RUSANGU SECONDARY SCHOOL

TOPIC: VECTORS IN TWO DIMENSIONS

ADDITIONAL MATHEMATICS

VECTORS IN TWO DIMENSIONS

𝒓=𝒂+t𝒃
⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
‖𝑷𝑸 ‖=√𝒂𝟐 + 𝒃𝟐

TEACHER: T.H MUSONDELA

OBJECTIVES:

By the end of the topic you should be able to

Using notation a , AB, ai+bj

2. Adding and subtracting vectors.

3. Multiplying vectors by scalar.

4. Finding position vector of a point.

5.-Applying position vectors in calculations.

6. Finding unit vector.

7. Using (scalar) product of two vectors.

8. Using dot product to find angles between two vectors.

9. Define properties of scalars, such as when a ● b = 0,

10. Define Vector equation of a straight line

VECTOR ALGEBRA

Introduction:

The development of the concept of vectors was influenced by the works of the German
Mathematician H.G. Grassmann (1809 − 1877) and the Irish mathematician W.R. Hamilton (1805 −
1865). It is interesting to note that both were linguists, being specialists in Sanskrit literature.
While Hamilton occupied high positions, Grassman was a secondary school teacher.

The term vectors were due to Hamilton and it was derived from the Latin word ‘to carry’. The
theory of vectors was also based on Grassman’s theory of extension. It was soon realised that
vectors would be the ideal tools for the fruitful study of many ideas in geometry and physics.
Vector algebra is widely used in the study of certain type of problems in Geometry, Mechanics,
Engineering and other branches of Applied Mathematics. Physical quantities are divided into two
categories – scalar quantities and vector quantities.

Did you know that...

... the term "vector" comes from the Indo-European word VAG or VAGH which meant chariot
and which has spawned several hundreds of related words in the various Indo-European
languages? In Latin, "vector" means a chariot driver. The Irish mathematician and astronomer
Sir William Rowan Hamilton began to use this term again in a mathematical context in 1837.

2 Lesson Notes by T.H MUSONDELA

DEFINITIONS:

1. SCALAR: A quantity having only magnitude is called a scalar. It is not related to any fixed
direction in space.

Examples of scalar quantity: mass, volume, density, work, temperature, distance, area, real
numbers etc.

Representation scalar quantity: To represent a scalar quantity, we assign a real number to it,
which gives its magnitude in terms of a certain basic unit of a quantity. Throughout this chapter,
by scalars we shall mean real numbers. Normally, scalars are denoted by a, b, c

2. VECTOR: A quantity having both magnitude and direction is called a vector.

Examples of vector quantities: displacement, velocity, acceleration, momentum, force, moment of

a force, weight etc.

Representation of vectors: Vectors are represented by directed line segments such that the length
of the line segment is the magnitude of the vector and the direction of arrow marked at one end
denotes the direction of the vector.

⃗⃗⃗⃗⃗ is an example of a vector? In this case, it is a line

In the diagram,𝐴𝐵
B
B segment running from A to B with its tail at A and head at B. Its
actual size, or magnitude, is denoted by|𝐵𝐴 ⃗⃗⃗⃗⃗ |. The magnitude of a
⃗⃗⃗⃗⃗
𝐴𝐵
⃗⃗⃗⃗⃗ vector is always non-negative
𝐵𝐴
A
A

OPPOSITE VECTORS

Opposite Vectors are two vectors that have the same magnitude but point in opposite
directions. ⃗⃗⃗⃗⃗
𝐴𝐵 and ⃗⃗⃗⃗⃗⃗
𝐵𝐴 are opposites and⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗ ,. In this case |⃗⃗⃗⃗⃗⃗
𝐴𝐵 = −𝐵𝐴 ⃗⃗⃗⃗⃗ |, and the vectors
𝐴𝐵 | = |𝐵𝐴
are parallel but point in opposite directions. Vectors can also be represented with lower-case
letters. In the diagram above, vectors and have the same magnitude, i.e., , but point in opposite
directions, so and v are also opposites.

INTRODUCTION TO ALGEBRAIC VECTORS

Mathematicians started using coordinates to analyze physical situations in about the fourteenth
century. However, a great deal of the credit for developing the methods used with coordinate
systems should be given to the French mathematician Rene Descartes (1596–1650). Descartes was
the first to realize that using a coordinate system would allow for the use of algebra in geometry.
Since then, this idea has become important in the development of mathematical ideas in many
areas. For our purposes, using algebra in this way leads us to the consideration of ideas involving
vectors that otherwise would not be possible.

3 Lesson Notes by T.H MUSONDELA

Vectors are denoted by a bold, lowercase letter when typed, with the components enclosed in
angled brackets. Some texts simply use parentheses. When writing a vector by hand, direct
students to draw an arrow over the symbol that represents the vector.

In mathematics, a shift like the one described in the Opening can be represented by a vector. This
vector has a horizontal component of 5 and a vertical component of 10. We use the following notation for a
vector: 𝐯=〈5, 10〉. When writing a vector that starts at point 𝐴 and goes through point 𝐵, use this
notation: 𝐴𝐵=〈5,10〉

INTRODUCTION (VECTORS)

The base vectors in two dimensional Cartesian coordinates are the unit vector i in the positive
direction of the x axis and the unit vector j in the y direction. The position vector of a point P(x,
y) in two dimensions is 𝐱𝐢 + 𝐲𝐣 .
ADDING OF VECTORS - VECTORS i AND j
i and j are unit vectors (i.e. vectors of length 1) in the positive directions of the x and y axes
respectively. It follows that a point P with coordinates (x, y) has position vector xi + yj using this
notation. If p represents the position vector OP, we have p = xi + yj. This is known as
‘component’ or ‘Cartesian’ form.

POSITION VECTORS

All vectors are measured from a fixed point. Vectors on a Cartesian Plane can start at any point on
the plane such vectors are known as free vectors. If, however, we start a vector at the origin, then
such a vector is called a position vector. In this sense, position vectors are not free vectors because
they are tied to the origin. Their starting point is always the origin.

It is often handy to record the position of a point in relation to the origin by using components.
2
Here, the points P and Q are given by P (2, 5) and Q (8, 2). Can you see that vector 𝑂𝑃 = ( ) and
5
8
vector OQ = ( ). Vectors like OP that define the position of a point in relation to the origin are
2
defined by the vector p. Similarly, position vector OQ = q and position vector OR = r . If you know
the coordinates of two points P and Q, it is easy to determine the components of the vector joining
them, without having to draw up a diagram.

⃗⃗⃗⃗⃗
𝑃𝑄 = 𝑞 − 𝑝 Where 𝑞 = ⃗⃗⃗⃗⃗⃗
𝑂𝑄 , 𝑝 = ⃗⃗⃗⃗⃗
𝑂𝑃 and

⃗⃗⃗⃗⃗
𝐴𝐵 = 𝑏 − 𝑎 Where 𝑏 = ⃗⃗⃗⃗⃗
𝑂𝐵 , 𝑎 = ⃗⃗⃗⃗⃗
𝑂𝐴

4 Lesson Notes by T.H MUSONDELA

 LINEAR COMBINATIONS OF UNIT VECTORS
A vector that has a magnitude of 1 unit is called a unit vector. A unit vector in the direction of the
positive x-axis is denoted as i = 〈1, 0〉, and a unit vector in the direction of the positive y-axis is
denoted as j = 〈0, 1〉. Vectors can be written as linear combinations of unit vectors by first writing
the vector as an ordered pair and then writing it as a sum of the vectors i and j.

EXAMPLE 1:

Let ⃗⃗⃗⃗⃗⃗
𝑀𝑃 be the vector with initial point M (2, 2) and terminal point P (5, 4). Write ⃗⃗⃗⃗⃗⃗
𝑀𝑃 as a linear
combination of the vectors i and j.

⃗⃗⃗⃗⃗⃗ 2 5
𝑀𝑃 = 𝑝 − 𝑚 but 𝑚 = ( ) and 𝑝 = ( )
2 4
⃗⃗⃗⃗⃗⃗
𝑀𝑃 = 𝑝 − 𝑚
5 2
=( )−( )
4 2
3
=( )
2
⃗⃗⃗⃗⃗⃗ = 3𝑖 + 2𝑗
Then rewrite the vector as a linear combination of the standard unit vectors 𝑀𝑃

MULTIPLICATION OF A VECTOR BY A SCALAR

Multiplying 𝑎 by different values of k can affect the direction and magnitude of a vector, depending
on the values of k that are chosen.-For the 𝑘𝑎 vector where k is a scalar and is 𝑎 nonzero vector

Condition one

If 𝑘 > 0 then 𝑘𝑎 is in the same direction as 𝑎 with magnitude 𝑘|𝑎| . For 𝑘 > 0 two
different possibilities are

(a) For 𝟎 < 𝒌 < 𝟏 the vector is shortened, and the direction stays the same

(b) For 𝒌 > 𝟏 the vector is lengthened, and the direction stays the same

Condition Two

If 𝑘 < 0 then 𝑘𝑎 is in the opposite direction as with magnitude 𝑘|𝑎| . Again, two situations will
be considered for

(a) For −𝟏 < 𝑘 < 0 the vector is shortened, and changes to the opposite direction

(b) For 𝒌 < −𝟏 the vector is lengthened, and changes to the opposite direction

5 Lesson Notes by T.H MUSONDELA

 VECTOR OPERATIONS
The two basic operations are scalar multiplication and vector addition. Geometrically, the product
of a vector v and a scalar |𝑘| is the vector that is times as long as v. If k is positive, then kv has the
same direction as v, and if k is negative, then kv has the opposite direction of v.

DEFINITION OF VECTOR ADDITION & SCALAR MULTIPLICATION

Let u = 〈𝑢1 , 𝑢2 〉 and v =〈𝑣1 , 𝑣2 〉 be vectors and let k be a scalar (real number). Then

(a) the scalar multiplication of k times u is the vector ku =𝑘 〈𝑢1 , 𝑢2 〉 = 〈 𝑘𝑢1 , 𝑘𝑢2 〉

(b) When we are adding or subtracting vectors, using the unit vector notation, we add the
coefficients of i and j .Thus sum of u and v is 𝑢 + 𝑣 = 〈 𝑢1 + 𝑣1 , 𝑢2 + 𝑣2 〉

EXAMPLE 2:

(a) Let u = -3i + 8j and let v = 2i - j.

(b) Let a = 6i + j and let b = 2i +8 j. Find (a) a + b (b) a − b

(a) 2u - 3v = 2(-3i + 8j) - 3(2i - j) Solution

= -6i + 16j - 6i + 3j (a) 𝑎 + 𝑏 = (6i + j) +(2i +8j)

= -12i + 19 j = 6i + 2i + j + 8j

Alternatively we may use column vectors = 8i + 9 j

−3 2 (b) a − b = (6i + j) - (2i +8j)

2u - 3v = 2 ( ) − 3( )
8 −1
= (6i + j) + (−2i − 8j)
−6 6
=( )−( ) = (6 − 2)i + (1− 8)j
16 −3
= 4i − 7j
−12
=( )
19
=-12i + 19 j

6 Lesson Notes by T.H MUSONDELA

 EXERCISE 1.0

1. Given that a = 9i + 7j and b = 8i + 3j , find (a) a + b (b) a − b

4 3
2. Given that u = -8i -5j , v = -2i+ 5j . Find 𝑢 + 5 v.
5

3. Given that u = 〈−7, −1〉 , v = 〈9, −7〉 . Find -5u + 6v.

4. Let u be the vector with initial point (2, -5) and terminal point (-1, 3).

Write u as a linear combination of the standard unit vectors of i and j.

5 Vectors i and j are vectors parallel to the x-axis and y-axis respectively. Given that a = 2i + 3j,
b = i − 5j and c = 3i + 11j, find
(i) the exact value of a + c , [2]
(ii) the value of the constant m such that a + mb is parallel to j, [2]
4 2 −5
2 Vectors a, b and c are such that a=( ) , b = ( ) and c = ( )
3 2 2
(i) Show that a = b + c .

(ii) Given that ma + nb = 7c, find the value of m and of n.

𝑟+𝑠 5𝑟 + 1
3 Vectors p and q are such that 𝑝 = ( ) and 𝑞 = ( ), where r and s are constants. Given
𝑟+6 2𝑠 − 1
0
that 2p+ 3q= ( ), find the value of r and of s.
0

7 Lesson Notes by T.H MUSONDELA

 VECTOR OPERATIONS

It is often handy to record the position of a point in relation to the origin by using components.
2
Here, the points P and Q are given by P (2, 5) and Q (8, 2). Can you see that vector 𝑂𝑃 = ( ) and
5
8
vector OQ = ( ). Vectors like OP that define the position of a point in relation to the origin are
2
defined by the vector p. Similarly, position vector OQ = q and position vector OR = r . If you know
the coordinates of two points P and Q, it is easy to determine the components of the vector joining
them, without having to draw up a diagram.

EXAMPLE 3:

Two points P (2,5) and Q (8,2 ) are plotted on the Cartesian plain. Find vector PQ

𝑦 ⃗⃗⃗⃗⃗ = OQ − OP
𝑃𝑄
𝑃(2,5)
8 2
=( )−( )
2 5
6
Q (8,2) =( )
−3
= 6i − 3j
𝑥

EXERCISE 1.2

Plot the 2 points A(4, 1) and B(6, 8).

(b) Use your diagram to write down the components of vector AB

(c) Write down the components of the position vectors a and b. (i.e. OA and OB

(d) Find vector AB, using AB = b – a.

7 O, P, Q and R are four points such that OP = p, OQ = q and OR = 3q - 2p. Find, in terms of p
and q, (a) ⃗⃗⃗⃗⃗
𝑃𝑄 , ⃗⃗⃗⃗⃗ .
(b) 𝑄𝑅

8 Lesson Notes by T.H MUSONDELA

 EXAMPLE 5 :

(a) The position vectors of points P and R are (b)The position vectors of the points A and B
2𝑖 + 4𝑗 and 10𝑖 − 4𝑗 respectively. A Point Q with respect to O arc 4i − 3j and −i + 2j
⃗⃗⃗⃗⃗ = 1 𝑃𝑅
lies an PR and is such that 𝑃𝑄 ⃗⃗⃗⃗⃗ . Find respectively. Find the position vector of the
4
the position vector Q point C such that ⃗⃗⃗⃗⃗
𝐴𝐶 = 3𝐴𝐵 ⃗⃗⃗⃗⃗ .

Solution Solution

⃗⃗⃗⃗⃗ 1 1 ⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗ ⟹ 𝑐 − 𝑎 = 3(𝑏 − 𝑎).

𝐴𝐶 = 3𝐴𝐵
𝑃𝑄 = 4 ⃗⃗⃗⃗⃗
𝑃𝑅 . = 𝑞 − 𝑝 = 4 (𝑟 − 𝑝)

⃗⃗⃗⃗⃗⃗ − ⃗⃗⃗⃗⃗ 1
⃗⃗⃗⃗⃗ − ⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗ − ( 4 ) = 3 [(−1) − ( 4 )]
𝑂𝐶
𝑂𝑄 𝑂𝑃 = 4 [𝑂𝑅 𝑂𝑃] −3 2 −3

⃗⃗⃗⃗⃗⃗ − (2) = 1 [( 10 ) − (2)]

𝑂𝑄 ⃗⃗⃗⃗⃗ − ( 4 ) = 3 (−5)
𝑂𝐶
4 4 −4 4 −3 5

𝑞=4 (
1 8 2
)+( ) ⃗⃗⃗⃗⃗ = 3 (−5) + ( 4 )
𝑂𝐶
−8 4 5 −3

𝑞=4 (
1 8 2
)+( ) ⃗⃗⃗⃗⃗ = (−15) + ( 4 )
𝑂𝐶
−8 4 15 −3

𝑞=(
2 2
)+( ) ⃗⃗⃗⃗⃗ = (−11)
𝑂𝐶
−2 4 12

4 4 = -11i+12j
𝑞 = ( ) ∴ OQ=( ) or 4i+2j
2 2

EXAMPLE 6:

9 Lesson Notes by T.H MUSONDELA

 EXERCISE 1.3
1. Given A(1, 3) and B(5, 6), find the components of ⃗⃗⃗⃗⃗
𝐴𝐵

⃗⃗⃗⃗⃗
2. If C(3,−5) and D(9, 0), find 𝐶𝐷

3. The position vectors of points A and B, relative to an origin O, are 4i - 21j and 22i -30j respectively.
The point C lies on AB such that ⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗ . Find the position vector of C
𝐴𝐵 =3𝐴𝐶

6 9
4. Given that the position vectors of P and Q relative to an origin O are ( ) and ( ) respectively. The
7 20
points P, Q and R are such that QR= 4PQ. Find the unit vector Parallel to OR

5. The position vectors of points A and B relative to an origin O are –3i – j and i + 2j respectively. The
3
point C lies on AB and is such that ⃗⃗⃗⃗⃗
𝐴𝐶 = 𝐴𝐵 . Find the position vector of C and show that it is a unit
5
vector.

