The Cross Product

Equations of Lines and Planes

MAT1052
Nermine El Sissi
Lecture 7 Objectives
 Compute the cross product of two vectors.
 Find the area of a parallelogram using the cross product.
 Use the scalar triple product to find the volume of a
parallelepiped.
 Find vector equations and parametric equations of a line
in the 3-dimensional space.
 Find an equation of a plane and sketch the plane.
Summary
 In lecture 6, we have explored new mathematical objects, namely
vectors.
 We learned how to perform the following operations on vectors:
 Addition
 Subtraction
 Scalar multiplication
 The dot product (a type of multiplication in which the outcome is a
scalar).
 A second type of multiplication of vectors will be introduced here that
will yield another vector, in other words, the cross product.
The Determinant
 To set the stage for the definition of the cross product of two vectors, we
introduce the notation of determinants.
 A determinant of order 2 is defined by:
𝑎𝑎 𝑏𝑏
= 𝑎𝑎𝑎𝑎 − 𝑏𝑏𝑏𝑏 2 rows and 2 columns
𝑐𝑐 𝑑𝑑
 For example:
2 3
= 2 5 − 3 4 = −2
4 5
4 5
=4 3 −2 5 =2
2 3
 Observation:
 If you swap two rows (columns), the new determinant is negative the
old determinant.
 If you have two repeated rows (columns), the determinant is zero.
 A determinant of order 3 is defined by:

𝑎𝑎1 𝑏𝑏1 𝑐𝑐1

𝑏𝑏 𝑐𝑐2 𝑎𝑎2 𝑐𝑐2 𝑎𝑎2 𝑏𝑏2 3 rows and 3 columns
𝑎𝑎2 𝑏𝑏2 𝑐𝑐2 = 𝑎𝑎1 2 − 𝑏𝑏1 𝑎𝑎 𝑐𝑐3 + c1 𝑎𝑎
𝑏𝑏3 𝑐𝑐3 3 3 𝑏𝑏3
𝑎𝑎3 𝑏𝑏3 𝑐𝑐3

= 𝑎𝑎1 𝑏𝑏2 𝑐𝑐3 − 𝑐𝑐2 𝑏𝑏3 − 𝑏𝑏1 𝑎𝑎2 𝑐𝑐3 − 𝑐𝑐2 𝑎𝑎3 + 𝑐𝑐1 (𝑎𝑎2 𝑏𝑏3 − 𝑏𝑏2 𝑎𝑎3 )

 Now we are ready to define the cross product.

 The Cross Product
 Given two vectors in the three-dimensional space,
𝒖𝒖 = 𝑢𝑢1 , 𝑢𝑢2 , 𝑢𝑢3 and 𝒗𝒗 = 𝑣𝑣1 , 𝑣𝑣2 , 𝑣𝑣3 .
𝒊𝒊 𝒋𝒋 𝒌𝒌
𝒖𝒖 × 𝒗𝒗 = 𝑢𝑢1 𝑢𝑢2 𝑢𝑢3
𝑣𝑣1 𝑣𝑣2 𝑣𝑣3
𝑢𝑢2 𝑢𝑢3 𝑢𝑢1 𝑢𝑢3 𝑢𝑢1 𝑢𝑢2
= 𝒊𝒊 𝑣𝑣 𝑣𝑣 − 𝒋𝒋 𝑣𝑣 𝑣𝑣 + 𝒌𝒌 𝑣𝑣 𝑣𝑣
2 3 1 3 1 2
= 𝑢𝑢2 𝑣𝑣3 − 𝑢𝑢3 𝑣𝑣2 𝒊𝒊 − 𝑢𝑢1 𝑣𝑣3 − 𝑢𝑢3 𝑣𝑣1 𝒋𝒋 + 𝑢𝑢1 𝑣𝑣2 − 𝑢𝑢2 𝑣𝑣1 𝒌𝒌
= 𝑢𝑢2 𝑣𝑣3 − 𝑢𝑢3 𝑣𝑣2 , 𝑢𝑢3 𝑣𝑣1 − 𝑢𝑢1 𝑣𝑣3 , 𝑢𝑢1 𝑣𝑣2 − 𝑢𝑢2 𝑣𝑣1
 The outcome of the cross product is a vector.

Recall: 𝒊𝒊 = 1,0,0 , 𝒋𝒋 = 0,1,0 , 𝒌𝒌 = 0,0,1 .

Example 1

 Compute 1,5,2 × −1, −1,1 .

