Tel: 016-484 0556 (Mr.

Choong)
Chapter 6
Types of Vectors
2-D Vectors 3-D Vectors
Coordinate 𝑃(𝑥, 𝑦) 𝑃(𝑥, 𝑦, 𝑧)
Cartesian form )))))⃗
𝑂𝑃 = 𝑥,̂ + 𝑦/̂ 𝑂𝑃 1
)))))⃗ = 𝑥,̂ + 𝑦/̂ + 𝑧𝒌
Component form 𝑥 𝑥
)))))⃗
𝑂𝑃 = 2𝑦3 )))))⃗
𝑂𝑃 = 4𝑦5
𝑧
Magnitude )))))⃗6 = 7𝑥 ! + 𝑦 !
6𝑂𝑃 )))))⃗6 = 7𝑥 + 𝑦 ! + 𝑧 !
6𝑂𝑃 !

Unit vector 8 = 𝑂𝑃 )))))⃗

)))))⃗
𝑂𝑃
)))))⃗6
6𝑂𝑃

Product of Vectors
Dot Product Cross Product
Formula 𝑎⃗ ∙ 𝑏)⃗ = |𝑎⃗|6𝑏)⃗6 cos 𝜃 𝑎⃗ × 𝑏)⃗ = 𝑛)C⃗|𝑎⃗|6𝑏)⃗6 sin 𝜃
𝑎⃗ × 𝑏)⃗ = 𝑛)C⃗𝑎𝑏 sin 𝜃
𝑎⃗ ∙ 𝑏)⃗ = 𝑎𝑏 cos 𝜃 (Direction determine with right hand grip
rule)
6𝑎⃗ × 𝑏)⃗6 = |𝑎⃗|6𝑏)⃗6 sin 𝜃
6𝑎⃗ × 𝑏)⃗6 = 𝑎𝑏 sin 𝜃
Operation 𝑥" 𝑥! 𝑥" 𝑥! ,̂ /̂ 𝒌 1
F𝑦" G ∙ F𝑦! G = 𝑥" 𝑥! + 𝑦" 𝑦! + 𝑧" 𝑧! 𝑦 𝑦
F " G × F ! G = H𝑥" 𝑦" 𝑧" H
𝑧" 𝑧! 𝑧" 𝑧! 𝑥! 𝑦! 𝑧!
𝑥" 𝑥! 𝑦" 𝑧! − 𝑧" 𝑦!
F𝑦" G × F𝑦! G = F−(𝑥" 𝑧! − 𝑧" 𝑥! )G
𝑧" 𝑧! 𝑥" 𝑦! − 𝑦" 𝑥!

Results Scalar Vector

Equation of Line
To determine the equation of a straight line, 𝑙 we must know:
𝑥#
1. The position vector of a point, 𝑎⃗ = F𝑦# G which lies on 𝑙.
𝑧#
𝑥$
2. The direction vector, 𝑏)⃗ = F𝑦$ G which is parallel to 𝑙.
𝑧$

*If given the coordinate of two points, 𝐴 and 𝐶 which lie on the straight line, then:
𝑎⃗ = )))))⃗
𝑂𝐴
𝑏)⃗ = 𝐴𝐶
)))))⃗ = )))))⃗
𝑂𝐶 − 𝑂𝐴)))))⃗.

Form Equation
Vector Form 𝑥# 𝑥$
𝑟⃗ = F𝑦# G + 𝜆 F𝑦$ G
𝑧# 𝑧$

Cartesian Form 𝑥 − 𝑥# 𝑦 − 𝑦# 𝑧 − 𝑧#
= = (= 𝜆)
𝑥$ 𝑦$ 𝑧$

Parametric Form 𝑥 = 𝑥# + 𝜆𝑥$

𝑦 = 𝑦# + 𝜆𝑦$
𝑧 = 𝑧# + 𝜆𝑧$
 Tel: 016-484 0556 (Mr. Choong)
Equation of Plane
To determine the equation of a plane, 𝜋 in space, we
must know:
𝑎
1. A vector 𝑛)⃗ = 4𝑏5 that is normal to 𝜋.
𝑐
2. The position vector of a point, 𝑎⃗ which lies
on 𝜋.

