Advanced Level Pure Mathematics

Three Dimensional Co-ordinate Geometry

Chapter 7

Vectors
7.8

Vector Equation of a Straight Line

Chapter 10

7.8

Three Dimensional Coordinates Geometry

10.1

Basic Formulas

10.2

Equations of Straight Lines

10.3

Plane and Equation of a Plane

11

10.4

Coplanar Lines and Skew Lines

22

Vector Equation of a Straight Line

r a tc ,

t : scalar parameter

a : position vector of a fixed point on the straight line

c : direction vector

r : position vector of any point on straight line

Remark

r a t (b a )

Example

Let A (8,7,0) and B (2,1,3) .

(a) Find the equation of the straight line AB .
(b) Find the perpendicular distance from the point P (4,7,9) 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,
PR AP sin

AB AP
AB

Since

Example

By finding the foot of perpendicular from the point P (10,1,13) to the line,
L : r i 5k t (4i 5 j ) , find the equation of straight line passing through

perpendicular to L , find the perpendicular distance from P to L .

Three Dimensional Co-ordinate Geometry

10.1

Basic Formula

Page 1

P and

Advanced Level Pure Mathematics

Three Dimensional Co-ordinate Geometry

The Distance Between Two Points

Distance between A( x1 , y1 , z1 ) and B( x 2 , y 2 , z 2 ) is

( x1 x 2 ) 2 ( y1 y 2 ) 2 ( z1 z 2 ) 2 .

Section Formula
Let P ( x, y, z ) divide the joint of A( x1 , y1 , z1 ) and B( x 2 , y 2 , z 2 ) in the ratio

AP m

PB
n

mx 2 nx1 my 2 ny1 mz 2 nz1

,
,

mn
mn
mn

The Coordinate of the point P is

10.2

Equations of Straight Lines

In vector form, the equation of straight line is r a tc , 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 r ( x, y, z ) , a ( x1 , y1 , z1 ) , c (a, b, c) , we have

xi yj zk

Since

i , j, k

=
=

x1i y1 j z1 k t (ai bj ck )

( x1 ta)i ( y1 tb) j ( z1 tc )k

are basis vectors in R 3 , we have

x

y
z

x1
y1
z1

ta
tb
tc

or

x x1 y y1 z z1

a
b
c

Parametric Form of a Straight Line

The equation of the straight line passing through the point ( x1 , y1 , z1 ) and with direction vector ( a, b, c )

can be expressed in the form of

y
z

at
bt
ct

x1
y1 where t is a parameter.
z1

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 ( x1 , y1 , z1 ) and with direction vector ( a, b, c )
and is
x x1 y y1 z z1

a
b
c

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

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Advanced Level Pure Mathematics

Three Dimensional Co-ordinate Geometry

General Form of a Straight Line

The equation of a straight line can be written as a linear system
A1 x

A2 x

B1 y
B2 y

C1 z
C2 z

D1
D2

0
0

which is called the general form of a straight line.

If given two points P1 ( x1 , y1 , z1 ) , P2 ( x 2 , y 2 , z 2 ) , the equation of straight line becomes

y
z

Example

x1
y1
z1

t ( x2 x1 )
t ( y 2 y1 ) or
t ( z 2 z1 )

x x1
y y1
z z1

x2 x1 y 2 y1 z 2 z1

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

S1
x

Let L1 : y
z

x1
y1
z1

1l1
1 m1
1 n1

and L2 : y
z

x2
y2
z2

2 l2
2 m2
2 n2

To find the intersection point of line L1 and L2

x1

we solve y1
z
1

1l1
1 m1
1 n1

x2
y2
z2

2l2
2 m2
2 n2

i.e. find 1 and 2 .

Note

After finding 1 and 2 is any two equations, 1 and 2 must put into the 3rd equation in
order to test whether it is satisfied or not.

