VECTORS

Straight line in space Example II

A straight line is uniquely determined in space if Find the vector and the Cartesian equation of a line
either; we know one point on the straight line and passing through A(3, 4, -7) and B(1, -1, 6)
its direction or two points on the straight line. Solution
Vector equation of a line r =a+ λd
The vector equation of a line is given by d= AB =OB−OA

( )( )( )
r = a + λAB 1 3 −2
 B −1 − 4 = −5
6 −7 13

( )( )
r = a + λAB 3 −2
  r = 4 + λ −5 (vector equation of line)
A
−7 13
r = a + λAB

()( ) ( )
r = a + λd x 3 −2
Where; a = any point on the line y = 4 + λ −5
d = directional vector of the line. z −7 13
x = 3 – 2λ
The Cartesian equation is given by; y = 4 - 5λ
x−x o y − y o z −z o z = -7+13λ
= = =λ
a b c
Where a, b and c are direction vectors

Example 1
Find the vector and Cartesian equation of a line
passing through 3 i− j+2 k and is parallel to
3 i− j+2 k
Cartesian equation
Solution;
x−3 y−4 z+7
r =a+ λd = = =λ
−2 −5 13

( )()
3 3
r = −1 + λ −1 Example III
2 2 Find the vector and Cartesian equation of a line
Cartesian equation passing through (2, -1, 1) and is parallel to the line

()( ) ( )
x 3 3 whose equation
y = −1 + λ −1 x−3 y+ 1 z−2
= = =λ
z 2 2 2 7 −3
x=3+3 λ Solution
y=−1−λ Since the lines are parallel, it implies that they
z=2+2 λ have the same parallel vectors.
x−3 y+ 1 z−2 r =a+ λd
=λ , =λ, =λ

( )( )
3 −1 2 2 2
x−3 y+ 1 z−2 r = −1 + λ 7
= = =λ 1 −3
3 −1 2

213
Cartesian equation:

()( ) ( )
x 2 2
y = −1 + λ 7 Example IV
z 1 −3 Find the coordinates of the point where the line
joining the points (2, 3, 1) and (3, -4 -5) meets the
x-y plane
x – 2 = 2λ

() ( )
2 1
r = 3 + λ −7
y + 1 = 7λ 1 −6
x=2+ λ
z – 1 = -3λ y=3−7 λ
z=1−6 λ

For the line to meet the x-y plane, z = 0

Example III 1
0=1−6 λ λ=
Find the vector and Cartesian equations of the a 6
line passing through the following points 1
x=2+
(a) 5, -4, 6) and (3, 7, 2) 6
(b) (3, 4, -7) and (5, 1, 6) 13
x=
Solution 6
r = a + λAB 7
r = a + λd y=3−
6

()( )( )
3 5 −2 11
d= 7 − −4 = 11 y=
6
2 6 −4
The coordinates are ( 136 , 116 , 0)
( ) ( )
5 −2
(a) r = −4 − λ 11 Example V
6 −4 Show that 4i – j – 12k lies on the line
r =2i+3 j+ 4 k + λ ¿

() ()
2 1
(b) A(3, 4, -7) and B(5, 1, 6) Solution r = 3 + λ 2
r = a + μd 4 4

()( )
5 3 ( 4 ,−1,12 )
d= 1 − 4

( )() ( )
4 2 1
6 −7 = + λ
−1 3 −2

( )
2 12 4 4
d= −3 4=2+ λ λ=2
13 −1=3−2 λ λ=2and

( )( )
3 2 12=4+4 λ λ=2
r = 4 + μ −3 ∴ The point lies on the line since the values of μ
−7 13 are the same.

Example V

214
 ( )()
The points A, B, C have position vectors −1 3

( )( )( )
−4 5 8 r = 4 + λ −1
5 , 2 , 1 . Find which of the three points lie 1 2
−1 3 7

() ( ) ( )
8 −1 3

( )()
−1 3 1 = 4 + λ −1
in the line r = 4 + λ −1 7 1 2
1 2 8 = -1 + 3λ λ=3
Solution 1=4–λ λ=3

( )()
−1 3 7 = 1 + 2λ λ=3
r = 4 + λ −1 Since the vales of λ are the same, point C
1 2 lies on the line.

( )
−4
For A, r = 5
−1
Angle between two lines

( )( ) ( )
−4 −1 3
= + λ The angle between two lines is the angle between
5 4 −1
their directional vectors
−1 1 2
Consider two lines L1 and L2 with vector
−¿4 = -1 + 3λ λ = -1 equations
5=4–λ λ = -1 r = a + λd1 and r = b + μd2 respectively
-1 = 1 + 2λ λ = -1 The angle between the two lines is given by

( )
−4
⇒ 5 lies on the line. the formula
−1 Examples
1. Find the angle between the lines;

()
5
For B, 2 r =3i+2 j−4 k + λ ¿)
3 r =5i−2 j+ μ ¿ )
a . b=|a||b|cos θ

( )()
−1 3
r = 4 + λ −1 a.b
cos θ=
1 2 |a||b|
d1 . d2

() ( ) ( )
5 −1 3 cos θ=
2 = 4 + λ −1 |d 1||d 2|
3 1 2

() ()
1 3
5 = -1 + 3λ λ=2 d 1= 2 d 2= 2
2=4–λ λ=2 2 6

( )( )
3 = 1 + 2λ λ=1 1 3
Since the values of λ are not the same, point 2 . 2
B does not lie on the line. 2 6
cos θ=¿ ¿

() √12 +22 +22 √32 +22 +62

8
For C, 1 3+4 +12
7 cos θ=
√ 9 √ 49

215
 19
cos θ=
21

( 1921 )
( )( )
θ=cos−1 2 −2
1 . 1
θ=25.2° −1 2
cosθ=
Example II
√ 22+12 +(−1)2 √(−2)2+ 12+(2)2
−4 +1−2
Find the angles between the lines cosθ=
z +3 √ 6 . √9
∧x +1 The acute angle between the two lines is
x+ 4 y +1 4 y −4 z −5
= = = = 47.1°
3 5 1 1 2
Solution
Example IV
d1 . d2
cos θ= Find the angle between the lines:
|d 1||d 2|

