Prepared by AwYeongZS

TUTORIAL 1 (FP1)

CHAPTER 1: VECTORS

Section I – Notes and Exercises

1.1 – VECTOR PRODUCT (a.k.a. CROSS PRODUCT)

1. The vector product (also known as cross product) of 𝒂 and 𝒃, is written as 𝒂 × 𝒃.

𝑎1 𝑏1 𝑐1
𝒂 × 𝒃 = (𝑎2 ) × (𝑏2 ) = (𝑐2 )
𝑎3 𝑏3 𝑐3
𝒂 × 𝒃 will give us a vector c which is perpendicular to both a and b.

2. There are several ways to perform the cross product. The easiest is using the “cover and cross” method.
(i) To find the first component, i.e. 𝑐1 ,
• cover the first row,
• then cross-multiply and subtract (much like finding the determinant of 2 × 2 matrix)

(ii) To find the second component, i.e. 𝑐2 ,

• cover the second row,
• then put a MINUS SIGN first before cross-multiply and subtract

(iii) To find the third component, i.e. 𝑐3 ,

• cover the third row,
• then cross-multiply and subtract

1
 Prepared by AwYeongZS

3. It was also found that

𝐚 × 𝐛 = |𝐚| |𝐛| 𝐧
̂ sin 𝜃

where 𝜃 is the angle measured from the vector 𝒂 to the vector 𝒃 when the vectors are both diverging, and
̂𝒏 is a unit vector perpendicular to both a and b.

̂ , we can use the “Right-Hand Rule”.

This is illustrated in the diagrams below. To determine the direction of 𝒏

4. The most important point from this is that the vector obtained will be perpendicular to both the two vectors
that were used to do the cross product.
𝒂×𝒃⊥𝒂 and 𝒂 × 𝒃 ⊥ 𝒃

5. Properties of vector product:

(a) 𝒂 × 𝒃 = −(𝒃 × 𝒂)
(b) If two vectors a and b are parallel, then 𝜃 = 0° or 180°.
Therefore, 𝒂 × 𝒃 = 𝟎, where 0 is called the zero vector.
In particular, 𝒂 × 𝒂 = 𝟎. (a is in the same direction as a, hence a is parallel to a.)
(c)

2
 Prepared by AwYeongZS

Applications of Vector Product

(I) Finding the Normal of a Plane

(to be discussed in the section on planes)

(II) Finding the Area of Triangles and Parallelograms

To calculate the area of a triangle 𝐴𝐵𝐶 whose sides are a, b and c.
From the definition of vector product,
𝒂 × 𝒃 = |𝒂||𝒃|[sin(180° − 𝐶)] 𝒏 ̂

1 1
∴ Area of Δ𝐴𝐵𝐶 = 𝑎𝑏 sin 𝐶 = |𝒂 × 𝒃|
2 2

Similarly, we can obtain

1 1
Area of Δ𝐴𝐵𝐶 = 𝑏𝑐 sin 𝐴 = |𝒃 × 𝒄|
2 2
1 1
or Area of Δ𝐴𝐵𝐶 = 𝑎𝑐 sin 𝐵 = |𝒂 × 𝒄|
2 2

Since a parallelogram can be divided into two congruent triangles, then the area of a parallelogram is equal
to twice the area of a triangle.

In general,

(III) Perpendicular Distance from a Point to a Line

The length of c can be found using Pythagoras’ Theorem after the length of the projection of a on b is found.
Another way to find this length is using cross product.

|𝒂 × 𝒃|
|𝒄| = ̂|
= |𝒂 × 𝒃
|𝒃|

3
 Prepared by AwYeongZS

Example 1
Given that 𝒂 = 𝒊 − 2𝒋, 𝒃 = −2𝒊 + 𝒋 + 4𝒌, 𝒄 = 3𝒊, find 𝒂 × 𝒃, 𝒃 × 𝒂 and 𝒂 × 𝒄.
What is the geometric relationship between 𝒂 × 𝒃 and 𝒃 × 𝒂?
−8 8 0
𝐴𝑛𝑠: (−4) ; (4) ; (0)
−3 3 6
Solution

