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Chapter

11

v The moving power of mathematical invention is not reasoning but imagination. A. DEMORGAN v
11.1 Introduction

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11.2 Direction Cosines andDirection Ratios of a Line

In Class XI, while studying Analytical Geometry in two dimensions, and the introduction to three dimensional geometry, we confined to the Cartesian methods only. In the previous chapter of this book, we have studied some basic concepts of vectors. We will now use vector algebra to three dimensional geometry. T he purpose of this approach to 3-dimensional geometry is that it makes the study simple and elegant*. In this chapter, we shall study the direction cosines and direction ratios of a line joining two points and also discuss about the equations of lines and planes in space under different conditions, angle between two lines, two Leonhard Euler planes, a line and a plane, shortest distance between two (1707-1783) skew lines and distance of a point from a plane. Most of the above results are obtained in vector form. Nevertheless, we shall also translate these results in the Cartesian form which, at times, presents a more clear geometric and analytic picture of the situation.

From Chapter 10, recall that if a directed line L passing through the origin makes angles a, b and g with x, y and z-axes, respectively, called direction angles, then cosine of these angles, namely, cos a, cos b and cos g are called direction cosines of the directed line L. If we reverse the direction of L,then the direction angles arereplaced by their supplements, i.e., , and . Thus, the signs of the direction cosines are reversed.

p-a p-b p-g

* Fo r va ri ou s ac ti vi ti es i n th re e di me ns io na l ge omet ry, on e ma y re fe r to t he B oo k A Hand Book for designing Mathematics Laboratory in Schools , NCERT, 2005

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is

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Fig 11.1

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ANote
T herefore But T herefore or l m = = a b l = ak, m = 2 l + m 2 + n2 = 2 k ( a 2 + b 2 + c 2) = k= 1 a + b 2 + c2
2

Note that a given line in space can be extended in two opposite directions and so it has two sets of direction cosines. In order to have a unique set of direction cosines for a given line in space, we must take the given line as a directed line. T hese unique direction cosines are denoted by l, m and n. Remark If the given line in space does not pass through the origin, then, in order to find its direction cosines, we draw a line through the origin and parallel to the given line. Nowtake one of the directed lines from the origin and find its direction cosines as two parallel line have same set of direction cosines. Any three numbers which are proportional to the direction cosines of a line are called the direction ratios of the line. If l, m , n are direction cosines and a , b , c are direction ratios of a line, then a = ll, b =lm and c = ln , for any nonzero l R. Some authors also call direction ratios as direction numbers.

Let a , b , c be direction ratios of a line and let l, m and n be the direction cosines ( d .cs) of the line. Then n = k (say), k being a constant. c bk, n = ck 1 1

bl

is
... (1)

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THREE D IMENSIONAL G EOMETRY

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Hence, from (1), the d .c. s of the line are

l =

a a 2 + b 2 + c2

,m =

b a 2 + b 2 + c2

,n =

c a 2 + b 2 + c2

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a

Let OP = r. T hen cos Similarly, T hus But Hence

x a=OA = . T his gives x = lr. . OP r

2

bl
R O

11.2.1 Relation between the direction cosines of a line Consider a line RSwith direction cosines l, m , n . T hrough the origin draw a line parallel to the given line and take a point P(x, y, z) on this line. From P draw a perpendicular PA on the x-axis (Fig. 11.2).

y = mr and z = nr x + y + z2 = r2 ( l2 + m 2 + n 2) x2 + y2 + z2 = r 2 l2 + m 2 + n2 = 1
2

11.2.2 Direction cosines of a line passing through two points

Since one and only one line passes through two given points, we can determine the direction cosines of a line passing through the given points P(x1, y1, z1) and Q( x2, y2, z2) as follows (Fig 11.3 (a)).

Fig 11.3

is
Z S
P (x, y , z)

Fig 11.2

he
Y P r O a x A

where, depending on the desired sign of k, either a positive or a negative sign is to be taken for l, m and n. For any line, if a , b , c are direction ratios of a line, then ka , kb , kc; k 0 is also a set of direction ratios. So, any two sets of direction ratios of a line are also proportional. Also, for any line there are infinitely many sets of direction ratios.

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T herefore, Similarly

cos a =

Hence, the direction cosines of the line segment joining the points P(x1, y1, z1) and Q( x2, y2, z2) are

no N C tt E o R be T re pu
whe re PQ = ( x2
2 2 1 2 1 2 1

-x ) +( y -y ) +(z -z )
2

ANote

T he direction ratios of the line segment joining P(x1, y1, z1) and Q(x2, y2, z2) may be taken as x2 x1, y2 y1, z2 z1 or x1 x2, y1 y2, z1 z2

Example 1 If a line makes angle 90, 60 and 30 with the positive direction of x, y and z-axis respectively, find its direction cosines. Solution Let the d .c . 's of the lines be l , m , n . T hen l = cos 90 0 = 0, m = cos 60 0 =
3 . 2 Example 2 If a line has direction ratios 2, 1, 2, determine its direction cosines.

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1 , 2 , -2
2

x2 - x1 y2 - y1 z 2 - z1 , , PQ PQ PQ

n = cos 30 0 =

Solution Direction cosines are

2 + (-1) + (-2)
2 2

-1
2

2 + (-1) + (-2 )
2

2 + ( - 1) + ( -2) 2
2

2 -1 -2 , , 3 3 3 Example 3 Find the direction cosines of the line passing through the two points ( 2, 4, 5) and (1, 2, 3). or

is

x2 - x1 y -y and cos b = 2 1 PQ PQ

he

cos g =

NQ z -z = 2 1 PQ PQ

Let l, m, n be the direction cosines of the line PQ and let it makes angles a, b and g with the x, y and z-axis, respectively. Draw perpendiculars from P and Q to XY-plane to meet at R and S. Draw a perpendicular from P to QS to meet at N. Now , in right angle triangle PNQ, PQN= g (Fig 11.3 (b).

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Solution We know the direction cosines of the line passing through two points P( x1, y1, z1) and Q( x2, y2, z2) are given by

whe re

PQ =

Here P is ( 2, 4, 5) and Q is (1, 2, 3).

So PQ = (1 - ( -2)) 2 + (2 - 4) 2 + (3 - ( -5)) 2 = T hus, the direction cosines of the line joining two points is 3 , -2 , 8 77 77 77 Example 4 Find the direction cosines of x, y and z-axis.

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EXERCIS E 11.1

Solution T he x-axis makes angles 0, 90 and 90 respectively with x, y and z-axis. T herefore, the direction cosines of x-axis are cos 0, cos 90, cos 90 i.e., 1,0,0. Similarly, direction cosines of y-axis and z-axis are 0, 1, 0 and 0, 0, 1 respectively. Example 5 Show that the points A (2, 3, 4), B (1, 2, 3) and C (3, 8, 11) are collinear. Solution Direction ratios of line joining A and B are 1 2, 2 3, 3 + 4 i.e., 1, 5, 7. T he direction ratios of line joining B and C are 3 1, 8 + 2, 11 3, i.e., 2, 10, 14. It is clear that direction ratios ofAB and BC are proportional, hence, AB is parallel to BC. But po int B is common to both AB and BC. T herefore , A, B, C are collinear points.

1. If a line makes angles 90, 135, 45 with the x, y and z-axes respectively, find its direction cosines. 2. Find the direction cosines of a line which makes equal angles with the coordinate axes. 3. If a line has the direction ratios 18, 12, 4, then what are its direction cosines ? 4. Show that the points (2, 3, 4), ( 1, 2, 1), (5, 8, 7) are collinear. 5. Find the direction cosines of the sides of the triangle whose vertices are (3, 5, 4), ( 1, 1, 2) and ( 5, 5, 2).

