Vectors

Collinearity Theorem Three points A, B and C are collinear if and only if the vectors AB // AC with A as a = , . common point. i.e Ratio Theorem A

O If P divides AB in the ratio : , then OP =

OA + OB . + In particular, if P is the mid-point of AB (i.e. = 1 and = 1 ),

1 OA + OB 2 This is also called the mid-point theorem OP =

Scalar(or Dot) Product

a b = a b cos

Properties 1. a a = a
2

a x bx a y b y = a x bx + a y b y + a z bz a b z z

2. a b = b a (Commutative Law) 3. a ( b + c ) = a b + a c (Distributive Law) 4. a ( kb ) = k ( a b ) = ( ka ) b (Associative Law)

~ ~

(a) To find angle between 2 vectors, a and b use the formula : cos = a b (b) To prove that 2 vectors are perpendicular, show that : a b = 0 Length of projection The length of projection of AB B on m = d

d = AB m
A
d

Cross Product
a b = ( a b sin ) n
a b = a b sin , since n and 0 sin 1 for 0

a y bz az by a b = ( ax bz az bx ) ax by a y bx

Properties 1. a b = b a 2. k ( a b ) = ( ka ) b = a ( kb ) (Associative Law) 3. a ( b + c ) = a b + a c (Distributive Law)

(b + c ) a = b a + c a
4. a a = 0 5. a b = a b if and only if a and b are perpendicular Resolving a vector into two perpendicular components Any vector a can be expressed as a linear combination of 2 non-zero vectors a1 and a 2 which are non-parallel and coplanar with a . In particular if a1 and a 2 are perpendicular, a

a2
a1 m a1 = a m m a 2 = a a1

Note: a m is displacement of projection of a on b .

Lines
Vector Equation
r = a + m Parametric
x = a x + m x y = a y + m y z = a z + mz

x Let r = y ~ z
x = a x + m x y = a y + m y z = a z + mz x = a x + m x

x = a x + mx y = a y + m y z = a z + m z

Cartesian

y = a y + m y z = a z + mz Make the subject

x a x mx y = a y + my z a m z z r = a + m x ax y a y z a z = = mx my mz
x = a x + mx y = a y + m y z = a z + m z

x ax y a y z az = = mx my mz

Note: If any of the variable m x , m y , m z is 0 , for example

mx = 0 then

y ay my

z az , x = ax mz

1) Angles between 2 lines

l1 : r = a1 + m1

l2 : r = a 2 + m 2

cos = m1 m 2
2) Shortest distance between a point Q and a line l : r = a + m Method 3 Method 1 Method 2 The foot of the perpendicular N Q is needed Q h Q h l h A l A d m A N l m m h = AQ m d = AQ m Since N lies on the line, 2 ON = a + m for some h = AQ d 2 QN = ON OQ = a + m q Since QN l

QN m = 0 Solve ( a + m q ) m = 0 to find .
Then h = QN

Possible cases for intersections between 2 lines l1 : r = a1 + m1 and l2 : r = a 2 + m 2 . Are the two lines parallel? Yes No

Check if lies on l2 parallel? Yes No

Solution for , ?

Yes

No

Coincidental lines. intersections.

Distinct parallel lines. 0 intersection.

Intersect at one point.

Skew lines. 0 intersection.

Note: 1. To check if a1 lies on l 2 . Find a solution for to the equation a1 = a 2 + m 2 .

Planes
Parametric
r = a + m1 + m 2 n = m1 m 2 D = a n r n = D In standard form r n = D
r n D = n n

Scalar Product

r n = D Find 2 points on the plane. a 0 Let a = 0 , b = b 0 0

a 0 Solve 0 n = D and bn = D 0 0 m1 = b a and m 2 = m1 n r = a + m1 + m 2

r n = D r n = d (Standard form) d is the perpendicular displacement of the plane from the origin in the direction of n

r n = d

Cartesian

x a Let r = y and is n = b z c rn = D

ax + by + cz = D x a y b = D z c
r n = D

ax + by + cz = D

x a y b = D z c ax + by + cz = D

1) Angles between two planes 2) Angles between a line and a plane

cos = n1 n 2
sin = n m

3) Shortest distance between a point Q and the plane Method 2 Method 3 Method 1 The foot of the perpendicular Construct a plane 2 through : r n = D N is needed Q Q that is parallel to 1 : r n = D Q n h Q 2
A
h = AQ n

h
N

A N Equation of line through QN r = OQ + n

ON = OQ + n for some

n 1

1 : r n = d1
2 : r n = OQ n = d 2 h = d1 d 2

Since ON is on , ON n = D

( OQ + n ) n = D
Solve for and hence find ON then h = QN Method 1 requires the point A on the plan to be known. If it is not known, let a 0 0 OA = 0 or a or 0 which are the axes intercetps. 0 0 a Since point A is on , OA n = D Solve for the unknown a .

4) Intersections between a line and a plane. l : r = a + m : r n = D Case 1: 1 Intersection Case 2: 0 Intersections l l

m n 0 The point of intersection is a + m for some ( a + m ) n = D

Case 3: Intersections
l

1) m n = 0 2) a n D

1) m n = 0 2) a n = D

Solve for . Note: m n = 0 means that the line is parallel to the plane. 5) Intersection between 2 planes (Equation of planes in Cartesian form)

1 : a1 x + b1 y + c1 z = D1 2 : a2 x + b2 y + c2 z = D2
Case 1: Intersections The solutions lie on a straight line. Case 2: Intersections The two planes are the same Convert to scalar product in standard form
1 : r n1 = d1

Case 3: 0 Intersections The two planes are parallel

Convert to scalar product in standard form

1 : r n1 = d1

1 : r n 2 = d 2
Such that n1 = n 2 and d1 = d 2

1 : r n 2 = d 2
Such that n1 = n 2 and d1 d 2

Find the line of intersection between 2 planes Method 1: (Using GC (PlySmlt2)) Eg 1 : x + 2 y + 3 z = 4 2 : 5x + 6 y + 7 z = 8

2 1 The line of intersection is r = 3 + 2 0 1

Method 2: Let z = a1 x + b1 y + c1 = D1 (1) a2 x + b2 y + c2 = D2 (2) Express x and y in terms of x = p + q y = r + s z = 0+ x p + q y = s + r z 0+

p q r = s +r 0 1

Method 3: Usually do this only when you have a common point a .

1 : r n1 = D1

2 : r n 2 = D2
Let the line of intersection be l : r = a + m
m = n1 n 2 If there is no common point, a a 0 Let a = b or 0 or is a . Since a ~ 0 b b on 1 and 2 . a n1 = D1 (1)

a n 2 = D2

(2)

Solve (1) and (2) to find a, b

6) Intersections between 3 planes

1 : a1 x + b1 y + c1 z = D1 2 : a2 x + b2 y + c2 z = D2 3 : a3 x + b3 y + c3 z = D3
You can use PlySmlt2 to solve for the point of intersection/line of intersection.

Alternatively (Useful to do this when you have unknown constant in the question) To find the intersections between 3 planes: 1) Find the line of intersection, l : r = a + m , between 1 and 2 . 2) Find out the relationship between this line , l and 3 . Case 1: 1 Intersection l
3

Case 2: 0 Intersections l
3

Case 3: Intersections
l

The 3 planes intersect at a common point.

The 3 planes do not have common point of intersection. m n 3 = 0 and a n 3 D3

The 3 planes do have infinite points of intersection. m n 3 = 0 and a n 3 = D3