() ()
3 1 and
d 1 = 5 , d 2= 1
4 2

( )( )
3 1 Solution
5 . 1

() ()
3 1
4 2 d 1= 2 and d 2= 1
cos θ=¿ ¿
√3 2+5 2+ 42 √ 12+12 +22 1 2
3+5+ 8
cos θ=
( √ 50 ) √ 6

( )( )
16 3 1
cos θ=
√300 2 . 1

( )
−1 16 1 2
θ=cos cosθ=
√300 √ 32+ 22+(1)2 √(1)2+ 12+(2)2
θ=22.5° 3+2+2
cosθ=
√ 14 . √ 6
Example III
θ = 40.2°
Find the acute angle between the lines:
The acute angle between the two lines is 40.2°

and Note: If two lines are perpendicular, then

Solution (d 1 . d2 ¿=0

and Point of Intersection of two Lines

Example
Find the point of intersection of the lines
z−5

( ) ( )
2 −2 ∧x −1
x y +2 −1 y +3 z−4
d 1= 1 and d 2= 1 = = = =
1 2 −1 −3 1
−1 2

216
Solution The point of intersection of the lines is (4, 6, 1)
x y +2 z−5
= = =λ ………………. (i) Example II
1 2 −1
x−1 y +3 z−4 Find the point of intersection of the line
= = =μ ……………. (ii) r =i−2 j+3 k + λ ¿ )
−1 −3 1
From equation (i) r =−i+ 3 j+7 k + μ ¿)
x = λ ………………………………. (iii) Solution
y+ 2 From r =i−2 j+3 k + λ ¿ )
=λ

( )( )
2 1 2
y +2=2 λ r = −2 + λ 1
y=2 λ−2 ………………………. (iv) 3 −1

()( )
z−5 x 1+2 λ
=λ =
−1 y −2+ λ …………………… (1)
z−5=−λ z 3−λ
z=− λ+5 ………………………. (v) r =−i+ 3 j+7 k + μ ¿)

( )( )
From equation (ii) −1 −2
x=−μ+1 ………………………. (vi) r= 3 +λ 1
y +3=−3 μ 1 2

( )
y=−3 μ−3 … … … … … … … … … … ( vii ) −1−2 μ
z = μ + 4 …………………………... (viii) (r )= 3+ μ
λ=−μ+1 … … … … … … … … … …( ¿) 1+ 2 μ

()( )
2 λ−2=−3 μ−3 x −1−2 μ
2 λ+3 μ=−1… … … … … … … ….. ¿ y = 3+ μ … … … … … … … .(2)
z 7+2 μ
Substituting Eqn (*) in Eqn (**)
2 ( 1−μ ) +3 μ=−1 Equating the corresponding x components:
1+2 λ=−1−2 μ
2−2 μ+3 μ=−1
2 λ+2 μ=−2
2+μ=−1
μ=−3 λ+ μ=−1 … … … … … … … … … … … ( 3 )
λ=−μ+1 Equating the corresponding y components:
λ=3+1 −2+ λ=3+ μ
λ=4 λ−μ=5 … … … … … … … … … … … … ( 4 )
Equating Eqn (v) and Eqn (viii) Equating the corresponding z component;
−λ+ 5=μ+ 4 3−λ=7+2 μ
−4+5=−3+4 2 μ + λ=−4 ……………………….. (5)
1=1 Eqn (3) –eqn (4)
The two lines intersect 2 μ=−6
x=4 μ=−3
y=2 λ−2 From Eqn (4)
y=8−2 λ−(−3)=5
y=6 λ=2
z=−4+5 Substituting λ=2 and μ=−3 in Eqn (5);
z=−4+5 =1 The two lines intersect at (5, 0, 1)

217
Example III the lines joining the two lines lies completely on
Find the point of intersection of the lines the surface of the plane.
z−5 A plane is completely known if we know one point
∧x−1
y +3 2 y−8 z−3 that lie on the plane and then the normal to the
x−2= = = =
4 −1 1 −2 plane.
Solution
y +3 z−5 Equation of a Plane
x−2= = = λ … … … … … … (¿ ) Suppose a plane P passes through a point A with a
4 2
x−1 y −8 z−3 position vector a and is perpendicular to vector n.
= = =μ … … … … … … ¿ Let r be any point (x, y, z) in the plane.
−1 1 −2
If two lines are perpendicular, dot product of their
From equation (*)
direction vector = 0
x−2=λ
n
x=2+ λ … … … … … … … … … … … … … ( 1 )
y +3=4 λ
y=4 λ−3 … … … … … … … … … … … … … ( 2 )
z−5=2 λ A R
z=2 λ+5 … … … … … … … … … … … … … ( 3 )
From equation (**) a r
x−1=−μ
x=1−μ … … … … … … … … … … … … … … ( 4 )
y−8=μ O
y=μ+ 8 … … … … … … … … … … … … … … ( 5 ) AR. n=0
z−3=2 μ ( AO+¿ ) . n=0
z=2 μ+3 … … … … … … … … … … … … … … (6) (−a+ r ) .n=0
Equating the corresponding components (−n . a+ n. r ) =0
2+ λ=1−μ n . a=n . r
μ+ λ=−1 … … … … … … … … … … … … … ( 7 ) Equation of a plane is given by n . r=n. a
μ+8=4 λ−3 Where n = normal and a = the point that lies on the
μ−4 λ=−11 … … … … … … … … … … … ( 8 ) plane.
Eqn(8) - (7)
-5 λ=−10 Example I
λ=2 Find the equation of a plane passing through (1, 2,
Substitute λ = 2 in Eqn (8) 3), and is perpendicular to vector 4 i+5 j+ 6 k
μ−4 × 2=−11 Solution
μ=−3 n . r=n. a

( )( ) ( )( )
∴ The point of intersection is (4, 5, 9) 4 x 4 1
5 . y =5 . 2
PLANES 6 z 6 3
A plane is a surface which contains at least three 4 x+5 y +6 z=4+10+ 18
non-collinear points. If two points are taken then 4 x+5 y +6 z=32