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77

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

x2 - x1 y2 - y1 z 2 - z1 , , PQ PQ PQ

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11.3 Equation of a Line in S pace

We have studied equation of lines in two dimensions in Class XI, we shall now study the vector and cartesian equations of a line in space. A line is uniquely determined if (i) it passes through a given point and has given direction, or (ii) it passes through two given points.
r

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= ++
r r ; a r = x i + y j + zk = x1 i + y1 j + z1 k

11.3.1 Equation of a line through a given point and parallel to a given vector b r Let a be the position vector of the given point A wit h r esp ect to th e o rigin O o f t he rectangular coordinate system. Let l be the line which passes through the point A and is r r parallel to a given vector b . Let r be the position vector of an arbitrary point P on the line (Fig 11.4). r uuu r T hen AP is parallel to the vector b , i.e., r uuu r Fig 11.4 . AP = l b , where l is some real number. uuu r uuu r uuur AP = OP OA But r r r i.e. lb = r a Conversely, for each value of the parameter l, this equation gives the position vector of a point P on the line. Hence, the vector equation of the line is given by r r r r = a+ b ... (1) r , then a , b , c are direction ratios of the line and conversely, ck Remark If b ai bj , r will be the parallel to + ck if a , b , c are direction ratios of a line, then b = ai + bj r the line. Here, b should not be confused with | b |. Derivation of carte sian form from ve ctor form Let the coordinates of the given point A be (x1, y1, z1) and the direction ratios of the line be a, b , c. Consider the coordinates of any point P be (x, y, z). T hen and r b = a i + b j +ck

, j and k , we get Substituting these values in (1) and equating the coefficients of i x = x1 + l a ; y = y1 + l b ; z = z1+ l c ... (2)

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T hese are parametric equations of the line. Eliminating the parameter l from (2), we get

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Eliminating l , we get x -5 y- 2 z + 4 = = 3 2 -8 which is the equation of the line in Cartesian form. 11.3.2 Equation of a line passing through two given points r r Let a and b be the position vectors of two po in ts A ( x1, y1, z1 ) an d B( x 2, y 2, z 2) , respectively that are lying on a line (Fig 11.5). r Let r be t he positio n vector of an arbitrary point P(x, y, z), then P is a point on uuu r r r th e lin e if a nd on ly if AP r a an d
uuu r r r AB = b - a are collinear vectors. T herefore,

x x1 y y1 z z 1 = = l m n Example 6 Find the vector and the Cartesian equations of the line through the point . (5, 2, 4) and which is parallel to the vector 3 i +2 j - 8k Solution We have r r and b = 3 i + 2 a = 5 i+2 j -4 k j - 8k T herefore, the vector equation of the line is r + l ( 3 i + 2 j ) +2 j -4k -8 k r = 5i r Now, r is the position vector of any point P(x, y, z) on the line. = 5 + l ( 3 i + 2 ) x i + y j+ zk i +2 j - 4k j -8 k T herefore,
$ i + (2 + 2 l) $ j + ( - 4 - 8l ) k = (5 + 3l) $

=-

P is on the line if and only if r r r r r a (b a )

- =l -

bl
Fig 11.5

is

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ANote

If l, m , n are the direction cosines of the line, the equation of the line is

x x1 y y1 z z1 = = a b c T his is the Cartesian equation of the line.

... (3)

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r r r r or r = a + l ( b - a ) , l R. T his is the vector equation of the line. Derivation of carte sian form from ve ctor form We have

... (1)

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which is the equation of the line in Cartesian form.

Example 7 Find the vector equation for the line passing through the points ( 1, 0, 2) and (3, 4, 6). r r Solution Let a and b be the position vectors of the point A( 1, 0, 2) and B(3, 4, 6). r Then a i 2 k r 4 and b 3i j 6k r r + 4 T herefore b - a =4 i j+ 4 k r Let r be the position vector of any point on the line. Then the vector equation of the line is r (4 i ) 4 r i 2 k j 4k

=-+ =+ +

=-+ +l + + += - = +

Example 8 T he Cartesian equation of a line is x 3 y 5 z 6 2 4 2 Find the vector equation for the line.

Solution Comparing the given equation with the standard form x - x1 y - y1 z - z1 = = a b c We observe that x1 = 3, y1 = 5, z1 = 6; a = 2, b = 4, c = 2.

bl

x = x1 + l ( x2 x1); y = y1 + l ( y2 y1); z = z1 + l ( z2 z1) On eliminating l, we obtain x - x1 y - y1 z - z1 = = x2 - x1 y2 - y1 z 2 - z1

is

, we get Equating the like coefficients of i, j, k

he

r r r , a and b x i y j , zk z2 k r x i y j x1i y1 j z1 k 2 2 Substituting these values in (1), we get $=x $ $ $ $ $ $ x$ i+y$ j+ zk 1 i + y1 j + z1 k + l [( x2 - x1 ) i + ( y2 - y1 ) j + ( z2 - z1 ) k]

=+ + = + +

= + +

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T hus, the required line passes through the point ( 3, 5, 6) and is parallel to the r . Let r vector 2 i + 4 j + 2k be the position vector of any point on the line, then the

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cos q = a1 a2 + b1 b2 + c1 c2
2 2 2 2 a1 + b12 + c1 a2 + b2 2 + c2

Let L1 and L2 be two lines passing through the origin and with direction ratios a 1, b 1, c1 and a 2, b 2, c2, respectively. Let P be a point on L1 and Q be a point on L2. Consider the directed lines OP and OQ as given in Fig 11.6. Let q be the acute angle between OP an d OQ. No w recall that the directed line segments OP and OQ are vectors with components a 1, b 1, c1 and a 2, b 2, c2, respectively. T herefore, the angle q between them is given by

T he angle between the lines in terms of sin q is given by sin q = 1 cos 2 = 1-

- q

2 2 ( a12 + b12 + c12 )(a 2 2+b 2 + c2 )

( a1a 2 + b1b2 + c1 c2 ) 2

2 (a12 + b12 + c12 )( a22 + b22 + c2 2 ) - ( a1a 2 + b 1b2 + c1 c2 ) (a12 + b12 + c12 ) ( a22 + b22 + c2 2)

( a1 b2

-a

b1 ) 2

a12

+(b c -b c ) +(c a -c +b +c a +b +c
2 1 2 2 1 1 2 2 1 2 1 2 2 2 2 2 2

ANote

In case the lines L1 and L2 do not pass through the origin, we may take

lines L1 and L2 which are parallel to L1 and L2 respectively and pass through the origin.

bl
Fig 11.6 ... (1)
2

is
a1 ) 2 ... (2)

he

11.4 Angle between Two Lines

vector equation of the line is given by r ) ) + l (2 i + 4 j + 2k r ( 3 i 5 j 6k

=- + -

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If instead of direction ratios for the lines L1 and L2, direction cosines, namely, l1, m 1, n 1 for L1 and l2, m 2, n2 for L2 are given, then (1) and (2) takes the following form: cos q = | l1 l2 + m 1m 2 + n 1n 2 | and sin q =
2 2 2 (as l12 + m12 + n1 ) =1 = l2 + m2 + n2 2

... (3) ... (4)

(l1 m2 - l2 m1 )2 - (m1 n 2 - m2 n1 )2 + (n1 l2 - n 2 l1 )2

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x - x1 y - y1 z - z1 = = a1 b1 c1 and x - x2 y - y2 z - z 2 = = a2 b2 c2 cos q = a1 a2 + b1 b2 + c1 c2
2 2 2 a1 + b1 + c1 2 2 2 a2 + b2 + c2

a1 b1 c1 = a2 = b2 c2 Now, we find the angle between two lines when their equations are given. If q is acute the angle between the lines r ur r r r b2 b1 and r = a2 r = a1 r r b1 b 2 then cos q = r r b1 b 2 In Cartesian form, if q is the angle between the lines

+l

where, a 1 ,b 1, c1 and a 2, b 2, c2 are the direction ratios of the lines (1) and (2), respectively, then

Example 9 Find the angle between the pair of lines given by r + l (i + 2 ) i +2 j - 4k j + 2k r = 3 r ) -2 j + m (3 and i+2 j + 6k r = 5i

bl
+m

is
... (1) ... (2)

Two lines with direction ratios a 1, b 1, c1 and a 2, b 2, c2 are (i) perpendicular i.e. if q = 90 by (1) a 1a 2 + b 1b 2 + c1c2 = 0 (ii) parallel i.e. if q = 0 by (2)

he

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no N C tt E o R be T re pu
cos q = 3.1 + 5.1 + 4.2 32 + 52 + 42 12 + 12 + 2 2 = 16 = 16 50 6 5 2 6
8 3 Hence, the required angle is cos1 15 .

