1

The Geometry of the

plane and 3-space
Edgar G. Goodaire
1-1 Vectors

Figure 1.1 The arrow from A(x0, y0) to B(x0+a, y0+b) represents
 x1  x0 .
to vector  y1  y0 
2
1.1.1 Take any point A(x0, y0) as a starting point and B(x0+a, y0+b)
as the terminal point (the tip of the arrowhead).
a .
The arrow from A to B is a picture of the vector b 

1.1.2 The arrow from A( x0 , y0 ) to B( x1 , y1 ) represents the

x x
vector AB   1 0 .
 y1  y0 

3
  1
Figure 1.2 Four arrows, each one a picture of the vector  .
 2
4
 Scalar Multiplication

1.1.3 Definition
Vectors u and v are parallel if one is a scalar multiple of the
other, that is, if u = cv or v = cu for some scalar c.

Figure 1.3 5
 Vector Addition

1.1.4 Parallelogram Rule: If the arrows for u and v are drawn

with the same starting point, u + v is the diagonal of the
parallelogram whose sides are u and v.

Figure 1.4 Vector u + v can

be pictured by the arrow
which is the diagonal of the
parallelogram with sides u
and v.
6
1.1.5 Triangle Rule: If the arrow for v is drawn with its
starting point being the terminal point of u, then u + v is
the third side of the triangle with sides u and v.

Figure 1.5 On the left, the parallelogram rule for vector

additions; on the right, the triangle rule.
7
Theorem 1.1.6 (Properties of Vector Addition
and Scalar Multiplication).

Let u, v, and w be vectors, and let c and d denote scalars.

1. (Closure under addition) u + v is a vector.
2. (Commutativity of addition) u + v = v + u.
3. (Associativity of addition) (u + v)+w = u+(v + w).
4. (Zero) u + 0 = 0 + u = u.
5. (Negatives) There is a vector called the negative of u
and denoted – u with the property that
u + (– u) = (– u) + u=0.

8
Theorem 1.1.6 (Properties of Vector Addition
and Scalar Multiplication).

6. (Closure under scalar multiplication) cu is a vector,

7. (Scalar associativity) c(du)=(cd)u.
8. (One) 1u = u.
9. (Distributivity) c(u + v) = cu + cv and
(c + d)u = cu + du.

9
1.1.7 Examples

• 4(u – 3v) +6(–2u + 3v) = –8u + 6v.

• If 2u + 3v = 6x + 4u, then 6x = –2u + 3v, so
1 1
x   u  v.
3 2
• If x = 3u – 2v and y = u + v, then u and v can be expressed in
terms of x and y like this:
x  3u  2v
2y  2u  2v
x  2y  5u.
1 1 3
so u  (x  2y ) and v  y  u   x  y.
5 5 5
10
 Subtracting Vectors
1.1.8 u – v = u + (– v )

1.1.9 If vectors u and v are pictures by arrows with the same

starting point, then u – v can be pictured by the arrow
from the end of v to the end of u.

Figure 1.6 The vector

u – v can be pictured
by the arrow from the
end of v to the end of
u. 11
1.1.10 Problem Prove that the diagonals of a
parallelogram bisect each other.

Solution :
Label the vertices of the parallelogram A, B, C , D as shown and draw
the diagonal AC.
 
Let X be the midpoint of AC so that AX  XC.
 
We wish to show that BX  XD.
     
BX  BA  AX and XD  XC  CD.
 
The arrows BA and CD are the same.
 
Since AX  XC , we have
desired result.

12
 Linear Combinations

1.1.11 Definition
A linear combination of vectors u and v is a vector of the form
au + bv, where a and b are real numbers.
More generally,
a linear combination of k vectors u1, u2, …, uk is a vector of the
form c1u1+ c2u2+ …+ckuk, where c1, …, ck are real numbers.

13
1.1.12 Examples

 5 is a linear combination of u   2 and v   1

•  9  3  1
5 2 1
since    4    3   4u  3v.
 9  3  1

•  2 is a linear combination of u   2 , u   6
 6 1
 3 2  5
4
and u 3    since
5
 2  3 2  2  6  4  3u  2u  u .
 6  3  5 5  1 2 3

14
1.1.14 If two-dimensional vectors u and v are not parallel, then
the set of linear combinations of u and v is the entire xy-
plane.

