Plane analytic geometry

3D geometry

2. Lines and planes in 2D and 3D geometry

Mihai-Sorin Stupariu

2014 - 2015

Mihai-Sorin Stupariu

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

Points and vectors

I

In coordinates, both points and vectors: pairs.

Mihai-Sorin Stupariu

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

Points and vectors

I

In coordinates, both points and vectors: pairs.

Relationship: A = (a1 , a2 ), B = (b1 , b2 ) points, AB= B A.

Mihai-Sorin Stupariu

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

Points and vectors

I

In coordinates, both points and vectors: pairs.

I Relationship:
x2

A = (a1 , a2 ), B = (b1 , b2 ) points, AB= B A.

x2

v+w
v
A
w
x1
O
Vectors and linear combinations
Mihai-Sorin Stupariu

1
2A

+ 12 B

B
x1
O
Points and barycentric combinations
2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

Operations with vectors. Other related concepts

I

Vector addition

Mihai-Sorin Stupariu

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

Operations with vectors. Other related concepts

I
I

Vector addition
Scalar multiplication

Mihai-Sorin Stupariu

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

Operations with vectors. Other related concepts

I
I
I

Vector addition
Scalar multiplication
Linear combinations.

Mihai-Sorin Stupariu

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

Operations with vectors. Other related concepts

I
I
I

Vector addition
Scalar multiplication
Linear combinations.
I

Using the standard basis vectors

Mihai-Sorin Stupariu

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

Operations with vectors. Other related concepts

I
I
I

Vector addition
Scalar multiplication
Linear combinations.
I
I

Using the standard basis vectors

The zero vector

Mihai-Sorin Stupariu

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

Operations with vectors. Other related concepts

I
I
I

Vector addition
Scalar multiplication
Linear combinations.
I
I

Using the standard basis vectors

The zero vector

Dot (inner) product of v = (v1 , v2 ) and w = (w1 , w2 ) is

v w = hv, wi = v1 w1 + v2 w2

Mihai-Sorin Stupariu

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

Operations with vectors. Other related concepts

I
I
I

Vector addition
Scalar multiplication
Linear combinations.
I
I

Using the standard basis vectors

The zero vector

Dot (inner) product of v = (v1 , v2 ) and w = (w1 , w2 ) is

v w = hv, wi = v1 w1 + v2 w2
I

Vector length (norm of a vector) kvk =

Mihai-Sorin Stupariu

vv

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

Operations with vectors. Other related concepts

I
I
I

Vector addition
Scalar multiplication
Linear combinations.
I
I

Using the standard basis vectors

The zero vector

Dot (inner) product of v = (v1 , v2 ) and w = (w1 , w2 ) is

v w = hv, wi = v1 w1 + v2 w2
I
I

Vector length (norm of a vector) kvk = v v

Perpendicular (orthogonal) vectors v, w such that v w = 0

Mihai-Sorin Stupariu

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

Operations with vectors. Other related concepts

I
I
I

Vector addition
Scalar multiplication
Linear combinations.
I
I

Using the standard basis vectors

The zero vector

Dot (inner) product of v = (v1 , v2 ) and w = (w1 , w2 ) is

v w = hv, wi = v1 w1 + v2 w2
I
I
I

Vector length (norm of a vector) kvk = v v

Perpendicular (orthogonal) vectors v, w such that v w = 0
Angle between vectors v, w is [0, ] such that
cos =

Mihai-Sorin Stupariu

vw
kvk kwk

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

Lines in the plane

I

What determines a line?

Mihai-Sorin Stupariu

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

Lines in the plane

I

What determines a line?

I

A point A = (a1 , a2 ) of the line and a vector v = (v1 , v2 ) (not

unique!) directing the line: parametric representation

x1 = a1 + t v1
t R is the parameter
x2 = a2 + t v2 ,
Each value of t yields a point of the line and conversely

Mihai-Sorin Stupariu

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

Lines in the plane

I

What determines a line?