Example II

218
Find the equation of a plane which contains A with 6+12−5 13
cos θ=¿ = ¿
position vector3 i+ 4 j+ 2 k and is perpendicular to √38 . √ 26 √38 . √ 26
i+2 j−2 k . −1 13
θ=cos
Solution √38 . √ 26
n . r=n. a θ=65.6 °

( )( ) ( )( )
1 x 1 3
2 . y = 2 . 4 Example II
−2 z −2 2 Find the angle between the planes 3x – 3y – z = 0
x +2 y −2 z =3+8−4 and x +4 y−2 z =4
x +2 y −2 y=7 Solution

( ) ( )
3 1
Example III n1 = −3 , n2 = 4
Find the equation of a plane passing through a −1 −2
point A with a position vector −2 i+ 4 k and is n1 n2
perpendicular to the vectori+3 j−2 k . cos θ=¿ ¿
|n1||n2|
Solution

( )( )
n r =n a 3 1
−3 4

( )( ) ( )( )
1 x 1 −2 −1 −2
3 . y = 3 . 0 cos θ=¿ ¿
−2 z −2 4 √3 +(−3 ) +(−1 ) . √1 + 4 + (−2 )
2 2 2 2 2 2

x +3 y−2 z=−2+0−8 3−12+2 −7

cos θ=¿ = ¿
x +3 y−2 z=−10 √ 19 . √ 21 √ 21 . √ 19
x +3 y−2 z+10=0 θ=cos
−1
( −7
√21 . √19 )
Angle between two planes θ=69.5 °
The angle between two planes is the angle between
their normals Angle between a line and a plane
n1 . n2
cos θ=¿ ¿ n
|n1||n2| r=a+λd
Example I α
Find the angle between the planes
2 x+3 y +5 z=7 , 3 x+ 4 y −z=8
Solution
θ

() ( )
2 3
n1 = 3 , n2 = 4 Line
5 −1
n1 . n2 n . d=|n||d|cos α
cos θ=¿ ¿
|n1||n2| θ+ 90° + α=180 °
θ+ α=90°

( )( )
2 3
3 4 α =90 °−θ
5 −1 n . d=|n||d|cos ( 90 °−θ )
cos θ=¿ ¿
√22 +32 +52 . √3 2+ 42 +12 n . d=|n||d|sin θ

219
 n.d Solution
sin θ=
|n||d| Find the angle between the line
n.d x+1 y−3 z +1
sin θ= = = and x + y + z=12
|n||d| 2 5 −1
Solution
Example n.d
sin θ=
Find the angle between the lines |n||d|

( )( )
r =i+2 j−2 k + μ ¿) and the plane 2 x− y + z=4 1 2
Solution 1 5
n.d 1 −1
sin θ= sin θ
|n||d|
√12 +12 +12 . √ 22+5 2+12
( )( )
1 2 2+ 5−1
−1 −1 sin θ=
√ 3 . √30
1 1
sin θ
√1 + (−1 ) +1 . √ 2 + (−1 ) +1
2 2 2 2 2 2 sin θ=
( )
6
√ 90
2+1+1
sin θ=
√3 . √ 6 θ=sin−1
( )6
√ 90
sin θ=
4
( )
√ 18
θ=39.2°

θ=sin−1
( )
4
√ 18
Point of intersection of a line and a
plane
θ=70.5° Example I
Find the point of intersection of the line
Find the acute angle between the line x+1 y−3 z +1
= = and x + y + z=19
x−1 y −8 z−3 2 5 −1
= = and 7 x− y +5 z=−5
−1 1 −2 Solution
Solution
n.d ………………. (*)
sin θ=
|n||d| From (*)

( )( )
5 7 x +1=2 λ
−1 −1 x=2 λ−1……………….. (1)
1 5 y−3=5 λ
sin θ
√5 +(−1 ) +1 . √ 7 + (−1 ) +5
2 2 2 2 2 2 y=3+ 5 λ……………….…. (2)
35+1+5 z +1=−λ
sin θ= z=−1−λ ………………..... (3)
√ 27 . √ 75
x + y + z=12
sin θ=
(41
√ 2025 ) ( 2 λ−1 )+ (5+ 3 λ ) + (−λ−1 )=12
4 λ=16
θ=sin−1
(
41
√ 2025 ) λ=4
From equation (1)
θ=65.7 ° x=2 ( 4 )−1=7

220
From equation (2) −λ=4
y=5 ( 4 ) +3=23 λ=−4
From equation (3) x=−4−2=−6 , y =−8+2=−6 ,
z=−1−4=−5 z=−4+ 4=0
∴ The point of intersection ( 7 , 23 ,−5 ) The point of intersection (-6, -6, 0)

Example II Perpendicular distance of a point from

Find the point of intersection of the line
a plane
3 x+ 4 y +2 z=25
and the plane The perpendicular distance of a point (x 1 , y 1 , z 1 )
Solution from the plane ax +by +cz + d=0 is given by the
formula;

x=5 λ ………………………….. (1)

……………….. (*) D=
|√ax+ by+ cz+ d
a2 +b2 + c2 |
y +2=2 λ Example
y=2 λ−2……………………... (2) Find the distance of a point (−2 , 0 , 6 ) from the
z−1=4 λ plane 2 x− y +3 z=21
z=4 λ+1 …………………….. (3) Solution