⃗⃗⃗⃗⃗ = ( – 17 ⃗⃗⃗⃗⃗ = (4), find the vector OC, such that 𝐴𝐶

⃗⃗⃗⃗⃗ = 3𝐴𝐵.
⃗⃗⃗⃗⃗⃗
6. Given that 𝑂𝐴 ) and 𝑂𝐵
25 5

7. Relative to an origin O, the position vectors of the points A and B are i – 4j and 7i + 20j respectively.
⃗⃗⃗⃗⃗ = 2 ⃗⃗⃗⃗⃗⃗⃗⃗
The point C lies on AB and is such that 𝐴𝐶 𝐴𝐵.. Find the position vector of C
3

8 Vector OA = (2,1) and OB= ( 6,−3) Point C is on OB such CB=2OC and point D is on AB such that
AD=3DB. Express CD as a column vector.

9. For each of the following pairs of points, find the components of the vector joining the first point to
the second: - i.e. for 𝑈 (−2, 7), 𝑉 (−4, −5). Find vector ⃗⃗⃗⃗⃗
UV

(a) U (4, 1), V (9, 3) (b) S(0, 5), T(7, 2) (c) J(2, −3), K(5, 6) (d) P(-3, -4), Q (6, 0)

(e) C(6, 2), D(1, −4) (f) G(2, −5), H(−1, 3) (g) A (−2, 7), B (−4, −5).

10 Relative to an origin O, the position vectors of the points A and B are 2i + 12j and 6i - 4j respectively.

(i) Write down and simplify an expression for AB.

(ii) The point C lies on AB such that AC : CB is 1 : 3. Find the unit vector in the direction of OC.

(iii) The point D lies on OA such that OD : DA is 1 : m. Find an expression for AD in terms of m, i and j.

11 Relative to an origin O, the position vector of the point P is i – 4j and the position vector of the point
Q is 3i + 7j. Find

(i) ⃗⃗⃗⃗⃗
𝑃𝑄 ,

⃗⃗⃗⃗⃗ ,
(ii) the unit vector in the direction 𝑃𝑄

⃗⃗⃗⃗⃗ .
(iii) the position vector of M, the mid-point of 𝑃𝑄

10 Lesson Notes by T.H MUSONDELA

 DIRECTION OF A VECTOR

Direction of a vector is given by the angle which a vector makes with the positive direction of
the x – axis. In the plane, a vector's angle of direction is the counterclockwise (in the direction
opposite to the rotation of the hands of a clock) angle formed by the arrow with the horizontal line
that passes through its tail in the positive direction. This angle determines a vector's direction. This
is easily obtained by simple trigonometry .The direction vector 𝜃 of point P (𝑥, 𝑦) is

𝐲
𝛉 = 𝐭𝐚𝐧−𝟏 ( )
𝐱

EXAMPLE 7:

(a) Find the angle made by the point P(-1,2) (b) Find the angle made by the point P(4,3)
and the x axis and the x axis
Solution Solution
𝑦 𝑦
𝜃 = tan−1 ( ) 𝜃 = tan−1 ( )
𝑥 𝑥
−1 4
𝜃 = tan−1 ( ) The basic angle of 𝜃 is 63.4 𝜃 = tan−1 ( ) The basic angle of 𝜃 is 53.1
2 3

The point (4,3) is in the first quadrant The point (4,3) is in the first quadrant
∴ 𝜃 = 180° − 63.4° = 116.6° ∴ 𝜃 = 0° + 53.1° = 53.1°

(a) Find the angle made by the point P (-5,-2) (a) Find the angle made by the point P(3,-3)
and the x axis and the x axis
Solution Solution
𝑦 3
𝜃 = tan−1 ( ) 𝜃 = tan−1 ( )
𝑥 −3
−5 3
𝜃 = tan−1 ( ) The basic angle of 𝜃 is 68.2 𝜃 = tan−1 ( ) The basic angle of 𝜃 is 45
−2 −3

The point (4,3) is in the third quadrant The point (4,3) is in the 4th quadrant
∴ 𝜃 = 180° + 68.2° = 248.2° ∴ 𝜃 = 360° − 45° = 315°

Summary

The direction is equal to the angle formed with the x-axis, or with the y-axis, depending on the
𝑎 𝑎
application. For a position vector, the direction is found by 𝑡𝑎𝑛 𝜃 = 𝑏 ⇒ 𝜃 = 𝑡𝑎𝑛−1 (𝑏)

N.B. Remember to put your calculator in degree mode.

11 Lesson Notes by T.H MUSONDELA

 EXERCISE
1. Find the angle made by the point P (10,8) and the x axis
2. Find the angle made by the point P (-5,7) and the x axis
3. Find the angle made by the point P (-9,-2) and the x axis
4. Find the angle made by the point P (4,-2) and the x axis
5. Find the angle made by the point P (8,8) and the x axis
6. Find the angle made by the point P (-5,-12) and the x axis
7. The velocity vector w makes an angle of 30° with the positive x-axis and is such that |𝑤| =
2. Find w giving your answer in the form c i + d j, where c and d are integers.

THE MODULUS/ MAGNITUDES - NORM (LENGTH) OF A VECTOR

The modulus of a vector refers to its length. If we know the coordinates of a point, P, then we can
find the length of the position vector, 𝑂𝑃 using Pythagoras’s Theorem. Magnitude or modulus of a
𝑥
vector is the length of the line segment that represents the specific vector AB = (𝑦) and is |AB|
=√ 𝒙𝟐 + 𝒚𝟐 . The magnitude (or length) of a vector u is written as u . It can be calculated as follows
𝑎
𝑃𝑄 = ( ) then ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
If ⃗⃗⃗⃗⃗ ‖𝑷𝑸 ‖=√𝒂𝟐 + 𝒃𝟐
𝑏
FINDING MAGNITUDE
To work with a vector, we need to be able to find its magnitude .We find its magnitude using the
Pythagorean Theorem or the distance formula, and we find its direction using the inverse tangent
function. For example, to determine the length of the position vector where P (3, 4). We observe
that OP is the hypotenuse of a right-angled triangle whose horizontal and vertical sides are 3 and 4
units respectively.
Magnitude and Direction of a Vector
Given a position vector v = 〈a, b〉, the magnitude is found by | 𝑣 | = √𝑎2 + 𝑏 2 .
EXAMPLE 8:

7
(a) Given u =( −5 ) , find |𝒖| . (b) Given u =( ) , find |𝒖| .
−12 −24
Solution Solution

|𝒖| =√52 + (− 12)2 |𝒖| =√(7)2 + (− 24)2

= √169 = √625

= 13 units. = 13 units.

12 Lesson Notes by T.H MUSONDELA

 VECTORS IN THE COORDINATE PLANE

The magnitude of a vector in the coordinate plane is found using the Distance Formula.
⃗⃗⃗⃗⃗ | = √(𝒙𝟐 – 𝒙𝟏 )𝟐 + (𝒚𝟐 – 𝒚𝟏 )𝟐
|𝑿𝒀
Example 1:

Find the magnitude of ⃗⃗⃗⃗⃗

𝑋𝑌 with initial point X (2, –3) and terminal point Y (–4, 2).

2
⃗⃗⃗⃗⃗ | = √(𝑥2 – 𝑥1 )2 + (𝑦2 – 𝑦1 )2
|𝑋𝑌 = √(−4 – 2)2 + (2 – (−3))

= √(−6)2 + (5)2

= √61 or about 7.8 units

EXERCISE
1. If AB= 2i + 2j and BC= i + 2j, prove that the magnitude of AC is 5.

2. In a similar way, calculate the magnitude, (distance), between each pair of points here:-

(a) U(4, 1), V(7, 5) (b) S(0, 5), T(12, 0) (c) J(2, -3), K(10, 3) (d) P(-3, -4), Q(6, 8)

3. Calculate the magnitude of the vector joining these pairs of points, leaving your answer in
simplified surd form where possible:-

(a) I (5, 1), J (7, 5) (b) E (0, 5), F (8, 9) (c) M (1, -3), N (7, 3)

4. Find the magnitude of each of these vectors. (a) 3i + 4j (b) 3i - 6j

5. The position vectors of A and B relative to O are a and b. X is the midpoint of OA and Y lies on
⃗⃗⃗⃗⃗ with 𝑂𝑌 = 1 𝑂𝐵. XY meets AB at Z. Find the position vector of Z
OB 3

Question 3:
3
6 The position vectors of two points A and B relative to an origin O are ( ) and
−2
6
( ) respectively. Find the position vector of the point S if
2
(a) S is the midpoint of AB, (b) SA = 3 SB

(c) OSAB is a parallelogram.

7. Relative to an origin O, the position vectors of the points A and B are i – 4j and 7i + 20j
2
respectively. The point C lies on AB and is such that ⃗⃗⃗⃗⃗
𝐴𝐶 = 3 ⃗⃗⃗⃗⃗⃗⃗⃗
𝐴𝐵.. Find the Magnitude vector of OC

13 Lesson Notes by T.H MUSONDELA

 UNIT VECTOR

A vector of length 1 is called a unit vector. The unit vector in the direction of 𝑎̂ is denoted
by a -(read as ‘a cap’). A unit vector is a vector whose modulus is 1Thus | a |= 1 The vector
12 5 12 2 5 2
𝑖 − 13 𝑗 is a unit vector because √(13) + (− 13) = 1
13

EXAMPLE 9

3 4 1
(a) Shows that the vector w = 5 i + 5 j is a (b) Shows that the vector v = (−5i + 12j) is
13
unit vector. a unit vector.
Solution
3 2 4 2 Solution
‖𝑤‖ = √( ) + ( )
5 5 5 2 12 2
‖𝑣 ‖ = √(− ) + ( )
13 13
9 16
=√ +
25 25 25 144
=√ +
169 169
=1
=1

(c) The points A and B are such that the unit (d)The points A and B are such that the unit
vector in the direction of AB is 0.28𝒊 + 𝑝𝒋, vector in the direction of AB is 0.6𝒊 + 𝑝𝒋, where
where p is a positive constant. p is a positive constant. Find the value of p.

Find the value of p. Solution

Solution √(0.6)2 + 𝑝2 = 1

√(0.28)2 + 𝑝2 = 1 0.36 + 𝑝2 = 12

(0.28)2 + 𝑝2 = 12 𝑝2 = 1 − 0.36

𝑝2 = 12 −(0.28)2 𝑝2 = 0.64

𝑝2 = 0.9216 P = ± 0.8.

P =0.96 ∴ the positive value of P = 0.8

∴ the positive value of P = 0.8

14 Lesson Notes by T.H MUSONDELA

 Exercise
1 Find the positive value of p for which pi + 0.8j is a unit vector
2 Find the positive value of p for which pi + 0.96 j is a unit vector
3
3 Find the values of k for which i + kj is a unit vector.
5

4. O, P, Q and R are four points such that OP = p, OQ = q and OR = 3q - 2p. Given that OP = i + 3j
and that OQ = 2i + j, find the unit vector in the direction OR
UNIT VECTOR IN THE DIRECTION OF A GIVEN VECTOR

In addition to finding a vector’s components, it is also useful in solving problems to find a vector in
the same direction as the given vector, but of magnitude 1. We can then preserve the direction of
the original vector while simplifying calculations.

Finding the Unit Vector in the Direction of v

As we said before, a unit vector is any vector of magnitude 1. The unit vectors I and j also have
specific directions, but we can find a unit vector pointing in any direction, just by dividing a vector
by its magnitude. For any vector⃗⃗𝑣, the unit vector in the direction of 𝑛⃗ is given by

⃗
𝒗
̂=
𝒗
‖𝒗
⃗‖
In general
𝐯𝐞𝐜𝐭𝐨𝐫 𝐢𝐧 𝐭𝐡𝐚𝐭 𝐝𝐢𝐫𝐞𝐜𝐭𝐢𝐨𝐧
Unit vector in any direction =
𝐦𝐨𝐝𝐮𝐥𝐮𝐬 𝐨𝐟 𝐭𝐡𝐞 𝐯𝐞𝐜𝐭𝐨𝐫

⃗
𝒗
̂ = ‖𝒗⃗‖ is the unique unit vector in the same direction as v. The process of finding 𝒗
𝒗 ̂ from v is

called normalizing v.
NB: Any vector divided by its magnitude is a unit vector. Notice that magnitude is always a scalar,
and dividing by a scalar is the same as multiplying by the reciprocal of the scalar

EXAMPLE 10

(a) Find a unit vector in the direction of (b) Find the unit vector in the direction
a = 3i – 2j of v= -5i+ 12j
Solution
‖𝑣‖ = √(−5)2 + (12)2
‖𝑣‖ = √(3)2 + (−2)2
= √25 + 144
= √9 + 4
= 13
= √13
the unit vector in the direction of
the unit vector in the direction of
𝑣 1
𝑎 1 𝑣 = ‖𝑣⃗‖ or 𝑣 = ‖𝑣⃗‖ 𝑣
𝑎̂ = ‖𝑎⃗‖
or 𝑣 = ‖𝑣
⃗‖
𝑣
1
1 v= (−5𝑖 + 12𝑗)
v= (3𝑖 − 2𝑗) 13
√13

15 Lesson Notes by T.H MUSONDELA

1 −5
[13 ( )]
12
(c) Given that the position vectors of P and Q (d) The position vectors of points A and B, relative
6 9 to an origin O, are 6i - 3j and 15i +9j respectively.
relative to an origin O are ( ) and ( )
7 20 Find the unit vector parallel to AB.
respectively. Find the unit vector 𝑃𝑄
Solution
Solution
⃗⃗⃗⃗⃗
𝐴𝐵 = ⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗ = − ( 6 ) + (15) = ( 9 )
𝐴𝑂 + 𝑂𝐵
6 9 3 −3 9 12
PQ= PO+OQ = - ( ) + ( ) = ( )
7 20 13
‖𝑣‖ = √(9)2 + (12)2 = √225 = 15
‖𝑃𝑄‖ = √(3)2 + (13)2 =√9 + 169 =√178
𝐴𝐵
the unit vector in the direction of 𝑣 = ‖𝐴𝐵
⃗⃗⃗⃗⃗ ‖
or 𝑣 =
the unit vector in the direction of
1
(9𝑖 + 12𝑗)
15
(3𝑖 + 13𝑗) or [13 (−5)]
𝑃𝑄 1 1
𝑣= ⃗⃗⃗⃗⃗ ‖
=
‖𝑃𝑄 √178 12 1
= 5 (3𝑖 + 4𝑗) = 0.6i + 0.8j

EXERCISE
3
1. Find a unit vector in the same direction as (i) v =−5, 12〉 (i) 𝑣 = ( ). (ii) v = 2i + 6 j
−4

2. Find the unit vector in the direction of ⃗⃗⃗⃗⃗⃗

𝑂𝑀, where ⃗⃗⃗⃗⃗⃗
𝑂𝑀 = 5i+12j.

3. Find a unit vector parallel to 7𝒊 − 24𝒋. 90

4. The position vectors of points A and B, relative to an origin O, are 6i - 3j and 15i + 9j respectively.
Find the unit vector parallel to ⃗⃗⃗⃗⃗
𝐴𝐵

5. Find the unit vector in the same direction as the vector

6. The position vectors of the points A and B, relative to an origin O, are 𝐢 − 7𝐣 and 4𝐢 + k𝐣
respectively, where k is a scalar. The unit vector in the direction of ⃗⃗⃗⃗⃗
𝐴𝐵 is 0.6 𝐢 − 𝟎. 8𝐣. Find the
value of k.

7 The position vectors, relative to an origin O, of three points P and R are i + 3j , and 9i + 9j
⃗⃗⃗⃗⃗⃗ 9
respectively. Find the unit vector parallel to 𝑃𝑅.