 Solution:
𝒊𝒊 𝒋𝒋 𝒌𝒌
1,5,2 × −1, −1,1 = 1 5 2
−1 −1 1
5 2 1 2 1 5
= 𝒊𝒊 − 𝒋𝒋 + 𝒌𝒌
−1 1 −1 1 −1 −1
= 5 − 2 −1 , − 1 − 2 −1 , 1 −1 − 5 −1
= 7, −3,4 .
Properties of the Cross Product
Multiplication of Numbers The Cross Product
2�0=0 𝒖𝒖 × 𝟎𝟎 = 𝟎𝟎
2�3= 3�2 𝒖𝒖 × 𝒗𝒗 = −(𝒗𝒗 × 𝒖𝒖)
2 � 2 = −2 −2 = 4 𝒖𝒖 × 𝒖𝒖 = 𝟎𝟎
2� 3+4 =2�3+2�4 𝒖𝒖 × 𝒗𝒗 + 𝒘𝒘 = 𝒖𝒖 × 𝒗𝒗 + (𝒖𝒖 × 𝒘𝒘)
Geometry of the Cross Product
 Recall: A vector is determined by its direction and its
magnitude.
 To define geometrically the vector resulting from the
cross product of two other vectors, we need to learn
about its direction and its magnitude.
 To do so, we state one of the important properties of
the cross product.

Theorem: The vector 𝒖𝒖 × 𝒗𝒗 is orthogonal to both 𝒖𝒖 and 𝒗𝒗.

The vector 𝒖𝒖 × 𝒗𝒗 is orthogonal to both
𝒖𝒖 and 𝒗𝒗.
 Let us check that indeed the above claim is true. At least, let’s show
that 𝒖𝒖 × 𝒗𝒗 is orthogonal to 𝒖𝒖.
 Recall, two vectors are orthogonal if their dot product is 0.
 Thus, we only need to check what 𝑢𝑢 � 𝑢𝑢 × 𝑣𝑣 =?
𝒖𝒖 � 𝒖𝒖 × 𝒗𝒗 = 𝑢𝑢1 , 𝑢𝑢2 , 𝑢𝑢3 � 𝑢𝑢2 𝑣𝑣3 − 𝑢𝑢3 𝑣𝑣2 , 𝑢𝑢3 𝑣𝑣1 − 𝑢𝑢1 𝑣𝑣3 , 𝑢𝑢1 𝑣𝑣2 − 𝑢𝑢2 𝑣𝑣1
= 𝑢𝑢1 𝑢𝑢2 𝑣𝑣3 − 𝑢𝑢3 𝑣𝑣2 + 𝑢𝑢2 𝑢𝑢3 𝑣𝑣1 − 𝑢𝑢1 𝑣𝑣3 + 𝑢𝑢3 𝑢𝑢1 𝑣𝑣2 − 𝑢𝑢2 𝑣𝑣1
= 𝑢𝑢1 𝑢𝑢2 𝑣𝑣3 − 𝑢𝑢1 𝑢𝑢3 𝑣𝑣2 + 𝑢𝑢2 𝑢𝑢3 𝑣𝑣1 − 𝑢𝑢2 𝑢𝑢1 𝑣𝑣3 + 𝑢𝑢3 𝑢𝑢1 𝑣𝑣2 − 𝑢𝑢3 𝑢𝑢2 𝑣𝑣1 = 0.
 Similarly, 𝒗𝒗 � 𝒖𝒖 × 𝒗𝒗 = 0.
 Thus, the above theorem states that given two vectors 𝒖𝒖 and 𝒗𝒗, their
cross product is a vector pointing in a direction perpendicular to the
plane through 𝒖𝒖 and 𝒗𝒗.
 To determine whether 𝒖𝒖 × 𝒗𝒗 is pointing upward or downward, this is
nothing but the right-hand rule.
The Direction of 𝒖𝒖 × 𝒗𝒗

If the fingers of your right-hand curl

in the direction of a rotation from 𝒖𝒖 to 𝒗𝒗,
then your thumb points in the direction of 𝒖𝒖 × 𝒗𝒗.
Example 2
 Find a unit vector which is perpendicular to both 𝒖𝒖 = 1,1,1 and
𝒗𝒗 = −2,2,3 .
 Solution:
 A vector perpendicular to two vectors is the cross product of the
two.
𝒊𝒊 𝒋𝒋 𝒌𝒌
1 1 1 1 1 1
𝒖𝒖 × 𝒗𝒗 = 1 1 1 = 𝒊𝒊 − 𝒋𝒋 + 𝒌𝒌 = ⟨3 −
2 3 −2 3 −2 2
−2 2 3
2, − 3 + 2 , 2 + 2⟩ = 1, −5,4 .
 The unit vectors perpendicular to both 𝒖𝒖 = 1,1,1 and 𝒗𝒗 = −2,2,3
are:
𝒖𝒖 × 𝒗𝒗 1, −5,4 1 5 4
± =± =± ,− , .
|𝒖𝒖 × 𝒗𝒗| 1 + 25 + 16 42 42 42
 The Magnitude of 𝒖𝒖 × 𝒗𝒗
 The magnitude is determined by