3 + 4 + 12 19 = 3 7 21 19 Hence q = cos1 21 Example 10 Find the angle between the pair of lines x+3 y -1 z + 3 = = 3 5 4 x +1 y-4 z-5 = and = 1 1 2 =

Solution T he direction ratios of the first line are 3, 5, 4 and the direction ratios of the second line are 1, 1, 2. If q is the angle between them, then = 8 3 15

11.5 S hortest Distance between Two Lines

If two lines in space intersect at a point, then the shortest distance between them is zero. Also, if two lines in space are parallel, then the shortest distance between them will be the perpendicular distance, i.e. the length of the perpendicular drawn from a point on one line onto the other line. Further, in a space, there are lines which are neither intersecting nor parallel. In fact, such pair of lines are non coplanar and are called skew lines. For example, let us consider a room of size 1, 3, 2 units along Fig 11.7 x, y and z-axes respectively Fig 11.7.

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r r and b = 3 i +2 j + 2k +2 j + 6k Solution Here b1 = i 2 T he angle q between the two lines is given by r r ) (3 i + 2 ) b1 b2 (i + 2 j + 2k j + 6k cos q = r r = 1 + 4 + 4 9 + 4 + 36 b1 b2

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11.5.1 Distance between two skew lines We now determine the shortest distance between two skew lines in the following way: Let l1 and l2 be two skew lines with equations (Fig. 11.8) r r r r = a1 + l b1 ... (1) r r r r = a2 + m b2 and ... (2) r r Take any point S on l1 with position vector a1 and T on l2, with position vector a 2. T hen the magnitude of the shortest distance vector T will be equal to that of the projection of ST along the Q direction of the line of shortest distance (See 10.6.2). l2 uuu r If PQ is the shortest distance vector between r l1 and l2 , then it being perpendicular to both b1 and l1 r uuu r S P b2 , the unit vector n along PQ would therefore be r r Fig 11.8 b1 b2 r r ... (3) n = | b1 b2 | uuu r Then PQ = d n where, d is the magnitude of the shortest distance vector. Let q be the angle between uur uuu r ST and PQ . T hen PQ = ST |cos q | uuu r uur PQ ST r uur But cos q = uuuu | PQ | | ST | r r (a 2 - a1 ) d n uur r r = (since ST = a2 - a1 ) d ST r r r r (b1 b2 ) (a 2 - a1) r r = [From (3)] ST b1 b2

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T he line GE that goes diagonally across the ceiling and the line DB passes through one corner of the ceiling directly above A and goes diagonally down the wall. T hese lines are skew because they are not parallel and also never meet. By the shortest distance between two lines we mean the join of a point in one line with one point on the other line so that the length of the segment so obtained is the smallest. For skew lines, the line of the shortest distance will be perpendicular to both the lines.

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l1 : and l2 :

x - x1 y - y1 z - z1 = = a1 b1 c1
x - x2 y - y2 z - z2 = = a2 b2 c2 x2 - x1 a1 y2 - y1 b1 b2 z 2 - z1 c1 c2

no N C tt E o R be T re pu
is ( b1 c2 - b2 c1 ) 2 + ( c1 a 2 - c2 a1 ) 2 + ( a1 b2 - a 2 b1 ) 2
r is the position vector of a point S on l and where, a 1 1 r a 2 is the position vector of a point T on l2 Fig 11.9.

a2

11.5.2 Distance between parallel lines If two lines l1 and l2 are parallel, then they are coplanar. Let the lines be given by r r r ... (1) r = a1 + l b r r r and (2) r = a2 + m b

As l1, l2 are coplanar, if the foot of the perpendicular from T on the line l1 is P, then the distance between the lines l1 and l2 = |T P |. r uur Let q be the angle between the vectors ST and b . Then r uur r uur b ST = ( | b || ST | sin q) n

is the unit vector perpendicular to the plane of the lines l1 and l2. where n uur r r But ST = a2 a1

bl
Fig 11.9

is
... (3)

he

Hence, the required shortest distance is d = PQ = ST |cos q | r r r r ( b1 b2 ) . ( a 2 - a 1 ) r r or d = | b1 b2 | Carte sian form T he shortest distance between the lines

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no N C tt E o R be T re pu
= j k i 2 -1 1 3 -5 2 r r | b1 b2 | = 9 +1 + 49 = 59 Hence, the shortest distance between the given lines is given by r r r r ( b1 b2 ) . ( a 2 - a1 ) = | 3 - 0 + 7 | = 10 r r d = 59 59 | b1 b2 | So Example 12 Find the distance between the lines l1 and l2 given by r + l ( 2 i + 3 j ) +6k i+2 j -4k r = and r + m ( 2 i + 3 ) +3 j -5k j +6k r = 3i

r r r r r =r Solution Comparing (1) and (2) with r , a1 + l b1 and r = a2 + m b 2 respectively, r r we get a1 = i+ j , b1 = 2 i - j +k r r and b = 3 a2 = 2 j k j +2 k i + i 5 2 r r T herefore a2 - a1 = i -k r r ) ( 3 ) and b1 b2 = ( 2 i - j+ k i -5 j+ 2k = 3 i - j -7 k

bl

Example 11 Find the shortest distance between the lines l1 and l2 whose vector equations are r ) +k ... (1) i + j + l (2 i- j r = r + m (3 i - 5 ) and ... (2) j -k j + 2k r = 2 i +

is

he

T herefore, from (3), we get r r r r b ( a2 - a1 ) = | b | PT n (since PT = ST sin q) r r r r | b ( a 2 - a1 ) | = | b | PT 1 | = 1) i.e., (as | n Hence, the distance between the given parallel lines is r r r uuu r b ( a 2 - a1 ) | PT | = r d = |b|

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Solution T he two lines are parallel (Why? ) We have r r r , a2 = 3 and b = 2 i + 3 a1 = i +2 j - 4k i +3 j - 5k j + 6k T herefore, the distance between the lines is given by r r r b ( a 2 - a1 ) r d= = |b | i j k 2 3 6 2 1 -1 4 + 9 + 36 | | - 9 i + 14 j-4k 49 = 293 49 = 293 7

or

EXERCIS E 11.2

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and parallel to the line given by x +3 y- 4 z +8 . = = 3 5 6 7. T he cartesian equation of a line is

1. Showthat the three lines with direction cosines

12 -3 -4 4 12 3 3 -4 12 , , ; , , ; , , are mutually perpendicular. . 13 13 13 13 13 13 13 13 13 2. Show that the line through the points (1, 1, 2), (3, 4, 2) is perpendicular to the line through the points (0, 3, 2) and (3, 5, 6). 3. Show that the line through the points (4, 7, 8), (2, 3, 4) is parallel to the line through the points ( 1, 2, 1), (1, 2, 5). 4. Find the equation of the line which passes through the point (1, 2, 3) and is . parallel to the vector 3 i + 2 j -2 k
5. Find the equation of the line in vector and in cartesian form that passes through and is in the direction i . +2 j -k the point with position vector 2 i - j + 4 k 6. Find the cartesian equation of the line which passes through the point ( 2, 4, 5)

x -5 y+ 4 z -6 . Write its vector form. = = 3 7 2 8. Find the vector and the cartesian equations of the lines that passes through the origin and (5, 2, 3).

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9. Find the vector and the cartesian equations of the line that passes through the points (3, 2, 5), (3, 2, 6). 10. Find the angle between the following pairs of lines: r + l (3 ) and (i) r = 2 i - 5 j+k i +2 j +6k r + m ( i + 2 ) r = 7 i - 6 k j+ 2k r + l (i - j ) and - 2k - 2k (ii) r = 3 i + j r + m (3 i - 5 ) - 56 k r = 2 i - j j - 4k 11. Find the angle between the following pair of lines:

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and 7 - 7x y - 5 6 - z = = are at right angles. 3p 1 5 13. Show that the lines each other. 14. Find the shortest distance between the lines r ) + l ( i - ) and +k r = ( i + 2 j j+k r + m (2 i + j ) -k +2k r = 2 i - j 15. Find the shortest distance between the lines

x 2 y 1 z 3 x 2 y 4 z 5 and 2 5 3 1 8 4 x y z x - 5 y - 2 z -3 = = and = = (ii) 2 2 1 4 1 8 1 - x 7 y - 14 z - 3 12. Find the values of p so that the lines = = 3 2p 2
(i)

x -5 y+ 2 z x y z = = and = = are perpendicular to 7 -5 1 1 2 3

x +1 y + 1 z + 1 x -3 y-5 z -7 = = = = and 7 -6 1 1 -2 1 16. Find the shortest distance between the lines whose vector equations are r ) + l ( i - 3 ) + 3k r = ( i + 2 j j + 2k r + m (2 i + 3 ) and r = 4 i + 5 j +6k j +k
17. Find the shortest distance between the lines whose vector equations are r and r = (1 - t ) i + ( t - 2) j + (3 - 2 t) k r - (2 s + 1) k r = ( s + 1) i + (2 s - 1) j

bl

is

- = -= + -

+= - =-

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479

11.6 Plane
A plane is determined uniquely if any one of the following is known: (i) the normal to the plane and its distance from the origin is given, i.e., equation of a plane in normal form. (ii) it passes through a point and is perpendicular to a given direction. (iii) it passes through three given non collinear points. Now we shall find vector and Cartesian equations of the planes. 11.6.1 Equation of a plane in normal form Consider a plane whose perpendicular distance from the origin is d ( d 0). Fig 11.10. uuur is the unit normal vector If ON is the normal from the origin to the plane, and n uuur uuur Z . Let P be any along ON . T hen ON = d n uuu r po int on th e p lan e. T her efo re, NP is uuur perpendicular to ON . uuu r uuur T herefore, NP ON = 0 ... (1) P( x, y,z ) r Let r be the position vector of the point P, , r uuu r r uuur uuu r uuu r (as ON NP OP ) then NP = r - d n d N

no N C tt E o R be T re pu
+ =
T herefore, (1) becomes
O

bl
Fig 11.10

r (r - d n ) d n = 0 r (r - d n ) n = 0

or or

( d 0)

r r n - d n n = 0

r rn = d i.e., (as n n = 1) T his is the vector form of the equation of the plane. Carte sian form

is the unit vector normal to Equation (2) gives the vector equation of a plane, where n the plane. Let P(x, y, z) be any point on the plane. T hen uuu r r OP = r x i y j zk

= + +

. Then Let l, m , n be the direction cosines of n n = l i

+m j +n k

is
Y

he
(2)

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M ATHE MATI CS

T herefore, (2) gives ) (l ) = d ( x i + y j+zk i+m j +n k i.e., lx + my + nz = d ... (3) T his is the cartesian equation of the plane in the normal form. r ) = d is the vector equation +b j +ck Note Equation (3) shows that if r ( a i of a plane, then ax + by + cz = d is the Cartesian equation of the plane, where a , b and c are the direction ratios of the normal to the plane.

Example 13 Find the vector equation of the plane which is at a distance of . from the origin and its normal vector from the origin is 2 i 3 j 4k r . T hen +4k Solution Let n = 2 i - 3 j r n 2 i - 3 j + 4k 2 i - 3 j +4 k = r = n = | n| 4 + 9 + 16 29 Hence, the required equation of the plane is r 2 -3 4 6 r i+ j+ k = 29 29 29 29

no N C tt E o R be T re pu
Solution T he given equation can be written as r ) = 1 r ( -6 i +3 j+ 2 k | = 36 9 4 No w | - 6 i + 3 j +2 k T herefore, dividing both sides of (1) by 7, we get r 6 3 2 1 r - i + j+ k = 7 7 7 7

Example 14 Find the direction cosines of the unit vector perpendicular to the plane r ) + 1 = 0 passing through the origin. -2k r (6 i - 3 j

+ + =7
r

which is the equation of the plane in the form r n = T his shows that n

=d .

6 3 2 i + j+ k is a unit vector perpendicular to the 7 7 7

are - 6 , 3 , 2 . plane through the origin. Hence, the direction cosines of n 7 7 7

bl
... (1)

is

- +

he
6 29

THREE D IMENSIONAL G EOMETRY

481

Example 15 Find the distance of the plane 2 x 3 y + 4 z 6 = 0 from the origin. Solution Since the direction ratios of the normal to the plane are 2, 3, 4; the direction cosines of it are

2 2 + (- 3) + 4
2 2 2

Hence, dividing the equation 2 x 3 y + 4 z 6 = 0 i.e., 2 x 3 y + 4 z = 6 throughout by

29 , we get
2 x + -3 y + 4 z = 6

29 29 29 29 T his is of the form lx + my + nz = d , where d is the distance of the plane from the origin. So, the distance of the plane from the origin is

no N C tt E o R be T re pu
2 x3 y+ 4 z= 6 29 29 29 29
O

Example 16 Find the coordinates of the foot of the perpendicular drawn from the origin to the plane 2 x 3 y + 4 z 6 = 0. Solution Let the coordinates of the foot of the perpendicular P from the origin to the p la n eis(x1, y1, z1) (Fig 11.11). Z T hen, the direction ratios of the line OP are x1, y1, z1. P (x1 , y 1, z1 ) Writing the equation of the plane in the normal form, we have
Y

2 , -3 4 , ar e th e dire ct io n X 29 29 29 cosines of the OP.

wh er e,

Since d.c.s and direction ratios of a line are proportional, we have x1 y1 = = 2 -3 29 29 x1 = 2k z1 =k 4 29 -3k

i.e.,

29

, y1 =

29

, z1 =

bl
6 29

4k

29

is
Fig 11.11

he

2 + (- 3) + 4
2 2

4 2 + (- 3) + 4
2 2 2

2 , i.e., 29

4 29

29

-3

-3

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M ATHE MATI CS

Substituting these in the equation of the plane, we get k = 12 -18 , 24 Hence, the foot of the perpendicular is , . 29 29 29

6 29

no N C tt E o R be T re pu
T his is the vector equation of the plane. Carte sian form Let the given point A be (x1, y1, z1), P be (x, y, z) and direction ratios of N are A, B and C. T hen,
ur

Let a plane pass through a point A with ur position Fig 11.12 r vector a and perpendicular to the vector N . r Let r be the position vector of any point P(x, y, z) in the plane. (Fig 11.13). T hen the point P lies in the plane if and only if uuu r ur uuu r ur AP is perpendicular to N . i.e., AP . N = 0. But uuu r r r r r r AP = r - a . Therefore, ( r - a ) N = 0 (1)

No w So

r r r , r and N A i B +z k j Ck a = x1 i + y1 j + z1 k = xi + y j r r r ( r a ) N= 0

(A i ) = 0 ( x - x1 ) i + ( y - y1 ) j + ( z - z1 ) k + B j + Ck

i.e.

A ( x x 1) + B ( y y1) + C ( z z1) = 0

Example 17 Find the vector and cartesian equations of the plane which passes through the point (5, 2, 4) and perpendicular to the line with direction ratios 2, 3, 1.

bl
Fig 11.13

11.6.2 Equation of a plane perpendicular to a given vector and passing through a given point In the space, there can be many planes that are perpendicular to the given vector, but through a given p o in t P(x1, y1, z1), only one such plane exists (see Fig 11.12).

= + +

is

he

ANote

If d is the distance from the origin and l, m, n are the direction cosines of the normal to the plane through the origin, then the foot of the perpendicular is ( ld , md , nd ).

THREE D IMENSIONAL G EOMETRY

483

] (2 i + 3 ) = 0 [( x 5) i + ( y - 2) j + ( z + 4) k j- k or 2( x 5) 3( y 2) 1( z 4) 0 i.e. 2 x + 3 y z = 20 which is the cartesian equation of the plane.

11.6.3 Equation of a plane passing through three non collinear points

no N C tt E o R be T re pu
Z R (RS X RT) P O r a b S c T Y X

r r Let R, S and T be three non collinear points on the plane with position vectors a , b and r c respectively (Fig 11.14).

r is perpendicular to the plane containing points R, S and T. Let r be the position vector of any point P in the plane. T herefore, the equation of the plane passing through R and uuu r uuu r perpendicular to the vector RS RT is r uuu r r r uuu ( r - a ) (RS RT) = 0 r r r r r r ( r a ).[( b a )(c a )] = 0 or (1)

Fig 11.14 uuu r uuu r uuu r T he vectors RS and RT are in the given plane. Therefore, the vector RS

bl

is
uuu r RT

-+ -- +=

he

r and the - 4k Solution We have the position vector of point (5, 2, 4) as a = 5 i + 2 j r r normal vector N perpendicular to the plane as N =2 i+3 j k r r r T herefore, the vector equation of the plane is given by ( r a ) .N 0 r )] (2 i + 3 ) = 0 or ... (1) [ r - (5 i + 2 j -4 k j- k T ransforming (1) into Cartesian form, we have

- =

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M ATHE MATI CS

T his is the equation of the plane in vector form passing through three noncollinear points. Note Why was it necessary to say that the three points A had to be non collinear? If the three points were on the same line, then there will be many planes that will contain them (Fig 11.15). T hese planes will resemble the pages of a book where the line containing the points R, Sand T are members in the binding of the book.

