CHAPTER 6

VECTORS

LEARNING OUTCOME

At the end of this topic, student should be able to:

WHAT ARE THE
1. Classify and define vector and scalar quantities. APPLICATIONS OF
2. Define and differentiate the concept of point and vectors. VECTORS IN REAL
3. Perform vector operation.
LIFE??
4. Solve problems regarding vectors.

INTRODUCTION

➢ Scalar quantities/ scalar:

▪ Physical quantities that can be completely specified by a single numerical value or magnitude.
▪ Example: Length, volume, mass.
➢ Vectors quantities/ vectors:
▪ Quantities that require both magnitude AND direction.
▪ Example: Velocities, forces, momentum.

Vectors

Concepts Application of vectors

Unit vector
Position vector Vector equations of a line
Addition, substraction, scalar Vector equations of a plane
multiplication of vector Minimum distance between a
Scalar product point and a plane
Vector product
6.1 Vectors Operations
▪ Vectors are used to represent quantities that have both magnitude and direction.
▪ Example: Force and velocities.
o A force of 5 Newton that is applied in a particular direction can be applied at any point
in space. This means, the point where we apply the force does not change the force
itself. Forces are independent of the point of application. To define a force all we need
to know is the magnitude of the force and the direction that the force is applied in.
▪ Vectors are represented by directed line segments.
▪ The length of the line segment is the magnitude of the vector and the direction of the line
segment is the direction of the vector.
▪ However, because vectors don’t impart any information about where the quantity is applied,
any directed line segment with the same length and direction will represent the same vector.

𝑥 − 𝑥1 𝐴
⃗⃗⃗⃗⃗ = ( 2
𝒂 = 𝑂𝐴 𝑦 −𝑦 )2 1 𝐵
𝒂
𝒃
𝐶

𝑂
𝐷
𝒄
𝒅

▪ Based on the sketch above, each of the directed line segments in the sketch represents the same
vector. In each case the vector starts at a specific point then moves 2 units to the left and 5
units up.

▪ Notation: a or ⃗⃗⃗⃗⃗
𝑂𝐴.
o Example: 𝒂 = 〈−𝟐, 𝟓〉
o Be careful to distinguish vector notation, 〈−2,5〉 from the notation to represent
coordinates of points (−2,5).
 o The vector denotes a magnitude and a direction of a quantity while the point denotes a
location in space.
▪ In order to locate points in space, a fixed origin 𝑶 is chosen and the coordinates axes labelled
the x-axis, y-axis and z-axis, are drawn from 𝑂 as shown below:

Figure 6.1
o For example, if
𝑃 is 𝑥1 units from 𝑂 in the direction of the x-axis,
𝑃 is 𝑦1 units from 𝑂 in the direction of the y-axis,
𝑃 is 𝑧1 units from 𝑂 in the direction of the z-axis,
Then the point 𝑃 has coordinates (𝑥1 , 𝑦1 , 𝑧1 ).

▪ In three dimensional coordinate system, the letters 𝒊, 𝒋, and 𝒌 are assigned to the x-axis, y-
axis and z-axis respectively.
o Example: 3𝒊 means 3 units from 𝑂 in the positive-x direction,
−3𝒋 means 3 units from 𝑂 in the negative-y direction,
5𝒌 means 5 units from 𝑂 in the positive-z direction.

Definition

➢ Position vector of the point 𝑃(𝑥, 𝑦, 𝑧) is given by

𝑥
⃗⃗⃗⃗⃗ = 𝒓 = 𝑥𝒊 + 𝑦𝒋 + 𝑧𝒌
𝑂𝑃 or (𝑦).
𝑧
➢ Length of a vector ⃗⃗⃗⃗⃗
𝑂𝑃 is given by
 Standard basis unit vectors
⃗⃗⃗⃗⃗⃗ | = |𝒓| = √𝒙𝟐 + 𝒚𝟐 + 𝒛𝟐 .
|𝑶𝑷
are:

