The line generated by a point and a direction

Let us consider M0 2 E3 and v (l, m, n) 2 V3 r f0g and the line d

generated by them.

Then
M2d
if and only if

there exist λ 2 R such that M0 M = λv .

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Radu MICULESCU (Institute) december 2020 2 / 60
 The vectorial equation of the line generated by a point and a
direction

If r and r0 are the position vectors of M and M0 , then

M2d

if and only if

there exist λ 2 R such that r r0 = λv .

Hence
r = r0 + λv , λ 2 R
represents the vectorial equation of the line generated by M0 and v .

Radu MICULESCU (Institute) december 2020 3 / 60

Radu MICULESCU (Institute) december 2020 4 / 60
 The parametric equations of the line generated by a point and a
direction

If (x0 , y0 , z0 ) are the coordinates of M0 and (x, y , z ) are the coordinates of

M, if we project the previous equation on the axes, we get
x = x0 + λl
y = y0 + λm
z = z0 + λn
where λ 2 R, i.e. we get the parametric Cartesian equations of the line
generated by M0 (x0 , y0 , z0 ) and v (l, m, n) 2 V3 r f0g (which is called the
directing vector of d).
If the directing vector is a unit vector e which makes the angles α, β and γ
with the coordinate axes Ox, Oy and Oz, then the coordinates of e,
namely cos α, cos β and cos γ are called the directing cosines of d.
Note that
cos2 α + cos2 β + cos2 γ = 1.
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Radu MICULESCU (Institute) december 2020 6 / 60
The canonical Cartesian equations of the line generated by a point
and a direction

Eliminating the parameter λ from the previous equations, we obtain

x x0 y y0 z z0
= = ,
l m n
i.e. we get the canonical Cartesian equations of the line generated by
M0 (x0 , y0 , z0 ) and v (l, m, n) 2 V3 r f0g.

Note that if one of the directing parameter is 0, then the corresponding

denominator is also 0.

Radu MICULESCU (Institute) december 2020 7 / 60

 Example

Determine the equation of the line passing through M0 (2, 5, 3) which is:
i) parallel to Oz;
ii) parallel to x 4 1 = y 62 = z +9 3 .

i) The direction of the line is (0, 0, 1), so its equation is

x 2 y +5 z 3
= = .
0 0 1
ii) The direction of the line is the same with the one of the line
x 1 y 2 z +3
4 = 6 = 9 , i.e. it is (4, 6, 9), so its equation is

x 2 y +5 z 3
= = .
4 6 9

Radu MICULESCU (Institute) december 2020 8 / 60

 Homework

Determine the equation of the line passing through M0 (0, 1, 1) which is:
i) parallel to Ox;
ii) parallel to x2 = y1 = z 4 1 .

Radu MICULESCU (Institute) december 2020 9 / 60

 The line generated by two distinct points

Let us consider M1 , M2 2 E3 two distinct points the line d generated by

them.

Then
M2d
if and only if

there exist λ 2 R such that M1 M = λM1 M2 .

Radu MICULESCU (Institute) december 2020 10 / 60

 The vectorial equation of the line generated by two distinct points

If r , r1 and r2 are the position vectors of M, M1 and M2 , then

M2d

if and only if

there exist λ 2 R such that r r1 = λ(r2 r1 ).

Hence
r = (1 λ)r1 + λr2 , λ 2 R
or
(r r1 ) (r2 r1 ) = 0
represents the vectorial equation of the line generated by M1 and M2 .
Radu MICULESCU (Institute) december 2020 11 / 60
 The parametric equations of the line generated by two distinct
points

If (x, y , z ) are the coordinates of M, (x1 , y1 , z1 ) are the coordinates of M1

and (x2 , y2 , z2 ) are the coordinates of M2 , we get

x = (1 λ)x1 + λx2

y = (1 λ)y1 + λy2
z = (1 λ)z1 + λz2 ,
where λ 2 R, i.e. we get the parametric equations of the line generated by
M1 and M2 .

Radu MICULESCU (Institute) december 2020 12 / 60

 The canonical Cartesian equation of the line generated by two
distinct points

Eliminating the parameter λ 2 R from the above equations we obtain

x x1 y y1 z z1
= =
x2 x1 y2 y1 z2 z1
i.e. we get the canonical Cartesian equation of the line generated by M1
and M2 .

