Chapter 1 Vectors, Lines and Planes

CHAPTER 1
Vectors, Lines and Planes

Many of you will know a good deal already about vector Algebra; how to
add and subtract vectors, how to take scalar and vector products of vectors,
and something of how to describe geometric and physical entities using
vectors. This course will remind you about that good stuff, but goes on to
introduce you to the subject of Vector Calculus. We begin this chapter by
introducing the basic concepts, scalar product, vector product, triple
products, multiple products, applications to geometry, linear combinations,
and linear transformations-and then relate these notions to the lines and
planes of geometry.

1. Vectors

Many physical quantities, such a mass, time, temperature are fully specified
by one number or magnitude. They are scalars. But other quantities require
more than one number to describe them. They are vectors. You have already
met vectors in their more pure mathematical sense in your course on linear
algebra (matrices and vectors), but often in the physical world, these
numbers specify a magnitude and a direction. Obvious examples are
velocity, acceleration, electric field, and force. Below, probably all our
examples will be of these “magnitude and direction” vectors, but we should
not forget that many of the results extend to the wider realm of vectors.

Scalar: mathematical object with one dimension property, the magnitude.

Vector: mathematical object that is defined in two or three dimensions, takes
into account. There are three slightly different types of vectors:

Calculus 3 1
Chapter 1 Vectors, Lines and Planes

1. Free vectors: In many situations only the magnitude and direction of a

vector are important, and we can translate them at will (with 3 degrees of
freedom for a vector in 3 dimensions).

Fig.1.1

2. Sliding vectors: In mechanics the line of action of a force is often

important for deriving moments. The force vector can slide with 1 degree of
freedom.

Fig.1.2

3. Position vectors: When describing lines, curves etc. in space, it is

obviously important that the origin and head of the vector are not translated
about arbitrarily.

A B

O C
Fig.1.3

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Chapter 1 Vectors, Lines and Planes

Vector components

In this course we will mostly restrict our attention to the 3-dimensional

Cartesian coordinate frame O(x, y, z). When we come to examine vector
fields later in the course you will use curvilinear coordinate frames,
especially 3D spherical and cylindrical polar and 2D plane polar, coordinate
systems.

Fig.1.4

In a Cartesian coordinate frame we write

a  (a1 , a2 , a3 )  a1iˆ  a2 ˆj  a3kˆ

Defining iˆ , ĵ and k̂ as unit vectors in the x, y, z directions

iˆ = (1, 0, 0) ĵ = (0, 1, 0) k̂ = (0, 0, 1)

Vector spaces: Most beginning calculus texts discuss geometric vectors,
which are represented by "arrows" drawn from a chosen
origin O.

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Chapter 1 Vectors, Lines and Planes

Vector equality

Two free vectors are said to be equal if their lengths and directions are the
same. This definition of equality will also do for position vectors, but for
sliding vectors we must add that the line of action must be identical too.

Vector magnitude and unit vectors

The magnitude of a vector a in 3-D is given by norm function as:

a  a12  a2 2  a32 ,
to find the unit vector in the direction of â , simply divide by its magnitude
a
aˆ 
a

i.e. iˆ  ˆj  kˆ  1 .

For any vector in R3that can write

r = (x, 0, 0) + (0, y, 0) + (0, 0, z)
= x (1, 0, 0) + y (0, 1, 0) + z (0, 0, 1)

= xiˆ  yjˆ  zkˆ

This means that any vector in R3 can be expressed as a sum of scalar
multiples (or linear combination) of three specific vectors, known as the
standard basis for R3 (see Fig.1.5).

Fig.1.5

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Chapter 1 Vectors, Lines and Planes

Example (1)
Find the magnitude and the unit vector of the following vectors
a) r  2iˆ  3 ˆj  kˆ b) a  (3, 4)
Solution:

a) Magnitude of r  r  22  32  12  14

r 2 ˆ 3 ˆ 1 ˆ
Unit vector= rˆ   i j k
r 14 14 14

b) Magnitude of a  a  32  (4) 2  5

a 3ˆ 4 ˆ
Unit vector= aˆ   i  j (this the direction of a )
a 5 5

Addition of vectors

By a geometric vector in R3 (or R2) we will mean an “arrow” which can be

moved to any position, provided its direction and length are maintained. Two
vectors with a letter surmounted by an arrow, v and w . The sum of two
vectors is formed by moving w so that its “tail” coincides in position with
the “head” of v , then forming the vector v + w as (Fig. 1.6).

