Vectors Ii: 1 Vector Product
Vectors Ii: 1 Vector Product
Vectors Ii: 1 Vector Product
1 Vector Product
The vector product can be seen in 3 different forms, used for different types of questions.
(1) Mathematical calculation of vector product:
Vector (cross) product
a1 b1 a2 b3 − a3 b2
a2 × b2 = −(a1 b3 − a3 b1 )
a3 b3 a1 b2 − a2 b1
Π
b
Let Π be the plane that a and b lies. The cross product of a and b produces a vector n that is
perpendicular to Π. A vector that is perpendicular to a plane is also called a normal vector to
the plane.
(3) Vector product in terms of sine:
m1
b
Π
A m2
A plane Π is defined by a point A which it passes through, and two direction vectors m1 and m2
that lies on the plane.
Parametric form or Vector form
−→
r = OA + λm1 + µm2 , λ, µ ∈ R
where m1 , m2 are parallel to the plane and A is a point on the plane.
Scalar-Product form
r·n=a·n where n = m1 × m2 .
−−→ −→
Proof: For any position vector OR on the plane, since AR is perpendicular to n,
−→
AR · n = 0
(−−→ −→)
OR − OA · n = 0
−−→ −→
OR · n − OA · n = 0
−−→ −→
OR · n = OA · n
Cartesian Form
r·n=D
a
r · b = D
c
x a
y · b = D
z c
ax + by + cz = D (Cartesian form)
1 0
Plane Π which passes through the point (1, 0, 2) and is parallel to the vectors 0 and 1.
1 0
Solution:
1 1 0
Parametric: r = 0 + λ 0 + µ 1 , λ, µ ∈ R.
2 1 0
1 0 −1
Scalar-Product: 0 × 1 = 0
1 0 1
r·n=a·n
−1 1 −1
r · 0 = 0 · 0
1 2 1
−1
r · 0 = −1 + 2 = 1
1
−1
r· 0 =1
1
Cartesian:
x −1
y · 0 = 1
z 1
−x + z = 1
x x x
y y y
P b
b
F
Strategy:
Given equation of the plane Π:r·n=D (1)
Step 1: Form the equation of the line ℓ that passes through P and is perpendicular to Π.
−−→
ℓ : r = OP + λn, λ ∈ R. (2)
Step 2: Intersect ℓ with Π to get the foot of the perpendicular. That is, substitute (2) into (1).
−−→
(OP + λn) · n = D
Example 3.
−1
Find the foot of perpendicular from the point P (2, −1, 3) to Π : r · 1 = 3.
−1
Solution:
Let ℓ be the line that passes through P and perpendicular to Π.
2 −1
ℓ : r = −1 + λ 1 , λ ∈ R.
3 −1
Intersect ℓ and Π,
2−λ −1
−1 + λ · 1 = 3
3−λ −1
−2 + λ − 1 + λ − 3 + λ = 3
−6 + 3λ = 3
λ=3
2 −1 −1
−−→
∴ Foot of perpendicular: OF = −1 + 3 1 = 2 .
3 −1 0
Π
A
b b
F
P′
−−→ −−→
−−→ OP + OP ′
OF =
2
−−→ −−→ −−→′
2OF = OP + OP
−−→′ −−→ −−→
OP = 2OF − OP
2 1
= 2 4 − 2
2 −1
3
= 6
5
−−→′ −→ 3 9 6
Direction vector of ℓ = OP − OA = 6 − 2 = 4
5 1 4
9 6
∴ r = 2 + µ 4 , µ ∈ R.
1 4
In this section, denote m as the direction vector of the line, n as the normal vector of the plane.
ℓ1
Acute angle between two lines
m1
m1 · m2
cos θ = .
θ |m1 ||m2 |
ℓ2
m2
n2 n1
θ
Acute angle between 2 planes
Π1 Π2
n1 · n2
cos θ = .
θ |n1 ||n2 |
m
Acute angle between line and a plane
ϕ m·n
cos ϕ = .
n
|m||n|
θ
∴ θ = 90◦ − ϕ
Π Alternative Method
m·n
sin θ = .
ℓ |m||n|
Example 6.
Find the acute angle between the line r = (i + 2j − k) + λ(i − j + k) and plane 2x − y + z = 4.
[70.5◦ ]
Example 7.
