Lines in R2

Lines in R3
Planes in R3
Distances

Lecture 2: Lines and Planes

Tai Do Lines and Planes 1 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Table of contents

1 Lines in R2

2 Lines in R3

3 Planes in R3

4 Distances

Tai Do Lines and Planes 2 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Line equation (high school)

There are 2 types of line equation

1 Slanted lines
y = mx + c

with m = slope of the line, and c = y-intercept.

Y =MzXt Cz

ng y=m?c+C '

m2 > Mi

Tai Do Lines and Planes 3 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Line equation (high school)

There are 2 types of line equation ✗= le

✗ =p
Yn
-

0 i ei :c
2 Vertical lines
x = k,

with k = x-intercept.

Tai Do Lines and Planes 3 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Line through 2 points

Theorem 1
Let l be the line going through A = (x1 , y1 ) and B = (x2 , y2 ).

Tai Do Lines and Planes 4 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Line through 2 points

Theorem 1
Let l be the line going through A = (x1 , y1 ) and B = (x2 , y2 ).
(a) If x1 = x2 , then l the vertical line

x = x1
K=X ,
%
42
- B
A
Y,

O X, 3C

Tai Do Lines and Planes 4 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Line through 2 points

Theorem 1
Let l be the line going through A = (x1 , y1 ) and B = (x2 , y2 ).

(b) If x1 6= x2 , then l is the slanted line this is the gradient

y2 y1
y y1 = (x x1 )
x2 x1

Tai Do Lines and Planes 4 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Theorem 1 proof
(a) Since A and B have the same x-coordinate, the only line going
through both both A and B is the vertical line x = x1 .

K=X,
%
42
- B
A
Y,

O X, 3C

Tai Do Lines and Planes 5 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Theorem 1 proof
Since x1 6= x2 , the line going through A and B is a slanted line

y = mx + c (1)

Tai Do Lines and Planes 6 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Theorem 1 proof
Since x1 6= x2 , the line going through A and B is a slanted line

y = mx + c (1)

Both A and B are on the line, their coordinates both satisfy (1)
8 8
y y1

:
<mx + c = y >
<m = 2
1 1
) x 2 x1
:mx2 + c = y2 > y2 y1
: c = y1 x1
x2 x1

a) -
(1) Mlk ,
-
X, / =
Ye
-

Y,

hi =
42 -

Yp
SG 24
-

Tai Do Lines and Planes 6 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Theorem 1 proof
Since x1 6= x2 , the line going through A and B is a slanted line

y = mx + c (1)

Both A and B are on the line, their coordinates both satisfy (1)
8 8
> y y1
<mx + c = y <m = 2
1 1
) x 2 x1
:mx2 + c = y2 > y2 y1
: c = y1 x1
x2 x1
Conclusion
y2 y1 y2 y1 y2 y1
y= x + y1 x1 , y y1 == (x x1 )
x2 x1 x2 x1 x2 x1

Tai Do Lines and Planes 6 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Example 1
Find the equation of the line going through two points P and Q. In
each case, write out 2 other points (other than P, Q) on the line.
(a) P = (0, 0), Q = (3, 5) Hs Yi -

Y Y, -

(K xD
= -

gq.gg
The line going through P& Q is the slantedline

5- 0
y -
0 =

3-0-1×-0)
y =
5- K
x= 1 11 , §)
2 other prints or the line are
too = 6 (6 ,
10 )
Tai Do Lines and Planes 7 / 52
 Lines in R2
Lines in R3
Planes in R3
Distances

Example 1

(b) P = (1, 1), Q = (⇡, 1)

Exercise !