|√ |
3 x+ 4 y +2 z=25 ax+ by+ cz+ d
3(5 λ)+ 4 ( 2 λ−2 )+ 2 ( 4 λ+1 ) =25 D=
a2 +b2 + c2
15 λ+8 λ−8+ 8 λ+2=25
x 1 , y 1 , z 1=(−2 , 0 , 6 )
31 λ=25+6
Comparing ax +by +cz + d=0 with
31 λ=31
2 x− y +3 z−21=0 ;
λ=1
a=2 , b=−1 , c=3 , d=−21
x=5 , y=2−2=0 , z=5
∴ The point of intersection = (5, 0, 5) D=
| −4+ 0+18−21
|
√22 +(−1 )2 +32
Example −7 −7
Find the point of intersection of the line; D= = Units
√ 4 +1+9 √14
x+2 y−2
= =z −4 and the plane
−1 2 Line of intersection of two planes
2 x− y +3 z=10 Two planes intersect in a line
Solution
x+2 y−2 Examples I
= =z −4=λ
−1 2 Find the line of intersection of the planes 2x + 3y +
x=−λ−2…………….. (1) 4z = 1 and x + y + 3z=0
y=2 λ+ 2……………... (2) Solution
z=λ +4 ………………. (3) 2 x+3 y + 4 z=1
2 x− y +3 z=10 x + y +3 z=0
2 (−λ−2 )−( 2 λ+2 ) +3 ( λ+ 4 )=10 Let z=λ
−2 λ−4−2 λ−2+3 λ+12=10 2 x+3 y =1−4 λ…………………….. (1)
−4 λ+3 λ+ 6=10 x + y=−3 λ … … … … … … … … … … … .. ( 2 )

221
Eqn (2) ×2 5 λ=−6+5 y
2 x+2 y=−6 λ ………………………. (3) −6
λ= +y
Eqn (1) – Eqn (3); 5
y=1+2 λ 6
y−
y−1 5
=λ λ=
2 1
From Eqn (2); 19 6
x− y−
But y = 1 + 2 λ 5 5
= =z=λ
x + y = -3λ −1 1
x + 1 + 2λ = -3λ
x +1=−3 λ−2 λ Example
x +1=−5 λ Find the Cartesian equation of a line of intersection
x+1 of the lines.
=λ 2 x−3 y−z=1
−5
x+1 y−1 3 x+ 4 y +2 z=3
= =z= λ Let x=λ
−5 2
−3 y−z=1−2 λ …………… (i)
Example II 4 y +2 z=3−3 λ …………… (ii)
Find the line of intersection of planes 2x + 3y – z = Eqn (i) × 2
4 and x – y + 2z = 5. −6 y−2 z=2−4 λ ………….. (iii)
Solution Eqn (iii) + Eqn (ii)
2 x+3 y −z=4 −2 y=5−7 λ
x− y +2 z=5 −2 y−5=−7 λ
Let z=λ −2 y −5
=λ
2 x+3 y −λ=4 −7
x− y +2 λ=5
2 x+3 y =4+ λ ……………… (i) −2 y +( )
5
2
=λ
x− y =5−2 λ ……………….. (ii) −7
Multiply Eqn (ii) by 3; Eqn (i) × 4
3 x−3 y=15−6 λ …………… (iii) ⇒−12 y−4 z=4−8 λ ……….. (iv)
Eqn (ii) × 3
Eqn (iii) + Eqn (i);
12 y+ 6 z=9−9 λ ………………. (v)
5 x=19−5 λ
Eqn (iv) + Eqn (v)
5 λ=−x+ 19
2 z=13−17 λ
19
λ=−x + 2 z−13
5 =λ
−17

λ=
(
x−
19
5 ) (
2 z−
13
2 )
−1 =λ
−17
Multiply Eqn (ii) by 2;
2 x−2 y=10−4 λ …………… (iv)
Eqn (iv) – Eqn (i);
−5 y=6−5 λ

222
 x=
( )= (
y+
1
2
− z−
13
2 ) =λ 6
q= r ……………………………… (iv)
5
7
2
17
2
⇒ p=2 ( )
6r
5
−3 r

x=
y+ ( ) (
1
2
=
z−
13
2
=λ
) 12
p= r −3 r
5
7 −17 −3
p= r
2 2 5

( )()
−3 r

()
Equation of a Plane p 5 r −3
Given three points on the plane, we can find the q = 6r = 6
5
equation of a plane; r 5 5
r
Example I

( )
Find the Cartesian equation of a plane passing
−3
∴ n= 6
through A (0, 3, -4) B (2, -1, 2) and C (7, 4, -1)
5
Solution
n . r=n. a

()
p

( )( ) ( )( )
Let the normal ¿ q x −3 −3 0
r y . 6 = 6 . 3
z 5 5 −4

( )( )( )
2 0 2
AB= −1 − 3 = −4 −3 x+ 6 y+ 5 z =0+18−20
2 −4 6 −3 x+ 6 y+ 5 z =−2
3 x−6 y−5 z−2=0

( )( )()
7 0 7
AC= 4 − 3 = 1
Example II
−1 −4 3
Find the equation of a plane passing through points

( )( )
p 2 P(4, 2, 3), Q(5, 1, 4) and R(-2, 1, 1).
q −4 =0
. Solution
r 6

()
p
2 p−4 q+6 r=0 Let the normal to the plane be q
p−2q +3 r=0 …………………… (i) r

( )( ) ()()( )
p 7 5 4 1
q . 1 =0 PQ= 1 − 2 = −1
r 3 4 3 1
7 p+q+ 3 r=0 …………………… (ii)

( ) () ( )
−2 4 −6
From (i) PR= 1 − 2 = −1
p=2q−3 r ………………………… (iii) 1 3 −2
⇒ 7 ( 2 q−3 r ) +q+ 3r =0

( )( )
p 1
14 q−21 r +q +3 r=0 q . −1 =0
15 q−18 r=0 r 1
5 q−6 r =0 p−q−r=0 …………………… (i)
5 q=6 r

223
 ( )( ) ()( )( )
p −6 2 0 2
q . −1 =0 AB= 0 − 2 = −2
r −2 2 −4 6

( )( )( )
−6 p−q−2r =0 −8 0 −8
6 p+q +2 r=0 ………………… (ii) AC= 4 − 2 = 2
0 −4 4
From Eqn (i);

( )( )
p=q−r p 2
6 ( q−r ) + q+2 r=0 q −2 =0
.
r 6
6 q−6 r + q+2 r=0
7 q−4 r=0 2 p−2 q+6 r=0
7 q=4 r p – q + 3r = 0 …………………… (i)