Fig.1.6 Fig.1.7

Calculus 3 5
Chapter 1 Vectors, Lines and Planes

If instead we place w with its tail at the position previously occupied by the
tail of v and then move v so that its tail coincides with the head of w . It is
clear, w + v , that these two configurations form a parallelogram with
diagonal, and it is clear that these two configurations form a parallelogram as
Fig. 1.7 with diagonal

w + v = v+ w

Theorem (1)
If v  (a1 , a2 , a3 ) and w  (b1 , b2 , b3 ) , then

1) v + w = (a1 , a2 , a3 ) + (b1 , b2 , b3 ) = (a1  b1 , a2  b2 , a3  b3 )

2) For c is scalar, cv  (ca1 , ca2 , ca3 )

3) If a1  b1 , a2  b2 , and a3  b3 then v  w

Addition follows the parallelogram construction of Figure 1.7. Subtraction (

v  w ) is defined as the addition ( v  (w) It is useful to remember that
the vector v  w goes from w to v .

Theorem (2)
Let v , w and u are three vectors that are satisfies
1) v  w = w  v (commutatively).

2) ( v  w ) + u = v + ( w + u ) = v + w + u (associativity).

3) v + 0 = 0 + v = v , where the zero vector is 0 = (0, 0, 0).

4) v + (- v ) = 0.

Calculus 3 6
Chapter 1 Vectors, Lines and Planes

Example (2)
Use the two vectors v  i  3 j  4k and w  2i  3 j  k to find
a) v  w b) v  3w
Solution:
a) v  w  (i  3 j  4k )  (2i  3 j  k )  3i  3k
b) v  3w  (i  3 j  4k )  3(2i  3 j  k )
 (i  3 j  4k )  (6i  9 j  3k )  5i  12  7k

Theorem (3)
If v is a vector and c is scalar, then

cv  (cv1 )2  (cv1 ) 2  (cv1 ) 2  c v

Example (3)
Calculate the scalar number c that satisfy cv  5 with vector

v  2i  5 j  4k

Solution:

a) cv  c v  c 4  25  16  5

5
c 45  5  c  ,
3

5
Then c  
3

Calculus 3 7
Chapter 1 Vectors, Lines and Planes

Example (4)
Find the equation of sphere with the following condition
a) Origin is a center and point (2,1,2) on the surface
b) Diameter with end points (1,3,-1) and (3,-1,5)

Solution:

a) radius= OP  2iˆ  ˆj  2kˆ

r  OP  3

Then equation of sphere is Fig.1.8

x2  y 2  z 2  9

b) diameter= P1 P2  (3  1)iˆ  (1  3) ˆj  (5  1) kˆ  56

PP 1 ˆ
radius  1 2
(2i  4 ˆj  6kˆ)  14
2 2

3  1 1  3 1  5
center  ( , , )  (2,1, 2)
2 2 2

Then equation of sphere is

( x  2) 2  ( y  1) 2  ( z  2) 2  14

or

x2  y 2  z 2  4 x  2 y  4 z  5  0

Calculus 3 8
Chapter 1 Vectors, Lines and Planes

1.1 The Dot Product

This is a product of two vectors results in a scalar quantity and is defined as

follows for 3-component vectors:
u  v  u1v1  u2v2  u3v3
or
u  v  u v cos 

uv
Where cos   ,  is the angle formed by u and v that take range
u v

0     .It is important to note that the dot product always results in a

scalar value. The two definitions are the same. They are related to one
another by the Law of Cosines. The first method of calculation is easier
because it is the sum of the products of corresponding components. The
second method of calculation can be used if we know the angle  .

