Vectors Cheat Sheet Edexcel Core Pure 1

Equation of a line in three dimensions Finding shortest distances and reflections

You need to know how to express the equation of a straight line in three dimensions in both vector and cartesian form. You need to be able to find the perpendicular distance between two lines, a point and a line as well as a point and a
Finding angles between lines and planes
The equation of a straight line that passes through the position vector 𝒂𝒂 and is parallel to the vector 𝒃𝒃 is written as: plane. This is also the shortest distance between them. Through the use of examples, we will explain how to find the
𝒂𝒂 ∙ 𝒃𝒃 shortest distance in each of these scenarios. We will also look at how to find the reflection of a point or a line in a plane.
𝑟𝑟 is a general point and 𝜆𝜆 is a scalar parameter.  The acute angle 𝜃𝜃 between two intersecting lines is given by cos 𝜃𝜃 = � �.
 𝒓𝒓 = 𝒂𝒂 + 𝜆𝜆𝒃𝒃 in vector form. |𝒂𝒂||𝒃𝒃|
𝒃𝒃 ∙ 𝒏𝒏 For any two non-intersecting lines, there The perpendicular from the point P to a The perpendicular from a point P to a
𝑥𝑥 −1 𝑎𝑎1 𝑦𝑦 − 𝑎𝑎2 𝑧𝑧 − 𝑎𝑎3
𝑥𝑥−𝑎𝑎 𝑎𝑎1 𝑏𝑏1  The acute angle 𝜃𝜃 between the line 𝒓𝒓 = 𝒂𝒂 + 𝜆𝜆𝒃𝒃 and the plane 𝒓𝒓 ∙ 𝒏𝒏 = 𝑘𝑘 is given by sin 𝜃𝜃 = � �. is a unique line segment AB which is line is a line which passes through P and plane is a line which passes through P
 = = in cartesian form. where 𝒂𝒂 = �𝑎𝑎2 � 𝑎𝑎𝑎𝑎𝑎𝑎 𝒃𝒃 = �𝑏𝑏2 � |𝒃𝒃||𝒏𝒏| perpendicular to both lines. meets the line at a right angle. and is parallel to the normal vector, n.
𝑏𝑏1
𝑏𝑏1 𝑏𝑏2 𝑏𝑏3 𝑎𝑎3 𝑏𝑏3 𝒏𝒏𝟏𝟏 ∙ 𝒏𝒏𝟐𝟐
 The acute angle 𝜃𝜃 between the plane 𝒓𝒓 ∙ 𝒏𝒏𝟏𝟏 = 𝑘𝑘1 and the plane 𝒓𝒓 ∙ 𝒏𝒏𝟐𝟐 = 𝑘𝑘2 is given by cos 𝜃𝜃 = � �.
|𝒏𝒏𝟏𝟏 ||𝒏𝒏𝟐𝟐 |
Example 1: Find a vector equation of the straight line which Example 2: With respect to the fixed origin 𝑂𝑂, the line 𝑙𝑙 is given by
passes through the points 𝐴𝐴 and 𝐵𝐵 , with position vectors 𝑎𝑎1 𝑏𝑏1 These formulas will give you an acute angle. If you instead wish to find the obtuse angle, subtract your answer from 180.