Tai Do Lines and Planes 8 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Determination of a line in R2

A line can be determined by one of the following means:

-

by 2 points it contain, or
by a point and an orientation, which can be

Tai Do Lines and Planes 9 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Determination of a line in R2

A line can be determined by one of the following means:

by a point and an orientation, which can be

1 a direction vector d~ (parallel to the line), or
d- a

Tai Do Lines and Planes 9 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Determination of a line in R2

A line can be determined by one of the following means:

by a point and an orientation, which can be

2 a normal vector ~n (perpendicular to the line)

^ n→

Tai Do Lines and Planes 9 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Lines through a point and a direction vector

Theorem 2
" #
a
Let P = (x0 , y0 ) be a point and let d~ = be a vector in R2 .
b
(a) The line going through P with direction ~v has equation
" #
y
vector
a
(x, y) = P + t~v*= (x0 , y0 ) + t
b equation

t.scKott
for some parameter
= a

{ y =
yottb

Tai Do Lines and Planes 10 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Lines through a point and a direction vector

Theorem 2
" #
a
Let P = (x0 , y0 ) be a point and let d~ = be a vector in R2 .
b
(a) The line going through P with direction ~v has equation
" #
a
(x, y) = P + t~v = (x0 , y0 ) + t
b
[parameter t)
(b) In particular, any point on the line has coordinates ↑
8
<x = x + ta parametric
0
:y = y0 + tb
for some t 2 R y equation .

Tai Do Lines and Planes 10 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Comments

P the line
The equation =
point on

(x, y) = P + t~*
,
v \
Ñ = direction vector
is called the vector equation of the line.

Tai Do Lines and Planes 11 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Comments

The equation
(x, y) = P + t~v (KY) (kayo) + t /
-_
8)
is called the vector equation of the line.
The equation 8
<x = x + ta
0
:y = y + tb
0

is called the parametric equation of the line.

Each value of t gives one point (x, y) on the line.

Tai Do Lines and Planes 11 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Theorem 2 proof
" #
a
Assume the line l goes through P = (x0 , y0 ) and has direction µ→
~v =
b
let Q be any point out .

Ñ
ÑQ parallel to Ñ So -
Then is .

,
a
p→Q = t.at .
p
e
Q -
P = tot
Q = Pt td

i. Any paint Q Gc yf =

,
on l satisfies

lie yl
,
= Pt td→
Tai Do Lines and Planes 12 / 52
 Lines in R2
Lines in R3
Planes in R3
Distances

Example 2
Find both the vector equation and the parametric equation of the line
going through the point P and having direction ~v .
In each case, write out 2 other points (other than P ) on the line.
" #
⇡ Vector equation :

(a) P = (0, 0) and ~v = p

2 lay / Pt TJ lkoiydtt =
=

(8)
Vector comedian
parametric equation :

be y) -10,0) +
,
t
/%) {
✗ =
xotta
Parametric equation Y -
bott b
Otta 1- " "
x =
n

thy {
=

: and
= 0+ Et = Et
+ = 1 Gci 9) =
47 E)
/
,

2 other points the line are

E)
on
-8=2 (my ) = ,
2

Tai Do Lines and Planes 13 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Example 2
" #
0
(b) P = (1, 2) and ~v =

t§
1

Vector equation E- 1
Yr
149 )=PttJ=U ,
-

2) +

Parametric Ja
equation
I
>
✗ =
11-0=1 0
.

{
SC

y= -2+8
( Vertical line)
2 other paints rathe line are

1- = 1 (key / =
[1 ,
-

1)

1- = 2 key/ = (1,0 )
Tai Do Lines and Planes 14 / 52
 Lines in R2
Lines in R3
Planes in R3
Distances

Lines through a point and a normal vector

Theorem 3
" #
a
Let P = (x0 , y0 ) be a point and let ~n = be a vector in R2 . The line
b
which goes through P and has normal vector ~n has equation

a(x x0 ) + b(y y0 ) = 0

normal vector is perpendicular to the line

e

it
?
p

Tai Do Lines and Planes 15 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Lines through a point and a normal vector

Theorem 3
" #
a
Let P = (x0 , y0 ) be a point and let ~n = be a vector in R2 . The line
b
which goes through P and has normal vector ~n has equation
by 0
art by _ a ko -

.
=

a(x x0 ) + b(y y0 ) = 0

Putting c = ax0 by0 , we obtain the general equation of the line

↓
ax + by + c = 0 right side = 0

Putting d = ax0 + by0 , we obtain the normal equation of the line

I
ax + by = d left side cartouche say
{ right side is some number
Tai Do Lines and Planes 15 / 52
 Lines in R2
Lines in R3
Planes in R3
Distances

Theorem 2 proof
" #
a
Assume the line l goes through P = (x0 , y0 ) and has normal ~n =
b
let 01=64 g) be any point an l .