1.1.11 Definition
1 0
The standard vectors in the plane are i    and j   .
0 1 

15
Figure 1.7 Any vector w is a linear combination of u and
v.
16
1.1.16 Every two - dimensional vector is a linear combination
 a
of i and j :  ai  bj.
b 

1.1.17 Definition
A three - dimensional vector is a triple of numbers, written in a
a 
column and surrounded by brackets. The components of b  are the
c 
three numbers a, b, and c.

17
1.1.18 Examples

1 
• 2 is a three - dimensional vector with components1, 2, and 3.
 3
 
 1
•  1 is a three - dimensional vector with components  1, 1, and 0.
 0
0 
• The three - dimensional zero vector is the vector 0 all of whose
0 
 
components are 0.
18
 Vector Algebra

Figure 1.9 The set of all linear combinations of u and v

is a plane.
19
1.1.19 Examples

 2  1  1
•  4   1   3.
 7   6  13

 4    8
•  2  1   2.
 5  10

 2  2  14
• 4  0  3 1    3.
 1  5  19

20
1.1.14 If vectors u and v are not parallel, then the set of all linear
combinations of u and v is a plane.

Figure 1.11
a 
b   ai  bj  ck.
c 
 

21
1.1.21 Definition
The satndard basis vectors in the three - dimensional space are
1 0  0
i  0, j  1, k  0.
0 0 1

1.1.23 Examples
 3 1   0   0 
 4  30  4 1  50
 5 0 0 1

22
1.1.24 Problem

 1  0  1  3
請 計 算 x  2 是 u  1 , v  1 , 及 w  1 的 線 性 組 合 .
 2   4   2  2 
解 :
本 題 為 求 存 在 一 組 純 量 a, b, c, 以 滿 足 x  au  bv  cw
  b  3c  1
 1  0  1  3 
即 2  a 1  b 1  c 1   a  b  c  2
 2 4  2 2
4a  2b  2c  2

解 得 a  1, b  2, c  1 為 上 述 聯 立 方 程 式 的 解
因 此 , x  u  2 v  w是 u, v, w 的 線 性 組 合 .
23
1-2 Length and Direction

1.2.1 Definition
a
The norm of the vector v    is the number v  a 2  b 2 .
b 

1.2.2 Example
3
If u   , then u  32  (4) 2  5.
 4

24
Figure 1.12
The norm of OP is
OP  a 2  b 2  c 2 .

1.2.3 Example
 1  1
If u   2 and v   0, then u  6, v  2.
 1  1
25
 1.2.4 Definition
The unit vector is a vector of norm 1.

1.2.5 Examples
• Each of the standard basis vectors has norm 1.
1
如 : 在平面上 , i   , 所以 i  12  0 2  1.
0
1
1  
  6

• 向量   是二維的單位向量
2
,  2  是三維的單位向量 .
 
1
2
 1
6 
 6 
26
 1
1.2.7 For any v, the vector v is a unit vector in the direction of v.
v

1.2.8 Example
 2
v  2 , 計算 c  v  9  3.
 1
 2
1 3
因此 , 找到與 v相同方向的單位向量為 v   23 

3  1
 3 

27
  Dot product and the
Angle Between Vectors.

1.2.9 Any two - dimensional unit vector is of the form cos  for
sin 
some angle  .

Figure 1.13
Any vector of norm 1
 cos 
is of the form
sin 
for angle  .

28
Figure 1.14
Figure 1.15
The angle between
u and v is β  α. u and v are perpendicular.
 cos( β  α )  cos β cos α  sin β sin α
29
 1.2.10 Definition
a a
The dot product of two - dimansional vectors u   1  and v   2 
b1  b2 
is the number a1a2  b1b2 . It is denoted u  v

u  v  a1a2  b1b2 .
a1   a2 
The dot product of three - dimansional vectors u  b1  and v  b2 
c1  c2 
is the number u  v  a1a2  b1b2  c1c2 .

30
1.2.11 Examples

1 4
• u   , v   , u  v  1(4)  2(3)  10.
 2  3
 1 1 
• u   0, v  2, u  v  1(1)  0(2)  2(3)  5.
 2 3

2
1.2.12 u  u  u; equivalently, u  u  u.