4𝒊𝒊 + 5𝒋𝒋 − 𝒌𝒌 and 6𝒊𝒊 + 3𝒋𝒋 + 2𝒌𝒌 respectively. the equation 𝒓𝒓 = �𝑎𝑎2 � + 𝜆𝜆 �𝑏𝑏2 �. Prove that the cartesian form of
𝑎𝑎3 𝑏𝑏3 Example 4: The lines 𝑙𝑙1 and 𝑙𝑙2 have vector equations 𝒓𝒓 = (2𝒊𝒊 + 𝒋𝒋 + 𝒌𝒌) + Example 5: Find the acute angle between the line with equation
𝑥𝑥−𝑎𝑎1 𝑦𝑦−𝑎𝑎2 𝑧𝑧−𝑎𝑎3 𝑡𝑡(3𝒊𝒊 − 8𝒋𝒋 − 𝒌𝒌) and 𝒓𝒓 = (7𝒊𝒊 + 4𝒋𝒋 + 𝒌𝒌) + 𝑠𝑠(2𝒊𝒊 + 2𝒋𝒋 + 3𝒌𝒌) respectively. 𝒓𝒓 = (2𝒊𝒊 + 𝒋𝒋 − 5𝒌𝒌) + 𝑡𝑡(3𝒊𝒊 + 4𝒋𝒋 − 12𝒌𝒌) and the plane with equation
We know the line 𝑟𝑟 = 𝒂𝒂 + 𝜆𝜆𝒃𝒃 𝑙𝑙 is given by = = . Given that 𝑙𝑙1 and 𝑙𝑙2 intersect, find the size of the acute angle between the 𝒓𝒓 ∙ (2𝒊𝒊 − 2𝒋𝒋 − 𝒌𝒌) = 2.
𝑏𝑏1 𝑏𝑏2 𝑏𝑏3
passes through both 𝐴𝐴 4 lines to one decimal place.
and 𝐵𝐵 so we can use 𝒂𝒂 = � 5 � Use the direction vector
𝑎𝑎1 3 2
−1 Write the general 𝑥𝑥 𝑏𝑏1 of the line and the normal Shortest distance between two parallel lines Shortest distance between two non-parallel lines
either as our 𝑎𝑎. Use the direction 3 2 � 4 � ∙ �−2� = 3(2) + 4(−2) − 12(−1)
6 4 2 𝑥𝑥 �𝑦𝑦� = �𝑎𝑎2 � + 𝜆𝜆 �𝑏𝑏2 � vectors and take �−8� ∙ �2� = 3(2) − 8(2) − 1(3) = −13 vector of the plane and −12 −1
To find the direction 𝑥𝑥 𝑎𝑎3 = 10 Example 9: Find the shortest distance between the lines with equations Example 10: Find the shortest distance between the lines 𝑙𝑙1 and 𝑙𝑙2 with
𝒃𝒃 = �3� − � 5 � = �−2� point 𝒓𝒓 as �𝑦𝑦�. 𝑏𝑏3 the scalar product. −1 3 take the scalar product.
𝒓𝒓 = (𝒊𝒊 − 2𝒋𝒋 − 𝒌𝒌) + 𝜆𝜆(5𝒊𝒊 + 4𝒋𝒋 + 3𝒌𝒌) and 𝒓𝒓 = (2𝒊𝒊 + 𝒌𝒌) + 𝜇𝜇(5𝒊𝒊 + 4𝒋𝒋 + 3𝒌𝒌). equations 𝒓𝒓 = (𝒊𝒊) + 𝜆𝜆(𝒋𝒋 + 𝒌𝒌) and 𝒓𝒓 = (−𝒊𝒊 + 3𝒋𝒋 − 𝒌𝒌) + 𝜇𝜇(2𝒊𝒊 − 𝒋𝒋 − 𝒌𝒌)
vector 𝒃𝒃, subtract the 𝑥𝑥
position vectors. 2 −1 3 Find the magnitude
|𝑙𝑙1 | = �(3)2 + (4)2 + (−12)2 = 13 respectively.
Find the magnitude of the
𝑥𝑥 = 𝑎𝑎1 + 𝜆𝜆𝑏𝑏1 |𝑙𝑙1 | = �(3)2 + (−8)2 + (−1)2 = √74 |𝑙𝑙2 | = �(2)2 + (−2)2 + (−1)2 = 3 Let 𝐴𝐴 be a general point on
4 2 Equate each of the direction direction vectors: 2 + 5𝜇𝜇
𝑦𝑦 = 𝑎𝑎2 + 𝜆𝜆𝑏𝑏2 vectors. |𝑙𝑙2 | = �(2)2 + (2)2 + (3)2 = √17 the first line and 𝐵𝐵 be a 1 + 5𝜆𝜆 Let A be a general point on the
So, the vector ∴ 𝒓𝒓 = � 5 � + 𝜆𝜆 �−2� component. general point on the second.
