VECTORS II

Dr. Gabriel Obed Fosu

Department of Mathematics
Kwame Nkrumah University of Science and Technology
Google Scholar: https://scholar.google.com/citations?user=ZJfCMyQAAAAJ&hl=en&oi=ao
ResearchGate ID: https://www.researchgate.net/profile/Gabriel_Fosu2

Dr. Gabby (KNUST-Maths) Vectors 1 / 37

Lecture Outline

1 Vector Product
Cross product in R3
Triple Product

2 Applications of Vector Products

3 Equation of Lines and Planes

Equation of lines
Equation of Planes

Dr. Gabby (KNUST-Maths) Vectors 2 / 37

 Vector Product

Outline of Presentation

1 Vector Product
Cross product in R3
Triple Product

2 Applications of Vector Products

3 Equation of Lines and Planes

Equation of lines
Equation of Planes

Dr. Gabby (KNUST-Maths) Vectors 3 / 37

 Vector Product Cross product in R3

Cross Product

Definition
The cross product of two vectors u = [u 1 , u 2 , u 3 ] and v = [v 1 , v 2 , v 3 ] in R3 is the vector
denoted u × v and defined by

u × v = [u 2 v 3 − u 3 v 2 ]i + [u 3 v 1 − u 1 v 3 ]j + [u 1 v 2 − u 2 v 1 ]k (1)

u × v is also called the vector product or outer product.

Dr. Gabby (KNUST-Maths) Vectors 4 / 37

 Vector Product Cross product in R3

Alternative 1 for Cross Product

An easy way to remember the components of u × v is to consider the three vectors i, j, k
and three consecutive elements of the sequence 1, 2, 3, 1, 2.
1 We have 123, 231 and 312.
2 The first element points to the position of a basis vector.
The second and third elements indicate the indices of the components of u and v used to
calculate the coefficients.

u × v = [u 2 v 3 − u 3 v 2 ]i + [u 3 v 1 − u 1 v 3 ]j + [u 1 v 2 − u 2 v 1 ]k (2)

For instance:
1 in 123, 1 points to i and 2, 3 yield [u 2 v 3 − u 3 v 2 ];
2 in 231, 2 points to j and 3, 1 yield [u 3 v 1 − u 1 v 3 ]; and
3 in 312, 3 points to k and 1, 2 yield [u 1 v 2 − u 2 v 1 ].

Dr. Gabby (KNUST-Maths) Vectors 5 / 37

 Vector Product Cross product in R3

Alternative 2 for Cross Product

Definition
The determinant of order two is defined by
¯ ¯
¯a b ¯¯
¯
¯c = ad − bc (3)
d¯

and the cross product can be written as follows

¯ ¯
¯i j k ¯¯ ¯¯ ¯ ¯ ¯ ¯ ¯
u u 3 ¯¯ ¯¯u 1 u 3 ¯¯ ¯¯u 1 u 2 ¯¯
u 3 ¯¯ = ¯¯ 2
¯
u × v = ¯¯u 1 u2 i− j+ k (4)
¯v v2 v3 ¯ ¯v1 v3 ¯ ¯v1 v2 ¯
1 v2 v3 ¯
= (u 2 v 3 − u 3 v 2 )i + (u 3 v 1 − u 1 v 3 )j + (u 1 v 2 − u 2 v 1 )k (5)

Dr. Gabby (KNUST-Maths) Vectors 6 / 37

 Vector Product Cross product in R3

Example
Find u × v where
1 u = [4, 3, 6] and v = [2, 5, −3].
2 u = 2i − j + 3k and v = −i + 2j + 4k,

Dr. Gabby (KNUST-Maths) Vectors 7 / 37

 Vector Product Cross product in R3

Example
Find u × v where
1 u = [4, 3, 6] and v = [2, 5, −3].
2 u = 2i − j + 3k and v = −i + 2j + 4k,

1
¯ ¯
¯i j k ¯¯
¯
u × v = ¯¯4 3 6 ¯¯ (6)
¯2 5 −3¯
= −39i + 24j + 14k (7)
= [−39, 24, 14] (8)