Example (5)
Find u  v where u  (3, 4,1) and v  (5, 2, 6) =then find the angle  formed
by u and v .
Solution:
u  v  3 5  4  2 16
 15  8  6  1
To find  , we use the second method of calculation and solve for  , using a
calculator in degree mode for the last step.
u  9  16  1  26 and v  25  4  36  65

uv 1
  cos 1 ( )  cos 1 ( )  88.61 ∙
u v 26  65

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Chapter 1 Vectors, Lines and Planes

Some Properties of the Dot Product

The dot product of two vectors a and b has the following properties:
1) a  b  b  a , dot product is commutative
2
2) a  a  a1a1  a2 a2  a3a3  a , the dot product of a vector with itself is the

square of the magnitude of the vector.

3) a  0  0  a  0 , the dot product of the zero vectors 0 with any other vector
results in the scalar value 0.
4) The sign of the dot product indicates whether the angle between the two
vectors is acute, right, or obtuse.

Fig.1.9

Theorem (4)
Orthogonally: The inner product of two non-zero vectors is zero if and only
if they are perpendicular
u v  0
Since i,j and k are unit vectors, forming a basis of the R3 space, then:
i  j  jk  k  i  0
where.
i  i  j j  k  k  1

Fig.1.10

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Chapter 1 Vectors, Lines and Planes

Theorem (5)
Orthogonal projection (or simply, the projection) of one vector onto
another is facilitated by the dot product. For example, the projection of u
onto v is given by

 uv   uv 
Projv u   vˆ   v
 v   v 2  .
   

Fig.1.11

Viewing as the hypotenuse of a triangle and its projection onto as the

adjacent leg, then the opposite leg is called the normal to the projection of
u onto v , written norm v u , with the relationship that

Projv u  norm v u  u

Since the scalar component of

Projvu  u cos  and

norm vu  u sin 

Fig.1.12

Here are Figs. 11 and 12 ways to view a vector u projected onto v :

Calculus 3 11
Chapter 1 Vectors, Lines and Planes

Example (6)
Find the vector projection of vector u onto v where u  2iˆ  ˆj  4kˆ and
v  2iˆ  2 ˆj  5kˆ . Then find the length of projection.

Solution:
 uv 
Projv u   2  v
 v 
 
u  v  2  2 1 2  4  5  22

   33
2
2
vv  v  22  (2)2  52

Then
22 ˆ ˆ ˆ 44 ˆ 44 ˆ 110 ˆ
Projv u  (2i  2 j  5k )  i  j  k
33 33 33 33

Since the scalar component of projection is the length of projection and

calculated by

44 2 44 110 2 2 33
Projvu  ( )  ( ) 2  ( )  unit length.
33 33 33 3
While projection of vector v onto u is given by

 uv  22 44 22 88
Proju v   2  u  (2iˆ  ˆj  4kˆ)  iˆ  ˆj  kˆ
 u  21 21 21 21
 
at

 
2
2
u  22  (1)2  42  21

Calculus 3 12
Chapter 1 Vectors, Lines and Planes

Work done by a force

A constant force F acts on a body giving it a displacement d . Then, the
work done by the force:

W  F  d  F d cos  .

Fig.1.13

The work (action) is in the direction of displacement. The work done is

maximal only if  = 0, when the force acts 100% in the direction of the
movement.

Example (7)

A force is given by the vector F  iˆ  5 ˆj  3kˆ moves an object from the
point (4, 0,-7) to the point (2, 4, 0). Compute the work done that used to
move the object.

Solution:
Distance  P1 P2  (2  4)i  (4  0) j  (0  7) k  69

Where d = 2iˆ  4 ˆj  7 kˆ and F  iˆ  5 ˆj  3kˆ

Work W  F  d  (iˆ  5 ˆj  3kˆ)  (2iˆ  4 ˆj  7kˆ)

W  2  20  21  1 J

Calculus 3 13
Chapter 1 Vectors, Lines and Planes

Example (8)
A cube has four diagonals, connecting opposite vertices. What is the angle
between an adjacent pair?