�����⃗
𝐴𝐴𝐴𝐴 = � 4𝜇𝜇 � − �−2 + 4𝜆𝜆� −1 + 2𝜇𝜇 1
𝑧𝑧 = 𝑎𝑎3 + 𝜆𝜆𝑏𝑏3 10 first line and B be a general point �����⃗
𝐴𝐴𝐴𝐴 = � 3 − 2𝜇𝜇 � − �𝜆𝜆 �
equation of the line is: −1 3 Use −13 Use sin 𝜃𝜃 = � � = 0.256 1 + 3𝜇𝜇 −1 + 3𝜆𝜆
cos 𝜃𝜃 = � � = 0.367 𝒃𝒃∙𝒏𝒏 (13)(3) The shortest distance is the 1 + 5(𝜇𝜇 − 𝜆𝜆) on the second. The shortest −1 − 𝜇𝜇 𝜆𝜆
�√74��√17�
Rearrange each 𝑥𝑥−𝑎𝑎1 𝑦𝑦−𝑎𝑎2 𝑧𝑧−𝑎𝑎3 cos 𝜃𝜃 =
𝒂𝒂∙𝒃𝒃
�|𝒂𝒂||𝒃𝒃|� sin 𝜃𝜃 = �|𝒃𝒃||𝒏𝒏|� length of������⃗ �����⃗ is
𝐴𝐴𝐴𝐴 when 𝐴𝐴𝐴𝐴 distance is the length of ������⃗
𝐴𝐴𝐴𝐴 when −2 + 2𝜇𝜇
𝜆𝜆 = , 𝜆𝜆 = , 𝜆𝜆 = ∴ 𝜃𝜃 = 𝑐𝑐𝑐𝑐𝑐𝑐 −1 (0.367)
= 68.5° ∴ 𝜃𝜃 = 𝑠𝑠𝑠𝑠𝑠𝑠 −1 (0.256)
= 14.9° = �−2 + 4(𝜇𝜇 − 𝜆𝜆)�
= � 3 − 2𝜇𝜇 − 𝜆𝜆 �
equation for 𝜆𝜆. 𝑏𝑏1 𝑏𝑏2 𝑏𝑏1 perpendicular to both 𝑙𝑙1 and 2 + 3(𝜇𝜇 − 𝜆𝜆) ������⃗
𝐴𝐴𝐴𝐴 is perpendicular to both 𝑙𝑙1
𝑙𝑙2 . −1 − 𝜇𝜇 − 𝜆𝜆
and 𝑙𝑙2 .
Equating each
equation gives us
𝑥𝑥 − 𝑎𝑎1 𝑦𝑦 − 𝑎𝑎2 𝑧𝑧 − 𝑎𝑎3 Finding whether two lines intersect Let 𝑡𝑡 = (𝜇𝜇 − 𝜆𝜆), then �����⃗
𝐴𝐴𝐴𝐴
1 + 5𝑡𝑡
Since �����⃗
𝐴𝐴𝐴𝐴 is perpendicular to 𝑙𝑙1 ,
−2 + 2𝜇𝜇 0
∴ 𝜆𝜆 = = = = �−2 + 4𝑡𝑡�
the result.
𝑏𝑏1 𝑏𝑏2 𝑏𝑏3 You need to be able to determine whether two lines meet or not and find their intersection if they do. The procedure is becomes: 2 + 3𝑡𝑡 �����⃗ ∙ (𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣 𝑙𝑙1 ) = 0.