⃗⃗⃗⃗⃗ = ( – 17 ⃗⃗⃗⃗⃗ = (4), find the

1
(−5𝑖 + 12𝑗)
v=unit
8. Given that 𝑂𝐴 ) and 𝑂𝐵 13 vector parallel to AB,
25 5
9 . Find a unit vector parallel to 3i - 4j.
10 Given that p = 2i - 5j and q = i - 3j, find the unit vector in the direction of 3p - 4q.[ [4]
1 −5
( )]
5 11 13 12
11. (a) Vectors a, b and c are such that a = ( −6 ), b = = ( ), and 3a + c = b.
−15
(i) Find c.
(ii) Find the unit vector in the direction of b.

16 Lesson Notes by T.H MUSONDELA

PARALLEL AND COLLINEAR

When two vectors are parallel or lie on the same straight line, these vectors are described as being
collinear. They are described as being collinear because they can be translated so that they lie in
the same straight line. Vectors that are not collinear are not parallel. All vectors which are scalar
multiples of each other are collinear. When discussing vectors, the terms parallel and collinear are
used interchangeably

Theorem.
If two vectors are parallel then one is a scalar multiple of the other. If v and w are parallel then
there is a scalar c such that v= Cw.
Vector multiplication by a scalar is defined by the rule:
If 𝐯=〈𝑎,b〉 and K is a real number, then K𝐯=〈k𝑎,k𝑏〉.
If K𝐯=〈K𝑎,K𝑏〉, then by the definition of magnitude of a vector, the properties of real numbers and
the properties of radicals,

‖𝐾𝑣‖ = √(𝑘𝑎)2 + (𝑘𝑏)2

= √𝐾 2 (𝑎2 + 𝑏 2 )

= 𝐾√(𝑎2 + 𝑏 2 )

If two vectors are parallel, they have the same direction but their magnitudes are scalar multiples
of each other.

EXAMPLE 11:
The vector p has a magnitude of 39 units and has the same direction as -10i + 24j

Solution
Let vector P = K (−10i + 24j) . We find the value of the constant K

𝐾√(𝑎2 + 𝑏 2 ) = ‖𝐾𝑣‖

√(−10)2 + (24)2 𝑘 = 39

√676k = 39
26 k = 39
𝑘 = 1.5
∴The require vector is P = 1.5 (18i - 24j) = −15𝑖 + 36𝑗

17 Lesson Notes by T.H MUSONDELA

EXAMPLE 12:

Find a vector parallel to 3i - 4j of length 30.

Solution: If two vectors are parallel, they have the

If two vectors are parallel, they have the same same direction but their magnitudes are
direction but their magnitudes are scalar scalar multiples of each other
multiples of each other. Any vector parallel to 3i - √(𝑘𝑎)2 + (𝑘𝑏)2 = ‖𝐾𝑣‖
4 j must be of the form c(3i-4j). The length of 3z -
√(3𝑐)2 + (−4𝑐)2 = 30
4j is √9 + 16= 5. Clearly we need c = 6.
√25𝑘 2 = 30
The vector 18i - 24j is parallel to 3i - 4j and of
5 𝑘 = 30
length 30
𝑘=6
∴the require vector is 6(𝑖 − 2𝑗)= 18i - 24j

EXAMPLE 13:

Find a vector in the direction of vector 𝐚 = 𝐢 − 𝟐𝐣 that has the magnitude of 7 units

Solution √(𝑘𝑎)2 + (𝑘𝑏)2 = ‖𝐾𝑣‖

Any vector parallel to i-2j must be of the
form 𝐾(𝑖 − 2𝑗). √𝒌𝟐 + (−𝟐𝒌)𝟐 = 𝟕

The length of 3z - 4j is √1 + 4 =√5. Clearly √𝟓𝒌𝟐 = 𝟕

7
we need c = . √𝟓 𝒌 = 𝟕
√5
𝟕
The vector
7
(𝑖 − 2𝑗) is parallel to 𝑖 − 2𝑗 𝒌=
√𝟓
√5
and of length 7 Therefore the require vector is
𝟕
(𝒊 − 𝟐𝒋)
√𝟓

EXAMPLE 14:

Find a vector parallel to 5i + 12j whose length is 39.

Solution Firstly, |5𝑖 + 12𝑗| = √25 + 144 Alternatively: √(𝑘𝑎)2 + (𝑘𝑏)2 = ‖𝐾𝑣‖

= √169 √(5𝑘)2 + (12𝑘)2 = 39

= 13. √169𝑘 2 = 39

The length of (5i + 12j) is 13. 13𝑘 = 39

𝑘=3
Hence, 3 (5i + 12j) = 15i + 36j, will have the
required length. Therefore the require vector = 𝟑(𝟓𝒊 + 𝟏𝟐𝒋)
= 𝟏𝟓𝒊 + 𝟑𝟔𝒋

18 Lesson Notes by T.H MUSONDELA

 Exercise
1. Find a vector whose magnitude is 10 and which is parallel to 3i-4j.
2 Find a vector of magnitude 26 in the direction of the vector 5i+12j,
3. Find a vector of magnitude 15 in the direction of the vector −6i-8j,
8
4 (a) A vector v has a magnitude of 102 units and has the same direction as ( ) . Find v in the
−15
𝑎
form ( ),, where a and b are integers.
𝑏
5. Find a vector of magnitude 7 in the direction of v = 12i - 5k.
4
6. Find a vector in the direction of ( )which is 5 units long.
−1
7 The vector p has a magnitude of 39 units and has the same direction as -10i + 24j
8. Given that ⃗⃗⃗⃗⃗
𝑂𝐴 has magnitude 15 and has the same direction as 24i+18j, express OA as a column
vector.
9 The position vectors of points A and B, relative to an origin O, are 2i + 4j and 6i + 10j respectively.
The position vector of C, relative to O, is ki + 25j, where k is a positive constant. Find the value of k for
which the length of BC is 25 units.
5
10. The vector ⃗⃗⃗⃗⃗⃗
𝑶𝑨 has a magnitude of 39 units and has the same direction as ( ⃗⃗⃗⃗⃗⃗ has a
) . The vector 𝐎𝐁
12
−3
magnitude of 25 and has the same direction as ( ). Express OA and OB as column vectors and
4
find the magnitude of AB
7
11.The vector OA has magnitude 100 and has the same direction as ( ). Express OA as a column
24
24
vector. The vector OB is ( ) Obtain the unit vector in the direction of AB
99
3
12. Find the component form of v with a magnitude of 50 in the opposite direction of 𝑢 = 2i − 2 j

13. The vector p has a magnitude of 39 units and has the same direction as -10i + 24j.
(i) Find p in terms of i and j.
(ii) Find the vector q such that 2p + q is parallel to the positive y-axis and has a magnitude of 12
units.
14 The vector v has a magnitude of 35 units and has the same direction as i - 2 j. Find v giving your
answer in the form a i + b j, where a and b are integers.

7 (a) The vector v has a magnitude of 39 units and is in the same direction as (12). Write v in the
5
𝑎
form ( ), where a and b are constants.
𝑏

19 Lesson Notes by T.H MUSONDELA

 COLLINEAR VECTORS

Two parallel non-zero vectors a and b with the same direction, regardless of their norm, are
collinear vectors. Vectors a andPROVING
b are collinear, if a = λb, for some non-zero scalar λ
COLLINEARITY

This use of parallel vectors can be taken a stage further in order to determine collinearity
Collinear Points: Let A, B, C be any three points.

Points A, B, C is collinear <=> AB, BC are collinear vectors.

<=> AB = λBC for some non-zero scalar λ.

Key point

All points which lie on the same straight line are said to be collinear.

⃗⃗⃗⃗⃗ and 𝐵𝐶
A, B and C are collinear if 𝐴𝐵 ⃗⃗⃗⃗⃗⃗ are parallel and the following two vector conditions can be
determined:

⃗⃗⃗⃗⃗ = k 𝐵𝐶
• k is a scalar such that 𝐴𝐵 ⃗⃗⃗⃗⃗ ;

• the point B is common to both vectors.

To prove three points are collinear

Points are collinear if they lie on the same straight line. To prove A, B and C are collinear, we may
prove that two of the line segments, AB, BC or AC are parallel. We do so by proving that one is a
scalar multiple of the other. Since there is a common point together with the parallel property, then
the three points must be collinear.

EXAMPLE 15 :
Determine whether the points A(1, 2), B(3, 5) and C(9,14 ) are collinear

Solution:
⃗⃗⃗⃗⃗ 3 1 2
𝐴𝐵 = b – a =( ) − ( )=( )
5 3 3
⃗⃗⃗⃗⃗ = c – b =( 9 ) − (3)=(6) =3 (2)
𝐵𝐶
14 5 9 3
1
⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗ so 𝐵𝐶
𝐴𝐵 = 3 𝐵𝐶 ⃗⃗⃗⃗⃗ and ⃗⃗⃗⃗⃗
𝐴𝐵 are parallel, but B is a common point ∴ A, B and C are collinear. Since
the point B is common to both vectors, the three points are collinear

20 Lesson Notes by T.H MUSONDELA

EXAMPLE 16:

The points O, A, B and C are such that OA = 6u − 4v, OB = 3u − v and 𝑂𝐶 = 𝒗 − 3𝒖, where u and v
are non-parallel vectors. The point M is the mid-point of OA and the point N is the point on AB such
that AN : NB = 1 : 2

(a) Find OM and ON .

(b) Prove that C, M and N are collinear.

solutions
1 1
(a) OM = 2 𝑂𝐴 = 3u − 2v ON = 𝑂𝐴 + 3 𝐴𝐵
1
AB = (3u − v) − (6u − 4v) = (6𝒖 − 4𝒗) + 3 (3𝒗 − 3𝒖)
= 3v − 3u = 5u − 3v
(b) CM = (3u − 2v) − (v − 3u)
= 6u – 3 CN = (5u − 3v) − (v − 3u)

=3 (2u-1) = 8u − 4v
4 = 4(2u-v)
∴ CN = 3 𝐶𝑀

∴ CN and CM are parallel common point C ∴ C, M and N are collinear

Exercise
1. Show that the points A(−2,−1), B(1, 5) and C(7, 17) are collinear.

2: Show that P(−2, 1), Q(1, 3) and R(7, 7) are collinear.

3: Show that P(1, 1), Q(-2, 7) and R(3, -3) are collinear.

4: Show that P(1,-1), Q(6, 4) and R(4,2 ) are collinear.

5: The points E(1, a,), F(5, 13) and G(13,33) are collinear. What is the value of a?

6: . The position vectors of A, B and C relative to an origin O are −𝐢b + p𝐣 , 5𝒊 + 9𝒋 and 6 𝒊 + 8𝒋

respectively.
(a) Determine the value of p for which A, B and C are collinear.

(b) Give that D is a point of OC such that OD is a unit vector, find the position vector of D relative
to O.

3 The position vectors of points A, B and C, relative to an origin O, are i-9j, 5i -3j and k(i+3j)
respectively, where k is a constant. Given that C lies on the line AB, find the value of k.

4 The position vectors of points A and B, relative to an origin O, are 2i + 4j and 6i + 10j respectively.
The position vector of C, relative to O, is ki + 25j, where k is a positive constant. Find the value of k
for which ABC is a straight line.

21 Lesson Notes by T.H MUSONDELA

  
5 In the diagram, OA and OB represent vectors a and b respectively. P, Q and R are points such that
 2  3  
OP = 3 OA, AQ = 5 AB and OR = 𝜆 OB.

O R
B


(a) Express OQ in terms of a and b.

PQ
(b) Given that P, Q and R are collinear, deduce the value of  and of .
PR

  
6 In triangle OAB, OA = 6i + j and OB = 3i  2j. If M is the midpoint of AB, find OM.

7. Are the three points (-1,19), (5,11) and (14,-1) on the same line

(a) The four points O, A, B and C are such that OA = 5a, OB = 15b, OC = 24b - 3a.

Show that B lies on the line AC.

10 (a) The vectors p and q are such that p = 11i − 24j and q = 2i + a j.

(i) Find the value of each of the constants a and b such that p + 2q = (a + b )i − 20j.

(ii) Using the values of a and b found in part (i), find the unit vector in the direction p + 2q.

8 Relative to an origin O, the position vectors of the points A and B are 2i + 12j and 6i - 4j
respectively.

(i) Write down and simplify an expression for AB.

The point C lies on AB such that AC : CB is 1 : 3.

(ii) Find the unit vector in the direction of OC.

22 Lesson Notes by T.H MUSONDELA

 DOT PRODUCT SCALAR PRODUCT

The dot product of 𝒂 = 〈𝑎1 , 𝑎2 〉 and 𝒃 = 〈𝑏1 , 𝑏2 〉 is defined as 𝐚 . 𝐛 = 𝑎1 𝑏1 + 𝑎2 𝑏2 . The vectors a

and b are orthogonal if and only if a . b = 0. Two non-zero vectors u and v that are perpendicular to
each other are orthogonal vectors. If θ is the angle between nonzero vectors a and b, then cos 𝜃 =
𝑎⋅𝑏
|𝑎||𝑏|
.

DOT OR SCALAR PRODUCT

The dot or scalar product of two vectors A and B, denoted by 𝐴 ∙ 𝐵 (read A dot B) is defined as the
product of the magnitudes of A and B and the cosine of the angle between them. In symbols, 𝑨 ∙
𝑩 = 𝑨𝑩 𝒄𝒐𝒔 𝜽

Assuming that neither A nor B is the zero vector, an immediate consequence of the definition is
that 𝐴 ∙ 𝐵 =0 if and only if A and B are perpendicular. Note that 𝐴 ∙ 𝐵 is a scalar and not a vector

THE DOT PRODUCT (SCALAR PRODUCT)

A product of two vectors a and b can be formed in such a way that the result is a scalar. The result
is written a · b and called the dot product of a and b. The names scalar product and inner
product are also used in place of the term dot product.

If a = a1 i + a2 j and b = b1 i + b2 j then 𝒂 · 𝒃 = 𝒂𝟏 𝒃𝟏 + 𝒂𝟐 𝒃𝟐

EXAMPLE 17:

(a) Given that 𝑣 = 4𝑖 + 3𝑗 and𝑤 = 2𝑖 + 5𝑗. 2. Given that a = 7i + 8j and b = 5i − 2j, find the
Calculate v.w scalar product 𝑎 ∙ 𝑏
Solution: 𝒗. 𝒘 = 〈𝟒. 𝟐〉 ∙ 〈𝟐, 𝟓〉 Solution
= 𝟒(𝟐) + (𝟑)(𝟓) a ・ b = (7i + 8j).(5i − 2j)
= 𝟖 + 𝟏𝟓 = (7)(5) + (8)(−2)
= 23 = 35− 16
= 19
PROPERTIES OF THE DOT PRODUCT
For any vectors a, b, and c and any scalar k, we have that

1. 𝐚 ∙ 𝐚 = ‖𝐚‖2

2. 𝐚 ∙ 𝐛 = 𝐛 ∙ 𝐚

3. 𝐚. (k𝐛) = 𝐊(𝐚 ∙ 𝐛) = (𝐤𝐚) ∙ 𝐛

4. (𝐚𝐛) ∙ 𝐜 = 𝐚 ∙ 𝐜 = 𝐛 ∙ 𝐜

23 Lesson Notes by T.H MUSONDELA

The following results, in which a and b are any two vectors and k is any scalar, are all immediate
consequences of the definition of the dot product are.

(i) The dot product is commutative.

(ii) The dot product is distributive and linear

EXAMPLE 18:
Find the dot product of u and v. Then determine if u and v are orthogonal.
(a) u = 〈𝟓, 𝟏〉, v = 〈– 𝟑, 𝟏𝟓〉 (b) u = 〈𝟒, 𝟓〉 , v = 〈𝟖, −𝟔〉,

(a) u = 〈𝟓, 𝟏〉, v = 〈– 𝟑, 𝟏𝟓〉 (b) u = 〈𝟒, 𝟓〉 , v = 〈𝟖, −𝟔〉,

Solution
Solution
u . v = 4(8) + 5(–6)
u . v = 5(–3) + 1(15)
=2
=0
Since u . v ≠ 0, u and v are not orthogonal
Since u . v = 0, u and v are orthogonal

EXAMPLE 19:

Calculate the magnitude of vector V = –24i + 7j using the dot product.

2
Answer:|𝑉|2 = 𝑽 · 𝑽 = |𝑉|2 = (𝑉𝑥 )2 + (𝑉𝑦 )

|𝑉| = √(– 24)2 + (7) 2

= √625.
Therefore, the magnitude of V is just the square root of 625, which is 25. Vector V is 25 units
long.

