MARY WARD CATHOLIC SECONDARY SCHOOL MCV 4U Calculus & Vectors UNIT 5

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Mary Ward C S S 2007 Author : H. Kopach

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3 Unit 5

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EXPECTATIONS: A 3.1, 3.2 Represent a line in two-space using a vector equation and parametric equation (r = ro + tm) Recognize a scalar equation for a line in two-space of the form Ax + By + C = 0 Represent a line in three-space using vector and parametric equations

TEXT REFERENCE: Geometry & Discrete Mathematics (Harcourt) 6.1; 7.1, 7.2, 7.3, 7.4 Algebra & Geometry (HRW) 2.1; 3.1, 3.2, 3.3 Worked Examples (Alice & George) 3.5, 3.6

ASEESSMENT / EVALUATION ACTIVITY Linear Combinations Vector & Parametric Equations Scalar Equations Equation of a Line in Three-Space Intersection of Two Lines Practice Test Seminar Tests (study for and write) Total estimated time (in school and KTCA T T T T T T T T at home) TIME 1h 2h 2h 2h 2h 2h 1h 6h 18 h +

A B C D E D

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LINEAR COMBINATION OF VECTORS

Two vectors x and u lying in the same plane are said to be collinear. Each vector can be expressed as a multiple of the other.

x = au

where a is a non zero scalar

Example 1

Given

x = 3i 6j u=4i8j

Determine whether the two vectors are collinear? Assume they are so, therefore Then (3,-6) = a(4,-8) Equate corresponding components to get 3 = a4 a = 3/4 -6 = -8a a = 3/4 The value of a is the same in both cases Therefore x and u are collinear. We can produce a combination of any number of vectors to produce a single vector. x = au

Example 2

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For the vectors shown in the diagram below, write a) v as a linear combination of u and x b) v as a linear combination of u, w and y. c) u as a linear combination of v, w and y. u v . . x y w Solution a) v = 3u + (-x) = 3u x b) v = 3u + y + (-2w) = 3u + y 2w From the solution to part (b) above we have: 3u = v-y+2w or, u = 1/3 v 1/3y + 2/3w

We can extend these concepts to 3 dimensions. If 3 vectors lie in the same plane, then it is always possible to express one of the vectors as the sum of the other two, and the vectors are said to be coplanar.

x = au +bv

where a,b are non-zero scalars

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LINEAR DEPENDENCE AND INDEPENDENCE

Vector pairs which are collinear and vector triples which are coplanar are said to be linearly dependant. Mathematically, we indicate linear dependence as follows:
Mary Ward C S S 2007 Author : H. Kopach

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Assignment A. LINEAR COMBINATIONS Geometry & Discrete Mathematics Read p 204 - 205
Copy out rules & definitions in brown boxes

Algebra & Geometry Read 2.4, p 55 - 59 Copy rules in green boxes Ex 2.4 1; 2

Worked Examples Read p 7 - 9 Make notes Ex 3.7 4; 5; 6

(always true) (where a,b,c are scalars not all

Do p 207 4, 5 For 2 vectors For 3 vectors

equal to zero)

au + bv = 0 au + bv + cw = 0

In each case the converse would be that the vectors are linearly independent (meaning that the equations above are not satisfied.)

Example 1 Show whether the vectors u = (3,-1, 0), v = (0, 2, 1) and w = (0,0,2) are linearly dependent or linearly independent.

Solution

We need to solve the equation: au + bv + cw = 0

We have a(3,-1,0) + b(0,2,1)+c(0,0,2) = (0,0,0) (3a,-a + 2b, b+2c) = (0, 0, 0) Therefore, 3a = 0, -a + 2b = 0, and b + 2c = 0.

Therefore a = 0, b = 0 and c = 0. This implies that u,v, and w are linearly independent vectors.