➢ Unit vector of vector ⃗⃗⃗⃗⃗

𝑂𝑃 is 𝒊 = 〈1,0,0〉
⃗⃗⃗⃗⃗
𝑂𝑃 𝒋 = 〈0,1,0〉
.
⃗⃗⃗⃗⃗ |
|𝑂𝑃 𝒌 = 〈0,0,1〉

Example

Given that 𝑄 = (3,4,2). Find:

a) its position vector,

⃗⃗⃗⃗⃗⃗ .
b) unit vector in the direction of 𝑂𝑄

Solution:

⃗⃗⃗⃗⃗⃗ = 3𝒊 + 4𝒋 + 2𝒌.
a) The position vector of Q is 𝑂𝑄
⃗⃗⃗⃗⃗⃗
𝑂𝑄
b) Unit vector = ⃗⃗⃗⃗⃗⃗ | ⃗⃗⃗⃗⃗⃗ | = √𝑥 2 + 𝑦 2 + 𝑧 2
❖ |𝑂𝑄
|𝑂𝑄
3 4 2 ⃗⃗⃗⃗⃗⃗ | = √32 + 42 + 22
= 𝑖+ 𝑗+ 𝑘. |𝑂𝑄
√29 √29 √29
⃗⃗⃗⃗⃗⃗ | = √29
|𝑂𝑄

ADDITION AND SUBSTRACTION

⃗⃗⃗⃗⃗
𝐴𝐶 = ⃗⃗⃗⃗⃗
𝐴𝐵 + ⃗⃗⃗⃗⃗
𝐵𝐶

The relationship
involving addition of
vector is the triangle
Figure 6.2 law of vector.

Definition

➢ Addition ⃗⃗⃗⃗⃗ = 𝒂, 𝐵𝐶
: If 𝐴𝐵 ⃗⃗⃗⃗⃗ = 𝒃, and 𝐴𝐶
⃗⃗⃗⃗⃗ = 𝒄 then

𝒂+𝒃=𝒄

➢ Subtraction : Given 𝒂 + 𝒃 = 𝒄. To subtract 𝒃, we add – 𝒃 to both sides such that

𝒂+𝒃=𝒄
 𝒂 + 𝒃 + (−𝒃) = 𝒄 − 𝒃
𝒂 =𝒄−𝒃

Figure 6.3

o ⃗⃗⃗⃗⃗ and 𝐴𝐷
𝐷𝐶 ⃗⃗⃗⃗⃗ are used to represent the equivalent vectors a and b. ABCD forms a parallelogram
with 𝐴𝐶⃗⃗⃗⃗⃗ as its diagonal;

⃗⃗⃗⃗⃗ = 𝐴𝐵
𝐴𝐶 ⃗⃗⃗⃗⃗ + 𝐵𝐶
⃗⃗⃗⃗⃗ Because ⃗⃗⃗⃗⃗
𝐵𝐶 = ⃗⃗⃗⃗⃗
𝐴𝐷
The relationship is
known as the ⃗⃗⃗⃗⃗ = 𝐴𝐵
𝐴𝐶 ⃗⃗⃗⃗⃗ + 𝐴𝐷
⃗⃗⃗⃗⃗
parallelogram law for
addition of two vectors.

If vector 𝒂, 𝒃, and 𝒄 are expressed in component form where

𝒂 = 𝑎1 𝒊 + 𝑎2 𝒋 + 𝑎3 𝒌,

𝒃 = 𝑏1 𝒊 + 𝑏2 𝒋 + 𝑏3 𝒌, and

𝒄 = 𝑐1 𝒊 + 𝑐2 𝒋 + 𝑐3 𝒌,

Then, 𝒂 + 𝒃 = 𝒄 is written as

𝑎1 𝒊 + 𝑎2 𝒋 + 𝑎3 𝒌 + 𝑏1 𝒊 + 𝑏2 𝒋 + 𝑏3 𝒌 = 𝑐1 𝒊 + 𝑐2 𝒋 + 𝑐3 𝒌
(𝑎1 + 𝑏1 )𝒊 + (𝑎2 + 𝑏2 )𝒋 + (𝑎3 + 𝑏3 )𝒌 = 𝑐1 𝒊 + 𝑐2 𝒋 + 𝑐3 𝒌

or in column vector form

𝑎1 𝑏1 𝑐1
(𝑎2 ) + (𝑏2 ) = (𝑐2 )
𝑎3 𝑏3 𝑐3

𝑎1 + 𝑏1 𝑐1
(𝑎2 + 𝑏2 ) = (𝑐2 )
𝑎3 + 𝑏3 𝑐3
 ➢ Scalar Multiplication : when a vector 𝒂 is multiplied with a scalar, 𝜆 gives a vector 𝜆𝒂 which
has a magnitude of 𝜆 times the magnitude of 𝒂.