Example 2
1
Given that 𝒂 = 3𝒊 + 𝒋 + 𝒌 , 𝒃 = 2𝒊 + 𝒋 and 𝒄 = 𝒊 + 𝒋 + 6𝒌 are position vectors of the points 𝐴, 𝐵 and 𝐶
2
respectively, find the position vector of point 𝑃 which divides 𝐵𝐶 in the ratio 2: 1. Hence, find the area of the
triangle 𝐴𝑃𝐵.
1 5
𝐴𝑛𝑠: ⃗⃗⃗⃗⃗
𝑂𝑃 = (1) ; 𝐴𝑟𝑒𝑎 𝑜𝑓 𝑡𝑟𝑖𝑎𝑛𝑔𝑙𝑒 𝐴𝑃𝐵 = 𝑢𝑛𝑖𝑡𝑠 2
2
4
Solution

4
 Prepared by AwYeongZS

Example 3
1 2 −1
Relative to the origin 𝑂, the points 𝐴, 𝐵 and 𝐶 have position vectors (2) , (1) and ( 2 ) respectively.
1 3 3
Find the shortest distance from 𝐶 to 𝐴𝐵. Hence or otherwise, find the area of triangle 𝐴𝐵𝐶.
22
𝐴𝑛𝑠: Shortest dist = √ units; Area = √11 units 2
3

Solution

5
 Prepared by AwYeongZS

1.2 – PLANES IN THREE DIMENSIONS

1.2.1 – EQUATION OF A PLANE

Scalar Equation and Cartesian Equation of a Plane

1. A plane is an infinite two-dimensional surface. A plane is often denoted by the symbol Π or 𝑝.

2. Normal vector of a plane:

For each individual plane, there is one direction that is important, the direction normal to the plane. The
normal to a plane (a.k.a. the normal vector of a plane), n, uniquely defines the orientation of the plane and can
be obtained by taking the cross product of two vectors parallel to the plane (but not parallel to each other).
[Note: Normal vector of a plane is not unique, for if n is a normal vector, then 𝑘n (k is any non-zero real
number) is also a normal vector.]

𝑎
3. Suppose the normal to the plane is given as 𝐧 = (𝑏 ) and we know one point 𝐴(𝑝, 𝑞, 𝑟) in the plane. Using a
𝑐
general point 𝑅(𝑥, 𝑦, 𝑧) in the plane we can generate a vector ⃗⃗⃗⃗⃗
𝐴𝑅 in the plane, so it is perpendicular to n.

4. ⃗⃗⃗⃗⃗ = r – a it is clear that 𝐴𝑅

With 𝐴𝑅 ⃗⃗⃗⃗⃗ ⋅ 𝐧 = 0. Then (𝐫 − 𝐚) ⋅ 𝐧 = 0, which leads to the scalar equation of a plane
(a.k.a. scalar product form),
𝐫⋅𝐧=𝐚⋅𝐧

5. Using the scalar product leads to the Cartesian equation of a plane (a.k.a. Cartesian form),
𝑎𝑥 + 𝑏𝑦 + 𝑐𝑧 = 𝑑

where 𝑑 = 𝐚 ⋅ 𝐧.

6
 Prepared by AwYeongZS

Vector Equation of a Plane (a.k.a. parametric form)

6. Consider, relative to the origin, a position vector a of a point in the plane. Then consider two free vectors b and
c which are not parallel to each other but parallel to the plane.

7. The position vector r of a general point in the plane can be written as

𝐫 = 𝐚 + 𝜆𝐛 + 𝜇𝐜, 𝜆, 𝜇 ∈ ℝ

The above equation is called the vector equation of a plane.

The vectors b and c are known as the two direction vectors in the plane.

8. Finding the vector product (a.k.a. cross product) of the two direction vectors produces a common
perpendicular, a vector that is normal to the plane. From this we can find the Cartesian equation of the plane,
𝑎𝑥 + 𝑏𝑦 + 𝑐𝑧 = 𝑑.