1.2.13 u  v  u v cos.

31
1.2.15 Example
 3 1
u    , v    , then u  v  3  3  2 3,
1  3
u  ( 3) 2  12  4  2  v , so
3 
2 3  2(2) cos  , cos  and   radians  30.
2 6
1.2.16 Example
1    2
u  2, v   1, then u  12  2 2  32  14,
3   1
v  (2) 2  12  (1) 2  6, and u  v  1(2)  2(1)  3(1)  3.
3
So  3  14 6 cos   84 cos  and hence cos   .327.
84
Therefore   arccos(.327)  1.904 radians  109.
32
1.2.17 Vectors u and v are orthogonal(or perpendicular) if and
only if u‧v = 0. In particular, the zero vector is
orthogonal to all other vectors.

33
1.2.18 Examples

• The vectors i  1 and j  0 are orthogonal because

0   1 
 
i  j  1(0)  0(1)  0.

3  4 
• The vectors u    and v    are orthogonal because
4  3
u  v  3(4)  4(3)  0.
 1  2
• The 3 - dimenaional vectors u   3 and v   1 are
 5  1
orthogonal because u  v  (1)2  3(1)  5(1)  0.

34
Theorem 1.2.19 (Properties of the Dot Product).

Let u, v, and w are vectors. Let c be a scalar.

1. (Commutativity) u‧v = v‧u.
2. (Distributivity) u‧(v + w) = u‧v + u‧w and (u + v)‧
w = u‧w + v‧w.
3. (Scalar associativity) (cu)‧v = c(u‧v) = u‧(cv).
4. v‧v = v 2
5. v‧v 0and v‧v = 0 if and only if v = 0.

35
1.2.20 Example

(2u  3v)  (u  4v)  (2u  3v)  u  (2u  3v)  (4v )

 2u  u  3v  u  8u  v  12v  v
 2u  u  5u  v  12v  v
Notice how this computation resembles the calculation of
the product (2x – 3y)(x + 4y).

36
 The Cathy-Schwarz
Inequality
1.2.21 u  v  u v . Cauthy  Schwarz Inequality

1.2.23 Arithme tic/Geomet ric Mean Inequality

ab
ab  for any a, b  0.
2

37
1.2.22 Problem

Show that ab  cd  a 2  c 2 b 2  d 2 for any real numbers a, b, c, and d .

Solution :
a b
Let u    and v   . Then u  v  ab  cd ,
c  d 
u  a 2  c 2 and v  b 2  d 2 . The given inequality is
exactly the Cathy - Schwarz inequality for these two vectors.
Suppose a and b are nonnegative real numbers and we take
 a  b
u    and v   .
 b  a
Then u  v  a b  a b  2 ab which u  v  a  b.
The Cathy - Schwarz inequality says that
ab
2 ab  a  b a  b  a  b. that is, ab  for any a, b  0.
2 38
 1-3 Lines, Planes, and the
Courve Product of Vectors
The Graph of an equation is the set of all points whose coordinates
satisfy that equation.

1.3.1 Example
A point (x, y) in the plane is on the line of slope 2 through the
origin  its coordinates y-coordinate is twice its x-coordinate.
Thus, y = 2x is the equation of the line.

39
1.3.2 Example

A point (x, y) is on the circle with center (0, 0) and radius 1  its
coordinates x and y satisfy x2 + y2 = 1. Thus, the graph of x2 + y2 =
1 is a circle.

Figure 1.16 In 3-space

the graph of x2 + y2 = 1
is a circle.

40
 The Equation of a Plane

Figure 1.17 A plane consists Figure 1.18 P(x, y, z) is on

of all arrow perpendicular to a the plane through P0(x0, y0, z0)
given normal vector. with normal n  is P0 P
perpendicular to n.
41
1.3.3 Plane in 3 - space are the graphs of equations of the form
a 
ax  by  cz  d . The vector b  is a normal to th plane with
c 
equation ax  by  cz  d .