Radu MICULESCU (Institute) december 2020 13 / 60

 Example

Study if the points M1 (3, 0, 1), M2 (0, 2, 4) and M3 (1, 43 , 3) are collinear.

The equation of the line generated by M1 and M2 is

x 3 y z 1
= = .
3 2 3
As M3 is on the line M1 M2 we conclude that M1 , M2 and M3 are collinear.

Radu MICULESCU (Institute) december 2020 14 / 60

 Homework

Study if the points M1 (1, 0, 1), M2 (0, 2, 1) and M3 (1, 1, 1) are collinear.

Radu MICULESCU (Institute) december 2020 15 / 60

 The line as an intersection of two planes

The system
A1 x + B1 y + C1 z + D1 = 0
f ,
A2 x + B2 y + C2 z + D2 = 0
A1 B1 C1
where rank ( ) = 2 represents the equation of a line as an
A2 B2 C2
intersection of two planes.

A solution (x0 , y0 , z0 ) of the system gives us a point of the line and

v = N1 N2 , where N1 (A1 , B1 , C1 ) and N2 (A2 , B2 , C2 ) are the normal
vectors of the two planes, gives as the directing vector of the line.

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Radu MICULESCU (Institute) december 2020 17 / 60
 Examples

Determine the canonical equation of the line given by

x 2y + z + 1 = 0
f .
2x + y z + 2 = 0

Taking x = 0, we get the system

2y + z + 1 = 0
f
y z +2 = 0

which has the solution y = 3 and z = 5.

So one point of the line is
(0, 3, 5).

Radu MICULESCU (Institute) december 2020 18 / 60

The directing vector of the line is v = N1 N2 , where

N1 (1, 2, 1) and N2 (2, 1, 1).

Hence
i j k
v =" 1 2 1 " = i + 3j + 5k.
2 1 1
The required equation is
y 3 z 5
x= = .
3 5

Radu MICULESCU (Institute) december 2020 19 / 60

 Homework

Determine the canonical equation of the line given by

x y +z = 1
f .
x 2y + 2z = 3

Radu MICULESCU (Institute) december 2020 20 / 60

 The relative positions of two lines I

Let us consider the lines d1 and d2 given by the equations:

x x1 y y1 z z1
= =
l1 m1 n1
and
x x2 y y2 z z2
= = .
l2 m2 n2
Let us also consider:

- M1 (x1 , y1 , z1 ) 2 d1

- M2 (x2 , y2 , z2 ) 2 d2

- v1 (l1 , m1 , n1 ) the directing vector of d1

- v2 (l2 , m2 , n2 ) the directing vector of d2 .

Radu MICULESCU (Institute) december 2020 21 / 60
 The relative positions of two lines II

If
x2 x1 y2 y1 z2 z1
(M1 M2 , v1 , v2 ) = l1 m1 n1 = 0,
l2 m2 n2
then d1 and d2 are coplanar.

If v1 and v2 are not collinear, d1 and d2 have a common point.

If v1 and v2 are collinear (i.e.

l1 m1 n1
= = ),
l2 m2 n2
d1 and d2 are (strictly) parallel.
They coincide if, in addition, M1 M2 and v1 are collinear (i.e.
x2 x1 y2 y1 z2 z1
= = ).
l1 m1 n1
Radu MICULESCU (Institute) december 2020 22 / 60
 The relative positions of two lines III

If
x2 x1 y2 y1 z2 z1
(M1 M2 , v1 , v2 ) = l1 m1 n1 6= 0,
l2 m2 n2
then d1 and d2 are non-coplanar (skew).

In this case v1 v2 = v (l, m, n) is perpendicular on both lines.

Radu MICULESCU (Institute) december 2020 23 / 60

 The common perpendicular of two lines

The line given as the intersection of the plane containing d1 and parallel to
v with the plane containing d2 and parallel to v , i.e. the line given by the
equations
x x1 y y1 z z1
l1 m1 n1 =0
l m n
f ,
x x2 y y2 z z2
l2 m2 n2 =0
l m n
is the unique line which intersects both d1 and d2 and has the direction v .

It is called the common perpendicular of d1 and d2 .

