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5F Parametric equations 1

5F Parametric equations
Parametric vector equations
In Sections 5D and E we discussed the vector equation of a plane
r·n= a·n
where a is the position vector of a point A in the plane, r is the position vector of any other
point in the plane and n is a vector normal to the plane. In this section we develop what is
called the parametric vector equation of a plane.
Let A, B and C be points in the plane which do not all
−−→ −−→
lie on the same straight line. Let OA = a, OB = b and
−−→
OC = c
Let R be an arbitrary point in the plane. Then we can
−−→
write AR as a linear combination of the non-parallel
vectors b − a and c − a,
−−→
AR = s(b − a) + t(c − a)
−−→ −−→ −−→
Hence, OR = OA + AR
= a + s(b − a) + t(c − a)
−−→
We let u = b − a and v = c − a and OR = r
and we can write,

r(s, t) = a + su + tv, s, t ∈ R
where u and v are any two non-parallel vectors in the plane.
The parameters s and t vary over all real numbers, and so the vector r(s, t) varies over all
position vectors of points on the plane.
If we write the vectors r, a, u, v in component form, then we have

r(s, t) = xi + y j + zk
= a1 i + a2 j + a3 k + s(u1 i + u2 j + u3 k) + t(v1 i + v2 j + v3 k)

Note: We verify that, for any s and t, the vector r(s, t) satisfies the vector equation r · n = a · n
of the plane.
Let n be a vector normal to the plane. Then using the parametric vector equation we
have
r · n = (a + su + tv) · n
= a · n + su · n + tv · n
= a · n (since u · n = v · n = 0)
That is,
r·n= a·n
Therefore the arbitrary position vector satisfies the vector equation of a plane.
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Example 22
Find a parametric vector equation of the plane passing through the points A(2, 0, 1),
B(1, −2, 1) and C(2, 1, −1).
Solution
−−→ −−→ −−→
The position vectors of A, B and C are OA = a, OB = b and OC = c where:
a = 2i + k
b = i − 2j + k
c = 2i + j − k.
−−→ −−→
The vectors u = AB = b − a and v = AC = c − a are vectors in the plane and
u = b − a = −i − 2 j
v = c − a = j − 2k.
Therefore a parametric vector equation of the plane is:
r = a + su + tv
= 2i + k + s(−i − 2 j) + t( j − 2k)
= (2 − s)i + (−2s + t) j + (1 − 2t)k

Example 23
a The point (31, 18, −9) lies on the plane with a parametric vector equation
r = (2 + 3s + t)i + (1 + t) j + (3 − 2s)k.
Find the corresponding values of s and t.
b Show that the point (3, 18, 15) does not lie on the plane with a parametric vector
equation
r = (2 + 3s + t)i + (1 + s + t) j + (3 − 2s)k.

Solution
a We have the equations:
2 + 3s + t = 31 . . . (1)
1 + s + t = 18 . . . (2)
3 − 2s = −9 . . . (3)
From equation (3), s = 6.
Sustituting in equation (2),
1 + 6 + t = 18 ⇒ t = 11
b The equations to consider are
2 + 3s + t = 3 . . . (1)
1 + s + t = 18 . . . (2)
3 − 2s = 15 . . . (3)
From (3), s = −6.
Substitute in (2)
1 − 6 + t = 18 ⇒ t = 23.
Check in (1).
i LHS = 2 − 18 + 23 = 7 ,RHS.

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5F Parametric equations 3

Parametric equations of the plane

In the above we wrote the parametric vector equations in component form as
xi + y j + zk = a1 i + a2 j + a3 k + s(u1 i + u2 j + u3 k) + t(v1 i + v2 j + v3 k)
= (a1 + su1 + tv1 )i + (a2 + su2 + tv2 ) j + (a3 + su3 + tv3 ) j
Writing the Cartesian coordinate variables x, y and z in terms of the parameters s and t gives a
set of equations for the plane known as parametric equations
We can obtain parametric equations for a plane from this by equating the components.

x = a1 + su1 + tv1
y = a2 + su2 + tv2
z = a3 + su3 + tv3

Example 24
The following parametric equations describe a plane.
x = 1 − t . . . (1)
y = s − t . . . (2)
z = 1 − s . . . (3)
Find the Cartesian equation of the plane.
Solution
From (1), t = 1 − x
From (3), s = 1 − z
Substitute for t and s in (2).
y = 1 − z − (1 − x)
The Cartesian equation of the plane is
x − y − z = 0,
It is a plane containing the origin.

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Example 25
A plane, Π1 , is described by the parametric equations:
x = 3 + s − 2t
y=1+s−t
z = −1 + 2s + t
a Find a parametric vector equation of the plane, Π1 . That is in the form,
r(s, t) = a + su + tv.
b Find a vector equation of the plane. That is, in the form, r · n = a · n.
c Find a Cartesian equation of Π1 .
d A second plane Π2 parallel to Π1 and contains the point (6, 5, 1). Find the Cartesian
equation of Π2 .
e Find the shortest distance between Π1 and Π2 .