𝜆𝒂 = 𝜆(𝑎1 𝒊 + 𝑎2 𝒋 + 𝑎3 𝒌)
= 𝜆𝑎1 𝒊 + 𝜆𝑎2 𝒋 + 𝜆𝑎3 𝒌
or in column form
𝑎1 𝜆𝑎1
𝜆𝒂 = 𝜆 (𝑎2 ) = (𝜆𝑎2 )
𝑎3 𝜆𝑎3

Properties

The following are the properties of vector addition

𝒙 𝒙
1) Commutative property ➢ If 𝒓 = (𝒚) and 𝒔 = (𝒚),
𝒛 𝒛
𝒂+𝒃=𝒃+𝒂 then 𝒓 = 𝒔.

2) Associative property
➢ If |𝒓| = |𝒔| but 𝒓 and 𝒔 are
𝒂 + (𝒃 + 𝒄) = (𝒂 + 𝒃) + 𝒄 on opposite direction then
𝒓 = −𝒔.
3) Distributive property
𝜆(𝒂 + 𝒃) = 𝜆𝒂 + 𝜆𝒃

Example

If 𝒂 = 2𝒊 + 4𝒋 − 5𝒌, 𝒃 = 𝒊 − 3𝒋 + 4𝒌 and 𝒄 = 5𝒊 − 2𝒌, find

a) 𝒂 + 𝒃 + 𝒄
b) 𝒂 − 𝒄
c) 2(𝒃 − 3𝒄)

Solution:
a) 𝒂 + 𝒃 + 𝒄 = (2𝒊 + 4𝒋 − 5𝒌) + (𝒊 − 3𝒋 + 4𝒌) + (5𝒊 − 2𝒌)
𝒂 + 𝒃 + 𝒄 = (2 + 1 + 5)𝒊 + (4 − 3 + 0)𝒋 + (−5 + 4 − 2)𝒌
𝒂 + 𝒃 + 𝒄 = 8𝒊 + 𝒋 − 3𝒌
b) 𝒂 − 𝒄 = (2𝒊 + 4𝒋 − 5𝒌) − (5𝒊 − 2𝒌)
𝒂 − 𝒄 = (2 − 5)𝒊 + (4 − 0)𝒋 + (−5 + 2)𝒌
𝒂 − 𝒄 = −3𝒊 + 4𝒋 − 3𝒌
c) 2(𝒃 − 3𝒄) = 2[(𝒊 − 3𝒋 + 4𝒌) − 3(5𝒊 − 2𝒌)]
2(𝒃 − 3𝒄) = 2[(1 − 15)𝒊 + (−3 + 0)𝒋 + (4 + 6)𝒌]
 2(𝒃 − 3𝒄) = 2[−14𝒊 − 3𝒋 + 10𝒌]
2(𝒃 − 3𝒄) = −28𝒊 − 6𝒋 + 20𝒌

Example

Find the following vector for points 𝑃(2,4,3), 𝑄(1, −2,2), and 𝑅(3,4,3):

a) ⃗⃗⃗⃗⃗
𝑃𝑄
b) ⃗⃗⃗⃗⃗
𝑄𝑃
c) ⃗⃗⃗⃗⃗
𝑄𝑅

Solution:

a) ⃗⃗⃗⃗⃗
𝑃𝑄 = 〈𝑥2 − 𝑥1 , 𝑦2 − 𝑦1 , 𝑧2 − 𝑧1 〉
⃗⃗⃗⃗⃗
𝑃𝑄 = 〈1 − 2, −2 − 4,2 − 3〉
⃗⃗⃗⃗⃗
𝑃𝑄 = 〈−1, −6, −1〉