Dr. Gabby (KNUST-Maths) Vectors 7 / 37

 Vector Product Cross product in R3

Example
Find u × v where
1 u = [4, 3, 6] and v = [2, 5, −3].
2 u = 2i − j + 3k and v = −i + 2j + 4k,

1 2
¯ ¯ ¯ ¯
¯i j k ¯¯ ¯ i j k ¯¯
¯ ¯
u × v = ¯¯4 3 6 ¯¯ (6) u × v = ¯¯ 2 −1 3 ¯¯ (9)
¯2 5 −3¯ ¯−1 2 4 ¯

= −39i + 24j + 14k (7) = −10i − 11j + 3k. (10)

= [−39, 24, 14] (8)

Dr. Gabby (KNUST-Maths) Vectors 7 / 37

 Vector Product Cross product in R3

Properties of Cross Product

1 Cross product is not commutative

u × v ̸= v × u rather u × v = −v × u (11)

Dr. Gabby (KNUST-Maths) Vectors 8 / 37

 Vector Product Cross product in R3

Properties of Cross Product

1 Cross product is not commutative

u × v ̸= v × u rather u × v = −v × u (11)

2 The associative law for multiplication does not usually hold; that is,

[u × v] × w ̸= u × [v × w] (12)

Dr. Gabby (KNUST-Maths) Vectors 8 / 37

 Vector Product Cross product in R3

Properties of Cross Product

1 Cross product is not commutative

u × v ̸= v × u rather u × v = −v × u (11)

2 The associative law for multiplication does not usually hold; that is,

[u × v] × w ̸= u × [v × w] (12)

3 u × [v + w] = u × v + u × w.

Dr. Gabby (KNUST-Maths) Vectors 8 / 37

 Vector Product Cross product in R3

Properties of Cross Product

1 Cross product is not commutative

u × v ̸= v × u rather u × v = −v × u (11)

2 The associative law for multiplication does not usually hold; that is,

[u × v] × w ̸= u × [v × w] (12)

3 u × [v + w] = u × v + u × w.
4 u × [kv] = ku × v where k ∈ R.

Dr. Gabby (KNUST-Maths) Vectors 8 / 37

 Vector Product Cross product in R3

Properties of Cross Product

1 Cross product is not commutative

u × v ̸= v × u rather u × v = −v × u (11)

2 The associative law for multiplication does not usually hold; that is,

[u × v] × w ̸= u × [v × w] (12)

3 u × [v + w] = u × v + u × w.
4 u × [kv] = ku × v where k ∈ R.
5 w·[u × v] = v·[w × u] = u·[v × w].

Dr. Gabby (KNUST-Maths) Vectors 8 / 37

 Vector Product Cross product in R3

Properties of Cross Product

1 Cross product is not commutative

u × v ̸= v × u rather u × v = −v × u (11)

2 The associative law for multiplication does not usually hold; that is,

[u × v] × w ̸= u × [v × w] (12)

3 u × [v + w] = u × v + u × w.
4 u × [kv] = ku × v where k ∈ R.
5 w·[u × v] = v·[w × u] = u·[v × w].
6 ∥u × v∥ = ∥u∥∥v∥ sin θ where θ is the internal angle between the directions of u and v.

Dr. Gabby (KNUST-Maths) Vectors 8 / 37

 Vector Product Cross product in R3

Exercise
1 Show that

i × i = 0, j × i = −k, k × i = j,
i × j = k, j × j = 0, k × j = −i
i × k = −j, j × k = i, k × k = 0.