1. Calculate the dot product A·B of the following vectors

(a) A= 𝟐𝐢 + 𝟓𝐣 and B = −𝟐𝐢 + 𝟒𝐣 (b) 𝐀 = 𝟐𝐢 + 𝟑𝐣 𝐚𝐧𝐝 𝐁 = −𝟑𝐢 + 𝟐𝐣

(c) 𝐀 = 𝟑𝐢 − 𝟓𝐣 and B = – 2i − 7j (d) 𝐀 = 𝟑𝐢 − 𝐣 and B = −4i+6j.

2. Calculate (𝒂)(𝒊 + 𝟐𝒋). (𝟑𝒊 + 𝒋) (b) (𝟒𝐢 − 𝐣). (𝟑𝐢 + 𝟓𝐣) (c) (𝐢 − 𝟐𝐣). (−𝟓𝐢 − 𝟐𝐣)

3 If a = 2i − 5j and b = 3i + 2j find a ・ b and verify that a ・ b = b ・ a.

4. If-a = 4i + 9j and b = 3i + 2j find (a) a · b, (b) b · a, (c) a · a, (d) b · b.

5. Calculate the magnitude of vector V = –24i + 7j using the dot product.

6 . Given that A = 3i – 5j and B = –10i – 6j. Are A and B perpendicular?

24 Lesson Notes by T.H MUSONDELA

THE ANGLE BETWEEN TWO VECTORS

(i) The angle between two vectors a and b is defined as the smaller angle θ between them, when
they are drawn with the same initial point A useful application of the dot product is to calculate
the angle between two vectors.

𝑏
𝜃
When two vectors are placed tail to tail, as shown, the angle 𝜃 between vectors a and b is given by

𝒂. 𝒃
cos 𝜃 =
‖𝒂‖‖𝒃‖

The dot product is only calculated for vectors when the angle between the vectors is 0° to 180 ° ,
inclusive. (For convenience in calculating, the angle between the vectors is usually expressed in
degrees, but radian measure is also correct.)

⃗⃗⃗⃗⃗ and 𝑏 = 𝑂𝐵
For the vectors 𝑎 = 𝑂𝐴 ⃗⃗⃗⃗⃗ , the angle between the vectors a and b ,𝜃 , is given by the
angle AOB, and is taken to be positive when measured in an anticlockwise direction.

EXAMPLE 20:

(a) Find the angle between a = 3i − j (b) Calculate the angle between the two vectors
and b = −4i + 6j. using the dot product. A = 3i – 4j and B = –2i – 2j
Solution Solution
𝑎. 𝑏 = 〈3, −1〉〈−4,6〉 A·B = 3×(–2) + (– 4)×(–2) = –6 + 8 = 2.
= 3(−4) + (−1)(6) = −18
|A| = √(3)2 + (– 4)2 = √25 = 5.
|𝑎| = √(3)2 + (−1)2 = √10 |B| = √(−2)2 + (– 2)2 = √8
|𝑏| = √(−4)2 + (6)2 =√52 𝐴. 𝐵
cos 𝜃 =
‖𝐴‖‖𝐵‖
𝑎. 𝑏
cos 𝜃 = 2
‖𝑎‖‖𝑏‖ cos 𝜃 =
5√8
−18
cos 𝜃 = 2
√10√52 𝜃 = cos −1 (5√8)= 81.9°

𝜃 = cos −1 (
−18
)= 142.1° The angle between A and B is 81.9º.
√10√52

25 Lesson Notes by T.H MUSONDELA

EXAMPLE 21
Given u = (1, 3) and v = (-1, 1), find the angle between them.

We have‖ 𝑢‖ = √(1)2 + (3)2 = √10 and ‖ 𝑣‖ = √(−1)2 + (1)2 = √2.

Also, we can compute
Then the angle between the vectors is given by
𝒂.𝒃
cos 𝜃 = ‖𝒂‖‖𝒃‖

〈𝟏,𝟑〉.〈−𝟏,𝟏〉
cos 𝜃 = 𝑢 . 𝑣 = 1 (−1) + 3(1) = 2.
√(1)2 +(3)2 ×√(−1)2 +(1)2

1 (−1) + 3(1)
cos 𝜃 =
√10 ×√2

𝟐
θ = cos −1 ( )=63.43°
√20

Exercise
1. Find the measure of the acute angle between the two vectors 𝑢 = – 6𝑖 − 3𝑗 and 𝑣 =– 8𝑖 + 4𝑗

2. Let a = (8, -4) and b = (2, 1).Find the angle θ between 𝑎 and b

3. For the vectors a = i + j and-𝑏 = 3𝑖 + 𝑗 , find the acute angle between a and b

4. Find the angle between the vectors v = 3i − 2j and w = −i + 4j

5. Find the angle between the vectors v = 4i - 3j and w = i + 2j

6. Find the angles between these vectors. (i) 2i + 3j and 4i + j (ii) 2i – j and i + 2j

2 7
7. The position vectors of A and B relative to an origin 0 are ( ) and ( ) respectively. Find the
3 4
acute angle AOB

8. Find the angles between these vectors.

−1 −1 2 −6 −3 −6
(i) ( ) and ( ). (ii) ( ) and ( ) (iii) ( ) and ( )
−1 −4 3 −4 −1 −2
(iv) 4i + j and i + j (v) (3, 2) and (−1,−4)

9. Find the angle between v and w. Round to the nearest tenth of a degree.

(a) v = 5i - 5j,-w = i – j (b) v = 2i - 2j, w = -i + j (c) v = 8i-4j, w = -6i - 12j

(d) v = 2i + 8j, w = 4i – j (e) v = i + j, w = i – j (f) v = i + j, w = -i + j

26 Lesson Notes by T.H MUSONDELA

ORTHOGONAL VECTORS:

When comparing two lines they were described as being parallel, perpendicular, or neither
depending on the values of their slopes. The same can be done with vectors but orthogonal is used
instead of the term perpendicular. However, we would be looking at the measure of the angle
between the two vectors. Two vectors are orthogonal (perpendicular) if and only if a • b = 0. In
other words... two vectors are perpendicular if their DOT PRODUCT is ZERO

The terms orthogonal, perpendicular, and normal indicate that mathematical objects are intersecting at
right angles. The use of each term is determined mainly by its context: We say that vectors are
orthogonal and lines are perpendicular. The term normal is used mostly when measuring the angle
made with a plane or other surface.

Two nonzero vectors are perpendicular if the angle between them is 90◦. Since cos 90° = 0
.Two nonzero vectors v and w are perpendicular if and only if v·w = 0. We will write v ⊥ w to
indicate that v and w are perpendicular

EXAMPLE 22:

Determine if u = – i – 3j and v = 9i – 3j are orthogonal.

Solution: Verify that the dot product is 0

u · v = (–i – 3j) · (9i – 3j)

u · v = (–1)(9) + (–3)(–3)

u·v=–9+9

u·v=0

The dot product is zero so the vectors are orthogonal.

EXAMPLE 23:

Find the value of k such that u and v are orthogonal if u = 3i + 2j and v = 2i – kj

Since the vectors are orthogonal, the angle in between is 90° so as discussed earlier, they should
have a scalar product of 0.

〈3,2〉. 〈2, −𝑘〉 = 0

3(2) + 2(−𝑘) = 0

−2𝑘 = −6

𝑘=3

27 Lesson Notes by T.H MUSONDELA

 EXAMPLE 24:

The position vector of two points, A and B, relative to a fixed origin O, are 3ti + 2tj and 4𝑖 − 2𝑡𝑗

respectively, where t >0. Find the value of t such that ⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗ are perpendicular.
𝑂𝐴 and 𝑂𝐵
Solution
𝟑𝒕𝒊 + 2𝑡𝑗). (𝟒𝒊 − 2𝑡𝑗) = 𝟎
1 2 𝑡 − 4𝑡 2 = 0
4t (3 -t) = 0
𝑡 = 0 𝑜𝑟 𝑡 = 3
t = 3, since t > 0

EXAMPLE 25:
Find a unit vector perpendicular to u = 4i -j.

Solution:

Let v = xi +yj. We want v ⊥ w =4𝑖 − 𝑗, so that means u.v = 0. u . v = 4 - y = 0-4x = y

Any solution to this equation will be perpendicular to u. There are infinitely many solutions, just
like there are infinitely many vectors perpendicular to u. So, let's pick one, like x = 1 and y = 4,
thus-= 𝑖 + 4𝑗 . This is a vector perpendicular to u, but we need a unit vector, so we just divide
by magnitude:

EXAMPLE 26:
Find the angle between A = 3i –4j and B = i + j.

To determine the angle, two steps are therefore required: first determine the cosine of the angle
using the formula above, then solve for the angle.
In the case of perpendicular vectors, the angle between them is 90◦ or π/2 radians, since cos α = 0
in this case.

EXERCISE

1. Show that the vectors (i + 4j) and (8i − 2j) are perpendicular
2. Determine whether the vectors v = 〈5, 4〉 and u = 〈−4, 5〉 are orthogonal or not.
3. Determine whether u and v are orthogonal, parallel, or neither if
1
u = 4 (3i – j) and v = 5i + 6j

28 Lesson Notes by T.H MUSONDELA

 VECTOR EQUATION OF A LINE
Objectives:
• Write the vector equation of a line in the form 𝑟 = 𝑎 + 𝑡𝑏 given
(a) the coordinates of one point on the line and a vector in the direction of the line.

(b) the coordinates of two points on the line.

• Use the vector equations of two lines to determine if they are intersecting or parallel
VECTOR EQUATION OF A STRAIGHT LINE
In general, we would like to determine the equation of a line if we have a direction for the line and a
point on it. In the following diagram, the given point A (𝑥0 , 𝑦0 ) is on the line L and is associated
with vector designated as ⃗⃗⃗⃗⃗
𝑂𝐴= a

The direction of the line is given by 𝑚 ⃗⃗ -where 𝑡𝑚

⃗⃗ − 𝑡 ∈ 𝑅 is any vector collinear with⃗⃗⃗⃗
𝑚. 𝐵(𝑥, 𝑦)
represents a general point on the line, where is the⃗⃗⃗⃗⃗⃗⃗
𝑂𝐵 vector associated with this point

𝑦 𝐵(𝑥, 𝑦)

𝐴(𝑥𝑜 , 𝑦𝑜 ) 𝑡𝑚
⃗⃗

𝑟̂
𝑎
𝑚
⃗⃗

𝑂 of line L, the triangle law of addition

To find the vector equation 𝑥 is used

𝑟 = ⃗⃗⃗⃗⃗⃗
𝑂𝐴 + ⃗⃗⃗⃗⃗
𝐴𝑃 . This implies that 𝑟 = 𝑎 + 𝑡𝑚
⃗⃗

NOTE: 𝑎 = 𝑥𝑜 𝑖 + 𝑦𝑜 𝑗 and 𝑚 = ⃗⃗⃗⃗⃗

𝐴𝐵 = ( 𝑥 − 𝑥𝑜 )𝑖 + (𝑦 − 𝑦𝑜 )𝑗

A line parallel to vector 𝑚

⃗⃗⃗⃗ going through a point with position vector 𝑎 has vector equation

𝑟−= 𝑎 + 𝑡𝑚
⃗⃗ ;

Where 𝑟 is the position vector for any point on the line, and 𝑡 is any real number. The vector

equation for a line is a lot like point-slope form. All you need to know is the position vector of one
point 𝑎
⃗⃗⃗ , and the slope in vector form 𝑚
⃗⃗⃗⃗ .

In either vector or parametric form, t is called a parameter. This means that t can be replaced by
any real number to obtain the coordinates of points on the line

29 Lesson Notes by T.H MUSONDELA

 VECTOR EQUATION OF A LINE

The vector equation of a line is given in the form 𝒓 = 𝒂 + t 𝒃 where r is a generic point on the line,
is the position vector (any point on the line) and 𝒃 is the direction vector (any vector with the
same direction as the line) a and 𝑡 is a parameter that can take any real value. For example in the
3 2
vector equation𝑟 = ( ) + 𝜆 ( ) , (3,4) is the point on the line in the direction of [2,−7]. As 𝜆
4 −7
varies, we get different points of the line. So for example, when 𝜆 = −1, generic point on the line is
(1,11) and when 𝜆 = 2, generic point on the line is (7,-10) . Therefore the line contains infinitely many
other points, one for each value of 𝜆 ∈ R. Note that the direction vector (2,-7) is not unique, any
scalar multiple thereof, i.e. K (2,-7) with K∈ R, is also a direction vector of the line
VECTOR EQUATION OF PARALLEL LINE
EXAMPLE: 27
4
The line L passes through (5,-4) the point and is parallel to the vector ( ). Write down a
−2
vector equation for line L

4
Answer: We have a point (5,-4) and a direction vector ( )
−2
5 4
∴ the required vector is 𝒓 = ( ) + 𝜆 ( ) or 5i − 4j + λ(4i − 2j)
−4 −2

EXAMPLE: 28.
3 2
A line L passes through (-3, 8) and is parallel to the line = ( ) + 𝜆 ( ) . Write down a
4 −7
vector equation for L in the form.

2
Answer: We have a point (-3,8) and a direction vector ( )
−7
−3 2
∴ the required vector is 𝒓 = ( )+𝜆( ) or −3𝑖 + 8𝑗 + 𝜆(2𝑖 − 7𝑗)
8 −7

EXAMPLE: 29.
2 2
The position vectors of a set of points are given by 𝒓 = () + 𝜆 ( ) where λ is a
−1 4
parameter which may take any value. Find the position vectors of points corresponding to
value of λ = 2,

Solution

2 2 2 4 6
𝒓 = ( ) + 2 ( ) =( ) + ( ) = ( ). This can be written also as 6i + 7j
−1 4 −1 8 7

30 Lesson Notes by T.H MUSONDELA

 EXAMPLE 30:
Find a vector equation for the line that passes through the point (5, 1) and is parallel to the
vector i + 4j .

Solution
5 1
Position vector of the first point is 5i + j = ( ) and Direction vector v = i + 4j= ( )
1 4
Hence, the vector equation of the straight line is
5 1
𝑟 = ( )+𝑡( )
1 4
This can also be written as r = (5i + j) + t(i + 4j)
NOTE: for this line both the point and the direction vectors are already given. It is pretty
much easier

EXAMPLE 31:
Find the value of the constant c such that line with vector equation r = 3i − j + λ(ci + 2j)
(a) passes through the point (0, 5),
(b) is parallel to the line r = −2i + 4j + μ(6i + 3j).

Solution
𝟑 𝒄 𝟎 (b) ci + 2j = k(6i + 3j)
( a)( )+( )=( )
−𝟏 𝟐 𝟓
∴ k = 2/3
−1 + 2λ = 5 ∴ λ = 3
∴c=4
3 + cλ=0

3 + 3c = 0
3. Find an equation for the line that passes through point (-5, 8) and parallel to v = -2i - 9j
∴ c = −1
form of 𝑎𝑥 + 𝑏𝑦 + 𝑐 = 0

Exercise
1. Find the vector equations of the following lines.

(a) through (3, 1), parallel to i + 2j (b) through (-1, 1), parallel to 2i – j

(d) through (1, 1), perpendicular to i +j (e) through (1, 2), perpendicular to 3i – j.

2 (a) Find the direction vector for the line r( t) = (−7t + 8)i + (9t + 11)j.

(b) Find the direction vector for the line r(t) = (−6t + 3)i + ( 5t − 7)j

(c) Find the unit vector in the direction vector for the line r(t) = (2t − 5)i + (− 3t + 10)j

31 Lesson Notes by T.H MUSONDELA

 VECTOR IN THE DIRECTION OF THE LINE WITH VECTOR EQUATION

EXAMPLE 32.

Find the direction vector for the line r(t) = (3t − 8)i + (− 5t + 7)j

Solution: We first express the vector e vector equation in form of r = a + tm

r(t) = (3𝑡 − 8)𝑖 + (− 5𝑡 + 7)𝑗

The=position vector
(3t𝑖 + 8𝑖) − 5tjr of a point on a straight line is given by 𝑟 = 2𝑖 + 3𝑗 + 𝜆(𝑖 − 4𝑗)
+ 7j
where
= 8i X
+ is 3t𝑖 − 5tj Find the position vector when 𝜆 = 5
7j a+constant.

= −8 + 7j + t(𝟑𝐢 − 𝟓𝐣).

We have 𝑟(𝑡) = −8 + 7𝑗 + 𝑡(3𝑖 − 5𝑗).