Example 4 (Converting parametric form into scalar product form)

1 1 2
Express the plane 𝐫 = (2) + 𝜆 ( 0 ) + 𝜇 ( 1 ) , 𝜆, 𝜇 ∈ ℝ in scalar product form.
1 −2 −1
Solution
2
𝐴𝑛𝑠: 𝒓 ⋅ (−3) = −3
1

Exercise 1
Find the equation of plane in parametric, scalar product and Cartesian form in the following cases.
(a) Contains point (1, 2, 3) and with vectors 2i + j – k and 2j parallel to it
(b) Contains points (1, 2, 0), (2, 1, 4) and (−1, 0, 0)
(c) Contains point (2, 1, 3) and the line 𝑙: 𝐫 = 2𝐢 + 𝐣 + 𝜆(𝐢 + 2𝐤)
(d) Contains point (4, 1, −1) and has a normal 4i + 2j – 2k.

1
𝐴𝑛𝑠: (in Cartesian form) (a) 𝑥 + 2𝑧 = 7, (b) 𝑥 − 𝑦 − 𝑧 = −1, (c) 𝑦 = 1, (d) 2𝑥 + 𝑦 − 𝑧 = 10
2

7
 Prepared by AwYeongZS

1.2.2 – PLANE AND POINT

(I) Distance from a point P to the plane 𝚷

To find the distance between the point P and the plane Π, we can use the formula for the length of projection of
⃗⃗⃗⃗⃗⃗
𝑨𝑷 onto n, to get

⃗⃗⃗⃗⃗ ⋅𝐧|
|𝐴𝑃
Distance from point P to plane Π =
|𝐧|

Note: To find the point A, we merely need to seek (by trial and error) a triple (x, y, z) of real numbers which
satisfies the equation of plane 𝚷.

Alternative method:
The distance of the point 𝑃(𝑥0 , 𝑦0 , 𝑧0 ) from the plane 𝑎𝑥 + 𝑏𝑦 + 𝑐𝑧 = 𝑑 is given by

|𝑎𝑥0 + 𝑏𝑦0 + 𝑐𝑧0 − 𝑑|

√𝑎2 + 𝑏 2 + 𝑐 2

Example 5
The planes Π1 and Π2 have equations 𝐫 ⋅ (2𝐢 + 2𝐣 + 3𝐤) = 4 and 𝑥 + 3𝑦 + 2𝑧 = 5 respectively. The point 𝐴 has
position vector 2𝐢 + 2𝐣 + 𝐤.
7√17
(i) Find the perpendicular distance from the point A to the plane Π1 . (𝐴𝑛𝑠: units)
17
(ii) The plane Π3 is parallel to plane Π2 and passes through the point with position vector −𝐢 − 𝐣 + 𝐤. Find the
1
equation of the plane Π3 in the form r⋅n= 𝑑. [𝐴𝑛𝑠: 𝐫 ⋅ (3) = −2]
2
Solution

8
 Prepared by AwYeongZS

(II) Foot of perpendicular from a point 𝑷 to the plane 𝚷

Step 1: Let 𝐹 be the foot of perpendicular from 𝑃 to Π.

Step 2: 𝑙𝑃𝐹 : 𝐫 = ⃗⃗⃗⃗⃗

𝑂𝑃 + 𝜆𝐧

Step 3: 𝐹 is the point of intersection between 𝑙𝑃𝐹 and Π.

Π: 𝐫 ⋅ 𝐧 = 𝑑 ------------- (1)
𝑙𝑃𝐹 : 𝐫 = ⃗⃗⃗⃗⃗
𝑂𝑃 + 𝜆𝐧 ------- (2)
Substitute (2) into (1),
⃗⃗⃗⃗⃗ + 𝜆𝐧] ⋅ 𝐧 = 𝑑
[𝑂𝑃
Solving for 𝜆, 𝜆 = ___

Step 4: Substitute 𝜆 = ___ back into (2) to obtain ⃗⃗⃗⃗⃗

𝑂𝐹 .