𝐴𝐴𝐴𝐴
� 3 − 2𝜇𝜇 − 𝜆𝜆 � ∙ �1� = 0
−1 − 𝜇𝜇 − 𝜆𝜆 1
summarised well by a flow chart: The shortest distance is 1 + 5𝑡𝑡 5 Calculate dot product. 2 − 2 𝜇𝜇 − 2𝜆𝜆 = 0 [1]
Finding the angle between two vectors Lines do intersect. To find the
�����⃗ is perpendicular to
when 𝐴𝐴𝐴𝐴 �−2 + 4𝑡𝑡 � ∙ �4� = 0
�����⃗ is also perpendicular to 𝑙𝑙2 , so
𝐴𝐴𝐴𝐴
−2 + 2𝜇𝜇 2
Before we discuss the scalar product, which plays a large role in this chapter, it is important that you know how to correctly Write both equations in intersection, substitute either 𝜆𝜆/𝜇𝜇 both lines, so: 2 + 3𝑡𝑡 3 � 3 − 2𝜇𝜇 − 𝜆𝜆 � ∙ �−1� = 0
�����⃗ ∙ (𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣 𝑙𝑙2) = 0.
𝐴𝐴𝐴𝐴
column form and equate back into one of the line equations. Substitute these values of 𝑠𝑠
−1 − 𝜇𝜇 − 𝜆𝜆 −1
find the angle between two vectors. them. 5(1 + 5𝑡𝑡) + 4(−2 + 4𝑡𝑡) + 3(2 + 3𝑡𝑡) = 0
Yes and 𝑡𝑡 into equation [3]. Calculate dot product. −6 + 6 𝜇𝜇 + 2𝜆𝜆 = 0 [2]
Rearrange for 𝑡𝑡. 𝑡𝑡 = −0.06
 The angle between two vectors a and b is the angle between them when both are pointed away from their 1 + 5(−0.06) 0.7 Solve [1] and [2] simultaneously. 𝜇𝜇 = 1, 𝜆𝜆 = 0
point of intersection. Form three equations in 𝜆𝜆 Solve the first two Is the third equation Substitute t back into �����⃗
𝐴𝐴𝐴𝐴 = �−2 + 4(−0.06)� = �−2.24� −2 + 2(1) 0
and 𝜇𝜇 by equating the i, j Substitute λ and μ into the 2 + 3(−0.06) 1.82 Substitute these values of 𝜇𝜇 and 𝜆𝜆 �����⃗
𝐴𝐴𝐴𝐴 = � 3 − 2(1) − (0) � = � 2 �
equations simultaneously satisfied by your values �����⃗ . The required distance
𝐴𝐴𝐴𝐴
and k components. third equation.
of 𝜆𝜆 and 𝜇𝜇? �����⃗ � = �(0.7)2 + (−2.24)2 + (1.82)2
∴ �𝐴𝐴𝐴𝐴 back into �����⃗
𝐴𝐴𝐴𝐴. The shortest −1 − (1) − (0) −2
for 𝜆𝜆 and 𝜇𝜇. �����⃗ �.
will be given by �𝐴𝐴𝐴𝐴 �����⃗ � = �(0)2 + (2)2 + (−2)2
21 �����⃗ �.
distance is given by �𝐴𝐴𝐴𝐴 ∴ �𝐴𝐴𝐴𝐴
= √2
In the following diagram, the angle In the below diagram, it is tempting to deduce We can re-draw the diagram to show 10 = 2√2
between the vectors 𝒂𝒂 and 𝒃𝒃 is 30° , that the angle between the vectors 𝒂𝒂 and 𝒃𝒃 is both vectors pointing away from 𝑋𝑋: You also need to be able to determine whether two lines are skew. No
since both vectors point away from the 30°. But this is in fact not true because the Shortest distance between a point and a line Shortest distance between a point and a plane
point 𝑋𝑋. vectors are not both pointing away from the Lines do not intersect 𝑥𝑥−1 𝑦𝑦−1 𝑧𝑧+3
 Two lines are skew if they do not intersect and are not parallel. Example 11: The line 𝑙𝑙 has equation 2 = −2 = −1 , and the point 𝐴𝐴 has
point 𝑋𝑋.  The perpendicular (shortest) distance from the point
coordinates (1, 2, −1). Find the shortest distance between 𝐴𝐴 and 𝑙𝑙.