Solution:
Well, you could plod through using Pythagoras’ theorem to find the length of
the diagonal from cube vertex to cube center, and perhaps you should to
check the following answer.

Fig.1.14

The directions of the diagonals are (±1, ±1, ±1). The ones shown in the
Fig.1.14 are (1, 1, 1) and (-1, 1, 1). The angle is thus

(1,1,1)  (1,1,1)
  cos1 ( )
12  12  12  (1)2  12  12

1
  cos 1 ( )  70.528
3

Calculus 3 14
Chapter 1 Vectors, Lines and Planes

1.2 The Cross Product

The vector product of two vectors u and v is denoted by u  v and is defined
as follows:

i j k
u  v  u1 u2 u3
v1 v2 v3

 (u2v3  u3v2 )iˆ  (u3v1  u1v3 ) ˆj  (u1v2  u2v1 )kˆ

Since a determinant with two equal rows has value zero, it follows
that u × u = 0. (So the cross product is determined the interactions between
different dimensions).
Also, the cross product can be defined by the angle from by two
vectors u and v as follows

u  v  u v sin  nˆ

at n̂ is a vector perpendicular the plane

which contains two vectors u and v
as in Fig.1.15. Fig.1.15

Note that

iˆ  ˆj  kˆ , ˆj  kˆ  iˆ and kˆ  iˆ  ˆj

Fig.1.16

Calculus 3 15
Chapter 1 Vectors, Lines and Planes

Some Properties of the Cross Product

The dot product of two vectors a and b has the following properties:

1) a  b  b  a , cross product is not commutative

2) a  b  0 , then both vectors are parallel.

Theorem (6)
Oriented Areas in the Plane, the standard formula for the area of a triangle
1
A  bh , where b is the “base” length and h is the “height”. Then the area of
2
triangle formed from two vectors u and v as (Fig. 1.6) is given by

1
area   u v
2

Also, the area of the parallelogram formed from two vectors u and v as
(Fig. 1.7) is given by
area  u v

Example (9)
Find u  v , where u = (3, -4,1) and v =(5,2, -6).
Solution: we have
i j k
u  v  3 4 1
5 2 6

 (24  2)iˆ  (18  5) ˆj  (6  20)kˆ

u  v  22iˆ  23 ˆj  26kˆ

Calculus 3 16
Chapter 1 Vectors, Lines and Planes

Example (10)
Given three points A =(1,3,1), B =(2,5, -3), and C = (-4,1,8). Find
(a) The angle in degrees at vertex A.
(b) The area within the triangle formed by the three points.
C
Solution:
a)

AB  iˆ  2 ˆj  4kˆ AB AC  5iˆ  2 ˆj  7 kˆ A B

AB  AC 5  4  28 Fig.1.17
  cos1 ( )  cos 1 ( )
AB AC 21 78

 37 
  cos 1    156.09
 1638 

b)

1
area   AB AC sin 
2

1
area   21 78 sin( )  8.2 Square unit.
2

Another solution if the angle is not exist

1
area   AB  AC
2

1 ˆ
area   6i  13 ˆj  8kˆ 8.2 Square unit.
2

Calculus 3 17
Chapter 1 Vectors, Lines and Planes

.The Triple Product

Using mixtures of the pairwise scalar product and vector product, it is

possible to derive “triple products” between three vectors. This is the scalar
product of a vector product and a third vector, i.e. a · (b × c) is given as:

a1 a2 a3
a · (b × c)= b1 b2 b3
c1 c2 c3

Fig.1.18

Geometrical interpretation of scalar triple product

The scalar triple product gives the volume of the parallelepiped whose sides
are represented by the vectors a, b, and c.
Then Volume of parallelepiped = (area of base)(altitude)

Volume = (b × a) · c

We saw earlier that the vector product (a × b) has magnitude equal to the
area of the base, and direction perpendicular to the base. The component of c
in this direction is equal to the height of the parallelepiped shown in Figure
1.18.

Calculus 3 18
Chapter 1 Vectors, Lines and Planes

The parallelepiped would have zero volume if squashed flat. In this

case all three vectors lie in a plane, and so any one is a linear combination of
the other two.