*If given the coordinate of three non-collinear

points, 𝐴, 𝐵 and 𝐶 which lie on 𝜋, then:
)))))⃗
𝑎⃗ = 𝑂𝐴
𝑛)⃗ = )))))⃗
𝐴𝐵 × )))))⃗
𝐵𝐶

Form Equation
Vector Form 𝑟⃗ ∙ 𝑛)⃗ = 𝑎⃗ ∙ 𝑛)⃗

𝑟⃗ ∙ 𝑛)⃗ = 𝑚
𝑎
𝑟⃗ ∙ 4𝑏5 = 𝑚
𝑐

Cartesian Form 𝑎𝑥 + 𝑏𝑦 + 𝑐𝑧 = 𝑚

Parametric Form )))))⃗ + 𝜆𝐴𝐵

𝑟⃗ = 𝑂𝐴 )))))⃗ + 𝜇𝐵𝐶
)))))⃗

Formula
If 𝑃 is a point lies on 𝐴𝐵 where 𝐴𝐵 = 3𝑃𝐵, then:
)))))⃗ )))))⃗
𝐴𝐵 = 3𝑃𝐵

Ratio Theorem
If a point 𝑃 divides a line 𝐴𝐵 internally in the ratio 𝜆: 𝜇, then 𝐴𝑃: 𝑃𝐵 = 𝜆: 𝜇, and:
)))))⃗ + 𝜇𝑂𝐴
𝜆𝑂𝐵 )))))⃗
)))))⃗ =
𝑂𝑃
𝜆+𝜇

How to find a vector 𝑛)⃗ that is perpendicular to the plane 𝐴𝐵𝐶𝐷?

)))))⃗ × 𝐵𝐶
𝐴𝐵 )))))⃗ = 𝜆𝑛)⃗

Find area of the triangle:

1
𝐴𝑟𝑒𝑎 = 6𝑎⃗ × 𝑏)⃗6
2

Find area of the parallelogram:

𝐴𝑟𝑒𝑎 = 6𝑎⃗ × 𝑏)⃗6
 Tel: 016-484 0556 (Mr. Choong)

Show That
How to show that 𝐴𝐵 )))))⃗ is parallel to )))))⃗
𝐶𝐷?
)))))⃗ is parallel to 𝐶𝐷
𝐴𝐵 )))))⃗ if:
)))))⃗ = 𝜆𝐶𝐷
𝐴𝐵 )))))⃗

𝜆>0 𝜆<0 𝜆=0 𝜆=1

)))))⃗ parallel to )))))⃗
𝐴𝐵 𝐶𝐷 and in the )))))⃗ )))))⃗ but in the
𝐴𝐵 parallel to 𝐶𝐷 )))))⃗ is not parallel to )))))⃗
𝐴𝐵 𝐶𝐷 )))))⃗ are the same as )))))⃗
𝐴𝐵 𝐶𝐷.
same direction. opposite direction.

How to show that 𝐴, 𝐵, 𝐶 are collinear?

𝐴, 𝐵, 𝐶 are collinear if:
(a) )))))⃗
𝐴𝐵 is parallel to 𝐵𝐶)))))⃗.
(b) )))))⃗ )))))⃗ has a common point.
𝐴𝐵 and 𝐵𝐶

How to show that 𝐴𝐵𝐶𝐷 is a parallelogram?

𝐴𝐵𝐶𝐷 is a parallelogram if:
)))))⃗
𝐴𝐵 = )))))⃗
𝐷𝐶

How to show that 𝐴𝐵𝐶𝐷 is a rhombus?

(a) Prove it is a parallelogram.
(b) Diagonal is perpendicular to each other.

How to show that 𝐴𝐵𝐶𝐷 is a trapezium?

𝐴𝐵𝐶𝐷 is a trapezium if:
)))))⃗ is parallel to 𝐶𝐷
𝐴𝐵 )))))⃗ OR )))))⃗
𝐴𝐷 is parallel to )))))⃗
𝐵𝐶

How to show that two pairs of vectors 𝑟)))"⃗ and 𝑟)))⃗! are orthogonal (90°)?
If ))𝑟)"⃗ and 𝑟)))⃗! are orthogonal, then:
))𝑟)"⃗ ∙ 𝑟)))⃗! = 0

How to show that a line lies/intersect/parallel to a plane?