P→Q=( go4)
" → ñ
The actor perpendicular
^
is
Y -

(9)
'
'
e
to Ñ So
p
-

a
.

PA .ñ =
0 ace scott bly
-
_

yo)=0 .

Tai Do Lines and Planes 16 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Example 3
Find the normal equation of line going through P and having normal
vector ~n. In each case, find 2 other points (other than P ) on the line.
" #
normal vacation
(a) P = (0, 0) and ~n = p
⇡ ( YE -

Fix
2 ant
by =c

nxtFLY-OP-lx.it/&n-.-(8)2d-herpeintsf&--
Mlk -0) + Fly -

a) = 0

kit/ 17
FI
1 = -

)
E
abc-scoltbfy.gs)=O
* =
" # kid (E =
,
-

n )
2
(b) P = (1, 2) and ~n =
5
26C -

11+5 ly -21=0 2*-2+5 y -

10--0 2xt5y= 12
✗ = 0
Key ) 10, ¥)
2 otherpoints
{
=

6
✗ =
(say / =
16,0)
Tai Do Lines and Planes 17 / 52
 Lines in R2
Lines in R3
Planes in R3
Distances

Normal vector and direction vector of a line

Lemma 1
A line with general equation ax + by + c = 0 (or normal equation
ax + by = c) has
(a) a normal vector " #
~n =
a →
b e
?
(b) and a direction vector §
" #
&
~v =
b
a

Tai Do Lines and Planes 18 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Example 4
Find the direction vector d~ and the normal vector ~n in following cases.
In each case, check that d~ ? ~n.
(a) x y + 3 = 0 9--1,6=-1

ñ
-151=(41,8--1%141) ,ñÑ=o ñtd
(c) x y= 1 9--1,6=-1 Ñ
ii. 8=0
ñ=( ! / id -1 ;)
,
, e

(b) 3y + 1 = 0 a= 0,6--3 >

07%1--0 7=1-28
ñ -151,8=1 ?)
Tai Do Lines and Planes 19 / 52
 Lines in R2
Lines in R3
Planes in R3
Distances

Summary on types of line equations in R2

a point
obtained byF
→ a direction Vec
Vector equation and parametric equation .

" #
v1
1 Vector equation (x, y) = P + t~v = (x0 , y0 ) + t
v2
8
<x = x + tv
0 1
2 Parametric equation
:y = y0 + tv2 a
point
General equation and normal equation →
obtained by t
a normal
3 General equation ax + by + c = 0 vector
4 Normal equation ax + by = d

Tai Do Lines and Planes 20 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Summary on line equations in R2

A line can be determined by a point and an orientation " #
v1
1 Line through point P = (x0 , y0 ) with direction vector ~v =
v2
Vector equation
" #
v1
(x, y) = P + t~v = (x0 , y0 ) + t
v2
8
<x = x + tv
0 1
Parametric equation
:y = y0 + tv2

Tai Do Lines and Planes 21 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Summary on line equations in R2

A line can be determined by a point and an orientation

" #
a
2 Line through point P = (x0 , y0 ) with normal vector ~n =
b
a(x x0 ) + b(y y0 ) = 0

Tai Do Lines and Planes 21 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Determination of lines in R3

Unlike in R2 , there is no normal vector for a line in R3 .

Can you see that the geometric object passing through a point P
and perpendicular to ~n is a plane?

Tai Do Lines and Planes 22 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Determination of lines in R3

;
.

