UNIT 5.

VECTORS, LINES, PLANES and SURFACES

MATH 37 LECTURE GUIDE

Objectives: By the end of the unit, a student must correctly and confidently be able to: enumerate and apply properties of vectors in the plane and in space; perform and interpret vector operations; find the equations of a line and equation of a plane in space; and identify and sketch cylinders and quadric surfaces. __________________________ 5.1 Vectors in 2D and in 3D. Vectors are quantities that represent both magnitude and direction. Geometric representation: directed line segments (or arrows) where magnitude = length of the arrow direction of the vector = direction of the arrow

Directions are measured by the angle a segment makes with the horizontal. Positive if measured counter-clockwise. Negative if measured clockwise. initial point = arrow tail terminal point = arrow head

TO DO!!! Consider a vector A with initial point at ( 2 , 4 ) and terminal point at ( 5 ,6 ) . Determine the magnitude and direction of this vector.

A vector can have several representations on a plane (depending on the initial and terminal points). A vector is in its position representation if its initial point is at the origin. Its direction is identified by the angle it makes with the positive x axis in the counter-clockwise direction. TO DO!!! The following are different representations of the same vector.
MATH 37 Lecture Guide UNIT 5 albabierra 1

Initial point A B C

Terminal point

( 3 , 2 )
( 5 ,1 )

(1 , 1 )

( 1 , 4 )
(5 ,2 )

(1 ,5 )

Position representation:

Definitions. A vector in the plane is an ordered pair of real numbers

a , b . The numbers a and b are

called the components of the vector. MUST REMEMBER!!! In a humane way, if as n + , a n L , then. Given vector

a , b . In its position representation, the terminal point is at ( a , b ) .

MUST REMEMBER!!! If the initial point of a vector is at

( x1 , y1 ) and its terminal point is at

________________.

( x2 , y2 ) , then its components are given by

TO DO!!! Determine the components of the following vectors. 1. Vector A with initial point at ( 2 , 4 ) and terminal point at ( 5 ,6 ) .

2. Vector B with initial point at ( 3 , 2 ) and terminal point at ( 1 , 1 ) .

Equality of vectors. Two vectors a , b

and

c ,d

are equal if and only if a = c and b = d .

Two vectors are equal if their magnitudes and directions are equal. Definitions. The magnitude of a vector A , denoted by

A , is the length of any of its representation. The

The direction angle A is consistent with the angle used in polar coordinates. REMEMBER!!! If A = a , b , then A = Also, A =

a2 + b2 and tan A =

y . x

A cos A , A sin A .

MATH 37 Lecture Guide UNIT 5 albabierra

direction angle of a nonzero vector A , denoted by A , is the measure of the angle formed by the vector (in position representation) with the positive x axis.

TO DO!!! 1. Determine the magnitude and direction angle of the vectors A 4 , 4 and B 1 ,

3 .

2. Determine the components of the vector with a magnitude of 6 units in the direction of 5 . =
3

Definition.

A unit vector is a vector with a magnitude of 1 unit.

REMEMBER!!! Unit vectors in the direction of the positive x and y axes, respectively:

i = 1 ,0
Given A = a , b .

and j = 0 ,1

A = ai + bj

unit vector in the direction of A , denoted by U A :

UA =

a A

b A

or U A = cos A , sin A .

TO DO!!! 1. Determine the unit vector in the direction of 12 , 5 .

2. Determine the unit vector in the direction of the vector with a magnitude of 10 units in the . direction of =
6

Now, vectors in 3D!

Definition. The set of all ordered triples of real numbers is called as the three-dimensional number space, denoted by R3 . Each ordered triple dimensional space.

( x , y , z ) is called as a point in the three-

MATH 37 Lecture Guide UNIT 5 albabierra

z y

REMEMBER!!! Given points P1 ( x1 , y1 , z1 ) and P2 ( x2 , y2 , z2 ) . The distance between these points (or the length of line segment P1 P2 ) is given by

P1 P2 =

(x2 x1 )2 + (y2 y1 )2 + (z2 z1 )2

The midpoint of the line segment P1P2 is given by x1 + x2 y1 + y2 z1 + z2 M P1 P2 , , 2 2 2

TO DO!!! Determine the distance between the points P1 ( 3 , 2 , 4 ) and P2 ( 4 , 3 , 2 ) . Also, determine the midpoint of segment P1 P2 .