(III) Reflection of a point 𝑷 in the plane 𝚷

Let 𝑃′ be the reflection of the point 𝑃 in the plane Π.

Using the fact the the foot of perpendicular 𝐹 is the midpoint of 𝑃 and 𝑃′, we have
1
⃗⃗⃗⃗⃗
𝑂𝐹 = (𝑂𝑃 ⃗⃗⃗⃗⃗ + ⃗⃗⃗⃗⃗⃗⃗
𝑂𝑃′)
2
⃗⃗⃗⃗⃗⃗⃗
𝑂𝑃′ = 2𝑂𝐹 ⃗⃗⃗⃗⃗ − ⃗⃗⃗⃗⃗
𝑂𝑃

9
 Prepared by AwYeongZS

1.2.3 – PLANE AND LINE

Relationship Between a Line and a Plane

Let the line be 𝑙: 𝐫 = 𝐚 + 𝜆𝐛 and the plane Π: 𝐫 ⋅ 𝐧 = 𝑑.
There are 3 possible relationships between a line and a plane.
1. Line is parallel to the plane (but not contained in the plane).

If the line is parallel to the plane, 𝒏 ⋅ 𝒃 = 0.

2. Line lies on the plane.

Criteria to check whether a line lies on a plane:

We can say that a line lies on the plane if either of the following criteria holds:
(a) 𝑙 is parallel to the plane AND intersects it. [In this case, there are infinitely many intersection points.]
OR
(b) Any 2 points on 𝑙 lies on the plane.
OR
(c) (𝒂 + 𝜆𝒃) ⋅ 𝒏 = 𝑑 for all values of 𝜆.

**Note: To show that a line which is parallel to the plane is not contained in the plane, we only need to
show that either one of the above criteria fails to hold.

3. Line intersects the plane (at one point).

If a line is not parallel to the plane, then the line must intersect the plane at a point.

10
 Prepared by AwYeongZS

Example 6
(a) The line l has equation 𝒓 = 𝒋 + 𝒌 + 𝜆(𝒊 − 2𝒋 + 𝒌), 𝜆 ∈ ℝ. The plane Π1 has equation 𝑥 + 2𝑦 + 3𝑧 = 5.
Show that the line l lies in the plane Π1 .
𝑦 1−𝑧
(b) The plane 𝑝1 has equation 2𝑥 + 𝑦 + 2𝑧 = 3. The line 𝑙1 has equation 𝑥 + 1 = = .
2 2
Show that the line is parallel to, but not contained in the plane 𝑝1 .
Solution

11
 Prepared by AwYeongZS

(IV) Point of intersection of a line and a plane

Let 𝑋 be the point of intersection of the line and plane.
We substitute the equation of line 𝑙 into the equation of plane Π, then solve for 𝜆.

After obtaining the value of 𝜆, we substitute back into the equation of line 𝑙 to get the position vector of the point of
intersection.

Example 7 (Finding point of intersection of a line and a plane)

1
𝑥−2 𝑦+3
A plane Π1 has equation 𝐫 ⋅ (2) = 6 and a line 𝐿1 has Cartesian equation given by = = 𝑧 + 4.
−1 2
5
Find an equation of the line 𝐿1 in the form 𝐫 = 𝐚 + 𝜆𝐛, 𝜆 ∈ ℝ, and the position vector of the point where 𝐿1 meets
the plane Π1 .
7
−
4
2 −1
⃗⃗⃗⃗ = 9
𝐴𝑛𝑠: 𝐿1 : 𝒓 = (−3) + 𝜆 ( 2 ) , 𝜆 ∈ ℝ; 𝑂𝐼
−4 1 2
1
(− 4 )
Solution

12
 Prepared by AwYeongZS

Example 8 (Finding foot of perpendicular from point to plane)

1
A plane Π has equation 𝐫 ⋅ (1) = 4.
4
(a) Find the position vector of the foot of the perpendicular from the point 𝐴(2, −1, 3) to Π.
(b) Hence, or otherwise, find the shortest distance of 𝐴 from Π.