2 Find u × v where
1 u = [1, −1, 1] and v = [2, 1, 0],
2 u = i + j cos θ + k sin θ and v = i − j sin θ + k cos θ.

Dr. Gabby (KNUST-Maths) Vectors 9 / 37

 Vector Product Triple Product

Triple Product

Definition (Triple Product)

The product u · [v × w] is called the scalar triple product of the vectors u, v and w. We can
write the scalar triple product as a determinant:
¯ ¯
¯ u1 u2 u 3 ¯¯
¯
u · [v × w] = ¯¯ v 1 v2 v 3 ¯¯ (13)
¯w w2 w3¯
1

Dr. Gabby (KNUST-Maths) Vectors 10 / 37

 Vector Product Triple Product

Triple Product

Definition (Triple Product)

The product u · [v × w] is called the scalar triple product of the vectors u, v and w. We can
write the scalar triple product as a determinant:
¯ ¯
¯ u1 u2 u 3 ¯¯
¯
u · [v × w] = ¯¯ v 1 v2 v 3 ¯¯ (13)
¯w w2 w3¯
1

Definition (Right-Handed System)

Three vectors u, v and w [in the given order] are said to constitute a right-handed system if
the scalar triple product
u · [v × w] > 0 (14)

Dr. Gabby (KNUST-Maths) Vectors 10 / 37

 Vector Product Triple Product

Definition (Left-Handed System)

Three vectors u, v and w [in the given order] are said to constitute a left-handed system if
the scalar triple product
u · [v × w] < 0 (15)

Dr. Gabby (KNUST-Maths) Vectors 11 / 37

 Vector Product Triple Product

Definition (Left-Handed System)

Three vectors u, v and w [in the given order] are said to constitute a left-handed system if
the scalar triple product
u · [v × w] < 0 (15)

Linearly Dependent Vectors

The vectors u, v and w are linearly dependent or coplanar (lie in the same plane) if and
only if
u · [v × w] = 0 (16)
These vectors are linearly independent or non-coplanar if and only if

u · [v × w] ̸= 0 (17)

Dr. Gabby (KNUST-Maths) Vectors 11 / 37

 Applications of Vector Products

Outline of Presentation

1 Vector Product
Cross product in R3
Triple Product

2 Applications of Vector Products

3 Equation of Lines and Planes

Equation of lines
Equation of Planes

Dr. Gabby (KNUST-Maths) Vectors 12 / 37

 Applications of Vector Products

Area and Volume

Area of the parallelogram

The area of the parallelogram formed by u and v u
is given by
∥u × v∥ (18)
v
u and v are collinear (lie on the same line) or
linearly dependent if u × v = 0.

Two vectors or collinear if one is a scalar multiple of the other. Example [2, 1] and [6, 3]
are collinear

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 Applications of Vector Products

Area and Volumes

Paralellepiped is a three-dimensional shape whose faces are all parallelograms.

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 Applications of Vector Products

Area and Volumes

Paralellepiped is a three-dimensional shape whose faces are all parallelograms.

Volume of the paralellepiped

The volume of the paralellepiped formed by u, v
and w is
Vp = ∥u·[v × w]∥ (19)

Dr. Gabby (KNUST-Maths) Vectors 14 / 37

 Applications of Vector Products

Area and Volumes

Tetrahedron is a solid having four plane triangular faces; that is a triangular pyramid.

Dr. Gabby (KNUST-Maths) Vectors 15 / 37

 Applications of Vector Products

Area and Volumes

Tetrahedron is a solid having four plane triangular faces; that is a triangular pyramid.

Volume of a tetrahedron
The volume of the tetrahedron formed by u, v and
w is
1
Vt = ∥u·[v × w]∥ (20)
6

Dr. Gabby (KNUST-Maths) Vectors 15 / 37

 Applications of Vector Products

Example
Use the scalar triple product to show that the vectors u = [1, 4, −7], v = [2, −1, 4], w = [0, −9, 18]
are coplanar.

Dr. Gabby (KNUST-Maths) Vectors 16 / 37

 Applications of Vector Products

Example
Use the scalar triple product to show that the vectors u = [1, 4, −7], v = [2, −1, 4], w = [0, −9, 18]
are coplanar.

¯ ¯
¯1 4 −7¯
¯ ¯
u · [v × w] = ¯¯2 −1 4 ¯¯ (21)
¯0 −9 18 ¯
¯ ¯ ¯ ¯ ¯ ¯
¯−1 4 ¯ ¯2 4 ¯ ¯2 −1¯
= 1¯ ¯ ¯ −4¯¯ ¯ −7¯
¯ ¯ (22)
−9 18¯ 0 18¯ 0 −9¯
= 1(18) − 4(36) − 7(−18) (23)
=0 (24)

This means that u, v and w are coplanar.