I

A point A = (a1 , a2 ) of the line and a vector v = (v1 , v2 ) (not

unique!) directing the line: parametric representation

x1 = a1 + t v1
t R is the parameter
x2 = a2 + t v2 ,
Each value of t yields a point of the line and conversely
Two points, A = (a1 , a2 ) 6= B = (b1 , b2 ): the equation of the
line passing through A and B
x1 a1
x2 a2
=
.
b1 a1
b2 a2

Mihai-Sorin Stupariu

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

Lines in the plane

I

What determines a line?

I

A point A = (a1 , a2 ) of the line and a vector v = (v1 , v2 ) (not

unique!) directing the line: parametric representation

x1 = a1 + t v1
t R is the parameter
x2 = a2 + t v2 ,
Each value of t yields a point of the line and conversely
Two points, A = (a1 , a2 ) 6= B = (b1 , b2 ): the equation of the
line passing through A and B
x1 a1
x2 a2
=
.
b1 a1
b2 a2

Equation of a line
1 x1 + 2 x2 + = 0,

Mihai-Sorin Stupariu

1 , 2 , R, (1 , 2 ) 6= (0, 0).

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

Lines in the plane

I

What determines a line?

I

A point A = (a1 , a2 ) of the line and a vector v = (v1 , v2 ) (not

unique!) directing the line: parametric representation

x1 = a1 + t v1
t R is the parameter
x2 = a2 + t v2 ,
Each value of t yields a point of the line and conversely
Two points, A = (a1 , a2 ) 6= B = (b1 , b2 ): the equation of the
line passing through A and B
x1 a1
x2 a2
=
.
b1 a1
b2 a2

Equation of a line
1 x1 + 2 x2 + = 0,

1 , 2 , R, (1 , 2 ) 6= (0, 0).

These representations are equivalent:

Mihai-Sorin Stupariu

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

Lines in the plane

I

What determines a line?

I

A point A = (a1 , a2 ) of the line and a vector v = (v1 , v2 ) (not

unique!) directing the line: parametric representation

x1 = a1 + t v1
t R is the parameter
x2 = a2 + t v2 ,
Each value of t yields a point of the line and conversely
Two points, A = (a1 , a2 ) 6= B = (b1 , b2 ): the equation of the
line passing through A and B
x1 a1
x2 a2
=
.
b1 a1
b2 a2

Equation of a line
1 x1 + 2 x2 + = 0,

1 , 2 , R, (1 , 2 ) 6= (0, 0).

These representations are equivalent:

I

parametric equation: eliminate t

Mihai-Sorin Stupariu

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

Lines in the plane

I

What determines a line?

I

A point A = (a1 , a2 ) of the line and a vector v = (v1 , v2 ) (not

unique!) directing the line: parametric representation

x1 = a1 + t v1
t R is the parameter
x2 = a2 + t v2 ,
Each value of t yields a point of the line and conversely
Two points, A = (a1 , a2 ) 6= B = (b1 , b2 ): the equation of the
line passing through A and B
x1 a1
x2 a2
=
.
b1 a1
b2 a2

Equation of a line
1 x1 + 2 x2 + = 0,

1 , 2 , R, (1 , 2 ) 6= (0, 0).

These representations are equivalent:

I
I

parametric equation: eliminate t

equation parametric: denote by t one coordinate, solve
Mihai-Sorin Stupariu

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

Relative position of lines: use of parametric representation

I

Let d and be two lines in the plane, let v = (v1 , v2 ) and

w = (w1 , w2 ) be two director vectors of d and , respectively.

Mihai-Sorin Stupariu

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

Relative position of lines: use of parametric representation

I

Let d and be two lines in the plane, let v = (v1 , v2 ) and

w = (w1 , w2 ) be two director vectors of d and , respectively.
I

Parallel lines: The lines are parallel or coincide if and only the
vectors v and w are proportional, i.e.
w2
w1
=
.
v1
v2

Perpendicular (orthogonal) lines: The lines are orthogonal if

and only if
v w = v1 w1 + v2 w2 = 0.

