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3D-GEOMETRY
Straight line in three dimensions A straight line in space is uniquely determined if (i) It passes through a given point and has a given direction, or (ii) It passes through two given points. Cartesian Form: x x1 y y1 z z1 b1 b2 b3 Equations above is also called the symmetrical form of the straight line, and represent a straight line through the given point (x1, y1, z1), whose direction ratios are b1, b2 and b3. x y z For a = 0, so r b and its Cartesian form is b1 b2 b3

In equations above, b1, b2, b3 are the direction ratios of the straight line. Equations of the straight line, through the point P(x1, y1, z1), with direction x a1 y y1 z z1 cosine l, m, n are . l m n The general coordinates of a point on a line are given by (x 1 + lr, y1 + mr, z1 + nr) where r is the distance between point (x1, y1, z1) and the point whose coordinates are to be written.

Equation of a straight line through two given points Cartesian Form: x x1 y y1 z z1 x 2 x1 y 2 y1 z2 z1 This is the Cartesian equations of the line passing through the points (x1, y1, z1) and (x2, y2, z2). Collinearity of three points Let A, B, C be three given points with position vectors a, b and c respectively.

Hence C with position vector c is collinear with A and B. We conclude that three points are collinear if there exists a linear relation between them, such that the sum of the coefficients in it is zero. Three points with position vectors a, b, c will be collinear if the vectors b a and c a are parallel. We may also use the section formula. If one of the points divides the line segment, joining the remaining two, in a definite ratio, then the given points with position vectors a, b, c are collinear. In the present case, let

k1 u k3

k1 v k3

u (1

)v ,

where

k1 . k3

5n 4m 0 n 3m ,1 m n m n 5n m which also satisfies 3 = . m n Angle between two lines Cartesian Form:

2=

2m

If A (x1, y1, z1), C (x2, y2, z2) be the two given points and b b1 b2 b3k, d d1 d2 d3k be the given vectors. The angle between the lines i j i j is given by b1d1 b2d2 b3d3 cos = . 2 2 2 2 b1 b2 b3 d1 d2 d3 2 2 If l1, m1, n1; l2, m2, n2 are the direction cosines of lines, then cos = l1l2 + m1m2 + n1n2. The lines are perpendicular (or orthogonal) if b 1d1+ b2d2+ b3d3= 0 or l1l2 + m1m2 + n1n2 = 0. b b 2 b3 The lines are parallel if 1 or l1 = l2, m1 = m2, n1 = n2. d1 d2 d3 Shortest distance between two lines Consider two lines L1 and L2 in space. If the two lines do not intersect and are not parallel, these lines are called skew lines. If the lines L1 and L2 are respectively x x1 y y1 z z1 x x 2 y y 2 z z2 and , l1 m1 n1 l2 m2 n2 the condition for intersecting lines becomes x1 x 2 y1 y 2 z1 z2 l1 m1 n1 0. l2 m2 n2
x1 x 2

y1 y 2 m1 m2

z1 z2 n1 n2 0.

The lines L1 and L2 are skew if

l1 l2

and then the shortest distance between L 1 and L2 is x 2 x1 y 2 y1 z2 z1 l1 m1 n1 l2 m2 n2 . (l1m2 m1l2 )2 (m1n2 n1m2 )2 (l1n2 l2n1)2

If any straight line is given in general form then it can be transformed into symmetrical form and we can proceed further.

PLANE

A plane is a surface such that a straight line, through any two points on it, lies wholly on it. Equation of a plane when normal to the plane and the distance of the plane from the origin are given (normal form) Cartesian Form: Let P (x, y, z) be any point on the plane, so that r xi yj zk . The equation of the plane will be lx + my + nz = p or Ax + By + Cz = p A 2 B2 C2 D which is a linear equation in x, y, z. The coefficients A, B, C are the direction ratios of the normal to the plane, whereas l, m, n are the actual direction cosines of the normal. A plane parallel to the plane Ax + By + Cz = D has the same normal. Hence the direction cosines of the normal to the two planes are same. Hence the equation of a plane parallel to Ax + By + Cz = D is Ax + By + Cz = D 1. Here D1 is the perpendicular distance of this plane from the origin. If D 2 2 2 A B C and D1 are of opposite signs, then the two planes lie on the opposite sides with respect to the origin i.e. the origin lies between the two planes. If the plane Ax + By + Cz = D intersects the coordinates axes at the points (a, 0, D D D 0), (0, b, 0), (0, 0, c), then A and the equation of the plane ,B , C a b c x y z simplifies to 1, which is called the intercept form of the equation of a b c the plane. Equation of a plane passing through a given point and perpendicular to a given direction Cartesian Form: With r xi yj zk, a x1 y1 z1k, n li mj nj , we get the Cartesian form as i j l (x x1) + m (y y1) + n (z z1) = 0. Here l, m, n are the direction cosines. In terms of the direction ratios a, b, c of the normal, this equation becomes a (x x1) + b (y y1) + c (z z1) = 0 Let A (x1, y1, z1), B (x2, y2, z2), C (x3, y3, z3) be three points on a plane. Equation of the plane through A (x1, y1, z1) is (x x1) + b (y y1) + c (z z1) = 0 This passes through the points B and C so that a (x2 x1) + b (y2 y1) + c (z2 z1) = 0, a (x3 x1) + b (y3 y1) + c (z3 z1) = 0.