(𝛼𝛼, 𝛽𝛽, 𝛾𝛾) to the plane 𝑎𝑎𝑎𝑎 + 𝑏𝑏𝑏𝑏 + 𝑐𝑐𝑐𝑐 = 𝑑𝑑 is
𝑥𝑥−2 𝑦𝑦+3 |𝑎𝑎𝑎𝑎 + 𝑏𝑏𝑏𝑏 + 𝑐𝑐𝑐𝑐 − 𝑑𝑑|
This new diagram shows us that the Example 6: The lines 𝑙𝑙1 and 𝑙𝑙2 have vector equations 𝒓𝒓 = (2𝒊𝒊 + 𝒋𝒋 + 𝒌𝒌) + Example 7: The lines 𝑙𝑙1 and 𝑙𝑙2 have equations = = 𝑧𝑧 − 1 and First rewrite the line in vector 1 2
You are given this result in the
𝑡𝑡(3𝒊𝒊 − 8𝒋𝒋 − 𝒌𝒌) and 𝒓𝒓 = (7𝒊𝒊 + 4𝒋𝒋 + 𝒌𝒌) + 𝑠𝑠(2𝒊𝒊 + 2𝒋𝒋 + 3𝒌𝒌) respectively. 𝑥𝑥+1 𝑦𝑦 𝑧𝑧−4
4 2
form:
𝑙𝑙: 𝑟𝑟 = � 1 � + 𝜆𝜆 �−2� √𝑎𝑎2 + 𝑏𝑏2 + 𝑐𝑐 2
actual angle between 𝒂𝒂 and 𝒃𝒃 is Show that the two lines do not intersect. 5
=
4
=
−2
respectively. Prove that 𝑙𝑙1 and 𝑙𝑙2 are skew. −3 −1 formula booklet
150°. 1 + 2𝑡𝑡 Example 11: Find the perpendicular distance from the point with coordinates
�����⃗ = � 1 − 2𝑡𝑡 �, so
𝑂𝑂𝑂𝑂 (3, 2, −1) to the plane with equation 2𝑥𝑥 − 3𝑦𝑦 + 𝑧𝑧 = 5.
Firstly, we need to show that Let 𝐵𝐵 be a general point on 𝑙𝑙.
2 + 3𝑡𝑡 7 + 2𝑠𝑠 2 + 4𝜆𝜆 −1 + 5 𝜇𝜇 −3 − 𝑡𝑡
Write both lines in column these lines don’t intersect. �����⃗ is: 1 + 2𝑡𝑡 1 2𝑡𝑡
�1 − 8𝑡𝑡� = �4 + 2𝑠𝑠� �−3 + 2𝜆𝜆� = � 4 𝜇𝜇 � Then the vector 𝐴𝐴𝐴𝐴
form and equate. Write both lines in vector �����⃗
𝐴𝐴𝐴𝐴 = � 1 − 2𝑡𝑡 � − � 2 � = �−1 − 2𝑡𝑡� |2(3) − 3(2) + 1(−1) − 5| 6
Scalar product (dot product) 1 − 𝑡𝑡 1 + 3𝑠𝑠
column form and equate.
1 + 𝜆𝜆 4 − 2 𝜇𝜇
−3 − 𝑡𝑡 −1 −2 − 𝑡𝑡
Use the above formula.