3
2 3√2
𝐴𝑛𝑠: (a) (− 3), (b) units
2
2
1

Solution

13
 Prepared by AwYeongZS

(V) Reflection of a line about a plane

To obtain the reflected line 𝑙′, when line 𝑙 is reflected about the plane Π, we will need to
1. find the point of intersection, 𝑋, between line 𝑙 and plane Π,
2. obtain the reflected point 𝑃′ from reflecting point 𝑃 on line 𝑙 about plane Π,
3. Using the points 𝑃′ and 𝑋, form the equation of the line 𝑙′.

Example 9 (Finding equation of line reflected about a plane)

The points 𝑃 and 𝑄 have position vectors 2𝒊 − 𝒋 and 𝒊 + 2𝒋 + 5𝒌 respectively. The plane Π1 contains the point 𝑃
𝑥−1
and the line = −1 − 𝑧, 𝑦 = 1.
𝟐
(a) Find a scalar equation of the plane Π1 .
(b) Find the position vector of the foot of the perpendicular from 𝑄 to Π1 .
The line 𝑙1 passes through the points 𝑃 and 𝑄.
(c) The line 𝑙2 is the reflection of the line 𝑙1 about the plane Π1 . Find a vector equation of 𝑙2 .

25 137
− −
29 29
2 23 2 75
𝐴𝑛𝑠: (a) Π1 : 𝒓 ⋅ (3) = 1; (b) − ; (c) 𝑙2 : 𝒓 = (−1) + 𝜆 − ,𝜆 ∈ ℝ
4 29 0 29
37 71
( 29 ) ( − 29 )
Solution

14
 Prepared by AwYeongZS

(VI) Angle between a line and a plane

𝜃 is the acute angle between the line 𝑙 and the plane Π. Hence we can find 𝜙 by
|𝐧 ⋅ 𝐝|
cos 𝜙 =
|𝐧||𝐝|

𝜋 𝜋
Since 𝜃 + 𝜙 = , we have cos 𝜙 = cos ( − 𝜃) = sin 𝜃. Therefore,
2 2

|𝐧 ⋅ 𝐝|
sin 𝜃 =
|𝐧||𝐝|

Example 10 (Finding angle between line and plane)

The plane Π1 has equation 𝒓 ⋅ (𝒊 − 5𝒋 + 3𝒌) = 1. The line 𝑙1 passes through the points 𝐴 and 𝐵 with position
vectors −𝒊 + 2𝒋 + 3𝒌 and 2𝒋 + 5𝒌 respectively, and the point 𝐴 lies on Π1 .
(a) Find a vector equation of the line 𝑙1 .
(b) Find the acute angle between Π1 and 𝑙1 .

−1 1
𝐴𝑛𝑠: (𝑎) 𝑙1 : 𝒓 = ( 2 ) + 𝜆 (0) , 𝜆 ∈ ℝ; (𝑏) 31.9°
3 2
Solution

15
 Prepared by AwYeongZS

1.2.4 – PLANE AND PLANE

Relationship between Two Planes

Let the planes be Π1 : 𝒓 ⋅ 𝒏𝟏 = 𝑑1 and Π2 : 𝒓 ⋅ 𝒏𝟐 = 𝑑2 . The normals of the planes determine the orientation of the
planes.
There are 3 possible relationships between two planes.
1. Parallel Planes (but not coincident)

If two planes are parallel, their normals are scalar multiples of each other.
𝒏𝟏 = 𝑘𝒏𝟐 for some scalar 𝑘.
Distance between 2 Parallel Planes
Suppose the 2 parallel planes are of the form Π1 : 𝒓 ⋅ 𝒏 = 𝑑1 and Π2 : 𝒓 ⋅ 𝒏 = 𝑑2 , then the perpendicular
distance between the planes is
𝑑1 − 𝑑2
| |
|𝒏|
Note that the normals of the 2 planes must be made the same.

