  0
7   5  4  0 DE  nCD
7   5  4  0
DE  n CA  AD 
7   5  4..........................(1)
1 
 3  1  DE  n  a  AD 
   3 
 3     2    3   0
 1  2   2    2  1 1 
   DE  n  a  AB 
 12  3 2 
  3  9   3  6  2  4   4  7
1 1 1
14   7  11  0 AB   6  DE  na  nb  na
 7  3 2 2
14   7  11......................(2)  3  1 1
9  7  DE  na  nb...................(1)
  ,   1 6 2
7 DE  DB  BE
 12   6   3 
2 2 2
1
AB       DE  AB  kb
 7   7  7 2
1
144 36 9 DE  (b  a)  kb
AB    2
49 49 49
1 1
3 21 DE  b  a  kb
AB  units 2 2
7
1  1
Vector Geometry DE    k  b  a
2  2
Example I
1 1
Triangle OAB has OA=a, OB=b. C is a point on OA such a   na
that OC= 2 a. D is a mid point of AB when CD is 2 6
3
1 1
produced, it meets OB at E such that DE = nCD and  n
2 6
BE=kb. Express BE, DE in terms of;
a) n, a and b 6  2n
n3
b) k, b and a. Hence find the values of n and k.
1  1
  k  b  nb
2  2

231
1 1 2
 k  3  
2 2 5
3 1 8
k   1 
5
2 2
8
Example II OQ = a
5
Given that OA is a and OB=b point R is on OB such that
OR:RB=4:1. Point P is on AB such that BP:PA=2:3. Example III
When RP and OA are both produced, they meet at Q. Find O, A and B are non collinear points OA = a, OB = b, C is
OR and OP in terms of a and b 1
ii) OQ in terms of a midpoint of AB, D is a point on OB such that OD = OB .
4
Solution T is a point of intersection of OC and AD. Find the vector
B OT in terms of a and b.
Solution
R B

P
b 3

C
D
O a A Q T
1
4 4
OR  OB  OR  b O a A
5 5
OT = λOC
OP  OB  BP
OC = OB + BC
2
OP  b  BA =b+
1
BA
5 2
2
OP  b  (a  b) 1
= b + (a – b)
5 2
1 1
OP  (3b  2a) OC = (a + b)
5 2
1 1 
OT    a  b 
OQ   OA  a 2 2 
1 1
OQ  OR  RQ OT   a  b..........................(i)
2 2
4
OQ  b   RP OT = OA + AT
5 = a +  AD
4  4 1 
OQ  b    b   2a  3b  
AD = AO + OD
5  5 5  =a+
1
b
4
4 1  2
OQ      b   a 1
5 5  5 OT = a +  (a + b)
4
4 1
  0 1
OT = a −  a +  b
5 5 4
4

232
 1 4. (a) The line through A(1, -2, 2) and perpendicular to
OT = (1 −  )a +  b ……..….. (ii)
4 the plane 4x – y + 2z + 12 = 0 meets the plane in
Equating components of vectors a and b in Eqns (i) and point B. Find the coordinates of B.
(ii); (b) Given that the vectors ai – 2j + k and 2ai + aj – 4i
1 are perpendicular, find the values of a.
  1   .......................(iii)
2 5. Find the equation of the plane through the point (1, 2,
1 1 3) and perpendicular to the vector r = 4i + 5j + k.
  .........................(iv)
2 4 6. (a) The vertices of a triangle are P(2, -1, 5), Q(7, 1, -
From Eqn (iv); 3) and R(13, -2, 0). Show that PQR = 90°. Find the
2  
coordinates of S if PQRS is a rectangle.

  1  2 (b) Find the equation of the line through A(2, 2, 5)
2
and B(1, 2, 3)
5
1 (c) If the line in (b) above meets the line
2
x 1 y  2 z 1
2   at P, find the:
 1 0 3
5
4 (i) coordinates of P,
 (ii) angle between the two lines
5
7. The position vector of points P and Q are 2i – 3j and 3i
21 1 
OT   a  b  – 7j + 12k respectively. Determine the length of PQ. PQ
52 2 
meets the plane 4x + 5y – 2z = 5 at point S. Find:
1
OT   a  b  (a) the coordinates of S,
5
(b) the angle between PQ and the plane.
8. (a) Find the angle between the line r = 3k + λ(7i – j +
4k) and the plane r  (2i – 5j – 2k) = 8
Revision Exercise
(b) Show that the lines with vector equations
1. In a triangle ABC, the altitudes from B and C meet
r1 = (1 + 4λ)i + (1 – λ)j + (2λ)k , and
the opposite sides at E and F respectively. BE and CF r2 = (5 + 3μ)i + (2μ)j + (2 – 5μ)k.
intersect at O. Taking O as the origin, use the dot intersect at right angles and give the position vector
product to prove that AO is perpendicular to BC of the point of intersection.
(b) Find the point of intersection of the line 9. Find the equation of the line with directrix vector d
x y  2 z 1 with the plane
  which passes through the point with position vector a
5 2 4
given that
3x + 4y + 2z – 25 = 0 (a) a = i + 2j – k, d = 3i – k
(c) Find the angle between the line x4 y2 z 1
8