Solution
a r(s, t) = (3 + s − 2t)i + (1 + s − t) j + (−1 + 2s + t)k
= (3i + j − k) + s(i + j + 2k) + t(−2i − j + k)
b Two vectors in the plane are u = i + j + 2k and v = −2i − j + k.
The vector u × v is perpendicular to the plane.
i j k
u×v= 1 1 2 = (3i − 5 j + k)
−2 −1 1
The position vector of a point A on the plane is
a = 3i + j − k
Therefore the vector equation of the plane is:
r·n= a·n
= (3i + j − k) · (3i − 5 j + k)
That is,
r·n=3
c r · n = (xi + y j + zk) · (3i − 5 j + k) = 3
Therefore Cartesian equation of the plane is
3x − 5y + z = 3
d For the plane, Π2 , a = 6i + 5 j + k and n = 3i − 5 j + k
The vector equation is:
r·n= a·n
= (6i + 5 j + k) · (3i − 5 j + k) = −6
The Cartesian equation is 3x − 5y + z = −6
Note: The second Cartesian equation can be found by letting 3x − 5y + z = m and
substituting in x = 6, y = 5, z = 1 to find that m = −6

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5F Parametric equations 5

e Method 1
From the discussion in Section 5E we see that the distance between the two planes is
3 6 9
√ +√ = √
35 35 35
Method 2
−−→ −−→
Let OA be the position vector of the point (3, 1, −1) in Π1 and let OA0 be the position
vector of the point (6, 5, 1) in Π2 .
−−→
We consider the scalar resolute of AA0 in the direction of n
−−→0
AA = 6i + 5 j + k − (3i + j − k) = 3i + 4 j + 2k
The unit vector in the direction of n is
1
n̂ = √ (3i − 5 j + k)
35
−−→0
AA · n̂ = (3i + 4 j + 2k) · n̂
1
= √ (9 − 20 + 2)
35
9
= −√
35
9
The distance is again found to be √ .
35

Example 26
The Cartesian equation of a plane is 2x + 3y − z = 4. Find
a a vector equation of the plane in the form r · n = a · n.
b a parametric vector equation of the plane in the form r = a + su + tv.
c the parametric equations derived directly from the parametric vector equation of the
plane derived in b.

Solution
a We first find a point on the plane and determine its position vector.
Let x = 1 and y = 1. Then substituting in the equation 2x + 3y − z = 4 we have z = 1
We choose the point A(1, 1, 1).
−−→
We have OA = a = i + j + k
Note: We could have chosen any point on the plane. For example, a = 2i since (2, 0, 0)
is on the plane.
We know that a vector normal to the plane is 2i + 3 j − k
A vector equation of the plane is
r · (2i + 3 j − k) = (i + j + k) · (2i + 3 j − k)
That is,
r · (2i + 3 j − k) = 4

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b Method 1
We find the position vectors of three points A, B and C in the plane.
Using the Cartesian equation of the plane, 2x + 3y − z = 4.
When y = 0 and z = 0, x = 2.
4
When x = 0 and z = 0, y = .
3
When x = 0 and y = 0, z = −4.
4
The position vectors of the points A, B and C are a = 2i, b = j and c = −4k
3
respectively.
Hence we have vectors in the plane
4
u = b − a = −2i + j
3
v = c − a = −2i − 4k
Hence, a parametric vector equation of the plane is
!
4
r(s, t) = 2i + s −2i + j + t(−2i − 4k)
3

Method 2
As in a we choose the vector a = i + j + k.
Further to this we need two vectors, u and v, in the plane.
These vectors will be perpendicular to 2i + 3 j − k.
With this observation consider:
(2i + 3 j − k) · (i + j + m1 k) = 0, m1 ∈ R
which implies, m1 = 5.
The vector u = i + j + 5k is in the plane.
Similarly you can show that the vector v = i + 2 j + 8k is in the plane.
So a parametric vector equation for this plane is
r(s, t) = a + su + tv = i + j + k + s(i + j + 5k) + t(i + 2 j + 8k)
Note: Our choice of considering i + j + m1 k and similarly v = i + 2 j + m2 k is arbitrary.
c From b Method 2
r(s, t) = (1 + s + t)i + (1 + s + 2t) j + (1 + 5s + 8t)k
Hence the parametric equations are,
x=1+s+t
y = 1 + s + 2t
z = 1 + 5s + 8t
Note: The parametric equations are far from unique. This is demonstrated in b.

