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Vectors in space · Metric geometry

Parallelism and perpendicularity between lines and planes in space

Before you start, make sure you know: Dot product (High School Year 2 (semesters 3 and 4))
Before you start, make sure you know: Systems of equations (High School Year 2 (semesters 3 and 4))

A technician at the CFE (Mexico's electric utility) has to run a cable perpendicular to a solar panel, or check that a rail is parallel to the floor of an industrial building. In both cases the question is the same: what is the relationship between the direction vector of the line and the normal vector of the plane? And if you want to find the "shadow" of an object on a surface, the tool is projection, which you will always build using an auxiliary line or plane.

Line and plane: parallel or perpendicular

A line perpendicular to a plane and a line parallel to a plane r ⟂ π r ∥ π
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Determine the relative position of the line $r$ and the plane $\pi$ by checking the relationship between their characteristic vectors. The line is given by the…

Determine the relative position of the line $r$ and the plane $\pi$ by checking the relationship between their characteristic vectors. The line is given by the continuous equation $r: \dfrac{x-1}{2} = \dfrac{y+3}{-1} = \dfrac{z}{4}$ and the plane by the general equation $\pi: 2x - y + 4z - 5 = 0$.

  1. a) Write a direction vector $\vec{v}_r$ of the line and a normal vector $\vec{n}$ of the plane.
  1. b) Is the direction vector of the line parallel to the normal vector of the plane? Justify your answer.
  1. c) Justify what geometric implication this fact has for the relative position of $r$ and $\pi$.
Solve
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Find the value of the parameter $k$ so that the line $r: \dfrac{x-2}{3} = \dfrac{y}{-2} = \dfrac{z+1}{1}$ is parallel to the plane $\pi: kx + 3y + z - 7 = 0$. Remember…

Find the value of the parameter $k$ so that the line $r: \dfrac{x-2}{3} = \dfrac{y}{-2} = \dfrac{z+1}{1}$ is parallel to the plane $\pi: kx + 3y + z - 7 = 0$. Remember that for a line and a plane to be parallel, the scalar product of their characteristic vectors must be equal to zero.

Solve
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Determine the relative position of the plane $\pi: mx + y - z = 1$ and the line $r \equiv \frac{x-1}{2} = \frac{y}{m} = \frac{z+3}{3}$ depending on the real parameter…

Determine the relative position of the plane $\pi: mx + y - z = 1$ and the line $r \equiv \frac{x-1}{2} = \frac{y}{m} = \frac{z+3}{3}$ depending on the real parameter $m$. Specify for which values they are perpendicular and for which the line is parallel to the plane.

Solve

Constructing the perpendicular: line through a point and plane through a point

When the line is given as the intersection of two planes, its direction is not visible. But that direction is perpendicular to both normals, so it is obtained with the cross product: $\vec v=\vec n_1\times\vec n_2$.

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A robotic arm in an assembly plant moves along a straight path $s$. The path passes through the control point $A(2, -1, 5)$ and must be perpendicular to the support…

A robotic arm in an assembly plant moves along a straight path $s$. The path passes through the control point $A(2, -1, 5)$ and must be perpendicular to the support panel, which is represented by the plane $\pi: x + 3y - 2z + 4 = 0$. Find the parametric equations of the line $s$ followed by the robotic arm.

π: x + 3y - 2z + 4 = 0 Support panel n = (1, 3, −2) Normal vector vₛ = n A(2, −1, 5) Control point s Robotic arm
Solve
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Given the point $Q(3, -1, 4)$ and the plane $\alpha: 2x + y = 0$, find the equation of the line $r$ passing through $Q$ and perpendicular to the plane $\alpha$. Take…

Given the point $Q(3, -1, 4)$ and the plane $\alpha: 2x + y = 0$, find the equation of the line $r$ passing through $Q$ and perpendicular to the plane $\alpha$. Take special care when identifying the coordinates of the normal vector of the plane, paying attention to the absence of the variable $z$.

α 2x + y = 0 r Q(3, −1, 4) n = (2, 1, 0)
Solve
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Calculate the equation of the plane $\alpha$ that passes through the point $P(1, 0, -2)$ and is perpendicular to the line $s$ defined by the intersection of the planes:…

Calculate the equation of the plane $\alpha$ that passes through the point $P(1, 0, -2)$ and is perpendicular to the line $s$ defined by the intersection of the planes:

$s: \begin{cases} x + y - z = 4 \\ 2x - y + 3z = 1 \end{cases}$

Also determine the point of intersection between the line $s$ and the plane $\alpha$ found (orthogonal projection of $P$ onto $s$).