A line in R3 is determined by
2 3
v1
6 7
A point P = (x0 , y0 , z0 ) and a direction vector ~v = 4v2 5
v3

Tai Do Lines and Planes 22 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Lines through a point and a direction vector

Theorem 4
2 3
a
6 7
Let P = (x0 , y0 , z0 ) be a point and let ~v = 4 b 5 be a vector in R3 .
c
(a) The line through P with direction ~v has vector equation

1K 4-05-21
(x, y) = P + t~v
,

Tai Do Lines and Planes 23 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Lines through a point and a direction vector

Theorem 4
2 3
a
6 7
Let P = (x0 , y0 , z0 ) be a point and let ~v = 4 b 5 be a vector in R3 .
c
(a) The line through P with direction ~v has vector equation

(x -39-21 = P + t~v
y (x, y)

/ §8>)
,

=
64 Yo Zoltt
.
,

<x = x0 + ta
>
(b) In particular, any point on the line has coordinates y = y0 + tb
>
>
:
z = z0 + ct
which is called the parametric equation of the line.

Tai Do Lines and Planes 23 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Theorem 4 proof
2 3
a
6 7
Assume l goes through P = (x0 , y0 , z0 ) and has direction ~v = 4 b 5.
c
let Q be point on P Then
any
%
.

Pa 11 F e
"
>

Q P - = Pie =
t F . -
Q

Pt t F
p
Q -

lx Y 2-I
, .
=
64 , yo ,
Zo )+ t
({)
Tai Do Lines and Planes 24 / 52
 Lines in R2
Lines in R3
Planes in R3
Distances

Example 5
Find the line l going through a point P and having direction ~v . List 2
other points (other than P ) on the line
2 3
1
6 7
P = (1, 2, 1) and ~v = 405
2
Vector equation parametric equation

lay /& ) et t
a

/
2-1=11,2 I / +
=
t
, ,

2
Y =

2- =
1+28

t = 1 (R , Y, Z
) =
(2,2 3) ,

t = 2 & i Y it ) = (3 ,
2
,
5)
Tai Do Lines and Planes 25 / 52
 Lines in R2
Lines in R3
Planes in R3
Distances

Exercise 1
Find both the vector equation and the parametric equation of the line l
going through P, Q. List 2 other points (other than P and Q) on the line.

(a) P = (1, 2, 1) and Q = (36, 7, 9) &

The lone goes through P=(12,114 →

a
PÑ=( 3¥)
-

has direction
p
.

Vectorequation parametric equation

✗ = It 35T
lay /

2-1=(12,4+1-1%5) |Y=2t5t
2--11-88
.

Tai Do Lines and Planes 26 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Exercise 1

(b) P = (0, 0, 1) and Q = (⇡, 1, 4).

Exercise !

Tai Do Lines and Planes 27 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Summary on lines in R3
0 1
v1
B C
The line through P = (x0 , y0 , z0 ) with direction ~v = @v2 A has
v3
(a) Vector equation
0 1
v1
B C
(x, y, z) = P + t~v = (x0 , y0 , z0 ) + t @v2 A
v3

(b) Parametric equation

8
>
<x = x0 + tv1
>
y = y0 + tv2
>
>
:
z = z0 + tv3

Tai Do Lines and Planes 28 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Determination of planes
A plane can be determined by a point and an orientation which can be
1 a vector perpendicular to the plane, called normal vector,

Tai Do Lines and Planes 29 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Determination of planes
A plane can be determined by a point and an orientation which can be

2 or a pair of non-parallel vectors, called direction vectors.

Tai Do Lines and Planes 29 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Plane by a point and a normal vector

Theorem 5
A plane passing through the point P0 = (x0 , y0 , z0 ) and having
2 3
a
6 7
normal vector ~n = 4 b 5 has equation
c

a(x x0 ) + b(y y0 ) + c(z z0 ) = 0

n
n→

Po

Tai Do Lines and Planes 30 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Plane by a point and a normal vector

Theorem 5
A plane passing through the point P0 = (x0 , y0 , z0 ) and having
2 3
a
6 7
normal vector ~n = 4 b 5 has equation
c adf.by/-CZ--aKo-byo-cZo--0

a(x x0 ) + b(y y0 ) + c(z z0 ) = 0

Putting ④
c= ax0 by0 cz0 , we obtain the general equation
ax + by + cz + d = 0
Putting e = ax0 + by0 + cz0 , we obtain the normal equation
ax + by + cz = e