2

4
(b) a = 4i – 3k, d = i – 3j + 3k
and the plane 4x + 3y + 1 = 0 10. Find the vector equation of the line which passes
2. (a) Show that the equation of the plane through points through the points with (a) position vectors 3i – 3j + k
A with position vector 2i + 2k perpendicular to the and -2j + j + k.
vector i + 3j – 2k is x + 3y – 2z + 10 = 0 (a) position vector i + 4j and 3i – j + 2k,
(b) (i) Show that the vector 2i – 5j + 3.5k is (b) coordinates (0, 6, -6) and (5, -7, 2)
perpendicular to the line r = 2i – j + λ(4i + 3j + 2k) (c) coordinates (0, 0, 0) and (5, -2, 3)
(ii) Calculate the angle between the vector 3i – 2j + k 11. Write down in parametric form the vector equations
and the line in (b)(i) above. of the planes through the given points parallel to the
3. A point P has coordinates (1, -2, 3) and a certain given pairs of vectors.
plane has the equation x + 2y + 2z = 8. The line (a) (1, -2, 0); i + 3j and –j + 2k
x y 1 z 1 (b) the origin; 2i – j and –i + 2j – 7k
through P parallel to the line   (c) (3, 1, -1); j and i + j + k.
3 1 2
meets the plane at a point Q.

233
12. Find a vector equation for the plane passing through 20. Points A, B and C have position vectors –i + 3j + 9k,
the points with position vectors 2k, i – 3j + k and 5i + 5i + 6j – 4k and 4i + 7j + 5k respectively. P is the
2j. point on AB such that AP   AB . Find:
13. Find the vector equation of the plane through the
(a) AB
points A(1, 0, -2) and B(3, -1, 1) which is parallel to
(b) CP
the line with vector equation r = 3i + (2λ – 1)j + (5 –
(c) Find the perpendicular distance from the point C
λ)k. Hence find the coordinates of the point of
to the line AB.
intersection of the plane and the line r = μi + (5 – μ)j
21. Two lines L1 and L2 have vector equations
+ 2μ – 7)k.
r1 = (2 – 3λ)i + (1 + λ)j + 4λk
14. Find a vector equation for the line joining the points
r2 = (-1 + 3λ)i + 3j + (4 – λ)k respectively. Find:
(a) (2, 6) and (5, 2)
(a) the position vector of their common point of
(b) (-1, 2, -3) and (6, 3, 0).
intersection.
15. (a) Points A and B have coordinates (4, 1) and (2, -5)
(b) the angle between the lines.
respectively. Find a vector equation for the line
22. Find the equation of the plane containing points P(1,
which passes through A and perpendicular to the line
1, 1), Q(1, 2, 0) and (-1, 2, 1).
AB.
23. Find the equation of the plane containing point (4, -2,
(b) Points P and Q have coordinates (3, 5) and (-3, -7)
3) and parallel to the plane 3x – 7z = 12
respectively. Find a vector equation for the line
24. Show that the point with position vector 7i – 5j – 4k
which passes through the point P and which is
lies in the plane r = 4i + 3j + 2k + λ(i – j – k) + μ(2i +
perpendicular to the line PQ
3j + k). Find the point at which the line x = y – 1 = 2z
16. Find a vector equation for the perpendicular bisector
intersects the plane 4x – y + 3z = 8.
of the points:
25. Find the parametric equations for the line through the
(a) (6, 3) and (2, -5)
point (0, 1, 2) that is parallel to the plane x + y + z = 2
(b) (7, -1) and (3, -3)
and perpendicular to the line x = 1 + t, y = 1 – t, z =
17. Points P, Q and R have position vectors 4i – 4j, 2i +
2t.
2j, and 8i + 6j respectively.
26. Find the distance between the parallel planes
(a) Find a vector equation for the line L1 which is the
z = x + 2y + 1 and 3x + 6y – 3z = 4
perpendicular bisector to the points P and Q
27. Two planes are given by the parametric equations
(b) Find a vector equation for the line L2 which is the
x=r+3 and x = 1 + r + s
perpendicular bisector to the points A and R.
y = 3s and y = 2 + r
(c) Hence find the position vector of the point where
z = 2r and z = -3 + 5
L1 and L2 meet.
Find the Cartesian equation of the intersection point.
18. Two lines L1 and L2 have equations
 2
 x  0  1  x   2  1 28. The equation of a plane P is given by r   6   33 ,
L1 :  y    1    3  and L2 : y  1    1  .
     