𝒖𝒖 × 𝒗𝒗 = 𝒖𝒖 𝒗𝒗 sin 𝜃𝜃
 It turns out that the magnitude (length) of the cross
product 𝒖𝒖 × 𝒗𝒗 is the area of the parallelogram whose
base is |𝒖𝒖| and height 𝒗𝒗 𝐬𝐬𝐬𝐬𝐬𝐬 𝜽𝜽.

𝒗𝒗 sin 𝜃𝜃
Recall: The area of a parallelogram is:
𝜃𝜃
𝐴𝐴 = 𝑏𝑏𝑏𝑏𝑏𝑏𝑏𝑏 × ℎ𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒
Example 3
 Find the area of a triangle whose vertices are
𝑃𝑃 1,1,1 , 𝑄𝑄 1,0,2 , and 𝑅𝑅 0,3, −1 .
 Solution:
 Any triangle can be realized as half of a parallelogram.
 Now we know how to find the area of a parallelogram. 
 We need to find the following vectors:
 𝑃𝑃𝑃𝑃 = 0, −1,1
 𝑃𝑃𝑃𝑃 = −1,2, −2
 𝑃𝑃𝑃𝑃 × 𝑃𝑃𝑃𝑃 = 0, −1, −1 .
0+1+1 2
 Thus, the area of the triangle is 𝐴𝐴 = |𝑃𝑃𝑃𝑃×𝑃𝑃𝑃𝑃|
2
= = .
2 2
The Cross Product and the Dot Product
 The following theorem provides us with all the valid
combinations of the dot product and the cross
product.
The Scalar Triple Product
 Property 5 in the above theorem has a nice geometric
interpretation.
Example 4
 Show that the vectors
𝒂𝒂 = 1,4, −7 , 𝒃𝒃 = 2, −1,4 , and 𝒄𝒄 = 0, −9,18
are coplanar.
 Solution: We need to show that these three vectors lie in the same
plane.
 Computing the scalar triple product yields:
𝒊𝒊 𝒋𝒋 𝒌𝒌
𝒂𝒂 � 𝒃𝒃 × 𝒄𝒄 = 1,4, −7 � 2, −1,4 × 0, −9,18 = 1,4, −7 � 2 −1 4
0 −9 18
= 0 Verify .
 Thus, 𝒂𝒂 � 𝒃𝒃 × 𝒄𝒄 = 0.
 Using the geometric interpretation of the scalar triple product, the
volume of the parallelepiped is 0. This means that the three vectors are
coplanar.
Equations of Lines
 Recall: An equation of a line in the 𝑥𝑥𝑥𝑥-plane is
determined by:
 Two points, or
 One point and the slope of the line (the direction of the
line).
 In the three-dimensional space, a line is determined
by:
 One point and the direction of the line.
 We describe the direction of the line by a vector.
 Let 𝑃𝑃0 (𝑥𝑥0 , 𝑦𝑦0 , 𝑧𝑧0 ) be a point on the line 𝐿𝐿.
 Let 𝒗𝒗 = 𝑎𝑎, 𝑏𝑏, 𝑐𝑐 be the vector describing the direction
of the line.
 Let 𝑃𝑃(𝑥𝑥, 𝑦𝑦, 𝑧𝑧) be an arbitrary point on 𝐿𝐿.
 To write an equation of the line 𝐿𝐿, we need to find a
relation satisfied by the arbitrary point 𝑃𝑃(𝑥𝑥, 𝑦𝑦, 𝑧𝑧).
 Since we are more familiar with vectors now, we will express our
problem in terms of vectors.
 Let 𝒓𝒓𝟎𝟎 be the position vector 𝑥𝑥0 , 𝑦𝑦0 , 𝑧𝑧0 .
 Let 𝒓𝒓 be the position vector 𝑥𝑥, 𝑦𝑦, 𝑧𝑧 .
 From the graph, one sees that by the Triangle Rule
𝒓𝒓 = 𝒓𝒓𝟎𝟎 + 𝒂𝒂.
 𝒂𝒂 is parallel to 𝒗𝒗, which means that
𝒂𝒂 = 𝑡𝑡𝒗𝒗,
where 𝑡𝑡 is a scalar.
 Thus, the vector equation describing the line is :