Dr. Gabby (KNUST-Maths) Vectors 16 / 37

 Applications of Vector Products

Exercise
1 Let u = [u 1 , u 2 , u 3 ], v = [v 1 , v 2 , v 3 ] and w = [w 1 , w 2 , w 3 ] be three nonzero vectors.
a. Express w·[u × v] in terms of their coordinates.
b. Show that u × v is perpendicular to u and v.
2 Find a unit vector perpendicular to the plane that passes through the points P =
(1, 4, 6),Q = (−2, 5, −1) and R = (1, −1, 1) and compute the area of the triangle PQR.

Dr. Gabby (KNUST-Maths) Vectors 17 / 37

 Equation of Lines and Planes

Outline of Presentation

1 Vector Product
Cross product in R3
Triple Product

2 Applications of Vector Products

3 Equation of Lines and Planes

Equation of lines
Equation of Planes

Dr. Gabby (KNUST-Maths) Vectors 18 / 37

 Equation of Lines and Planes Equation of lines

Vector equation of lines

1 A line in the 2D plane can be determined by a point on the line and slope (direction
of the line). Similarly, a line L in the 3D space is determined a point P o (x o , y o , z o ) on L
and the direction of L .
2 In the 3D space the direction of a line is conveniently described by a vector, so we let
v = [a, b, c] be a vector parallel to L .
1 Let P (x, y, z) be an arbitrary point on L and let r o =
[x o , y o , z o ] and r = [x, y, z] be the position vectors
of P o and P
−−→
2 If a is the vector P o P , then the Triangle Law for
vector addition

r = ro + a =⇒ r = ro + t v (25)

Eqn. (25) is the vector equation of L

Dr. Gabby (KNUST-Maths) Vectors 19 / 37
 Equation of Lines and Planes Equation of lines

Parametric Equation of L
1 The vector equation of L in component form is

r = ro + t v (26)
[x, y, z] = [x o , y o , z o ] + [t a, t b, t c] (27)
[x, y, z] = [x o + t a, y o + t b, z o + t c] (28)

Dr. Gabby (KNUST-Maths) Vectors 20 / 37

 Equation of Lines and Planes Equation of lines

Parametric Equation of L
1 The vector equation of L in component form is

r = ro + t v (26)
[x, y, z] = [x o , y o , z o ] + [t a, t b, t c] (27)
[x, y, z] = [x o + t a, y o + t b, z o + t c] (28)

2 Two vectors are equal if and only if corresponding components are equal. Thus

x = x o + t a, y = y o + t b, z = zo + t c (29)
3 These equations (29) are called parametric equations of the line L through the point
P o and parallel to the vector v .
4 Each value of the parameter t gives a point (x, y, z) on L .
Dr. Gabby (KNUST-Maths) Vectors 20 / 37
 Equation of Lines and Planes Equation of lines

Example
1 Find a vector equation and parametric equations for the line that passes through the
point (5, 1, 3) and is parallel to the vector i + 4 j − 2k .
2 Find two other points on the line.

Dr. Gabby (KNUST-Maths) Vectors 21 / 37

 Equation of Lines and Planes Equation of lines

Example
1 Find a vector equation and parametric equations for the line that passes through the
point (5, 1, 3) and is parallel to the vector i + 4 j − 2k .
2 Find two other points on the line.

1 ro = [5, 1, 3] = 5i + j + 3k and v = i + 4 j − 2k , so the vector equation is

r = [5i + j + 3k] + t [i + 4 j − 2k]

The parametric equations are

x = 5+ t, y = 1 + 4t , z = 3 − 2t

Dr. Gabby (KNUST-Maths) Vectors 21 / 37

 Equation of Lines and Planes Equation of lines

Example
1 Find a vector equation and parametric equations for the line that passes through the
point (5, 1, 3) and is parallel to the vector i + 4 j − 2k .
2 Find two other points on the line.