�(2)2 + (−3)2 + (1)2
=
√14
The scalar product is a function which takes two vectors and outputs a number. The scalar product of two vectors 𝒂𝒂 and 2 + 3𝑡𝑡 = 7 + 2𝑠𝑠 [1] The shortest distance is when 2𝑡𝑡 2
2 + 4𝜆𝜆 = −1 + 5 𝜇𝜇 [1] �����⃗
𝐴𝐴𝐴𝐴 is perpendicular to 𝑙𝑙, so
𝒃𝒃 is written as 𝑎𝑎 ∙ 𝑏𝑏. You will need to use the scalar product to find angles between two vectors. It is defined as: Form three equations. 1 − 8𝑡𝑡 = 4 + 2𝑠𝑠 [2]
Form three equations. −3 + 2𝜆𝜆 = 4 𝜇𝜇 [2]
�−1 − 2𝑡𝑡 � ∙ �−2� = 0
−2 − 𝑡𝑡 −1 Reflection of a line in a plane
1 − 𝑡𝑡 = 1 + 3𝑠𝑠 [3] �����⃗
𝐴𝐴𝐴𝐴 ∙ (𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣 𝑙𝑙) = 0
1 + 𝜆𝜆 = 4 − 2 𝜇𝜇 [3] 𝑥𝑥−2 𝑦𝑦−4 𝑧𝑧+6
𝒂𝒂∙𝒃𝒃 Solving the subsequent 2(2𝑡𝑡) − 2(−1 − 2𝑡𝑡) − 1(−2 − 𝑡𝑡) = 0 Example 14: The line 𝑙𝑙1 has equation = = . The plane Π has
 𝒂𝒂 ∙ 𝒃𝒃 = |𝒂𝒂||𝒃𝒃| cos 𝜃𝜃 To find angles, rearrange the formula into: cos 𝜃𝜃 = |𝒂𝒂||𝒃𝒃| Solve the first two equations 2 49 4 2 −2 1
simultaneously. 𝑡𝑡 = , 𝑠𝑠 = − Solve the first two equations 9 equation: 𝑡𝑡 = − equation 2𝑥𝑥 − 3𝑦𝑦 + 𝑧𝑧 = 8. The line 𝑙𝑙2 is a reflection of the line 𝑙𝑙1 in Π. Find
11 22 𝜆𝜆 = − , 𝜇𝜇 = −3 9
2 9 simultaneously. 2 2(−4/9) (−8/9) the equation of 𝑙𝑙2 .
where 𝒂𝒂 ∙ 𝒃𝒃 represents the scalar product of the vectors 𝑎𝑎 and 𝑏𝑏. In order to compute the scalar product of two vectors, 𝐿𝐿𝐿𝐿𝐿𝐿 = 1 − =
11 11 9 7
�����⃗
𝐴𝐴𝐴𝐴 = �−1 − 2(−4/9)� = � (−1/9) � We begin by drawing a
Substitute these values of 𝑠𝑠 Substitute these values of 𝑠𝑠 𝐿𝐿𝐿𝐿𝐿𝐿 = 1 − = − Substitute t back into �����⃗
𝐴𝐴𝐴𝐴. The −2 − (−4/9) (−14/9) diagram. To find 𝑙𝑙2 , we need
you can use the following fact: and 𝑡𝑡 into equation [3]. and 𝑡𝑡 into equation [3]. 2 2 required distance will be given
49 125 𝑅𝑅𝑅𝑅𝑅𝑅 = 4 − 2(−3) = 10 to find two points that lie on
Example 3: Find the angle 𝜃𝜃 between vectors a and b. 𝑅𝑅𝑅𝑅𝑅𝑅 = 1 + 3 �− � = − 8 2 1 2 14 2
�����⃗ �.
by �𝐴𝐴𝐴𝐴 �����⃗ � = ��− � + �− � + �− �
∴ �𝐴𝐴𝐴𝐴 𝑙𝑙2 . One can be found by
𝑎𝑎1 22 22 Since the third equation is 9 9 9
𝑏𝑏1 Since the third equation is 𝐿𝐿𝐿𝐿𝐿𝐿 ≠ 𝑅𝑅𝑅𝑅𝑅𝑅, so the three finding the intersection of 𝑙𝑙1
𝐿𝐿𝐿𝐿𝐿𝐿 ≠ 𝑅𝑅𝑅𝑅𝑅𝑅, so, the three not satisfied by our solutions, = 1.80
𝒂𝒂 ∙ 𝒃𝒃 = 1(−1) + 2(3) + 4(2) equations are not consistent.
 If 𝒂𝒂 = �𝑎𝑎2 � and 𝒃𝒃 = �𝑏𝑏2 � then 𝒂𝒂 ∙ 𝒃𝒃 = 𝑎𝑎1 𝑏𝑏1 + 𝑎𝑎2 𝑏𝑏2 + 𝑎𝑎3 𝑏𝑏3 . = 13
not satisfied by our solutions,
equations are not consistent. Hence we can conclude the lines and Π and the other by
we can conclude the lines Hence the lines do not intersect. reflecting the point (2,4,-6).