Tai Do Lines and Planes 30 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Theorem 1 proof
2 3
a
6 7
Assume the plane contains P0 = (x0 , y0 , z0 ) and has normal ~n = 4 b 5
c
let P -649,2-1 be any paint on the plane
-

PTP
)
%

/
" -

Then = is perpendicular
tooo/%)
y -

yo
Z -

Zo

to ñ
-1%1
-

ftp.n =
0 abc-xoltbly-y.lt
1- c (2- -

Zo) = 0

Tai Do Lines and Planes 31 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Example 6
Find the plane passing through P0 and having normal vector ~n with
2 3 2 3
0 1
6 7 6 7
(a) P0 = (1, 2, 2), ~n = 435 (b) P0 = (1, 2, 3), ~n = 4 15
4 2
OK e) +319-211-44--21=0
-

Ilse 1) -

+ (4) (y -211-212--31=0
Metal General
3yt 42--14=0 4 equation
x -

y +22--5=0 g
letkktinn

47=14 bromate normal

3.
y 1- x-y&2zz5 5
equation equation

Tai Do Lines and Planes 32 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Normal vector of a plane

Lemma 2
Any plane with general equation ax + by + cz + d = 0 (or normal
equation ax + by + cz = d) has normal vector
2 3
a
6 7
~n = 4 b 5
c

Tai Do Lines and Planes 33 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Example 7

In each following case, find the normal ~n of the plane with given equation.
!
Further, find 2 points P, Q on the plane and check that P Q ? ~n.

(a) x y + 2z = 0 9--1,6=-1,5-2 nn→

F--1%1--1-11 .

p
> Q
K=Y ZZ
-

y=z=1 P= 1-1 1,11

☒
(§)
,
=

y= 10,2=1 Q=(8,10 , e.)

a .ir?= 9.1+9 -
C- 1) to -2=0 .

Tai Do Lines and Planes 34 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Example 7

I b I C 0
(b) x y=2 a = =
-

ñ=

I
Exercise

Tai Do Lines and Planes 35 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Direction vectors of a plane

A pair of non-parallel vectors ~u, ~v is called direction vectors

of a plane P if both ~u and ~v are parallel to P.

A plane is uniquely determined if we know a point P it

contains and a pair of direction vectors ~u and ~v

Tai Do Lines and Planes 36 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Planes by a point and direction vectors

Theorem 6
3 2 2 3
u1 v1
6 7 6 7
The plane through P0 = (x0 , y0 , z0 ) with direction ~
u = 4u2 5 , ~v = 4v2 5 has
u3 v3
(a) vector equation
2 3 2 3
u1 v1
6 7 6 7
(x, y, z) = P0 + s~
u + t~v = (x0 , y0 , z0 ) + s 4u2 5 + t 4v2 5
IR u3 v3
for some s.tt .

Tai Do Lines and Planes 37 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Planes by a point and direction vectors

Theorem 6
3 2 2 3
u1 v1
6 7 6 7
The plane through P0 = (x0 , y0 , z0 ) with direction ~
u = 4u2 5 , ~v = 4v2 5 has
u3 v3
(a) vector equation
2 3 2 3
u1 v1
6 7 6 7
(x, y, z) = P0 + s~
u + t~v = (x0 , y0 , z0 ) + s 4u2 5 + t 4v2 5
u3 v3
(b) and parametric equation
¢ 8
parameters SF >
> x = x0 + su1 + tv1
.

<
y = y0 + su2 + tv2
>
>
:
z = z0 + su3 + tv3

Tai Do Lines and Planes 37 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Example 8
In each of the following cases, find both the vector equation and the
parametric equation of the plane
2 3 2 3
0 2
6 7 6 7
(a) Through P = (0, 0, 0) with direction ~u = 405 , ~v = 415
Vector elevation 1 5

644 / E) =P1- suit to =

190,0) + s
(4) /¥ )
+ t

T§) 1¥)
parametric equation
✗ 01-01-2 C- = 2T

(
=

,
y
=
Ot Ot t = t

2- = Of St 58 =
St 5T
2 other points 5--1.8=0 Gc Y 7) =
(0,0 1)
g-
, , ,

5- t =
1 be , y, 7) = (2,1 , 6)
Tai Do Lines and Planes 38 / 52
 Lines in R2
Lines in R3
Planes in R3
Distances