( )( )
4r p −8
q= q . 2 =0
7
4r r 4
p= −r −8 p+2 q+ 4 r =0
7
−3 r -4p + q + 2r = 0 …………………… (ii)
p= p−q+3 r =0
7

( )()
p=q−3r
−3 r
−8 ( q−3 r ) +2 q+ 4 r =0

()
p 7 r −3
q = 4r =7 4 −8 q +24 r +2 q+ 4 r =0
r 7 7 −6 q +28 r=0
r 6 q=28 r
14 r

( )
−3 q=
n= 4 3
7 14 r 5r
p= −3 r =
3 3
n . r=n. a

( ) ()
5r

( )( ) ( ) ( )
x −3 −3 4

()
y 4 = 4 . 2 p 3 r 5
z 7 7 3 q = 14 r = 14
3
r 3 3
−3 x+ 4 y +7 z=−12+ 8+21
r
−3 x+ 4 y +7 z=17

()
3 x−4 y−7 z +17=0 5
n= 14
Example III 3
Find the equation of the planes passing through the n . r=n. a

( ) ( ) ( )( )
following points: x 5 5 0
(i) A (0, 2, -4) B (2, 0, 2) C (-8, 4, 0) y 14. = 14 2
Solution z 3 3 −4

()
p 5 x+ 14 y +3 z =0+28−12
Let the normal n= q 5 x+ 14 y +3 z −16=0
r

224
 ( ) ( )
(ii) A (-1, 0, 1), B(3, 3, -2), C(-1, 1, 1) 1 2

()
p AB= −1 and AC= 1
¿
Let the normal q 3 −3
r

()
p

( )( )( )
3 −1 4 ¿
Let the normal q
AB= 3 − 0 = 3 r
−2 1 −3

( )( )
p 1

( ) ( ) ()
−1 −1 0 q −1 =0
.
AC= 1 − 0 = 1 r 3
1 1 0 p−q+3 r =0 ……………….. (i)

( )( ) ( )( )
p 4 p 2
q . 3 =0 q 1 =0
r −3 r −3
4 p +3 q−3 r=0 ………………… (i) 2 p+ q−3 r=0 ……………… (ii)

( )( )
p 0 p=q−3r
q . 1 =0 2 ( q−3 r ) +q−3 r=0
r 0 2 q−6 r +q−3 r=0
q=0 3 q−9 r =0
Substitute q = 0 in Eqn (i); q = 3r
4 p=3 r p = 3r – 3r
p=0

()( )
p 0

()( ) ()
3r q = 3r
p 3
4 =r r r
q = 4 0

() ()
0 p 0
r 4
r q =r 3

()
3 r 1
n= 0

()
4 0
n . r=n. a n= 3

( ) ( ) ( )( )
x 3 3 −1 1
. =

( )( ) ( )( )
y 0 0 0 x 0 0 1
z 4 4 1 y 3. = 3 . 3
3 x+ 4 z=−3+4 z 1 1 1
( 3 x+ 4 z=1 ) 3 y + z=10
3 x+ 4 z−1=0
Example V
Example IV Find the Cartesian equation of the plane passing
Find the Cartesian equation of a plane containing through the points A(1, 0, -2), B (3, -1, 1) parallel
the point (1, 3, 1) and it’s parallel to vectors (1, -1, to the line r =3i+ ( 2 α −1 ) j+ ( 5−α ) k
-3) and (2, 1, -3) Solution:
Solution r =3i+2 α j− j+5 k −α k

225
 ( )( )
r =3i− j+5 k −α ( 0 j+2 j−k ) 1 −2
r = −1 +t 1 and is parallel to the line

( )( )( )
3 1 2
AB= −1 − 0 = −1 0 −1

() ( )
1 −2 3 2 −1
r = 1 +S 1

( )
2
AB= −1 1 2

( ) ( ) ()
3 −2 −1 p

( )
0 AB= 1 , AC= 1 , n= q
AC= 2 −1 2 r

( )( )
−1 p −2

( )( )
2 p q . 1 =0 ;
−1 q =0
. r −1
3 r −2p + q – r = 0
2p – q + 3r = 0 …………………….. (i) ⇒2p – q + r = 0 ……………….. (i)

( )( ) ( )( )
p 0 p −1
q . 2 =0 q 1 =0
r −1 r 2
2 q−r=0………………………… (ii) -p + q + 2r = 0……………….. (ii)
From Eqn (ii); From Eqn (i);
⇒ r =2 q r = –2p + q
2 p−q +3 ( 2q )=0 ⇒ p – q – 2(q – 2p) = 0
2 p−q +6 q=0 p – q – 2q + 4p = 0
2 p+ 5 q=0 5p – 3q = 0
−5
p= q
2 p=

()( ) ( )
p −5
= ¿q =q
q 2
2q 2
r 4

( )
−5

()
n= 2 p
4 n= q =¿
r
n . r=n. a
n . r=n. a

( )( ) ( )( )
x −5 −5 1

( ) ( ) ( )( )
y 2 = 2 0 x 3 3 1
z 4 4 −2 y . 5 = 5 −1
z −1 −1 0
−5 x+ 2 y + 4 z=−5−8
(−5 x+ 2 y + 4 z=−13 ) 3x + 5y – z = 3 – 5 + 0
3x + 5y – z = -2
5 x−2 y−4 z−13=0
Example VII
Example VI
Find the Cartesian equation of the plane formed by
Find the equation of the plane containing line
the lines r = -2i + 5j – 11k + λ(3i + j + 3k) and

226
r = 8i + 9j + λ(4i + 2j + 5k)
Solution A

( ) ( )( )
p p 3 𝜆
Let n= q ⟹ q . 1 =0
R
r r 3
3p + q + 3r = 0 …………….. ….(i) μ
a

( )( )
p 4 B
q . 2 =0
r 5 b

4p + 2q + 5r = 0 ……………… (ii) 0
From Eqn (i);
q = -3p – 3r Let R be a point on a line segment AB dividing
4p + 2(-3p – 3r) + 5r = 0 AB internally in the ratio of λ : μ
4p – 6p – 6r + 5r = 0 OR = OA + AR
-2p – r = 0 μ
r = -2p ¿=a+ AB
λ+ μ
q = -3p – 3(-2p) λ
q = 3p ¿ a+ ( b−a )
λ+ μ