R S T

no N C tt E o R be T re pu
x - x1 x2 - x1 x3 - x1 y - y1 y2 - y1 y3 - y1 z - z1 z 2 - z1 = 0 z 3 - z1

Fig 11.15 Carte sian form Let ( x1, y1, z1), ( x2, y2, z2) and (x3, y3, z3) be the coordinates of the points R, S and T respectively. Let (x, y, z) be the coordinates of any point P on the plane with position r vector r . T hen uuu r j + ( z z1) k i + ( y y 1) RP = ( x x1) uuu r j + ( z2 z1) k RS = ( x2 x1) i + ( y 2 y 1) uuu r j + ( z3 z1) k i + ( y 3 y 1) RT = ( x3 x1) Substituting these values in equation (1) of the vector form and expressing it in the form of a determinant, we have

which is the equation of the plane in Cartesian form passing through three non collinear points (x1, y1, z1), ( x2, y2, z2) and (x3, y3, z3). Example 18 Find the vector equations of the plane passing through the points R(2, 5, 3), S( 2, 3, 5) and T (5, 3, 3). r r r , b = - 2 i - 3 , c 3k Solution Let a 2 i 5 j j +5 k 5i 3 j 3k r , r and r and is T hen the vector equation of the plane passing through a b c given by r uuu r r r uuu ( r - a ) (RS RT) = 0 (Why?) r r r r r r or ( r - a ) [(b - a ) (c - a )] = 0 r )] [( 4 i 8 j ) (3 i 2 j 5j 3k 8k )] 0 i.e. [ r (2 i

=+-

=+ -

- + - -- + - =

bl

is

he

THREE D IMENSIONAL G EOMETRY

485

T herefore

Aa + D = 0 or A =

no N C tt E o R be T re pu
x y z + + =1 a b c which is the required equation of the plane in the intercept form. Solution Let the equation of the plane be plane as x y z + + = 1 or 6 x + 4 y + 3 z = 12. 2 3 4 11.6.5 Plane passing thro ugh the intersection of two given planes Let p1 an d p 2 be two p lan es with equat io ns
r r r n 1 = d 1 and r n 2 = d2 respectively. T he position

c Substituting these values in the equation (1) of the plane and simplifying, we get

Example 19 Find the equation of the plane with intercepts 2, 3 and 4 on the x, y and z-axis respectively. x y z + + =1 ... (1) a b c He re a = 2, b = 3, c = 4. Substituting the values of a , b and c in (1), we get the required equation of the

vector of any point on the line of intersection must satisfy both the equations (Fig 11.17).

bl
Fig 11.16

D a D Bb + D = 0 or B = b D Cc + D = 0 or C =

is
... (1)
Fig 11.17

he

11.6.4 Intercept form of the equation of a plane In this section, we shall deduce the equation of a plane in terms of the intercepts made by the plane on the coordinate axes. Let the equation of the plane be Ax + By + Cz + D = 0 (D 0) ... (1) Let the plane make intercepts a , b, c on x, y and z axes, respectively (Fig 11.16). Hence, the plane meets x, y and z-axes at (a , 0, 0), (0, b , 0), (0, 0, c), respectively.

486

M ATHE MATI CS

no N C tt E o R be T re pu
and r r and n + k Solution Here, n1 = i + j 2 = 2 i + 3 j + 4 k; and d 1 = 6 and d 2 = 5
r r r

r n1 = A1 i + B 2 j + C1 k r n2 = A2 i + B 2 j + C2 k r j+zk r = x i + y

T hen (1) becomes x (A1 + lA2) + y (B1 + lB2) + z (C1 + lC2) = d 1 + ld 2 or (A1 x + B 1 y + C 1z d 1) + l (A2 x + B 2 y + C 2 z d 2) = 0 ... (2) which is the required Cartesian form of the equation of the plane passing through the intersection of the given planes for each value of l. Example 20 Find the vector equation of the plane passing through the intersection of r r ) = 6 and r + k the planes r ( i + j (2i + 3 j + 4 k) = - 5, and the point (1, 1, 1).

Hence, using the relation r ( n1 + l n2 ) = d1 + l d 2 , we get r +l (2 i + 3 )] = 6 - 5 l + k r [ i + j j + 4k

or

r ] = 6 - 5 l + (1 + 3 l) j + (1 + 4 l)k r [(1 + 2 l) i

where, l is some real number.

bl
(1)

Carte sian form In Cartesian system, let

is

r If t is the position vector of a point on the line, then r r t n 1 = d 1 and t n 2 = d 2 T herefore, for all real values of l, we have r t (n 1 +ln 2 ) = d1 +ld 2 r Since t is arbitrary, it satisfies for any point on the line. r r r Hence, the equation r ( n1 + ln2 ) = d1 +l d 2 represents a plane p3 which is such r that if any vector r satisfies both the equations p1 and p2, it also satisfies the equation p3 i.e., any plane passing through the intersection of the planes r r r r r n1 = d1 and r n2 = d 2 r r r has the equation r ( n1 + ln2 ) = d 1 + ld 2 ... (1)

he

THREE D IMENSIONAL G EOMETRY

487

Taking

r , we get zk r x i y j ) [(1 + 2l ) i + (1 + 3l ) ]= 6 - 5l ( x i + y j+zk j + (1+ 4l )k

=+ +

or

( x + y + z 6 ) + l (2 x + 3 y + 4 z + 5) = 0 (1 + 1 + 1 6) + l (2 + 3 + 4 + 5) = 0

... (2)

Given that the plane passes through the point (1,1,1), it must satisfy (2), i.e.

no N C tt E o R be T re pu
r 10 23 13 69 r i + j + k = 14 7 14 7 r ) = 69 or r (20 i + 23 j + 26 k which is the required vector equation of the plane.
or

11.7 Coplanarity of Two Lines

Let the given lines be r r r r = a1 +l b1 r r r and r = a2 + mb2

T he line (1) passes through the point, say A, with position vector a1 and is parallel r r to b1 . T he line (2) passes through the point, say B with position vector a2 and is parallel r to b2 . uuu r r r Thus, AB = a2 a1 uuu r r r T he given lines are coplanar if and only if AB is perpendicular to b1 b2 . uuu r r r r r r r i.e. AB.( b1 b2 ) = 0 or ( a2 - a1 ) (b1 b2 ) = 0

Carte sian form Let ( x1, y1, z1) and (x2, y2, z2) be the coordinates of the points A and B respectively.

bl
... (1) ... (2)
r

r 3 9 6 15 r 1 + i + 1 + j + 1 + k = 6 7 14 7 14

is

3 14 Putting the values of l in (1), we get

or l=

he

or

(1 + 2 l ) x + (1 + 3 l) y + (1 + 4 l) z = 6 5 l

488

M ATHE MATI CS

no N C tt E o R be T re pu
x2

Example 21 Showthat the lines x +1 y - 2 z - 5 x +3 y -1 z - 5 = = and = = are coplanar. . 1 2 5 3 1 5 Solution Here, x1 = 3, y1 = 1, z1 = 5, a 1 = 3, b 1 = 1, c1 = 5 x2 = 1, y2 = 2, z2 = 5, a 2 = 1, b 2 = 2, c2 = 5 Now , consider the determinant

-x
a1 a2

y2

-y

z2

-z
c1 c2

b1 b2

=1

2 1 0 3 1 5

T herefore, lines are coplanar.

11.8 Angle between Two Planes

De finition 2 T he angle between two planes is defined as the angle between their normals (Fig 11.18 (a)). Observe that if q is an angle between the two planes, then so is 180 q (Fig 11.18 (b)). We shall take the acute angle as the angles between two planes.