Example 8

(b) Passing through P = (1, 1, 2), Q = (0, 1, 5), R = (2, 3, 1)

Theplane passes through P and has
a.
R
direction vectors

Paal? )&PÑ= /%) is

%
Vector equation :

lx.y.tl _=PtsÑQttÑR=(1 -1,41 ,

- s
/}/ + t
/
Parametric equation a 1- Stt

{
: __

y =
-1+25+48
2- =
283s -

3£
Tai Do Lines and Planes 39 / 52
 Lines in R2
Lines in R3
Planes in R3
Distances

Summary on types of plane equations

General equation and normal equation

1 General equation ax + by + cz + d = 0
2 Normal equation ax + by + cz = d

Tai Do Lines and Planes 40 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Summary on types of plane equations

a point
/ normal vector
General equation and normal equation - a

1 General equation ax + by + cz + d = 0
2 Normal equation ax + by + cz = d a paint
-
Vector equation and parametric equation \ direction vectors Ñ I
,

3 Vector equation (x, y, z) = P0 + s~u + t~v

8
>
>x = x0 + su1 + tv1
<
4 Parametric equation y = y0 + su2 + tv2
>
>
:
z = z0 + su3 + tv3

Tai Do Lines and Planes 40 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Summary on plane equations

2 3
a
6 7
The plane through P (x0 , y0 , z0 ) with normal ~n = 4 b 5 has equation
c
a(x x0 ) + b(y y0 ) + c(z z0 ) = 0

Tai Do Lines and Planes 41 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Summary on plane equations

2 3
a
6 7
The plane through P (x0 , y0 , z0 ) with normal ~n = 4 b 5 has equation
c
a(x x0 ) + b(y y0 ) + c(z z0 ) = 0

The plane through P (x0 , y0 , z0 ) with direction vectors ~u and ~v has

1 vector equation

(x, y, z) = P + s~u + t~v

2 parametric equation
8
>
<x = x0 + su1 + tv1
>
y = y0 + su2 + tv2
>
>
:
z = z0 + su3 + tv3

Tai Do Lines and Planes 41 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Distances

We will discuss three types of distances

&
Distance between 2 points
dlP.at#PA11
_
1

p .

2 Distance from a point to a line in R2 P

.

-
e

3 Distance from a point to a plane in R3

:
Tai Do Lines and Planes 42 / 52
 Lines in R2
Lines in R3
Planes in R3
Distances

Point-line distance in R2

Theorem 7
The distance from the point P0 = (x0 , y0 ) to the line
l : ax + by + c = 0 is bbc.is ) into l

|ax0 + by0 + c|
d(P0 , l) = p \ ñ=
a 2 + b2 (9) 11%11--67.52

Tai Do Lines and Planes 43 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Theorem 3 proof (sketch)

Let Q be"a #point on l : ax + by + c = 0.

a
Let ~n = be a normal vector of l starting at Q.
b

Observation

d(Po b) length of proj ñ(QPo)

,
=

◦
d (Pole)

Tai Do Lines and Planes 44 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Theorem 3 proof (sketch)

Let Q be"a #point on l : ax + by + c = 0.

a
Let ~n = be a normal vector of l starting at Q.
b
Observation
!
d(P0 , l) = || proj~n (QP0 )||

Tai Do Lines and Planes 44 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Theorem 3 proof (sketch)

Let Q be"a #point on l : ax + by + c = 0.

a
Let ~n = be a normal vector of l starting at Q.
b
Observation
!
d(P0 , l) = || proj~n (QP0 )||

!
! QP0 · ~n
proj~n (QP0 ) = ~n implies
~n · ~n
! |ax0 + by0 + c|
|| proj~n (QP0 )|| = p
a 2 + b2