Definition. A vector in three-dimensional space is an ordered triple of real numbers numbers a , b and c are called the components of the vector.

a ,b , c

. The

In its position representation, vector is at ( a , b , c ) .

a ,b ,c

has its initial point at the origin while the terminal point

MATH 37 Lecture Guide UNIT 5 albabierra

z
Definitions. The magnitude of a vector A , denoted by A , is the length of any of its representation. The direction angles of a nonzero vector A are the three angles that have the smallest nonnegative radian measure , and measured from the positive side of the x , y and z axes, respectively, to the position representation of the vector. The direction angles REMEMBER!!! If vector A has its initial point at (x1 , y1 , z1 ) and terminal point at (x2 , y2 , z2 ) , then A = x2 x1 , y2 y1 , z2 z1 . If A = a , b , c , then

A =

a2 + b2 + c2 . a A
, cos =

If , and are the direction angles, then cos = where cos2 + cos2 + cos2 = 1 .

b A

and cos =

c . A

REMEMBER!!! Unit vectors in the direction of the positive x , y and z axes, respectively:

i = 1 , 0 , 0 , j = 0 ,1 , 0
Given A = a , b , c .
A = ai + bj + ck

and k = 0 , 0 ,1

unit vector in the direction of A , denoted by U A :

UA =

a A

b A

c A

MATH 37 Lecture Guide UNIT 5 albabierra

TO DO!!! Consider vector A with initial point at ( 4 ,1 , 3 ) and terminal point at (2 , 4 , 5 ) . Determine the components of this vector. Also, determine its magnitude and the cosine of the directional angles. Also, determine the unit vector in the direction of A .

5.2 Operations on Vectors.

Operations on vectors Consider vectors A = a1 , a2 Sum of two vectors: Negative of a vector: Difference of two vectors: Scalar multiplication: and B = b1 , b2 .

A + B = a1 + b1 , a2 + b2 A = a1 , a2 A B = a1 b1 , a2 b2
If c is a scalar, then cA = ca1 , ca2

Geometrically, the sum and difference of two vectors can be represented by the parallelogram method. The negative of a vector is the vector of the same magnitude but towards the opposite direction. Scalar multiplication "stretches" ( if c > 1 ) or "shrinks" ( if c < 1 ) a given vector. ARTWORK HERE!!! Illustrate operations on vectors.

Vector sum and difference

Negation and scalar multiplication

TO DO!!! If A = 2 , 4

and B = 4 , 3 , evaluate the following.

Also, determine the respective direction and magnitude.

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1. 2. 3. 4. 5.

A+ B AB
2A
1 A 2

2 A 3B

Operations on vectors. Consider vectors A = a1 , a2 , a3 Sum of two vectors: Negative of a vector: Difference of two vectors: Scalar multiplication:

and B = b1 , b2 , b3 .

A + B = a1 + b1 , a2 + b2 , a3 + b3

A = a1 , a2 , a3
A B = a1 b1 , a2 b2 , a3 b3
If c is a scalar, then cA = ca1 , ca2 , ca3 and B = 4 , 2 , 0 .

TO DO!!! Consider A = 2 , 2 , 3

Determine the unit vector in the direction of 3 A 2 B .

TWO MORE OPERATIONS . . . Definition. The dot product of vectors A = a1 , a2 and B = b1 , b2 is given by A B = a1b1 + a2 b2 . and

In the case of vectors in three-dimensional space, given A = a1 , a2 , a3 B = b1 , b2 , b3 , A B = a1b1 + a2 b2 + a3 b3 .

TO DO!!! Evaluate the following. 1.

2 , 3 2 ,4

2.

1 ,2 , 3 3 ,2 , 4 .

MUST!!! Geometrically, interpret a dot product! REMEMBER!!! If A and B are nonzero vectors, then A B = A B cos AB where AB is the (smallest nonnegative) angle (in radian measure) between the two vectors. If two vectors A and B are in the same direction, AB = 0 . If two vectors A and B are in opposite directions, AB = .