Radu MICULESCU (Institute) december 2020 24 / 60

Radu MICULESCU (Institute) december 2020 25 / 60
 Example

Determine the common perpendicular of the lines

x 7 y 3 z 9
= =
1 2 1
and
x 3 y 1 z 1
= = .
7 2 3

Radu MICULESCU (Institute) december 2020 26 / 60

 i j k
Since v = " 1 2 1 " = 8i + 4j + 16k, the required equation is
7 2 3

x 7 y 3 z
9
1 2 1 =0
8 4 16
f ,
x 3 y 1 z 1
7 2 3 =0
8 4 16

i.e.
3x 2y z 6 = 0
f .
5x + 34y 11z 38 = 0

Radu MICULESCU (Institute) december 2020 27 / 60

 Homework

Determine the common perpendicular of the lines

x +7 y +4 z +3
= =
3 4 2
and
x 21 y +5 z 2
= = .
6 4 1

Radu MICULESCU (Institute) december 2020 28 / 60

 The angle between two lines I

Let us consider the lines d1 and d2 oriented by their directing vectors

v1 (l1 , m1 , n1 ) and v2 (l2 , m2 , n2 ).

By the angle between the lines d1 and d2 we mean the angle ϕ 2 [0, π ]
between the vectors v1 and v2 which is described by
l1 l2 + m1 m2 + n1 n2
cos ϕ = q q .
l12 + m12 + n12 l22 + m22 + n22

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Radu MICULESCU (Institute) december 2020 30 / 60
 The angle between two lines II

In the above framework, we have:

- the lines d1 and d2 are perpendicular if and only if

l1 l2 + m1 m2 + n1 n2 = 0

(i.e. v1 v2 = 0)

- the lines d1 and d2 are parallel if and only if

l1 m1 n1
= =
l2 m2 n2

(i.e. v1 v2 = 0).

Radu MICULESCU (Institute) december 2020 31 / 60

 Example I

Determine the angle between the lines d1 and d2 given by

x + 2y + z 1 = 0 x y + 2z + 1 = 0
f and f .
x 2y + z + 1 = 0 x y z 1=0

We have
i j k
v1 = " 1 2 1 " = 4i 4k
1 2 1
and
i j k
v2 = " 1 1 2 " = 3i + 3j.
1 1 1

If ϕ is the angle between the the lines d1 and d2 we have cos ϕ = 12 , so

ϕ = π3 .
Radu MICULESCU (Institute) december 2020 32 / 60
 Example II

Determine if the lines d1 and d2 given by

2x + y 11 = 0 4x 19y + 83 = 0
f and f
x z +4 = 0 11y + 4z 83 = 0
are perpendicular.

We have
i j k
v1 = " 2 1 0 "= i + 2j k
1 0 1
and
i j k
v2 = " 4 19 0 "= 76i 16j + 44k.
0 11 4

As v1 v2 = 0, we conclude that the lines d1 and d2 are perpendicular.

Radu MICULESCU (Institute) december 2020 33 / 60
 Homework

1. Determine the angle between the lines

x 1 y +2 z 5 x y 3 z +1
d1 : = = and d2 : = = .
3 6 2 2 9 6

2. Determine the angle between the lines d1 and d2 given by

x + 2y + z 1 = 0 x y z 1=0
f and f .
x 2y + z + 1 = 0 x y + 2z + 1 = 0

Radu MICULESCU (Institute) december 2020 34 / 60

 The angle between two planes

Let us consider the planes π 1 : A1 x + B1 y + C1 z + D1 = 0 and π 2 :

A2 x + B2 y + C2 z + D2 = 0 oriented by their normals N1 (A1 , B1 , C1 ) and
N2 (A2 , B2 , C2 ).

By the angle between the planes π 1 and π 2 we mean the angle ϕ between
the normal vectors N1 and N2 which is described by
A1 A2 + B1 B2 + C1 C2
cos ϕ = q q .
2 2 2 2 2
A1 + B1 + C1 A2 + B2 + C22

In particular, π 1 and π 2 are perpendicular if and only if

A1 A2 + B1 B2 + C1 C2 = 0.

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Radu MICULESCU (Institute) december 2020 36 / 60
 Example

Determine the angle between the planes

π 1 : 4x 5y + 3z 1=0

and
π2 : x 4y z + 9 = 0.

Denoting by ϕ the angle between the planes π 1 and π 2 , we have

7
cos ϕ = .
10

Radu MICULESCU (Institute) december 2020 37 / 60

 Homework

Determine the angle between the planes

π 1 : 3x y + 2z + 15 = 0

and
π 2 : 5x + 9y 3z 1 = 0.

