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Vectors in space · Vectors

Vectors and vector spaces

Before you start, make sure you know: Definitions (High School Year 2 (semesters 3 and 4))
Before you start, make sure you know: Equations of a line in the plane (High School Year 2 (semesters 3 and 4))

A delivery drone leaving a rooftop in Mexico City doesn't just move forward and sideways: it also goes up or down. A mechanical part doesn't only have length and width, it also has height. Describing real space takes a third coordinate. The question we will close with: if three points are in space, how can you tell with vectors that they lie on the same line?

Vectors with three coordinates

Three-dimensional Cartesian axes with the point P(4, 3, 4), its position vector, and the dashed path along its coordinates: 3 units parallel to the Y axis, 4 parallel to the X axis, and 4 parallel to the Z axis. X Y Z P(4, 3, 4) Y: 3 X: 4 (parallel to X) Z: 4
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Express the vector $\vec{w} = (7, 11, 2)$ as a linear combination of the standard basis vectors of $\mathbb{R}^3$, that is, in terms of $\vec{i} = (1, 0, 0)$,…

Express the vector $\vec{w} = (7, 11, 2)$ as a linear combination of the standard basis vectors of $\mathbb{R}^3$, that is, in terms of $\vec{i} = (1, 0, 0)$, $\vec{j} = (0, 1, 0)$ and $\vec{k} = (0, 0, 1)$.

Solve

The vector AB and its magnitude

Vector AB in three-dimensional space with the three segments of its components (3, 5, −6) illustrating the calculation of the magnitude by the Pythagorean theorem. A(1, −2, 5) B(4, 3, −1) AB
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A surveillance drone takes off from a platform located at point $A(1, -2, 5)$ and travels in a straight line to reach a target at point $B(4, 3, -1)$. Calculate the…

A surveillance drone takes off from a platform located at point $A(1, -2, 5)$ and travels in a straight line to reach a target at point $B(4, 3, -1)$. Calculate the components of the displacement vector $\vec{AB}$ and obtain its magnitude to find the distance travelled by the drone.

A B v
Solve

Addition and scalar multiplication

Geometric sum of two vectors u and v placed head to tail to form the resultant vector u + v. u v u + v
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Given the vectors $\vec{u} = (2, -1, 3)$ and $\vec{v} = (0, 4, 1)$, perform the following analytical operations: a) $\vec{w} = \vec{u} + \vec{v}$ b)…

Given the vectors $\vec{u} = (2, -1, 3)$ and $\vec{v} = (0, 4, 1)$, perform the following analytical operations:

  1. a) $\vec{w} = \vec{u} + \vec{v}$
  1. b) $\vec{t} = 3\vec{u} - 2\vec{v}$
  1. c) Calculate the value of the scalar $k$ if it is known that $k \cdot \vec{u} = (10, -5, 15)$.
Solve
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Given the points $A(2, -1, 4)$ and $B(8, 5, -2)$, find the coordinates of the points $C$ and $D$ that divide line segment $AB$ into three equal parts. Explain the vector…

Given the points $A(2, -1, 4)$ and $B(8, 5, -2)$, find the coordinates of the points $C$ and $D$ that divide line segment $AB$ into three equal parts. Explain the vector relationship you used to solve it.

u Z X Y A (2, −1, 4) C D B (8, 5, −2) u = ⅓ AB
Solve

Linear combination and dependence

Two parallel, proportional vectors illustrating linear dependence: u and v = −2u have the same direction and opposite senses. u v = −2u
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Determine whether the vectors $\vec{a} = (1, -2, 4)$ and $\vec{b} = (-3, 6, -12)$ are linearly dependent. Justify your answer by checking if their coordinates are…

Determine whether the vectors $\vec{a} = (1, -2, 4)$ and $\vec{b} = (-3, 6, -12)$ are linearly dependent. Justify your answer by checking if their coordinates are proportional and explain what geometric relationship exists between them (are they parallel?).

Solve
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Calculate the value of the parameter $m$ so that the vector $\vec{u} = (m, 2, 4)$ is a linear combination of the vectors $\vec{v} = (1, 0, 2)$ and $\vec{w} = (0, 1, -1)$…

Calculate the value of the parameter $m$ so that the vector $\vec{u} = (m, 2, 4)$ is a linear combination of the vectors $\vec{v} = (1, 0, 2)$ and $\vec{w} = (0, 1, -1)$ through the expression $\vec{u} = 3\vec{v} + 2\vec{w}$.