The direction vector for this line is 3i-5j. This line is parallel to the vector 3𝑖 − 5𝑗. It is dear that in
order to find the vector function r(t) whose graph is a line we need the coordinates of one point on
the line and a direction vector for the line. If the direction vector is not given, then we must find it
before we can find the vector function of the line.

EXAMPLE 33

Find the unit vector in the direction of the line with vector equation

r = (5 + 2t)i + (7 − 5t)j

Solution: We first express the vector e vector equation in form of r = a + tm .

r = (5 + 2t)i + (7 − 5t)j
= (5𝑖 + 2𝑡𝑖) + (7𝑗 − 5𝑡𝑗)
= (5𝑖 + 7𝑗) + 𝑡(2𝑖 − 5𝑗)

Form the above equation we just need the Direction vector v = 2𝑖 − 5𝑗

1
|𝑟| = √(2)2 + (−5)2 = √29 ∴ the required unit vector is 𝑣̂ = (2𝑖 − 5𝑗)
√29

The unit vector of line is determined by the direction vector. We need the direction vector
⃗
𝒗
̂ = ‖𝒗⃗‖
v and then apply the formula 𝒗

(a) Find the unit vector in the direction vector of the line r( t) = (−7t + 8)i + (9t + 11)j.

(b) Find the unit vector in the direction vector for the line r(t) = (−6t + 3)i + ( 5t − 7)j

(c) Find the unit vector in the direction vector for the line r(t) = (2t − 5)i + (− 3t + 10)j

32 Lesson Notes by T.H MUSONDELA

 THE ANGLE BETWEEN TWO GIVEN VECTOR EQUATIONS

The angle formed at the point of intersection is equivalent to the angle formed by the
direction vectors of the two lines when drawn tail to tail. The angle between two lines is
the angle between their direction vectors. This can be found from the scalar product.

EXAMPLE 34:
Find the acute angle between the following pair of lines r1 = (1, 3) + λ (𝟐, 𝟏) and 𝑟2 =
(−1, −1) + 𝑡 (𝟏, 𝟑) (𝜆 > R).

Solution :
The direction of each line is determined by their respective direction vectors, so the angle formed at
the point of intersection is equivalent to the angle formed by the direction vectors when drawn tail
to tail. For L1 its direction vector is a=(2,1) and for L2 its direction vectors is b = (1,3). These lines are
clearly not parallel as their direction vectors are not scalar multiples.
For the 𝑟1 direction vectors 𝒗1 = (2, 1)
For the 𝑟2 direction vectors 𝒗2 = (1, 3)
The angle 𝜃 between their direction vectors v1 = (2, 1) and v2 = (1, 3) is given by

We have‖ 𝑢‖ = √(1)2 + (2)2 = √5 and ‖ 𝑣‖ = √(1)2 + (3)2 = √10.

Also, we can compute 𝑉1 . 𝑉2 =〈2,1〉. 〈1,3〉=2(1) + 1(3) = 5.
Then the angle between the vectors is given by
𝒗1 .𝒗2 𝟓 5
cos 𝜃 = |𝒗1| |𝒗2| =cos 𝜃 = ==cos−1 ( ) = 45°
√5√10 √50

EXERCISE

1. Find the acute angle formed at the point of intersection created by the following pair of lines: L: (x.
y) = (2, 2) + s(-1,3) and L: (x, y) = (5, 1) + t(3, 4)

2 Find the acute angle between each of the following pairs of lines.

(a) r = (−1, 2) + λ (−1, 1) and r = (1, 4) + t (2,−3)

(b) r = (−1, 2) + λ (1, 5) and r = (0, 0) + t (8, 1)

(c) r = (−1, 2) + λ (2, 6) and r = (-1, 0) + t (3, 2)

3 Find the acute angle between each of the following pairs of lines.

2 1 5 1
𝒓 = ( ) + 𝜆 ( ) and r = ( ) + 𝜇 ( )
7 −1 1 2

33 Lesson Notes by T.H MUSONDELA

 EXAMPLE 35:
Find the acute angle between the following pair of lines
r1 = (2, −2) + λ (𝟑, 𝟑) and 𝑟2 = (1,1) + 𝑡 (−𝟏, −𝟏) (𝜆 > R).

Solution
For the 𝑟1 direction vectors 𝒗1 = (3,3)
For the 𝑟2 direction vectors 𝒗2 = (−1, −1)
The angle 𝜃 between their direction vectors v1 = (3,3) and v2 = (-1,-1) is given by

We have‖ 𝑢‖ = √(3)2 + (3)2 = √18 and ‖ 𝑣‖ = √(−1)2 + (−1)2 = √2.

Also, we can compute 𝑉1 . 𝑉2 =〈3,3〉. 〈−1, −1〉=3(−1) + 3(−1) = −6.
Then the angle between the vectors is given by
𝒗1 .𝒗2
cos 𝜃 = |𝒗1| |𝒗2|

−𝟔
cos 𝜃 =
√16√2

−6
=cos−1 ( ) = 0°
√36

NOTE: by definition, the angle between the two lines is 0. We can tell from the direction vectors
1
that the two lines are parallel because 𝒗2 = − 3 𝒗1

Exercise
1. Two lines have vector equations r = 4i + j + λ (−i + j) and r = 5i − 2j + μ(2i − 3j) Calculate the acute
angle between the lines.

2. The straight lines a= (2i + j) + t (i + j) and b= (5i + j) + 𝜇(2i -j) intersect at P. Calculate the acute
angle between the lines at point P

3. Determine the acute angle formed at the point of intersection created by the following pair of
lines: L: (x. y) = (2, 2) + s(-1,3), s∈R and L: (x, y) = (5, 1) + t(3, 4), t∈R

4. Find the acute angle formed at the point of intersection created r = 3i – 8j + s(–i + 2j) and

r = 4i – j + t(i + j)

5. Find the angle between v and w. Round to the nearest tenth of a degree.

(g ) v = 6i, w = 5i + 4j (h) v = 3j, w = 4i + 5j (j) v = -3i + 2j, w = 4i – j

(j) v = i + 2j, w = 4i - 3j (h) v = -2i + 5j, w = 3i + 6j (i) v = 2i - j, w = 3i + 4j

34 Lesson Notes by T.H MUSONDELA

 VECTOR EQUATION FOR THE LINE CONTAINING TWO GIVEN POINT
In order to write down the vector equation of the line through points A and B , we need to
know two things.

(i) We have to know the position vector of some point OA which lies on the line.

⃗⃗⃗⃗⃗ . This is called

(ii) We have to know a vector which gives the direction of the line 𝐴𝐵
a direction vector.

Then the position vector r of any general point P on the line is given by the equation

r = a + tm
⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗
Where a= 𝑶𝑨 and m = 𝑨𝑩 for any real number t

THE STRAIGHT LINE PASSING THROUGH TWO GIVEN POINTS

⃗⃗⃗⃗⃗ may be
If A and B are points with position a and b, then the equation r = OA + λAB
written as r = a + λ (b – a) which implies r = (1 – λ) a + λb.
This is the general vector form of the equation of the line joining two points

EXAMPLE 36

(a) Find the vector equation for the line (b) Find the vector equation for the line
containing points A (-1,5) and B(6,11) containing points C (2,3) and D (5,8)

Solution Solution

𝐴𝑂 = 〈−1,5 〉 =−i + 5j 𝐶𝑂 = 〈2,3 〉 =2i + 3j

⃗⃗⃗⃗⃗ = 𝐴𝑂 + 𝑂𝐵
𝐴𝐵 ⃗⃗⃗⃗⃗ = 𝐴𝑂 + 𝑂𝐵
𝐴𝐵

−1 6 7 ⃗⃗⃗⃗⃗ =− (2) + (5) = (3) = 3i + 8j

𝐴𝐵
=− ( ) + ( ) = ( ) = 7i + 6j 3 8 5
5 11 6
⃗⃗⃗⃗⃗
𝑟 = 𝐶0 + 𝑡𝐶𝐷
⃗⃗⃗⃗⃗
𝑟 = 𝐴0 + 𝑡𝐴𝐵
∴ 𝑟 =(2i + 3j) + 𝑡(3i + 8j )
∴ 𝑟 =(−i + 5j) + 𝑡(7i + 6j )

Using vectors gives us a very neat way of writing down an equation which gives the position vector
of any point on a given straight line. This method works equally well in two or three dimensions.

EXAMPLE 37
Find vector equation of the line in R2 through the points P (−4, 1) and Q (5, 3).

Solution : We need two vectors, one from the origin out to the line, and one in the
⃗⃗⃗⃗⃗ , and for the second we will use 𝑃𝑄
direction of the line. For the first we will use𝑂𝑃 ⃗⃗⃗⃗⃗ = [9,
⃗⃗⃗⃗⃗ + 𝑡𝑃𝑄
2]. We then have 𝑟 = 𝑂𝑃 ⃗⃗⃗⃗⃗
−4 9
𝑟 = ( ) + 𝑡 ( )
1 2

35 Lesson Notes by T.H MUSONDELA

2 _,
EXAMPLE 38
Find the vector equation of the straight line passing through the two points, 𝑃1 (3, −1) and
𝑃2 (−1,−4).

Solution
3
Position vector of the first point : ⃗⃗⃗⃗⃗⃗⃗
𝑂𝑃1 = ( ) and
−1
−𝟏 𝟑 −𝟒
Direction vector from𝑃1 to 𝑃2 : ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝐏𝟏 𝐏𝟐 = ( ) − ( )= ( )
−𝟒 −𝟏 −𝟑
3 −4
Hence, the vector equation of the straight line is 𝑟 = ( )+𝑡( )
−1 −3
This can also be written as 𝑟 = 3𝑖 − 𝑗 − 𝑡(4𝑖 + 3𝑗 ).

EXAMPLE 39:
Write down the vector equation of the line which passes through the points with position
vectors a = 3i+2j and b = 7i+5j.

Answer
b − a = (7i + 5j) − (3i + 2j) = 4i + 3j
The equation of the line is then
r = a + t(b − a)
= (3i + 2j) + t(4i + 3j)
3 4
U sing column vector notation we could write 𝑟 = ( ) + 𝑡 ( )
2 3

EXAMPLE 40:
Find a vector equation for the line through the two points A (2, 1) and B (-4, 0).

Solution
The vector D = B –A from A to B is given by D = (–4–2) i + (0–1)j = –6i –j.
Since A is a position vector and D a direction vector of the line, the line has the vector
equation X = A + tD = 2i + j + t (–6i –j).
In general, the line L through points A and B has the vector equation
r = A + t( B-A ) because A is a position vector and B – A is a direction vector of L.

36 Lesson Notes by T.H MUSONDELA

EXAMPLE 41
Find the vector function r(t) whose graph is the line through the two points (-2,7) and (4,3).

Solution.
We all recall that two points determine a line. In order to find the vector function whose graph is a
given line we need a point on the line and a direction vector. We actually have two points given for
this line. We are not given the direction vector.
Clearly a direction vector for this line is the vector with initial point at (-2, 7) and terminal point
at (4, 3). This vector is [4 − (−2)]𝑖 + (3 − 7)𝑗 = 6𝑖 − 4𝑗.
Using the first point (-2, 7) and the direction vector 6i-4j the equation of the line is
𝑟(𝑡) = (−2𝑡 + 7𝑗) + 𝑡(6𝑖 − 4𝑗)
Note that r(1) = 4i + 3j. Using the second point the vector function of the line is
𝑅(𝑡) = (4𝑖 + 3 𝑗) + 𝑡(6𝑖 − 4𝑗).Both r(t) and R(t) are correct equations for this line. This
brings up a point we do not like to think about. Every curve in the plane has more than one way to
express it using a vector function.

VECTOR EQUATION OF PERPENDICULAR LINE

EXAMPLE 42

Find a vector equation for the line that is perpendicular to

𝑟 = (4,1) + 𝑠(−3, 2), 𝑠 ∈ 𝑅, and passes through point P(6, 5).

Solution
+2
The direction vector of line 𝑟 = (4,1) + 𝑠(−3, 2) is −3i + 2j . The gradient of this line m= .
−3
+3
Hence the gradient of the perpendicular line is m = a
+2

∆𝑦
Remember gradient = ∆𝑥 so the direction vector is 𝑥𝑖 + 𝑦𝑗 = 2𝑖 + 3𝑗. The vector 2i + 3j is
perpendicular to -3i +2j

6 2
The required equation is 𝑟 = ( ) + 𝑡 ( ) or 4𝑖 + 𝑗 + 𝑡(2𝑖 + 3𝑗)
5 3

Note. The vector equation of a line is not unique. It depends on the specific
point P0 and on the direction vector u that are used.

37 Lesson Notes by T.H MUSONDELA

EXAMPLE 43
Find the vector equation of the line perpendicular to the line r(t) = (3t + 5)i + (−4t + 11)j
and passes through the point (-8, 13).

Solution.
We are given one point (-8, 13) on the line R(s). We must find the direction vector. The direction
vector for R(s) is perpendicular to the direction vector for 𝑟(𝑡). The direction vector of 𝑟(𝑡) = (5𝑖 +
11𝑗) + 𝑡(3𝑖 − 4𝑗) is 3i - 4j. The vector 4i + 3j is perpendicular to 3i - 4j since (3𝑖 − 4𝑗). (4𝑖 + 3𝑗) =
0. A direction vector for R(s) is 4i+3j. A vector function
whose graph is the line perpendicular to r(t)is
𝑅(𝑠) = (−Si + 13j) + t(4i + 3j)
= (4t − 8)i + (3t + 13) j.
There is another notation which is often used to express the ideas about graphing vector functions.
Graphing using this idea is called graphing parametric equations. Given the vector function r(t) =
f (t)i + g(t)j, we say that x = f(t) and y = g(t) are the parametric equations for a curve.

CHECKING THE COLLINEARITY USING VECTOR EQUATION

EXAMPLE 44
Determine whether the three points A(1,3), B(2,5), C(3,10) are on the same line.

Solution

The line L through A and B has the vector equation

X = A + t(B - A)

= i + 3j +t(i + 2j) = (1+ t)i + (3 + 2t)j.

The only point on L with x component 3 is given by

3 = 1+ t, t=2, P = 3i + 7j.

Since C is another point with x component 3, C is not on L. Therefore A, B, and C are

not on the same line.

38 Lesson Notes by T.H MUSONDELA

EXAMPLE 45

Use vector equation to find the value of K if the points A (1, 3), B(2,5), C(3,K) are on the same line

Solution

The line L through A and B has the vector equation

r = OA + t(b - a)

= 𝒊 + 3𝒋 +t(i + 2j) = (1+ t)i + (3 + 2t)j.

The only point on L with x component 3 is given by

3 = 1+ t, t=2,

𝐾 = 3 + 2𝑡 = 3 + 2(2) = 7

EXAMPLE 46

If the point A with position vector ai + 3j lies on the line L r = 2i + 5j + t(i + j). Find the
value of a.

Solution The line L through A and B has the vector equation r = OA + t(b - a)

2 1 𝑎
( )+𝑡( ) = ( )
5 1 3

The only point on A with y component 3 is given by 5 + 𝑡 = 3 ∴ t= -2,

𝑎 = 2 + 𝑡 =2 + [−2] = 0

∴𝑎=0

EXAMPLE 47
The point (1, 𝑝) lies on the line with vector equation 𝑟 = (3𝑖 − 3𝑗) + 𝑡(𝑖 − 4𝑗), find the value
of p.

Solution The line L through A and B has the vector equation r = OA + t(b - a)

3 1 1
( )+𝑡( ) = ( )
−3 −4 P
The only point on A with x component 1 is given by 3 + 𝑡 = 1 ∴ t= -2,

𝑝 = −3 − 4𝑡 = −3 − 4(−2)

= −3 + 8

=5

39 Lesson Notes by T.H MUSONDELA

 Cartesian Equation of a Line
In this section, we will show how lines of the form 𝐲 = 𝐦𝐱 + 𝐜 (slope-intercept form) and
𝐀𝐱 + 𝐁𝐲 + 𝐂 = 𝟎 (standard form) are related to the vector and parametric equations of
the line.