Some Properties of the Triple Product

For three vectors u , v , and w we get

1) (u  v )  w  u.( v  w )

2) u  ( v  w )  (u.w ) v  (u.v)w

3) u.( v  w )  0 , then the vectors are linearly dependent.

i.e: u  c1v  c2 w , where c1 and c 2 are constants.

Calculus 3 19
Chapter 1 Vectors, Lines and Planes

1.4 Exercise 1

1. In each part, you are given two vectors v  iˆ  2 ˆj  2kˆ and u  3iˆ  2 ˆj  kˆ
Find
a) v  u b) v  u c) 2v  4u
d) Length of u e) Direction of v f) 5v

2. Use the following vectors r  2iˆ  kˆ , v  iˆ  2 ˆj  4kˆ , and w  4iˆ  5 ˆj  2kˆ

a) Prove that r  (v  w)  r  v  r  w

b) Find the projection (scalar component) of w onto r

c) Find the projection (scalar component) of v onto w

3. A sphere has center in the first octant and is tangent to each of the three
coordinate planes. The distance from the origin to the sphere is units. Find
a) An equation for the sphere
b) The shortest distance from the origin point and circumference of the
sphere.

4. A force is given by the vector F  iˆ  5 ˆj  3kˆ moves an object from the
point (4, 0,-7) to the point (2, 4, 0).

5. The particle moves with velocity vector V  3iˆ  2 ˆj  kˆ to cut

displacement vector r  4iˆ  5 ˆj  2kˆ . Is the velocity vector orthogonal to the

displacement vector?

6. Find the oriented area of (△ABC) and calculate the area of the triangle:
(a) A = (0, 0, 0), B = (1, 2, 3), C = (3, 2, 1)
(b) A = (1, 3, 2), B = (2, 3, 1), C = (3, 3, 2)
(c) A = (2, -1, -4), B = (-1, 1, 0), C = (3, -3, -2)

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Chapter 1 Vectors, Lines and Planes

7. Prove that the following vectors A  2i  3 j  k , B  2i  j  k , and

C  2i  2 j  k can form a right angle triangle. Then find the area and
median of the triangle.

8. Let u =(1,4, -5), and v = (-4,3, -1) and w = (7, -2, -3). Classify each
expression below as a vector, a scalar, or not defined. If it’s a vector or
scalar, find the result. If it’s not defined, explain why.
a) u  v b) (u  w ) v c) w  v
d) (u  w )  v e) (u  w )  v f) (u  w )  v

9. Find the volume of the parallelepiped that formed by the adjacent sides
a) u  (1, 1, 2), w  (0,3,1) and v  (3, 4, 2)
b) u  (1,1, 0), w  (2,3, 1) and v  (1, 2,3)

Calculus 3 21
Chapter 1 Vectors, Lines and Planes

2. The lines in space

Let 𝑎⃗ = 〈𝑎1 , 𝑎2 , 𝑎3 〉 be a nonzero vector in𝑉3, let 𝑃1 (𝑥1 , 𝑦1 , 𝑧1 ) be any point,

and let ⃗⃗⃗⃗⃗⃗
𝑂𝐴 be the position vector for 𝑎⃗. As illustrated in Figure (1-19), we
describe the line 𝑙 through 𝑃1 (𝑥1 , 𝑦1 , 𝑧1 ) parallel to 𝑎⃗ as the set of all points
𝑃1 𝑃 is parallel to ⃗⃗⃗⃗⃗⃗
𝑃(𝑥, 𝑦, 𝑧) such that ⃗⃗⃗⃗⃗⃗⃗⃗ 𝑂𝐴 that is,

⃗⃗⃗⃗⃗⃗⃗
P ⃗⃗⃗⃗⃗⃗
1 P = t OA for some scalar t.

