Lines and Planes in Space

MATH 311, Calculus III

J. Robert Buchanan
Department of Mathematics

Summer 2010

J. Robert Buchanan

Lines and Planes in Space

Lines and Points

P P0 a

y
J. Robert Buchanan Lines and Planes in Space

Lines and Vectors

We can describe lines in R3 by referring to vectors in V3 . Consider a nonzero vector a and a point P0 = (x0 , y0 , z0 ). The vector with initial point P0 in the direction of a = a1 , a2 , a3 is P0 P = ta where t is a scalar. If point P = (x, y , z) then x x0 , y y0 , z z0 = t a1 , a2 , a3 .

J. Robert Buchanan

Lines and Planes in Space

Parametric and Symmetric Equations

The parametric equations for the line through (x0 , y0 , z0 ) in the direction of vector a = a1 , a2 , a3 : x y = x0 + ta1 = y0 + ta2

z = z0 + ta3

J. Robert Buchanan

Lines and Planes in Space

Parametric and Symmetric Equations

The parametric equations for the line through (x0 , y0 , z0 ) in the direction of vector a = a1 , a2 , a3 : x y = x0 + ta1 = y0 + ta2

z = z0 + ta3 The symmetric equations for the line are x x0 y y0 z z0 = = . a1 a2 a3

J. Robert Buchanan

Lines and Planes in Space

Example (1 of 3)
Example Let P0 = (5, 1, 3) and a = i + 4j 2k and nd the equation of the line through P0 in the direction of a in parametric and symmetric form.

J. Robert Buchanan

Lines and Planes in Space

Example (1 of 3)
Example Let P0 = (5, 1, 3) and a = i + 4j 2k and nd the equation of the line through P0 in the direction of a in parametric and symmetric form. Parametric Form: x y = 5+t = 1 + 4t

z = 3 2t Symmetric Form: y 1 z 3 x 1 = = 1 4 2

J. Robert Buchanan

Lines and Planes in Space

Example (2 of 3)
Example Find the equation of the line which passes through the points A = (2, 4, 3) and B = (3, 1, 1). Where does this line intersect the xy -plane?

J. Robert Buchanan

Lines and Planes in Space

Example (2 of 3)
Example Find the equation of the line which passes through the points A = (2, 4, 3) and B = (3, 1, 1). Where does this line intersect the xy -plane? The line is parallel to the vector: v = AB = 3 2, 1 4, 1 (3) = 1, 5, 4 .

J. Robert Buchanan

Lines and Planes in Space

Example (2 of 3)
Example Find the equation of the line which passes through the points A = (2, 4, 3) and B = (3, 1, 1). Where does this line intersect the xy -plane? The line is parallel to the vector: v = AB = 3 2, 1 4, 1 (3) = 1, 5, 4 . The parametric form of the line is: x y = 2t = 4 5t

z = 3 + 4t

J. Robert Buchanan

Lines and Planes in Space

Example (2 of 3)
Example Find the equation of the line which passes through the points A = (2, 4, 3) and B = (3, 1, 1). Where does this line intersect the xy -plane? The line is parallel to the vector: v = AB = 3 2, 1 4, 1 (3) = 1, 5, 4 . The parametric form of the line is: x y = 2t = 4 5t

z = 3 + 4t The line intersects the xy -plane when z = 0 which implies t = 3/4. The point of intersection is (x, y , z) = (5/4, 1/4, 0).
J. Robert Buchanan Lines and Planes in Space

Example (3 of 3)
Example Do the following two lines intersect? x = 1 + t, x = 2s, y = 2 + 3t, y = 3 + s, z =4t

z = 3 + 4s

J. Robert Buchanan

Lines and Planes in Space

Example (3 of 3)
Example Do the following two lines intersect? x = 1 + t, x = 2s, y = 2 + 3t, y = 3 + s, z =4t

z = 3 + 4s

If the lines intersect the lines must have a point in common. Solving the system of two equations in two unknowns: 1+t 2 + 3t implies s = 8/5 and t = 11/5. = 2s = 3+s

J. Robert Buchanan

Lines and Planes in Space

Example (3 of 3)
Example Do the following two lines intersect? x = 1 + t, x = 2s, y = 2 + 3t, y = 3 + s, z =4t

z = 3 + 4s

If the lines intersect the lines must have a point in common. Solving the system of two equations in two unknowns: 1+t 2 + 3t implies s = 8/5 and t = 11/5. However, using these s and t values makes the z-coordinates unequal. Thus the lines do not intersect.
J. Robert Buchanan Lines and Planes in Space

= 2s = 3+s

Parallel and Orthogonal Lines

Denition Let l1 and l2 be two lines in R3 , with parallel vectors a and b, respectively, and let be the angle between a and b.
1

The lines l1 and l2 are parallel whenever a and b are parallel. If l1 and l2 intersect, then
the angle between l1 and l2 is and the lines l1 and l2 are orthogonal whenever a and b are orthogonal.