Relationship between Vector and Scalar Equations of Lines in R2:

The parametric equations of a line in R2:

𝑥 = 𝑥0 + 𝑡𝑚𝑥
{ 𝑦 = 𝑦 + 𝑡𝑚
0 𝑦

𝑥−𝑥0 𝑦−𝑦0
May be written as: = = 𝑡
𝑚𝑥 𝑚𝑦

PARAMETRIC EQUATIONS

A point and a nonzero vector as direction uniquely determine a line. Assume we are given
a point P0 = (𝑥0 , 𝑦0 )and a nonzero vector 𝑣 =< 𝑎, 𝑏 >, using what we learn for vectors,
the line can be written as

𝑥 = 𝑥0 + 𝑎𝑡, 𝑦 = 𝑦0 + 𝑏𝑡

which is called the system of parametric equations for a lines. Conversely, given such a
system of parametric equations, you should be able to read out the information that the
line goes through the point (𝑥0 , 𝑦0 ) and parallel to the vector < 𝑎, 𝑏 >.

Given a point (𝑥0 , 𝑦0 ) is 𝑅 2 and a nonzero vector 𝑑 in 𝑅 2 , the line L containing (𝑥0 , 𝑦0 ) and

having direction vector 𝑑 has vector equation

𝑥 𝑥0 𝑎
(𝑦) = (𝑦 ) + 𝑡 ( ); 𝑡 ∈ 𝑅;
0 𝑏
𝑥 𝑎
Where (𝑦) is the position vector of an arbitrary point on L, and 𝑑 =( ).
𝑏
For a fixed (but arbitrary) value of t, we get
𝑥 = 𝑥0 + 𝑡𝑎 and 𝑦 = 𝑦0 + 𝑡𝑏:
𝑥− 𝑥0
Since 𝑑 is nonzero, not both a and b are zero. Assume𝑎 ≠ 0. Then 𝑡 = .
𝑎
𝑥− 𝑥0 𝑏
Substituting this into 𝑦 = 𝑦0 + 𝑡𝑏 yields 𝑦 = 𝑦0 + 𝑏 or 𝑦 − 𝑦0 = ( 𝑥 − 𝑥0 )
𝑎 𝑎
𝒃
You (hopefully) recognize this as the equation of a line given a point (𝒙𝟎 , 𝒚𝟎 ) and a slope 𝒂
𝑥0 𝑎 𝒃
NOTE : the gradient, m, of the line 𝑟 = (𝑦 ) + 𝑡 ( ) is m =
0 𝑏 𝒂

40 Lesson Notes by T.H MUSONDELA

 EXAMPLE 48
Find the parametric for the line passing through P (2, 4) and Q (3,-1).

Solution

Since the points are on the same line, the vector connecting the two points will be parallel to
our line.

⃗⃗⃗⃗⃗
1. The direction vector 𝑑 can be found by finding 𝑃𝑄

⃗⃗⃗⃗⃗ 3 2 1
𝑃𝑄 = ( ) − ( ) = ( )
−1 4 −5
2. We can choose either point as our initial point. I'll choose P(2,4).
𝑥 2 1
The vector equation is 𝑟 = (𝑦) = ( ) + 𝑡 ( )
4 −5
The parametric equations are 𝑥 = 𝑡 + 2 and 𝑦 = −5𝑡 + 4

CONVERTING FROM VECTOR TO CARTESIAN FORM

If we are given the vector equation of a line and we want to write it in Cartesian form we
can do this by writing the vector equation as a set of parametric equations.

EXAMPLE 49
Find the Cartesian equation of the line r = 5i – j + t(–2i + 3j).

𝑥
Since r is a general point on the line we can write it as ( 𝑦 ) .The vector equation of the
𝑥 5 −2
line can therefore be written as: (𝑦) = ( ) + 𝑡 ( )
−1 3
The equation of the line is therefore given by the parametric equations
x = 5 – 2t............................................ (i)
y = –1 + 3t.......................................... (ii)
We now eliminate t in the equations multiplying equation (i) by 3and (ii) by 2
3x = 15 – 6t
2y = –2 + 6t
Adding the two equations we have 3𝑥 + 2𝑦 = 13 or 3𝑥 + 2𝑦 − 13 = 0
Alternatively you can find the equation using point and gradient form

5 −2 3
𝑟=( ) + 𝑡 ( ) so we have a point (5,-1) and gradient m = − 2
−1 3

41 Lesson Notes by T.H MUSONDELA

CARTESIAN AND VECTOR FORMS OF THE EQUATION OF A LINE
EXAMPLE 50
Find a scalar equation for the line 𝑟 = −4𝑖 + 𝑗 + 𝑡(𝑖 + 6𝑗) in form of 𝑦 = 𝑚𝑥 + 𝑐

Method 1: using gradient form Method 2 : using parametric equations

From r = 4i + j + t(i + 6j). we a point We convert the vector equation to

6
parametric equations and then eliminate t.
(-4,1) and gradient m = 1 = 6
𝑥 = 4 + 𝑡, 𝑦 = 1 + 6𝑡
𝑦 − 𝑦1 = 𝑚(𝑥 − 𝑥1 )
𝑡 = 𝑥 + 4,
𝑦 − 1 = 6(𝑥 − (−4))
𝑦 = 1 + 6(𝑥 + 4).
𝑦 = 6𝑥 + 24 + 1
𝑦 = 25 − 6𝑥.

The equation is now in Cartesian form

and may be tidied up to give y = 6x +25.

EXAMPLE 51
2 2
Find the Cartesian form of the equation of a line 𝑟 = ( )+ 𝜆 ( )
–1 4

Method 1: using gradient form Method 2 : using parametric equations

2 2 𝑥
r= ( ) + 𝜆 ( ) We have a known Write r as (𝑦 ) so the equation of the line
–1 4
4 𝑥 2 2
point (2,-1) and the gradient 𝑚 = 2 = 2 becomes (𝑦 ) = ( ) + 𝜆 ( )
–1 4
𝑦 − 𝑦1 = 𝑚(𝑥 − 𝑥1 ) Which implies that? x = 2 + 2λ and y = –1 + 4λ
𝑦 − (−1) = 2(𝑥 − 2) The last two equations can be rewritten as
𝑦 = 2𝑥 − 4 − 1 𝑥−2 𝑦+1 𝑥−2 𝑦+1
= 𝜆 and = 𝜆⇒ = = 𝜆
2 4 2 4
The equation is now in Cartesian form
and may be tidied up to give y = 2x – 5. The equation is now in Cartesian form and
may be tidied up to give y = 2x – 5.

42 Lesson Notes by T.H MUSONDELA

 VECTOR EQUATION INTO CARTESIAN FORM OF THE FORM
EXAMPLE 52
2
A line L Passes through the point P ( - 1, 3) and is in the direction of the vector PR= ( ). Find the
5
equation of the Line L in the form 𝑎𝑥 + 𝑏𝑦 + 𝑐 = 0.

Method 1 Point / gradient method Method 2: Parametric equations

Point (-1, 3) , 𝒙 −𝟏 𝟐
(𝒚) = ( ) + 𝒕 ( )
𝟑 𝟓
𝒊𝒏𝒄𝒓𝒆𝒂𝒔𝒆 𝒊𝒏 𝒚 5
Gradient (m) = 𝒊𝒏𝒄𝒓𝒆𝒂𝒔𝒆 𝒊𝒏 𝒙 = 2 = 2.5
Convert to Parametric equations
Equations of form 𝑦 = 𝑚𝑥 + 𝑐 𝑥 = −1 + 2𝑡 and 𝑦 = 3 + 5𝑡
𝑚𝑥 + 𝑐 = 𝑦 Eliminating t
5
(−1) + 𝑐 = 3 5𝑥 = −5 + 10𝑡
2

−5 + 2𝑐 = 6 2𝑦 = 6 + 10𝑡

11 5 11 We get 𝟓𝒙 − 𝟐𝒚 = −𝟏𝟏
𝐶= ∴ 𝑦 = 2𝑥 +
2 2
This in form of y = mx + c is
2𝑦 − 5𝑥 = 11 or 5𝑥 − 2𝑦 = −11
5 11
𝑦 = 2𝑥 + 2

EXAMPLE 53
𝟕 𝟐
Express Vector Equation 𝒓 = ( ) + 𝒕 ( ) into Cartesian form
𝟑 𝟓
Method 1 Point / gradient method Method 2 Parametric equations

Solution 𝒙 𝟕 𝟐
(𝒚) = ( ) + 𝒕 ( )
𝟑 𝟓
Point (7, 3) ,
Convert to Parametric equations
𝒊𝒏𝒄𝒓𝒆𝒂𝒔𝒆 𝒊𝒏 𝒚 5
Gradient (m) = 𝒊𝒏𝒄𝒓𝒆𝒂𝒔𝒆 𝒊𝒏 𝒙 = 2 = 2.5
𝑥 = 7 + 2𝑡 and 𝑦 = 3 + 5𝑡
Equations of form 𝑦 = 𝑚𝑥 + 𝑐 Eliminating t
5
(7) + 𝑐 = 3 5𝑥 = 35 + 10𝑡
2

35 + 2𝑐 = 6 2𝑦 = 6 + 10𝑡

𝐶= −
29 5
∴ 𝑦 = 2𝑥 −
29 We get 5𝑥 − 2𝑦 = 29 .This in form of
2 2 5 29
y = mx + c is 𝑦 = 𝑥 −
2 2

43 Lesson Notes by T.H MUSONDELA

 EXAMPLE 54
Find a parametric form for the line passing through the point i+2j in the direction 3i+4j

Solution

Sol: c1(t) = (1,2) + t (3, 4) = (1 + 3t, 2 + 4t).

Setting (x, y) = (1 + 3t, 2 + 4t) yields x = 1 + 3t and y = 2 + 4t.

𝑥−1
Solving the former equation for t yields 𝑡 = 3

4 2
Substituting this into the second equation then gives us 𝑦 = 3 𝑥 + 3

Exercise
1. A line L Passes through the point ( 5, 3) and is in the direction of the vector (−7). Find the
2
equation of the Line L in the form 𝑎𝑥 + 𝑏𝑦 = 𝑐.

2. A line has the vector equation r = 2i + j + λ(3i + 2j). Find the Cartesian equation of the line in the
form ax + by + c = 0, where a, b and c are integers.

3. Find a Cartesian equation for each line in the form ax + by + c = 0, where a, b and c are integers.

(a) r = 3i + λ(i + 2j) (b) r = i + 4j + λ(3i + j) (c) r = 2j + λ(4i − j)

(d) r = −2i + j + λ(5i + 2j) (e) r = 2i − 3j + λ(−3i + 4j) (f) r = (λ + 3)i + (−2λ − 1)j

1 1 –2 –2 1 4
(g) 𝒓 = ( ) + 𝜆 ( ) (h) 𝒓 = ( )+ 𝜆 ( ) (i) 𝒓 = ( ) + 𝜆 ( )
2 3 0 −1 0 4

4. Rewrite each of the following lines into Cartesian equation form 𝑦 = 𝑚𝑥 + 𝑐.

(a) r = (−1, 1) + λ (3,−2), (b) r = (5, 6) + λ (7, 8), (c) r = (0,−3) + λ (3, 0),

4 1 2 4 𝟕 𝟐
(d) 𝐫 = ( ) + λ ( ) (e) 𝐫 = ( ) + λ ( ) (f) 𝐫 = ( ) + 𝐭 ( )
3 1 5 0 𝟑 𝟓

4. 5. Find the co-ordinates of the point where the line with vector equation 𝑟 = (3)+t(2) intersects
4 1
the line with Cartesian equation 2x + y = 7.

44 Lesson Notes by T.H MUSONDELA

CONVERTING FROM CARTESIAN FORM TO VECTOR FORM
When converting from Cartesian form to vector form, you need to find any point on the line, and to
convert the gradient into a vector with the same direction.

EXAMPLE 55
1
Write 𝑦 = 3 𝑥 + 2 in vector form.

SOLUTION
First find any point on the line. For example, when x = 0, y = 2 and so the point
0
(0, 2) with position vector ( ) is on the line. Then convert the gradient into a vector with the
2
1
same direction. The equation of the line is of the form y = mx + c and so its gradient m is 3 . The
3 1
vector ( ) has gradient 3 .
1
So the vector equation of the line is
0 3
𝒓 = ( ) + 𝜆 ( ).
2 1

EXAMPLE 56:
3
Find the vector equation of the line 𝑦 = 4 𝑥 + 1

Solution
0 3
The position vector of the point (0, 2) is ( ) There are many vectors with gradient , but the
1 4

4
simplest is the vector which goes 4 units across the grid and 3 units up, that is ( )
3
0 4
So an equation of the line is r = ( ) + 𝑡 ( ) or-𝑟 = 𝑗 + 𝑡 (4 𝑖 + 3 𝑗).
1 3

EXAMPLE 57
1
Write 𝑦 = 3 𝑥 + 5 in vector form.

SOLUTION
First find any point on the line. For example, when x = 0, y = 5 and so the point
0
(0, 5) with position vector ( ) is on the line.
5
Then convert the gradient into a vector with the same direction. The equation of the line is of the
1 3 1
form 𝑦 = 𝑚𝑥 + 𝑐 and so its gradient m is 3 −. The vector ( ) has gradient -3 . So the vector
1
0 3
equation of the line is 𝒓 = ( ) + 𝜆 ( ).
5 1

45 Lesson Notes by T.H MUSONDELA

 EXAMPLE 58
Convert the Cartesian equation 𝑦 = 4𝑥 + 3 into a Vector equation

Method1 point / direction vector method Parametric equations method

Point: Let x=0, then y =3. So we get the Write: y - 3 = 4x = t

1
point (0,3) 𝑥 = 4 𝑡 and 𝑦 = 3 + 𝑡
𝒊𝒏𝒄𝒓𝒆𝒂𝒔𝒆 𝒊𝒏 𝒚 4 𝟏
Gradient: (m) = 4 = 𝒊𝒏𝒄𝒓𝒆𝒂𝒔𝒆 𝒊𝒏 𝒙 = 1 𝒙 𝟎
(𝒚) = ( ) + 𝒕 (𝟒)
𝟑 𝟏
𝟏
∴ The direction vector is ( )
𝟒 𝟏
∴ The direction vector is ( )
𝒙 𝟎 𝟏 𝟒
𝒓 = (𝒚) = ( ) + 𝒕 ( ) 𝒙
𝟑 𝟒 𝟎 𝟏
𝒓 = (𝒚) = ( ) + 𝒕 ( )
𝟑 𝟒

Exercise
5.
1. Find a vector in the direction of the line L with Cartesian equation 3x - y = 8.

2. Write these lines in vector form.

𝟏
(i) y = 2x + 3 (ii) y = x – 4 (iii) 𝒚 = 𝟐 𝒙 – 𝟏 (iv) y = – 1/4x

(v) x + 2y = 8 (vi) 𝟐𝒚 = 𝟓𝒙 + 𝟐𝟗 (vii) 𝟓𝒙 − 𝟐𝒚 = 𝟐𝟗 (viii) 2x –3y = 1.

3. Write down a vector equation for the line through 𝑃 (1,5) which is perpendicular to 3𝑥 −
𝑦 = 8.

4. A line has the vector equation r = 2i + j + λ (3i + 2j).

(a) Write down parametric equations for the line.

(b) Hence find the Cartesian equation of the line in the form ax + by + c = 0, where a, b and c are
integers.

46 Lesson Notes by T.H MUSONDELA

 POINT OF INTERSECTION OF TWO LINES
Objectives
Given the equations of two non-parallel 2-D lines in parametric form, either

(a) find the coordinates of their point of intersection,

(b) show the two lines do not intersect.

Two lines intersect if they have an (x, y) point in common. To find the point of intersection of
two lines (if it exists), generate a general point for each, and set them equal to each other. The
solutions (if consistent) of the resulting two simultaneous equations for 𝜆 or 𝜇 will determine the
point. Notice that different letters are used for the variable scalars on the two lines.

EXAMPLE 59
Find the points common to the pairs of lines

1 1 −3 1
𝑟 = ( ) + 𝑠 ( ) and 𝑟 = ( ) + 𝑡 ( ).
2 1 −2 4

Solution
METHOD 2 METHOD 2

1 1 3 1 1 1
( ) + 𝑠 ( ) = ( ) + 𝑡 ( ). 𝑟 = ( ) + 𝑠 ( ) is equivalent to 𝑦 = 𝑥 + 1 and
2 1 −2 4 2 1
3 1
( ) + 𝑡 ( ) is equivalent to 𝑦 = 4𝑥 − 14 in
If these are the same point they have the same −2 4
position vectors, so Cartesian form.