()( ) ( )
p p 1 aλ+aμ+ bλ−aλ
q = 3 p =p 3 ¿=
λ+ μ
r −2 p −2 aμ+bλ
¿=

()
1 λ+ μ
n= 3
−2 Example I

( ) ()
n . r=n. a 4 1
Given that; OP= −3 ,OQ= 0 . Find the

( )( ) ( )( )
x 1 1 −2
5 2
y . 3 = 3 . 5
z −2 −2 −11 coordinates of R such that PR :RQ = 1:2
x + 3y – 2z = -2 + 15 + 22
a μ+ b λ
r=
x + 3y – 2z = 35 λ+ μ

( ) ()
4 1
INTERNAL AND EXTERNAL DIVISIONS ¿=2 −3 +1 0
Let A and B be points in space with position 5 2

( )
vectors A and B. 9
−6
12
¿=
3

¿= −6
3 ( )
1 0
12
R=( 3 ,−2 , 4 )

227
 ( )
Example II
1 36

( ) () 2 11
2 7
B
The points A −1 and 6 form a line segment −20
6 1

()
which is divided externally in the ratio of 4:-1.
18
Find the coordinates of T OC= 11
2

( ) ()
2 7 10
−1 −1 + 4 6
6 1
( OT )=
−1+ 4
C= 18 , ( 11
2 )
,−10

( )
−2+28
1+ 24 Example IV
−6 +4 Given that A(0, 5, -3), B(2, 3, -4) and C(1, -1, 2).
OT = Find the coordinates of D if ABCD is a rectangle
3
or parallelogram.
¿( )(
1 26
3
25
−2 ) D
C (1, -1,2)

OT = ( 263 , 253 ,− 32 ) B (2, 3, -4)

A (0, 5, -3)
Example III

( ) ( )
3 9 AB=DC
Find the position vectors −2 and 1 , Find
¿
5 −1
the position vectors of C which divides AB OD=OC +OA −OB
externally in the ratio of 5:-3

( )( )( )
Solution: 1 0 2
OD= −1 + 5 − 3

( )( )
3 9 2 −3 −4
−3 −2 +5 1
5 −1

( )( )
1 2
5+−3 OD= 4 − 3
−1 −4

( )( )
−9 45
6 + 5

( )
−15 −5 −1
OD= 1
2
3

( )
−9+ 45
6 +5 D= (−1, 1,3 )
−15−5
Proving that three points are vertices
2
of a triangle

228
Give a triangle ABC with vertices A=( x 1 y 1 z 1 ) B 4−x y 1−z
= =
(x2, y2, z2) C (x3, y3, z3) 2 6 3
Solution
C 4−x y 1−z
= =
2 6 3
x−4 y z−1
⇒ = =
−2 6 −3
A(2, 3, -4)
A B
AB+ BC + CA=0
OB−OA +OC −OB+OA −OC=0
B(4-2λ), 6λ, (1-3λ)
Example
Show that 3 i+ 3 j+k , 8 i+7 j+4 k and

( )( )
11 i+ 4 j+5 k are vertices of a triangle 4 −2
C(11, 4, 5 r= 0 +λ 6
−1 −3

()( ) ( )
x 4 −2
y = 0 + λ 6
B(8, 7, 4 z −1 −3
A(3, 3,1)

()( )
AB+ BC + CA=0 x 4−2 λ
y = 6λ
OB−OA +OC −OB+OA −OC z −1−3 λ

() ()( ) ()() ( )
8 3 11 8 3 11

( )
¿ 7 −3 + 4 −7 + 3− 4 −2
AB. 6 =0
4 1 5 4 1 5
−3

( )( ) ( )
5 3 −8 AB=OB−OA
¿ 4 −3 + −1
3 1 −4

()( )
4−2 λ−2 2−2 λ
¿ 6 λ−3 = 6 λ−3

()( ) ()
8 −8 0 1−3 λ−4 5−3 λ
1 + −1 = 0 =0
4 −4 0

( )( )
2−2 λ −2
6 λ−3 6 =0
5−3 λ −3
Length and the equation of the perpendicular
¿
drawn from the point
Example I −4+ 4 λ+36 λ−18−15+9 λ=0
Find the equation and length of the perpendicular
drawn from a point (2, 3, -4) to the line 36 λ+ 9 λ+ 4 λ−18−15−4=0

229
 () ()( )
49 λ=37 x 1 2λ
y = 0 + 9λ
37 z 0 5λ
λ=
49

()( )
x 1+2 λ

( )
y = 9λ
( 3749 )
2−2 z 5λ

( 49 )
AB= 6 37 −3
( )( )
1+ 2 λ−5 2 λ−4
AB= 9 λ−4 = 9 λ−4
5−3 ( )
37 5 λ +1 5 λ+1
49
AB. d=0

()
()
2
24 d= 9
49 5
AB= 75

( )( )
49 2 λ−4 2
134 9 λ−4 9 =0
49 5 λ+1 5
¿

( )
2
r= 3 +λ ¿ 4 λ−8+81 λ−36+25 λ+5=0
81 λ+25 λ+ 4 λ−8+ 5−36=0
−4
110 λ=39
Equation of the perpendicular
39
λ=
110

( )
Length of the perpendicular AB
( 110
2
39
)−4
(√ 2449 ) +( 7549 ) +( 134
49 )
2 2 2
AB=

AB = 3.1719 units
( 110 )
AB= 9 39 −4

5(
110 )
Find the length and equation of the perpendicular 39
+1
drawn from a point (5, 4, -1) to the line;