In terms of vectors in V3 ,

Fig.1.19

〈x − x1 , y − y1 , z − z1 〉 = t〈a1 , a2 , a3 〉 = 〈a1 t, a2 t, a3 t〉

Equating components and solving for𝑥, 𝑦, and 𝑧 gives us

x  x1  a1t , y  y1  a2t , z  z1  a3t

2.1. Parametric equation of line

Theorem (7)
Parametric equation to pick out one among all the lines parallel to
u  (u1 , u2 , u3 ) we specify a basepoint P ( x0 , y0 , z0 ) through which the line

is required to pass. Then coordinates form of the line, l , becomes

x  ( x0  u1t ), y  ( y0  u2t ), and z  ( z0  u3t ). t  R

Calculus 3 22
Chapter 1 Vectors, Lines and Planes

Example (11)
Find the parametric equation of the line l pass through the point P (1, 2, 2)

and parallel to vector u  (2, 4,5) .

Solution:
The line parallel to vector u  (2, 4,5) , this is a direction of line

P (1, 2, 2) is pass point of the line l , then parametric equation

x  1  2t , y  2  4t , and z  2  5t t  R

2.2. Symmetric equation of line

Theorem (8)
Symmetric equation of the line parallel to u  (u1 , u2 , u3 ) and passing

through a point P ( x0 , y0 , z0 ) becomes

x  x0 y  y0 z  z0
  t
u1 u2 u3

Example (12)

Find the angle between two lines l1 : x  2  t , y  2  t , z  t and

x 1 y  3 z  2
l2 :   t.
2 5 1

Solution:

Directions of l1 is u   1,1,1 and l2 is v   2,5,1

The angle two lines is the same angle between two vector directions l1 is

Calculus 3 23
Chapter 1 Vectors, Lines and Planes

uv
  cos1 ( )
u v
250
 cos 1 ( ) 25.35
2 30

Some Properties of the lines

For two lines l1 and l2 that are parallel to vectors u and v , respectively,
then:

1) The l1 and l2 are parallel if and only if u  cv ( u / / v ).

2) The l1 and l2 are perpendicular if and only if u  v  0 .

3) The l1 and l2 are skew if they aren’t parallel or perpendicular.

Example (13)
Find the parametric and symmetric equation of the line l pass through the
points P1 (1,3, 2) and P2 (0, 4,1) . Determine the point that line intersect with
xy-plane?

Solution:

Direction: PP ˆ ˆ ˆ
1 2  u  i  j  k

Let’s take any point pass as: P1= (1,3, 2)

Then, parametric equation
x  1 t , y  3  t , and z  2  t t  R
Also, symmetric equation
x 1 y  3 z  2
  t
1 1 1

Calculus 3 24
Chapter 1 Vectors, Lines and Planes

1 x  y  3  2  z  t
The intersection point with xy-plane put z=0

z  2  t  0 , this lead to the point intersect the xy-plane is t=2.

Example (14)
Determine whether the given lines intersect, and if so, find the intersection
point.
l1 : x  2  3t , y  1  2t , and z  1  t

l2 : x  1  3r , y  2  r , and z  r

Solution:
Let x  2  3t  1 3r  3t  3r  3

Then  t  r  1 (1)

Also y  2  r  1  2t  2t  r  3
Then  2t  r  3 (2)
Solving Eqs.(1) and (2) by substituting method we get

t  2 and r  1

By using t  2, r  1 in Z- coordinates for l1 and l2

For l1 : z  1 t  1
and l2 : z  1
Then two lines are intersection at point (4,-3,-1).

Calculus 3 25
Chapter 1 Vectors, Lines and Planes

Example (15)
Determine if the lines parallel, if they intersect, and if they skew. If they
intersect find the intersection point.

l1 : pass point P(1,-6,2) with direction vector v  iˆ  2 ˆj  kˆ .

x z 1
and l2 :  y4 t
2 2

Solution:

For line l1 has direction v  iˆ  2 ˆj  kˆ passing through P (1,-6,2) line l2

has direction u  2iˆ  ˆj  2kˆ passing through P(0,4,1)

For the lines to be parallel u  cv

This would imply

2  c,1  2c, and 2  c ,

So the lines are no parallel.