Mihai-Sorin Stupariu

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

Relative position of lines: use of parametric representation

I

Let d and be two lines in the plane, let v = (v1 , v2 ) and

w = (w1 , w2 ) be two director vectors of d and , respectively.
I

Parallel lines: The lines are parallel or coincide if and only the
vectors v and w are proportional, i.e.
w2
w1
=
.
v1
v2

Perpendicular (orthogonal) lines: The lines are orthogonal if

and only if
v w = v1 w1 + v2 w2 = 0.

Angle between two lines: the angle between the lines d and
is the angle [0, ] between the vectors v and w; it is given
by the formula
vw
cos =
kvk kwk
Mihai-Sorin Stupariu

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

Other useful facts

Midpoint of a segment Let A = (a1 , a2 ) and B = (b1 , b2 ).

The midpoint of the segment [AB] is


a1 + b1 a2 + b2
,
M=
2
2

Mihai-Sorin Stupariu

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

Other useful facts

Midpoint of a segment Let A = (a1 , a2 ) and B = (b1 , b2 ).

The midpoint of the segment [AB] is


a1 + b1 a2 + b2
,
M=
2
2

Distance between two points Let A = (a1 , a2 ) and

B = (b1 , b2 ). The distance between A and B is
q
d(A, B) = (b1 a1 )2 + (b2 a2 )2 .

Mihai-Sorin Stupariu

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

General principles

Use three coordinates: x1 , x2 , x3

Mihai-Sorin Stupariu

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

General principles

Use three coordinates: x1 , x2 , x3

Each point P has three coordinates P = (P1 , P2 , P3 ); each

vector has three components v = (v1 , v2 , v3 )

Mihai-Sorin Stupariu

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

General principles

Use three coordinates: x1 , x2 , x3

Each point P has three coordinates P = (P1 , P2 , P3 ); each

vector has three components v = (v1 , v2 , v3 )

The horizontal plane, given by z3 = 0: recover the 2D

geometry

Mihai-Sorin Stupariu

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

Lines in the 3D spaces

I

What determines a line?

Mihai-Sorin Stupariu

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

Lines in the 3D spaces

I

What determines a line?

I

A point A = (a1 , a2 , a3 ) of the line and a vector v = (v1 , v2 , v3 )

(not unique!)
directing the line: parametric representation
x1 = a1 + t v1
x2 = a2 + t v2 t R is the parameter

x3 = a3 + t v3 ,
Each value of t yields a point of the line and conversely

Mihai-Sorin Stupariu

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

Lines in the 3D spaces

I

What determines a line?

I

A point A = (a1 , a2 , a3 ) of the line and a vector v = (v1 , v2 , v3 )

(not unique!)
directing the line: parametric representation
x1 = a1 + t v1
x2 = a2 + t v2 t R is the parameter

x3 = a3 + t v3 ,
Each value of t yields a point of the line and conversely
Two points, A = (a1 , a2 , a3 ) 6= B = (b1 , b2 , b3 ): the equations
of the line passing through A and B
x1 a1
x2 a2
x3 a3
=
=
.
b1 a1
b2 a2
b3 a3

Mihai-Sorin Stupariu

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

Lines in the 3D spaces

I

What determines a line?

I

A point A = (a1 , a2 , a3 ) of the line and a vector v = (v1 , v2 , v3 )

(not unique!)
directing the line: parametric representation
x1 = a1 + t v1
x2 = a2 + t v2 t R is the parameter

x3 = a3 + t v3 ,
Each value of t yields a point of the line and conversely
Two points, A = (a1 , a2 , a3 ) 6= B = (b1 , b2 , b3 ): the equations
of the line passing through A and B
x1 a1
x2 a2
x3 a3
=
=
.
b1 a1
b2 a2
b3 a3

Equations of a line (why does one need two equations in the

3D context?)

Mihai-Sorin Stupariu

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

Lines in the 3D spaces

I

What determines a line?

I

I
I

A point A = (a1 , a2 , a3 ) of the line and a vector v = (v1 , v2 , v3 )

(not unique!)
directing the line: parametric representation
x1 = a1 + t v1
x2 = a2 + t v2 t R is the parameter

x3 = a3 + t v3 ,
Each value of t yields a point of the line and conversely
Two points, A = (a1 , a2 , a3 ) 6= B = (b1 , b2 , b3 ): the equations
of the line passing through A and B
x1 a1
x2 a2
x3 a3
=
=
.
b1 a1
b2 a2
b3 a3

Equations of a line (why does one need two equations in the

3D context?)
These representations are equivalent:

Mihai-Sorin Stupariu

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

Lines in the 3D spaces

I

What determines a line?