            9  
 z   3   6 z  1   2
where r is the position vector of P. find the
(a) Show that L1 and L2 are concurrent (meet at a perpendicular distance from the plane to the origin.
common point) and find the position vector of 29. The line through point P(1, -2, 3) and parallel to the
their point of intersection. x y 1
(b) Find the angle between L1 and L2. line   z  1 meets the plane x + 2y + 27 8
3 1
19. Points P, Q, and R have coordinates (-1, 1), (4, 6) and at Q. find the coordinates of Q.
(7, 3) respectively. 30. (a) Find the angle between the plane x + 4y – z = 72
(a) Show that the perpendicular distance from the and the line r = 9i + 6j + 8k.
point R to the point PQ is 3 2 .
(b) Deduce that the area of the triangle PQR is 15
sq.units.

234
 (b) obtain the equation of the plane that passes 38. The position vector of points P and Q are 3i - j + 2k
through (1, -2, 2) and perpendicular to the line and 2i + 2j + 3k, respectively. Find the acute angle
x9 y6 z 8 y3 4z
  between PQ and the line 1 – x =  .
4 1 1 2 4
(c) Find the parametric equations of the line of (b) Find the point of intersection of the line x – 2 = 2y
intersection of the plane x + y + z = 4 and + 1 = 3 – z and the plane x + 2y + z = 3.
x – y + 2z + 2 = 0 (c) Find the equation of the plane through the origin
31. Find the point of intersection of the three planes 2x – parallel to the lines r = 3i + 3j – k + s(i – j – 2k) and r
y + 3z = 4, 3x – 2y + 6z = 3 and 7x – 4y + 5z = 11. = 4i – 5j – 8k + t(3i + 7j – 6k)
32. Find the Cartesian equation of the plane with 39. (a) The points A and B have position vectors a = 2i –
 3 2  1 j + 6k and b = 7i – 6j + k respectively. Find the
parametric vector equation r   0     1   1 coordinates of a point P which divides the vector AB
     
1   
0   
1 in the ratio:
33. Find the Cartesian equation of the plane containing (i) 4:1
1 (ii) 1:4
the point with position vector  3  and parallel to the 40. (b) Find the Cartesian equation of the plane through
 
1 z 1
the origin parallel to the lines x  3  3  y 
2
1 2
vectors 1 and  1  .
  x4 y5 x8
    and  
3 7 6
3  3  y3 4z
(c) Find the angle between the line 1  x  
34. Find the Cartesian equation of the plane containing 2 4

1  2 and the plane

the points with position vectors  2  ,  1  and 2x – 3y – 2z + 5 = 0.
   
 1  2  41. (a) Determine the unit vector perpendicular to the plane
containing the points A(0, 2, -4),
3
 3  . B(2, 0, 2) and C(-8, 4, 0).
  (b) Find the equation of the plane in (a) above
3 (c) Show that the point T(5, -4, 3) lies on the plane in
35. Find the perpendicular distance from the plane r.(2i – (a) above.
14j + 5k) = 10 to the origin. (d) Write down the equation in the form r = a + λb of
36. Find the position vector of the point where the line the perpendicular through the point P(3, 4, 2) to the
2  5 2 plane in (a) above.
r  1   3 meets the plane r   1   15 .
   
(e) If the perpendicular meets the plane in (a) above at
     
3  2  3  N, determine vector NP.
3 1
37. Two lines have vector equations r   1    2 
   
1  1
 4  1
and r   4     1  . Find the position vector of the
   
 
1  2 
point of intersection of the two lines and the
Cartesian equation of the plane containing the two
lines.

235