Radu MICULESCU (Institute) december 2020 38 / 60

 The angle between a line and a plane I

Let us consider the line d1 oriented by its directing vectors v (l, m , n) and
the plane π oriented by its normal N (A, B, C ).

The angle ϕ 2 [0, π2 ] between the line d and the plane π is related to the
angle θ between the vectors v and N through the relations
θ 2 f π2 ϕ, π2 + ϕg, so sin ϕ 2 fcos θ, cos θ g.

Hence
v N jlA + mB + nC j
sin ϕ = =p p .
kv k N l2 + m2 + n2 A2 + B 2 + C 2

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Radu MICULESCU (Institute) december 2020 40 / 60
 The angle between a line and a plane II

In the above framework, we have:

- the line d and the plane π are parallel if and only if

lA + mB + nC = 0

(i.e. v N = 0)

- the line d and the plane π are perpendicular if and only if

l m n
= =
A B C
(i.e. v N = 0).

Radu MICULESCU (Institute) december 2020 41 / 60

 Example

x + y + 3z = 0
Determine the angle between the line d: f and the plane
x y z =0
π: x y z + 1 = 0.

i j k
The directing vector of d is v = " 1 1 3 " = 2i + 4j 2k and
1 1 1
the normal of π is N (1, 1, 1), so

v N
cos ](v , N ) = = 0, i.e. v ? N,
kv k N

and therefore the angle between d and π is 0.

As (0, 0, 0) 2 d and (0, 0, 0) 2

/ π, d is not contained in π.
Radu MICULESCU (Institute) december 2020 42 / 60
 Homework

Determine the angle between the line

x + 2y + z 1 = 0
d:f
x 2y + z + 1 = 0

and the plane

π : x + y + 1 = 0.

Radu MICULESCU (Institute) december 2020 43 / 60

 The distance from a point to a line

Let us consider the line d oriented by the directing vector v , M0 2 d and

A 2 E3 .

Then the distance from A to d is given by

v M0 A
.
kv k

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Radu MICULESCU (Institute) december 2020 45 / 60
 Example

Determine the distance from the point A(3, 1, 2) to the the line
2x y + z = 0
d:f .
x +y z +1 = 0
The directing vector of the line is v = N1 N2 , where N1 (2, 1, 1) and
N2 (1, 1, 1), hence
i j k
v =" 2 1 1 " = 3j + 3k.
1 1 1
M0 ( 13 , 32 , 0) 2 d
So the distance from A to d is
i j k
" 0 3 3 " p
10 1 6
v M0 A 3 3 3 498
= p = .
kv k 3 2 6
Radu MICULESCU (Institute) december 2020 46 / 60
 Homework

Determine the distance from the point A(2, 3, 1) to the the line

x + 3y + z 1=0
d:f .
2x + y + 2z 3=0

Radu MICULESCU (Institute) december 2020 47 / 60

 The distance from a point to a plane

Let us consider a plane π: Ax + By + Cz + D = 0 and a point

M0 (x0 , y0 , z0 ) 2 E3 .

Then the distance from M0 to π is the distance from M0 to the projection

0 0 0 0
M (x , y , z ) of it on π.
0
The coordinates of M are the solutions of the system
Ax + By + Cz + D = 0
x = x0 + λA
f .
y = y0 + λB
z = z0 + λC
0
As λ = Ax0A+2By 0 +Cz 0 +D
+B 2 +C 2 , the distance from M0 to M is
q
λ2 (A2 + B 2 + C 2 ), so the distance from M0 to π is
jAx0 + By0 + Cz0 + D j
p .
A2 + B 2 + C 2
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Radu MICULESCU (Institute) december 2020 49 / 60
 Example

Determine the distance from the plane

π:22x + 4y 20z 45 = 0

and the point

M0 (3, 1, 1).

The required distance is

j66 + 4 + 20 45j 3
p = .
2 2
22 + 4 + 202 2

Radu MICULESCU (Institute) december 2020 50 / 60

 Homework

Determine the distance from the plane

π:3x y + 5z + 1 = 0

and the point

M0 (4, 3, 2).

