21.

VECTOR & 3-D

1. DEFINITIONS: 6. VECTOR EQUATION OF A LINE :
A VECTOR may be described as a quantity having both magnitude & direction. A vector is generally Parametric vector equation of a line passing through two point
→      
represented by a directed line segment, say AB . A is called the initial point & B is called the terminal A(a) & B(b) is given by, r = a + t(b − a) where t is a parameter. If

→ → the line passes through the point A(a) & is parallel to the vector
point. The magnitude of vector AB is expressed by  AB .    
ZERO VECTOR a vector of zero magnitude i.e.which has the same initial & terminal point, is called a ZERO b then its equation is, r = a + t b
VECTOR. It is denoted by O.       
  Note that the equations of the bisectors of the angles between the lines r = a + λ b & r = a + µ c is : r
UNIT VECTOR a vector of unit magnitude in direction of a vector a is called unit vector along a and is

a

( )
= a + t b + c
 
( )
 b .
& r = a + p c−
denoted by â symbolically â=  . EQUAL VECTORS two vectors are said to be equal if they have the same 7. TEST OF COLLINEARITY :
a   
magnitude, direction & represent the same physical quantity. COLLINEAR VECTORS two vectors are said to Three points A,B,C with position vectors a, b, c respectively are collinear, if & only if there exist scalars
be collinear if their directed line segments are parallel disregards to their direction. Collinear vectors are   
x , y , z not all zero simultaneously such that ; xa + yb + zc = 0 , where x + y + z = 0.
also called PARALLEL VECTORS. If they have the same direction they are named as like vectors otherwise
8. SCALAR PRODUCT OF TWO VECTORS :
    
 a.b = a b cos θ(0 ≤ θ ≤ π) , note that if θ is acute then a.b > 0 & if θ is obtuse then a.b < 0 
   
unlike vectors. Simbolically, two non zero vectors a and b are collinear if and only if, a=Kb , where
K ∈ R COPLANAR VECTORS a given number of vectors are called coplanar if their line segments are all  2   
a.a = a =a 2 ,a.b=b.a (commutative)
parallel to the same plane. Note that “TWO VECTORS ARE ALWAYS COPLANAR”. POSITION VECTOR let O
→             
  a . (b + c) = a .b + a .c (distributive)  a.b = 0 ⇔ a ⊥ b (a ≠ 0 b ≠ 0)
be a fixed origin, then the position vector of a point P is the vector OP . If a & b & position vectors of
→    
two point A and B, then , AB = b − a = pv of B − pv of A .   a.b
 ˆi . î = ˆj. ˆj = kˆ . kˆ = 1 ; ˆi . ˆj = ˆj. k̂ = kˆ . ˆi = 0  projection of a on b =  .
2. VECTOR ADDITION : b
  → →   
 If two vectors a & b are represented by OA&OB , then their sum a + b is a vector represented by   

Note: That vector component of a along b =  a ⋅ b  b

→
OC , where OC is the diagonal of the parallelogram OACB.  b2 
           
 a + b = b + a (commutative)  (a + b) + c = a + ( b + c) (associativity)    a ⋅ b 
     and perpendicular to b = a –    b .www.MathsBySuhag.com , www.TekoClasses.com
      b2 
 a + 0=a =0 + a  a +( −a) = 0 = ( −a)+a
3. MULTIPLICATION OF VECTOR BY SCALARS :   
 a .b
    the angle φ between a & b is given by cos φ =   0≤φ≤π
If a is a vector & m is a scalar, then m a is a vector parallel to a whose ab

modulus is m times that of a . This multiplication is called SCALAR   
   if a = a1ˆi + a 2 ˆj + a 3k̂ & b = b1ˆi + b 2ˆj + b3k̂ then a.b = a1b1 + a2b2 + a3b3
MULTIPLICATION. If a & b are vectors & m, n are scalars, then:
    
m(a) = (a)m = ma a = a 12 + a 2 2 + a 3 2 , b = b12 + b 2 2 + b 3 2
  
m(na) = n(ma) = (mn)a    
Note : (i) Maximum value of a . b =  a   b 
      
    
(m + n)a = ma + na m(a + b) = ma + mb 
(ii) Minimum values of a . b = a . b = − a  b 
4. SECTION FORMULA :
 