Fig 11.18

bl
=0
2 5

is

a2

b2

c2

he

T he given lines are coplanar if and only if AB ( b1 b2 ) = 0 . In the cartesian form, it can be expressed as x2 x1 y2 y1 z2 z1 ... (4) a1 b1 c1 0

r r Let a 1, b 1, c1 and a 2, b 2, c2 be the direction ratios of b1 and b2 , respectively. T hen uuu r AB ( x2 x1 ) i ( y2 y1 ) j (z 2 z1 )k r r and b a i b b1 a1 i b1 j c1 k 2 2 2 j c2 k

= - + - + = + + = uuu+ + r r r

THREE D IMENSIONAL G EOMETRY

489

no N C tt E o R be T re pu
T herefore, cos q = A1 A2 + B1 B2 + C1 C2
2 2 + B1 + C1 2 A1 2 2 2 A2 + B2 + C2

ANote

1. If th e p lan es are at right angles, t hen q = 9 0 o a nd so cos q = 0 . Hence, cos q = A1A2 + B1B2 + C1C2 = 0. 2. If the planes are parallel, then A1 A2 B C =B =C .
1 2 1 2

Example 22 Find the angle between the two planes 2 x + y 2 z = 5 and 3 x 6 y 2 z = 7 using vector method. Solution T he angle between two planes is the angle between their normals. From the equation of the planes, the normal vectors are ur ur and N 2 = 3 i - 6 N1 = 2 i + j -2k j- 2k ur ur -2k ) (3 i -6 j -2k ) N1 N2 (2 i + j 4 ur = T herefore cos q = ur = | N1 | |N 2 | 4 + 1 + 4 9 + 36 + 4 21 Hence 4 q = cos 1 21

bl

Carte sian form Let q be the angle between the planes, A1 x + B1 y + C1z + D1 = 0 and A2x + B2 y + C2 z + D2 = 0 T he direction ratios of the normal to the planes are A1, B1, C1 and A2, B2, C2 respectively.

is

Note T he planes are perpendicular to each other if n . n A r r

1

r r
2

= 0 and parallel if

n1 is parallel to n2 .

he

r r If n1 and n2 are normals to the planes and q be the angle between the planes r r r r r n1 = d 1 and r . n 2 = d 2 . T hen q is the angle between the normals to the planes drawn from some common point. r r n1 n2 We have, cos q = r r | n1 | | n2 |

490

M ATHE MATI CS

E xample 23 Find the angle between the two planes 3 x 6 y + 2 z = 7 and 2 x + 2 y 2 z =5. Solution Comparing the given equations of the planes with the equations A1 x + B1 y + C1 z + D1 = 0 and A2 x + B2 y + C2 z + D2 = 0 We get A1 = 3, B1 = 6, C1 = 2 A2 = 2, B2 = 2, C2 = 2 cos q = 3 2 + ( -6) (2) + (2) (-2)

(32 + (- 6)2 + (-2)2 ) (2 2 + 22 + (-2)2 )

-10 72 3 = 5 7 3 = 5 3 21

11.9 Distance of a Point from a Plane

no N C tt E o R be T re pu
Z
Z

Ve ctor form r Consider a point P with positio n vector a and a plane p 1 whose equation is r r n = d (Fig 11.19).
p2 P N Y

p2

p1

p1

N

(a)

Fig 11.19

Consider a plane p2 through P parallel to the plane p1. T he unit vector normal to r r . Hence, its equation is ( r - a ) n p2 is n =0 i.e.,

r r = a n r n

T hus, the distance ON of this plane from the origin is | a n | . T herefore, the distance PQ from the plane p1 is (Fig. 11.21 (a)) i.e., ON ON = | d a n |
r

bl
a d O (b)

T herefore,

5 3 q = cos-1 21

is

he

THREE D IMENSIONAL G EOMETRY

491

which is the length of the perpendicular from a point to the given plane. We may establish the similar results for (Fig 11.19 (b)).

1.

If th ee q u a tio no f th ep la n ep2 is in the form

| N|

r (since a = 0). Carte sian form r Let P(x1, y1, z1) be the given point with position vector a and Ax + By + Cz = D

no N C tt E o R be T re pu
be the Cartesian equation of the given plane. T hen r + z1 k a = x1 i + y1 j ur j + Ck N = A i + B Hence, from Note 1, the perpendicular from P to the plane is ) ( A i )-D + z1 k +B j +Ck ( x1 i + y1 j A2 + B2 + C 2 = A x1

+B y +C z -D A + B + C
1 2 2 1 2

Example 24 Find the distance of a point (2, 5, 3) from the plane r ) = 4 r ( 6 i - 3 j +2k ur r , N 6 and d = 4. Solution Here, a 2 i 5 j 3k i 3 j 2k

= + -

= - +

T herefore, the distance of the point (2, 5, 3) from the given plane is ) (6 ) - 4| | (2 i + 5 j-3k i -3 j +2k | 12 - 15 - 6 - 4 | 13 = = | 6 i -3 j + 2 k | 7 36 + 9 + 4

bl

is

2.

r ur T he length of the perpendicular from origin O to the plane r N

d| ur =d is || N |

he

ANote

=d , where ur N is normal ur r | a N d |. to the plane, then the perpendicular distance is ur

r ur r N

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M ATHE MATI CS

11.10 Angle between a Line and a Plane

De finition 3 T he angle between a line and a plane is the complement of the angle between the line and normal to the plane (Fig 11.20). Ve ctor form If th e equation of the line is r r r r = a + l b a nd the equation of the pla ne is r r r n = d . T hen the angle q between the line and the normal to the plane is r r b n cos q = r r | b | | n |

Fig 11.20

no N C tt E o R be T re pu
Example 25 Find the angle between the line x+1 y z-3 = = 2 3 6 and the plane 10 x + 2 y 11 z = 3. sin f = ) (10 ) (2 i + 3 j+6k i+2 j - 11 k 2 2 + 32 + 6 2 10 2 + 22 + 112 =
- 40 -8 8 8 = = or f = sin -1 7 15 21 21 21

and so the angle f between the line and the plane is given by 90 q, i.e., sin (90 q) = cos q r r bn 1 b n i.e. sin f = r r or f = sin |b | | n | b n

Solution Let q be the angle between the line and the normal to the plane. Converting the given equations into vector form, we have r ) + l ( 2 i + 3 ) j+ 6k r = ( i + 3 k r )=3 and r ( 10 i+2 j - 11 k r r and n He re j +6k b = 2 i + 3 = 10 i + 2 j - 11 k

bl

is

he

THREE D IMENSIONAL G EOMETRY

493

EXERCIS E 11.3
1. In each of the following cases, determine the direction cosines of the normal to the plane and the distance from the origin. (a) z = 2 (b) x + y + z = 1 (c) 2 x + 3 y z = 5 (d) 5 y + 8 = 0

2. Find the vector equation of a plane which is at a distance of 7 units from the . origin and normal to the vector 3 i + 5 j-6k

no N C tt E o R be T re pu
+-+

3. Find the Cartesian equation of the following planes: r r ) = 2 ) = 1 -k (a) r ( i + j (b) r (2 i +3 j - 4k r ] = 15 (c) r [( s - 2 t) i + (3 - t ) j + (2 s + t ) k 4. In the following cases, find the coordinates of the foot of the perpendicular drawn from the origin. (a) 2 x + 3 y + 4 z 12 = 0 (b) 3 y + 4 z 6 = 0 (c) x + y + z = 1 (d) 5 y + 8 = 0 5. Find the vector and cartesian equations of the planes (a) that passes through the point (1, 0, 2) and the normal to the plane is . i j k (b) that passes through the point (1,4, 6) and the normal vector to the plane is . i 2 j k

6. Find the equations of the planes that passes through three points. (a) (1, 1, 1), (6, 4, 5), ( 4, 2, 3) (b) (1, 1, 0), (1, 2, 1), ( 2, 2, 1) 7. Find the intercepts cut off by the plane 2 x + y z = 5. 8. Find the equation of the plane with intercept 3 on the y-axis and parallel to ZOX plane. 9. Find the e quatio n of t he pla ne thro ugh th e inte rsection of the planes 3 x y + 2 z 4 = 0 and x + y + z 2 = 0 and the point (2, 2, 1). 10. Find the vector equation of the plane passing through the intersection of the r r ) = 7, r ) = 9 and through the point -3k planes r .( 2 i + 2 j .( 2 i + 5 j+3k (2, 1, 3). 11. Find the equation of the plane thro ugh the line of interse ction of the planes x + y + z = 1 and 2 x + 3 y + 4 z = 5 which is perpendicular to the plane x y + z = 0.