Radu MICULESCU (Institute) december 2020 51 / 60

 The distance between two skew lines

Let us consider the lines d1 and d2 given by the equations:

x x1 y y1 z z1 x x2 y y2 z z2
= = and = = .
l1 m1 n1 l2 m2 n2
and
M1 2 d1 and M2 2 d2 .
Then the distance between the lines d1 and d2 is

(v1 , v2 , M1 M2 )
,
kv1 v2 k

where v1 (l1 , m1 , n1 ) and v2 (l2 , m2 , n2 ) are the directing vectors of d1 and

d2 .

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 -4

1 1.png

Radu MICULESCU (Institute) december 2020 53 / 60

 Example

Determine the distance bewteen the lines d1 and d2 given by the equations:
x 1 y z x +1 y 1 z +1
= = and = = .
2 3 2 2 3 2
We consider
M1 (1, 0, 0) 2 d1 and M2 ( 1, 1, 1) 2 d2 .
Note that v1 = 2i + 3j + 2k and v1 = 2i + 3j + 2k, so
i j k
v1 v2 = " 2 3 2 " = 8j 12k and M1 M2 = 2i + j k.
2 3 2
Then the distance between the lines d1 and d2 is
2 3 2
2 3 2
(v1 , v2 , M1 M2 ) 2 1 1 20 5
= p = p =p .
kv1 v2 k 4 13 4 13 13
Radu MICULESCU (Institute) december 2020 54 / 60
 Homework

Determine the distance bewteen the lines d1 and d2 given by the equations:

x = 4 + 2λ
y =4 λ ,λ2R
z = 1 2λ

and
x = 5 + 4λ
y = 5 3λ , λ 2 R.
z = 5 5λ

Radu MICULESCU (Institute) december 2020 55 / 60

 Complementary examples

1. Write the equation of a plane passing through origin which is

perpendicular to the planes

π 1 : 2x y + 5z + 3 = 0 and π 2 : x + 3y z 7 = 0.

N (A, B, C ), the normal vector of the required plane, is perpendicular to

N1 (2, 1, 5), the normal vector to π 1 , and to N2 (1, 3, 1), the normal
vector to π 2 , so
2A B + 5C = 0
f .
A + 3B C = 0
The solution of the system is fλ( 2, 1, 1) j λ 2 Rg, so the required
equation is
2x + y + z = 0.

Radu MICULESCU (Institute) december 2020 56 / 60

 Complementary examples

2. Write the equation of a line passing through the point M0 (2, 5, 3)

which is parallel to the line d given by
2x y + 3z + 1 = 0
5x + 4y z 7 = 0

The directing vector of the line is v = N1 N2 , where N1 (2, 1, 3) and

N2 (5, 4, 1), hence
i j k
v =" 2 1 3 "= 11i + 17j + 13k.
5 4 1
Consequently, the required equation is
x 2 y +5 z 3
= = .
11 17 13
Radu MICULESCU (Institute) december 2020 57 / 60
 Complementary examples

3. Determine symmetric of the origin with respect to the plane

6x + 2y 9z + 121 = 0.

The equation of the line passing through the origin which is perpendiculat
to the plane is
x y z
= = .
6 2 9
Its intersection with the plane consists on the point ( 6, 2, 9) and the
required point is the symmetric of the origin with respect with it, i.e. is
( 12, 4, 18).

Radu MICULESCU (Institute) december 2020 58 / 60

 Complementary examples

4. Write the equation of a line parallel to

x +2 y 1 z 3
d1 : = =
8 7 1
which intersects the lines
x +3 y 5 z
d2 : = =
2 3 1
and
x 10 y +7 z
d3 : = = .
5 4 1

Radu MICULESCU (Institute) december 2020 59 / 60

Since the directing vector of the required line is v (8, 7, 1), its equation is
given by
x = x0 + 8λ
f y = y0 + 7λ ,
z = z0 + λ
so
x0 + 8λ + 3 y0 + 7λ 5 z0 + λ
= =
2 3 1
and
x0 + 8λ 10 y0 + 7λ + 7 z0 + λ
= =
5 4 1
and we get the system

3x0 2y0 + 10λ = 19

y0 3z0 + 4λ = 5
f
4x0 5y0 3λ = 75
y0 4z0 + 3λ = 7

from which we …nd x0 , y0 and z0 and hence the required equation.

Radu MICULESCU (Institute) december 2020 60 / 60