THREE-DIMENSIONAL GEOMETRY

LINES

Line l is the support of vector ⃗⃗⃗⃗⃗

𝐴𝐵 . Hence direction cosines of line are defined as the direction
cosines of the vector whose support is the given line. Thus direction cosines of line l are the
⃗⃗⃗⃗⃗ or 𝐵𝐴
direction cosines of vector 𝐴𝐵 ⃗⃗⃗⃗⃗ .

TYPE OF VECTOR EQUATION CARTESIAN EQUATION

EQUATION
Line through a If P(x, y, z),
point A & A(x1, y1, z1),
parallel to a 𝑏⃗ = 𝑎𝑖̂ + 𝑏𝑗̂ + 𝑐𝑘̂
given vector 𝐛
(POINT Line in cartesian form is:
PARALLEL
FORM) 𝑥 − 𝑥1 𝑦 − 𝑦1 𝑧 − 𝑧1
= =
𝑎 𝑏 𝑐
Equation of line passing through a Note 1: a, b and c are direction ratios of
point A and parallel to vector 𝑏⃗ is: vector⃗⃗⃗⃗b. (A line is parallel to itself )
𝐫= 𝐚⃗ + 𝛌𝐛
Note 2: a, b and c can also be direction ratios
Ex. Find the vector and the Cartesian of line.
equations of the line through the
point (5, 2, – 4) and which is parallel to Note 3: If l, m and n are direction cosines of
the vector 3𝑖̂ + 2𝑗̂ − 8𝑘̂. line, equation of line will be:

𝑥 − 𝑥1 𝑦 − 𝑦1 𝑧 − 𝑧1
= =
𝑙 𝑚 𝑛

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 P(x, y, z),
Line passing A(x1, y1, z1),
through two B(x2, y2, z2)
given points A
and B. Line in cartesian form is:
(TWO POINT
FORM) 𝑥 − 𝑥1 𝑦 − 𝑦1 𝑧 − 𝑧1
= =
𝑥2 − 𝑥1 𝑦2 − 𝑦1 𝑧2 − 𝑧1

Note:
Equation of line passing through a (x2 – x1), (y2 – y1) and (z2 – z1) are direction
point A and B is: ratios of line joining A and B.
𝐫 = 𝐚⃗ + 𝛌(𝒃 ⃗ − 𝒂 ⃗)
Ex. Find the vector & cartesian
equation for the line passing through
the points (–1, 0, 2) and (3, 4, 6).

Angle Between Let the two lines be: Let the two lines be:
Two Lines ⃗⃗⃗⃗𝟏 and 𝑥 − 𝑥1 𝑦 − 𝑦1 𝑧 − 𝑧1
𝐫 = ⃗⃗⃗⃗
𝒂𝟏 + 𝛌𝒃 = =
⃗⃗⃗⃗𝟐 𝑎1 𝑏1 𝑐1
𝐫 = ⃗⃗⃗⃗
𝒂𝟐 + 𝛌𝒃
⃗⃗⃗1 . 𝑏
𝑏 ⃗⃗⃗⃗2 𝑥 − 𝑥1 𝑦 − 𝑦1 𝑧 − 𝑧1
cos 𝜃 = | | = =
⃗⃗⃗1 ||𝑏
|𝑏 ⃗⃗⃗⃗2 | 𝑎2 𝑏2 𝑐2
where, a1 , b1, c1 and a2, b2 , c2 are the
Ex. Find the angle between the pair of direction ratios of the lines 1 and 2,
lines given by: respectively, then:
𝑟 = 3𝑖̂ + 2𝑗̂ − 4𝑘̂ + 𝜆(𝑖̂ + 2𝑗̂ + 2𝑘̂) cosθ
𝑟 = 5𝑖̂ − 2𝑗̂ + 𝜇(3𝑖̂ + 2𝑗̂ + 6𝑘̂) 𝑎1 𝑎2 + 𝑏1 𝑏2 + 𝑐1 𝑐2
= || ||
2 2
√(𝑎1 2 + 𝑏1 + 𝑐1 2 )√(𝑎2 2 + 𝑏2 + 𝑐2 2 )

Ex. Find the angle between the pair of lines:

𝑥+3 𝑦−1 𝑧+3
= =
3 5 4

𝑥+1 𝑦−4 𝑧− 5
= =
1 1 2

Conditions For Let the two lines be: Let the two lines be:
Two Lines To Be ⃗⃗⃗⃗𝟏 and 𝑥 − 𝑥1 𝑦 − 𝑦1 𝑧 − 𝑧1
𝐫 = ⃗⃗⃗⃗
𝒂𝟏 + 𝛌𝒃 = =
Parallel ⃗⃗⃗⃗𝟐 𝑎1 𝑏1 𝑐1
𝐫 = ⃗⃗⃗⃗
𝒂𝟐 + 𝛌𝒃

The two lines will be parallel if:

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 ⃗⃗⃗ ⃗⃗⃗⃗2 𝑥 − 𝑥1 𝑦 − 𝑦1 𝑧 − 𝑧1
𝑏1 = 𝜆𝑏 = =
𝑎2 𝑏2 𝑐2

The two lines will be parallel if:

𝑎1 𝑏1 𝑐1
= =
𝑎2 𝑏2 𝑐2

Condition For Let the two lines be: Let the two lines be:
Two Lines To Be ⃗⃗⃗⃗𝟏 and 𝑥 − 𝑥1 𝑦 − 𝑦1 𝑧 − 𝑧1
𝐫 = ⃗⃗⃗⃗
𝒂𝟏 + 𝛌𝒃 = =
Perpendicular ⃗⃗⃗⃗𝟐 𝑎1 𝑏1 𝑐1
𝐫 = ⃗⃗⃗⃗
𝒂𝟐 + 𝛌𝒃
𝑥 − 𝑥1 𝑦 − 𝑦1 𝑧 − 𝑧1
The two lines will be perpendicular if: = =
𝑎2 𝑏2 𝑐2
⃗⃗⃗
𝑏1 . ⃗⃗⃗⃗
𝑏2 = 0
The two lines will be perpendicular if:
𝑎1 𝑎2 + 𝑏1 𝑏2 + 𝑐1 𝑐2 = 0

Skew lines

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Lines which are neither parallel nor intersect are called skew lines. Skew lines are non coplanar.

SUBTOPIC VECTOR EQUATION CARTESIAN EQUATION

Shortest Let the two lines be: Note 1:
distance 𝐫 = ⃗⃗⃗⃗
𝒂𝟏 + 𝛌𝒃 ⃗⃗⃗⃗𝟏 and As two skew lines do not intersect
between two 𝐫 = ⃗⃗⃗⃗
𝒂𝟐 + 𝛍𝒃 ⃗⃗⃗⃗𝟐 and are not parallel, but do lie in
skew lines Shortest distance between the two parallel planes. Distance between
lines is given by: them is same as distance between
parallel planes.
⃗⃗⃗⃗1 × ⃗⃗⃗⃗
(b b2 ). (a⃗⃗⃗⃗2 − a⃗⃗⃗1 )
| |
⃗⃗⃗⃗1 × ⃗⃗⃗⃗
|b b2 |

Distance Let the two parallel lines be:

between 𝐫 = ⃗⃗⃗⃗
𝐚𝟏 + 𝛌𝐛 and
parallel lines 𝐚𝟐 + ⃗⃗⃗⃗⃗
𝐫 = ⃗⃗⃗⃗ 𝛍𝐛
Distance between the parallel lines is
given by:

⃗b×(a ⃗⃗⃗⃗1 )
⃗⃗⃗⃗2 −a
| ⃗|
|
|b
Distance The distance between parallel planes
between two 𝒂𝒙 + 𝒃𝒚 + 𝒄𝒛 + 𝒅𝟏 = 𝟎 and
parallel planes (𝒂𝒙 + 𝒃𝒚 + 𝒄𝒛) + 𝒅𝟐 = 𝟎 is given
by:
|𝒅𝟏 − 𝒅𝟐 |
𝒅=
√𝒂𝟐 + 𝒃𝟐 + 𝒄𝟐

PLANES

TYPE OF VECTOR EQUATION CARTESIAN EQUATION

EQUATION
Every first degree equation in x, y and z represents a plane.
ax + by + cz + d = 0 is the general equation of a plane.
OR
𝑎 𝑏 𝑐
( ) 𝑥 + ( ) 𝑦 + ( ) 𝑧 + 1 = 0 𝑖𝑒 𝐴𝑥 + 𝐵𝑦 + 𝐶𝑧 + 1 = 0
𝑑 𝑑 𝑑

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Normal Let the coordinates of point P
Form be
P(x, y, z) and
direction cosines of 𝑛̂ be:
l, m and n.
Equation of plane is given by:
lx + my + nz = d

