Lines and Planes in
 using Vectors, Dot and Cross Products

This is a summary of the ways that the dot and cross products are used to solve questions
related to lines and planes in 3 . There is often more than one way to solve a problem,
and in some cases, answers are not unique.

Preliminary

Let L represent a line in   passing through a point ( ,  ,

 ) and parallel to a vector
 =  ,  ,  , called the direction vector. The coordinates x, y and z for a point on line
L in   are usually written parametrically as a function of :
 =  +  
=  +  

=
 +  

The equation of a line does not have to be unique. For example, a line passing through
(1,2,3) and parallel to  = 4, 5,6 has the parametric form
 = 1 + 4
= 2 5

= 3 + 6.

However, if  = 1, then a point on that line is (5, 3,9) and the same line could be
written as
 = 5 + 4
= 3 5

= 9 + 6.
These two sets of equations produce the exact same outputs, that is, the exact same line.
All that differs is the starting point, where  = 0.

A plane is defined by a point ( ,  ,

 ) on the plane, and a vector  = , !, " normal
(orthogonal) to the plane. The equation of a plane is given by:

where # =  + !  + "
 .

 + ! + "
= #

There are many questions that can be asked regarding the interactions between lines with
other lines, lines with planes, and planes with other planes.

Show that two lines are parallel.

Show that the two direction vectors are scalar multiples of one another, while ensuring
the two lines are not identical.
Example: Let $ and $ be two lines, defined below by

 = 1 + 2
 = 3 + 4
$ = % = 2 3 & and $ = % = 1 6&.

= 1 + 4

= 2 + 8

The directional vectors are  = 2, 3,4 and  = 4, 6,8. Therefore, ( = 2 , so at

the very least, the vectors  and  are parallel. Now we need to show that these are two
different lines. We know that (1,2, 1) is a point on $ . We then show whether $
includes this point; that is, we show whether or not there exists a t-value that when
substituted into $ , we generate (1,2, 1).

Using the equation  = 3 + 4 from $ , we substitute 1 for , and solve for . We get
 = 12. Now, using the equation = 1 6 from $ , we substitute  = 12 and
find that = 4. Thus, $ does not pass through (1,2, 1), so we conclude that $ and $
are two separate parallel lines.
Now consider $ and $ given below.

 =1+
 = 5 + 2
&
$ = % = 4 and $ = % = 24 + 8&.

=2

= 8 2

You should be able to show that they are the same line. On the other hand, consider
 = 6
 =5
&
$ = % = 2 + 7 and $ = % = 4 + 7.&

= 1 3

= 2 + 2
These are clearly not the same line. They are not parallel. This summarily removes the
possibility of them being the same line.
2

Find the parameterized equation of a line through two points.

Recall that to find the parameterized equation of a line, we need any point on that line
and a direction vector . Suppose the two points are represented as A and B. We find the
direction vector  from A to B and from this, we can build the equations for the line.
Example: Let + = (1,3,4) and , = (3,2,6). The direction vector from A to B is
 = 4, 1,2. Therefore, the line can be written as
 = 1 4
$ = % = 3  .&

= 4 + 2

Note that when  = 0, we generate + = (1,3,4), and when  = 1, we generate , =

(3,2,6). This is a good way to check for correctness.
This same line could also start at B and be traced toward A. The line would be written as
 = 3 + 4
$ = % = 2 +  .&

= 6 2

Note that the coefficients of  are negated, and that  = 0 gives B while  = 1 gives A.

Show that two lines intersect or are skew.