()
r =i+ λ ( 2i+9 j+5 k )
−362
Solution
110
A(5, 4, -1)
¿ −89
110
−305
110

√(
B(1+2λ, 9λ, 5λ)
)( )( )
2 2 2
−362 −89 −305
| AB|=
110 110 110

() ()
1 2
r= 0 +λ 9 | AB|=4.379 units
0 5

230
Equation of the perpendicular bisector is

( )
5
r= 4 +μ¿
−1
x−5 y−4 z+ 1
= = =μ 2 units
−362 −89 305
110 110 110
O 1 unit

Shortest Distance between Parallel

Planes

Example I
Find the perpendicular distance between two
Example II
parallel planes;
Find the perpendicular distance between two
2 x+5 y −14 z=30
parallel planes; x +2 y −z=−4∧x+2 y−z =3
2 x+5 y −14 z=−15
Solution
For plane 1

Plane 1

r. ( 2i +515j −14 k )= 3015

For plane 2
r. ( 2i +5 j −14 k
15 )=2

r. ( 2i +515j −14 k )=2 0

Plane 2

r .2i+5 j−14 k =−15

3
r. ( 2i +5 j −14 k
15 )=−1 O
4
6

231
 ( ) () ( )
−1 2 −3
3 −1= 2
Shortest distance between two parallel 1 3 −2
lines
A (2, 1, 3)
A
θ
θ
d
d

θ
θ
B (-1, 3, 1)
O B

( )( )
−3 1
d .
2 −1
−2 2
cos θ=¿ ¿
√17 √6
O B

Distance between a point A and line B

θ=cos−1
( −9
√100 )
θ=26.8 °
Example I d
Find the shortest distance between the sin 26.8 °=
√ 17
following pairs of parallel lines
d=1.859unit s

Example II
Find the distance between the following pairs of
and parallel lines

() ( )
2 1
r = 0 + λ −1
3 2

( )( )
1 1
r = −1 + μ −1
4 2
Solution

232
 A (2, 0, 3)
θ

θ
B (1, -1, 4)

2
cos θ=¿ ¿
√18
θ=cos−1
( )2
√18
θ=61.9 °
d
sin θ=
√3
d
sin 61.9 °=
√3
d= √3 sin 61.9 °
d=1.52789units

SKEW LINES
These are lines which are neither parallel nor
perpendicular
Shortest distance between two skew lines Example II
Find the shortest distance between the
Example I
following pairs of skew lines
Find the shortest distance between the
following skew lines

( ) () ( ) ()
−1 1 0 2
r = 2 + λ 2 and r = −1 + μ 1 Solution
3 1 1 3
)
λ+3+λ
λ,2+2
A (-1+ ,

A (2,
-1+λ,
2λ)
B(2μ, -1+μ, 1+3μ)

B(-1+μ, 1-3μ, 1-2μ)

233
 Triangle OAB has OA=a, OB=b. C is a point on

OA such that OC= a. D is a mid point of AB

when CD is produced, it meets OB at E such that
DE = nCD and BE=kb. Express BE, DE in terms
of;
a) n, a and b

b) k, b and a. Hence find the values of n and k.

A

C D

O E
B

Vector Geometry
Example I

234
Example II
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. When RP and OA are both produced,
they meet at Q. Find OR and OP in terms of a and
b
ii) OQ in terms of a
Solution
B

R
OQ =
P
Example III
b O, A and B are non collinear points OA = a, OB =
b, C is midpoint of AB, D is a point on OB such

O a A Q
that . T is a point of intersection of OC
and AD. Find the vector OT in terms of a and b.
Solution

235
 B

C
D
T
1

O a A

OT = λOC
OC = OB + BC

=b+ BA
Revision Exercise
=b+ (a – b) 1. In a triangle ABC, the altitudes from B and C
meet the opposite sides at E and F
OC = (a + b) respectively. BE and CF intersect at O.
Taking O as the origin, use the dot product to
prove that AO is perpendicular to BC
(b) Find the point of intersection of the line

OT = OA + AT with the plane

= a + AD 3x + 4y + 2z – 25 = 0
AD = AO + OD (c) Find the angle between the line

and the plane 4x + 3y +

=a+ b
1=0
2. (a) Show that the equation of the plane
OT = a + (a + b) through points A with position vector 2i + 2k
perpendicular to the vector i + 3j – 2k is x +
OT = a − a+ b 3y – 2z + 10 = 0
(b) (i) Show that the vector 2i – 5j + 3.5k is
OT = (1 − )a + b ……..….. (ii) perpendicular to the line r = 2i – j + λ(4i + 3j
Equating components of vectors a and b in Eqns + 2k)
(i) and (ii); (ii) Calculate the angle between the vector 3i
– 2j + k and the line in (b)(i) above.
3. A point P has coordinates (1, -2, 3) and a
certain plane has the equation x + 2y + 2z = 8.
The line through P parallel to the line
From Eqn (iv);
meets the plane at a point
Q.

