The University of Sydney

School of Mathematics and Statistics

Solutions to Tutorial Sheet, Week 3

MATH1014: Introduction to Linear Algebra Semester 2, 2021

Topics covered and aims

In lectures this week:

 Equations of lines in R2 and R3 (vector form and Cartesian form).
 Planes in R3 , and normal vectors to planes.
 Equation of planes in R3 .
After completing this tutorial sheet you will be able to:
 understand the parametric vector equation and the Caresian equations of a line in R2 and R3 ;
 find the equation of a line given a point on the line and a vector in the direction of the line;
 find the equation of a line given two points on the line;
 find a vector parallel to a given line;
 find the equation of a plane given a point on the plane and a normal vector to the plane;
 find the equation of a plane given three points on the plane (using the cross product);
 find a normal vector to a given plane.

Statement of main definitions and theorems covered:

Cartesian equation of a line in R2 : The Cartesian equation of a line in R2 with gradient

m and y-intercept b is
y = mx + b.

Vector equation of a line in R2 or R3 : The vector parametric equation of the line passing
through a point A and parallel to a vector v is

x = a + tv (t ∈ R),
−→ −−→
where a = OA is the position vector of A and x = OX is the position vector of X = (x, y, z).

Parametric equations of a line in R2 or R3 : The parametric equations  of the line in R

3

v1
passing through the point A = (a1 , a2 , a3 ) and parallel to the vector v = v2  are

v3

x = a1 + tv1
y = a2 + tv2 where t ∈ R is the parameter .
z = a3 + tv3

Similarly for lines in R2 (where there are only 2 equations).

Copyright © 2021 The University of Sydney 1

 Equations of planes in R3 : The normal form equation of a plane in R3 passing through a
point A with normal vector n is
n · (x − a) = 0,
where a is the position vector of A, and x is the position vector of X = (x, y, z).
The Cartesian equation of the above plane is obtained by expanding out the dot product, giving

n1 (x − a1 ) + n2 (y − a2 ) + n3 (z − a3 ) = 0,

which can in turn be rearranged to give an equation of the form

ax + by + cz = d.

Main questions

1. (a) Find a vector parallel to each of the following straight lines. (Hint: choose any two points on
the line and find the vector joining them.)
(i) y = 2x
Solution: When x = 0 we have y = 2x = 2 × 0 = 0, and so A = (0, 0) is on the line.
When x = 1 we have y = 2x = 2 × 1 = 2, and so B = (1, 2) is on the line. Therefore a
vector parallel to the line is:
   
−→ 1−0 1
AB = =
2−0 2

There are many other possible answers to this question. For example, when x = 10
we have y = 20, and so C = (10, 20) is on the line. When x = 15, y = 30, and so
D = (15, 30) is on the line. So the vector
   
−−→ 15 − 10 5
CD = =
30 − 20 10

is also parallel to the line. In fact there are infinitely many possible answers! Any
vector of the form  
t
with t any number
2t
will do.
(ii) x = 2y
Solution: Again, there are infinitely many correct answers. For the remainder of
these questions we just give one possible answer – as long as your  answer
 is a scalar
2
multiple of the vector given then you are also correct. An answer is
1
(iii) 2x + y = 0
 
1
Solution:
−2
(iv) x + 2y = 0
 
−2
Solution:
1

2
 (v) x + y = 2
 
−2
Solution:
2
(vi) y = 2x − 3
 
2
Solution:
4
(vii) y = 3 − 2x
 
1
Solution:
−2
(viii) 2y = x + 5
 
6
Solution:
3
(ix) 2y = 5 − x
 
−4
Solution:
2
(x) x − 2y = 3
 
−2
Solution:
−1
(xi) 2x + y + 1 = 0
 
1
Solution:
−2
 
2
(b) Which of the lines in part (a) are parallel to ?
1
 
2
Solution: The lines (ii), (viii) and (x) are parallel to , since the vectors in these parts
  1
2
are multiples of . Note that the lines all have gradient 1/2.
1

