Three Dimensional Co-ordinate Geometry Advanced Level Pure Mathematics

Chapter 7 Vectors
7.8 Vector Equation of a Straight Line 2
Chapter 10 Three Dimensional Coordinates Geometry
10.1 Basic Formulas 5
10.2 Equations of Straight Lines 5
10.3 Plane and Equation of a Plane 11
10.4 Coplanar Lines and Skew Lines 22
7.8 Vector Equation of a Straight Line
c t a r

+ ,
parameter scalar : t
line straight on the point fixed a of ector position v : a

vector direction : c

line straight on point any of ector position v : r

Remark ) ( a b t a r

+
Example Let ) 0 , 7 , 8 ( A and ) 3 , 1 , 2 ( B .
(a) Find the equation of the straight line AB .
(b) Find the perpendicular distance from the point ) 9 , 7 , 4 ( P to the line AB .
Find also the foot of perpendicular.
Remark In above example (b), the distance from P to AB may also be found directly without
calculating the foot of perpendicular. The method is outlined as follows:
By referring to Figure,
AB
AP AB
AP PR

sin
Since
Example By finding the foot of perpendicular from the point
) 13 , 1 , 10 ( P
to the line,
) 5 (4 5 : j i t k i r L + + , find the equation of straight line passing through P and
perpendicular to L , find the perpendicular distance from P to L .
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Three Dimensional Co-ordinate Geometry Advanced Level Pure Mathematics
Three Dimensional Co-ordinate Geometry
10.1 Basic Formula
The Distance Between Two Points
Distance between ) , , (
1 1 1
z y x A and ) , , (
2 2 2
z y x B is
2
2 1
2
2 1
2
2 1
) ( ) ( ) ( z z y y x x + + .
Section Formula
Let ) , , ( z y x P divide the joint of ) , , (
1 1 1
z y x A and ) , , (
2 2 2
z y x B in the ratio
n
m
PB
AP

The Coordinate of the point P is

,
_

+
+
+
+
+
+
n m
nz mz
n m
ny my
n m
nx mx
1 2 1 2 1 2
, ,
10.2 Equations of Straight Lines
In vector form, the equation of straight line is c t a r

+ , where r

is the position vector of any point in the

line, a

is fixed point on line and c

is direction vector of line.

If ) , , ( z y x r , ) , , (
1 1 1
z y x a , ) , , ( c b a c , we have
k z j y i x

+ + = ) (a
1 1 1
k c j b i t k z j y i x

+ + + + +
= k tc z j tb y i ta x

) ( ) ( ) (
1 1 1
+ + + + +
Since k j i

, , are basis vectors in
3
R
, we have

'

+
+
+
tc z z
tb y y
ta x x
1
1
1
or
c
z z
b
y y
a
x x
1 1 1

Parametric Form of a Straight Line

The equation of the straight line passing through the point ) , , (
1 1 1
z y x and with direction vector
) , , ( c b a
can be
expressed in the form of

'

+
+
+
1
1
1
z ct z
y bt y
x at x
where
t
is a parameter.
This is called the parametric form of the straight line.
Symmetric Form of a Straight Line
The equation of the straight line passing through the point ) , , (
1 1 1
z y x and with direction vector
) , , ( c b a
and is
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Three Dimensional Co-ordinate Geometry Advanced Level Pure Mathematics
c
z z
b
y y
a
x x
1 1 1

and this is called the symmetric form of the straight line.

General Form of a Straight Line
The equation of a straight line can be written as a linear system

'

+ + +
+ + +
0
0
2 2 2 2
1 1 1 1
D z C y B x A
D z C y B x A
which is called the general form of a straight line.
If given two points ) , , (
1 1 1 1
z y x P , ) , , (
2 2 2 2
z y x P , the equation of straight line becomes

'

+
+
+
) (
) (
) (
1 2 1
1 2 1
1 2 1
z z t z z
y y t y y
x x t x x
or
1 2
1
1 2
1
1 2
1
z z
z z
y y
y y
x x
x x

Example Find the equation of the line joining the points ) 3 , 0 , 2 ( and ) 2 , 1 , 4 ( .
S 1
Let

'

+
+
+
1 1 1
1 1 1
1 1 1
1
:
n z z
m y y
l x x
L

and

'

+
+
+
2 2 2
2 2 2
2 2 2
2
:
n z z
m y y
l x x
L

To find the intersection point of line

2 1
and L L
we solve

'

+ +
+ +
+ +
2 2 2 1 1 1
2 2 2 1 1 1
2 2 2 1 1 1
n z n z
m y m y
l x l x



i.e. find
2 1
and .
Note After finding
2 1
and is any two equations,
2 1
and must put into the 3rd equation in order
to test whether it is satisfied or not.
S 2
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Three Dimensional Co-ordinate Geometry Advanced Level Pure Mathematics
Distance of a point
) , , (
0 0 0
z y x P
from the line
n
z z
m
y y
l
x x
1 1 1