1 + 𝑠 = 3 + 𝑡 and 2 + 𝑠 = −2 + 4𝑡, that is Solving 𝑦 = 𝑥 + 1 and 𝑦 = 4𝑥 − 14

𝑠 − 𝑡 = 2 and 𝑠 − 4𝑡 = −4. 4𝑥 − 14 = 𝑥 + 1

This is a pair of simultaneous equations for s and 3𝑥 = 15

t , with solution s = 4 , t = 2 . X= 5 and so y= 6

Substituting these values into the equation of So the point common to the two lines has

5 coordinates (5,6).
one of the lines gives r = ( ) So the point
6
common to the two lines has coordinates (5,6).

47 Lesson Notes by T.H MUSONDELA

 EXAMPLE 60
The straight lines a= (2i + j) + t (i + j) and b= (5i + j) + t(2i -j) intersect at P. find the coordinates of P

Solution

When they intersect, we can set the equations equal to one another:
2 1 5 2
( ) + 𝜇 ( ) = ( ) + 𝑡 ( ).
1 1 1 −1

If these are the same point they have the same position vectors, so

2 + 𝜇 = 5 + 2𝑡 and 1 + 𝜇 = 1 − 𝑡, that is 𝜇 − 2𝑡 = 3 and 𝜇 + 𝑡 = 0.

This is a pair of simultaneous equations for s and t , with solution 𝜇 = 1 , t = -1 .

3
Substituting these values into the equation of one of the lines gives r = ( ) So the point common
2
to the two lines has coordinates (3,2).
METHOD 2: Convert the two equations in Cartesian form and solve them simultaneously

EXAMPLE 61
2 1
Find the position vector of the point where the following lines intersect. 𝑟 = ( ) + 𝜆 ( ) and
3 2
6 −1
𝑟 = ( )+μ( )
1 −3
Note here that different letters are used for the parameters in the two equations to avoid confusion.

SOLUTION
When the lines intersect, the position vector is the same for each of them.
𝑥 2 1 6 1
𝑟 = (𝑦 ) = ( ) + 𝜆 ( ) = ( ) + μ ( )
3 2 1 −3
This gives two simultaneous equations for λ and μ.
x: 2 + λ = 6 + μ ⇒λ – μ = 4
y: 3 + 2λ = 1 – 3μ ⇒ 2λ + 3μ = –2
Solving these gives λ = 2 and μ = –2. Substituting in either equation gives
4
r = ( )which is the position vector of the point of intersection.
7

48 Lesson Notes by T.H MUSONDELA

EXAMPLE 62
Find where the lines with equations r = i + j + t (3i − j) and r = − i + s (j) intersect.

SOLUTION
When they intersect, we can set the equations equal to one another:
1 3 −1 0
( )+ 𝑡 ( ) = ( )+ 𝑠 ( )
1 −1 0 1
Equating coefficients:
1 + 3𝑡 = −1
1 − 𝑡 = 𝑠
2 5
So 𝑡 = − 3 and = 3 . The position vector of the intersection point is therefore given by putting
2 5
t = − 3 or 𝑠 = 3 into one of the above equations.
2 𝑥 1 3 1 2 3 5
When t= − 3 the we use the equation (𝑦) = ( ) + 𝑡 ( ) =( ) + − 3 ( )= (−1, 3)
1 −1 1 −1
5 𝑥 −1 0 −1 5 0 5
When s= 3 the we use the equation (𝑦) = ( ) + 𝑠 ( ) =( )+ ( )= (−1, 3)
1 −1 0 3 1
5 5
This gives (−1, 3). Whose position vector is –i+3 𝑗

EXAMPLE 63
The line with vector equation 𝑟 = 2𝑖 + 3𝑗 + 𝜆(𝑖 − 4𝑗) intersects the line joining points with
position vectors 5𝑖 + 3𝑗 and i - 2j at a point P. find the position vector of p.

Solution : We begin by finding the vector equation with an initial point 5𝑖 + 3𝑗 and ends with
5 −4
vector i - 2j is r2 = ( ) + t ( )
3 −5
5 −4 𝑥 2 1
Now we have two equations r2 = ( ) + t ( ) and 𝑟 = (𝑦) = ( ) + λ ( )
3 −5 3 −4
x 2 1 5 −4
This gives two simultaneous equations for λ and μ , (y) = ( ) + λ ( ) = ( ) + t( )
3 −4 3 −5

2 + 𝜆 = 5 − 4𝑡 ⟹ 𝜆 + 4𝑡 = 3

3 − 4𝜆 = 3 − 5𝑡 ⟹ 4𝜆 = 5𝑡

4 5
4(3 − 4𝑡) = 5𝑡 ⟹ 𝑡 = 7 (Also 𝜆 = 7 )

3 19 4 1 𝟏𝟗 𝟏
𝑥 = 5 + 5 (−4) = , y = 3 + 7 (−5) = 7 ∴ Position Vector of P, r is 𝐫 = 𝐢+ 𝐣
7 𝟕 𝟕

49 Lesson Notes by T.H MUSONDELA

 EXAMPLE 64
2 −1 −3 −1
Find where the lines 𝑅(𝜆) = ( ) + 𝜆 ( ) and 𝑅(𝑠) ( ) + 𝑠 ( ) meet.
3 −2 −4 −3

solution
Matching the x-values gives: 2 + λ = 3 - μ
Matching the y-values gives: 3 - 2λ = -4 + 3μ
Rearrange these to get:
λ+μ=1
2λ + 3μ = 7
These solve to give: λ = -4, μ = 5 Substituting these values into our line equations we get the
point of intersection as being: x = -2, y = 11.
Therefore the lines meet at (-2, 11).

EXAMPLE 65:

At what point do the two lines r(t) = (𝟑𝐭 + 𝟒)𝐢 + (−𝟐𝐭 + 𝟏𝟏)𝐣
and R(s) = (𝐬 − 𝟓)𝐢 + (𝟒𝐬 + 𝟑)𝐣 intersect?

Solution: Since we are discussing two different lines, in order to keep from being confused we use
the letter s in R(s) instead of the letter t which we would usually use. The problem may be restated
as: can we find a value of s and a value of t such that
(3t + 4)i + (−2t + 11)j = (s − 5)t + (4s + 3)j
This vector equation is equivalent to the two simultaneous equations
3t+4= s - 5
- 2t + 11 = 4s + 3.
Simplifying
3t - s= - 9
-2t - 4s = -8.
Multiply both sides of the first equation by - 4.
- 12t+4s = 36
- 2t-4s = -8.
Adding these two equations together, we get - 14t = 28
This gives t = -2. Substituting t = - 2 into 3t- s = - 9, we get 3(-2)-s =-9 or s = 3.
r(−2) = (−6 + 4)i + (4 + 11)j = − 2i + 15j
R(3) = (3 − 5)i + (12 + 3)j = −2i + 15j.
The point (-2, 15) is on both lines.

50 Lesson Notes by T.H MUSONDELA

 Exercise
1. Find the points common to the pairs of lines

r = 3i – 8j + s(–i + 2j) and r = 4i – j + t(i + j)

2. Find the position vector of the point of intersection of each pair of lines

(a)-r = i + 2j + λi and r = 2i + j + μ(3i + j)

(b) r = 4i + j + λ(−i + j) and-r = 5i − 2j + μ(2i − 3j)

(c)-r = j + λ(2i − j) and r = 2i + 10j + μ(−i + 3j)

(d) r = −i + 5j + λ(−4i + 6j)-and r = 2i − 2j + μ(−i + 2j)

(e) r = −2i + 11j + λ(−3i + 4j) and-r = −3i − 7j + μ(5i + 3j)

(f)-r = i + 2j + λ(3i + 2j) and r = 3i + 5j + μ(i + 4j)

2. 3. Find the coordinates of the point of intersection of each pair of lines.

5 −1 3 1
(a) r = ( ) + s ( ) : r=( ) + t( )
1 2 −5 0

−2 −1 4 −2
(b) r = ( ) + s( ) : r = ( )+t( )
−1 −3 0 −6

−1 3 11 −4
(c) r = ( )+ s( ) : r=( )+t( )
−4 4 −1 3

3 4 1 −6
2. (d) 𝑟 = ( ) + 𝑠 ( ) : 𝑟 = ( )+𝑡( )
1 −2 2 3
1 1 3 1
(e 𝑟 = ( ) + 𝑠 ( ) : 𝑟 = ( )+𝑡( )
2 1 −2 4

4. The lines L1 and L2 have vector equations 𝑟 = 𝑎 + 𝜆(𝑎 − 2𝑏) and

𝑟 = 3𝑎 + 𝜇(−𝑎 + 3𝑏) Respectively. Given that the lines lie in the same plane and are not parallel,
find the position vector of their point of intersection in terms of and b.

5 Find the intersection points of the following pairs of lines.

(a)r = i + j + t(i − j) and r = i − j + s(i + j)

(b) r = 2i + 3j + t(i – 2j) and r = 2j + s(2i + j)

51 Lesson Notes by T.H MUSONDELA

 Example 66

Show that r(t) = (−7t + 3)i + (−3t + 5)j and 𝑅(𝑡) = (7t − 4)i + (3t + 2)j graph as the same
line.

Solution

Start with 𝑟(𝑡) = (−7𝑡 + 3)𝑖 + (−3𝑡 + 5)𝑗.

The points r(0)=3i+5j and r(1) = - 4i + 2j are two points on this line. Are these two points on R(t)? Is
there a value of t such that
(7t − 4)i + (3t + 2)j = 3i + 5j.
This is the same question as: is there a solution to the simultaneous equations:
7t-4 = 3
3t+2 = 5?
Clearly t = 1 is a solution, that is, R(1) = 3i+ 5j. The point (3,5) is on the line R(t).
Is there a value of t such that (7t-4)i+(3t+2)j = -4i+ 2j?
Without doing any work we see that the value of t is t = 0, that is, R(0)= -4i+ 2j. The two points (3,5)
and (-4, 2) are on both the lines r(t) and R(t). Since two points determine a line this two lines must
be the same line.

Example 66
4 1 a b
Find the values of a and b such that r(t) = ( ) + t ( ) and 𝑅(𝑡)r(t) = ( ) + t ( ) graph
−2 3 2 4
represent the same line

Solution

52 Lesson Notes by T.H MUSONDELA

 SUMMARY
Vector Equation of Line and Plane
(i) Vector equation of the straight line passing through origin and parallel to b is given by r = tb,
where t is scalar.
(ii) Vector equation of the straight line passing through a and parallel to b is given by
r = a + tb, where t is scalar.
(iii) Vector equation of the straight line passing through a and b is given by
r = a + t(b – a), where t is scalar.
(iv) Vector equation of the plane through origin and parallel to b and c is given by
r = s b + t c, where s and t are scalars.
(v) Vector equation of the plane passing through a and parallel to b and c is given by r = a + sb+ t c,
where s and t are scalars.
Bisectors of the Angle between Two Lines
(i) The bisectors of the angle between the lines r = λa and r = μb are given by
𝒂. 𝒃
cos 𝜃 =
6. Show that the vector representation r(t) = (14t ‖𝒂‖‖𝒃‖
+ 3)i + (8t + 9)j and the vector
(ii) The bisectors
representation R(s)of the
= angle
(−7sbetween
− 4)i +the lines+r =5)j
(−4s λb and
a + both r = a + μcthe
represent are same
given line
by r

𝒃. 𝒄
cos 𝜃 =
‖𝒃‖‖𝒄‖

53 Lesson Notes by T.H MUSONDELA

 Work sheet one
1. 1. Find the coordinates of the point where the line with vector equation r = ( -3,4)+ t (2,-1 )
intersects the line with Cartesian equation 2x + y = 7.

2 Given the points A(2,-1) and B(-3, 3), find:

(a) A vector from point A to point B in terms of unit vectors i and-j .

(b) The length of vector AB.

(c) The unit vector in the direction of vector BA.

(d) Find the vector equation for the line containing points A and B

4 The position vectors of points A and B, relative to an origin O, are 6i - 3j and 15i + 9j respectively.

(i) Find the unit vector parallel to ⃗⃗⃗⃗⃗

𝐴𝐵 .

⃗⃗⃗⃗⃗ =2𝐶𝐵
(ii) The point C lies on AB such that 𝐴𝐶 ⃗⃗⃗⃗⃗ . Find the position vector of C.

(iii) Find angle AOC

5. The position vectors of the points A and B, relative to an origin O, are i - 7j and 4i + k j
respectively, where k is a scalar.

(i) The unit vector in the direction of ⃗⃗⃗⃗⃗

𝐴𝐵 is 0.6𝒊 + 0.8𝒋. Find the value of k.-

(ii) Hence, find angle AOC

(iii) Find the vector equation for the line containing points P and Q

6. The position vectors of points A and B relative to an origin O are –3i – j and i + 2j respectively.

(i) Find angle AOC

(ii) Find the vector equation for the line containing points P and Q
3
(iii) The point C lies on AB and is such that ⃗⃗⃗⃗⃗
𝐴𝐶 = 5 𝐴𝐵 . Find the position vector of C and show
that it is a unit vector.

7. Find the direction vector for the line 𝑟(𝑡) = (−7𝑡 + 8)𝑖 + (9𝑡 + 11)𝑗.
5. Find a vector equation for the line through the two points (-7, 11) and (3, 5)..
7. At what point do the lines r = (St + 6)i + (−3t + 11)j and r = (−4s + 7)i + (7s − 8) j
intersect?

54 Lesson Notes by T.H MUSONDELA

 Work sheet Two
REVISION FROM ECZ PAST PAPERS
1. The vectors a = 3i + kj and b = ci + 5j are such that 𝑎. 𝑏 = 3. The unit vector in the
direction of a is 0.6 𝑖 + 𝑃𝑗 , where p > 0. Find

(a) the value of p,

(b) an equation connecting k and c,

(c) the values of k and c.

2 (a) Given that OA has magnitude 15 and has the same direction as 24i+18j, express OA as a
column vector.

(b) The position vector of B relative to the origin O is 5i-3j. Given that ⃗⃗⃗⃗⃗
𝐴𝐵 = 3i-5j, find angle AOB.

3. P, Q and R are points with position vectors 𝑎 − 2𝑏, 4𝑎 + 𝑏 and 3𝑎 − 𝑏 respectively, relative to
an origin O. S is a point on OP produced, such that ⃗⃗⃗⃗⃗
𝑂𝑆=𝑘𝑂𝑃⃗⃗⃗⃗⃗ and ⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗ .
𝑅𝑆 = 𝑚𝑅𝑄

(a) Express OS in terms of

(i) a,b and k,

(ii) a, b and m.

(b) Hence or otherwise, find the values of k and m.

4. P and Q have position vectors 2𝑖 − 𝑗 and 𝑎𝑖 + 4𝑗 respectively. The cosine of the angle between
2
p and q is − . Find
√5

(a) the value of a,

(b) the unit vector in the direction of ⃗⃗⃗⃗⃗

𝑃𝑄 .

5. (a) The coordinates of the points A and B are (-1, 4) and (2, 3) respectively. Find

(i) the magnitude of AB,

(ii) a vector equation of the line AB.

(b) Find the angle between the vectors 3i + 4j and 5i + 12j.

6 Find the acute angle between the lines with vector equations

r = 2i + 3j + μ(i + 2j) and 𝑟 = 3𝑖 − 2𝑗 + 𝑡(4𝑖 − 𝑗), giving your answer to the nearest
degree.

55 Lesson Notes by T.H MUSONDELA

 WORK SHEET THREE
1. A line L goes through the point (2, 3) and is parallel to the vector i+2j

(a) Find the vector equation of this line

(b) Find the point of point of intersection of line L with line r = 4i + j + s(2i − j)

2 (a) Find a vector equation for the line through (1,2) perpendicular to the line with vector
equation r = 7i + 2j + t(3i + 4j).

(b) Find the shortest distance from the origin (0,0) to the line with vector equation

r = 2i + 3j + t(2i − j)

3 Line 𝐿1 joins (1,1) and (5,-1) and Another line 𝐿2 has the vector equation

3 1
𝑟 = ( ) + 𝑡 ( ).
4 3
(a) Find a vector equation for the line L joining (1,1) and (5,-1).

(b) Find the point of intersection of the two lines.

4. A quadrilateral ABCD has vertices A (4,-1), B (-3, 2), C (-8, -5) and D (4,-5).

(a) Find vector equations for the diagonals, AC and BD, and find their point of intersection.

(b) Find the points of intersection of BA produced and CD produced, and of CB produced and DA
produced.

5. Find the points common to the pairs of lines 𝑟 = (−𝑖 − 4𝑗) + 𝑠(3𝑖 + 4𝑗) and

𝑟 = (11𝑖 − 𝑗) + 𝑡(−4 + 3𝑗)

6. Find the value of the constant c such that line with vector equation

r = 3i − j + λ(ci + 2j)

(a ) passes through the point (0, 5),

(b) is parallel to the line r = −2i + 4j + μ(6i + 3j).