Solve
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In a physics simulation software, a local reference frame is defined using the vectors $\vec{a} = (2, 1, -1)$, $\vec{b} = (1, 0, 1)$ and a third vector $\vec{c}$ such…

In a physics simulation software, a local reference frame is defined using the vectors $\vec{a} = (2, 1, -1)$, $\vec{b} = (1, 0, 1)$ and a third vector $\vec{c}$ such that the set is linearly independent.

If the vector $\vec{c}$ has the form $(0, 1, \lambda)$, determine the interval of values of $\lambda$ for which $\vec{c}$ cannot be expressed as a linear combination of $\vec{a}$ and $\vec{b}$. Reason whether this means that the set $\{ \vec{a}, \vec{b}, \vec{c} \}$ would form a basis for $\mathbb{R}^3$.

span(a,b) X Y Z Variation of λ Critical λ a=(2,1,-1) b=(1,0,1) c=(0,1,?) det(a, b, c) ≠ 0 Basis in ℝ³ c ∉ span(a,b)
Solve

Midpoint, centroid, and collinear points

Segment in space between points A and B with its midpoint M marked at the center. A M B

Go back to the beginning: three points in space lie on the same line when the vectors $\vec{AB}$ and $\vec{BC}$ are proportional.

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In the design of a metallic structure, two beams are joined at their ends represented by the points $P(2, 5, -3)$ and $Q(8, -1, 7)$. To reinforce the structure, a…

In the design of a metallic structure, two beams are joined at their ends represented by the points $P(2, 5, -3)$ and $Q(8, -1, 7)$. To reinforce the structure, a support must be placed exactly at the midpoint of line segment $PQ$. Find the coordinates of this midpoint $M$.

X Y Z Q (8, −1, 7) P (2, 5, −3) M (x, y, z)
Solve
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Three radio stations are located at points $A(1, 1, 1)$, $B(3, 2, 0)$ and $C(5, 3, -1)$. Check whether the three stations are collinear (belong to the same straight…

Three radio stations are located at points $A(1, 1, 1)$, $B(3, 2, 0)$ and $C(5, 3, -1)$. Check whether the three stations are collinear (belong to the same straight line) by studying the proportionality of the vectors $\vec{AB}$ and $\vec{BC}$.

X Y Z O A(1, 1, 1) B(3, 2, 0) C(5, 3, −1) AB BC
Solve
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Consider a parallelogram where three of its consecutive vertices are $A(1, 1, 0)$, $B(4, 2, 1)$ and $C(5, 5, 3)$. Using the equality between vectors (for example,…

Consider a parallelogram where three of its consecutive vertices are $A(1, 1, 0)$, $B(4, 2, 1)$ and $C(5, 5, 3)$. Using the equality between vectors (for example, $\vec{AB} = \vec{DC}$), calculate the coordinates of the fourth vertex $D$.

AB = DC AB DC A (1, 1, 0) B (4, 2, 1) C (5, 5, 3) D (x, y, z)
Solve

Equations of a line in space

A line is determined by a point $A(a_1,a_2,a_3)$ and a nonzero direction vector $\vec v=(v_1,v_2,v_3)$. Its vector equation is $\vec{OP}=\vec{OA}+t\vec v$, with $t\in\mathbb R$. By components:

$$x=a_1+tv_1,\qquad y=a_2+tv_2,\qquad z=a_3+tv_3.$$

These are the parametric equations. If all three components of the direction vector are nonzero, solving for $t$ gives the symmetric form:

$$\frac{x-a_1}{v_1}=\frac{y-a_2}{v_2}=\frac{z-a_3}{v_3}.$$

If a component is zero, that coordinate stays constant: you don't divide by zero. For the line through two points $A$ and $B$, take $\vec v=\vec{AB}$.

Line drawn from a point A and from the successive translations of its direction vector. A, t = 0 A + v, t = 1

Intersection of two lines

To find out whether two lines meet, use a different parameter for each ($t$ and $s$), equate the three components, and solve the system of three equations in two unknowns. If there is a solution, it gives the intersection point; if it is inconsistent, the lines do not meet.

