Lecture no.

3
The Cross Product

Let 𝑢
⃗ and 𝑣 be two vectors, if 𝑢
⃗ and 𝑣
⃗⃗⃗ are not parallel, they determine a plane. We select a unit
vector n̂ perpendicular to the plane by the right-hand rule. This means that we choose 𝑛̂ to be
unit (normal) vector that points the way your right thumb points when your finger curl through
the angle θ from 𝑢
⃗ to 𝑣 . The cross-product 𝑢 ⃗ × 𝑣 is a vector defined as follows:

• Geometric Definition
⃗ × 𝑣 = (|𝑢
𝑢 ⃗ ||𝑣|𝑆𝑖𝑛 𝜃)𝑛
Where 0 ≤ θ ≤ π is the angle between 𝑢 ⃗ & 𝑣 and 𝑛̂ is the
unit vector perpendicular to 𝑢⃗ & 𝑣 pointing in the
direction given by the right-hand rule.

• Algebraic Definition

⃗ = 𝑢1 𝑖 + 𝑢2 𝑗 + 𝑢3 𝑘⃗
𝑢

𝑣 = 𝑣1 𝑖 + 𝑣2 𝑗 + 𝑣3 𝑘⃗

𝑖 𝑗 𝑘⃗
𝑢
⃗ × 𝑣 = |𝑢1 𝑢2 𝑢3 |
𝑣1 𝑣2 𝑣3
𝑢2 𝑢3 𝑢1 𝑢3 𝑢 𝑢2
= 𝑖 |𝑣 | | | ⃗ | 1
2 𝑣3 − 𝑗 𝑣1 𝑣3 + 𝑘 𝑣1 𝑣2 |

= 𝑖(𝑢2 𝑣3 − 𝑣2 𝑢3 ) − 𝑗(𝑢1 𝑣3 − 𝑣1 𝑢3 ) + 𝑘⃗(𝑢1 𝑣2 − 𝑣1 𝑢2 )

Definition:
Two non-zero vectors 𝑢
⃗ and 𝑣 are parallel if
and only if
𝑢
⃗ ×𝑣 =0
For Example: 𝑖 × 𝑖 = 0, 𝑗̂ × 𝑗̂ = 0, 𝑘 × 𝑘 = 0

Example 1:
Find 𝑖 × 𝑗 and 𝑗̂ × 𝑖.

Solution:
For 𝑖 × 𝑗̂
As 𝑢⃗ × 𝑣 = (|𝑢
⃗ ||𝑣|𝑆𝑖𝑛 𝜃)𝑛
|𝑖| = 1
|𝑗̂| = 1
Angle between 𝑖 & 𝑗̂ is π/2.
By right hand rule, the vector 𝑖 × 𝑗̂ is in the direction of vector 𝑘 so
𝑛 = 𝑘.
So,
𝜋
𝑖 × 𝑗̂ = (|𝑖||𝑗̂|𝑆𝑖𝑛 ( )) 𝑘
2
= (1.1.1)𝑘
𝑖 × 𝑗̂ = 𝑘
For 𝑗×𝑖
The right-hand rule says that the direction of 𝑗 × 𝑖 is −𝑘.
𝜋
So, 𝑗̂ × 𝑖 = (|𝑗̂||𝑖|𝑆𝑖𝑛 2 ) (−𝑘) = (1.1.1)(−𝑘)

𝑗 × 𝑖 = −𝑘

Similarly, we can show that

𝑗̂ × 𝑘 = 𝑖, 𝑘 × 𝑖 = 𝑗̂

Example 2: For any vector 𝑣 find 𝑣 × 𝑣.

Solution:
As v is parallel to itself so 𝑣 × 𝑣 = 0.
Example 3:
⃗ = 2𝑖 + 𝑗 − 2𝑘⃗ and 𝑣 = 3𝑖 + 𝑘⃗.
Find the cross product of 𝑢
Also check that the cross product is perpendicular to both 𝑢⃗ & 𝑣.
Solution:

𝑖 𝑗 𝑘⃗
𝑢
⃗ × 𝑣 = |2 1 −2|
3 0 1

= 𝑖(1 − 0) − 𝑗(2 + 6) + 𝑘⃗(0 − 3)