⃗⃗⃗⃗⃗ = 〈𝑥2 − 𝑥1 , 𝑦2 − 𝑦1 , 𝑧2 − 𝑧1 〉
b) 𝑄𝑃
⃗⃗⃗⃗⃗ = 〈2 − 1,4 − (−2),3 − 2〉
𝑃𝑄
⃗⃗⃗⃗⃗
𝑄𝑃 = 〈1,6,1〉

c) ⃗⃗⃗⃗⃗
𝑄𝑅 = 〈𝑥2 − 𝑥1 , 𝑦2 − 𝑦1 , 𝑧2 − 𝑧1 〉
⃗⃗⃗⃗⃗
𝑃𝑄 = 〈3 − 1,4 − (−2), 3 − 2〉
⃗⃗⃗⃗⃗
𝑄𝑅 = 〈2,6,1〉

Example

Given 𝒂 = 〈0,0,1〉, 𝒃 = 〈−2,0,3〉, 𝒄 = 〈0,1,0〉 and 𝒅 = 〈6,0,9〉. Find:

a) 𝒂−𝒃
b) 𝟐𝒂 − 𝒄
c) 𝒄 + 𝒅 − 3𝒃
d) 𝑟, 𝑠, and 𝑡 so that 𝑟𝒂 + 𝑠𝒃 − 𝑡𝒄 = 𝒅
e) The vector that has the same direction with vector 𝒃 with double magnitude than the
magnitude of 𝒃

Solution:

a) 𝒂 − 𝒃 = 〈0,0,1〉 − 〈−2,0,3〉
𝒂 − 𝒃 = 〈2,0, −2〉

b) 𝟐𝒂 − 𝒄 = 2〈0,0,1〉 − 〈0,1,0〉
𝟐𝒂 − 𝒄 = 〈0,0,2〉 − 〈0,1,0〉
𝟐𝒂 − 𝒄 = 〈0, −1,2〉
 c) 𝒄 + 𝒅 − 3𝒃 = 〈0,1,0〉 + 〈6,0,9〉 − 3〈−2,0,3〉
𝒄 + 𝒅 − 3𝒃 = 〈0,1,0〉 + 〈6,0,9〉 − 〈−6,0,9〉
+𝒅 − 3𝒃 = 〈6,1,9〉 − 〈−6,0,9〉
𝒄 + 𝒅 − 3𝒃 = 〈12,1,0〉

d) 𝑟𝒂 + 𝑠𝒃 − 𝑡𝒄 = 𝒅
𝑟〈0,0,1〉 + 𝑠〈−2,0,3〉 − 𝑡〈0,1,0〉 = 〈6,0,9〉
〈0,0, 𝑟〉 + 〈−2𝑠, 0,3𝑠〉 − 〈0, 𝑡, 0〉 = 〈6,0,9〉
〈−2𝑠, 0, 𝑟 + 3𝑠〉 − 〈0, 𝑡, 0〉 = 〈6,0,9〉
〈−2𝑠, −𝑡, 𝑟 + 3𝑠〉 = 〈6,0,9〉
−2𝑠 = 6 −𝑡 = 0 𝑟 + 3𝑠 = 9
𝑠 = −3 𝑡=0 𝑟 + 3(−3) = 9
𝑟−9=9
𝑟 = 18

e) |𝒃| = √(−2)2 + 02 + 32
|𝒃| = √4 + 0 + 9
|𝒃| = √13
1 2 −4 6
The vector is 2 ( ) 〈−2,0,3〉 = 〈−2,0,3〉 = 〈√13 , 0, √13〉.
√13 √13