2y = x + 5

 
2
x = 2y
1

x − 2y = 3

 
2
(c) Which of the lines in part (a) are perpendicular to ?
1
 
2
Solution: The lines in (iii), (vii) and (xi) are perpendicular to , since the dot product
  1
2
of the vectors in these parts with is zero. Note that these lines all have gradient −2.
1

3
2. Find a vector equation, parametric equations, and a Cartesian equation for the line:
 
5
(a) passing through the point (0, 0) parallel to the vector .
2
Solution: The vector equation of the line is
   
x 5
=t (t ∈ R).
y 2
The parametric equations are
x = 5t
(t ∈ R).
y = 2t
The Cartesian equation is found by eliminating t from the parametric equations. We have
x y x y
t = and t = , so = , or 5y = 2x, or y = 25 x (any of these are valid as the Cartesian
5 2 5 2
equation).

2 y = 25 x

 
5
(b) passing through the point (1, 4) parallel to the vector .
2
Solution: The vector equation is:
     
x 1 5
= +t t ∈ R.
y 4 2
Hence the parametric equations are
x = 1 + 5t
t ∈ R.
y = 4 + 2t
x−1 y−4
Rearranging gives the equations t = and t = , and eliminating t gives the Carte-
5 2
sian equation
x−1 y−4
= .
5 2
(c) passing through the points A = (1, 2) and B = (−2, 3).
Solution: A vector in the direction of the line is
 
−→ −3
v = AB =
1
Thus the vector equation is
     
x 1 −3
= +t , t ∈ R.
y 2 1
Thus the parametric equations are
x = 1 − 3t, y = 2 + t t ∈ R.
Eliminating t gives the Cartesian equation (x − 1)/(−3) = (y − 2).

4
 (d) passing through the points A = (3, −1) and B = (0, 1).
Solution: A vector in the direction of the line is
 
−→ −3
AB = ,
2

and so the vector equation is

     
x 3 −3
= +t , t ∈ R.
y −1 2

Hence the parametric equations are

x = 3 − 3t
t ∈ R.
y = −1 + 2t

The Cartesian equation is found by eliminating the parameter: (x − 3)/(−3) = t = (y + 1)/2,

and rearranging gives 2(x − 3) = −3(y + 1), and hence

2x + 3y = 3.

You can also write this as y = −(2/3)x + 1 if you like.

3. Find a vector equation, and parametric equations, for the line:

 
2
(a) passing through the point (1, 0, −1) in the direction of the vector  2 .
−1
Solution: The vector equation is
       
x 1 2 1 + 2t
y  =  0  + t  2  =  2t  , t ∈ R.
z −1 −1 −1 − t

Hence, the parametric equations are

x = 1 + 2t, y = 2t, z = −1 − t, t ∈ R.
 
1
(b) passing through the point (2, 1, −1) in the direction of the vector 3.

0
Solution: The vector equation is
       
x 2 1 2+t
y  =  1  + t 3 = 1 + 3t , t ∈ R.
z −1 0 −1

Hence, the parametric equations are

x = 2 + t, y = 1 + 3t, z = −1, t ∈ R.

(c) passing through the points P = (−4, 3, 5) and Q = (−2, 4, −1).

5
      
−2 −4 2
−→      
Solution: The line is in the direction of the vector P Q = 4 − 3 = 1 , and it
  −1 5 −6
−4
−→
passes through the point P . So with p =  3  and v = P Q, a vector equation is x = p + tv.
5
Thus the vector equation is
       
x −4 2 −4 + 2t
y  =  3  + t  1  =  3 + t  t ∈ R.
z 5 −6 5 − 6t
Hence the parametric equations are
x = −4 + 2t, y = 3 + t, z = 5 − 6t, t ∈ R.
(d) passing through the points P = (−1, 0, −4) and Q = (1, 0, 1).
 