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A laser security system uses three sensors located at points $A(1, 2, 3)$, $B(3, 0, 1)$ and $C(k, -2, -1)$. For the system to function correctly, the three sensors must…

A laser security system uses three sensors located at points $A(1, 2, 3)$, $B(3, 0, 1)$ and $C(k, -2, -1)$. For the system to function correctly, the three sensors must be perfectly aligned.

  1. a) Calculate the value of $k$ such that the sensors $A, B$ and $C$ are aligned.
  2. b) Using the value of $k$ found, determine the coordinates of the midpoint of line segment $AC$.
X Y Z A(1, 2, 3) B(3, 0, 1) C(k=?, −2, −1) MAC = (?, ?, ?)
Solve
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A delivery drone moves in three-dimensional space following paths defined by vectors. Its basic thrusters allow it to perform three fundamental movements defined by the…

A delivery drone moves in three-dimensional space following paths defined by vectors. Its basic thrusters allow it to perform three fundamental movements defined by the vectors $\vec{u} = (1, -1, 0)$, $\vec{v} = (0, 2, 1)$ and $\vec{w} = (2, 0, 3)$. If the drone needs to make an urgent delivery from the control center to a customer following the resulting displacement vector $\vec{d} = (5, 1, 10)$, calculate the coefficients $a, b$ and $c$ such that the movement can be expressed as a linear combination of the thrusters: $\vec{d} = a\vec{u} + b\vec{v} + c\vec{w}$.

X Y Z u = (1, −1, 0) v = (0, 2, 1) w = (2, 0, 3) d = (5, 1, 10)
Solve

Coordinates in a basis

To find the coordinates you equate component by component and solve the system. To tell whether three vectors form a basis, it is enough that their determinant is nonzero (we see this in the next section).

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Consider the vectors in space $\vec{u} = (1, 1, 0)$, $\vec{v} = (0, 1, 1)$ and $\vec{w} = (1, 0, 1)$. a) Show that the set $B = \{ \vec{u}, \vec{v}, \vec{w} \}$ forms a…

Consider the vectors in space $\vec{u} = (1, 1, 0)$, $\vec{v} = (0, 1, 1)$ and $\vec{w} = (1, 0, 1)$.

  1. a) Show that the set $B = \{ \vec{u}, \vec{v}, \vec{w} \}$ forms a basis for $\mathbb{R}^3$.
  2. b) Find the coordinates of the standard basis vector $\vec{e_1} = (1, 0, 0)$ with respect to the basis $B$.
Solve
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A team of engineers is calibrating the navigation system of a satellite. Two different bases have been defined in the workspace: the control basis…

A team of engineers is calibrating the navigation system of a satellite. Two different bases have been defined in the workspace: the control basis $B = \{\vec{u}, \vec{v}, \vec{w}\}$ and the manoeuvre basis $B' = \{\vec{a}, \vec{b}, \vec{c}\}$. We know that:

$\vec{a} = 2\vec{u} - \vec{v}$

$\vec{b} = \vec{u} + \vec{w}$

$\vec{c} = \vec{v} - \vec{w}$

A detected object has coordinates $(1, -2, 3)$ with respect to the manoeuvre basis $B'$. Calculate its coordinates with respect to the control basis $B$. Is it possible for a vector to have the same coordinates in both bases? Justify your answer.

Solve

Dependence with determinants, rank, and coplanarity

For three vectors $\vec u,\vec v,\vec w$ in space, with parameters: build the matrix with the vectors as rows and compute its determinant. If it is zero, the vectors are dependent (coplanar or even more special); if not, they form a basis of $\mathbb{R}^3$. If the vectors are given by their coordinates with respect to a basis, the same determinant of coordinates decides the dependence.

Rank of a family of vectors

The rank of a family of vectors is the maximum number of linearly independent vectors it contains. It is also the rank of the matrix that has their coordinates as rows. For three vectors in $\mathbb{R}^3$:

  • Rank $3$: independent (determinant not equal to $0$); they form a basis.

  • Rank $2$: dependent, but there are two that are not parallel; all of them lie in one plane.

  • Rank $1$: all are parallel (multiples of a single one).

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In video game design, the lighting of a room depends on three spotlights whose beam directions are defined by the vectors $\vec{v_1} = (1, 2, k)$,…

In video game design, the lighting of a room depends on three spotlights whose beam directions are defined by the vectors $\vec{v_1} = (1, 2, k)$, $\vec{v_2} = (k, 0, 1)$ and $\vec{v_3} = (3, 2, 2)$. Determine, giving reasons, the values of the real parameter $k$ for which the three light beams are linearly dependent (lie in the same plane). What happens to the basis of space if $k$ takes one of those values?