𝑎𝑎3 𝑏𝑏3 |𝒂𝒂| = �12 + 22 + 42 = √21 the lines do not intersect. don’t intersect.
don’t intersect. 4 5 2 2
|𝒃𝒃| = �12 + 32 + 22 = √14 Now all we need to do to Reflection of a point in a plane 𝑙𝑙1 : 𝒓𝒓 = � 4 � + 𝜆𝜆 �−2�. Substituting into Π:
�2� ≠ 𝑘𝑘 � 4 � for any choice of 𝑘𝑘. Find the intersection of 𝑙𝑙1
The following fact is also very important: 13 prove these lines are skew is −6 1
∴ cos 𝜃𝜃 = = 0.758 1 −2 and Π. 2 + 2𝜆𝜆 2
(√21)(√14) show that the direction Hence, they are not parallel. So, the Example 13: The plane Π has equation −2𝑥𝑥 + 𝑦𝑦 + 𝑧𝑧 = 5. The point 𝑃𝑃 has
� 4 − 2𝜆𝜆 � ∙ �−3� = 8
⇒ 𝜃𝜃 = 𝑐𝑐𝑐𝑐𝑐𝑐 −1 (0.758)
= 40.7° vectors are not parallel. lines are skew. coordinates (1, 0, 3). Find the coordinates of the reflection of the 𝑃𝑃 in Π.
−6 + 𝜆𝜆 1
 The non-zero vectors 𝑎𝑎 and 𝑏𝑏 are perpendicular if and only if 𝒂𝒂 ∙ 𝒃𝒃 = 0.
Finding the intersection between a line and a plane We begin by drawing a Solve the subsequent 2(2 + 2𝜆𝜆) − 3(4 − 2𝜆𝜆) + 1(−6 + 𝜆𝜆) = 0
diagram. The reflected point equation. ⇒ 𝜆𝜆 = 2
is P’. We need to first find the Substitute 𝜆𝜆 = 2 into 𝑙𝑙1 to
Equation of a plane in three dimensions  To find the intersection between a line and a plane, first express the plane in the form 𝒓𝒓 ∙ 𝒏𝒏 = 𝒌𝒌 and replace equation of the red line, find the intersection 𝑋𝑋.
∴ 𝑋𝑋 = (6, 0, −4)

You also need to be able to express the equation of a plane in both vector and cartesian form. The direction of a plane is the general point r with the vector equation of the line. Then solve the resultant equation. which is normal to the plane
We know that a normal of Π is (2i-3j+k).
and passes through P. To find the second point, we
described by a normal vector, often denoted as 𝒏𝒏. This is simply a vector that is perpendicular to the plane. can find the reflection of the So, the equation of the line that is normal
5
Example 8: Find the coordinates of the point of intersection of the line 𝑙𝑙 and the plane Π where 𝑙𝑙 has A normal to the plane is �4�. 1 5 point (2, 4, −6) in Π. To do to the plane and passes through (2, 4, -6)
the equation 𝒓𝒓 = −𝒊𝒊 + 𝒋𝒋 − 5𝒌𝒌 + 𝜆𝜆(𝒊𝒊 + 𝒋𝒋 + 2𝒌𝒌) and Π has equation 𝒓𝒓 ∙ (𝒊𝒊 + 2𝒋𝒋 + 3𝒌𝒌) = 4. 3 Equation of red line: 𝒓𝒓 = �0� + 𝜆𝜆 �4� this we use the same 2 2
𝒂𝒂 is a point that lies on the plane and 𝒃𝒃 and 𝒄𝒄 are both is: 𝒓𝒓 = � 4 � + 𝜆𝜆 �−3�
 𝒓𝒓 = 𝒂𝒂 + 𝜆𝜆𝒃𝒃 + 𝜇𝜇𝒄𝒄 vectors that lie on the plane. 𝜆𝜆 and 𝜇𝜇 are scalar parameters.