bl

is

he

494

M ATHE MATI CS

12. Find the angle between the planes whose vector equations are r r ) = 5 and r ) = 3. +2 j -3k +5k r (2 i (3 i - 3 j

(b) 2 x + y + 3 z 2 = 0 (c) 2 x 2 y + 4 z + 5 = 0 (d) 2 x y + 3 z 1 = 0 (e) 4 x + 8 y + z 8 = 0

and x 2 y + 5 = 0 and 3 x 3 y + 6 z 1 = 0 and 2 x y + 3 z + 3 = 0 and y + z 4 = 0

Point (a) (0, 0, 0) (b) (3, 2, 1) (c) (2, 3, 5) (d) ( 6, 0, 0)

Plane

no N C tt E o R be T re pu
2x y + 2z + 3 = 0 x + 2y 2z = 9 2x 3y + 6z 2 = 0

3 x 4 y + 12 z = 3

Miscellaneous Examples

Example 26 A line makes angles a, b, g and d with the diagonals of a cube, prove that 4 3 Solution A cube is a rectangular parallelopiped having equal length, breadth and height. Let OADBFEGC be the cube with each side of length a units. (Fig 11.21) Z T he four diagonals are OE, AF, BG and CD. T he direction cosines of the diagonal OE which C(0, 0, a) is the line joining two points O and E are F(0, a, a) cos2 a + cos2 b + cos2 g + cos2 d = a2

+a +a
a 0
2

a 0
2

a2

+a +a

a2

+a +a
a 0
2

(a, 0, a) G

i.e.,

bl
O X
Fig 11.21

14. In the following cases, find the distance of each of the given points from the corresponding given plane.

is
Y B(0, a, 0) D(a, a, 0)

he

(a) 7 x + 5 y + 6 z + 30 = 0 and 3 x y 10 z + 4 = 0

13. In the following cases, determine whether the given planes are parallel or perpendicular, and in case they are neither, find the angles between them.

THREE D IMENSIONAL G EOMETRY

495

Similarly, the direction cosines of AF, BG and CD are

1 3

1 3

1 3

1 3

1 3

cos a = cos g =

1 3 1

( l + m + n ); cos b = ( l m + n ); cos d =

1 3 1 3

( l + m + n ); (l + m n ) (Why?)

no N C tt E o R be T re pu
=

1 [ ( l + m + n ) 2 + ( l + m + n ) 2 ] + ( l m + n ) 2 + ( l + m n ) 2] 3 1 4 = [ 4 ( l2 + m 2 + n 2 ) ] = (as l2 + m 2 + n 2 = 1) 3 3 Example 27 Find the equation of the plane that contains the point (1, 1, 2) and is perpendicular to each of the planes 2 x + 3 y 2 z = 5 and x + 2 y 3 z = 8.
Solution T he equation of the plane containing the given point is A ( x 1) + B(y + 1) + C (z 2) = 0 ... (1) Applying the condition of perpendicularly to the plane given in (1) with the planes 2 x + 3 y 2 z = 5 and x + 2 y 3 z = 8, we have 2A + 3B 2C = 0 and A + 2B 3C = 0 Solving these equations, we find A = 5C and B = 4C. Hence, the required equation is 5C ( x 1) + 4 C (y + 1) + C(z 2) = 0 i.e. 5x 4y z = 7 Example 28 Find the distance between the point P(6, 5, 9) and the plane determined by the points A (3, 1, 2), B (5, 2, 4) and C( 1, 1, 6). Solution Let A, B, C be the three points in the plane. D is the foot of the perpendicular drawn from a point P to the plane. PD is the required distance to be determined, which uuu r uuu r uuu r is the projection of AP on AB AC .

bl

3 Squaring and adding, we get cos2a + cos2 b + cos2 g + cos2 d

is

he

, respectively. . 3 3 3 3 Le t l, m , n be the direction cosines of the given line which makes angles a, b , g , d with OE, AF, BG , CD, respectively. T hen

and

1

496

M ATHE MATI CS

uuu r uuu r Hence, PD = the dot product of AP with the unit vector along AB uuu r So AP = 3 i +6 j +7k uuu r AB

uuu r . AC

and

-4 =

0 4

uuu r Unit vector along AB Hence

uuu r AC

3 i - 4 j+ 3k 34

no N C tt E o R be T re pu
Example 29 Showthat the lines x- a+d y-a z-a-d = = a-d a a+d and Solution He re x1 = a d y1 = a z1 = a + d a1 = a d b1 = a c1 = a + d Nowconsider the determinant x2 - x1 a1 a2 y2 - y1 b1 b2 z 2 - z1 c1 c2 x2 y2 z2 a2 b2 c2 = = = = = = bc b b+c bg b b+g = b -c - a + d a -d b-g b

3 34 17 Alte rnative ly, find the equation of the plane passing through A, B and C and then compute the distance of the point P from the plane. =

x-b+c y-b z-b-c = = are coplanar. . b- g b b+g

bl
b - a b +c - a - d a a+d b+g

) . 3 i - 4 j + 3 k +7k PD = ( 3 i + 6 j 34

is

he

uuu r AC =

i 2

j k 3 2 = 12 i - 16 j + 12 k

THREE D IMENSIONAL G EOMETRY

497

Adding third column to the first column, we get b-a a 2 b b - a b +c - a - d a a +d =0 b b+g

Example 30 Find the coordinates of the point where the line through the points A (3, 4, 1) and B(5, 1, 6) crosses the XY-plane. Solution T he vector equation of the line through the points A and B is r + l [ (5 - 3) i + (1 - 4) ] j +k j + ( 6 - 1) k r = 3 i + 4 i.e.

vector of the point P is of the form x i + y j.

no N C tt E o R be T re pu
, we have Equating the like coefficients of i, j and k x= 3+2l y=43l 0= 1 +5 l Solving the above equations, we get x= 13 23 and y = 5 5 13 23 , 0 . Hence, the coordinates of the required point are , 5 5

T his point must satisfy the equation (1). (Why ?) i.e. x i + y j = (3 + 2 l ) i + ( 4 - 3 l) j + (1 + 5 l ) k

Miscellaneous Exercise on Chapter 11

1. Show that the line joining the origin to the point (2, 1, 1) is perpendicular to the line determined by the points (3, 5, 1), (4, 3, 1). 2. If l1, m 1, n 1 and l2, m 2, n 2 are the direction cosines of two mutually perpendicular lines, show that the direction cosines of the line perpendicular to both of these are m1 n 2

-m

n1 , n1 l2

-n

2 l1 ,

l1 m2

-l

m1

bl

r +l (2 i ) -3 ... (1) j +k j +5 k r = 3 i + 4 Let P be the point where the line AB crosses the XY-plane. T hen the position

is

he

Since the first and second columns are identical. Hence, the given two lines are coplanar.

498

M ATHE MATI CS

3. Find the angle between the lines whose direction ratios are a , b , c a nd b c, c a , a b . 4. Find the equation of a line parallel to x-axis and passing through the origin.

no N C tt E o R be T re pu
+ - +=
r ) + 8 = 0 . plane r (5 i + 3 j - 6k

r + l (i ) +2k -2 j +2k 9. Find the shortest distance between lines r = 6 i + 2 j r + m (3 i - 2 ) . and r = - 4 i - k j -2k 10. Find the coordinates of the point where the line through (5, 1, 6) and (3, 4,1) crosses the YZ-plane. 11. Find the coordinates of the point where the line through (5, 1, 6) and (3, 4, 1) crosses the ZX-plane. 12. Find the coordinates of the point where the line through (3, 4, 5) and (2, 3, 1) crosses the plane 2 x + y + z = 7. 13. Find the equation of the plane passing through the point ( 1, 3, 2) and perpendicular to each of the planes x + 2 y + 3 z = 5 and 3 x + 3 y + z = 0. 14. If the poin ts ( 1, 1 , p ) and ( 3 , 0, 1) be e quidist ant from the pla ne r ) 13 0, then find the value of p. 12 k r (3 i 4 j 15. Find the equation of the plane passing through the line of intersection of the r r ) = 1 and r ) + 4 = 0 and parallel to x-axis. +k +3 j -k planes r ( i + j (2 i 16. If O be the origin and the coordinates of P be (1, 2, 3), then find the equation of the plane passing through P and perpendicular to OP. 17. Find the equation of the plane which contains the line of intersection of the planes r r ) - 4 = 0 , r ) + 5 = 0 and which is perpendicular to the +3k + j -k r ( i + 2 j (2 i

bl

x-1 y - 2 z -3 x -1 y - 1 z - 6 are perpendicular, , = = and = = -3 2k 2 3k 1 -5 find the value of k. 7. Find the vector equation of the line passing through (1, 2, 3) and perpendicular to r ) + 9 = 0. the plane r . ( i +2 j -5k 8. Find the equation of the plane passing through (a , b , c) and parallel to the plane r r (i j k ) 2. 6. If the lines

++ =

is

he

5. If the coordinates of the points A, B, C, D be (1, 2, 3), (4, 5, 7), ( 4, 3, 6) and (2, 9, 2) respectively, then find the angle between the lines AB and CD.

