Lines

Lines

E. Mujuni

December 7, 2020
Lines

Lines
Given a point A(a1 , a2 , a3 ) and direction vector b. Consider a line L
e
that passes through a point A in the direction of a vector b as shown
e
in Figure 1. P is a variable point in the xyz-plane.
z-axis
L

k?
e
r A(a1 , a2 , a3 )
a R be
*e j
- y-axis
-e
r q P(x, y , z)
/ e

x-axis
Figure:
Lines

−→
Since L is parallel with b, AP can be considered as the projection of b
e e
on to the line L. This implies that
−→
AP = λb, λ ∈RI (1)
e

−→
Now consider the triangle OAP; OP is taken as the resultant vector of
−→ −→
OA and AP. Thus,
r = a + λb (2)
e e e

Equation (2) represents the general equation of the line L in vector

form when the position vector a and the direction vector b are given.
e e
Lines

−→
Since L is parallel with b, AP can be considered as the projection of b
e e
on to the line L. This implies that
−→
AP = λb, λ ∈RI (1)
e

−→
Now consider the triangle OAP; OP is taken as the resultant vector of
−→ −→
OA and AP. Thus,
r = a + λb (2)
e e e

Equation (2) represents the general equation of the line L in vector

form when the position vector a and the direction vector b are given.
e e
Lines

−→
Since L is parallel with b, AP can be considered as the projection of b
e e
on to the line L. This implies that
−→
AP = λb, λ ∈RI (1)
e

−→
Now consider the triangle OAP; OP is taken as the resultant vector of
−→ −→
OA and AP. Thus,
r = a + λb (2)
e e e

Equation (2) represents the general equation of the line L in vector

form when the position vector a and the direction vector b are given.
e e
Lines

Given that a = a1 i + a2 j + a3 k , b = b1 i + b2 j + b3 k and

e e e e e e e e
r = xi + y j + zk , Equation (2) may be simply written as
e e e e

xi + y j + zk = (a1 i + a2 j + a3 k ) + λ(b1 i + b2 j + b3 k )
e e e e e e e e e

or
x − a1 y − a2 x − a3
= = = λ,
b1 b2 b3
which is an equation of a line in Standard Cartesian form.
Lines

Given that a = a1 i + a2 j + a3 k , b = b1 i + b2 j + b3 k and

e e e e e e e e
r = xi + y j + zk , Equation (2) may be simply written as
e e e e

xi + y j + zk = (a1 i + a2 j + a3 k ) + λ(b1 i + b2 j + b3 k )
e e e e e e e e e

or
x − a1 y − a2 x − a3
= = = λ,
b1 b2 b3
which is an equation of a line in Standard Cartesian form.
Lines

Suppose that the two points on the space A(a1 , a2 , a3 ) and

B(b1 , b2 , b3 ) have corresponding positional vectors a and b. Let
e e
P(x, y, z) be a variable point as shown in Figure 2.
z − axis
6
Ap -Bp pP(x, y, z)
ab r
e e3 e

- y-axis

x-axis
Figure:

By Triangular Rule,
−→ −→ −→
AB = OB − OA
−→
Let AB be a directional vector to line L. Then
−→ −→
r = OA + λAB = a + λ(b − a) = (1 − λ)a + λb (3)
e e e e e e

The equation can be transformed to Cartesian if a and b are defined.

e e
Lines

Suppose that the two points on the space A(a1 , a2 , a3 ) and

B(b1 , b2 , b3 ) have corresponding positional vectors a and b. Let
e e
P(x, y, z) be a variable point as shown in Figure 2.
z − axis
6
Ap -Bp pP(x, y, z)
ab r
e e3 e

- y-axis

x-axis
Figure:

By Triangular Rule,
−→ −→ −→
AB = OB − OA
−→
Let AB be a directional vector to line L. Then
−→ −→
r = OA + λAB = a + λ(b − a) = (1 − λ)a + λb (3)
e e e e e e

The equation can be transformed to Cartesian if a and b are defined.

e e
Lines

Theorem
Given two lines L1 : r1 = a1 + λb1 and L2 : r2 = a2 + µb2 .The following
e e e e e e
hold.
(a) L1 and L2 are parallel if and only if b1 and b2 are also parallel.
(b) L1 and L2 are perpendicular if and only if b1 and b2 are also
perpendicular.
(c) When line L1 and L2 intersect at a point P(x, y , z) then P is
common to L1 and L2 .