𝒓𝒓 = 𝒓𝒓𝟎𝟎 + 𝑡𝑡𝒗𝒗
 Now we can expand the vector equation to obtain what
we call a parametric equation:
𝒓𝒓 = 𝒓𝒓𝟎𝟎 + 𝑡𝑡𝒗𝒗
𝑥𝑥, 𝑦𝑦, 𝑧𝑧 = 𝑥𝑥0 , 𝑦𝑦0 , 𝑧𝑧0 + 𝑡𝑡 𝑎𝑎, 𝑏𝑏, 𝑐𝑐
𝑥𝑥, 𝑦𝑦, 𝑧𝑧 = 𝑥𝑥0 + 𝑡𝑡𝑡𝑡, 𝑦𝑦0 + 𝑡𝑡𝑡𝑡, 𝑧𝑧0 + 𝑡𝑡𝑡𝑡 .
 Thus, the parametric equation of the line 𝐿𝐿, where
𝑡𝑡 is a scalar is given by:

𝑥𝑥 = 𝑥𝑥0 + 𝑡𝑡𝑡𝑡, 𝑦𝑦 = 𝑦𝑦0 + 𝑡𝑡𝑡𝑡, 𝑧𝑧 = 𝑧𝑧0 + 𝑡𝑡𝑡𝑡

Example 5
 Find a vector equation and parametric equations for the line that
passes through the point (5,1,3) and is parallel to the vector 𝒊𝒊 + 4𝒋𝒋 −
2𝒌𝒌.
 Solution:
 Here 𝒓𝒓𝟎𝟎 = 5,1,3 and 𝒗𝒗 = 1,4, −2 .
 Thus, the vector equation 𝒓𝒓 = 𝒓𝒓𝟎𝟎 + 𝑡𝑡𝒗𝒗 becomes:
𝒓𝒓 = 5𝒊𝒊 + 𝒋𝒋 + 3𝒌𝒌 + 𝑡𝑡 𝒊𝒊 + 4𝒋𝒋 − 2𝒌𝒌
= 5 + 𝑡𝑡 𝒊𝒊 + 1 + 4𝑡𝑡 𝒋𝒋 + 3 − 2𝑡𝑡 𝒌𝒌.
 The parametric equations are
𝑥𝑥 = 5 + 𝑡𝑡, 𝑦𝑦 = 1 + 4𝑡𝑡, 𝑧𝑧 = 3 − 2𝑡𝑡
 Note that choosing different values for the parameter 𝑡𝑡 will yield
different points on the line. For example, if 𝑡𝑡 = 1, then the point
5 + 1, 1 + 4(1), 3 − 2 1 = (6,5,1) is on the line.
Example 6
 Find parametric equations of the line that passes through the
points 𝐴𝐴(2,4, −3) and 𝐵𝐵 3, −1,1 .
 At what point does the line intersect the 𝑥𝑥𝑥𝑥-plane?
 Solution:
 Here we can take the position vector 𝒓𝒓𝟎𝟎 to be 2,4, −3 .
 Observe that we are not given the vector 𝒗𝒗, but since the
points 𝐴𝐴 and 𝐵𝐵 lie on the line, then the position vector
representation of 𝐴𝐴𝐴𝐴 is certainly parallel to the line.
𝐴𝐴𝐴𝐴 = 𝒗𝒗 = 3 − 2, −1 − 4,1 − (−3) = 1, −5,4 .
 Thus, the parametric equations are
𝑥𝑥 = 2 + 𝑡𝑡, 𝑦𝑦 = 4 − 5𝑡𝑡, 𝑧𝑧 = −3 + 4𝑡𝑡
Example 6 Continued
 To answer the second question, note that the line
intersects the 𝑥𝑥𝑥𝑥-plane, when 𝑧𝑧 = 0. Substituting
in the third parametric equation, we get:
3
0 = −3 + 4𝑡𝑡 ⟺ 𝑡𝑡 = .
4
 Substituting 𝑡𝑡 in the first two equations yield:
3 11 3 1
𝑥𝑥 = 2 + = and 𝑦𝑦 = 4 − 5 = .
4 4 4 4
 Thus, the line intersects the 𝑥𝑥𝑥𝑥-plane at the point
11 1
, ,0
4 4
Planes
 In lecture 6, we have seen equations of planes that were
parallel to either the 𝑥𝑥𝑥𝑥-, 𝑥𝑥𝑧𝑧-, and 𝑦𝑦𝑧𝑧-planes.
 Given that there are infinitely many planes, some of
which will certainly not be parallel to any of the above
planes.
 Question: How can you find the equation of such planes?
 We are looking for a relation satisfied by any point
(𝑥𝑥, 𝑦𝑦, 𝑧𝑧) on the plane.