Solve
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Study the rank of the following family of vectors depending on the values of the parameter $m$: $\vec{u} = (1, m, 1)$, $\vec{v} = (m, 1, 1)$ and $\vec{w} = (1, 1, m)$.…

Study the rank of the following family of vectors depending on the values of the parameter $m$:

$\vec{u} = (1, m, 1)$, $\vec{v} = (m, 1, 1)$ and $\vec{w} = (1, 1, m)$.

Determine for which values of $m$ the set of vectors is linearly dependent and, if so, state whether the vectors are proportional or coplanar.

Solve
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Given the vectors in space $\mathbb{V}^3$ defined by $\vec{u} = (k, 1, 1)$, $\vec{v} = (1, k, 1)$ and $\vec{w} = (1, 1, k)$: a) Determine, giving reasons, for which…

Given the vectors in space $\mathbb{V}^3$ defined by $\vec{u} = (k, 1, 1)$, $\vec{v} = (1, k, 1)$ and $\vec{w} = (1, 1, k)$:

  • a) Determine, giving reasons, for which values of the real parameter $k$ the vectors $\{\vec{u}, \vec{v}, \vec{w}\}$ do not form a basis for $\mathbb{R}^3$.

  • b) For the values of $k$ found in the previous part, study the linear dependence or independence of the vectors taken two at a time.

  • c) In the case where $k = 0$, express the vector $\vec{a} = (2, 3, 5)$ as a linear combination of $\vec{u}$, $\vec{v}$ and $\vec{w}$.

X Y Z u v w a Bases for R³? |u v w| ≠ 0 k = ? u = (k,1,1) v = (1,k,1) w = (1,1,k) If k = 0: a = (2,3,5) a = ?u + ?v + ?w
Solve

Coplanar points and volume

Four points $P,Q,R,S$ are coplanar when $\vec{PQ},\vec{PR},\vec{PS}$ are dependent, that is, when the determinant of those three vectors is $0$. If the determinant is not zero, its absolute value is the volume of the parallelepiped formed by the three vectors. Points that are not coplanar form a tetrahedron.

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Solar panels are being installed on a metallic structure. The anchor points of a panel are $P(1, 0, 1)$, $Q(2, 1, 3)$, $R(0, 2, 2)$ and $S(1, 3, a)$. For the panel not…

Solar panels are being installed on a metallic structure. The anchor points of a panel are $P(1, 0, 1)$, $Q(2, 1, 3)$, $R(0, 2, 2)$ and $S(1, 3, a)$. For the panel not to suffer mechanical stress, the four points must be coplanar (lie in the same plane).

  1. a) Determine the value of $a$ such that the points $P, Q, R$ and $S$ are coplanar.
  2. b) For the value of $a$ obtained, are the vectors $\vec{PQ}$ and $\vec{PR}$ linearly independent? Justify your answer.
Solve
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Study the linear dependence of the points $A(1, 1, 1)$, $B(0, 2, 2)$, $C(2, 0, 0)$ and $D(m, m, m)$. a) Determine for which values of $m$ the four points are coplanar.…

Study the linear dependence of the points $A(1, 1, 1)$, $B(0, 2, 2)$, $C(2, 0, 0)$ and $D(m, m, m)$.

  • a) Determine for which values of $m$ the four points are coplanar.

  • b) Is there any value of $m$ for which the vector $\vec{AB}$ is orthogonal to the vector $\vec{CD}$?

  • c) Geometrically explain what happens to the points when $m=1$.

Solve
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Two particles move through space following straight-line trajectories. At time $t=0$, the first particle is at point $P(1, 0, 0)$ and moves with a constant velocity…

Two particles move through space following straight-line trajectories. At time $t=0$, the first particle is at point $P(1, 0, 0)$ and moves with a constant velocity given by the vector $\vec{v_1} = (1, 1, 1)$. The second particle starts from $Q(0, 2, 1)$ with velocity $\vec{v_2} = (2, m, 0)$.

Determine the value of $m$ such that the position vectors of both particles at any time $t > 0$ and the vector joining their initial positions $\vec{PQ}$ are always coplanar. Will the particles collide at any point for that value of $m$?