1.3.4 Examples
• The equation 2 x  3 y  4 z  0 is the equation of a plane through
the origin (0, 0, 0) because x  0, y  0, z  0
 2
satisfies the equation. A normal to the plane is 3.
 4
42
• The equation 2 x  3 y  4 z  10 defines the plane containing
 2
(5, 0, 0) and with normal 3.
 4
The plane is parallel to the previous one since the two
planes have the same normal.

• The equation y  1 defines the plane containing the point (0, 1, 0)

0 
and which has normal j  1
0 
(the coefficient of x, y, z in the equation y  1).

43
1.3.5 Problem

1 
Find the equation of the plane perpendicular to k   2 
 

3 
and containing the point (4, 0,  1).

Solution.
The equation has the form 1x  2 y  3 z  d ,
and x  4, y  0, z  1 is a solution.
Thus 1(4)  2(0)  3(1)  d ,
so d  1 and the equation is x  2 y  3 z  1.

44
1.3.6 Problem

Find the equation of the plane through (4,  1, 5) that is parallel to

the plane with equation 2 x  3 y  6.
Solution.
The parallel planes have the same normals.
 2
So n  3 is a normal for the plane.
 0
Since (4,  1, 5) is on the planes, 2(4)  3(1)  d .
So d  11, the plane has equation 2 x  3 y  11 .

45
1.3.7 Example

Consider the plane with equation  x  4 y  5 z  0.

Since (0, 0, 0) is in the plane, an arrow starting at the
x 
origin will represent the vector  y 
z 
 the point ( x, y, z ) is in the plane too; that is,  x  4 y  5 z.
So the plane consists of all vectors of the form
4 y 5 z   4  5 4 5 
 yz   y 10  z 10, all linear combinations of 10 and 10.
         
• Therefore, We say that these vectors span the plane or,
equivalently, that the plane is spanned by these vectors.
• Of course, these are many other pairs of vectors that span the
same plane. 46
The Cross Product
1.3.8 Definition
If a, b, c, and d are four numbers, the 2  2 determinant
a b
is the number ad  bc :
c d
a b
 ad  bc.
c d
1.3.9 Examples
2 1 3 1
•  2(5)  1(4)  14 •  3(2)  (1)(6)  0.
4 5 6 2
0 5
•  0(1)  5(1)  5
1 1
47
1.3.10 Definition
u1  v1 
The cross product of vectors u  u2  and v  v2  is the vector
   
u
 3 v3 
u2 u3 u1 u3 u1 u2
u v  i j k
v2 v3 v1 v3 v1 v2

i j k
1.3.11 u  v  u1 u2 u3 .
v1 v2 v3
48
1.3.12 Example

 1  0
Let u  3 and v  2 be the two vectors considered earlier.
2  1
Then
i j k
3 2 1 2 1 3
u v  1 3 2  2 1
i 0 1
j 0 2
k
0 2 1

 7i  1j  (  2)k   1 .
7
2
Note that this vector is orthogonal to the two given vectors
because

49
  7  1 
(u  v )  u   1  3  7  3  4  0
 2 2
and
(u  v )  v   1    2   2  2  0.
7 0
 2   1

 7
Thus  1 is a normal vector to the plane spanned by
 2
u and v, so the equation is 7 x  y  2 z  0.

50
1.3.13 Problem

Find the equation t o the plane through t he points A(1, 3,  2),

B (1, 1, 5), and C (2,  2, 3).
Solution :
 0
A normal vector to the plane os orthogonal to both AB    2 and
 7
 1
AC  5. The cross product of AB and AC is such a vector,
 5 i j k
so we compute AB  AC  0  2 7  25i  (7) j  ((2))k
1 5 5
25
 25i  7 j  2k   7 .
 2 51
Thus the plane has equation 25 x  7 y  2 z  d , where d is
determined by the fact that A(1, 3,  2) (or B or C ) is on the plane.
Thus 25(1)  7(3)  2(  2)  d .
So d  42 and the equation of the plane is 25 x  7 y  2 z  42.

52
Theorem 1.3.14

If u, v, w are vectors in 3-space and c is a scalar,

1. (Anticommutativity) u × v = –(v × u).
2. u × (v + w) = (u × v) + (u × w).
3. (cu) × v = c(u × v) = u × (cv).
4. u × 0 = 0 = 0 × u.
5. u × v is orthogonal to both u and v.
6. u × u = 0.
7. u × v = 0
 u is a scalar multiple of v or v is a multiple of u
 u and v are parallel.
53
8. u  v  u v sin  , where  is the angle between u
and v. (Re member that we always assume 0     .)
9. u  v is the area of the parallelogram having u
and v as adjacent sides.

