Wednesday September 15 − Lecture 2 : Lines in R2 or R3. (Refers to section 4.

1 )

Expectations:

1. Give the vector equation representation and the parametric equations

representation of a line in R3.
2. Find the equation of a line in R3 which contains two given points.

2.1 Definition − Let d = (d1, d2, d3) and a = (a1, a2, a3) be vectors in R3. A line L in 3-
space R3 (or in 2-space R2 ) which is parallel to the vector d and which contains a is
defined as the set of all points x (or you may call them vectors) which are of the form x
= a + td where the scalar t ranges over the real numbers. The expression

x = a + td

is called the vector equation of the line L. The vector d is called a direction vector of the
line L.

In R2 the usual expression y = mx + b used to represent a line L is called the scalar

equation of L.

2.1.1 Note − If the line L contains the vectors a = (a1, a2, a3) and b = (b1, b2, b3) then
it is parallel to the vector d = a − b = (a1, a2, a3) − (b1, b2, b3) and so its vector
equation is

x = a + td = (a1, a2, a3) + t [(b1, b2, b3) − (a1, a2, a3) ] .

2.1.2 Definition − Two lines L1 and L2 are said to be parallel if the direction vector of
L1 is a scalar multiple of the direction vector of L2.

2.2 Definition − The line L , (x1, x2, x3) = (a1, a2, a3) + t(b1, b2, b3) , can also be expressed
in the form of a set of parametric equations:
x1 = a1 + tb1
x2 = a2 + tb2
x3 = a3 + tb3
2.2.1 Example − Express the line L passing through the points A(2, −1, 6) = a and
B(3, 1, −2) = b in the form of a vector equation and parametric equations

The vector equation:

• The line L contains the point a = (2, −1, 6).

• It has the direction of the directed line segment

d = b – a = (3, 1, −2) − (2, −1, 6) = (1, 2, −8).

(But it doesn't contain the point (1, 2, −8) )

• It’s vector equation is x = (2, −1, 6) + t (1, 2, −8)

The parametric equations:

x1 = 2 + t
x2 = −1+ 2t
x3 = 6 − 8t

2.2.2 Example − Express the equation of the line L in 2-space which contains the
points (4, −2) and (1, 2) in 3 ways: 1) The vector equation, 2) parametric equations, 3)
scalar equation

1) The vector equation:

• The line L contains the point a = (4, −2).

• It has the direction of the directed line segment d = (1, 2) − (4, −2) = (−3, 4). (But
it doesn't contain the point (−3, 4) )
• It’s vector equation is x = (4, −2) + t (−3, 4)

2) The parametric equations: This is obtained from (x1 , x2) = x = (4, −2) + t (−3, 4)

x1 = 4 + −3t
x2 = −2 + 4t.

3) The scalar equation: Isolating t in x1 = 4 + −3t we get : t = (−x1 /3) + 4/3. We then
substitute t in x2 = −2 + 4t.
 2.2.3 Example − Express the scalar equation, y = 2x + 3, of the line L in 2-space as
1) parametric equations, 2) The vector equation.

Solution:

1) There are many possible parametric equations. For example

y = 2x + 3
= 2x − 4 + 3 + 4
= 2( x − 2) + 7
= 2 t + 7 (where we let t = x – 2)

So a pair of parametric equations representing this line is

x= t+2
y = 2t + 7.
2) Vector equation:

x = (x, y)
= ( t + 2, 2t + 7)
= ( t , 2t) + (2 , 7)
= t (1, 2) + (2, 7).

So a vector equation representing this line is

x = t (1, 2) + (2, 7).

with direction vector (1, 2).

Remark − Note that we have no single scalar equation for lines in R3. For the line L ,
(x1, x2, x3) = (a1, a2, a3) + t(b1, b2, b3) , in R3, we obtain, by isolating t in each of the
parametric equations, the following equation:

We refer to these as the symmetric equations of the line L in R3.

Recommended exercises: §4.1 : #22, 24 a), c)