Note that
1 If L1 and L2 intesect, since a1 , a2 , b1 and b2 are defined, then
e e e e
there exists unique value of λ and µ that maintains the
equilibrium balance: (a1 + λb1 ) = (a2 + µb2 ).
e e e e
2 If no unique values of λ and µ such that L1 and L2 intersect then
we conclude that either L1 and L2 are parallel or they belong to
different planes. In such a case we say that they are skew lines.
Lines

Theorem
Given two lines L1 : r1 = a1 + λb1 and L2 : r2 = a2 + µb2 .The following
e e e e e e
hold.
(a) L1 and L2 are parallel if and only if b1 and b2 are also parallel.
(b) L1 and L2 are perpendicular if and only if b1 and b2 are also
perpendicular.
(c) When line L1 and L2 intersect at a point P(x, y , z) then P is
common to L1 and L2 .

Note that
1 If L1 and L2 intesect, since a1 , a2 , b1 and b2 are defined, then
e e e e
there exists unique value of λ and µ that maintains the
equilibrium balance: (a1 + λb1 ) = (a2 + µb2 ).
e e e e
2 If no unique values of λ and µ such that L1 and L2 intersect then
we conclude that either L1 and L2 are parallel or they belong to
different planes. In such a case we say that they are skew lines.
Lines

Theorem
Given two lines L1 : r1 = a1 + λb1 and L2 : r2 = a2 + µb2 .The following
e e e e e e
hold.
(a) L1 and L2 are parallel if and only if b1 and b2 are also parallel.
(b) L1 and L2 are perpendicular if and only if b1 and b2 are also
perpendicular.
(c) When line L1 and L2 intersect at a point P(x, y , z) then P is
common to L1 and L2 .

Note that
1 If L1 and L2 intesect, since a1 , a2 , b1 and b2 are defined, then
e e e e
there exists unique value of λ and µ that maintains the
equilibrium balance: (a1 + λb1 ) = (a2 + µb2 ).
e e e e
2 If no unique values of λ and µ such that L1 and L2 intersect then
we conclude that either L1 and L2 are parallel or they belong to
different planes. In such a case we say that they are skew lines.
Lines

Theorem
Given two lines L1 : r1 = a1 + λb1 and L2 : r2 = a2 + µb2 .The following
e e e e e e
hold.
(a) L1 and L2 are parallel if and only if b1 and b2 are also parallel.
(b) L1 and L2 are perpendicular if and only if b1 and b2 are also
perpendicular.
(c) When line L1 and L2 intersect at a point P(x, y , z) then P is
common to L1 and L2 .

Note that
1 If L1 and L2 intesect, since a1 , a2 , b1 and b2 are defined, then
e e e e
there exists unique value of λ and µ that maintains the
equilibrium balance: (a1 + λb1 ) = (a2 + µb2 ).
e e e e
2 If no unique values of λ and µ such that L1 and L2 intersect then
we conclude that either L1 and L2 are parallel or they belong to
different planes. In such a case we say that they are skew lines.
Lines

Theorem
Given two lines L1 : r1 = a1 + λb1 and L2 : r2 = a2 + µb2 .The following
e e e e e e
hold.
(a) L1 and L2 are parallel if and only if b1 and b2 are also parallel.
(b) L1 and L2 are perpendicular if and only if b1 and b2 are also
perpendicular.
(c) When line L1 and L2 intersect at a point P(x, y , z) then P is
common to L1 and L2 .