Ex. Find the vector and

cartesian equation of a plane
which is at a distance of 7
units from the origin and
normal to the vector
Vector equation of a plane whose
3î + 5ĵ − 6k̂
perpendicular
distance from the origin is d (d ≠ 0).
𝑛̂ is the unit normal vector along normal to
the plane.
̂=𝐝
𝐫. 𝐧
Point Let the given points be:
Normal A(x1, y1, z1), P(x, y, z) and let
Form the direction ratios of the
*** perpendicular be a, b and c
⃗ = aî + bĵ + ck̂
n

Cartesian equation of the

plane will be given by:
a(x – x1) + b(y – y1) + c(z – z1)=0

Vector equation of a plane perpendicular to

a given vector and passing through a given
point is:

(𝐫 − 𝐚⃗). 𝐧
⃗ =𝟎

Direction ratios of plane and direction ratios of normal to the plane are one and the same
thing.

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Plane Cartesian equation of plane
Through passing through three non
Three Non collinear points (x1, y1, z1), (x2, y2,
Collinear z2) and (x3, y3, z3):
Points 𝑥 − 𝑥1 𝑦 − 𝑦1 𝑧 − 𝑧1
| 2 − 𝑥1
𝑥 𝑦2 − 𝑦1 𝑧2 − 𝑧1 |
𝑥3 − 𝑥1 𝑦3 − 𝑦1 𝑧3 − 𝑧1

Ex. Find the vector and

Equation of a plane passing through three
non collinear points:
(𝐫 − 𝐚⃗). [(𝐛 − 𝐚⃗) × (𝐜 − 𝐚
⃗ )] = 𝟎
cartesian equations of the
plane passing through the
points R(2, 5, – 3), S(– 2, – 3, 5)
and T(5, 3,– 3).

Intercept Let the points be:

Form A(a, 0, 0), B(0, b, 0) and C(0, 0,
c)
Equation of plane which
makes intercepts a, b, c on x, y
and z axes, respectively is:
𝑥 𝑦 𝑧
+ + =1
𝑎 𝑏 𝑐

Ex. Find the equation of the

plane with intercepts 2, 3 and
4 on the x, y and z-axis
respectively.
Plane Let r = xî + yĵ + zk̂
through the n1 = a1 î + b1 ĵ + c1 k̂
⃗⃗⃗⃗
intersection n2 = a2 î + b2 ĵ + c2 k̂
⃗⃗⃗⃗
of two given
planes Equation of planes passing
through intersection of two
planes is:
(a1 x + b1 y + c1 z − 𝑑1 ) +
𝜆(a2 x + b2 y + c2 z − 𝑑2 ) = 0
Equation of plane passing through the 𝜆 signifies that this equation
intersection of (r. ⃗⃗⃗⃗
n1 = d1 ) and (r. ⃗⃗⃗⃗
n2 = d2 ) represents family of planes for
is given by: different values of 𝜆.
(𝐫. ⃗⃗⃗⃗
𝐧𝟏 − 𝐝𝟏 ) + 𝛌(𝐫. ⃗⃗⃗⃗
𝐧𝟐 − 𝐝𝟐 ) = 𝟎

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 Let the two lines be: The two lines pass through the
Coplanarity 𝐫 = ⃗⃗⃗⃗
𝒂𝟏 + 𝛌𝒃 ⃗⃗⃗⃗𝟏 and points (x1, y1, z1) and (x2, y2, z2)
of two lines respectively.
𝐫 = ⃗⃗⃗⃗
𝒂𝟐 + 𝛍𝒃 ⃗⃗⃗⃗𝟐
a1, b1, c1 and a2, b2, c2 are the
Given lines will be coplanar is:
⃗⃗⃗1 × ⃗⃗⃗⃗ direction ratios of vectors ⃗⃗⃗𝑏1
(𝑎 𝑎1 ). (𝑏
⃗⃗⃗⃗2 − ⃗⃗⃗⃗ 𝑏2 ) = 0
⃗⃗⃗⃗
and 𝑏2 respectively.
In cartesian form the condition
can be expressed as:

𝑥2 − 𝑥1 𝑦2 − 𝑦1 𝑧2 − 𝑧1
𝑎1 𝑏1 𝑐1
| |
𝑎2 𝑏2 𝑐2

Distance of Let P (x1, y1, z1) be the point

a point from with position vector 𝑎.
a plane Let the plane be Ax + By + Cz =
D
Ax1 + By1 + Cz1 − 𝐷
d= | |
√A2 + B2 + C2