Solve

Two planes: parallel or perpendicular

A plane $\beta$ is perpendicular to $\pi$ when it contains a line perpendicular to $\pi$, that is, when its normal is perpendicular to the normal of $\pi$. If it must also contain a line $r$ with direction $\vec v$, the normal of $\beta$ is perpendicular to $\vec v$ and to $\vec n_\pi$:

$$\vec n_\beta=\vec v\times\vec n_\pi$$
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Check whether the plane $\pi_1: 2x - 4y + 2z - 7 = 0$ and the plane $\pi_2: x - 2y + z + 5 = 0$ are parallel. To do this, analyse whether their normal vectors are…

Check whether the plane $\pi_1: 2x - 4y + 2z - 7 = 0$ and the plane $\pi_2: x - 2y + z + 5 = 0$ are parallel. To do this, analyse whether their normal vectors are proportional. If they are parallel, reason whether they are the same plane (coincident) or if they have no points in common.

Solve
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Consider the planes $\pi_1: x - 2y + z = 0$ and $\pi_2: 3x + y - z = 5$. a) Determine the equation of the line $r$ resulting from the intersection of both planes. b)…

Consider the planes $\pi_1: x - 2y + z = 0$ and $\pi_2: 3x + y - z = 5$.

  1. a) Determine the equation of the line $r$ resulting from the intersection of both planes.
  2. b) Find the equation of a plane $\pi_3$ that passes through the point $Q(0, 0, 1)$ and is perpendicular to the line $r$.
Solve
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Given the line $r \equiv \frac{x-1}{2} = \frac{y+1}{-1} = \frac{z}{3}$ and the plane $\pi: 3x + y - z = 4$, find the equation of the plane $\beta$ that satisfies…

Given the line $r \equiv \frac{x-1}{2} = \frac{y+1}{-1} = \frac{z}{3}$ and the plane $\pi: 3x + y - z = 4$, find the equation of the plane $\beta$ that satisfies simultaneously:

  1. It contains the line $r$.

  2. It is perpendicular to the plane $\pi$.

π β r P vᵣ n n
Solve

Orthogonal projection of a point

Orthogonal projection of a point P onto a plane by means of a perpendicular line P P'

Intercepts with the axes and volume of a tetrahedron

To find where a plane meets a coordinate axis, set the other two variables equal to zero. If the plane meets the axes at $A(a,0,0)$, $B(0,b,0)$, and $C(0,0,c)$, those points and the origin form a tetrahedron with three mutually perpendicular edges at the origin. Its base $OAB$ is a right triangle of area $\frac{|a||b|}{2}$ and its height is $|c|$, so

$$V=\frac{1}{3}\cdot\frac{|a||b|}{2}\cdot|c|=\frac{|abc|}{6}$$
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An architect is designing a ramp modelled as a plane $\pi$ with general equation $x + y + z - 6 = 0$. To install a lighting sensor, they need to know the orthogonal…

An architect is designing a ramp modelled as a plane $\pi$ with general equation $x + y + z - 6 = 0$. To install a lighting sensor, they need to know the orthogonal projection of the point $P(1, 2, 5)$ onto that plane. Calculate the coordinates of the point $Q$ representing this projection (called the foot of the perpendicular).

Z Y X π: x + y + z - 6 = 0 n(1,1,1) P(1,2,5) Q(x,y,z)
Solve
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Find the orthogonal projection of the point $A(2, 0, -1)$ onto the line $r$ given by its equation in continuous form: $$r: \frac{x-1}{2} = \frac{y+1}{1} =…

Find the orthogonal projection of the point $A(2, 0, -1)$ onto the line $r$ given by its equation in continuous form:

$$r: \frac{x-1}{2} = \frac{y+1}{1} = \frac{z-2}{-1}$$

Hint: Remember that you can construct an auxiliary plane perpendicular to the line passing through the point $A$.

Solve
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An architect designs a pyramidal structure with vertex at $V(2, 2, 6)$ and whose base is contained in the plane $\pi \equiv x + 2y + 2z = 6$. Find the foot of the…

An architect designs a pyramidal structure with vertex at $V(2, 2, 6)$ and whose base is contained in the plane $\pi \equiv x + 2y + 2z = 6$. Find the foot of the altitude of the pyramid (orthogonal projection of $V$ onto $\pi$) and determine the volume of the tetrahedron formed by the origin of coordinates and the points of intersection of the plane $\pi$ with the three Cartesian axes.

Solve
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Find the point $P'$ that represents the orthogonal projection of the point $P(1, 0, -3)$ onto the plane $\pi$ with equation: $$\pi: 2x - 3y + z - 4 = 0$$

Find the point $P'$ that represents the orthogonal projection of the point $P(1, 0, -3)$ onto the plane $\pi$ with equation:

$$\pi: 2x - 3y + z - 4 = 0$$ π: 2x - 3y + z - 4 = 0 n P(1, 0, −3) P'
Solve

Projection of a line: the projecting plane

Orthogonal projection of a line onto a plane: the perpendiculars from the endpoints of r are parallel to each other r r'

There are two ways to find $r'$:

  • Two points: project two points of $r$ onto $\pi$ (previous section) and join the results.