Suppose two lines are given, $ with  as its parameter variable, and $ with - as its
parameter variable. We set the respective , and
equations equal, forming three
equations in two variables (- and ). We then solve two of the equations for - and .
Assuming we find values for - and , we then substitute those values into the third
equation and check for the statements truth. If true, then the two lines intersect. If not,
the two lines do not intersect. If the lines are not parallel and do not intersect, then the
lines are skew.
Example: Let $ and $ be two lines, defined below by

 = 1 + 2
 = 1 + 4$ = % = 2 3 & and $ = % = 8 12-.&

= 1 + 4

= 9 23

We form a system of two equations in two variables (- and ) by equating the equations
for  and for :
1 + 2 = 1 + 42- +  = 0
-=1


.
2 3 = 8 1212- 3 = 6
=2

We then substitute 1 for - and 2 for  into the equations defining the z-coordinates in $
and $ :
1 + 4 = 9 21 + 4(2) = 9 2(1)
7 = 7.

This is a true statement, so the lines intersect. We should note they cannot possibly be the
same line since they are not parallel. In any case, we can now find the point of
intersection. We evaluate - = 1 or  = 2 into $ or $ , respectively. In both cases, we
find that the lines intersect at (5, 4,7).
If at any step during this process we come to a false statement, then the lines do not
intersect. For example, it is easy to show that
 = 1 + 2
 = 1 + 4&
$ = % = 2 3 and $ = % = 8 12-&

= 1 + 4

= 9 4are skew lines.

Find the shortest distance from a point to a line.

Let Q represent the point that is not on the line. We pick any point P on the line L, and
create a vector 0 from P to Q. Remember, line L is defined (partially) by its direction
vector . We then find the projection of 0 onto , then determine the orthogonal
component. The distance from Q to L is the magnitude of this orthogonal component.
 = 1 + 2
Example: Let $ = % = 2 3 & and let Q = (4,8,3), which is not on line $. The

= 1 + 4
direction vector of L is  = 2, 3,4, found by reading off the coefficients of .
4

We now choose any point P on L. We choose 1 = (1,2, 1). Therefore, the vector 0
from P to Q is
333334 = 4 1, 8 2, 3 (1) = 3,6,4.
0 = 12
The projection of w onto v is:
0

<

<

>

 ?

proj 0 = 9  ;  = =  = = 2, 3,4 = = , = , =.

The orthogonal vector is found by subtraction:
>

orth 0 = 0 proj 0 = 3,6,4 ,

=

 ?

B= >? 

, = ,

= =

=

=

=

The magnitude of this orthogonal vector is the distance from the point Q to the line L:
Distance = |orth 0| = D(79/29) + (186/29) + (100/29) 7.78 units.

Find the intersection of a line with a plane.

Substitute the parameterized equations from the line for , and

into the equation of
the plane, and solve for . Then substitute this  into the equations for the parameterized
form of the line to find the values for , and
.

In the case when the coefficients of  simplify to 0, but a non-zero constant remains, then
there is no solution, and the line is parallel to the plane. If the coefficients of  simplify to
0 and so do the constants, then we have the identity 0 = 0, which indicates that the line is
a subset of (contained within) the plane.
 = 1 + 2
Example: Let $ = % = 2 3 & and the plane be given by 2 + 7
= 11.

= 1 + 4
We substitute the equations from L into the plane, and simplify:
2(1 + 2) (2 3) + 7(1 + 4) = 11
2 + 4 2 + 3 7 + 28 = 11
7 + 35 = 11
35 = 18
>
 = G.

Therefore, the point of intersection is found by substituting 1835 for :

>

B

>

?

>

B

 = 1 + 2 9G; = G, = 2 3 9G; = G,

= 1 + 4 9G; = G.

Suppose we want to find the point at which the line L above intersects the plane
 + 2 +
= 1. Substituting as above, we have
(1 + 2) + 2(2 3) + (1 + 4) = 1
1 + 2 + 4 6 1 + 4 = 1
4 = 1.

The terms containing  summed to zero, and the remaining statement, 4 = 1, is false.
Thus, the line L does not intersect the plane  + 2 +
= 1. However, the line L lies
within the plane  + 2 +
= 4. You can check this.
6

Find the equation of a plane given three non-collinear points.