Exercise

𝐴(2,0,3), 𝐵(1, −2,1) and 𝐶(−1,2,2) are the vertices of a triangle. Find:

a) the vectors ⃗⃗⃗⃗⃗

𝐴𝐵 , ⃗⃗⃗⃗⃗
𝐵𝐶 and ⃗⃗⃗⃗⃗ 𝐶𝐴
b) the length of the sides of the triangle
c) the unit vector for 𝐴𝐵 ⃗⃗⃗⃗⃗ , 𝐵𝐶
⃗⃗⃗⃗⃗ and 𝐶𝐴
⃗⃗⃗⃗⃗
Ans: a) ⃗⃗⃗⃗⃗
𝐴𝐵 = −𝒊 − 2𝒋 − 2𝒌, ⃗⃗⃗⃗⃗ 𝐵𝐶 = −2𝒊 + 4𝒋 + 𝒌, ⃗⃗⃗⃗⃗
𝐶𝐴 = 3𝒊 − 2𝒋 + 𝒌
b) 3, √21, √14
⃗⃗⃗⃗⃗
𝐴𝐵 1 2 2 ⃗⃗⃗⃗⃗
𝐵𝐶 2 4 1 ⃗⃗⃗⃗⃗
𝐶𝐴 3 2 1
c) ⃗⃗⃗⃗⃗ |
= − 3 𝒊 − 3 𝒋 − 3 𝒌, ⃗⃗⃗⃗⃗ |
=− 𝒊 + 21 𝒋 + 𝒌, ⃗⃗⃗⃗⃗ = 𝒊 − 𝒋 + 𝒌
|𝐴𝐵 |𝐵𝐶 √21 √ √21 |𝐶𝐴| √14 √14 √14

6.2 Scalar Product and Vector Product

▪ The scalar product of two vectors, 𝒂 and 𝒃, is a scalar.
▪ Notation: 𝒂 • 𝒃
▪ The vector product of two vectors, 𝒂 and 𝒃, is a vector.
▪ Notation: 𝒂 × 𝒃

Definition

➢ Scalar product:

𝒂 = 〈𝑎1 , 𝑎2 , 𝑎3 〉 and 𝒃 = 〈𝑏1 , 𝑏2 , 𝑏3 〉, then

𝒂 • 𝒃 = 𝑎1 𝑏1 + 𝑎2 𝑏2 + 𝑎3 𝑏3
𝒂 • 𝒃 = |𝒂||𝒃| cos 𝜃

➢ Angle between two vectors

𝒂•𝒃
cos 𝜃 =
|𝒂||𝒃|

➢ Vector product:
𝒂 = 𝑎1 𝒊 + 𝑎2 𝒋 + 𝑎3 𝒌 and 𝒃 = 𝑏1 𝒊 + 𝑏2 𝒋 + 𝑏3 𝒌
𝒂 × 𝒃 = (𝑎2 𝑏3 − 𝑎3 𝑏2 )𝒊 + (𝑎3 𝑏1 − 𝑎1 𝑏3 )𝒋 + (𝑎1 𝑏2 − 𝑎2 𝑏1 )𝒌
From the definition of 3 × 3 determinant,
𝒊 𝒋 𝒌
𝒂×𝒃=| 1 𝑎 𝑎 2 𝑎 3|
𝑏1 𝑏2 𝑏3
𝑎2 𝑎3 𝑎1 𝑎3 𝑎1 𝑎2
= |𝑏 𝑏3 | 𝒊 − | 𝑏1 𝑏3 | 𝒋 + | 𝑏1 𝑏2 | 𝒌
2

➢ Area of a vector triangle:

1
Area = |𝒂||𝒃| sin 𝜃
2
1
= |𝒂 × 𝒃|
2

➢ Scalar triple product:

𝑎1 𝑎2 𝑎3
𝑏3 | = 𝑎1 |𝑏2 𝑏3 𝑏 𝑏3 𝑏 𝑏2
𝒂 • (𝒃 × 𝒄) = |𝑏1 𝑏2 | − 𝑎2 | 1 | + 𝑎3 | 1 |
𝑐2 𝑐3 𝑐1 𝑐3 𝑐1 𝑐2
𝑐1 𝑐2 𝑐3