(a) Sub 𝑟⃗ of line into 𝑟⃗ on LHS of plane equation.
(b) If answer:
≠ 𝑅𝐻𝑆 = 𝑅𝐻𝑆 In terms of 𝜆
The line is parallel but not lying on The line lies on the plane for all The line intersects the plane.
the plane. values of 𝜆.
 Tel: 016-484 0556 (Mr. Choong)

Shortest Distance from a Point to a Plane

Method 1: Using formula.
1. Given 𝑃(𝛼, 𝛽, 𝛾), 𝜋: 𝑎𝑥 + 𝑏𝑦 + 𝑐𝑧 = 𝑑.
)))))⃗ 6 = j#%&$'&()*+ j.
2. Distance = 6𝑃𝑇
,#! &$ ! &( !

Method 2: Given the point, 𝑃 and equation of plane, 𝜋.

1. Given 𝑃(𝛼, 𝛽, 𝛾), 𝜋: 𝑎𝑥 + 𝑏𝑦 + 𝑐𝑧 = 𝑑.

2. )))))⃗ ⊥ 𝜋.
Let 𝑇 be the point on 𝜋 such that 𝑃𝑇
3. Form equation of line 𝑃𝑇.
𝛼 𝑎 𝛼 + 𝜆𝑎
𝑟⃗ = F𝛽 G + 𝜆 4𝑏5 = F𝛽 + 𝜆𝑏G
𝛾 𝑐 𝛾 + 𝜆𝑐

4. When line intersect the plane, sub 𝑥, 𝑦, 𝑧 component of 𝑟⃗ into the equation of
plane:
𝑎(𝛼 + 𝜆𝑎) + 𝑏(𝛽 + 𝜆𝑏) + 𝑐(𝛾 + 𝜆𝑐) = 𝑑
5. Solve for 𝜆.
6. Sub 𝜆 back to 𝑟⃗ you get coordinate of 𝑂𝑇.
𝛼 + 𝜆𝑎 𝛼 𝑎
7. )))))⃗ )))))⃗ )))))⃗
𝑃𝑇 = 𝑂𝑇 − 𝑂𝑃 = F 𝛽 + 𝜆𝑏 𝛽
G − F G = 𝜆 4𝑏 5.
𝛾 + 𝜆𝑐 𝛾 𝑐
8. )))))⃗ !
Distance = 6𝑃𝑇6 = 𝜆√𝑎 + 𝑏 + 𝑐 . ! !

)))))⃗ connecting plane to the point, and equation of plane, 𝜋.

Method 3: Given a vector 𝐴𝑃

𝑝
1. Given )))))⃗
𝐴𝑃 = 4𝑞5, 𝜋: 𝑎𝑥 + 𝑏𝑦 + 𝑐𝑧 = 𝑑.
𝑟
#
𝑝 -$.
2. )))))⃗ 6 = 6𝐴𝑃
Distance = 6𝑃𝑇 C
)))))⃗ ⋅ 𝑛
)⃗ 6 = H4𝑞5 ⋅ ! ( ! !H
,# &$ &(
𝑟

)))))⃗ = 𝑘𝑛
Method 4: Using the fact that 𝑃𝑇 )⃗.

1. Given 𝑃(𝛼, 𝛽, 𝛾), 𝜋: 𝑎𝑥 + 𝑏𝑦 + 𝑐𝑧 = 𝑑.

2. )))))⃗.
Let a point on the plane 𝑇(𝑥, 𝑦, 𝑧), where 𝑛)⃗ parallel to 𝑃𝑇
3. )))))⃗
𝑃𝑇 = 𝑘𝑛 )⃗
)))))⃗ − )))))⃗
𝑂𝑇 𝑂𝑃 = 𝑘𝑛)⃗
𝑥−𝛼 𝑎
F𝑦 − 𝛽G = 𝑘 4𝑏 5
𝑧−𝛾 𝑐
4. Solve for 𝑘.
5. )))))⃗ 6 = |𝑘𝑛)⃗|
Distance = 6𝑃𝑇
 Tel: 016-484 0556 (Mr. Choong)
Shortest Distance from a Point to a Line
Method 1: Given the point, 𝑃 and equation of line, 𝑙.