From the three points, we form two vectors which necessarily must lie in the same plane
as the three points. Then we find the cross product of these two vectors, which results in a
vector that is orthogonal to the plane. If we call this vector  = , !, ", then a, b and c
are the coefficients of x, y and z in the equation of the plane. To find the constant d, we
evaluate at any of the three given points, and check by evaluating the other given points.
+,
Example: Let + = (1,3,4), , = (3,2,6) and H = (1,0, 6). We form vectors I = 333334
333334
and  = +H :
I = 333334
+, = 4, 1,2 and  = 333334
+H = 0, 3, 10

We then find I :

 = I  = 16, 40,12.

(Before proceeding, be sure to check that this cross product is correct by showing it is
orthogonal to I as well as  by showing  I = 0 and   = 0.) After ensuring this is
correct, we move on.
Thus, the equation of the plane has the form 16 40 + 12
= #. To find #, we
evaluate any one of the original points into , and
. Using point + = (1,3,4), we have
16(1) 40(3) + 12(4) = 56.

The equation of the plane is 16 40 + 12

= 56, or simplified, it is
4 10 + 3
= 14.

To check, lets evaluate this equation at , = (3,2,6). We have

4(3) 10(2) + 3(6) = 14
12 20 + 18 = 14
32 + 18 = 14
14 = 14,

KLM

A similar check shows that H = (1,0, 6) also gives a true statement.

7

Find the planar (solid) angle between two non-parallel planes.

The angle between the two planes is the same as the angle between the two normal
vectors of the planes. Planar angles are always acute, or at most 90 degrees in the case of
orthogonal planes. We use the dot product formula with the cosine to find the angle.
Example: Let the planes be  + 3 2
= 5 and 4 + 5
= 2. Their normal
vectors are  = 1,3, 2 and  = 4, 1,5. The angle between these two planes is:
 

N = cos Q 9| R||S ; = cos Q 9

R

S|

; 111.79 degrees.

<<

However, planes always intersect at an acute angle, so the preferred answer is the
supplement: 180 111.79 = 68.21 degrees.

Find the equation of a line of intersection between two planes

For the equation of a line in R3, recall from earlier in this section that we need a direction
vector , and any point on the line.

From the two planes, we can determine their normal vectors  and  . Thus, their cross
product,  =   , provides a vector parallel to the line of intersection of the two
planes. To find any point on the line of intersection, we usually set one of the variables
equal to 0, then solve the remaining system for the values of the other two variables.
From this, we can build the parametric form of the equation of the line.
Example: To find the equation of the line of intersection between the two planes
 3 + 2
= 6 and 2 + 7
= 1, we determine their respective normal vectors.
From the first plane, we have  = 1, 3,2, and from the second plane, we have
 = 2,1, 7. Next, we find their cross product:
 =   = 19,11,7.

Now we need any point on this line of intersection. We set  = 0. This results in two
equations in variables y and z:
3 + 2
= 6
7
= 1
8

<

Solving this equation, we find that =

and
= . We have the necessary
=
=
ingredients to assemble the parametric form of the equation of the line. We have the
<

direction vector  = 19,11,7 and a point on the line, 90, , ;. Thus, the equation
=

=

of the line of intersection of the planes  3 + 2

= 6 and 2 + 7
= 1 is
 = 19

=

4019 + 11 .&

$=%

= 319 + 7

Find the shortest distance from a point to a plane.

Let Q represent the point that is not in the plane. Determine the normal vector  from the
equation of the plane. Then choose any point P on the plane and form a vector from P to
Q,  = 333334
12. We then project  onto , and find the magnitude of this projection. This
gives the distance from point Q to the plane.
Example: Let  3 + 2
= 6 be a plane, and let Q = (1,4,3) be a point not on the
plane. Note that the normal vector to the plane is  = 1, 3,2.
We now need any point in the plane. This can be easily achieved by choosing arbitrary
values for two of the variables and solving for the third. In this example, we let  = 0 and
= 0, which means that
= 3. Thus, we have a point 1 = (0,0,3).
The vector from P to Q is  = 1,4,0. Projecting  onto , we have




proj  =   = < 1, 3,2.