1 ro = [5, 1, 3] = 5i + j + 3k and v = i + 4 j − 2k , so the vector equation is

r = [5i + j + 3k] + t [i + 4 j − 2k]

The parametric equations are

x = 5+ t, y = 1 + 4t , z = 3 − 2t

2 Choosing the parameter value t = 1 gives the point (6, 5, 1) is a point on the line.
Similarly, t = −1 gives the point (4, −3, 5).
Dr. Gabby (KNUST-Maths) Vectors 21 / 37
 Equation of Lines and Planes Equation of lines

1 The vector equation and parametric equations of a line are not unique. If we change
the point or the parameter or choose a different parallel vector, then the equations
change.

Dr. Gabby (KNUST-Maths) Vectors 22 / 37

 Equation of Lines and Planes Equation of lines

1 The vector equation and parametric equations of a line are not unique. If we change
the point or the parameter or choose a different parallel vector, then the equations
change.
2 For instance, if, instead of (5, 1, 3), we choose the point (6, 5, 1) in above, then the
parametric equations of the line become
x = 6+ t, y = 5 + 4t , z = 1 − 2t (30)

Dr. Gabby (KNUST-Maths) Vectors 22 / 37

 Equation of Lines and Planes Equation of lines

1 The vector equation and parametric equations of a line are not unique. If we change
the point or the parameter or choose a different parallel vector, then the equations
change.
2 For instance, if, instead of (5, 1, 3), we choose the point (6, 5, 1) in above, then the
parametric equations of the line become
x = 6+ t, y = 5 + 4t , z = 1 − 2t (30)

3 Or, if we stay with the point (5, 1, 3) but choose the parallel vector 2i + 8 j − 4k , we arrive
at the equations
x = 5 + 2t , y = 1 + 8t , z = 3 − 4t (31)

Dr. Gabby (KNUST-Maths) Vectors 22 / 37

 Equation of Lines and Planes Equation of lines

1 The vector equation and parametric equations of a line are not unique. If we change
the point or the parameter or choose a different parallel vector, then the equations
change.
2 For instance, if, instead of (5, 1, 3), we choose the point (6, 5, 1) in above, then the
parametric equations of the line become
x = 6+ t, y = 5 + 4t , z = 1 − 2t (30)

3 Or, if we stay with the point (5, 1, 3) but choose the parallel vector 2i + 8 j − 4k , we arrive
at the equations
x = 5 + 2t , y = 1 + 8t , z = 3 − 4t (31)

4 In general, if a vector v = [a, b, c] is used to describe the direction of a line L , then the
numbers a, b, and c are called direction numbers of L.

Dr. Gabby (KNUST-Maths) Vectors 22 / 37

 Equation of Lines and Planes Equation of lines

1 The vector equation and parametric equations of a line are not unique. If we change
the point or the parameter or choose a different parallel vector, then the equations
change.
2 For instance, if, instead of (5, 1, 3), we choose the point (6, 5, 1) in above, then the
parametric equations of the line become
x = 6+ t, y = 5 + 4t , z = 1 − 2t (30)

3 Or, if we stay with the point (5, 1, 3) but choose the parallel vector 2i + 8 j − 4k , we arrive
at the equations
x = 5 + 2t , y = 1 + 8t , z = 3 − 4t (31)

4 In general, if a vector v = [a, b, c] is used to describe the direction of a line L , then the
numbers a, b, and c are called direction numbers of L.
5 Since any vector parallel to v could also be used, we see that any three numbers
proportional to a, b, and c could also be used as a set of direction numbers for L.
Dr. Gabby (KNUST-Maths) Vectors 22 / 37
 Equation of Lines and Planes Equation of lines

Symmetric Equations of L
1 Another way of describing a line L is to eliminate the parameter t from x = x o +t a, y =
y o + t b, z = z o + t c . If none of a, b, or c is 0, we can solve each of these equations for
t:
x − xo y − yo z − zo
t= , t= , t= (32)
a b c
Equating the results, we obtain

x − xo y − y o z − zo
= = (33)
a b c

These equations (33) are called symmetric equations of L.