Eliminating a, b, c from these equations, we obtain the equation of the plane containing x x1 y y1 z z1 A, B, C as x 2 x1 y 2 y1 z2 z1 0 . x3 x1 y3 y1 z3 z1 Equation of a plane passing through a point and parallel to two given lines Cartesian form: Let the point A be (x1, y1, z1) and let the direction ratios of the given lines be (b 1, b2, b3) and(c1, c2, c3). Hence the equation of plane passing through a point and parallel to two given lines is x x1 y y1 z z1 b1 b1 b3 0. c1 c2 c3

If a plane contains the line

x1 b1

y1 b2

z z1 b3

and is parallel to the line

x x 2 y y 2 z z2 then all the points of the first line will be lying in this c1 c2 c3 plane. Moreover, the plane will be parallel to both the lines. Hence the equation x x1 y y1 z z1

of the plane is

b1 c1

b1 c2

b3 c3

Two lines are coplanar if a plane can be drawn to contain both the lines. Plane passing through the intersection of two given planes In Cartesian system, the equation of a plane passing through the intersection of the planes a1x + b1y + c1z = d1 and a2x + b2y + c2z = d2 is a1x + b1y + c1z d1 + (a2x + b2y + c2z d2) = 0. Two planes intersect in a line. Hence the equations a 1x + b1y + c1z = d1 and a2x + b2y + c2z = d2 together represent a line. Equation of the plane through a given line: (i) If the equations of a line are given in general form as a1x+b1y+c1z+d1=0=a2x+b2y+c2z+d2, the equation of plane passing through this line is (a1x + b1y + c1z + d1) + (a2x + b2y + c2z + d2) = 0. x x1 y y1 z z1 (ii) If equations of the line are given in symmetrical form as , l m n then equation of the plane is a(x x1) + b(y y1) + c(z z1) = 0, where a, b, c are given by al + bm + cn = 0. Angle between two planes Let r n1 p1 and r n2 p2 be two planes. The angle between the planes is same as the angle between their normals. Hence angle between the planes is given by

= n1 n2 . In case, vectors N1 and N2 along the normals (or direction ratios of the normal) are given, then N1 N2 cos = . | N1 | | N2 | The planes are perpendicular if = N1 N2 0 . 2 The planes are parallel if n1 n2

cos

Angle between the planes a1x + b1y + c1z + d1 = 0 and a2x + b2y + c2z + d2 = 0 is cos 1

a1a2 b1b2
2 2 a1 b1 2 c1

c1c 2 a2 b2 c 2 2 2 2

If a1a2 +b1b2 +c1c2 = 0, then the planes are perpendicular to each other. a b1 c1 If 1 then the planes are parallel to each other. a2 b2 c 2 Angle between a line and a plane Let the equation of the line be r a b and that of the plane r n p , n is a unit vector along the normal to the plane. Let us draw a plane through the given line which is perpendicular to the given plane. Let L be the line of intersection of this plane with the given plane. The angle between the given line and L defines the angle between the given line and the given plane. L Let be the angle between the given line and the normal to the plane. Then cos = b n b n . |b| If is the angle between the given line and the given plane. then = sin = 2 b n cos = . |b| If N is a vector along the normal to the b N . plane, then sin = |b | |N|

If the equation of a plane is ax + by + cz + d = 0, then direction ratios of the normal to x x1 y y1 z z1 this plane are a, b, c. If the equations of the straight line are , l m n al bm cn then angle between the plane and the straight line is given by sin = . a2 b 2 c 2 Plane and straight line will be parallel if al + bm + cn = 0 a b c Plane and straight line will be perpendicular if . l m n The line will lie in the plane if al + bm + cn =0 and ax1 + by1 + cz1 + d = 0. Distance of a point from a plane Consider a point A with position vector a and a plane with equation r n p . Draw plane through A and parallel to the given plane. Equation of the plane is (r a) n 0 or N A(a) r n a n . From figure, AM = NL = ON OL =a n p a Hence distance of the point A from the given plane M L = |AM| = | a n p | .
n
O

In case the equation of the plane is Ax + By + Cz = D r N D , or r N D |N| |N| the distance of A (a) from the plane is N Ax1 By1 Cz1 D D a N D , where a a |N| |N| |N| A 2 B2 C2

x1 y1 z1k . i j

Position of a Point w.r.t. a Plane: Two points P(x1, y1, z1) and Q(x2, y2, z2) lie on the same or on the opposite sides of a plane ax + by + cz + d = 0 according as ax1 + by1 + cz1 + d and ax2 + by2 + cz2 + d are of the same or of the opposite signs. The plane divides the line joining the points P and Q externally or internally according as P and Q are lying on the same or the opposite sides of the plane. The distance between two parallel planes is the algebraic difference of perpendicular distances of the planes from the origin. Bisector Planes of Angle between two Planes:

The equation of the planes bisecting the angles between two given planes a 1x +b1y +c1z +d1 = 0 and a2x + b2y + c2z +d2 = 0 is a1x b1y c1z d1 a2 x b2 y c 2z d2 . 2 2 2 2 2 2 a1 b1 c1 a2 b2 c 2

If angle between the bisector plane and one of the planes is less than 45 then it is acute angle bisector otherwise it is obtuse angle bisector. If a1a2 + b1b2 + c1c2 is negative, then the origin lies in the acute angle between the given planes provided d1 and d2 are of the same sign and if a1a2 + b1b2 + c1c2 is positive, then the origin lies in the obtuse angle between the given planes.