Tai Do Lines and Planes 44 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Remark on Theorem 3

|ax0 + by0 + c|
To use d(P0 , l) = p , we need the general equation of l
a 2 + b2
ax + by + c = 0
" #
a
This can be achieved by a point P = (x1 , y1 ) and a normal ~n =
b

a(x x1 ) + b(y y1 ) = 0

Tai Do Lines and Planes 45 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Example 9
Find the distance from P to the line l in the following cases
tarot byotcl
(a) P = (1, 2), l : 3x + 4y 5 = 0. DCP e)
, =

a2tb2
4-2-51
1¥
" "t
alp e. i
,
= = =

" #
32+42 1
(b) P = (2, 1), l passes through A(0, 1) and has normal ~n = .
1
l has general equation
1 (K -

)
O + C- 1) (ay -

11=0 se -

y +1=0
The distance is

12 l 1) +11
4pg- 252
- -

DCP, e) = = =

it (4) 2

Tai Do Lines and Planes 46 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Example 9
" #
1
(c) P = (0, 1), l passes through A(0, 1) and has direction ~v = .
3
Exercise !

Tai Do Lines and Planes 47 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Distance from a point to a plane in R3

Theorem 8
The distance from the point P0 = (x0 , y0 , z0 ) to the plane
↵ : ax + by + cz + d = 0 is

|ax0 + by0 + cz0 + d|

d(P0 , ↵) = p
a 2 + b2 + c 2

Tai Do Lines and Planes 48 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Theorem 4 proof (sketch)

Let Q(x12, y31 , z1 ) be any point on P.
a
6 7
Let ~n = 4 b 5 be a normal vector that is positioned at Q.
c

Tai Do Lines and Planes 49 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Theorem 4 proof (sketch)

Let Q(x12, y31 , z1 ) be any point on P.
a
6 7
Let ~n = 4 b 5 be a normal vector that is positioned at Q.
c

Observation
!
d(P0 , ↵) = || proj~n (QP0 )||

Tai Do Lines and Planes 49 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Theorem 4 proof (sketch)

Let Q(x12, y31 , z1 ) be any point on P.
a
6 7
Let ~n = 4 b 5 be a normal vector that is positioned at Q.
c

Observation
!
d(P0 , ↵) = || proj~n (QP0 )||

!
! QP0 · ~n
proj~n (QP0 ) = ~n implies
~n · ~n
! |ax0 + by0 + cz0 + d|
|| proj~n (QP0 )|| = p
a 2 + b2 + c 2

Tai Do Lines and Planes 49 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Remark

|ax0 + by0 + cz0 + d|

To use d(P0 , P) = p , we need general equation
a 2 + b2 + c 2
ax + by + cz + d = 0
2 3
a
6 7
This is achieved by a point Q = (x1 , y1 , z1 ) and a normal ~n = 4 b 5
c

a(x x1 ) + b(y y1 ) + c(z z1 ) = 0.

Tai Do Lines and Planes 50 / 52

 Lines in R2
Lines in R3
Planes in R3
Distances

Example 10
Find the distance from A(1, 2, 0) to the plane P in the following cases.

(a) P : 2x + y z+1=0 DCA ,P)= lascotbyotctotdl

a2tb2&c
-

12 11-2-0+11
d(A. F)
¥
-

=
=

2<+14+-112 2 3
1
6 7
(b) P passes through (2, 1, 1) and has normal vector ~n = 425
3
The general equation of P is
16C-211-214 -

1) 1-312-+17--0
01+24+32--1=0
14 1
%
11-2 -2+3-0-11
d( A ,
P) = = =

14-22+32 14
Tai Do Lines and Planes 51 / 52
 Lines in R2
Lines in R3
Planes in R3
Distances

Summary on distances

In R2 , the distance from P0 (x0 , y0 ) to the line

l : ax + by + c = 0 is

|ax0 + by0 + c|
d(P0 , l) = p
a 2 + b2

In R3 , the distance from P (x0 , y0 , z0 ) to the plane

P : ax + by + cz + d = 0 is

|ax0 + by0 + cz0 + d|

d(P0 , P) = p
a 2 + b2 + c 2

Tai Do Lines and Planes 52 / 52