1.3.15 Example
To illustrate, take u and v as 1.3.12, and compute
i j k  7 
u v  0 2 1  7i  (1) j  2k   1   (v  u ).
1 3 2  2 
54
1.3.16 Example

1 1
Let u   1  and v  1 . Then
0 1
i j k
1
u  v  1 1 0  1i  (1) j  2k   1 ,
1 1 1  2
so u  v  6. Since u  2 and v  3, by Theorem
1.3.14 pare 8,
6  2 3 sin 

and so sin  1. Thus   , which is indeed th case :
2
the given vectors are orthogonal since u  v  0.
55
1.3.17 Example

1   2
Let u  2 and v   1 . Then
3 4
 i j k  5  1
u  v   1 2 3   5i  10 j  5k  10  5 2.
 2 1 4   5  1

1
u  v  5  2  5 6. Since u  14, v  21
1
 
and u  v  u v sin .
5
We have 5 6  14 21 sin , sin  .
7
56
Figrue 1.19
The area of the parallelgram is base times height :
u ( v sin  ), and this is precisely u  v .
57
1.3.18 Problem

3 1
What is the parallelog ram with adjacent sides u   4  and v   0  ?
1  2
Solution :
i j k
8 
u  v  3 4 1  8i  5 j  4k  5 
1 0 2  4
and conclude that the area of the parallelogram is
u  v  64  25  16  105.

1.3.19 (u  v)  w  u  (v  w).

58
1.3.20 Example

Let n, v, and w be the standard three-dimensional basis vectors

i, j, and k. Then
i j k
ii  1 0 0

 0i  0 j  0k  0
0

1 0 0
0
and hence (i × i) × j = 0 × j = 0
On the other hand,
i j k
i j 1 0 0
 0
 0i  0 j  1k  0  k
0 1 0 1 

59
So that
i j k
i  (i  j)  i  k  1 0 0  0i  1j  0k   j.
0 0 1
More certainly, (i  i )  j  i  (i  j).

1.3.21 j × i = –k, j × k = i, k × i = j.

60
1.3.22 Problem

 1 2
Find a unit vecto r orthogonal to both u   4 and v  3 .
Solution :  1 0 
i j k
3
u  v  1  4 1  3i  (2) j  11k   2 .
2 3 0 11 
3
2   u  3(1)  2( 4)  11(1)  0
11
  u × v is orthogonal to both
3 u and v.
2   v  3( 2)  2(3)  11(0)  0
11
 
This vector has length : 9  4  121  134, a unit vector
1 3
orthogonal t given two vectors is 2 .
134 11  61
Figure 1.20 u × v points in the direction a screw
would most if turned in the direction u to v.

62
 The Equation of a Line

1.3.24 Vector equation of a line:

 x   x0  a 
 y    y0   t b .
 z   z0  c 

1.3.25 Vector equations of a line:
x  x0  ta
y  y0  tb Figure 1.21 A line is
z  z0  tc determined by a direction d
and a point P0 in the line.
63
1.3.26 Problem

Find the vector and parametric of the line through P(–1, 2, 5)

 2
in the direction of d  3.
 4
 x  1
Solution : The vector equation is y  2  t 3  2
 z   5  4 
and the parametric equations are
x  1  2t
y  2  3t
z  5  4t

64
1.3.27 Problem

Does the line in in problem 1.3.26 pass through the point P( –7,
11, –7)? Does it pass through Q(0, –1, 2)?
Solution :
 7   1
(1) If for some t, 11  2  t 3 2
 7   5  4 
We find that t = –3, the line pass through ( –7, 11, –7).
 0  1
(2) If for some t, 1  2  t 3  2
 2   5  4 
0  1  2t
We would need  1  2  3t There is no solution,
2  5  4t.
the line does not pass through (0, –1, 2).
65
1.3.28 Problem

Find the equation of the line through P(2, 0, 1) and Q(4, –1, 1).