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5F Parametric equations 7

Summary 5F
 Parametric vector equation of a plane
r(s, t) = a + su + tv, s, t ∈ R
 Component form of parametric vector equation of a plane
r(s, t) = xi + y j + zk
= a1 i + a2 j + a3 k + s(u1 i + u2 j + u3 k) + t(v1 i + v2 j + v3 k)
 Parametric equations of a plane
x = a1 + su1 + tv1
y = a2 + su2 + tv2
z = a3 + su3 + tv3

Skill-
sheet Exercise 5F
Answers to exercises are included at the end of this section
Example 22 1 Write the parametric vector equations of the planes which contain the given points of each
of the following.
a A(1, 1, 1), B(1, −1, 1), C(1, 1, −1)
b A(2, 0, −1), B(1, −1, 2), C(3, 1, −1)
c A(−1, 1, 0), B(2, −1, 2), C(0, 1, −1)
d A(1, 0, 1), B(−1, −2, 3), C(3, 1, −1)

Example 23 2 a The point (13, 11, −2) lies on the plane with a parametric vector equation
r = (2 + 2s + t)i + (1 + s + 2t) j + (3 − 2s + t)k.
Find the corresponding values of s and t.
b Show that the point (3, 18, 15) does not lie on the plane with a parametric vector
equation
r = (2 + 3s + t)i + (1 + s + t) j + (3 − 2s)k

3 a If mi is the position vector of a point on the plane with parametric vector equation
r = (i + j) + s(i − 2k) + t(2 j − k), s, t ∈ R
find the value of m.
b If mi + 2 j + k is the position vector of a point on the plane with parametric vector
equation
r = (i + j) + s(i − j + k) + t(3i − j), s, t ∈ R
find the value of m.
c If 2i − j − k is the position vector of a point on the plane with parametric vector
equation
r = m j + s(i + j + k) + t(4i − 3k), s, t ∈ R
find the value of m.

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4 Use the equation of the plane

r(s, t) = a + s(b − a) + t(c − a)
where a, b and c are position vectors of points A, B and C on the plane to show that there
exist real numbers `, m and n such that:
r = `a + mb + nc, where ` + m + n = 1

Example 24 5 The parametric equations of a plane are:

x = 1 + 2s − 2t
y=1+t
z = −3s + t
Find the Cartesian equation of the plane.

Example 25 6 A plane, Π1 , is described by the parametric equations:

x = 1 + s + 2t
y=2−s−t
z = 1 + 2s + t

a Find a parametric vector equation of the plane, Π1 . That is in the form,

r(s, t) = a + su + tv.
b Find the vector equation of the plane. That is, in the form, r · n = a · n.
c Find a Cartesian equation of Π1 .
d A second plane Π2 parallel to Π1 contains the point (1, 2, −1). Find the Cartesian
equation of Π2 .
e Find the shortest distance between Π1 and Π2 .

Example 26 7 The Cartesian equation of a plane is x − 2y + z = 4. Find

a a vector equation of the plane in the form r · n = a · n
b a parametric vector equation of the plane in the form r = a + su + tv
c parametric equations derived directly from the parametric vector equation of the plane
derived in b.

8 For each of the parametric vector equations below find

i a Cartesian equation
ii a vector equation
a r = (4i − j + 2k) + s(i + 2 j − 3k) + t(−i + 2 j − k)
b r = (i − 2 j) + s(2i + j − 3k) + t(−i + 4 j − k)
c r = (i + j) + s(2i + j − 2k) + t(i − 2 j + k)

9 A line ` has a vector equation r(λ) = 2i + 3 j + λ(2i − 3 j + k). A plane, Π1 , is described by

the parametric vector equation r(s, t) = 4i + 6 j + 7k + s(i − j) + t(2i − j + k)
a Find the position vector of the point A where the line, ` intersects the plane Π1 .
b Find the angle, to the nearest whole degree, between the line, `, and the plane Π1 .

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5F Parametric equations 9

Answers to 5F
1
a r = i + j + k − 2s j − 2tk b r = 2i − k + s(−i − j + 3k) + t(i + j)
c r = −i + j + s(3i − 2 j + 2k) + t(i − k) d r = i + k + s(−2i − 2 j + 2k) + t(i + i − 2k)
2 a s = 4, t = 3
3
5 9
a b −4 c −
4 7
5 3x + 4y + 2z = 7
6 a r = (i + 2 j + k) + s(i − j + 2k) + t(2i − j + k)
b r · (i + 3 j + k) = 8
c x + 3y + z = 8
d x + 3y + z = 6
2
e √
11
7 a r · (i − 2 j + k) = 4
b r = 4i + s(−4i − 2 j+) + t(−4i + 4k)
c x = 4 − 4s − 4t, y = −2s, z = 4t
8 a i x+y+z=5
ii r · (i + j + k) = 5
b i 11x + 5y + 9z = 1
ii r · (11i + 5 j + 9k) = 1
c i 3x + 4y + 5z = 7
ii r · (3i + 4 j + 5k) = 7
−−→
9 a OA = 4i + k
b 18◦

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