For the lines to be intersect, we compute the parametric equations

x  1 t   x  2s 
   
l1  y  6  2t  and l2  y  4  s 
z  2  t   z  1  2s 
   

By using the method of solution in Example (13), for X and Z coordinate, we

get

2s  t  1 and 2s  t  1

After solving two Equations we get

Calculus 3 26
Chapter 1 Vectors, Lines and Planes

s4 and t 7
Replacing s and t in Y coordinates
y  6  2t and y  4s

y  8 and y 8
Then two lines are intersecting at point (8, 8, 8).

2.3. The shortest distance from a point to a line

The shortest distance from a point P to the line with direction P0Q is along
the perpendicular is D. Depending on how the line is defined, this can be
written as:

P0Q  P0 P
D D
P0Q

Q P0

Fig.1.20

Calculus 3 27
Chapter 1 Vectors, Lines and Planes

2.4. Exercise 2
1. Find the parametric equation for the line through the point P=(3,-4,1) and

parallel to vector v  iˆ  2 ˆj  kˆ .

2. Find the parametric and symmetric equations for the line through the point
P= (-2, 0, 3) and Q= (3, 5 ,-1).

3. For each line in R3 described below, give (i) parametric equations, and (ii)
symmetric equation:
a) The line through the point (2,-1,3) with direction vector u  (1, 2,1) .
b) The line through the points (-1, 2, -3) and (3, -2, 1).
c) The line through the point (1, 3, -2) parallel to the line
x  2  3t , y  1  3t , and z  2  2t .

[Link] whether the given lines intersect, and if so, find the intersection
point.

l1 : x  4  t , y  1  t , and z  4  2t

and l2 : x  2  3t , y  1  3t , and z  2  2t

5. Find the distance D from the indicated point to the corresponding line

a) P(2,-1,-3) to l :x t , y  3  2t , and z  2  2t
b) P(1,-1,1) to l : x  1 2t , y  2t , and z  2  3t

6. Find the interaction point of two lines l1 : x  1  2t , y  2  3t , z  3  4t ,

l2 : x  1  s, y  4  2s, z  1  4s

Calculus 3 28
Chapter 1 Vectors, Lines and Planes

3. The Planes in space

3.1. Plane determined by a point and its normal.

A plane is uniquely determined given a point on the plane and a vector
perpendicular to the plane. Such a vector is said to be normal to the plane.
Given appoint P0 =(x0, y0, z0) and a normal nˆ  (a, b, c) to a plane, a point P

=(x, y, z) will be on the plane if P0 P is orthogonal to n that is satisfy:

n  P0 P  0

Fig.1.21

Example (16)
Find the scalar equation of plane that is through a point (1, 2, 1) with normal
(2,-1,-3).

Solution:

n  P0 P  0

2iˆ  ˆj  3kˆ  ( x 1)iˆ  ( y  2) ˆj  ( z 1)kˆ  0

2 x  y  3 z  3

Calculus 3 29
Chapter 1 Vectors, Lines and Planes

3.2. Plane determined by three points

If we have three non- collinear points P1 , P2 , and P3 , we can form the

1 2 and P1 P 3 . The cross product of two vectors is perpendicular to

vectors PP

the plane that contains then and therefore we get normal and any point on the
plane.
Example (17)
Find the equation of the plane through the points P1 (2, 1, -1), P2 (0,-2,0), and

P3 (1,-1,2).
Solution:
To get plane equation we need point and normal
i j k
The normal n  P1 P2  P1 P 3  2 3 1
1 1 2

n  7iˆ  5 ˆj  kˆ

n  PP
1 0

[7iˆ  5 ˆj  kˆ] [( x  2)iˆ  ( y 1) ˆj  ( z  1)kˆ]  0

7 x  5 y  z  10  0
7 x  5 y  z  10

Some Properties of the planes

For two planes 1 and 2 that are

1) Parallel if and only if their normals are parallel n1 / / n2 .

2) Perpendicular if and only if n1  n2  0 .

3) Intersection in a line if are not parallel (to find the equation of a line
we need a point and direction).

Calculus 3 30
Chapter 1 Vectors, Lines and Planes

Example (18)
Find the angle between the planes 1 : x  y  z  1  0 and
 2 : x  2 y  3z  1  0 . Then, find the equation of intersection line
between two planes.