Solve

Dot product, orthogonality, and angle

A basis is orthogonal if its vectors are pairwise perpendicular, and orthonormal if, in addition, each one has magnitude $1$. The standard basis is orthonormal. A vector is perpendicular to a plane when it is orthogonal to two non-parallel vectors in that plane.

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In a tetrahedron with vertices $O(0,0,0)$, $A(2,2,0)$, $B(0,2,1)$, and $C(k,0,3)$, determine the value of $k$ such that the vector joining the origin $O$ to the centroid…

In a tetrahedron with vertices $O(0,0,0)$, $A(2,2,0)$, $B(0,2,1)$, and $C(k,0,3)$, determine the value of $k$ such that the vector joining the origin $O$ to the centroid $G$ of the opposite face $ABC$ is perpendicular to the plane containing that face. Note: The centroid of a triangle is the arithmetic mean of its vertices.

Tetrahedron OABC in space with vector OG perpendicular to face ABCxyzO(0, 0, 0)A(2, 2, 0)B(0, 2, 1)C(k, 0, 3)GOGCONDITIONOG ⊥ face ABCFind k = ?
Solve
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Let $\vec{u} = (1, -1, 0)$ and $\vec{v} = (0, 1, -1)$ be vectors. Find all vectors $\vec{w}$ that simultaneously satisfy the following three conditions: 1. $\vec{w}$ is…

Let $\vec{u} = (1, -1, 0)$ and $\vec{v} = (0, 1, -1)$ be vectors. Find all vectors $\vec{w}$ that simultaneously satisfy the following three conditions:

  1. $\vec{w}$ is a linear combination of $\vec{u}$ and $\vec{v}$.

  2. The magnitude of $\vec{w}$ is equal to $\sqrt{6}$.

  3. $\vec{w}$ forms an angle of $60^\circ$ with the vector $\vec{u}$.

Solve
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Consider the set of vectors $S = \{ \vec{v_1}, \vec{v_2}, \vec{v_3} \}$ forming an orthonormal basis. A new set of vectors $S' = \{ \vec{w_1}, \vec{w_2}, \vec{w_3} \}$…

Consider the set of vectors $S = \{ \vec{v_1}, \vec{v_2}, \vec{v_3} \}$ forming an orthonormal basis. A new set of vectors $S' = \{ \vec{w_1}, \vec{w_2}, \vec{w_3} \}$ is constructed using the relations:

$\vec{w_1} = \vec{v_1} + \vec{v_2}$

$\vec{w_2} = \vec{v_1} - \vec{v_2}$

$\vec{w_3} = \vec{v_3}$

  • a) Show that $S'$ is an orthogonal basis but not an orthonormal one.

  • b) Find the volume of the parallelepiped defined by the vectors of $S'$.

  • c) If a vector $\vec{x}$ has coordinates $(3, 1, 4)$ in the basis $S$, calculate its coordinates in the basis $S'$.

v₁ v₂ w₁ w₂ w₃ = v₃ w₁ = v₁ + v₂ v₁ - v₂ Vol = ? x = (3, 1, 4)_S x = (?, ?, ?)_S'
Solve

Dependence with parameters and proofs

When the vectors are given as combinations of a basis $\{\vec e_1,\vec e_2,\vec e_3\}$, the coordinates of each vector form a row. The vectors are dependent if and only if the determinant of those coordinates is $0$, whatever the basis.

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Consider a basis $B = \{\vec{e_1}, \vec{e_2}, \vec{e_3}\}$ for an Euclidean vector space. Three new vectors are defined from the elements of the basis as:…

Consider a basis $B = \{\vec{e_1}, \vec{e_2}, \vec{e_3}\}$ for an Euclidean vector space. Three new vectors are defined from the elements of the basis as:

$\vec{u} = \vec{e_1} + a\vec{e_2}$

$\vec{v} = \vec{e_2} + b\vec{e_3}$

$\vec{w} = \vec{e_3} + c\vec{e_1}$

Show that the vectors $\{\vec{u}, \vec{v}, \vec{w}\}$ are linearly dependent if and only if the product of the coefficients $abc = -1$. In the case where $a=1, b=1, c=-1$, obtain the linear dependence relation that exists between them.

Solve

Summary

See all the exercises in this section