⃗ × 𝑣 = 𝑖 − 8𝑗 − 3𝑘⃗
𝑢
To check 𝑢
⃗ × 𝑣 is perpendicular to 𝑢
⃗ , we will take dot product
⃗ × 𝑣 ) = (2𝑖 + 𝑗 − 2𝑘⃗) . (𝑖 − 8𝑗 − 3𝑘⃗)
⃗ . (𝑢
𝑢

=2−8+6=0
Similarly,

⃗ × 𝑣 ) = (3𝑖 + 𝑘⃗) . (𝑖 − 8𝑗 − 3𝑘⃗)

𝑣 . (𝑢

= 3−3 =0

Practice Problems
Question: Find the cross product of the following vectors

⃗ = 2𝑖 − 𝑗 − 𝑘⃗
1) 𝑢
𝑣 = 𝑖 + 2𝑗 − 𝑘⃗

⃗ = −3𝑖 + 5𝑗 + 4𝑘⃗
2) 𝑢
𝑣 = 𝑖 − 3𝑗 − 𝑘⃗

⃗ = 2𝑖 − 𝑗 − 𝑘⃗
3) 𝑢
 ⃗ 𝑖 + 3𝑗 + 3𝑘⃗
𝑣 = −6

Ex. 12.4: 23, 24

Lines & Planes in Space

Lines in Space
Remark:

In plane, a line is determined by a point & a number giving the slope of the line.

In space, a line is determined by a point through which it passes and a vector parallel to the line.

Parametric Equation & Vector Equation for a Line

Suppose that L is a line in space passing through the point
Po ( xo , yo , zo ) and parallel to a vector v = v1i + v2 j + v3k .

Then the line L is the set of all points P(x,y,z) for which
⃗⃗⃗⃗⃗⃗
𝑃𝑜 𝑃 is parallel to vector 𝑣 .

𝑃𝑜 𝑃 = 𝑡𝑣 , for some scalar 𝑡; t  (−, )

Thus ⃗⃗⃗⃗⃗⃗

Note:
Two vectors 𝑢
⃗ and 𝑣 are parallel if 𝑢
⃗ = 𝑡 𝑣 , where t is scalar.
e.g.,
𝑢
⃗ = < 1,2,3 >
𝑣 = < 2,4,6 >
𝑣 = 2 < 1,2,3 >
𝑣 = 2𝑢
⃗
→𝑢
⃗ & 𝑣 are parallel.

The expanded form of the equation ⃗⃗⃗⃗⃗⃗

𝑃𝑜 𝑃 = 𝑡 𝑣 is

(𝑥 − 𝑥0 )𝑖 + (𝑦 − 𝑦0 )𝑗 + (𝑧 − 𝑧0 )𝑘⃗ = 𝑡(𝑣1 𝑖 + 𝑣2 𝑗 + 𝑣3 𝑘⃗)

𝑥𝑖 − 𝑥0 𝑖 + 𝑦𝑗 − 𝑦0 𝑗 + 𝑧𝑘⃗ − 𝑧0 𝑘⃗ = 𝑡𝑣1 𝑖 + 𝑡𝑣2 𝑗 + 𝑡𝑣3 𝑘⃗

𝑥𝑖 + 𝑦𝑗 + 𝑧𝑘⃗ = 𝑥0 𝑖 + 𝑦0 𝑗 + 𝑧0 𝑘⃗ + 𝑡𝑣1 𝑖 + 𝑡𝑣2 𝑗 + 𝑡𝑣3 𝑘⃗

 𝑟 = 𝑟⃗⃗⃗𝑜 + 𝑡𝑣

𝑥𝑖 + 𝑦𝑗 + 𝑧𝑘⃗ = (𝑥0 + 𝑡𝑣1 )𝑖 + (𝑦0 + 𝑡𝑣2 )𝑗 + (𝑧0 + 𝑡𝑣3 )𝑘⃗

• Parametric Equation
𝑥 = 𝑥0 + 𝑡𝑣1
𝑦 = 𝑦0 + 𝑡𝑣2
𝑧 = 𝑧𝑜 + 𝑡𝑣3
Where t is any scalar and 𝑡 ∈ (−∞, ∞)

• Vector Equation
𝑟 = 𝑟⃗⃗⃗𝑜 + 𝑡 𝑣

𝑟 = 𝑥𝑖 + 𝑦𝑗 + 𝑧𝑘⃗

𝑟0 = 𝑥0 𝑖 + 𝑦0 𝑗 + 𝑧0 𝑘⃗

𝑣 = 𝑣1 𝑖 + 𝑣2 𝑗 + 𝑣3 𝑘⃗
Example 1:
Find parametric equation & vector equation for the line through (-2,0,4) and parallel to the
vector