S2
Distance of a point P ( x 0 , y 0 , z 0 ) from the line

x x1 y y1 z z1

l
m
n

FIND P ' .
Let P ' be ( x1 l , y1 m , z1 n ) .
Direction vector of PP' ( x1 l x0 , y1 m y 0 , z1 n z 0 )

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Advanced Level Pure Mathematics

Three Dimensional Co-ordinate Geometry

Direction vector of line (l , m , n)

( x1 l x0 , y1 m y 0 , z1 n z 0 ) ( l , m , n ) 0

As is formed, P ' can be determined and so

Theorem

Given

L1 :

x x1 y y1 z z1

l1
m1
n1

L2 :

x x2 y y 2 z z 2

l2
m2
n2

d PP '

and

L1 // L2

Their direction vectors are parallel

Remark

L1 L2

l1l 2 m1 m2 n1 n2 0

10.3

Plane and Equation of Plane

l1 m1 n1

l 2 m2 n 2

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 P0 ( x 0 , y 0 , z 0 ) be a fixed point and P ( x, y, z ) be any point on it.

Set n ( A , B , C ) i.e. A, B, C are given.

P0 P n 0

( Vector Form )

We have ( x x0 , y y 0 , z z 0 ) ( A, B, C ) 0

A( x x0 ) B( y y 0 ) C ( z z 0 ) 0

Remark

( Normal Form )

The general form of plane equation is Ax By Cz D 0 .

Furthermore, if three points are given, Pi ( xi , y i , z i ) i 1,2,3 .

A( x x1 ) B ( y y1 ) C ( z z1 ) 0

We have A( x1 x 2 ) B ( y1 y 2 ) C ( z1 z 2 ) 0
A( x x ) B ( y y ) C ( z z ) 0
2
3
2
3
2
3

n ( A, B, C ) 0

The system has non-trivial solution of

Page 4

A, B, C

Advanced Level Pure Mathematics

Three Dimensional Co-ordinate Geometry

x x1

y y1

z z1

Hence, x1 x 2

y1 y 2
y 2 y3

z1 z 2 0 . It is an equation of plane.
z 2 z3

x 2 x3

Example

( 3 Point Form )

Find the equation of the plane passing through the points P (2,4,3) , Q (4,1,9) and

R (0,1,6) .

Find also its distance from the origin.

The perpendicular distance between a point and a plane

Theorem

The perpendicular distance between a point P ( x1 , y1 , z1 ) and a plane

: Ax By Cz D 0 is
d

Proof

Ax1 By1 Cz1 D

A2 B 2 C 2

Let P0 ( x 0 , y 0 , z 0 ) be any point on the plane ( ) .

Ai Bj Ck is a vector normal to the plane ( ) .
The unit vector

n normal to the plane ( ) is

Ai Bj Ck
A2 B 2 C 2

The perpendicular distance d between the point P and the plane is equal to the
magnitude of the projection of P0 P on n .
P Pn
d =
Therefore
0

( x1 x0 )i ( y1 y 0 ) j ( z1 z 0 )k

Ai Bj Ck
A2 B 2 C 2

A( x1 x 0 ) B ( y1 y 0 ) C ( z1 z 0 )

A2 B 2 C 2
Ax1 By1 Cz1 Ax0 By 0 Cz 0

A2 B 2 C 2

But, D Ax0 By 0 Cz 0 , since P0 ( x0 , y 0 , z 0 ) lies on the plane.

Ax1 By1 Cz1 D

A2 B 2 C 2

Example

Find the perpendicular distance between two parallel planes

( 1 ) : x y 2 z 6 and ( 2 ) : 2 x 2 y 4 z 5 0 .

Solution

Take a point P (0,0,3) on ( 1 ) .

The required distance is just the perpendicular distance between P and ( 2 ) .
i.e. d

20 20 43 5
2 (2) 4
2

17
12

6 units.