And the line passes through P, 3 3 process as in example 13. −6 1
so its equation is:
First write the equation of the line in −1 + 𝜆𝜆
Equation of line: 𝒓𝒓 = � 1 + 𝜆𝜆 � Next we find where this line 1 + 5𝜆𝜆 −2 2 + 2𝜆𝜆 2
 𝑛𝑛1 𝑥𝑥 + 𝑛𝑛2 𝑦𝑦 + 𝑛𝑛3 𝑧𝑧 = 𝑑𝑑 vector column form. Find where this new line � 4 − 3𝜆𝜆 � ∙ �−3� = 8
−5 + 2𝜆𝜆 intersects the plane. We’ll � 4𝜆𝜆 � ∙ � 1 � = 5
intersects Π, and use the −6 + 𝜆𝜆 1
𝑛𝑛1 −1 + 𝜆𝜆 1 call this point X. 3 + 3𝜆𝜆 1
Replace 𝒓𝒓 in the equation of the plane solution of 𝜆𝜆 to find the 2 +2� �
22

where 𝒏𝒏 = �𝑛𝑛2 � 𝑎𝑎𝑎𝑎𝑎𝑎 𝒅𝒅 = 𝒂𝒂 ∙ 𝒏𝒏 � 1 + 𝜆𝜆 � ∙ �2� = 4 7 58/7

The cartesian form can be simplified using the scalar product: 𝑛𝑛3
with the vector equation of the line. −5 + 2𝜆𝜆 3
Solve the subsequent −2(1 + 5𝜆𝜆) + 1(4𝜆𝜆) + 1(3 + 3𝜆𝜆) = 0 reflection of (2, 4, -6) which ⇒ 𝜆𝜆 =
11
so 𝑂𝑂𝑂𝑂′
⎛ ⎞
�������⃗ = 4 − 3 �22� = �−38/7�
⎜ 7 ⎟
equation. ⇒ 𝜆𝜆 = 0.5 we call 𝑅𝑅.
7 −20/7
Use the dot product. −1 + 𝜆𝜆 + (1 + 𝜆𝜆)(2) + (−5 + 2𝜆𝜆)(3) = 4 ⎝−6 + � 7 �⎠
22

Solve the subsequent equation for 𝜆𝜆. 𝜆𝜆 = 2 To find the reflected point,
 𝒓𝒓 ∙ 𝒏𝒏 = 𝒂𝒂 ∙ 𝒏𝒏 we simply substitute 𝜆𝜆 = 1 + 5(−0.56) −9/5 To find the direction of the
�����⃗
6 58/7 16/7
−1 + (2) 1 𝑅𝑅𝑅𝑅 = � 0 � − �−38/7� = �−38/7�
Substitute 𝜆𝜆 back into the equation of 2(−0.28) into our line. This is ∴ 𝑂𝑂𝑃𝑃′ = � 4(−0.56) � = �−56/25� line 𝑙𝑙2 , find �����⃗ �����⃗.
𝑅𝑅𝑅𝑅 or 𝑋𝑋𝑋𝑋
∴ point of intersection = � 1 + (2) � = � 3 � −4 −20/7 8/7
the line to find the point of intersection. because the reflected point P’
𝒓𝒓 is a general point. This form is often more useful for the problems you will encounter in this chapter. To convert back −5 + 2(2) −1 3 + 3(−0.56) 33/25 6 16/7

𝑥𝑥 lies twice as far from P as X. 𝑙𝑙2 passes through 𝑋𝑋 (and 𝑅𝑅). 𝑙𝑙2 : 𝒓𝒓 = � 0 � + 𝜆𝜆 �−38/7�
into the form 𝑛𝑛1 𝑥𝑥 + 𝑛𝑛2 𝑦𝑦 + 𝑛𝑛3 𝑧𝑧 = 𝑑𝑑, you need to replace 𝒓𝒓 with �𝑦𝑦� and expand the scalar product. −4 8/7

𝑧𝑧

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