 Recall: To determine the equation of a line we need
either:
 Two points, or
 One point and a vector in the direction of the line.
 Now, what are the requirements to determine the
equation of a plane?
 Three points, or
 One point and a vector perpendicular to the plane.
The Equation of the Plane
 A vector perpendicular to the plane is called a normal
vector.
 Let 𝐧𝐧 = 𝑎𝑎𝐢𝐢 + 𝑏𝑏𝐣𝐣 + 𝑐𝑐𝐤𝐤 be a normal vector to the plane.
 Let 𝑃𝑃0 𝑥𝑥0 , 𝑦𝑦0 , 𝑧𝑧0 be a fixed point in the plane.
 Let 𝑃𝑃(𝑥𝑥, 𝑦𝑦, 𝑧𝑧) be an arbitrary point on the plane.
 Then 𝑃𝑃0 𝑃𝑃 = 𝑥𝑥 − 𝑥𝑥0 𝒊𝒊 + 𝑦𝑦 − 𝑦𝑦0 𝒋𝒋 + 𝑧𝑧 − 𝑧𝑧0 𝒌𝒌.
 Since 𝒏𝒏 is perpendicular to any line
segment or vector in the plane, then
𝒏𝒏 � 𝑃𝑃0 𝑃𝑃 = 0.
 Therefore,
𝒏𝒏 � 𝑃𝑃0 𝑃𝑃 = 𝑎𝑎, 𝑏𝑏, 𝑐𝑐 � 𝑥𝑥 − 𝑥𝑥0 , 𝑦𝑦 − 𝑦𝑦0 , 𝑧𝑧 − 𝑧𝑧0 = 0
 The algebraic definition of the dot product gives,
𝑎𝑎 𝑥𝑥 − 𝑥𝑥0 + 𝑏𝑏 𝑦𝑦 − 𝑦𝑦0 + 𝑐𝑐 𝑧𝑧 − 𝑧𝑧0 = 0
Example 7
 Find an equation of the plane through the point (2,4, −1) with normal
vector 𝒏𝒏 = 2,3,4 .
 Sketch the plane.
 Solution:
 We have everything we need to find the equation, since the equation of
the plane is determined by a point on the plane and the normal vector.
𝑎𝑎 𝑥𝑥 − 𝑥𝑥0 + 𝑏𝑏 𝑦𝑦 − 𝑦𝑦0 + 𝑐𝑐 𝑧𝑧 − 𝑧𝑧0 = 0
 Putting 𝑎𝑎 = 2, 𝑏𝑏 = 3, 𝑐𝑐 = 4, 𝑥𝑥0 = 2, 𝑦𝑦0 = 4, and 𝑧𝑧0 = −1 in the
equation above, we get:
2 𝑥𝑥 − 2 + 3 𝑦𝑦 − 4 + 4 𝑧𝑧 + 1 = 0
2𝑥𝑥 + 3𝑦𝑦 + 4𝑧𝑧 = 12
Example 7 Continued
 To sketch any plane,
 You need three points
 You will join these points to get a triangular part, i.e., a portion of the
plane.
 The easiest points to pick are the 𝑥𝑥-, 𝑦𝑦-, and 𝑧𝑧-intercepts.
 Those are the points 6,0,0 , 0,4,0 , and 0,0,3 .
Example 8
 Find the equation of the plane passing through the points
𝑃𝑃 1,3,2 , 𝑄𝑄 3, −1,6 , and 𝑅𝑅 5,2,0 .
 Solution:
 In this question, we are not given the normal vector. Can we find it?
 YES! Think of the cross product.
 Taking the cross product of two vectors in the plane yield a vector
perpendicular to the plane.
 So, we find the position vector representations of
𝑃𝑃𝑃𝑃 = 2, −4,4 and 𝑃𝑃𝑃𝑃 = 4, −1, −2 .
 To get 𝒏𝒏, we take the cross product of the above vectors:

𝑖𝑖 𝑗𝑗 𝑘𝑘
𝒏𝒏 = 𝑃𝑃𝑃𝑃 × 𝑃𝑃𝑃𝑃 = 2 −4 4 = 12𝒊𝒊 + 20𝒋𝒋 + 14𝒌𝒌
4 −1 −2
Example 8 Continued
 Thus, an equation of the plane is:
12 𝑥𝑥 − 1 + 20 𝑦𝑦 − 3 + 14 𝑧𝑧 − 2 = 0
6𝑥𝑥 + 10𝑦𝑦 + 7𝑧𝑧 = 50.