Example
If 𝒂 = 2𝒊 − 𝒋 + 3𝒌, 𝒃 = 𝒊 + 𝟓𝒋 + 𝒌 and 𝒄 = 3𝒊 − 4𝒋 − 4𝒌. Find:
 a) 𝒂 • 𝒃
b) 𝒂 • 𝒄
Solution:
a) 𝒂 • 𝒃 = (2)(1) + (−1)(5) + (3)(1)
=2−5+3
= 0
b) 𝒂 • 𝒄 = (2)(3) + (−1)(−4) + (3)(−4)
= 6 + 4 − 12
= −2

Example

If 𝒂 = −𝒊 + 2𝒋 + 3𝒌, and 𝒃 = 2𝒊 + 3𝒋 + 𝒌, find the acute angle between the two vectors

Solution:
𝒂 = −𝒊 + 2𝒋 + 3𝒌 ⇒ |𝒂| = √(−1)2 + 22 + 32
= √1 + 4 + 9
= √14

𝒃 = 2𝒊 + 3𝒋 + 𝒌 ⇒ |𝒃| = √(2)2 + 32 + 12
= √4 + 9 + 1
= √14
𝒂•𝒃= (−𝒊 + 2𝒋 + 3𝒌) • (2𝒊 + 3𝒋 + 𝒌)
= (−1)(2) + (2)(3) + (3)(1)
= −2 + 6 + 3
=7
𝒂•𝒃
cos 𝜽 =
|𝒂||𝒃|
7
=
(√14)(√14)
1
=
2
1
= cos−1
2
= 60°

Example
If 𝒂 = 4𝒊 + 5𝒋 − 2𝒌, and 𝒃 = −𝒊 + 3𝒋 − 5𝒌, find :
a) 𝒂 × 𝒃
b) area of the vector triangle
Solution:
 𝒊
𝒋 𝒌
a) 𝒂×𝒃=| 4 5 −2|
−1 3 −5
= |5 −2| 𝒊 − |
4 −2| 𝒋 + | 4 5| 𝒌
3 −5 −1 −5 −1 3
= (−25 − (−6))𝒊 − (−20 − 2)𝒋 + (12 − (−5))𝒌
= (−19)𝒊 + 22𝒋 + 17𝒌
b) |𝒂 × 𝒃| = √(−19)2 + (22)2 + (17)2
= √1134 = 9√14
1
Area = |𝒂 × 𝒃|
2
9√14
= unit2
2

Example
If 𝒂 = 4𝒊 + 5𝒋 − 2𝒌, 𝒃 = −𝒊 + 3𝒋 − 5𝒌, and 𝒄 = 2𝒊 + 3𝒋 + 𝒌, find 𝒂 • (𝒃 × 𝒄)
Solution:
4 5 −2
𝒂 • (𝒃 × 𝒄) = |−1 3 −5|
2 3 1
3 −5 −1 −5 −1 3
= 4| |− 5| | + (−2) | |
3 1 2 1 2 3

= 4(3 − (−15)) − 5(−1 − (−10)) − 2(−3 − 6)

= 4(18) − 5(9) − 2(−9)
= 72 − 45 + 18
= 45

Exercise
If 𝒂 = 2𝒊 + 𝒋 + 4𝒌, 𝒃 = 𝒊 − 3𝒋 + 2𝒌, and 𝒄 = 𝟐𝒊 + 𝒌 find:
a) 𝒂 • 𝒃
b) 𝒃 • 𝒄
c) 𝒂 × 𝒄
d) 𝒂 • (𝒃 × 𝒄)
e) area of vector triangle consist of 𝒂 and 𝒄
f) the acute angle between vectors 𝒃 and 𝒄
√38
Ans: a) 7 b) 4 c) 𝒊 + 6𝒋 − 𝒌 d) 21 e) f) 51.8871o
2
6.3 Vector Equations
Definition