Solution:
a) For plane  1 the normal n1  (1,1,1) and

For plane  2 the normal n2  (1, 2,3) , then the angle

 n1  n2 
  cos 1  
 n1 n2 

 2
  cos 1    72
 3 14 

b) Equation of line need to direction and point

The direction of line will be orthogonal to both normal of two planes as:

i j k
u1 1 1  5iˆ  2 ˆj  3kˆ
1 2 3

We also need a point on the line lies in both planes, so we can fix one
variable from three unknown variables. If we let
z t t  R ,
then
x  y  t 1  0
x  2 y  3t  1  0
Solving two equations we get
2 5
y t and x=1- t
3 3

Calculus 3 31
Chapter 1 Vectors, Lines and Planes

May be consider t=0 then we get a point on line intersection (1,0,0)

Then
Equation of line l : x  1  5t , y  2t , z  3t

3.3. The shortest distance from a point to a plane

The shortest distance from a point P0 to the plane  is along the

perpendicular. Depending on how the plane is defined, this can be written as
n P. Since 𝑃1 is on the plane, (𝑥1 , 𝑦1 , 𝑧1 ) is a solution of 𝑎𝑥 + 𝑏𝑦 + 𝑐𝑧 +
𝑑 = 0, and hence 𝑎𝑥1 + 𝑏𝑦1 + 𝑐𝑧1 + 𝑑 = 0, or 𝑑 = −𝑎𝑥1 − 𝑏𝑦1 − 𝑐𝑧1 .
Thus, the preceding formula for ℎ may be written

ax0  by0  cz0  d

h .
a 2  b2  c2

Fig.1.22

3.4. Graphing linear equation in three variables

In much the same way that points in a two-dimensional coordinate system

are represented by ordered pairs, each point in space can be represented by
ordered triple (x, y, z)

Fig.1.23

Calculus 3 32
Chapter 1 Vectors, Lines and Planes

Where the plane is defined with  : ax  by  cz  d , has normal

with direction n  ( a, b, c ) .A linear equation in three variables x, y and z is

an equation of plane ax  by  cz  d . An ordered triple (x, y, z) is a

solution of this equation if the equation is true when the values of x, y, and z
are substituted into the equation. The graph of an equation in three variables
is the graph of all its solutions. The graph of a linear equation in three
variables is a plane.

Example (19)

Sketch the graph of 3x + 2y + 4z = 12.

Solution:

Begin by finding the points at which the graph intersects the axes. Let x = 0
and y = 0, and solve for z to get z = 3. This tells you that the z-intercept is 3,
so plot the point (0, 0, 3).
In a similar way, you can find that the x-intercept is 4 and the y-
intercept is 6. After plotting (0, 0, 3), (4, 0, 0), and (0, 6, 0), you can connect
these points with lines to form the triangular region of the plane that lies in
the first octant.

Fig.1.24

Calculus 3 33
Chapter 1 Vectors, Lines and Planes

3.5. Exercise 3
1. Find a unit vector perpendicular to the plane 4x + 2y + 4z = -7.

2. Find the equation of plane through the points (1,1,-1), (2,0,2) and (0,-2,1).

3. Find the angle between the two planes x + y + z = 1and

x + 2y + 3z = 6.

4. Find the equation of intersection line between the planes

 1 : x + y + z -1 and  2 : x -2y - z-1.

5. Find the parametric equation for the line through the point
P= (0, 7, 0) and perpendicular to the plane x+2y+2z-13=0.

6. Find the plane that is through a point (2,1,-1) and perpendicular to the line
of intersection of the planes  1 :2 x + y - z -3 and

 2 : x+2y + z-2.

7. Determine the distance from a point P= (2, -3, 4) to the plane  1 : x +

2y+2z -13.

8. Find the distance between the two planes  1 : x +2 y +6 z-1 and

 2 : x-2y -z-5.
9. Sketch the graph of the equation.
a) 8x + 4y + 2z = 16 b) 2x-4y + 2z-2=0.

Calculus 3 34