Angles Between Two planes

Given 2 planes

1 : A1 x B1 y C1 z D1 0 and 2 : A2 x B2 y C 2 z D2 0

The angle between two planes is and , which are a pair of supplementary angles and
n1 n2 n1 n2 cos

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Advanced Level Pure Mathematics

Three Dimensional Co-ordinate Geometry

cos

( A1 , B1 , C1 ) ( A2 , B2 , C 2 )

( A1 B1 C1 )( A2 B2 C 2 )

Remark

(a) 1 // 2 n1 t n2 ,

t : scalar

A1 B1 C1

t
A2 B2 C 2

n1 n2 0

(b) 1 2

A1 A2 B1 B2 C1C 2 0

Equation of Plane Containing Two Given Lines

L1 :

x x1 y y1 z z1

l1
m1
n1

L2 :

x x2 y y 2 z z 2

l2
m2
n2

Given two lines

The normal vector of the required plane

n =

(l1 , m1 , n1 ) (l 2 , m2 , n2 )

n =

Example

l1

m1

n1

l2

m2

n2

(m1n2 m2 n1 ) i (l1n2 l 2 n1 ) j (l1m2 l 2 m1 ) k

(m1n2 m2 n1 , l1n2 l 2 n1 , l1m2 l 2 m1 )

The equation of the plane

Find the equation of the plane containing two intersecting lines.

L1 :

x 2 y 1
z
x 2 y 1 z

and L2 :
3
4
2
1
3
2

Example

intersection of two planes is a line.

3x
6x

Solve

4y 2z
2y z

1
0

Alternatively,

Solution

consider k n1 n2

From the above examples we conclude that the

Family of Planes
Given two planes

1 : A1 x B1 y C1 z D1 0

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Advanced Level Pure Mathematics

Three Dimensional Co-ordinate Geometry

2 : A2 x B2 y C 2 z D2 0

The family of planes is any plane containing the line of intersection 1 and 2 .
: A1 x B1 y C1 z D1 k ( A2 x B2 y C 2 z D2 ) 0 , where k is a constant.

Example

2y
6y

x
x

Find the equation of the plane containing the line

z
5z

4
and passing
0

the point (1,1,2) .

Example

x
y

Find the equation of the plane containing the line L1 :

the line L2 :

Example

2z
z

4
and parallel to
8

x3 y 4 z 7

.
2
3
4

(a) The position vector of a point P ( x, y, z ) is given by r xi yj zk .

In Figure, P0 ( x0 , y 0 , z 0 ) is a point on the plane : r n d .
The line : r r0 ta, where t is a real scalar and r0 x0 i y 0 j z 0 k , passing
through P0 and does not lie on

Show that the projection of on

is given by

an

r r0 t a
n where t is a
nn

real scalar.
(b) Consider the lines 1 : r 3i 6 j 2k t ( 2i 3 j k )
and

2 : r 10i 19 j 2k t (8i 19 j 4k )

and the plane

: r ( 4i j 2k ) 4

(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

Theorem

Two given planes

1 :

are parallel.

y y1 z z1
x x1 y y1

and 2 :
.
A
B
B
C

Prove that the equation of any plane through the line of intersection of 1 and 2 must

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Advanced Level Pure Mathematics

Three Dimensional Co-ordinate Geometry

contain a line L :
Proof

x x1 y y1 z z1

A
B
C

The equation of plane through the line of intersection of 1 and 2 is

B ( x x1 ) A( y y1 ) k (C ( y y1 ) B ( z z1 ) 0

(*)

Normal Vector of (*) n1 ( B , A kC , Bk ) .

Direction vector of line L : n 2 ( A , B , C )
n1 n2 0

(*) is parallel to line L .

Since (*) and L pass through the point ( x1 , y1 , z1 ) .

10.4

(*) contains L .

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 ( L1 ) :

x x1 y y1 z z1
x x2 y y 2 z z 2

and ( L2 ) :
a1
b1
c1
a2
b2
c2

x1 x 2

y1 y 2

z1 z 2

a1
a2

b1
b2

c1
c2

are coplanar if and only if

Example

0 (*)

Show that the two lines

L1 :

x 2 y 1 z
x 1 y 2 z 3

and L2 :

1
2
3
4
1
2

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

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Three Dimensional Co-ordinate Geometry

L1 :

Advanced Level Pure Mathematics

x 5 y z 1
x2 y4 z

and L2 :
1
2
1
1
1
1

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

Example

Consider the line L :

x 1 y 2 z

and the plane : x y z 0 .

2
1
2

(a) Find the coordinates of the point where L intersects

(b) Find the angle between L and

Page 9