Dr. Gabby (KNUST-Maths) Vectors 23 / 37

 Equation of Lines and Planes Equation of lines

Symmetric Equations of L
1 Another way of describing a line L is to eliminate the parameter t from x = x o +t a, y =
y o + t b, z = z o + t c . If none of a, b, or c is 0, we can solve each of these equations for
t:
x − xo y − yo z − zo
t= , t= , t= (32)
a b c
Equating the results, we obtain

x − xo y − y o z − zo
= = (33)
a b c

These equations (33) are called symmetric equations of L.

2 If one of a, b, or c is 0, we can still eliminate t . For instance, if a = 0 we could write the
equations of L as
y − y o z − zo
x = xo , = (34)
b c
This means that L lies in the vertical plane x = x o .
Dr. Gabby (KNUST-Maths) Vectors 23 / 37
 Equation of Lines and Planes Equation of Planes

Equation of Planes
1 Although a line in space is determined by a point and a direction, a plane in space is
more difficult to describe.
2 A single vector parallel to a plane is not enough to convey the ‘direction’ of the plane,
but a vector perpendicular to the plane does completely specify its direction.
1 Thus a plane in space is determined by a point
P o (x o , y o , z o ) in the plane and a vector n that is
orthogonal to the plane.
2 This orthogonal vector n is called a normal vector.
3 Let P (x, y, z) be an arbitrary point in the plane, and let
ro and r be the position vectors of P o and P . Then the
−−→
vector r − ro is represented by P o P

Dr. Gabby (KNUST-Maths) Vectors 24 / 37

 Equation of Lines and Planes Equation of Planes

1 The normal vector n is orthogonal to every vector in the given plane. In particular, n is
orthogonal to r − ro and so we have

n · [r − ro ] = 0 =⇒ n · r = n · ro (35)
2 Expanded as

n · [r − ro ] = 0 (36)
[a, b, c] · [x − x o , y − y o , z − z o ] = 0 (37)

The scalar equation of the plane through the point P o (x o , y o , z o ) with the normal vector
n = [a, b, c] is

a(x − x o ) + b(y − y o ) + c(z − z o ) = 0 (38)

Dr. Gabby (KNUST-Maths) Vectors 25 / 37

 Equation of Lines and Planes Equation of Planes

Example
Find an equation of the plane through the point (2, 4, −1) with normal vector n = [2, 3, 4]. Find
the intercepts and sketch the plane.

Dr. Gabby (KNUST-Maths) Vectors 26 / 37

 Equation of Lines and Planes Equation of Planes

Example
Find an equation of the plane through the point (2, 4, −1) with normal vector n = [2, 3, 4]. Find
the intercepts and sketch the plane.

We first compute the scalar equation of the plane:

a(x − x o ) + b(y − y o ) + c(z − z o )= 0 (39)
2(x − 2) + 3(y − 4) + 4(z + 1) = 0 (40)
2x + 3y + 4z= 12 (41)

Dr. Gabby (KNUST-Maths) Vectors 26 / 37

 Equation of Lines and Planes Equation of Planes

Example
Find an equation of the plane through the point (2, 4, −1) with normal vector n = [2, 3, 4]. Find
the intercepts and sketch the plane.

We first compute the scalar equation of the plane:

a(x − x o ) + b(y − y o ) + c(z − z o )= 0 (39)
2(x − 2) + 3(y − 4) + 4(z + 1) = 0 (40)
2x + 3y + 4z= 12 (41)

To find the x-intercept we set y = 0, z =

0 in this equation and obtain x = 6.
Similarly, the y-intercept is 4 and the z-
intercept is 3.

Dr. Gabby (KNUST-Maths) Vectors 26 / 37

 Equation of Lines and Planes Equation of Planes

Example
Find an equation of the plane through the point (2, 4, −1) with normal vector n = [2, 3, 4]. Find
the intercepts and sketch the plane.