The distance from Q = (1,4,3) to the plane  3 + 2

= 6 is the magnitude of this


projection: < D1 + (3) + 2 = < 14 2.94.
On the following page is a visual explanation of the process shown above.

Find the distance between two parallel planes.

Since the planes are parallel, their normal vectors  and  are parallel, and thus scalar
multiples of one another. In other words, it suffices to choose one of the normal vectors
for this process. We then form a vector  from any point in one plane to any point in the
other plane. Using the same technique as in the previous example, we then project  onto
 and find the magnitude of this projection.

Example: Let  3 + 2
= 6 and 2 + 6 4
= 1 be parallel planes. Their
normal vectors are (respectively)  = 1, 3,2 and  = 2,6, 4. Note that each is
a scalar multiple of the other. In this example, well use  = 1, 3,2.

10

We then find a point in one plane and a point in the other plane. From  3 + 2
= 6,

we obtain (0,0,3), and from 2 + 6 4
= 1 we obtain 9 , 0, 0;. Thus, a vector


that connects the two points is  = , 0, 3. Projecting  onto , we have





proj  =   = > 1, 3,2.



The magnitude of this vector is > D1 + (3) + 2 1.737.

Find the shortest distance between two skew lines.

Since two skew lines can always be placed into two parallel planes, this problem reduces
to finding the distance between the two planes. From the two lines, we can determine the
direction vector of each,  and  . Their cross product will produce an orthogonal vector
 to both lines. We then choose one point from each line and form a vector  between
these two points. We then project  onto  and find the magnitude of this projection.
Example. Find the shortest distance between lines $ and $ , defined below by
 = 1 + 2
 = 5+
&
$ = % = 2 3 and $ = % = 3 &.

= 1 + 4

= 1 + 6

The lines are skew since they are not parallel, nor do they intersect. From each line, we
determine their direction vectors as  = 2, 3,4 and  = 1,3,6. Then we find , a
vector orthogonal to both lines.
 =   = 30, 8,9.
Now we need a vector from one line to another. From the first line, we have a point
1 = (1,2, 1) and from the second line, we have point 2 = (5,0, 1). Thus, a vector
connecting P to Q is  = 4, 2,0. Projecting  onto , we have


<

proj  =   = <G 30, 8,9.

Therefore, the distance between the two skew lines $ and $ is the magnitude of this
<
projection, <G D(30) + (8) + 9 3.217.
11

Practice

Let + = (1,4, 2), , = (2, 3,0), H = (5,4,1) and U = (0,7,2) be four points in   .
Use these four points to answer Exercises 1-8.
1. Find the parameterized equation of the line passing through B and C such that
 = 0 gives B and  = 1 gives C.
+, and 333334
+U at point A.
2. Find the angle between vectors 333334
3. Find the shortest distance from C to the line passing through A and D.
4. Find the equation of the plane passing through A, B and C.
5. Find the shortest distance from point D to the plane ABC.
6. Find the parameterized equation of the line normal to the plane BCD and passing
through A.
7. Find the point at which the line passing through A and normal to plane BCD
(question 6) actually passes through the plane BCD.
8. Find the planar angle formed by planes ABC and BCD.
9. Find the distance between the planes  + 2
= 1 and 2 2 + 4
= 0.
 = 2
 = 4
10. Consider lines $ = % = 1 & and $ = % = 3 + 2 &. Find their point of

= 1 4

= 3
intersection. If they do not intersect, then find the shortest distance between the
two lines. Hint: use parameter variable - for one of the lines.
 = 1 + 3
 = 3 + 8
&
11. Consider lines $ = % = 2 + 3 and $ = % = 1 +  &. Find their point of

= 4

= 23 5
intersection. If they do not intersect, then find the shortest distance between the
two lines.

Answers:
 = 2 7
1. $ = % = 3 + 7 &.

=
2. 111.94 degrees.
3.
4.
5.
6.
7.
12

8.
9.
10.
11. Intersect at (11,5,3).
Note: I have not worked these all out.

13