J. Robert Buchanan

Lines and Planes in Space

Parallel and Orthogonal Lines

Denition Let l1 and l2 be two lines in R3 , with parallel vectors a and b, respectively, and let be the angle between a and b.
1

The lines l1 and l2 are parallel whenever a and b are parallel. If l1 and l2 intersect, then
the angle between l1 and l2 is and the lines l1 and l2 are orthogonal whenever a and b are orthogonal.

Denition Nonparallel, non-intersecting lines are called skew lines.

J. Robert Buchanan

Lines and Planes in Space

Planes in R3
A plane can be thought of as the collection of all lines orthogonal to a given line.
z

x y

J. Robert Buchanan

Lines and Planes in Space

Planes and Vectors

If point P0 = (x0 , y0 , z0 ) lies in the plane and vector a = a1 , a2 , a3 is normal to the plane (i.e., orthogonal to every line in the plane) and if point P = (x, y , z) is an arbitrary point in the plane, then P0 P is orthogonal to a,

J. Robert Buchanan

Lines and Planes in Space

Planes and Vectors

If point P0 = (x0 , y0 , z0 ) lies in the plane and vector a = a1 , a2 , a3 is normal to the plane (i.e., orthogonal to every line in the plane) and if point P = (x, y , z) is an arbitrary point in the plane, then P0 P is orthogonal to a, x x0 , y y0 , z z0 a1 , a2 , a3 = 0, and

J. Robert Buchanan

Lines and Planes in Space

Planes and Vectors

If point P0 = (x0 , y0 , z0 ) lies in the plane and vector a = a1 , a2 , a3 is normal to the plane (i.e., orthogonal to every line in the plane) and if point P = (x, y , z) is an arbitrary point in the plane, then P0 P is orthogonal to a, x x0 , y y0 , z z0 a1 , a2 , a3 = 0, and the equation of the plane is a1 (x x0 ) + a2 (y y0 ) + a3 (z z0 ) = 0.

J. Robert Buchanan

Lines and Planes in Space

Example (1 of 2)

Example Find the equation of the plane through the point (2, 4, 1) with normal vector n = 2, 3, 4 .

J. Robert Buchanan

Lines and Planes in Space

Example (1 of 2)

Example Find the equation of the plane through the point (2, 4, 1) with normal vector n = 2, 3, 4 .

x 2, y 4, z (1) 2, 3, 4

= 0

2x + 3y + 4z = 12

J. Robert Buchanan

Lines and Planes in Space

Example (2 of 2)
Example Find the equation of the plane containing the points P = (1, 3, 2), Q = (3, 1, 6), and R = (5, 2, 0).

J. Robert Buchanan

Lines and Planes in Space

Example (2 of 2)
Example Find the equation of the plane containing the points P = (1, 3, 2), Q = (3, 1, 6), and R = (5, 2, 0). First we must nd a vector orthogonal to the plane containing the three points.

J. Robert Buchanan

Lines and Planes in Space

Example (2 of 2)
Example Find the equation of the plane containing the points P = (1, 3, 2), Q = (3, 1, 6), and R = (5, 2, 0). First we must nd a vector orthogonal to the plane containing the three points. Let a = PQ = 2, 4, 4 and let b = PR = 4, 1, 2 , then using the cross product we have a vector perpendicular to the plane. n = a b = 12, 20, 14

J. Robert Buchanan

Lines and Planes in Space

Example (2 of 2)
Example Find the equation of the plane containing the points P = (1, 3, 2), Q = (3, 1, 6), and R = (5, 2, 0). First we must nd a vector orthogonal to the plane containing the three points. Let a = PQ = 2, 4, 4 and let b = PR = 4, 1, 2 , then using the cross product we have a vector perpendicular to the plane. n = a b = 12, 20, 14 The equation of the plane is x 1, y 3, z 2 12, 20, 14 = 0

6x + 10y + 7z = 50
J. Robert Buchanan Lines and Planes in Space

Remarks

The equation of a plane in R3 has the form: ax + by + cz = d where not all of a, b, and c can be zero.