𝑣 = 2𝑖 + 4𝑗 − 2𝑘⃗
Solution:
𝑃 = (𝑥𝑜 , 𝑦𝑜 , 𝑧𝑜 ) = (−2,0,4)

𝑣 = 𝑣1 𝑖 + 𝑣2 𝑗 + 𝑣3 𝑘⃗ = 2𝑖 + 4𝑗 − 2𝑘⃗
Parametric equation of line:
𝑥 = 𝑥𝑜 + 𝑡 𝑣1 = −2 + 2𝑡
𝑦 = 𝑦𝑜 + 𝑡 𝑣2 = 4𝑡
𝑧 = 𝑧𝑜 + 𝑡 𝑣3 = 4 − 2𝑡
−∞ < 𝑡 < ∞
Vector Equation of Line
 𝑟 = 𝑟0 + 𝑡 𝑣

𝑥𝑖 + 𝑦𝑗 + 𝑧𝑘⃗ = (−2𝑖 + 0𝑗 + 4𝑘⃗) + 𝑡 (2𝑖 + 4𝑗 − 2𝑘⃗) ; −∞ < 𝑡 < ∞

Example 2:
Find the parametric equation and vector equation of the line through 𝑃(−3,2, −3) and
𝑄(1, −1,4).
Solution:
𝑃 = (𝑥𝑜 , 𝑦𝑜 , 𝑧𝑜 ) = (−3,2, −3)
The vector parallel to line is

𝑃𝑄 = (1 − (−3))𝑖 + (−1 − 2)𝑗 + (4 − (−3))𝑘⃗

𝑣 = ⃗⃗⃗⃗⃗

𝑣 = 4𝑖 − 3𝑗 + 7𝑘⃗
Parametric equation of line:
𝑥 = 𝑥𝑜 + 𝑡 𝑣1 = −3 + 4𝑡
𝑦 = 𝑦𝑜 + 𝑡 𝑣2 = 2 − 3𝑡
𝑧 = 𝑧𝑜 + 𝑡 𝑣3 = −3 + 7𝑡
−∞ < 𝑡 < ∞
Vector Equation:

𝑥𝑖 + 𝑦𝑗̂ + 𝑧𝑘 = (−3𝑖 + 2𝑗̂ − 3𝑘) + 𝑡 (4𝑖 − 3𝑗̂ + 7𝑘)

where −∞ < 𝑡 < ∞
Exercise 12.5 (Thomas Calculus): Q 1-20
Question 6: Find the Parametric equation of the line through the point (3, -2,1) and parallel to
the line
𝑥 = 2 − 2𝑡
𝑦 =2−𝑡
𝑧 = 3𝑡
Solution:

𝑃 = (3, −2,1)
𝑣 = < 2, −1,3 >
 𝑥 = 3 + 2𝑡
𝑦 = −2 − 𝑡
𝑧 = 1 + 3𝑡
Question 5: Find the Parametric equation of the line through origin and parallel to the vector

𝑣 = 2𝑗 + 𝑘⃗
Solution:
𝑃 = (0,0,0)

𝑣 = 2𝑗 + 𝑘⃗
𝑥 = 0 + 0𝑡
𝑦 = 0 + 2𝑡
𝑧 =0+𝑡

Question 10: Find the Parametric equation of the line through the point (2, 3, 0) perpendicular
⃗ = 𝑖 + 2𝑗 + 3𝑘⃗ and 𝑣 = 3𝑖 + 4𝑗 + 5𝑘⃗.
to the vector 𝑢

Solution:
𝑖 𝑗̂ 𝑘
⃗ × 𝑣 = |1 2
𝑢 3|
3 4 5
⃗ × 𝑣 = 𝑖(10 − 12) − 𝑗(5 − 9) + 𝑘⃗(4 − 6)
𝑢

= −2𝑖 + 4𝑗 − 2𝑘⃗
𝑃 = (2,3,0)
𝑥 = 2 − 2𝑡
𝑦 = 3 + 4𝑡
𝑧 = 0 − 2𝑡

Ex. 12.5: 1-7, 10.