FIND ' P .
Let ' P be ) , , (
1 1 1
n z m y l x + + + .
Direction vector of ' PP ) , , (
0 1 0 1 0 1
z n z y m y x l x + + +
Direction vector of line
) , , ( n m l
0 ) , , ( ) , , (
0 1 0 1 0 1
+ + + n m l z n z y m y x l x
As is formed, ' P can be determined and so ' PP d
Theorem Given
1
1
1
1
1
1
1
:
n
z z
m
y y
l
x x
L

and
2
2
2
2
2
2
2
:
n
z z
m
y y
l
x x
L

2 1
// L L
Their direction vectors are parallel

2
1
2
1
2
1
n
n
m
m
l
l

Remark
2 1
L L 0
2 1 2 1 2 1
+ + n n m m l l
10.3 Plane and Equation of Plane
A vector perpendicular to (or orthogonal to) a plane is a normal vector o that plane.
In Figure,
n
is a normal vector of the plane ) ( .
Normal vector of a plane is not unique, for if
n
is a normal vector, then
an
(a is
any non-zero real number) is also a normal vector.
Let
) , , (
0 0 0 0
z y x P
be a fixed point and
) , , ( z y x P
be any point on it.
Set ) , , ( C B A n i.e. A, B, C are given.
0
0
n P P

( Vector Form )
We have 0 ) , , ( ) , , (
0 0 0
C B A z z y y x x
0 ) ( ) ( ) (
0 0 0
+ + z z C y y B x x A
( Normal Form )
Remark The general form of plane equation is
0 + + + D Cz By Ax
.
Furthermore, if three points are given, ) , , (
i i i i
z y x P 3 , 2 , 1 i .
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Three Dimensional Co-ordinate Geometry Advanced Level Pure Mathematics
We have

'

+ +
+ +
+ +
0 ) ( ) ( ) (
0 ) ( ) ( ) (
0 ) ( ) ( ) (
3 2 3 2 3 2
2 1 2 1 2 1
1 1 1
z z C y y B x x A
z z C y y B x x A
z z C y y B x x A
0 ) , , ( C B A n The system has non-trivial solution of C B A , , .
Hence,
0
3 2 3 2 3 2
2 1 2 1 2 1
1 1 1

z z y y x x
z z y y x x
z z y y x x
. It is an equation of plane. ( 3 Point Form )
Example Find the equation of the plane passing through the points ) 3 , 4 , 2 ( P , ) 9 , 1 , 4 ( Q and ) 6 , 1 , 0 ( R .
Find also its distance from the origin.
The perpendicular distance between a point and a plane
Theorem The perpendicular distance between a point ) , , (
1 1 1
z y x P and a plane
0 : + + + D Cz By Ax
is
2 2 2
1 1 1

C B A
D Cz By Ax
d
+ +
+ + +

Proof Let
) , , (
0 0 0 0
z y x P
be any point on the plane
) (
.
Ck Bj Ai + +
is a vector normal to the plane
) (
.
The unit vector
n
normal to the plane
) (
is
2 2 2
C B A
Ck Bj Ai
n
+ +
+ +

.
The perpendicular distance d between the point P and the plane is equal to the magnitude
of the projection of P P
0
on
n
.
Therefore d =

0
n P P
=
[ ] ) ( ) ( ) (
2 2 2
0 1 0 1 0 1
C B A
Ck Bj Ai
k z z j y y i x x
+ +
+ +
+ +
=
2 2 2
0 1 0 1 0 1
) ( ) ( ) (
C B A
z z C y y B x x A
+ +
+ +
=
2 2 2
0 0 0 1 1 1

C B A
Cz By Ax Cz By Ax
+ +
+ +
But,
0 0 0
Cz By Ax D
, since
) , , (
0 0 0 0
z y x P
lies on the plane.

2 2 2
1 1 1

C B A
D Cz By Ax
d
+ +
+ + +

Example Find the perpendicular distance between two parallel planes

6 2 : ) (
1
+ z y x and 0 5 4 2 2 : ) (
2
+ + z y x .
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Three Dimensional Co-ordinate Geometry Advanced Level Pure Mathematics
Solution Take a point
) 3 , 0 , 0 ( P
on ) (
1
.
The required distance is just the perpendicular distance between P and ) (
2
.
i.e. d =
2 2 2
4 ) 2 ( 2
5 3 4 0 2 0 2
+ +
+ +
= 6
12
17
units.
Angles Between Two planes
Given 2 planes 0 :
1 1 1 1 1
+ + + D z C y B x A and 0 :
2 2 2 2 2
+ + + D z C y B x A
The angle between two planes is and

, which are a pair of supplementary angles and

cos
2 1 2 1
n n n n
cos =
) )( (
) , , ( ) , , (
2
2
2
2
2
2
2
1
2
1
2
1
2 2 2 1 1 1
C B A C B A
C B A C B A
+ + + +

=
Remark (a)
2 1
// scalar t n t n : ,
2 1

t
C
C
B
B
A
A

2
1
2
1
2
1
(b)
2 1
0
2 1
n n
0
2 1 2 1 2 1
+ + C C B B A A
Equation of Plane Containing Two Given Lines
Given two lines
1
1
1
1
1
1
1
:
n
z z
m
y y
l
x x
L