If a & b are the position vectors of two points A & B then the p.v. of a point
(iii)

Any vector a can be written
 
( ) ( ) ( )
 
as , a = a . i i + a . j j + a . k k .
 
    a b
 na + mb (iv) A vector in the direction of the bisector of the angle between the two vectors a & b is  +  . Hence
which divides AB in the ratio m : n is given by : r = . Note p.v.. b a
m+n

of mid point of AB =
 
a+b
 
( )
bisector of the angle between the two vectors a & b is λ a + b , where λ ∈ R . Bisector of the exterior
 +

5.
2
DIRECTION COSINES :www.MathsBySuhag.com , www.TekoClasses.com
 
( )
angle between a & b is λ a − b , λ ∈ R+ .
 9. VECTOR PRODUCT OF TWO VECTORS :
Let a = a1ˆi + a 2 ˆj + a 3k̂ the angles which this vector makes with the +ve directions OX,OY & OZ are
a a
called DIRECTION ANGLES & their cosines are called the DIRECTION COSINES . cos α= 1 , cos β= 2       
a a (i)  If a & b are two vectors & θ is the angle between them then a × b = a b sin θn , where n
a
, cos Γ= 3 . Note that, cos² α + cos² β + cos² Γ = 1     
a is the unit vector perpendicular to both a & b such that a,b&n forms a right handed screw system
.
       
 2 2   a .a a . b
(ii)  Lagranges Identity : for any two vectors a & b ;(a x b) 2 = a b − (a . b) 2 =     a1 a2 a3
a .b b.b
[  ] [ l m n ]
    
(iii)  Formulation of vector product in terms of scalar product: then a b c = b1 b 2 b 3 ; where  , m & n are non coplanar vectors .
   c1 c2 c3
The vector product a x b is the vector c , such that
    
          If a , b , c are coplanar ⇔ [ a b c ] = 0 .
(i) | c | = a 2 b 2 − (a ⋅ b) 2 (ii) c ⋅ a = 0; c ⋅ b =0 and (iii) a, b, c form a right handed system
 
      
(iv)  a × b = 0 ⇔ a & b are parallel (collinear) (a ≠ 0,b ≠ 0) i.e. a = Kb , where K is a scalar..
 Scalar product of three vectors, two of which are equal or parallel is 0 i.e. [ a b c ] = 0 ,
    
 
 a × b ≠ b × a (not commutative) Note : If a , b , c are non − coplanar then [ a b c ] > 0 for right handed system & [a b c] < 0
      for left handed system .
 (ma) × b = a × (mb) = m(a × b) where m is a scalar .       
        [i j k] = 1  [Ka b c] = K[a b c][(a + b) c d ] = [ a c d ] + [ b c d ]

 a × (b + c) = (a × b) + (a × c) (distributive)   
 The volume of the tetrahedron OABC with O as origin & the pv’s of A, B and C being a , b & c respectively
 î × î = ˆj × ˆj = k̂ × kˆ = 0  î × ˆj = k,
ˆ ˆj × k̂ = ˆi, k̂ × î = ˆj
1 
ˆj is given by V = [a b c]
î k̂ 6
       
(v)  If a = a1ˆi + a 2 ˆj + a 3k̂ & b = b1ˆi + b 2ˆj + b3k̂ then a × b = a1 a 2 a3  The positon vector of the centroid of a tetrahedron if the pv’s of its angular vertices are a , b , c & d are
b1 b 2 b3 1    
given by [a + b + c + d] .
4
  Note that this is also the point of concurrency of the lines joining the vertices to the centroids of the
(vi) Geometrically a × b = area of the parallelogram whose two adjacent sides are represented by
opposite faces and is also called the centre of the tetrahedron. In case the tetrahedron is regular it is
 
a &b . equidistant from the vertices and the four faces of the tetrahedron .
 