MATH 37 Lecture Guide UNIT 5 albabierra

TO DO!!! Determine the angle between the following pairs of vectors. 1.

4 , 5

and 5 , 12

2.

2 ,1 ,1 and 1 , 3 , 5

REMEMBER!!! Two non-zero vectors are orthogonal (or perpendicular with each other) if and only if their dot product is 0 (zero).

(Supplement) Some properties If A , B and C are any vectors in the plane and c is any scalar, then i. ii. iii. iv.
A B = B A (commutativity) c ( A B ) = (cA ) B
2

A (B + C ) = A B + A C (distributivity)

A = , where = 0 , 0

On scalar and vector projections . . . If A and B are nonzero vector, the scalar projection of B onto A is given by and the scalar projection of A onto B is given by

AB A AB . B

Also, AB is the angle between vectors A and B , the scalar projection of B onto A is given by B cos AB , and the scalar projection of A onto B is given by A cos AB . Remarks: A scalar projection is positive if the projection is in the same direction. A scalar projection is negative if the projection is in the opposite direction.

Scalar projection of B onto A

Vector projection of A onto B

MATH 37 Lecture Guide UNIT 5 albabierra

The vector projection of B onto A is the vector with a magnitude of the scalar projection in the direction of A . AB A . The vector projection of B onto A is given by A A A B B . The vector projection of A onto B is given by B B Projection is an important tool in engineering like in doing isometric views of structures. TO DO!!! Determine the angle between the following pairs of vectors. 1. Consider vectors A 4 , 2 and B 3 , 4 . Evaluate the following. a. vector projection of B onto A

b.

vector projection of A onto B

2. Determine the scalar and vector projections of A = 6 , 3 , 0

onto B = 4 , 2 , 4 .

Definition. (Cross product) If A = a1 , a2 , a3 and B = b1 , b2 , b3 , then the cross product of A and B

i j is given by A B = a1 a2 b1 b2

k a3 b3

a2 b2

a3 a1 i b3 b1

a3 a1 j+ b3 b1

a2 k b2

1. If A = 2 , 1 , 2

and B = 3 , 3 , 0 , evaluate A B .

MATH 37 Lecture Guide UNIT 5 albabierra

TO DO!!!

2. If M = 2 , 0 , 4

and N = 0 , 2 ,1 , evaluate M N .

REMEMBER!!! Geometrically, if A and B are nonzero vectors, then

A B is a vector orthogonal (or perpendicular) to both A and B .

Exercise. Consider P ( 2 , 3 , 0 ) , Q( 0 , 5 , 1 ) and R( 1 , 0 , 3 ) .

Determine a vector that is orthogonal to vectors PQ and QR .

(Supplement) Some properties 1. If A is any vector in the three-dimensional space, then

A A =

A = A =
kk =
ki = j

2.

ii =
i j = k

j j =
jk = i

ji = k
3.

k j = i

ik = j

A B = ( B A )

4. If A , B and C are vectors identifying nonparallel sides of some parallelepiped, then ( A B ) C is the volume of the parallelepiped. __________________________ 5.3 Planes and Lines in R 3 (TC7 pp. 861-871 / TCWAG pp. 861-872) If N is a given non-zero vector and P0 is a point,

MATH 37 Lecture Guide UNIT 5 albabierra 10

then the set of all points P for which P0 P and N are orthogonal is defined to be a plane through

P0 and having N as a normal vector.

PLANE

REMEMBER!!! 1. If P0 ( x0 , y0 , z0 ) is a point in a plane having standard equation of the plane is given by

a ,b ,c

as a normal vector, then the

a ( x x0 ) + b ( y y0 ) + c ( z z0 ) = 0 .

2. If a , b and c are not all zero, the graph of the equation ax + by + cz + d = 0 is a plane having

a ,b ,c

as a normal vector.

Two planes are parallel if and only if their normal vectors are parallel. Two planes are perpendicular if and only if their normal vectors are orthogonal. TO DO!!! Determine the equation of the following planes. 1. plane through the point ( 4 ,2 , 3 ) and perpendicular to the vector 2 ,1 , 3

2. plane through the point ( 1 , 7 , 4 ) and parallel to the plane 2 x y + 3 z 5 = 0

3. plane containing the points P ( 2 , 3 , 0 ) , Q( 0 , 5 , 1 ) and R( 1 , 0 , 3 )

If R is a given non-zero vector and P0 is a point,

then the set of all points P for which P0 P is parallel to R is a line through P0 and parallel to R .