 2
Solution : The direction of the line is d  PQ  1.
 0
So the line has vector equation
 xy   02   t  21
 z  1   0 
Another correct answer is
 xy   41  t  21
 z   1  0 

66
1.3.29 Problem

Find the equation of the line through P(3, –1, 2) that is parallel
 xy   31  t  41
to the with equation    
 z   6  7 
Solution : The two lines must have the same direction. So the
direction of the sough-after line is any multiple of the given
direction vector:
 4
The most obvious d   1 given vector equation
7 
 x   3  4
 zy   21  t 71
     
67
1.3.30 Problem

Does the lines with equations

 x   1 3  x  1  1
 zy   21  t  51 and  zy    31  t 41 Intersect?
           
If so, where?
Solution : If the lines intersect, let at the point (x, y, z), then (x,
y, z) is on both lines. So there is a t so that
 xy   21  t 53
 z   1  1
and an s (not necessarily the same t) such that

68
 xy   31  s 41
z   1  1
There exist parameter t and s so that
 1
2  3  1

 t 5   3  s 4 ?
1
 1  1  1  1
1  3t  1  s
Try to solve 2  5t  3  4 s , and find that s = –1, t = 1.
1 t  1 s
Find lines intersect where
 xy   12   t 53  12   1 53   72 
 z  1   1 3   1  2 
The point is (–2, 7, 2).
69
1.3.31 Problem

 x  1  1
Does the line with equation y  7  t 2 intersect
 z   0  1
the plane with equation 2x – 3y + 5z = 4? If yes, find the point
of intersection.
Solution :
 1
The direction of the line d   2. A normal to the
1
 2
plane is n  3.
 5
Since d n  0 , d and n are not orthogonal, so the line is not
parallel to the plane. The plane and the line must intersect.

70
To find the point of intersect, substitute x = –1 + t,
y = 7 + 2t, z = – t in the equation for the plane as follows:
2(1  t )  3(7  2t )  5(t )  4
 23  9t  4
 9t  27
t  3.
So, x  1  t  4, y  7  2t  1, z  t  3,
The point is (– 4, 1, 3).

71
1-4 Projections
Projections onto Lines
1.4.1 Definition
The projection of a vector u on a (nonzero) vector v is the vector
p =cv with the property that u – p is orthogonal to v.
The projection of a vector u on a line is the projection of that
vector onto any direction vector v for that line.
We use the notation projvu for the projection of u on v.
Theorem 1.4.3
The projection of a vector u on a (nonzero) vector v is the
vector uv
projvu  v
vv
72
1.4.4 Problem
 1  3
Find the projection of u   3 on v   1 
 4  2

uv 338 2 1
Solution : We have    ,
vv 9  1  4 14 7
 3 
 7
1 1
so the projection is projvu  v    
7  72 
 
 7
 10 
 7
22
Notice that u  projvu    is indeed orthogonal to
7
 26
 
 7
7 
v since, checking the dot product,  3 
10  22
7
7 
2
26
 0.
73
 The distance from a Point
to a Line
1.4.4 Problem
Find the distance from the point P(1, 8,  5) to the line with

(vector) equation  y    1  t  0  .
x 1 3
 z   6    4 
Solution :
Let Q be any point on the line, say Q(1, 1, 6, ), and let
 2 P
w  QP   7  
11
 3
The line has dircetion d   0 w w-p
 
 4
and the distance we want is the
length of w  p, d
p
Q 74
where p  projd w is the projection of w on d.
The sketch to the right should make all this clear.
w d 50  3  6
We have p  projd w  d  0   0 .
d d 25  4  8
 2  6   4
so w  p   7    0   7  .
 11  8   3
The required distance is w  p  74.

75
1.4.7 Problem
(The distance from a Point to a Plane)

Find the distance from the point P (1, 2, 1) to the plane with
equation 5 x  y  3 z  7.
Solution :
Let Q be any point on the plane; for instance, Q(1,  1, 1, ).

76
The require distance is the length of the projection

p of w  PQ on n, a normal to the plane.
 2
We have w  3 and a normal n  1 .  5
 0 3
w n 7 1
Then projn w  n  35 n  5 n.
nn
1 1
The require distance is 1
5
n  5
n  5
35

77
1.4.8 Definition

The set of all linear combinations of vectors u and v is called

the plane spanned by u and v. We also say that u and v span
the plane.