[ ] [a + b ] [
 
]
         
  a×b Remember that : a − b b − c c − a = 0 & b+ c c+a = 2 a b c .
(vii)  Unit vector perpendicular to the plane of a & b is nˆ = ±  
a×b *12. VECTOR TRIPLE PRODUCT :
( )   
    
  r a×b Let a,b,c be any three vectors, then the expression a × (b × c) is a vector & is called a vector triple
 A vector of magnitude ‘r’ & perpendicular to the palne of a & b is ±  
a×b product .www.MathsBySuhag.com , www.TekoClasses.com
  
  GEOMETRICAL INTERPRETATION OF a × (b × c)
  a×b 
 If θ is the angle between a & b then sin θ =    
Consider the expression a × (b × c) which itself is a vector, since it is a cross product of two vectors
a b        
  
  a & ( b x c) . Now a x ( b x c) is a vector perpendicular to the plane containing a & ( b x c) but b x c is a
(viii) Vector area  If a,b&c are the pv’s of 3 points A, B & C then the vector area of triangle ABC       
vector perpendicular to the plane b&c , therefore a x ( b x c) is a vector lies in the plane of b&c and
1  
[ ]
     
= a x b + b x c + cx a . The points A, B & C are collinear if a x b + b x c + cx a = 0      
2 perpendicular t o a . Hence we can express a x ( b x c) in t erms of b & c
  1       
 Area of any quadrilateral whose diagonal vectors are d1 &d 2 is given by d1 xd 2 i.e. a x ( b x c) = xb + yc where x & y are scalars .
2
                 
10. SHORTEST DISTANCE BETWEEN TWO LINES :  a x ( b x c) = (a . c) b − (a . b) c  (a x b) x c = (a . c) b − (b . c) a
If two lines in space intersect at a point, then obviously the shortest distance between them is zero. Lines      
 (a x b) x c ≠ a x (b x c)
which do not intersect & are also not parallel are called SKEW LINES. For Skew lines the direction of
the shortest distance would be perpendicular to both the lines. The magnitude of the shortest distance 13. LINEAR COMBINATIONS / Linearly Independence and Dependence of Vectors :
      
→ Given a finite set of vectors a , b, c,...... then the vector r=xa+yb+zc+........ is called a linear
vector would be equal to that of the projection of AB along the direction of the line of shortest distance,
  
→   → → → →   combination of a , b, c,...... for any x, y, z ...... ∈ R. We have the following results :
LM is parallel to pxq i.e. LM = Pr ojection of AB on LM = Pr ojection of AB on px q  
(a) FUNDAMENTALTHEOREM IN PLANE : Let a,b be non zero , non collinear vectors . Then any vector r
→        
AB . (p x q) (b − a ) . (p xq) coplanar with a,b can be expressed uniquely as a linear combination of a,b i.e. There exist some unique
=   =   www.MathsBySuhag.com , www.TekoClasses.com 
pxq pxq  
x,y ∈ R such that xa + yb=r .
 
1. The two lines directed along p & q will intersect only if shortest distance = 0 i.e. 
(b) FUNDAMENTAL THEOREM IN SPACE : Let a,b,c be non−zero, non−coplanar vectors in space. Then any
[( ) ]
  
( )
       
(b − a ).(p xq) = 0 i.e. b − a lies in the plane containing p & q . ⇒ b − a p q = 0  
vector r , can be uniquily expressed as a linear combination of a,b,c i.e. There exist some unique x,y ∈
      
      b x(a 2 − a 1 ) R such that xa + yb+ zc= r .
2. If two lines are given by r1 = a 1 + Kb & r2 = a 2 + Kb i.e. they are parallel then , d =    
b (c) If x1,x 2 ,......x n are n non zero vectors, & k1, k2, .....kn are n scalars & if the linear combination
      