  • Projecting plane: its normal is perpendicular to $\vec v_r$ and to $\vec n_\pi$, that is, $\vec n_{\text{proy}}=\vec v_r\times\vec n_\pi$. Then $r'=\text{projecting plane}\cap\pi$.

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The line $r$, which passes through the points $A(1, 0, 0)$ and $B(1, 1, 1)$, is projected onto the plane $\pi: x = 0$. 1. Find the orthogonal projection of the points…

The line $r$, which passes through the points $A(1, 0, 0)$ and $B(1, 1, 1)$, is projected onto the plane $\pi: x = 0$.

  1. Find the orthogonal projection of the points $A$ and $B$ onto the plane.

  2. Write the equation of the projected line $r'$ passing through these new points.

Solve
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In a solar energy project, a flat panel represented by the plane $\pi \equiv 2x + y - z = 4$ is installed. A support mast is defined by the line…

In a solar energy project, a flat panel represented by the plane $\pi \equiv 2x + y - z = 4$ is installed. A support mast is defined by the line $r \equiv \{x = 1+t, y = 2-t, z = 3t\}$. At noon, the sun's rays strike perpendicular to the panel. Calculate the equation of the line $s$ representing the orthogonal projection of the mast $r$ onto the solar panel $\pi$ (its "shadow" under perpendicular incidence). Also determine the point where the mast passes through the panel.

Solve
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Obtain the implicit equation of the projecting plane of the line $r$ onto the plane $\pi$. Remember that the projecting plane is the plane perpendicular to $\pi$ that…

Obtain the implicit equation of the projecting plane of the line $r$ onto the plane $\pi$. Remember that the projecting plane is the plane perpendicular to $\pi$ that contains the line $r$.

$$r: \begin{cases} x - y + 2 = 0 \\ z = 1 \end{cases} \quad \text{and} \quad \pi: 2x + y - z = 5$$ π π' r' r
Solve

Projection along a given direction (shadow with parallel rays)

So far the "rays" were perpendicular to the plane. But the shadow from a distant light source, like the Sun, arrives in an arbitrary direction $\vec d$. The projection of $P$ onto $\pi$ along the direction $\vec d$ is the point where the line through $P$ with direction $\vec d$ meets the plane. If $\vec d=\vec n_\pi$, it is the usual orthogonal projection.

To project a line, project two of its points (or a general point, with a parameter) and join the results. The shadow of a line is a line.

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A light source located at a very distant point casts rays parallel to the direction of the vector $\vec{v} = (0, 0, -1)$. If a steel cable follows the path of the line…

A light source located at a very distant point casts rays parallel to the direction of the vector $\vec{v} = (0, 0, -1)$. If a steel cable follows the path of the line $r$, find the equation of the shadow it casts on a flat roof represented by $\pi$:

Projection of line r onto plane π along the direction of vector vzyxRays ∥ v⃗v⃗ = (0, 0, −1)Flat roof π: 2x + y − z = 10Projecting planeA's (?)(shadow)d⃗r = (3, 4, 2)A(2, −1, 5)r (cable) $$r: \frac{x-2}{3} = \frac{y+1}{4} = \frac{z-5}{2} \quad \text{and} \quad \pi: 2x + y - z = 10$$
Solve

Two lines in space: parallel, perpendicular, or skew

Two lines with directions $\vec u$ and $\vec w$:

  • Parallel if $\vec u\parallel\vec w$ (coincident if they share a point).

  • Perpendicular if $\vec u\cdot\vec w=0$ and, in addition, they intersect.

  • Orthogonal if $\vec u\cdot\vec w=0$ but they do not intersect (they are skew). In space two lines can form $90^\circ$ without touching.

  • If they are not parallel, they intersect when the system obtained by equating their coordinates has a solution; if it has none, they are skew.