2. Coincident Planes
Two planes are coincident if they are the same plane.

3. Intersecting Planes
Two planes intersect if they have a line in common.
The diagram shows the two intersecting planes Π1 and Π2 with their normal vectors 𝒏𝟏 and 𝒏𝟐 respectively.

Finding the Equation of the Line of Intersection:

To find the equation of the line of intersection, we need its direction vector and a point on the line.
Step 1: Find the direction vector of line of intersection
The line l is parallel to the planes. Therefore l is perpendicular to both 𝒏𝟏 and 𝒏𝟐 .
In other words, l is parallel to 𝒏𝟏 × 𝒏𝟐 .
Therefore, we can take 𝒏𝟏 × 𝒏𝟐 as the direction vector of the line of intersection l.

16
 Prepared by AwYeongZS

Step 2: Find a point on the line of intersection

𝑥 𝑥 0
Let the position vector of a point on the line of intersection, 𝒓 = (𝑦) , (0) 𝑜𝑟 (𝑦).
0 𝑧 𝑧
Substitute into the two equations of the planes and solve for the two unknowns.

**Note:
Before we let the point on the line of intersection be (𝑥, 𝑦, 𝟎), we must first ensure that somewhere on the
line 𝑙 there must be a point where the z-coordinate actually is 0. We can ensure this by checking that the
direction vector of 𝒍 has a non-zero z-component.

The similar applies to the case when we let the point on the line of intersection be (𝑥, 0, 𝑧) or (0, 𝑦, 𝑧).

Example 11 (Distance between 2 parallel planes)

1 𝑎
Plane Π1 has the equation 𝐫 ⋅ (2) = 3 while plane Π2 has the equation 𝐫 ⋅ (4) = 𝑏.
4 8
Find the values of 𝑎 and 𝑏 such that Π1 and Π2 are parallel and at a distance of √21 apart.
[Hint: The normals of the two planes must be scalar multiples of each other.] (𝐴𝑛𝑠: 𝑎 = 2; 𝑏 = 48 or − 36)
Solution

17
 Prepared by AwYeongZS

Example 12
Two planes Π1 and Π2 are given by

(i) Show that point 𝐴(1, 1, 1) lies on Π2 , and find the perpendicular distance from 𝐴 to Π1 .
⃗⃗⃗⃗⃗ where 𝐵 is the image of 𝐴 when reflected in the plane Π1 .
(ii) Find 𝑂𝐵
(iii) Find a vector equation of the line of intersection of Π1 and Π2 .
(iv) Find a vector equation of the plane which is the image of Π2 when Π2 is reflected in Π1 .

7
3 23 20
2 11
𝐴𝑛𝑠: (i) √21; (ii) 3
; (iii) 𝑙: 𝒓 = (−5) + 𝜆 (−8) , 𝜆 ∈ ℝ;
3
13 0 1
−
(
3)

7 62
3 3
11 20 26
(iv) 𝒓 = + 𝜆 (−8) + 𝜇 − where 𝜆, 𝜇 ∈ ℝ
3 1 3
13 13
(− 3 ) ( 3 )
Solution

18
 Prepared by AwYeongZS

Angle between Two Planes

Looking at the side view of planes Π1 and Π2 , and using the scalar product, we have
|𝐧𝟏 ⋅ 𝒏𝟐 |
cos 𝜃 =
|𝐧𝟏 ||𝐧𝟐 |

Perpemdicular Planes
Two planes are perpendicular if and only if their normal vectors are perpendicular, i.e. 𝒏𝟏 ⋅ 𝒏𝟐 = 0.

19
 Prepared by AwYeongZS

1.3 – SHORTEST DISTANCE BETWEEN TWO SKEW LINES

1. Recall: Two lines are skew if they are not parallel, and they do not intersect.

2. Given two skew lines 𝑙1 and 𝑙2 , it is always possible to find two non-coincident parallel planes Π1 and Π2 such
that 𝑙1 is contained in Π1 , and 𝑙2 is contained in Π2 .