236
4. (a) The line through A(1, -2, 2) and 11. Write down in parametric form the vector
perpendicular to the plane 4x – y + 2z + 12 = 0 equations of the planes through the given
meets the plane in point B. Find the points parallel to the given pairs of vectors.
coordinates of B. (a) (1, -2, 0); i + 3j and –j + 2k
(b) Given that the vectors ai – 2j + k and 2ai + (b) the origin; 2i – j and –i + 2j – 7k
aj – 4i are perpendicular, find the values of a. (c) (3, 1, -1); j and i + j + k.
5. Find the equation of the plane through the 12. Find a vector equation for the plane passing
point (1, 2, 3) and perpendicular to the vector through the points with position vectors 2k, i –
r = 4i + 5j + k. 3j + k and 5i + 2j.
6. (a) The vertices of a triangle are P(2, -1, 5), 13. Find the vector equation of the plane through
Q(7, 1, -3) and R(13, -2, 0). Show that the points A(1, 0, -2) and B(3, -1, 1) which is
= 90°. Find the coordinates of S if PQRS is a parallel to the line with vector equation r = 3i
rectangle. + (2λ – 1)j + (5 – λ)k. Hence find the
(b) Find the equation of the line through A(2, coordinates of the point of intersection of the
2, 5) and B(1, 2, 3) plane and the line r = μi + (5 – μ)j + 2μ – 7)k.
(c) If the line in (b) above meets the line 14. Find a vector equation for the line joining the
points
(a) (2, 6) and (5, 2)
at P, find the:
(b) (-1, 2, -3) and (6, 3, 0).
(i) coordinates of P,
15. (a) Points A and B have coordinates (4, 1) and
(ii) angle between the two lines
(2, -5) respectively. Find a vector equation for
7. The position vector of points P and Q are 2i – 3j
the line which passes through A and
and 3i – 7j + 12k respectively. Determine the
perpendicular to the line AB.
length of PQ. PQ meets the plane 4x + 5y – 2z =
5 at point S. Find:
(b) Points P and Q have coordinates (3, 5) and
(a) the coordinates of S, (-3, -7) respectively. Find a vector equation
(b) the angle between PQ and the plane. for the line which passes through the point P
8. (a) Find the angle between the line r = 3k + λ(7i and which is perpendicular to the line PQ
– j + 4k) and the plane r (2i – 5j – 2k) = 8 16. Find a vector equation for the perpendicular
(b) Show that the lines with vector equations bisector of the points:
r1 = (1 + 4λ)i + (1 – λ)j + (2λ)k , and (a) (6, 3) and (2, -5)
r2 = (5 + 3μ)i + (2μ)j + (2 – 5μ)k. (b) (7, -1) and (3, -3)
intersect at right angles and give the position 17. Points P, Q and R have position vectors 4i –
vector of the point of intersection. 4j, 2i + 2j, and 8i + 6j respectively.
9. Find the equation of the line with directrix (a) Find a vector equation for the line L1
vector d which passes through the point with which is the perpendicular bisector to the
position vector a given that points P and Q
(a) a = i + 2j – k, d = 3i – k (b) Find a vector equation for the line L2
(b) a = 4i – 3k, d = i – 3j + 3k which is the perpendicular bisector to the
10. Find the vector equation of the line which points A and R.
passes through the points with (a) position (c) Hence find the position vector of the point
vectors 3i – 3j + k and -2j + j + k. where L1 and L2 meet.
(a) position vector i + 4j and 3i – j + 2k,
(b) coordinates (0, 6, -6) and (5, -7, 2)
(c) coordinates (0, 0, 0) and (5, -2, 3)

237
18. Two lines L1 and L2 have equations 25. Find the parametric equations for the line
through the point (0, 1, 2) that is parallel to
the plane x + y + z = 2 and perpendicular to
and the line x = 1 + t, y = 1 – t, z = 2t.
26. Find the distance between the parallel planes
z = x + 2y + 1 and 3x + 6y – 3z = 4
27. Two planes are given by the parametric
.
equations
(a) Show that L1 and L2 are concurrent (meet
x=r+3 and x = 1 + r + s
at a common point) and find the position
y = 3s and y = 2 + r
vector of their point of intersection.
z = 2r and z = -3 + 5
(b) Find the angle between L1 and L2.
Find the Cartesian equation of the intersection
19. Points P, Q, and R have coordinates (-1, 1),
point.
(4, 6) and (7, 3) respectively.
(a) Show that the perpendicular distance from 28. The equation of a plane P is given by

the point R to the point PQ is .

(b) Deduce that the area of the triangle PQR , where r is the position vector of P.
is 15 sq.units. find the perpendicular distance from the plane
20. Points A, B and C have position vectors –i + to the origin.
3j + 9k, 5i + 6j – 4k and 4i + 7j + 5k 29. The line through point P(1, -2, 3) and parallel
respectively. P is the point on AB such that
. Find: to the line meets the plane
(a) x + 2y + 27 8 at Q. find the coordinates of Q.
30. (a) Find the angle between the plane x + 4y – z
(b) = 72 and the line r = 9i + 6j + 8k.
(c) Find the perpendicular distance from the (b) obtain the equation of the plane that passes
point C to the line AB. through (1, -2, 2) and perpendicular to the
21. Two lines L1 and L2 have vector equations
r1 = (2 – 3λ)i + (1 + λ)j + 4λk
line
r2 = (-1 + 3λ)i + 3j + (4 – λ)k respectively.
(c) Find the parametric equations of the line
Find:
of intersection of the plane x + y + z = 4
(a) the position vector of their common point
and
of intersection.
x – y + 2z + 2 = 0
(b) the angle between the lines.
31. Find the point of intersection of the three
22. Find the equation of the plane containing
planes 2x – y + 3z = 4, 3x – 2y + 6z = 3 and 7x
points P(1, 1, 1), Q(1, 2, 0) and (-1, 2, 1).
– 4y + 5z = 11.
23. Find the equation of the plane containing
32. Find the Cartesian equation of the plane with
point (4, -2, 3) and parallel to the plane 3x –
parametric vector equation
7z = 12
24. Show that the point with position vector 7i –
5j – 4k lies in the plane r = 4i + 3j + 2k + λ(i –
j – k) + μ(2i + 3j + k). Find the point at which
the line x = y – 1 = 2z intersects the plane 4x –
y + 3z = 8.

238
33. Find the Cartesian equation of the plane respectively. Find the coordinates of a point P
which divides the vector AB in the ratio:
(i) 4:1
(ii) 1:4
containing the point with position vector
40. (b) Find the Cartesian equation of the plane
through the origin parallel to the lines

and parallel to the vectors and . and

34. Find the Cartesian equation of the plane
containing the points with position vectors
(c) Find the angle between the line

and the plane

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

and . Find
the position vector of the point of intersection
of the two lines and the Cartesian equation of
the plane containing the two lines.
38. The position vector of points P and Q are 3i - j
+ 2k and 2i + 2j + 3k, respectively. Find the
acute angle between PQ and the line 1 – x =

.
(b) Find the point of intersection of the line x
– 2 = 2y + 1 = 3 – z and the plane x + 2y + z =
3.
(c) Find the equation of the plane through the
origin parallel to the lines r = 3i + 3j – k + s(i
– j – 2k) and r = 4i – 5j – 8k + t(3i + 7j – 6k)
39. (a) The points A and B have position vectors
a = 2i – j + 6k and b = 7i – 6j + k

239