J. Robert Buchanan

Lines and Planes in Space

Remarks

The equation of a plane in R3 has the form: ax + by + cz = d where not all of a, b, and c can be zero. If ax + by + cz = d denes a plane, then v = a, b, c is normal to the plane.

J. Robert Buchanan

Lines and Planes in Space

Remarks

The equation of a plane in R3 has the form: ax + by + cz = d where not all of a, b, and c can be zero. If ax + by + cz = d denes a plane, then v = a, b, c is normal to the plane. An easy method for sketching a plane is to sketch the simplex of the plane dened by its intersections with the coordinate axes.

J. Robert Buchanan

Lines and Planes in Space

Parallel and Orthogonal Planes

Denition Two planes with normal vectors a and b are

1 2

parallel if a and b are parallel. orthogonal if a and b are orthogonal.

J. Robert Buchanan

Lines and Planes in Space

Example (1 of 3)

Example Are the planes dened by x + 2y 3z = 4 and 2x + 4y 6z = 1 parallel?

J. Robert Buchanan

Lines and Planes in Space

Example (1 of 3)

Example Are the planes dened by x + 2y 3z = 4 and 2x + 4y 6z = 1 parallel? A normal vector to the rst plane is a = 1, 2, 3 while a normal vector to the second plane is b = 2, 4, 6 .

J. Robert Buchanan

Lines and Planes in Space

Example (1 of 3)

Example Are the planes dened by x + 2y 3z = 4 and 2x + 4y 6z = 1 parallel? A normal vector to the rst plane is a = 1, 2, 3 while a normal vector to the second plane is b = 2, 4, 6 . Since b is a scalar multiple of a (namely b = 2a) then the normal vectors are parallel, which implies the original planes are parallel.

J. Robert Buchanan

Lines and Planes in Space

Example (2 of 3)
Example Find the angle between the planes x +y +z = 1 x 2y + 3z = 2.

J. Robert Buchanan

Lines and Planes in Space

Example (2 of 3)
Example Find the angle between the planes x +y +z = 1 x 2y + 3z = 2. The angle between the planes will be the angle between their normal vectors.

J. Robert Buchanan

Lines and Planes in Space

Example (2 of 3)
Example Find the angle between the planes x +y +z = 1 x 2y + 3z = 2. The angle between the planes will be the angle between their normal vectors. Let a = 1, 1, 1 and b = 1, 2, 3 , then ab = a b cos 2 = 42 cos 1.25707 72.02

J. Robert Buchanan

Lines and Planes in Space

Example (3 of 3)
Example Find the line of intersection of the two planes x +y +z = 1 x 2y + 3z = 2.

J. Robert Buchanan

Lines and Planes in Space

Example (3 of 3)
Example Find the line of intersection of the two planes x +y +z = 1 x 2y + 3z = 2. Eliminate x from the two equations and then treat z as the parameter. 1 y z = x = 2 + 2y 3z 1 2 y = + z 3 3

J. Robert Buchanan

Lines and Planes in Space

Example (3 of 3)
Example Find the line of intersection of the two planes x +y +z = 1 x 2y + 3z = 2. Eliminate x from the two equations and then treat z as the parameter. 1 y z = x = 2 + 2y 3z 1 2 y = + z 3 3 Parametric Form: 4 5 x = t 3 3 1 2 y = + t 3 3 z = t Lines and Planes in Space J. Robert Buchanan

Graph

1 2 1 x 0 1 0 2 2 1 y 2 1 2

J. Robert Buchanan

Lines and Planes in Space

Distance from a Point to a Plane

P2

P1

The distance from P2 to the plane is compa P1 P2 .

J. Robert Buchanan Lines and Planes in Space

Distance from a Point to a Plane

If a = a, b, c , P1 = (x1 , y1 , z1 ), and P2 = (x2 , y2 , z2 ) then compa P1 P2 = = = distance = a P1 P2 a a, b, c x2 x1 , y2 y1 , z2 z1 a2 + b 2 + c 2 ax2 + by2 + cz2 (ax1 + by1 + cz1 ) a2 + b 2 + c 2 |ax2 + by2 + cz2 + d| a2 + b 2 + c 2

J. Robert Buchanan

Lines and Planes in Space

Example (1 of 3)

Example Find the distance from ( 1 , 0, 1) to 5x + y z = 1. 2

J. Robert Buchanan

Lines and Planes in Space

Example (1 of 3)

Example Find the distance from ( 1 , 0, 1) to 5x + y z = 1. 2 Rather than trying to apply the distance formula from memory it may be easier to recall that the distance from the point to the plane is |compa P1 P2 |, where a is the normal vector to the plane and we are free to pick point P1 to be any point in the plane.