𝑎 𝑑
1. Given 𝑃(𝛼, 𝛽, 𝛾), 𝑙: 𝑟⃗ = 4𝑏 5 + 𝜆 F 𝑒 G.
𝑐 𝑓
2. If 𝑃𝑇 is the shortest distance, then 𝑃𝑇 is perpendicular to 𝑙. We can think of it as 𝑃𝑇 lies on a plane, that 𝑙 pass
through normally, where 𝜋:
𝑟⃗ ⋅ 𝑛)⃗ = 𝑎⃗ ⋅ 𝑛)⃗
𝑥 𝑑 𝑎 𝑑
4𝑦5 ⋅ F 𝑒 G = 4𝑏 5 ⋅ F 𝑒 G
𝑧 𝑓 𝑐 𝑓
𝑑𝑥 + 𝑒𝑦 + 𝑓𝑧 = 𝑚
3. Find coordinate of 𝑇 by consider 𝑙 intersect 𝜋:
𝑑(𝑎 + 𝜆𝑑) + 𝑒(𝑏 + 𝜆𝑒) + 𝑓(𝑐 + 𝜆𝑓) = 𝑚
4. Solve for 𝜆.
5. Sub 𝜆 back to 𝑟⃗ you get coordinate of 𝑂𝑇.
𝑎 + 𝜆𝑑 𝛼 𝑡/
6. )))))⃗
𝑃𝑇 = 𝑂𝑇)))))⃗ − )))))⃗
𝑂𝑃 = F 𝑏 + 𝜆𝑒 G − F𝛽G = F𝑡0 G.
𝑐 + 𝜆𝑓 𝛾 𝑡1
7. )))))⃗ 6 = s𝑡/ ! + 𝑡0 ! + 𝑡1 ! .
Distance = 6𝑃𝑇

Method 2:
(i) Given the point, 𝑃, equation of line, 𝑙, and a point, 𝐴 on 𝑙.
)))))⃗ connecting line to the point, and equation of line, 𝑙.
(ii) Given a vector 𝐴𝑃

1. Given 𝑃(𝛼, 𝛽, 𝛾), 𝐴(𝑑, 𝑒, 𝑓), 𝑙: 𝑟⃗ = 𝑎⃗ + 𝜆𝑏)⃗.

𝛼 𝑑
2. )))))⃗ = )))))⃗
Find 𝐴𝑃 𝑂𝑃 − )))))⃗𝑂𝐴 = F𝛽G − F 𝑒 G
𝛾 𝑓
C)⃗ 2⃗
$
3. Find unit vector 𝑏 = . 2⃗4
4$

4. Find 6𝐴𝑇 )))))⃗ ⋅ 𝑏)C⃗ t, and 6𝐴𝑃

)))))⃗6 = t𝐴𝑃 )))))⃗6.
! !
5. )))))⃗ 6 = s6𝐴𝑃
Distance = 6𝑃𝑇 )))))⃗6 − 6𝐴𝑇
)))))⃗6 .
 Tel: 016-484 0556 (Mr. Choong)
Shortest distance between two lines
Method 1:

1. Given 𝑙" : ))𝑟)"⃗ = 𝑎⃗ + 𝜆𝑏)⃗ and 𝑙! : 𝑟)))⃗! = 𝑐⃗ + 𝜇𝑑⃗.

2. From the position vector of the lines, we know coordinate of a point on each line:
)))))⃗ )))))⃗ = 𝑐⃗.
𝑂𝐴 = 𝑎⃗ and 𝑂𝐶
3. The shortest distance 𝑋𝑌 between the line must be perpendicular to both 𝑙" and 𝑙! .
4. The direction vector of )))))⃗ 𝑋𝑌 is 𝑛)⃗ = 𝑏)⃗ × 𝑑⃗.
2⃗ ⃗
)C⃗ =
$ ×+
5. Find the unit vector 𝑛 .
2⃗×+⃗ 4
4$
6. 𝑋𝑌 = component of 𝐶𝐴 that was parallel to 𝑋𝑌.
7. )))))⃗ = 𝑂𝐴
Find 𝐶𝐴 )))))⃗ − )))))⃗
𝑂𝐶 = 𝑎⃗ − 𝑐⃗
2⃗ ⃗
8. )))))⃗
Distance = 6𝑋𝑌6 = 6𝐶𝐴 )))))⃗ ⋅ 𝑛)C⃗6 = j(𝑎⃗ − 𝑐⃗) ⋅ w $×+ xj.
2⃗×+⃗ 4
4$