Note that
1 If L1 and L2 intesect, since a1 , a2 , b1 and b2 are defined, then
e e e e
there exists unique value of λ and µ that maintains the
equilibrium balance: (a1 + λb1 ) = (a2 + µb2 ).
e e e e
2 If no unique values of λ and µ such that L1 and L2 intersect then
we conclude that either L1 and L2 are parallel or they belong to
different planes. In such a case we say that they are skew lines.
Lines

Theorem
Given two lines L1 : r1 = a1 + λb1 and L2 : r2 = a2 + µb2 .The following
e e e e e e
hold.
(a) L1 and L2 are parallel if and only if b1 and b2 are also parallel.
(b) L1 and L2 are perpendicular if and only if b1 and b2 are also
perpendicular.
(c) When line L1 and L2 intersect at a point P(x, y , z) then P is
common to L1 and L2 .

Note that
1 If L1 and L2 intesect, since a1 , a2 , b1 and b2 are defined, then
e e e e
there exists unique value of λ and µ that maintains the
equilibrium balance: (a1 + λb1 ) = (a2 + µb2 ).
e e e e
2 If no unique values of λ and µ such that L1 and L2 intersect then
we conclude that either L1 and L2 are parallel or they belong to
different planes. In such a case we say that they are skew lines.
Lines

Theorem
Given two lines L1 : r1 = a1 + λb1 and L2 : r2 = a2 + µb2 .The following
e e e e e e
hold.
(a) L1 and L2 are parallel if and only if b1 and b2 are also parallel.
(b) L1 and L2 are perpendicular if and only if b1 and b2 are also
perpendicular.
(c) When line L1 and L2 intersect at a point P(x, y , z) then P is
common to L1 and L2 .

Note that
1 If L1 and L2 intesect, since a1 , a2 , b1 and b2 are defined, then
e e e e
there exists unique value of λ and µ that maintains the
equilibrium balance: (a1 + λb1 ) = (a2 + µb2 ).
e e e e
2 If no unique values of λ and µ such that L1 and L2 intersect then
we conclude that either L1 and L2 are parallel or they belong to
different planes. In such a case we say that they are skew lines.
Lines

Example
Find out whether the lines r1 = i + j + 3k + λ(i − 2j + 4k ) and
e e e e e e e
r2 = −2i + 2j + 5k + µ(2i + j − 5k ) intersect or parallel or skew.
e e e e e e e
Lines

Solution

From the first equation we have

(x, y , z) = (1, 1, 3) + λ(1, −2, 4) = (1 + λ, 1 − 2λ, 3 + 4λ)

From the second line we have

(x, y, z) = (−2, 2, 5) + µ(2, 1, −5) = (−2 + 2µ, 2 + µ, 5 − 5µ)

The directional vectors of lines are b1 = (1, −2, 4) and b2 = (2, 1, −5)
e e
which are not parallel because b1 6= k b2 for any k.
e e
The lines intersect if the have a common point. That is, they intersect
if

1+λ = −2 + 2µ
1 − 2λ = 2+µ
3 + 4λ = 5 − 5µ
Lines

Solution, cont..

Rearrange these equation we obtain

λ − 2µ = −3 (4)
2λ + µ = −1 (5)
4λ + 5µ = 2 (6)

Solving Equations (4) and (5), we obtain λ = −1 and µ = 1. If we

substute λ = −1 and µ = 1 in the left hand side of (6) we obtain
4(−1) + 5(1) = 1. Thus (6) is not satisfied, hence, the lines are skew.
Lines

Example
Find the distance of the point P(3, 5, −11) from the straight line

r = (x, y , z) = (5, −7, 1) + λ(−2, 4, 13)

e
Lines

Solution

The given line is parallel to the direction (−2, 4, 13) and passes
throught the point Q(5, −7, 1). Refer figure below
Q

L d

P
Lines

Solution, cont..

The distance d is the projection of PQ on the line’s direction

(−2, 4, 13) and then applying Pythogoras’s theorem.
−→ −ˆ→ 1 104
PQ = PQ · RQ = (2, −12, 12) · √ (−2, 4, 13) = √
189 189
By Pythogoras’ theorem

10816 44372
d 2 = PQ 2 − RQ 2 = 292 − =
189 189
Hence, d = 15.32.