k1x1 + k 2 x 2 + ........k n x n = 0 ⇒ k1 = 0,k 2 = 0.....k n = 0 then we say that vectors x1,x 2 ,......x n are
d= ( x 2 − x1 ) 2 + ( y 2 − y1 ) 2 + (z 2 − z1 ) 2
LINEARLY INDEPENDENT VECTORS .
   (2) Section Fomula
(d) If x1,x 2 ,......x n are not LINEARLY INDEPENDENT then they are said to be LINEARLY DEPENDENT vectors
      m 2 x1 + m1 x 2 m 2 y1 + m1 y 2 m 2 z1 + m1 z 2
k1x1 + k 2 x 2 +........+ k n x n = 0 & if there exists at least one kr ≠ 0 then x1,x 2 ,......x n are x= ; y= ; z=
m1 + m 2 m1 + m 2 m1 + m 2
. i . e . i f

said to be LINEARLY DEPENDENT .

Note : ( For external division take –ve sign )
   Direction Cosine and direction ratio's of a line
 If a = 3i + 2j + 5k then a is expressed as a LINEAR COMBINATION of vectors î , ˆj, k̂ . Also , a , î , ˆj, k̂ form (3) Direction cosine of a line has the same meaning as d.c's of a vector.
a linearly dependent set of vectors. In general , every set of four vectors is a linearly dependent system. (a) Any three numbers a, b, c proportional to the direction cosines are called the direction ratios i.e.
 î , ˆj , k̂ are LINEARLY INDEPENDENT set of vectors. For l
=
m n
= =±
1
a b c a + b 2 + c2
2
K1î + K 2 ĵ + K 3k̂ = 0 ⇒ K1 = 0 = K2 = K3.
same sign either +ve or –ve should be taken through out.
     
 Two vectors a &b are linearly dependent ⇒ a is parallel to b i.e. a xb= 0 ⇒ linear dependence of note that d.r's of a line joining x1 , y1 , z1 and x2 , y2 , z2 are proportional to x2 – x1 , y2 – y1 and z2 – z1
      (b) If θ is the angle between the two lines whose d.c's are l1 , m1 , n1 and l2 , m2 , n2
a &b . Conversely if a xb≠0 then a &b are linearly independent . cosθ = l1 l2 + m1 m2+n1 n2 hence if lines are perpendicular then l1 l2 + m1m2+ n1 n2 = 0
      l1 m1 n1
 If three vectors a ,b,c are linearly dependent, then they are coplanar i.e. [ a , b, c ] = 0 , conversely, if = =
  
if lines are parallel then
l2 m 2 n 2
[ a , b, c ] ≠ 0 , then the vectors are linearly independent.
14. COPLANARITY OF VECTORS : l1 m1 n1
    l2 m2 n2 = 0
Four points A, B, C, D with position vectors a ,b,c,d respectively are coplanar if and only if there exist note that if three lines are coplanar then
    l3 m3 n3
scalars x, y, z, w not all zero simultaneously such that xa+ yb+zc+wd =0 where, x + y + z + w = 0.
15. RECIPROCAL SYSTEM OF VECTORS : (4)Projection of join of 2 points on line with d.c's l, m, n are l (x2 – x1) + m(y2 – y1) + n(z2 – z1)
            B PLANEwww.MathsBySuhag.com , www.TekoClasses.com
If a ,b,c & a' ,b ' ,c ' are two sets of non coplanar vectors such that a .a'=b .b '=c .c '=1 then the two (i) General equation of degree one in x, y, z i.e. ax + by + cz + d = 0 represents a plane.
      (ii) Equation of a plane passing through (x1 , y1 , z1) is
bx c cx a axb
a'=    ; b' =    ; c' =
[ ] [ ] [ ]

systems are called Reciprocal System of vectors. Note : a (x – x1) + b (y – y1) + c (z – z1) = 0 where a, b, c are the direction ratios of the normal to the plane.
abc abc abc x y z
(iii) Equation of a plane if its intercepts on the co-ordinate axes are x1 , y1 , z1 is x + y + z = 1 .
16. EQUATION OF A PLANE :www.MathsBySuhag.com , www.TekoClasses.com 1 1 1
    