2
2
2
2
2
2
2
:
n
z z
m
y y
l
x x
L

The normal vector of the required plane

n
= ) , , ( ) , , (
2 2 2 1 1 1
n m l n m l
=
2 2 2
1 1 1
n m l
n m l
k j i
= k m l m l j n l n l i n m n m ) ( ) ( ) (
1 2 2 1 1 2 2 1 1 2 2 1
+
n
= ) , , (
1 2 2 1 1 2 2 1 1 2 2 1
m l m l n l n l n m n m +

The equation of the plane

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Three Dimensional Co-ordinate Geometry Advanced Level Pure Mathematics
Example Find the equation of the plane containing two intersecting lines.
2 4
1
3
2
:
1

z y x
L and
2 3
1
1
2
:
2
z y x
L
+

Example
Solve

'

+ +
+ +
0 z y 2 x 6
1 z 2 y 4 x 3
Solution
From the above examples we conclude that the
intersection of two planes is a line.
Alternatively,
consider
2 1
n n k
Family of Planes
Given two planes 0 :
1 1 1 1 1
+ + + D z C y B x A
0 :
2 2 2 2 2
+ + + D z C y B x A
The family of planes is any plane containing the line of intersection
2 1
and .
0 ) ( :
2 2 2 2 1 1 1 1
+ + + + + + + D z C y B x A k D z C y B x A , where k is a constant.
Example Find the equation of the plane containing the line

'

+
+
0 5 6
4 2
z y x
z y x
and passing
the point
) 2 , 1 , 1 (
.
Example Find the equation of the plane containing the line

'

+
8
4 2
:
1
z y
z x
L
and parallel to the
line
4
7
3
4
2
3
:
2

z y x
L .
Example (a) The position vector of a point ) , , ( z y x P is given by zk yj xi r + + .
In Figure,
) , , (
0 0 0 0
z y x P
is a point on the plane d n r : .
The line , :
0
ta r r + where t is a real scalar and ,
0 0 0 0
k z j y i x r + + passing
through
0
P and does not lie on

.
Show that the projection of on

is given by
,
_

+ n
n n
n a
a t r r
0
where
t
is a
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Three Dimensional Co-ordinate Geometry Advanced Level Pure Mathematics
real scalar.
(b) Consider the lines ) 3 2 ( 2 6 3 :
1
k j i t k j i r + + +
and ) 4 19 8 ( 2 19 10 :
2
k j i t k j i r +
and the plane 4 ) 2 4 ( : + k j i r
(i) Let A and B be the points at which

intersects
1
and
2
respectively.
Find the coordinates of A and B and show that AB is perpendicular to both
1
and
2
.
(ii) Show that the projections of
1
and
2
on

are parallel.
Theorem Two given planes
B
y y
A
x x
1 1
1
:

and
C
z z
B
y y
1 1
2
:

.
Prove that the equation of any plane through the line of intersection of
2 1
and must
contain a line
C
z z
B
y y
A
x x
L
1 1 1
:

Proof The equation of plane through the line of intersection of

2 1
and is
) * ( 0 ) ( ) ( ( ) ( ) (
1 1 1 1
+ z z B y y C k y y A x x B
Normal Vector of (*) ) , , (
1
Bk kC A B n + .
Direction vector of line ) , , ( :
2
C B A n L
0
2 1
n n
(*) is parallel to line L .
Since
(*)
and L pass through the point ) , , (
1 1 1
z y x .
(*) contains L .
10.4 Coplanar Lines and Skew Lines
Coplanar Lines
Definition Two lines are said to be Coplanar if there exists a plane that contains both lines.
Two lines are Coplanar they must be either parallel or they intersect.
Theorem Two lines
1
1
1
1
1
1
1
: ) (
c
z z
b
y y
a
x x
L

and
2
2
2
2
2
2
2
: ) (
c
z z
b
y y
a
x x
L

are coplanar if and only if

0
2 2 2
1 1 1
2 1 2 1 2 1

c b a
c b a
z z y y x x

(*)
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Three Dimensional Co-ordinate Geometry Advanced Level Pure Mathematics
Example Show that the two lines
3 2
1
1
2
:
1
z y x
L

and
2
3
1
2
4
1
:
2

z y x
L
are coplanar.
Skew Lines
Two straight lines are said to be Skew if they are non-coplanar i.e. neither do they intersect nor are they
being parallel.
To find the shortest distance between them, we have to find the common perpendicular to both lines first.
The method is illustrated by the following example.
Example It is given that the two lines
1
1
2 1
5
:
1

+

z y x
L and
1 1
4
1
2
:
2
z y x
L

are non-coplanar. Find the shortest distance between them.

Example Consider the line
2 1
2
2
1
:
z y x
L

and the plane

0 : + + z y x
.
(a) Find the coordinates of the point where L intersects

.
(b) Find the angle between L and

.
Page 9