I

I
I

A point A = (a1 , a2 , a3 ) of the line and a vector v = (v1 , v2 , v3 )

(not unique!)
directing the line: parametric representation
x1 = a1 + t v1
x2 = a2 + t v2 t R is the parameter

x3 = a3 + t v3 ,
Each value of t yields a point of the line and conversely
Two points, A = (a1 , a2 , a3 ) 6= B = (b1 , b2 , b3 ): the equations
of the line passing through A and B
x1 a1
x2 a2
x3 a3
=
=
.
b1 a1
b2 a2
b3 a3

Equations of a line (why does one need two equations in the

3D context?)
These representations are equivalent:
I

parametric equation: eliminate t

Mihai-Sorin Stupariu

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

Lines in the 3D spaces

I

What determines a line?

I

I
I

A point A = (a1 , a2 , a3 ) of the line and a vector v = (v1 , v2 , v3 )

(not unique!)
directing the line: parametric representation
x1 = a1 + t v1
x2 = a2 + t v2 t R is the parameter

x3 = a3 + t v3 ,
Each value of t yields a point of the line and conversely
Two points, A = (a1 , a2 , a3 ) 6= B = (b1 , b2 , b3 ): the equations
of the line passing through A and B
x1 a1
x2 a2
x3 a3
=
=
.
b1 a1
b2 a2
b3 a3

Equations of a line (why does one need two equations in the

3D context?)
These representations are equivalent:
I
I

parametric equation: eliminate t

equation parametric: denote by t one coordinate, solve
Mihai-Sorin Stupariu

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

Planes in the 3D spaces

I

What determines a plane?

Mihai-Sorin Stupariu

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

Planes in the 3D spaces

I

What determines a plane?

I

A point A through which the line passes and two vectors

v = (v1 , v2 , v3 ), w = (w1 , w2 , w3 ) (not unique!) directing the
plane: parametric representation

x1 = a1 + t v1 + s w1
x2 = a2 + t v2 + s w2 t, s R are the parameters

x3 = a3 + t v3 + s w3 ,

Mihai-Sorin Stupariu

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

Planes in the 3D spaces

I

What determines a plane?

I

A point A through which the line passes and two vectors

v = (v1 , v2 , v3 ), w = (w1 , w2 , w3 ) (not unique!) directing the
plane: parametric representation

x1 = a1 + t v1 + s w1
x2 = a2 + t v2 + s w2 t, s R are the parameters

x3 = a3 + t v3 + s w3 ,

Three points, A, B, C , not collinear: the equation of the plane

passing through A, B and C

Mihai-Sorin Stupariu

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

Planes in the 3D spaces

I

What determines a plane?

I

A point A through which the line passes and two vectors

v = (v1 , v2 , v3 ), w = (w1 , w2 , w3 ) (not unique!) directing the
plane: parametric representation

x1 = a1 + t v1 + s w1
x2 = a2 + t v2 + s w2 t, s R are the parameters

x3 = a3 + t v3 + s w3 ,

Three points, A, B, C , not collinear: the equation of the plane

passing through A, B and C
A point A = (a1 , a2 , a3 ) and a vector n = (n1 , n2 , n3 )
orthogonal to the plane: point-normal equation of a plane has
the form

n1 x1 + n2 x2 + n3 x3 + = 0,

Mihai-Sorin Stupariu

where is suitable

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

Planes in the 3D spaces

I

What determines a plane?

I

A point A through which the line passes and two vectors

v = (v1 , v2 , v3 ), w = (w1 , w2 , w3 ) (not unique!) directing the
plane: parametric representation

x1 = a1 + t v1 + s w1
x2 = a2 + t v2 + s w2 t, s R are the parameters

x3 = a3 + t v3 + s w3 ,

Three points, A, B, C , not collinear: the equation of the plane

passing through A, B and C
A point A = (a1 , a2 , a3 ) and a vector n = (n1 , n2 , n3 )
orthogonal to the plane: point-normal equation of a plane has
the form

n1 x1 + n2 x2 + n3 x3 + = 0,
I

where is suitable

Equation of a plane (why does one need only one equation?)