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Mary Ward C S S 2007 Author : H. Kopach

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VECTOR AND PARAMETRIC EQUATIONS OF A LINE IN 2 SPACE

We know that a line is defined by two points, and similarly the same line can also be determined by one point on the line and passing through a vector parallel to the line. This unique vector is called a direction vector and its components are called direction numbers. Let l be a line passing through P1(x1.y1), with position vector OP1 = r1, and having a non-zero direction vector m = (a,b). Let P(x,y) be a general point on l having position vector OP = r y m = (a,b) P1(x1.y1) P(x.y) r O By the Triangle Law for Addition of Vectors, OP = OP1 + P1P Since P1P is parallel to m, P1P is a scalar multiple of m, so P1P = tm, for some scalar t

The Vector Equation of the Line through the point with position vector r1, in the direction m, is of the form r = r1 + tm, where t R Example 1 Find a vector equation of a line passing through P1 (-5, 4) and having direction vector m = (7, 9). Solution r = (-5, 4) + t (7, 9), t

PARAMETRIC EQUATIONS

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In example 1 above we could re-write the vector equation in 2-space in term of vector co-ordinates as: [x,y] = [-5,4] + t[7,9] [x,y] = [-5,4] +[7t, 9t] [x,y] = [-5+7t, 4+9t]

Since the vectors are equal, the corresponding components are equal. x = -5 + 7t y = 4 + 9t or (x,y) = (-5 + 7t, 4 + 9t)

These equations are called parametric equations of a line. The constant terms on the right side are the coordinates of a point on the line The coefficients of t are the components of a directions vector of the line

Assignment B.VECTOR & PARAMETRIC EQUATIONS Geometry & Discrete Algebra & Geometry Worked Examples Mathematics Sketch this line using your graphing Read p 240 244 Read 3.1 Read p 8 calculator. Copy out rules &MODE definitions in brown boxes the function to parametric : Par Change Copy rules in green boxes Make notes Do p245 Then enter for the x and the y values Ex 3.1: 1 6 # 2, 4, 5, 8 a, 9 ,10, 13, 16 4.1 : 1 6; 9 GRAPH Play around with the WINDOW settings for T Dont you feel clever?

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THE SCALAR EQUATION OF A LINE IN A PLANE

The vector form of the equation of a straight line is useful when you want to see the direction of the line. However, the usual form of the equation of a line is the Cartesian or scalar form. You know these as y = mx + b or Ax + By + C = 0. Given the vector equation of a line, it is possible to obtain the Cartesian form. We need first to consider the normal vector, a vector that is at right angles to the line. Let l be a line passing through the point P1(x1, y1) and let n = (A, B) be a normal vector to the line. Let P(x, y) be any point on the line. Since n is perpendicular to P1P, it follows that

nP1P = 0

n = (A,B)

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10 l O x P1(x1, y1) P(x, y)

If r is the position of P, and if r1 is the position vector of P1, then P1P = r r1, and n (r r1) = 0 Remember: the dot product of two perpendicular vectors is zero! Hence (A, B) (x x1, y-y1) = 0 A(x x1) +B(y-y1) = 0 Ax +By + (-Ax1 By1) = 0 If we denote the constant term (-Ax1 By1) by C, we get the following equation of the line

The Cartesian or Scalar Equation of the Line in 2 space with normal (A,B) is of the form Ax + By + C = 0 Example 1 Find the Cartesian equation of the line passing through P1(8,2) and having the normal vector n = (3,-5) Solution Method 1 If P(x, y) is any point on the line, then it satisfies nP1P = 0, and (3,-5) (x-8, y-2) = 0 3x 24 5y + 10 = 0 Thus the Cartesian equation of the line is 3 x 5y 14 = 0 Here is an alternate solution:

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Method 2: Since the Cartesian equation of a line is Ax + By + C = 0, where the normal vector n = (A, B), we have n = (3, -5) P1 (8, 2) C = -14 3x 5y + C = 0 3(8) 5(2) + C = 0 24 10 + C = 0 C = -14 x - 5y 14 = 0

Recall from your earlier studies in Analytic Geometry that when two lines are perpendicular, then their slopes are negative reciprocals: m1 m2 = -1 For example if m1 = 3, then m2 = - We did two things: a) switch the numerator and denominator b) add a negative sign after the switch What worked in Analytic Geometry can work in Vector Geometry. If we have the direction vector m = (3,1), then the normal vector is n = (1,3). m n = 0 (3,1) (-1,3) = -3 + 3 = 0