1.4.9 Remark
The plane spanned by vectors u and v always passes through
the origin since it contains the zero vector; 0 = 0u + 0v is a
linear combination of u and v.

78
1.4.10 Problem

1   0
Let u  3  and v   2 . Find an equation of the plane spanned
2  1
by these vector.
Solution :
This plane was investigated in Example 1.3.12.
The answer is 7 x  y  2 z  0.

79
 1.4.11 Definition

The projection of a vector w on a plane  spanned by vectors

u and v is a vector p in  with the property that w - p is
orthogonal to every vector in .
We denote this vector proj w.

.
Figure 1.24 Vector
p  proj w is the
projection of w
on the plane  .
80
Theorem 1.4.12

Suppose a plane  is spanned by vectors u and v. If a vector

is orthogonal just to u and v then it is orthogonal to 
that is, orthogonal to every vector in .
Proof : If w is in , then w is a linear combination of u and v,
so w = au + bv for some scalar a and b.
Now suppose that x is orthogonal to both u and v. Then x · w
= a (x · u) + b(x · v) = 0 + 0 = 0.
Theorem 1.4.13
The projection of a vector w on the plane spanned by
orthogonal vectors e and f is
w e w f
proj w  e f
ee f f
81
1.4.14 Problem

 5
Find the projection of w   3 on the plane  with
7 
equation 3 x  2 y  z  0.
 5 0 
Solution : We note that e   6 and f  1  are orthogonal
3 2
vectors spanning  (see problem 1.4.5) and simply write
down the answer :
w e w f 28  5 17 0 
proj w  e f  6   1
e e f f 70 3 5 2
2  5 17 0   2
  6  1    1
5 3 5 2  8
82
1.5 Euclidean n-Space
1.5.1 Definition
Let n  1 be bn integer. An n - dimensional vector is a column
of n numbers enclosed in brackets.
The numbers are called the components of the vector.
x1 
Thus an n - dimensional vectors has the form  x2  ,
 
 xn 
the numbers x1, x2 ,, xn being the components.

83
1.5.2 Definition

Eclidean n  space is the set of all n  dimensional vectors. It is

denoted R n .
 x1 
n  x2 
R  {   | x1, x2 ,, xn  R}.

 
 xn 

 x1   y1 
 x2   y2 
1.5.3 Vectors x     and y    are equal
   
 xn   yn 
 n = m and corresponding component are equal,
that is, x1  y1, x2  y2 ,  , xn  yn . 84
1.5.4 Definition

A linear combination of vectors v1,v2,…,vn is a vector of the

form
c1v1+ c2v2 + …+ cnvn
where c1, c2, …, cn are scalars.
1.5.5 Example
11  2  1 11
The equation  74  2  05  7  21 say that  74 is
 2  1  0  2
 2  1
a linear combination of  05 and  21 .
 1  0
85
1.5.6 Example

 1  1 3
 5  2  5
The vector  2 is not a linear combination of 1 and 0
0 3 1
1  4 2
 1  1 3
 5  2  5
because  2  a 1  b 0 leads to the system of equations
0 3 1
1  4 2
a  3b  1
2a  5b  5
a  2
3a  b  0
4a  2b  1.
which has no solution : let a  2, b  1, satisfy equation 1,
but not satisfy the second equation.
86
1.5.7 Definition

The standard basis vectors in Rn are the n-dimensional vectors

e1, e2, … ,en which ei has ith component 1 and all other
components 0. Thus 1  0  0  0 
00 10 10 00
e1  0, e 2  0, e3  0,  , e n    
   0 
0 0 0 1 

1.5.8 Every vector in R n is a linear combination of the standard

basis vectors :
 x1 
 x2   x e  x e    x e .
  11 2 2 n n
 xn 
87
Length and Angles in Rn

1.5.9 Definition
For any n  1 ， the dot product of n-dimensional vectors
 x1   y1 
 x 2   y2 
x y
   and  
 x3   y3  is the number x‧y = x1y1+x2y2+…+xnyn.