We first compute the scalar equation of the plane:

a(x − x o ) + b(y − y o ) + c(z − z o )= 0 (39)
2(x − 2) + 3(y − 4) + 4(z + 1) = 0 (40)
2x + 3y + 4z= 12 (41)

To find the x-intercept we set y = 0, z =

0 in this equation and obtain x = 6.
Similarly, the y-intercept is 4 and the z-
intercept is 3.

Dr. Gabby (KNUST-Maths) Vectors 26 / 37

 Equation of Lines and Planes Equation of Planes

Angle Between Two Planes

Two planes are parallel if their normal vectors are parallel. For instance, the planes x +2y −
3z = 4 and 2x + 4y − 6z = 3 are parallel because their normal vectors are n1 = [1, 2, −3] and
n2 = [2, 4, −6] and n2 = 2n1 .

Dr. Gabby (KNUST-Maths) Vectors 27 / 37

 Equation of Lines and Planes Equation of Planes

Angle Between Two Planes

Two planes are parallel if their normal vectors are parallel. For instance, the planes x +2y −
3z = 4 and 2x + 4y − 6z = 3 are parallel because their normal vectors are n1 = [1, 2, −3] and
n2 = [2, 4, −6] and n2 = 2n1 .

If two planes are not parallel, then they

intersect in a straight line and the angle
between the two planes is defined as the
acute angle between their normal vectors.
Thus
n1 · n2
cos θ = (42)
||n1 ||||n2 ||

Dr. Gabby (KNUST-Maths) Vectors 27 / 37

 Equation of Lines and Planes Equation of Planes

Distance from a Point to a Plane

The distance D from a point P 1 = (x 1 , y 1 , z 1 ) to the plane ax + b y + c z + d = 0 is

|ax 1 + b y 1 + cz 1 + d |
D= p (43)
a2 + b2 + c 2

Dr. Gabby (KNUST-Maths) Vectors 28 / 37

 Equation of Lines and Planes Equation of Planes

Example
1 Find parametric equations and symmetric equations of the line that passes through
the points A = (2, 4, −3) and B = (3, −1, 1).
2 At what point does this line intersect the xy-plane?

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 Equation of Lines and Planes Equation of Planes

Example
1 Find parametric equations and symmetric equations of the line that passes through
the points A = (2, 4, −3) and B = (3, −1, 1).
2 At what point does this line intersect the xy-plane?

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 Equation of Lines and Planes Equation of Planes

Example
1 Find parametric equations and symmetric equations of the line that passes through
the points A = (2, 4, −3) and B = (3, −1, 1).
2 At what point does this line intersect the xy-plane?

We first find the vector v. Here, we are not explicitly given

a vector parallel to the line, but observe that the vector v
−→
with representation AB is parallel to the line.
−→ −−→ −−→
v = AB = OB − O A (44)
= [3, −1, 1] − [2, 4, −3] (45)
= [1, −5, 4] (46)

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 Equation of Lines and Planes Equation of Planes

So v = [a, b, c] = [1, −5, 4] and taking the point P o as (2, 4, −3), then

parametric equations are

x = x o + t a, y = y o + t b, z = zo + t c (47)
x = 2+ t, y = 4 − 5t , z = −3 + 4t (48)

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 Equation of Lines and Planes Equation of Planes

So v = [a, b, c] = [1, −5, 4] and taking the point P o as (2, 4, −3), then

parametric equations are

x = x o + t a, y = y o + t b, z = zo + t c (47)
x = 2+ t, y = 4 − 5t , z = −3 + 4t (48)

symmetric equations

x − xo y − y o z − zo
= = (49)
a b c
x −2 y −4 z +3
= = (50)
1 −5 4

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 Equation of Lines and Planes Equation of Planes

2. The line intersects the xy-plane when z = 0 in the symmetric equations and obtain
x −2 y −4 3
= = (51)
1 −5 4
Thus
3 11
x −2 =
=⇒ x = (52)
4 4
y −4 3 1
= =⇒ y = (53)
−5 4 4
µ ¶
11 1
so the line intersects the xy-plane at the point , ,0
4 4