Find the acute angle between the planes r · (i + j + k) = 3 and r · (2i + 2j − k) = 1. [54.7◦ ]
YES NO
The line lies in the plane. The line does not lie in the plane. The line intersects the plane at a point.
n ℓ
m
Π:r·n=d
a · b = 0.
Let m be a direction vector for the line ℓ and n be a normal for the plane Π.
ℓ : r = a + λm, λ ∈ R and Π : r · n = d.
m · n = 0.
If we have checked that the above holds, to check if ℓ lies in the plane Π, check that
(Any point on ℓ) ·n = d
Solution:
2 1
(i) m · n = −1 · 1 = 2 − 1 − 1 = 0. Therefore, ℓ1 and Π1 are parallel.
−1 1
1 1
Furthermore, since 2 · 1 = 1 + 2 + 2 = 5, ℓ1 lies in Π1 .
2 1
Alternative Method:
1 + 2λ 1
Since 2 − λ · 1 = 1 + 2λ + 2 − λ + 2 − λ = 5, ∴ ℓ1 lies in Π1 .
2−λ 1
Two planes are parallel to each other ⇐⇒ Their normals are scalar multiple of each other.
1 −2
p1 : r · −1 = 2, p1 : r · 2 = 3.
2 −4
Π2
n2
Π1
m = n1 × n2 ,
Method 2: Using GC
Example 9.
The equations of two planes p1 , p2 are
2x − 4y + z = 6
x + y − 2z = 6
n1 n2
p1
Example 10 (2012/RVHS/Prelim/I/10modified).
The equations of two planes p1 and p2 are
2y − z = 0,
2x + z = 2.
Find the equation of the plane p3 that passes through the point (1, 1, 1) and is perpendicular to both
p1 and p2 .
Solution: p1 p1
p3
p2 p2
p3 is perpendicular to p1 =⇒ p3 is parallel to n1 .
p3 is perpendicular to p2 =⇒ p3 is parallel to n2 .
∴ p3 is parallel to both n1 and n2 .
0 2 2
n3 = n1 × n2 = 2 × 0 = −2
−1 1 −4
Therefore,
2 1 2
p3 : r · −2 = 1 · −2
−4 1 −4
=2−2−4
= −4
π2
A
b
A Π1
θ
b
ℓ A
b
−−→ n
−−→
AB · n̂ −−→
AB · n̂
AB · n̂
B Π F −−→ B
b Π2
F −−→ b
F −−→ B
b
AB × n̂ AB × n̂
AB × n̂
Proof:
Dist between the point and plane Length of projection onto plane
B
b
−−→
|AB × m̂|
θ
b
ℓ : r = a + λm, λ∈R
A −−→
|AB · m̂|
0
(b) The point C = 6 lies on the plane since
0
A
b
0 2
6 · 1 = 6.
θ
0 −2
0 3 −3
−→ −−→ −→
AC = OC − OA = 6 − −1 = 7
0 4 4
π
C −3 2
−→ 1
|AC · n̂| = 7 · 1
4 3
−2
1
= | − 6 + 7 + 8|
3
=3
If r · n̂ = d, then,
Distance from origin to plane = |d|
Example 15.
1
Find the distance between the following plane and the origin: Π1 : r · 5 = 3
1
Solution:
1
1 3
Π1 : r · √ 5 = √
27 1 27
n
Π1
Π2 d1
d2
O b
Π1 : r · n̂ = d1 Π2 : r · n̂ = d2
Distance between the two planes = |d1 − d2 |.
Note: If d1 and d2 are of the same signs, then the planes Π1 and Π2 lie on the same side of the origin.
If d1 and d2 are of opposite signs, then the planes Π1 and Π2 lie on different sides of the origin.
Example 16.
Find the distance between the following planes and determine if they lie on the same side of the origin.
1 1
Π1 : r · 5 = 3 Π2 : r · 5 = −2
1 1
Solution:
1 1
1 3 1 −2
Π1 : r · √ 5 =√ Π2 : r · √ 5 =√
27 1 27 27 1 27
−2
Therefore, distance between Π1 and Π2 is √327 − √
27
= √5 .
27
√3 −2
√
They lie on different sides of the origin since 27
and 27
have different signs.
Proof: (Optional)
O
b
n
θ
|a · n̂|
Π : r · n̂ = d
b
a · n̂ = d.
Hence,
−→
length of projection of OA onto n = |a · n̂| = |d|.