(a) The equation ( r − r0 ).n =0 represents a plane containing the point with p.v. r0 wheren is a vector (iv) Equation of a plane if the length of the perpendicular from the origin on the plane is p and d.c's of the
  perpendicular as l , m, , n is lx+my+nz=p
normal to the plane . r . n = d is the general equation of a plane. (v) Parallel and perpendicular planes – Two planes a1 x + b1 y + c1z + d1 = 0 and a2x + b2y + c2z + d2 = 0
(b) Angle between the 2 planes is the angle between 2 normals drawn to the planes and the angle between a are perpendicular if a1 a2 + b1 b2 + c1 c2 = 0
line and a plane is the compliment of the angle between the line and the normal to the plane.
a1 b1 c1 a1 b1 c1 d1
17. APPLICATION OF VECTORS : parallel if = = and coincident if = = =
a 2 b2 c2 a 2 b2 c2 d2

(a) Work done against a constant force F over adisplacement (vi) Angle between a plane and a line is the compliment of the angle between the normal to the plane and the
    
s is defined as W=F.s   
    Line : r = a + λ b  then cos(90 − θ) = sin θ = b . n
 line . If Plane : r . n = d   .
(b) The tangential velocity V of a body moving in a circle is given by V = w × r where r is the pv of the  | b | .| n |
point P. where θ is the angle between the line and normal to the plane.
    
(c) The moment of F about ’O’ is defined as M = r × Fwhere r is the
 (vii) Length of the perpendicular from a point (x1 , y1 , z1) to a plane ax + by + cz + d = 0 is
pv of P wrt ’O’. The direction of M is along the normal to the
  ax1 + by1 + cz1 + d
plane OPN such that r ,F&M form a
p=
right handed system. a 2 + b2 + c2
    
(d) Moment of the couple = ( r1 − r2 ) × F where r1 & r2 are pv’s of the point of the application of the forces (viii) Distance between two parallel planes ax + by + cz + d1 = 0 and ax+by + cz + d2 = 0 is
 
F&− F.
3 -D COORDINATE GEOMETRY d1 − d 2
USEFUL RESULTS a 2 + b2 + c2
A General :
(ix) Planes bisecting the angle between two planes a1x + b1y + c1z + d1 = 0 and a2 + b2y + c2z + d2 = 0 is
(1) Distance (d) between two points (x1 , y1 , z1) and (x2 , y2 , z2)
 a1x + b1y + c1z + d1 a 2 x + b2 y + c2z + d 2
given by = ±
a12 + b12 + c12 a 22 + b 22 + c 22
Of these two bisecting planes , one bisects the acute and the other obtuse angle between the given planes.
(x) Equation of a plane through the intersection of two planes P1and P2is given by P1+λP2=0
C STRAIGHT LINE IN SPACE
(i) Equation of a line through A (x1 , y1 , z1) and having direction cosines l ,m , n are
x − x1 y − y1 z − z1
= = and the lines through (x1 , y1 ,z1) and (x2 , y2 ,z2)
l m n
x − x1 y − y1 z − z1
= =
x 2 − x1 y 2 − y1 z 2 − z1
(ii) Intersection of two planes a1x + b1y + c1z + d1 = 0 and a2x + b2y + c2z + d2 = 0
together represent the unsymmetrical form of the straight line.
x − x1 y − y1 z − z1
(iii) General equation of the plane containing the line = = is
l m n
A (x – x1) + B(y – y1) + c (z – z1) = 0 where Al + bm + cn = 0 .
LINE OF GREATEST SLOPEwww.MathsBySuhag.com , www.TekoClasses.com
AB is the line of intersection of G-plane and H is the horizontal plane. Line
of greatest slope on a given plane, drawn through a given point on the plane,
is the line through the point 'P' perpendicular to the line of intersetion of the
given plane with any horizontal plane.