Example 2 For the line 4x + 3y 12 = 0, find a) a normal vector, b) a direction vector, c) a point on the line, d) the vector equation of the line. Solution a) n = (4, 3) b) m = (-3,4)
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12 P(0,4) =

c) A point on the line could be the y-intercept (x = 0) r1 d) Since r = r1 + t m then r = (0,4) + t (-3,4)

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EQUATIONS OF A LINE IN 3-SPACE

The vector parametric equations developed in 2 space can be extended to 3 space with the inclusion of a third or z-component, so we get: Vector equation (X, y, z) = (x0, y0, z0) + t (a, b, c) Parametric equation: x = x0 + at y = y0 + bt z = z0 + ct Assignment C. SCALAR EQUATIONS Geometry & Discrete Mathematics Read p 248 249
Copy out rules & definitions in brown boxes

Algebra & Geometry Read 3.2 Copy rules in green boxes Ex 3.2: 1 7

Worked Examples

Do p 251 #2, 3, 5, 6, 7, 8, 9, 11

n/a

where a, b, c are components of direction vector known as direction numbers of a line.

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Note: ignore any examples or questions referring to symmetric form * * *

INTERSECTION OF TWO LINES

In grade 10, you solved a system of two linear equations in two unknowns. The result was one of three possibilities 1. No solution meaning that the two lines are parallel 2. One solution representing the point of intersection of the two lines. Assignment D.EQUATIONS OF A LINE IN 3-SPACE Geometry & Discrete Mathematics Read p 253 256
Copy out rules & definitions in brown boxes

Algebra & Geometry Read 3.3 Copy rules in green boxes

Worked Examples

Do p 256 Ex 3.3: #1, 2 a b; 3 ab; 4a; 6; 7, 1 a c; 2; 3; 4; 5; 8; 10 9, 12

4.2 : 1 - 4

3. Infinite number of solutions which meant that the two lines were coincident. In 3 D, there are three intersection possibilities for two distinct lines. z y x L1 x
Mary Ward C S S 2007 Author : H. Kopach

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L2 z y x L2

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The lines may Intersect

Lines may be parallel

Lines may neither intersect nor be parallel These are called skew lines

Example1 Equations of two lines are given. Show that the lines are parallel. L1 Solution A direction vector of L1 is [1, 2,-3] and of L2 is [-2,-4, 6]. These are collinear since [-2,-4, 6] = -2[1, 2,-3]. x=2+t y = -3 + 2t z = 4 - 3t L2 x = -1 2s y = 5 4s z = 6s

Therefore, the lines are either parallel or they coincide. To show that they do not coincide, show that a point on one of the lines is not on the other. From the parametric equations, the coordinates of a point on L1 are (2, -3, 4). Substitute these coordinates into the expressions of the equations of L2:

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2=1 2 s 3=2 s s= 3 2

3 4 s =5 8 4 s = s =2

4= s 6 s= 2 3

For the point to lie on L2, and for both lines to coincide, all these results must be equal. Since they are not, L1 and L2 are parallel The scalar equation of a line is an example of a linear equation A linear equation is an equation of the form a1x1 + a2x2 + a3x3 + = k where ai and k are constants

A linear system is said to be consistent if it has at lest one solution, otherwise it is inconsistent.

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Assignment E. INTERSECTION OF TWO LINE S Geometry & Discrete Mathematics Read p 259 262
Copy out rules & definitions in brown boxes

Algebra & Geometry

Worked Examples

Do p263 # 1,2, 3 b,c 4a,c 5, 8

p 112 # 8

Ex 4.4

1; 2

Lines are given in symmetric form; must be converted to parametric form first.

Assignment F. PRACTICE TEST Geometry & Discrete Mathematics Review questions p230 1, 2b Chapter test p233 1 Review exercise p 266# 2, 3, 6, 7, 8a,b, 13 Chapter test p 270 # 1 -7 * * * Algebra & Geometry Worked Examples

p 77 # 6 Choose selected questions from 4.1, 4.2, 4.4 p 111 # 1 a b, 2; 4; 6; 15 b

Mary Ward C S S 2007 Author : H. Kopach