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MATH 37 Lecture Guide UNIT 5 albabierra

Let L be a line that contains the point P0 ( x 0 , y 0 , z0

) and is parallel to the vector

z = z0 + ct

R = a , b , c . Using t as a parameter, the parametric equations of L is given by x = x0 + at y = y0 + bt

If none of a , b and c is zero, the symmetric equations of L is given by

y y0 x x0 z z0 = = a b c

TO DO!!! Determine the parametric and symmetric, if possible, equations of the following lines. 1. line L passing through ( 1 , 2 , 3 ) and which is parallel to the vector

2 ,4 ,5 .

2. line M containing the points ( 2 , 3 , 0 ) and ( 4 , 5 , 1 ) .

__________________________

5.4 Cylinders and Quadric Surfaces (TC7 pp. 886-900 / TCWAG pp. 883-894) REMEMBER!!! The standard equation of a sphere of radius r and centered at given by

( h , k , l ) is

( x h )2 + ( y k )2 + ( z l )2 = r 2 .

Remark: The graph in R3 defined by x 2 + y2 + z2 + Ax + By + C z + D = 0 is either a sphere, a point or the empty set.

1.

x 2 + y2 + z2 + 2 x + 2 y + 4 z 3 = 0

2.

x 2 + y 2 + z2 + 2 x 4 z + 5 = 0

3.

x 2 + y 2 + z2 2 y + 4 z + 7 = 0

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MATH 37 Lecture Guide UNIT 5 albabierra

TO DO!!! Identify the graphs of the following equations.

z y
REMEMBER!!! In the three-dimensional space, the graph of an equations in two of the three variables x , y and z is a cylinder.

Cylinder defined by x 2 + y 2 = 25

TO DO!!! Sketch the following cylinders. 1.

z = sin y

z y

2. z = x 2 4

z y

Definition. The graph of a second-degree equation in three variables x , y and z

Ax 2 + By 2 + Cz2 + Dxy + Exz + Fyz + Gx + Hy + Iz + H + J = 0

is called a quadric surface.
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The general equations for a quadric surface can be written in standards form for a more efficient identification of the graphs. REMEMBER!!! To sketch graphs of quadric surfaces, obtain the traces of the surface on the xy plane ( z = 0 ), yz plane ( x = 0 ) and xz plane ( y = 0 ). Level curves at particular values of z can also be used.

SOME standard forms

Ellipsoid:

x2 a2

y2 b2

z2 c2

= 1 a ,b , c > 0
x2 a2 + x2 a2 y2 b2 y2 b2 z2 c2 + = 1 a ,b , c > 0 z2 c2 = 1 a ,b , c > 0

Elliptic hyperboloid of one sheet:

Elliptic hyperboloid of two sheets:

Elliptic cone:

x2 a2

y2 b2 x2 a2

z2 c2 y2 b2

= 0 a ,b , c > 0 y2 b2 z = 0 a ,b > 0 , c 0 c z = 0 a ,b > 0 , c 0 c

Elliptic paraboloid:

Hyperbolic paraboloid:

x2 a2

x2 a2

y2 b2

z = 1 a,b > 0 , c 0 c

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MATH 37 Lecture Guide UNIT 5 albabierra

TO DO!!! Sketch the following quadric surfaces by using the traces over the three major planes. 1.

x 2 y 2 z2 + + =1 4 4 16

Traces:

xy plane

yz plane

xz plane

2.

x2

y 2 z2 =1 4 9

Traces:

xy plane

yz plane

xz plane

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MATH 37 Lecture Guide UNIT 5 albabierra

3.

x2 + y2 +

z2 =1 9

Traces:

xy plane

yz plane

xz plane

4.

x2 + y2 z = 1

(What if x 2 + y 2 z = 0 ?)

Traces:

xy plane
_____________________________

yz plane

xz plane

END OF UNIT 5 Lecture Guide

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MATH 37 Lecture Guide UNIT 5 albabierra