J. Robert Buchanan

Lines and Planes in Space

Example (1 of 3)

Example Find the distance from ( 1 , 0, 1) to 5x + y z = 1. 2 Rather than trying to apply the distance formula from memory it may be easier to recall that the distance from the point to the plane is |compa P1 P2 |, where a is the normal vector to the plane and we are free to pick point P1 to be any point in the plane. Let P2 = ( 1 , 0, 1), let P1 = (0, 1, 0), and a = 5, 1, 1 , then 2 |compa P1 P2 | = 1/2, 1, 1 5, 1, 1 5, 1, 1 1 = . 6 3

J. Robert Buchanan

Lines and Planes in Space

Example (2 of 3)
Example Find the distance between the planes 10x + 2y 2z = 5 5x + y z = 1

J. Robert Buchanan

Lines and Planes in Space

Example (2 of 3)
Example Find the distance between the planes 10x + 2y 2z = 5 5x + y z = 1 If the planes were not parallel we could immediately declare the distance between them is 0.

J. Robert Buchanan

Lines and Planes in Space

Example (2 of 3)
Example Find the distance between the planes 10x + 2y 2z = 5 5x + y z = 1 If the planes were not parallel we could immediately declare the distance between them is 0. Pick a point in the second plane, say P2 = (0, 1, 0) and nd its distance to the rst plane.

J. Robert Buchanan

Lines and Planes in Space

Example (2 of 3)
Example Find the distance between the planes 10x + 2y 2z = 5 5x + y z = 1 If the planes were not parallel we could immediately declare the distance between them is 0. Pick a point in the second plane, say P2 = (0, 1, 0) and nd its distance to the rst plane. Note that P1 = (1/2, 0, 0) is in the rst plane and the normal vector to the rst plane is a = 10, 2, 2 . |compa P1 P2 | = 1/2, 1, 0 10, 2, 2 10, 2, 2
Lines and Planes in Space

1 = 2 3

J. Robert Buchanan

Example (3 of 3)
Example Find the distance between the skew lines x = 1 + t, x = 2s, y = 2 + 3t, y = 3 + s, z = 4 t, z = 3 + 4s. and

J. Robert Buchanan

Lines and Planes in Space

Example (3 of 3)
Example Find the distance between the skew lines x = 1 + t, x = 2s, y = 2 + 3t, y = 3 + s, z = 4 t, z = 3 + 4s. and

We must nd the equations of two parallel planes, each containing one of the lines above.

J. Robert Buchanan

Lines and Planes in Space

Example (3 of 3)
Example Find the distance between the skew lines x = 1 + t, x = 2s, y = 2 + 3t, y = 3 + s, z = 4 t, z = 3 + 4s. and

We must nd the equations of two parallel planes, each containing one of the lines above. The common normal vector shared by the planes must be perpendicular to both lines. a = 1, 3, 1 2, 1, 4 = 13, 6, 5

J. Robert Buchanan

Lines and Planes in Space

Example (3 of 3)
Example Find the distance between the skew lines x = 1 + t, x = 2s, y = 2 + 3t, y = 3 + s, z = 4 t, z = 3 + 4s. and

We must nd the equations of two parallel planes, each containing one of the lines above. The common normal vector shared by the planes must be perpendicular to both lines. a = 1, 3, 1 2, 1, 4 = 13, 6, 5 Let P1 = (1, 2, 4) be a point on the rst line and let P2 = (0, 3, 3) be a point on the second line. |compa P1 P2 | = 1, 5, 7 13, 6, 5 13, 6, 5
Lines and Planes in Space

32 115

J. Robert Buchanan

Graph
x 1.0 3.0 1.5 2.0 2.5 3.0

2.5

z 2.0

1.5 5.0 4.5 4.0 y 3.5 1.0 3.0

J. Robert Buchanan

Lines and Planes in Space

Homework

Read Section 10.5. Exercises: 167 odd.

J. Robert Buchanan

Lines and Planes in Space