➢ Equation of a line:
Point : (𝑥0 , 𝑦0 , 𝑧0 )
Vector : 𝒗 = 𝑎1 𝒊 + 𝑎2 𝒋 + 𝑎3 𝒌

Parametric equation:
𝑥 = 𝑥0 + 𝑎1 𝑡
𝑦 = 𝑦0 + 𝑎2 𝑡
𝑧 = 𝑧0 + 𝑎3 𝑡

Symmetric equation:
𝑥 − 𝑥0 𝑦 − 𝑦0 𝑧 − 𝑧0
= =
𝑎1 𝑎2 𝑎3

➢ Equation of a plane:
Standard form: 𝐴(𝑥 − 𝑥0 ) + 𝐵(𝑦 − 𝑦0 ) + 𝐶(𝑧 − 𝑧0 ) = 0
General form : 𝐴𝑥 + 𝐵𝑦 + 𝐶𝑧 = 𝐷

Example

Find the equation of a line that passes through point 𝑃 = (3, 2, −3) and 𝑄 = (2, −2, −2).

Solution:

Vector that is parallel to the line is

𝐏𝐐 = (2 − 3)𝒊 + (−2 − 2)𝒋 + (−2 − (−3))𝒌

= −𝒊 − 4𝒋 + 𝒌
Therefore, the parametric/ symmetric equation of a line is
𝑥 =3−𝑡 𝑥−3 𝑦−2 𝑧+3
𝑦 = 2 − 4𝑡 = =
≫ −1 −4 1
𝑧 = −3 + 𝑡

OR
 𝑥 =2−𝑡 𝑥−2 𝑦+2 𝑧+2
= =
𝑦 = −2 − 4𝑡 ≫ −1 −4 1
𝑧 = −2 + 𝑡

Example

Find the equation of a plane that passes through point 𝐴 = (2,4, −1) and normal vector 𝐧 =
〈3,5, −2〉.
Solution:
3(𝑥 − 2) + 5(𝑦 − 4) + (−2)(𝑧 − (−1)) = 0
3𝑥 − 6 + 5𝑦 − 20 − 2𝑧 − 2 = 0
3𝑥 + 5𝑦 − 2𝑧 − 6 − 20 − 2 = 0
3𝑥 + 5𝑦 − 2𝑧 − 28 = 0
3𝑥 + 5𝑦 − 2𝑧 = 28

Example

Find the equation of a plane that passes through three points 𝑃 = (1,3, −1), 𝑄 = (−1, −1,2)
and 𝑅 = (−2,0,4)

Solution:
Normal vector,
𝐧 = 𝐏𝐐 × 𝐏𝐑

𝐏𝐐 = (−1 − 1)𝒊 + (−1 − 3)𝒋 + (2 − (−1))𝒌

= −2𝒊 − 4𝒋 + 3𝒌
𝐏𝐑 = (−2 − 1)𝒊 + (0 − 3)𝒋 + (4 − (−1))𝒌
= −3𝒊 − 3𝒋 + 5𝒌
𝒊 𝒋 𝒌
𝐧 = 𝐏𝐐 × 𝐏𝐑 = |−2 −4 3|
−3 −3 5
−4 3 −2 3 −2 −4
=| |𝒊 − | |𝒋 + | |𝒌
−3 5 −3 5 −3 −3
= (−20 + 9)𝒊 − (−10 + 9)𝒋 + (6 − 12)𝒌
= −11𝒊 + 𝒋 − 6𝒌

Therefore, the plane equation is:

𝐴(𝑥 − 𝑥0 ) + 𝐵(𝑦 − 𝑦0 ) + 𝐶(𝑧 − 𝑧0 ) =0
−11(𝑥 − 1) + 1(𝑦 − 3) + (−6)(𝑧 − (−1)) = 0
−11𝑥 + 11 + 𝑦 − 3 − 6𝑧 − 6 = 0
 −11𝑥 + 𝑦 − 6𝑧 + 11 − 3 − 6 = 0
−11𝑥 + 𝑦 − 6𝑧 = −2

Exercise
1) Find the equation of a line that passed through point 𝑅 = (0,1, −1) and 𝑆 = (−2,2,3).
2) Find the equation of a plane containing 𝐴 = (1, 1, 1), 𝐵 = (4, 0, 2) and 𝐶 = (0, 1, −1).
Ans: 1) 𝑥 = −2𝑡
𝑦 = 1+𝑡
𝑧 = −1 + 4𝑡
2) 2𝑥 + 𝑧 = 3