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Two lines in space, $a$ and $b$, are skew lines. If the line $a$ is parallel to a horizontal plane $\pi$ and the line $b$ is perpendicular to that same plane $\pi$: a)…

Two lines in space, $a$ and $b$, are skew lines. If the line $a$ is parallel to a horizontal plane $\pi$ and the line $b$ is perpendicular to that same plane $\pi$:

  1. a) What angle do the directions of the lines $a$ and $b$ form?
  2. b) Is it possible to find a plane containing both lines at the same time? Why?
  3. c) Can we state that the two lines are perpendicular even if they do not have any point in common?
Solve
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Given the lines $r$ and $s$ defined by: $r: \frac{x-1}{a} = \frac{y}{1} = \frac{z+1}{2}$ and $s: \begin{cases} x + 2y - z = 3 \\ 2x - y + z = 1 \end{cases}$ a) Calculate…

Given the lines $r$ and $s$ defined by:

$r: \frac{x-1}{a} = \frac{y}{1} = \frac{z+1}{2}$ and $s: \begin{cases} x + 2y - z = 3 \\ 2x - y + z = 1 \end{cases}$

  1. a) Calculate the value of the parameter $a$ so that the lines $r$ and $s$ are perpendicular.
  2. b) For the value of $a$ obtained, do the lines intersect or are they skew?
  3. c) Find the equation of the plane that is parallel to $s$ and contains the line $r$.
Z X Y π r s d(r,s) vᵣ vₛ vₛ
Solve

Angles of a trihedron

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Observe the corner of a room where two walls and the floor meet. This set forms a trihedral angle at the vertex of the bottom corner. a) What are the measures of the…

Observe the corner of a room where two walls and the floor meet. This set forms a trihedral angle at the vertex of the bottom corner.

  1. a) What are the measures of the three plane angles that define the faces of this trihedron?
  2. b) What is the sum of the measures of the three dihedral angles formed between the walls and the floor?
  3. c) If a fly flies following a path parallel to the line of the skirting board of one wall, is that path also parallel to the plane of the other wall? Explain why.
? ? ? Wall 1 Wall 2 Floor Path
Solve

Common perpendicular and perpendicular bisector plane

Method with auxiliary planes:

  1. The direction of $t$ is $\vec w=\vec v_r\times\vec v_s$.

  2. The plane $\pi_1$ contains $r$ and $\vec w$; its normal is $\vec v_r\times\vec w$.

  3. The plane $\pi_2$ contains $s$ and $\vec w$; its normal is $\vec v_s\times\vec w$.

  4. $t=\pi_1\cap\pi_2$.

To find a point $C$ on a line such that $ABC$ is isosceles with unequal side $AB$, simply intersect the line with the perpendicular bisector plane of $AB$: there $CA=CB$.

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Given the points $A(1, 2, 3)$ and $B(3, 2, 1)$: a) Determine the equation of the plane $\pi$ that is perpendicular to the segment $AB$ and passes through its midpoint…

Given the points $A(1, 2, 3)$ and $B(3, 2, 1)$:

  1. a) Determine the equation of the plane $\pi$ that is perpendicular to the segment $AB$ and passes through its midpoint (perpendicular bisector plane).
  2. b) Given the line $r: \begin{cases} x - y = 0 \\ z = 4 \end{cases}$, study its relative position with respect to the plane $\pi$ found.
  3. c) Find a point $C$ on the line $r$ such that the triangle $ABC$ is isosceles with non-equal side $AB$.
Solve
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Find the equation of the line $t$ that perpendicularly intersects the lines $r$ and $s$, where: $r: \frac{x}{1} = \frac{y-1}{-2} = \frac{z-3}{2}$ and…

Find the equation of the line $t$ that perpendicularly intersects the lines $r$ and $s$, where:

$r: \frac{x}{1} = \frac{y-1}{-2} = \frac{z-3}{2}$ and $s: \begin{cases} x = 3 + 2\mu \\ y = 1 \\ z = \mu \end{cases}$

This exercise requires you to determine the direction of the "common perpendicular" and the auxiliary planes that allow you to locate the points of intersection on each line.

πₛ s vₛ wₜ πᵣ r uᵣ t P Q
Solve
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In the design of a metal structure for a music festival, two beams represented by the lines:…

In the design of a metal structure for a music festival, two beams represented by the lines:

$r: \begin{cases} x = 1 + 2\lambda \\ y = \lambda \\ z = 3 - \lambda \end{cases}$ and $s: \frac{x-2}{1} = \frac{y+1}{2} = \frac{z}{-1}$

must be placed.

An engineer needs to install a third reinforcing beam, $t$, that satisfies simultaneously:

  1. It is perpendicular to the beams $r$ and $s$.

  2. It passes through the point of intersection of the line $r$ with the plane $XY$.

Find the equation of the line $t$ in symmetric form and determine whether there is any point where this new beam $t$ intersects the beam $s$.

Solve

Back to the beginning: to run the cable perpendicular to the panel, you need the direction vector of the line to be proportional to the normal of the plane ($\vec v\parallel\vec n$); to check that the rail is parallel to the floor, the direction of the rail and the normal of the floor must satisfy $\vec v\cdot\vec n=0$. And the "shadow" is obtained by intersecting with the plane the lines that leave each point in the direction of the rays.

Summary

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