2
−→  
Solution: The line is in the direction of the vector P Q = 0 , and it passes through the
  5
−1
−→
point P . So with p = 0  and v = P Q, a vector equation is x = p + tv. Thus the vector

−4
equation reads
       
x −1 2 −1 + 2t
y  =  0  + t 0 =  0  t ∈ R.
z −4 5 −4 + 5t
Hence the parametric equations are
x = −1 + 2t, y = 0, z = −4 + 5t, t ∈ R.

4. For each of the following points P and vectors n, find the equation of the plane passing through P
and with normal vector n. Give the equation in both normal form, and in Cartesian form.
 
1
(a) P = (2, 3, 5) and n = 3 .

−1
−→
Solution: The equation of a plane in normal form is n · (x − p) = 0, where p = OP .
   
1 2
In this case, we have n =  3  and p = 3 and so the equation of the plane in normal
−1 5
form is      
1 x 2
 3  · y  − 3 = 0.
−1 z 5
In order to find the Cartesian equation we simply calculate this dot product. We have:
   
1 x−2
 3  · y − 3 = 0
−1 z−5
(x − 2) + 3(y − 3) − (z − 5) = 0
x + 3y − z = 6
The Cartesian equation is x + 3y − z = 6.

6
  
1
(b) P = (1, 1, 1) and n = −2.
−1
−→
Solution: The equation is n · (x − p) = 0, where p = OP . So the equation in normal form
is      
1 x 1
−2 · y  − 1 = 0.
−1 z 1
The Cartesian equation is

(x − 1) − 2(y − 1) − (z − 1) = 0.

You can also rearrange this to give

x − 2y − z = −2.

5. (a) Find a vector normal to the plane x + y + 5z = 6.

Solution: In R3 , the equation ax + by + cz = d (where a, 
b, c and d are real numbers)
a
represents a plane. A normal to the plane ax + by + cz = d is  b . Hence, a normal to the
  c
1
plane x + y + 5z = 6 is 1.

5
(b) Find a vector normal to the plane z = 7 − 3x + 8y.


3
Solution: Rewrite the equation as 3x − 8y + z = 7. Then a normal is −8.
1
(c) Find a unit vector normal to the plane 2x + y − z = 6.
 
2 √
Solution: A normal to the plane 2x + y − z = 6 is 1 . The length of this normal is 6,

  −1
√2
 √16 
and so a unit normal is  6 .
− √16

6. Find the Cartesian equation of the plane containing the three points:
(a) P = (1, 2, 3), Q = (−1, −2, −3), and R = (4, −4, 4).
Solution: The procedure for finding the equation of a plane given 3 points P , Q and R is
−→ −→
as follows: Find any two vectors in the plane - for example, P Q and P R. Then find the cross
product of these two vectors. Remember that the cross product of two vectors is perpendicular
to both of them, so the cross product of two vectors in a plane is perpendicular, or normal,
to the plane. Now the equation n · (x − p) = 0 can be used.
           
−1 1 −2 4 1 3
−→       −→      
In this example, P Q = −2 − 2 = −4 and P R = −4 − 2 = −6 .
−3 3 −6 4 3 1

7
  
−40
−→ −→
A vector normal to the plane is therefore n = P Q × P R = −16.
24
 
1
−→  
The point P lies in the plane, and so we can take p = OP = 2 , and then an equation of
3
the plane in normal form is
      
−40 x 1
−16 · y  − 2 = 0.
24 z 3

Calculating the dot product in this equation we have

   
−40 x−1
−16 · y − 2 = 0
24 z−3
−40(x − 1) − 16(y − 2) + 24(z − 3) = 0.

The Cartesian form of the equation is therefore −40x − 16y + 24z = 0, or 5x + 2y − 3z = 0.

(b) P = (1, 1, 0), Q = (0, 1, 1), and R = (0, 0, 1).
Solution: A normal vector is given by
 
1
−→ −→  
n = PQ × PR = 0 ,
1

So the equation is n · (x − p) = 0, which gives

1(x − 1) + 0(y − 1) + 1(z − 0) = 0, and so x + z = 1.