THREE D IMENSIONAL G EOMETRY

499

18. Find the distance of the point ( 1, 5, 10) from the point of intersection of the r r + l (3 i ) and the plane r +2k +4 j +2 k line r = 2 i - j (i - j + k ) = 5 .

the origin, then

no N C tt E o R be T re pu
(A) 2 units (B) 4 units (C) 8 units (D) 23. T he planes: 2 x y + 4 z = 5 and 5 x 2.5 y + 10 z = 6 are (A) Perpendicular (B) Parallel (C) intersect y-axis

Choose the correct answer in Exercises 22 and 23. 22. Distance between the two planes: 2 x + 3 y + 4 z = 4 and 4 x + 6 y + 8 z = 12 is 2 29 units

5 (D) passes through 0, 0, 4

Summary

Dire ction cosine s of a line are the cosines of the angles made by the line with the positive directions of the coordinate axes. If l, m , n are the direction cosines of a line, then l2 + m 2 + n 2 = 1. Direction cosines of a line joining two points P(x1, y1, z1) and Q( x2, y2, z2) are
x2 PQ

-x , y -y , z -z
1 2 1 2

PQ

PQ

where PQ =

( x 2 - x1 ) 2 + ( y 2 - y1 ) 2 + ( z 2 - z1 )2

Dire ction ratios of a line are the numbers which are proportional to the direction cosines of a line. If l, m, n are the direction cosines and a , b , c are the direction ratios of a line

bl

1 1 1 1 + 2 + 2 = 2. 2 a b c p

is

x - 8 y + 19 z -10 x - 15 y - 29 z - 5 . = = = and = 3 - 16 7 3 8 -5 21. Prove that if a plane has the intercepts a, b , c and is at a distance of p units from

he

20. Find the vector equation of the line passing through the point (1, 2, 4) and perpendicular to the two lines:

19. Find the vector equation of the line passing through (1, 2, 3) and parallel to the r r ) = 5 and r ) = 6 . + 2k planes r ( i - j (3 i + j+ k

500

M ATHE MATI CS

then a +b +c a +b + c a + b 2 + c2 Ske w line s are lines in space which are neither parallel nor intersecting. T hey lie in different planes. Angle be twe e n ske w line s is the angle between two intersecting lines drawn from any point (preferably through the origin) parallel to each of the skew lines. If l1, m 1, n 1 and l2, m 2, n 2 are the direction cosines of two lines; and q is the acute angle between the two lines; then cosq = | l1l2 + m 1m 2 + n 1n 2 | If a 1, b 1, c1 and a 2, b 2, c2 are the direction ratios of two lines and q is the acute angle between the two lines; then
2 2 2 2 2 2 2

l=

;m =

;n=

no N C tt E o R be T re pu
2 a1

cosq =

a1 a 2 + b1 b2 + c1 c2
2 + b12 + c1

2 2 2 a2 + b2 + c2

Vector equation of a line that passes through the given point whose position r r r r r vector is a and parallel to a given vector b is r = a + l b . Equation of a line through a point (x1, y1,z1) and having direction cosines l, m , n is x - x1 y - y1 z - z1 = = l m n T he vector equation of a line which passes through two points whose position r r r r r r vectors are a and b is r = a + l (b - a ) . Cartesian equation of a line that passes through two points (x1, y1, z1) and x - x1 y - y1 z - z1 . = = x2 - x1 y2 - y1 z 2 - z1 r r r r r r If q is th e acute angle be twee n r = a1 + l b1 an d r = a 2 + l b2 , th en r r b1 b2 cos q = r r | b1 | | b2 | ( x2, y2, z2) is

x - x1 y - y1 z - z1 x - x2 y - y2 z - z2 = = = = and l m n2 l1 m1 n1 2 2 are the equations of two lines, then the acute angle between the two lines is given by cos q = | l1 l2 + m 1 m 2 + n 1 n 2 |.
If

bl

is

he

THREE D IMENSIONAL G EOMETRY

501

Shortest distance between the lines: x - x2 y - y2 z - z2 = = is a2 b2 c2

x - x1 y - y1 z - z1 = = and a1 b1 c1

x2 - x1 a1 a2

y2 - y1 b1 b2

z 2 - z1 c1 c2

no N C tt E o R be T re pu
(b1c2 - b2 c1 )2 + (c1a 2 - c2 a1 )2 + (a1b2 - a 2 b1 )2

r r r r Distance between parallel lines r a1 b and r r r r b ( a 2 - a1 ) r |b|

= +l

In the vector form, equation of a plane which is at a distance d from the is the unit vector normal to the plane through the origin is origin, and n
r r n =d.

Equation of a plane which is at a distance of d from the origin and the direction cosines of the normal to the plane as l, m , n is lx + my + nz = d. r T he equation of a plane through a point whose position vector is a and ur r r ur perpendicular to the vector N is ( r - a ) . N = 0 . Equation of a plane perpendicular to a given line with direction ratiosA, B, C and passing through a given point (x1, y1, z1) is A ( x x1) + B (y y1) + C (z z1 ) = 0 Equation of a plane passing through three non collinear points (x1, y1, z1),

bl
=ar +mbr is
2

is

he

Shortest distance between two skew lines is the line segment perpendicular to both the lines. r r r r r r Shortest distance between r a1 b2 is b1 and r a2 r r r r ( b1 b2 ) (a 2 a1 ) r r | b1 b2 |

= +l

= +m

502

M ATHE MATI CS

( x2, y2, z2) and (x3, y3, z3) is x - x1 x2 - x1 x3 - x1 y - y1 y2 - y1 y3 - y1 z - z1 z 2 - z1 z 3 - z1

Vector equation of a plane that contains three non collinear points having r r r r r r r r r position vectors a , b and c is ( r - a ) . [ (b - a ) ( c - a ) ] = 0 Equation of a plane that cuts the coordinates axes at (a , 0, 0), (0, b , 0) and (0, 0, c) is

no N C tt E o R be T re pu
B ( x 2 , y 2 , z2 )

Vec tor e quation of a plane t hat p asses thro ugh t he in terse ction of r r r r r r r planes r n1 = d1 and r n2 = d 2 is r ( n1 + l n 2 ) = d1 + l d 2 , where l is any nonzero constant. Cartesian equation of a plane that passes through the intersection of two given planes A1 x + B1 y + C1 z + D1 = 0 and A2 x + B2 y + C2 z + D2 = 0 is (A1 x + B1 y + C1 z + D1) + l(A2 x + B2 y + C2 z + D2) = 0. r r r r r r Two lines r = a1 + l b1 and r = a2 + m b2 are coplanar if r r r r ( a2 - a1 ) (b1 b2 ) = 0 In the cartesian form above lines passing through the points A(x 1, y 1, z1) and
x2 - x1 a1 a2 y2 - y1 b1 b2 z 2 - z1 c1 c2

y y2 z z 2 = = are coplanar if b2 C2

In the vector form, if q is the angle between the two planes, r n1 = d1 and r r | n1 n2 | r r 1 r n 2 = d 2 , then q = cos r r . | n1 || n2 | r r r r T he angle f between the line r = a + l b and the plane r n = d is

bl
= 0.
r r

x y z + + =1 a b c

is

he

=0

THREE D IMENSIONAL G EOMETRY

503

A2 x + B2 y + C2 z + D2 = 0 is given by cos q = A1 A 2 + B1 B 2 + C1 C 2
2 2 A2 1 + B1 + C1 2 2 2 A2 + B2 + C2

Ax1 + By1 + Cz1 + D A 2 + B2 + C2

no N C tt E o R be T re pu
v

bl

T he distance from a point (x1, y1, z1) to the plane Ax + By + Cz + D = 0 is

is

r r T he distance of a point whose position vector is a from the plane r n = d is r | d - a n |

he

r b n sin f = r |b | | n | T he angle q between the planes A1x + B1y + C1z + D1 = 0 and