Method 2:
1. Given 𝑙" : ))𝑟)"⃗ = 𝑎⃗ + 𝜆𝑏)⃗ and 𝑙! : 𝑟)))⃗! = 𝑐⃗ + 𝜇𝑑⃗.
2. Find vector connecting any two points between 𝑙" and 𝑙! = 𝑟)))"⃗ − )))⃗. 𝑟!
3. ))𝑟)"⃗ − 𝑟)))⃗! is the shortest when it is perpendicular to both lines, thus:
𝑟! ⋅ 𝑏)⃗ = 0 𝑎𝑛𝑑 (𝑟)))"⃗ − 𝑟)))⃗)
(𝑟)))"⃗ − )))⃗) ⃗
! ⋅𝑑 =0
4. Solve 𝜆 and 𝜇 from the two equations.
5. Sub 𝜆 and 𝜇 back into ))𝑟)"⃗ − 𝑟)))⃗. !
6. Distance = |𝑟)))"⃗ − 𝑟)))⃗|.
!

Angles between Lines and Plane

Angle between Method
Two lines 1. Identify the direction vectors.
2. Use formula of dot product.
𝒃𝟏 ∙ 𝒃𝟐 = |𝒃𝟏 ||𝒃𝟐 | cos 𝜃

A line and a plane 1. Identify the direction vector of the line.

2. Identify the normal vector of the plane.
3. Use formula of dot product.
𝒃 ∙ 𝒏 = |𝒃||𝒏| cos(90° − 𝜃)
|𝒃 ∙ 𝒏| = |𝒃||𝒏| sin 𝜃
*|𝒃 ∙ 𝒏| is to find positive acute angle.

Two planes 1. Identify the normal vectors.

2. Use formula of dot product.
𝒏𝟏 ∙ 𝒏𝟐 = |𝒏𝟏 ||𝒏𝟐 | cos 𝜃
 Tel: 016-484 0556 (Mr. Choong)
Intersections of Lines and Planes
Intersection of Method
Two lines Given:
𝑙" : 𝒓𝟏 = 𝒂𝟏 + 𝜆" 𝒃𝟏
𝑙! : 𝒓𝟐 = 𝒂𝟐 + 𝜆! 𝒃𝟐
1. Let 𝒓𝟏 = 𝒓𝟐 .
2. Form simultaneous equation to solve for 𝜆" .
3. Substitute back to 𝒓𝟏 .

Given:
𝑥−𝑎 𝑦−𝑏 𝑧−𝑐
𝑙" : = =
𝑒 𝑓 𝑔
𝑥−ℎ 𝑦−𝑖 𝑧−𝑗
𝑙! : = =
𝑘 𝑙 𝑚
1. Rewrite the equation of line in the form 𝒓 = 𝒂 + 𝜆𝒃.
2. Let 𝒓𝟏 = 𝒓𝟐 .
3. Form simultaneous equation to solve for 𝜆" .
4. Substitute back to 𝒓𝟏 .

Line and plane Given:

𝑙: 𝒓 = 𝒂 + 𝜆𝒃
𝜋: 𝒓 ∙ 𝒏 = 𝑚
1. Sub the 𝒓 of 𝑙 into the 𝒓 of 𝜋. (Use matrix form)
2. Solve for 𝜆.
3. Sub 𝜆 back into equation of 𝑙.

Two planes Given:

𝜋" : 𝒓𝟏 ∙ 𝒏𝟏 = 𝑚"
𝜋! : 𝒓𝟐 ∙ 𝒏𝟐 = 𝑚!
1. The intersection is a line.
2. Find the direction vector using 𝒏𝟏 × 𝒏𝟐 = 𝒃
𝑥"
3. Let the position vector be F𝑦" G and sub into 𝒓𝟏 and 𝒓𝟐 .
𝑧"
4. Let 𝑥" = 0, then solve for 𝑦" and 𝑧" .
5. Write out the equation of line.

Equation of plane 𝒙 = 𝟎 Equation of plane 𝒚 = 𝟎 Equation of plane 𝒛 = 𝟎

1 0 0
𝑟⃗ ∙ F0G = 0 𝑟⃗ ∙ F1G = 0 𝑟⃗ ∙ F0G = 0
0 0 1