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 Equation of Lines and Planes Equation of Planes

Example
Find an equation of the plane that passes through the points P = (1, 3, 2), Q = (3, −1, 6), R =
(5, 2, 0)

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 Equation of Lines and Planes Equation of Planes

Example
Find an equation of the plane that passes through the points P = (1, 3, 2), Q = (3, −1, 6), R =
(5, 2, 0)

−−→
Let the vectors a and b corresponding to PQ and
−→
P R that is

a = [2, −4, 4], b = [4, −1, −2]

Since both a and b lie in the plane, their cross

product a × b is orthogonal to the plane and can
be taken as the normal vector.

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 Equation of Lines and Planes Equation of Planes

Example
Find an equation of the plane that passes through the points P = (1, 3, 2), Q = (3, −1, 6), R =
(5, 2, 0)

−−→
Let the vectors a and b corresponding to PQ and
−→
P R that is

a = [2, −4, 4], b = [4, −1, −2]

Since both a and b lie in the plane, their cross

product a × b is orthogonal to the plane and can
be taken as the normal vector.
Thus ¯ ¯
¯i j k ¯¯
¯
n = a × b = ¯¯2 −4 4 ¯¯ = 20i + 20 j + 14k (54)
¯4 −1 −2¯

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 Equation of Lines and Planes Equation of Planes

With the point P = (1, 3, 2) and the normal vector n, an equation of the plane is

12(x − 1) + 20(y − 3) + 14(z − 2) = 0 (55)

or
6x + 10y + 7z = 50 (56)

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 Equation of Lines and Planes Equation of Planes

Example
Find the point at which the line with parametric equations x = 2 + 3t , y = −4t , z = 5 + t
intersect the plane 4x + 5y − 2z = 18.

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 Equation of Lines and Planes Equation of Planes

Example
Find the point at which the line with parametric equations x = 2 + 3t , y = −4t , z = 5 + t
intersect the plane 4x + 5y − 2z = 18.

We substitute the expressions for x, y, and z from the parametric equations into the
equation of the plane:

4(2 + 3t ) + 5(−4t ) − 2(5 + t ) = 18 =⇒ t = −2 (57)

Therefore the point of intersection occurs when the parameter value is t = −2. Then

x = 2 + 3(−2) = −4, y = −4(−2) = 8, z = 5−2 = 7 (58)

so the point of intersection is (−4, 8, 3).

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 Equation of Lines and Planes Equation of Planes

Example
Find the angle between the planes x + y + z = 1 and x − 2y + 3z = 1

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 Equation of Lines and Planes Equation of Planes

Example
Find the angle between the planes x + y + z = 1 and x − 2y + 3z = 1

The normal vectors of these planes are n1 = [1, 1, 1] and n2 = [1, −2, 3] so
n1 · n2
cos θ = (59)
||n1 ||||n2 ||
1[1] + 1[−2] + 1[3]
= p p (60)
3 14
2
=p (61)
42
· ¸
2
θ = cos−1 p (62)
42
= 72ř (63)

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 Equation of Lines and Planes Equation of Planes

Exercise
1 Find the parametric equations of the line L that passes through the point A = (−1, 2, 1)
and parallel to the vector i + j − k.
2 Find out if the following points belong to L : B = (0, 3, 0), C = (1, 1, 1), D = (−2, 1, 2).
3 If L ′ is a line with parametric equation x = 1 + 2s, y = 3, z = −2 + s, show that L and L ′
are not parallel and do not intercept. (They are skew lines.)
4 Show that the planes P : 2x + 2y − z − 10 = 0 and P ′ : 23 x − y + z = 0 are perpendicular.
5 Find the angle of intersection between the two planes P : 2x + 3y + 4z = 5 and P ′ :
2x − 6y − 3z = 0.
p
6 Find the component of the force F = 2i − j + 2k in the direction of n = i + j + k 2.

Dr. Gabby (KNUST-Maths) Vectors 36 / 37

 END OF LECTURE
THANK YOU

Dr. Gabby (KNUST-Maths) Vectors 37 / 37