3. Picture one plane as the ‘floor’ and the other plane as the ‘ceiling’.

4. The shortest distance between the two skew lines 𝑙1 and 𝑙2 is actually just the distance between the parallel
planes Π1 and Π2 .

5. Suppose that the vector equations of the lines 𝑙1 and 𝑙2 are given as below:
𝑙1 : 𝐫 = 𝐚1 + 𝜆𝐛1
𝑙2 : 𝐫 = 𝐚2 + 𝜇𝐛2
Let points 𝐴1 and 𝐴2 have position vectors 𝐚1 and 𝐚2 respectively.

6. P is a point on 𝑙1 , and 𝑄 is a point on 𝑙2 , such that the direction ⃗⃗⃗⃗⃗

𝑃𝑄 is parallel to 𝐛1 × 𝐛2 . (That is, ⃗⃗⃗⃗⃗⃗
𝑷𝑸 is
⃗⃗⃗⃗⃗
parallel to the normal vector of both planes Π1 and Π2 .) We are looking for the distance |𝑃𝑄 |.

7. ⃗⃗⃗⃗⃗ | is actually just the length of projection of ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗

The distance |𝑃𝑄 𝑨𝟏 𝑨𝟐 onto the direction (𝐛1 × 𝐛2 ).
Hence, we have the formula:
⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
|𝐴 1 𝐴2 ⋅ (𝐛1 ×𝐛2 )|
⃗⃗⃗⃗⃗ | =
Shortest distance between 𝑙1 and 𝑙2 = |𝑃𝑄
|𝐛1 ×𝐛2 |

8. Below is a summary of the steps to perform when finding the shortest distance between two skew lines 𝑙1 and 𝑙2 .
Step 1: Find a vector perpendicular to both lines, that is, 𝐛1 × 𝐛2 .
⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
Step 2: Find a vector connecting a point on 𝑙1 to a point on 𝑙2 , for example, 𝐴 1 𝐴2 .
⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
Step 3: Find the length of projection of 𝐴1 𝐴2 onto the direction (𝐛1 × 𝐛2 ). This gives the required shortest
distance between the two skew lines.

20
 Prepared by AwYeongZS

Example 13 (CIE 2014s11/11)

The line 𝑙1 passes through the points 𝐴(2, 3, −5) and 𝐵(8, 7, −13).
The line 𝑙2 passes through the points 𝐶(−2, 1, 8) and 𝐷(3, −1, 4).
Find the shortest distance between the lines 𝑙1 and 𝑙2 . [5]
16
(𝐴𝑛𝑠: units)
3
Solution

21
 Prepared by AwYeongZS

Example 14 (CIE 2019s11/3)

The lines 𝑙1 and 𝑙2 have equations 𝐫 = 6𝐢 + 2𝐣 + 7𝐤 + 𝜆(𝐢 + 𝐣) and 𝐫 = 4𝐢 + 4𝐣 + 𝜇(−6𝐣 + 𝐤) respectively.
The point 𝑃 on 𝑙1 and the point 𝑄 on 𝑙2 are such that 𝑃𝑄 is perpendicular to both 𝑙1 and 𝑙2 .
Find the position vectors of 𝑃 and 𝑄. [8]
[Hint: Using dot product, form two equations in terms of 𝜆 and 𝜇. Then solve the simultaneous equations.]
3 4
𝐴𝑛𝑠: ⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗ = (−2)
𝑂𝑃 = (−1) , 𝑂𝑄
7 1
Solution

******** END OF SECTION I ********

22
 Prepared by AwYeongZS

TUTORIAL 1 (FP1)

CHAPTER 1: VECTORS

Section II – Past Year Questions

Q1. 2009s1/11

Q2. 2013s13/11E

Q3. 2013w11/8

Q4. 2013w13/8

23
 Prepared by AwYeongZS

Q5. 2016s13/11O

Q6. 2018s11/10

Q7. 2020s11/5

Q8. 2020s13/7

24
 Prepared by AwYeongZS

Q9. 2020w12/7

Q10. 2021s11/6

Q11. 2021s13/6

25