1.5.10 Definition
 x1 
The length or norm of the n-dimensional vector x   x2  is the
 
number  x3 
x  x  x  x12  x22    xn2
88
 The Cauchy-Schwarz and
Triangle Inequalities
Theorem 1.5.11 (Cauchy-Schwarz Inequality).
If u and v are n-dimensional vectors, then
uv  u v .

Figure 1.25
A parabola with equation
y = ax2 + bx + c intersects the
x-axis twice if some
y > 0 and some y < 0.
89
1.5.12 Example

1  2
Suppose u   02 and v   11 . Then
 1   4
u  1  0  4  1  6,
v  4  1  1  16  22,
u  v  2  0  2  4  4.
The Cauchy-Schwarz inequality says that u  v  u v ;
That is,  4  6 22, which is certainly true: 4  132 .

90
1.5.13 Definition

If u and v are nonzero vectors in Rn, the angle between u and v

is that angleθ,0≦θ≦π, with
uv
cos   .
u v
This definition is only possible because
uv
1  1
u v
(by Cauchy-Schwarz).

91
1.5.14 Example

 4  2
If u   02 and v  01 , cos   u  v   8  2  2   12  1
 2  1 u v 24 6 144
So θ=π, a fact consistent with the observation that u = － 2v.

1.5.15 Example
 1  1
 2  1 uv 3 3
If u  0 and
1 v   1 , cos   u v  15 5  5  0.346,
1
 3  1

so   1.217 rads  70.

92
1.5.16 Definition

Vectors u and v in Rn are orthogonal if u • v = 0.

1.5.17 Example
 3  1
The vectors u   21 and v  11 are orthogonal vectors in R4
 4  0
since u • v = 3 － 2 － 1 ＋ 0 =0.

93
Theorem 1.5.18 (The Triangle Inequality).

For any vectors u and v in Rn, u  v  u  v .

Proof : u  v 2  (u  v )  (u  v )
 u  u  2u  v  v  v  u 2  2u  v  v 2
 u 2  2u  v  v 2
Applying the Cauchy-Schwarz inequality to the middle term in
the last expression here, We get
2 2 2 2
u  2u  v  v  u  2 u v  v .
Since the expression on the right is ( u  v ) 2 . We get
u  v 2  ( u  v )2 ,
and result follows by taking square roots.
94
Theorem 1.5.19 (Pythagoras).

Vectors u and v in Rn are orthogonal if and only if

2 2 2
uv  u  v .

Figure 1.26
The triangle
v
uv  u  v.
inequality:
u+v
95
 Linear Dependence and
Independence
1.5.20 Definition
A set of vectors x1, x2, …, xn is linearly independent if c1x1+
c2x2+…+cnxn = 0 implies c1=c2=…=cn=0. Vectors that are not
linearly independent are linearly dependent; that is, there is a
linear combination c1x1+ c2x2+…+cnxn = 0 with some coefficient
not 0.

96
1.5.21 Example
1 1
Are the vectors x1  2 and x 2   0 linear independent?
   

Certainly 0 1   0  1  0 , (5)

2  0 0
but this is not the point! Here’s the question:
Is (5) the only way for a linear combination of x1 and x2 to be 0?
Suppose c1x1+ c2x2=0. This is
c1 1   c2  1  0, which is c1  c2   0.
2  0 0  2c1  0
So we must solve the two equations, c1  c2  0
2c1 0
for the unknowns c1 and c2. The second equation gives c1 = 0.
Then putting c1 = 0 in the first equation gives c2 = 0.
Thus the vectors x1 and x2 are linear independent.
97
1.5.22 Problem

Are the vectors x1  2 and x 2   3  linear dependent

4  6
or linear independent?
Solution :
We must determine whether c1 = c2 = 0 is the only solution to the
equation c1x1+ c2x2 = 0.
This is
2c  3c2  0
c1 2  c2  3   0, whi ch is  1  .
4  6 0 4c1  6c2  0
Therefore, the vectors x1 and x2 are linear dependent.

98
1.5.23 Two vectors are linear dependent  they are parallel;
that is, one is a scalar multiple of the other.

1.5.24 Three vectors in R3 are linear dependent  they all lie in

a plane; one is a linear combination of the other two.

99