Mihai-Sorin Stupariu

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

Brief synthesis: lines and planes in the 3D space

Line
Plane

Parametric representation
One parameter
Two parameters

Mihai-Sorin Stupariu

Equations
Two equations
One equation

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

Brief synthesis: lines and planes in the 3D space

Line
Plane
I

Parametric representation
One parameter
Two parameters

Equations
Two equations
One equation

What is the meaning of the parameters?

Mihai-Sorin Stupariu

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

Brief synthesis: lines and planes in the 3D space

Line
Plane

Parametric representation
One parameter
Two parameters

Equations
Two equations
One equation

What is the meaning of the parameters?

What is the meaning of the equations?

Mihai-Sorin Stupariu

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

Brief synthesis: lines and planes in the 3D space

Line
Plane

Parametric representation
One parameter
Two parameters

Equations
Two equations
One equation

What is the meaning of the parameters?

What is the meaning of the equations?

Why for planes we have one equation and for lines two
equations?

Mihai-Sorin Stupariu

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

Brief synthesis: lines and planes in the 3D space

Line
Plane

Parametric representation
One parameter
Two parameters

Equations
Two equations
One equation

What is the meaning of the parameters?

What is the meaning of the equations?

Why for planes we have one equation and for lines two
equations?

How do you interpret the fact that a line is the intersection of

two planes?

Mihai-Sorin Stupariu

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

Relative positions of lines and planes in the 3D space

Intersecting a line and a plane. Write the parametric

representation of the line and the equation of the plane. Find
the value of t for which the equation is verified.

Mihai-Sorin Stupariu

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

Relative positions of lines and planes in the 3D space

Intersecting a line and a plane. Write the parametric

representation of the line and the equation of the plane. Find
the value of t for which the equation is verified.

Intersecting two planes. Write the system yielded by the

equations of the planes. The intersection is, usually, a line.

Mihai-Sorin Stupariu

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

Relative positions of lines and planes in the 3D space

Intersecting a line and a plane. Write the parametric

representation of the line and the equation of the plane. Find
the value of t for which the equation is verified.

Intersecting two planes. Write the system yielded by the

equations of the planes. The intersection is, usually, a line.

The angle between two lines. Orthogonal lines. Parallel lines.

Analogous to the 2D case.

Mihai-Sorin Stupariu

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

Relative positions of lines and planes in the 3D space

Intersecting a line and a plane. Write the parametric

representation of the line and the equation of the plane. Find
the value of t for which the equation is verified.

Intersecting two planes. Write the system yielded by the

equations of the planes. The intersection is, usually, a line.

The angle between two lines. Orthogonal lines. Parallel lines.

Analogous to the 2D case.

The angle between two planes. Orthogonal planes. Use

normals to the planes for computing the angle and for
verifying the orthogonality condition.

Mihai-Sorin Stupariu

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

Other useful facts

Midpoint of a segment Let A = (a1 , a2 , a3 ) and

B = (b1 , b2 , b3 ). The midpoint of the segment [AB] is


a1 + b1 a2 + b2 a3 + b3
,
,
M=
2
2
2

Mihai-Sorin Stupariu

2. Lines and planes in 2D and 3D geometry

Plane analytic geometry

3D geometry

Other useful facts

Midpoint of a segment Let A = (a1 , a2 , a3 ) and

B = (b1 , b2 , b3 ). The midpoint of the segment [AB] is


a1 + b1 a2 + b2 a3 + b3
,
,
M=
2
2
2

Distance between two points Let A = (a1 , a2 , a3 ) and

B = (b1 , b2 , b3 ). The distance between A and B is
q
d(A, B) = (b1 a1 )2 + (b2 a2 )2 + (b3 a3 )2 .

Mihai-Sorin Stupariu

2. Lines and planes in 2D and 3D geometry