(c) P = (0, 1, 2), Q = (−1, −1, 0), and R = (1, −2, 2).
Solution: A normal vector is given by
 
−6
−→ −→  
n = P Q × P R = −2 ,
5

So the equation is n · (x − p) = 0, which gives

−6(x − 0) − 2(y − 1) + 5(z − 2) = 0, and so − 6x − 2y + 5z = 8.

7. Find three points that lie on the plane 6x + 4y − 2z = 1.

Solution: Note that z = 3x + 2y − 1/2. Now simply choose values of x and y and compute the
corresponding z value. For example, taking (x, y) = (0, 0) we have z = −1/2, and so (0, 0, −1/2)
lies on the plane. Taking (x, y) = (1, 0) we have z = 5/2, and so (1, 0, 5/2) lies on the plane. Taking
(x, y) = (0, 1) we have z = 3/2, and so (0, 1, 3/2) lies on the plane.

8
 Challenging questions

8. Find parametric equations for the line passing through (1, 0, −2) and perpendicular to the plane
with Cartesian equation 3x − 4y + z = 6.
Solution: If a line is perpendicular to a plane, then it is in the direction of a normal to the plane.
 
3
A normal to the plane 3x − 4y + z = 6 is −4. So we want the line through the point (1, 0, −2),

  1
3
in the direction of −4. A vector equation for the line is
1
     
x 1 3
x = y  =  0  + t −4 , t ∈ R.
z −2 1

Parametric equations for the line therefore are

x = 1 + 3t
y = −4t t∈R.
z = −2 + t

9. Show that the line with parametric equations

x = 3 + 2t, y = 4 + 3t, z = 5 + 4t (t ∈ R)

is parallel to the plane 4x + 4y − 5z = 14.

Solution: In vector form, the line has equation
     
x 3 2
y  = 4 + t 3 , t ∈ R.
z 5 4
 
2
Thus v = 3 is in the direction of the line. Now, if the line is parallel to the plane, then it will be

4  
4
perpendicular to a normal to the plane. A normal to the plane is n = 4 . Since two vectors are

−5
perpendicular if their dot product is zero, it is therefore sufficient to check that v · n = 0:

v · n = 2(4) + 3(4) + 4(−5) = 8 + 12 − 20 = 0 .

Hence, v is perpendicular to n, and the line is parallel to the plane.

9
10. Do the following four points lie on a common plane?
(a) A = (1, 1, 1), B = (−1, 2, −1), C = (2, 0, 1) and D = (3, 2, 1).
Solution: Our strategy is to find the equation of the plane P containing the three points
A, B, and C, and then check if D lies on this plane. A normal vector to P is given by
 
−2
−→ −→  
n = AB × AC = −2 ,
1

and so the Cartesian equation of the plane is

−2(x − 1) − 2(y − 1) + (z − 1) = 0, and so − 2x − 2y + z = −3.

Testing the point (3, 2, 1) we have

−2 × 3 − 2 × 2 + 1 = −6 − 4 + 1 = −9 6= −3,

and so the point D does not lie on the plane containing A, B, and C. Therefore the points
do not all lie on a common plane.
(b) A = (3, 1, 1), B = (2, −1, 0), C = (2, 2, 1) and D = (−1, −1, −1).
Solution: We adopt the same strategy: Let P be the plane containing A, B, and C. A
normal vector to this plane is
 
1
−→ −→
n = AB × AC =  1  ,
−3

and so the equation of the plane is

(x − 3) + (y − 1) − 3(z − 1) = 0, and so x + y − 3z = 1.

Testing the point D = (−1, −1, −1) we have

(−1) + (−1) − 3(−1) = 1,

and so D lies on P. So the answer is yes, all four points line on the plane x + y − 3z = 1.

10