7. A line has the vector equation r = 2i + j + λ (3i + 2j).

(a) Write down parametric equations for the line.

(b) Hence find the Cartesian equation of the line in the form ax + by + c = 0, where a, b and c are
integers.

8. Points A, B and C have position vectors (3i  2 j) , (i  4 j) and (8i  5j) respectively. Given that
AC  BD find the position vector of D.

56 Lesson Notes by T.H MUSONDELA

 WORK SHEET FOUR

1( a)The position vectors of A and B are (3) and (−1) respectively

4 2
(i) Find a unit vector in the direction of vector AB

(ii) Find a vector equation through A and B

(b) The position vectors of A and B are 2 +3j and 3i +j respectively. Find the size of angle DAB in
degrees.

2 (a) The point (1,p) lies on the line with vector equation r= (3i-3)+t(i-4j). Find the value of p.

(b) In a triangle OAB, P is the midpoint of AB and Q is a point on OP such that

⃗⃗⃗⃗⃗⃗ = 3 𝑂𝑃
𝑂𝑄 ⃗⃗⃗⃗⃗ . Given that 𝑂𝐴
⃗⃗⃗⃗⃗⃗ = 𝑎 and 𝑂𝐵
⃗⃗⃗⃗⃗ = 𝑏. find 𝐴𝑄
⃗⃗⃗⃗⃗ in terms of a and b.
4

3 (a) The straight lines a = (2i + j) + λ( i + j) and b = (5𝑖 + 𝑗) + 𝑢(2𝑖 − 𝑗) intersect at the point P.
Find the coordinates of P.

(b) The position vectors of the points A and B with respect to O arc 4i − 3j and −i + 2j respectively.
Find the position vector of the point C such that ⃗⃗⃗⃗⃗
𝐴𝐶 = 3𝐴𝐵⃗⃗⃗⃗⃗ .

1. 4 Two lines have vector equations

r = 4i + j + λ (−i + j) and r = 5i − 2j + μ(2i − 3j)

(i) Calculate the acute angle between the lines.

(ii) Given that these two lines intersect, find the point of intersection.

2. 5. The straight lines a= (2i + j) + t (i + j) and b= (5i + j) + 𝜇(2i -j) intersect at P. Calculate the acute angle
between the lines at point P
6. Find the acute angle formed at the point of intersection created by the following pair of lines: L:
(x. y) = (2, 2) + s(-1,3), s∈R and L: (x, y) = (5, 1) + t(3, 4), t∈R.

7. Calculate the acute angle between the lines r = (−1, −1) + 𝑡(2, 4) and 2𝑥 − 4𝑦 = 8

8. Find a vector equation of the straight line parallel to the vector (3i − 2j) which passes through the
point with position vector (−i + j),

9. Find an equation for the line that passes through P (-8, -5) perpendicular to v = -6i + 9j in form of
𝑎𝑥 + 𝑏𝑦 + 𝑐 = 0

10 . Find the direction vector for the line 𝑟(𝑡) = (−7𝑡 + 8)𝑖 + (9𝑡 + 11)𝑗.

57 Lesson Notes by T.H MUSONDELA

 WORK SHEET FIVE
1. Find the co-ordinates of the point’s common to the following pairs of lines, if any.

2 5 −3 1
(a) 𝑟 = ( ) + 𝑡 ( ) : 𝑟= ( )+𝜇( )
0 3 −1 1
7 6 −10 −9
(a) 𝑟 = ( ) + 𝑡 ( ) : 𝑟= ( )+𝜇( )
1 −4 −1 6
𝟐 𝟓 𝟑 𝟏
(c) 𝐫 = ( ) + 𝐬 ( ) : 𝐫=( ) + 𝐭( )
𝟎 𝟑 −𝟏 𝟏
−𝟕 −𝟔 𝟏𝟎 −𝟗
(h) 𝐫 = ( ) + 𝐬( ) : 𝐫=( ) + 𝐭 ( )-
−𝟏 −𝟒 −𝟏 −𝟔
𝟐 𝟑 −𝟏 𝟏
(j) (a) 𝐫 = ( ) + 𝐬 ( ) : 𝐫=( ) + 𝐭( )
𝟏 𝟎 𝟑 −𝟐
2. Points A, B, C and D are (1, 0), (9, 4), (6, 1) and (9, 7), respectively.

(i) Write down the vector equation of line AB.

(ii) Write down the vector equation of line CD.

(iii) Find the position vector of the point of intersection.

(iv) Find the angle between the lines AB and CD.

2 2
3. Show that the lines 𝐿1 vector equation r =( ) + 𝜇 ( ) and 𝐿2 vector equation
5 −3
3 3
r =( ) + 𝜇 ( ) are perpendicular and find the position vector of their point of intersection
−3 2
4. The points R, S, T, U have position vectors 2i + j, i − j, − i + 4j and 𝑘𝑖 + 2 respectively, where
k is a constant.
(i) Find the gradient of RS.
(ii) Given that RS is perpendicular to TU, find the value of k.

5. Find a vector equation for the line through the two points (-7, 11) and (3, 5)..
6. Compute the dot product of the vectors a and b. Find the angle between them.

(a) a = (1, 2), b = (−2, 3) (b) a = (−1, 1), b = (1, 1) (c) a = (1, 1), b = (2, 2)

(d) a= [1, 2], b = [3, 4] (e)a= 3i - 5j and b=2i + j. p = 3i − j and q = −4i + 6j.

8. Given the line which is the graph of the vector function r = (7t − 13)i + (−5t + 8)j, Find the
function R(s) whose graph is the line perpendicular to the given line through the point (-7,11).

58 Lesson Notes by T.H MUSONDELA

 WORK SHEET SIX
1 Relative to an origin O, the position vectors of the points A and B are i – 4j and 7i + 20j respectively.

(i) Find the unit vector parallel to ⃗⃗⃗⃗⃗

𝐴𝐵 .
2
(ii) The point C lies on AB and is such that AC = 3 ⃗⃗⃗⃗⃗
𝐴𝐵 . Find the position vector of C and the
magnitude of this vector.

(iii) Find the vector equation for the line containing points P and Q

2. The position vectors of points A, B and C, relative to an origin O, are 𝒊 + 9𝒋, 5𝒊 − 3𝒋 and k (i+ 3j)
respectively, where k is a constant.

⃗⃗⃗⃗⃗ .
(i) Find the unit vector parallel to 𝐴𝐵

(ii) Given that C lies on the line AB, find the value of k.

3. The position vectors of points A and B, relative to an origin O, are 2i + 4j and 6i + 10j respectively.
The position vector of C, relative to O, is ki + 25j, where k is a positive constant.

(i) Find the value of k for which the length of BC is 25 units.

(ii) Find the value of k for which ABC is a straight line.

4. The position vectors, relative to an origin O, of three points P, Q and R are i + 3j , 5i + 11j and 9i + 9j
respectively.

(i) By finding the magnitude of the vectors PR , RQ and QP, show that angle PQR is 90°.

(ii) Find the unit vector parallel to PR.

(iii) Given that OQ = m OP + n OR, where m and n are constants, find the value of m and of n.

5 29
5 Relative to an origin O, points A and B have position vectors-( ) and ( ) respectively.
−6 −13

(i) Find a unit vector parallel to AB.

(ii) The points A, B and C lie on a straight line such that 2AC = 3 AB . Find the position vector of the
point C.

6 The position vectors of points A and B, relative to an origin O, are 6i - 3j and 15i +9j respectively.

(i) Find the unit vector parallel to AB.

(ii) The point C lies on AB such that AC = 2CB. Find the position vector of C.

7. If a = 2 i + 3 j and-b = 3 i + j are position vectors of A and B, respectively, find the position vector-c of
C, which divides AB internally in the ration 1:2.

59 Lesson Notes by T.H MUSONDELA

 WORK SHEET SEVEN

1. Find the equation of the line through the point (-8,7) and parallel to the vector 5i − 3j

2. Find a vector equation for the line through the two points (-7,11) and (3,5)

3. Find the vector equation of the straight line passing through the point with position Vector i − 3j
and parallel to the vector 2i + 3j

4. Find the vector equation of the line in R2 through the two points P (3,−1) and Q (2, 6) .

5. The coordinates of points A and B are (-1,4) and (2,3) respectively. Find a vector equation of line
AB

(b) P (3,−1) and Q (2, 6, ) (c) P(3,−1) and Q(6, 0)

6. Find vector equation of line through A (5,7) and B (8,3)

7. The vector equation of the line L is given by:

𝐿 ∶ 𝑟 = (0,1) + 𝑡(−1,2), 𝑡 ∈ 𝑅

(a) Find a direction vector for this line.

(b) Find a specific point on this line.

(c) Find the points A and B on this line corresponding to-t =1 and t = 4 respectively

5. Find vector equation of line through (2,1) in direction of 3i +5j.

6. Find vector equations for the lines joining the following pairs of points

(a) (3,7), (5,4) (b) (2,3), (2,8) (c) (-1,2), (5,-1)

(d) (-3,-4),(5,8) (e) (-2,7), (4,7) (f) (1,3), (-4,-2)

7. Find the vector equations of the following lines.

(a) through (1, 3), parallel to r= 3i + 2j + t(i – j)

(b) through (1, 0), perpendicular to r = 3i - 4j + t(i+j)

8. Show that the vector representation r(t) = (14t + 3)i + (8t + 9)j and the vector
representation 𝑅(𝑠) = (−7𝑠 − 4)𝑖 + (−4𝑠 + 5)𝑗 both represent the same line.

9 . At what point do the lines r(t) = (5t + 6)i + (−3t + 11)j and R(s)(−4s + 7)i + (7s − 8)j
intersect?

10. Given the line which is the graph of the vector function 𝑟(𝐭) = (𝟕𝐭 − 𝟏𝟑)𝐢 + (−𝟓𝐭 + 𝟖)𝐣, find
the function R(s) whose graph is the line perpendicular to the given line through the point (-7,11).

60 Lesson Notes by T.H MUSONDELA

 WORK SHEET EIGHT

1. Find the equation of the line through the point (-8, 7) and parallel to the vector 5i-3j.
2. Are the three points (-1, 19), (5, 11) and (14, - 1) on the same line?

3. The position vectors of points A and B, relative to an origin O, are 4i - 21j and 22i -30j respectively.

⃗⃗⃗⃗⃗ .
(a) Find the unit vector parallel to 𝐴𝐵

⃗⃗⃗⃗⃗ =3𝐴𝐶
(b) The point C lies on AB such that 𝐴𝐵 ⃗⃗⃗⃗⃗ . Find the position vector of C

⃗⃗⃗⃗⃗ .
(c) Find the unit vector parallel to 𝑂𝐶

6 9
4. Given that the position vectors of P and Q relative to an origin O are ( ) and ( ) respectively
7 20
(i) find the unit vector 𝑃𝑄

(iii) The points P, Q and R are such that QR= 4PQ. Find the unit vector Parallel to OR

(iv) find angle POQ-

(v) Find the vector equation for the line containing points P and Q

5. Find the vector parametric, scalar parametric and symmetric equations for the line containing the
given point and with given direction.

(a) point (1, 2), direction [3, 2] c) point (5, 4), direction [2,−1] d) point (−1, 3), direction [−1, 2]

6. The position vectors, relative to an origin O, of three points A, B,C are 2i -2 j,5i -11j and 11i -9 j
respectively.

(i) Given that𝑂𝐵 = 𝑚 ⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗ , where m and n are scalar constant, find the value of m and of n
𝑂𝐴 = 𝑛𝑂𝐶

(ii) Evaluate AB. BC and state the deduction which can be made about ABC .

(iii)Evaluate AB.BC and hence find BAC .

7. Given that a   2i  j and b   4i  3j and c  2a  b plot the points A, B and C whose position
vectors are a , b and c respectively

8. A, B, C and D are the points (2,3), (4,-1), (6, 0) and (3,5) respectively.

(a) Write down vector equations for the lines AB and CD.

(b) Find the position vector of the point of intersection of AB and CD.

(c) Find the angle between the lines AB and CD.

61 Lesson Notes by T.H MUSONDELA

 WORK SHEET NINE
1 Find a vector equation of the straight line parallel to the x-axis which passes through the point with
coordinates (0, 4),

2 Find the points common to the pairs of lines

2 1 3 1
(i) 𝒓 = ( ) + 𝜆 ( ) : r= ( )+ 𝜇 ( )
1 0 0 1
2 1 1
(ii) 𝒓 = ( )+ 𝜆 ( ) : r= 𝜇( )
−1 2 1
0 –2 0 1
(iii)𝒓 = ( ) + 𝜆 ( ) ; r= ( )+ 𝜇 ( )
5 −2 −7 2
–2 –1 1 2
(iv)𝒓 = ( )+ 𝜆 ( ) ; r= ( )+ 𝜇 ( )
−3 3 3 −1
2 1 5 1
(v) 𝒓 = ( ) + 𝜆 ( ) : r=( )+ 𝜇 ( )
7 −1 1 2
3. Find the co-ordinates of the point of intersection of the lines joining A (1, 6) to B (4, 0), and C(1,
1) to D(5, 3).

4. Given that a = 2i + 6j, b = 3i + tj, find t such that

(a) a and b are parallel, (b) a and b are at right angles.

5 Find a vector equation of the straight line parallel to the line r = 2i + t(i + 5j) which passes through
the point with coordinates (3, −1).

6. The points A and B have position vectors a and b relative to an origin O, where-

a = 4i + 3j and b = −7i + 5j

(i) Find the length of AB.

(ii) Use a scalar product to find angle OAB.

7. A triangle has its vertices at A(–1, 3), B(3, 6) and C(–4, 4).

(a) Show that AB .AC= – 9

(b) Show that, to three significant figures, cos 𝐶𝐴̂𝐵 =-0569

8) Find the vector parallel to the vector i - 2j and has magnitude 10 units.

9 Points A and B have position vectors 3i – 2j and 4i + j respectively. Find:

(a) ⃗⃗⃗⃗⃗
𝐴𝐵 in the fonn ai + bj

(b) the vector equation of the straight line that passes through A and B.

62 Lesson Notes by T.H MUSONDELA

 WORK SHEET TEN
1. For each of the following pairs of lines, state whether the lines are parallel and, for those that arc
not. find the position vector of their point of intersection.

a) r ; − 2j + J + μ(3j + 2j) : r = i + 2j + t(i + j)

(b) r − 2j + 3j + μ(i + 2j). ; r = 3i − j + t(i + 2j)

(c) r = 3j + 5j + μ( −i + 3j) ; r= 2i + j + t(j - 3j)

(d) r = i + 3j + μ (2i - j). ; r= 5i– 3j + t(2i + j)

2 Given a = 2i – j and b = –i + 4j are position vectors A and B find

(i) ⃗⃗⃗⃗⃗
𝐴𝐵

⃗⃗⃗⃗⃗
(ii) a unit vector in the direction𝐴𝐵

3. (a) The point (1,p) lies on the line with vector equation r= (5i-13j)+t(5i+4j). Find the value of .

4 . The point (1,P) lies on the line with vector equation 𝑟 = −𝑗 + 𝑡(4𝑖 + 9𝑗). Find the value of K.

5. Find an equation for the line that passes through P (-9, 5) perpendicular to v = -4i -3j in form of
𝑎𝑥 + 𝑏𝑦 + 𝑐 = 0

6. Find the vector equations of the following lines.

(a) through (1, 2) and (3, 1) (b) through (-1, -2) and (3, 4)

7 (a) The point (1,p) lies on the line with vector equation r= (3i-3)+t(i-4j). Find the value of p.

8. Find an equation for the line that passes through point (9,3) and parallel to v = 2i +5j form of 𝑎𝑥 +
𝑏𝑦 + 𝑐 = 0

9. Calculate the acute angle between the lines 𝑥 = 2 − 5𝑡, 𝑦 = 3 + 4𝑡 and 𝑥 = −1 + 𝑡, 𝑦 =

2 − 6𝑡

Find the point of intersection of the lines and whose vector equations are L1 and L2respectively.
𝒓1 = 2𝒊 + 3 𝒋 + 𝜆(2𝒊 + 𝒋) and 𝒓2 = 5𝒊 – 2 𝒋 + 𝜇(𝒊 – 2 𝒋)

63 Lesson Notes by T.H MUSONDELA