Three Dimensional Geometry

1. Direction Cosines of A Line (Dc's) 2. Direction Ratio of A Line (Dr's)

The direction cosines are generally • Any three numbers a, b and c proportional to the direction cosines l,
denoted by l, m, n. m and n, respectively are called direction ratios of the line.

Hence, l = cos a, m = cos b, n = cos • The direction ratios of a line passing through two points P(x1, y1, z1) and
Note that l 2 + m2 + n2 = 1 Q(x2, y2, z2) are (x2- x1), (y2- y1), (z2- z1)

l m n
• = =
a b c
a b c
3. Equation of Line • l=±
2 2 2
,m = ±
2 2 2
and n = ±
a +b +c a +b +c a + b2 + c2
2
1. Equation of a line through a given point with position vector a and
parallel to a given vector b :
y
In vector form, r = a + b 4. Angle Between Two Lines
x − x1 y − y1 z − z1
In cartesian form, = =      
a b c In vector form, The angle between two lines r = a1 + λb1 & r = a 2 + µb 2 is given as:
    
where, r = xiˆ + yjˆ + zk,a
ˆ = x ˆi + y ˆj + z k,
1 1
ˆ ˆ ˆ ˆ
1 b = ai + bj + ck Here, a, b, c are also b1 ⋅ b 2
cos θ =  
the direction ratios of the line. b1 b 2

2. Equation of a line passing through two given points with position vectors In cartesian form, The angle between two lines :
a and b : x − x1 y − y1 z − z1 x − x 2 y − y2 z − z2 a1a 2 + b1b 2 + c1c 2
    = = and = = is cos θ =
In vector form, r = a + λ (b − a)  a1 b1 c1 a2 b2 c2 a12 + b12 + c12 a 22 + b 22 + c 22
r = xiˆ + yjˆ + zkˆ  
x − x1 y − y1 z − z1 
In cartesian form, = = where,
a = x1 i + y1 j + z1 k • If two lines are perpendicular, then b1 ⋅ b 2 = 0 or a1a 2 + b1 b 2 + c1c 2 = 0
x 2 − x1 y 2 − y1 z 2 − z1   
& b = x 2 i + y 2 j + z 2 k a b c
• If two lines are parallel, then b1 = λb 2 or 1 = 1 = 1
a 2 b2 c2

5. Shortest Distance Between Two Lines

6. Equation of A Plane In Normal Form
1. Distance Between Parallel Lines the shortest distance between parallel lines
  
      b × ( a 2 − a1 ) Vector Form
L1 : r = a1 + λb and L 2 : r = a 2 + µb is d =  
|b| r ⋅ nˆ = d
2. Distance Between Two Skew Lines In vector form, The distance between Here r = xi + yj + zk
two skew lines
      n̂ is the unit vector along the normal from origin to the plane.
r = a1 + λ b1 & r = a 2 + µ b 2 d is perpendicular distance of the plane from the origin.
  
d=
( b × b ) ⋅ (a
1
 
2 2 − a1 )
Cartesian Form
b1 × b 2
lx + my + nz = d
In cartesian form, where l, m, n are the direction cosines of n̂ (unit vector along the
The distance between two skew lines : normal from origin to the plane).
x − x1 y − y1 z − z1 and x − x 2 y − y 2 z − z 2 is:
= = = =
a1 b1 c1 a2 b2 c2
x 2 − x1 y 2 − y1 z 2 − z1
7. Equation Of A Plane Perpendicular To A
a1 b1 c1 Given Vector And Passing Through A Given Point
a2 b2 c2
d=
Vector Form 
( b1c2 − b 2c1 )2 + ( c1a 2 − c2a1 )2 + ( a1b 2 − a 2 b1 )2
 with position vector a and   
Let a plane pass through a point
perpendicular to the vector N . Then its equation is given as: (r − a ) ⋅ N = 0

Cartesian Form
8. Equation Of A Plane Passing Let a plane pass through a point ( x1 , y1 z1 ) & the direction ratio of the
Through Three Non-Collinear Points vector perpendicular to the plane be A, B, C. Then its equation is given as:
Vector Form A ( x − x1 ) + B ( y − y1 ) + C ( z − z1 ) = 0
            
[rbc ] + [rab ]+ [rca ] = [abc ]or (r − a ) ⋅ [(b − a ) × (c − a )] = 0
 
where, a , b , c are the position vector of three given noncollinear points
through which the plane passes. 9. Intercept Form of The Equation of A Plane
Cartesian Form x y z
The equation of plane passing through three noncollinear points Y with + + =1
a b c
coordinates, ( x1 , y1 , z1 ) ( x 2 , y 2 , z 2 ) & ( x 3 , y3 , z 3 ) is given as: Where a, b, c are the intercepts made by the plane on x, y & z axes
x − x1 y − y1 z − z1 respectively.
x2 − x1 y2 − y1 z2 − z1 = 0
x3 − x1 y3 − y1 z3 − z1
 10. Plane Passing Through The Intersection 11. Coplanarity of Two Lines
Of Two Given Planes
Vector Form    
     
Vector Form Two lines r = a1 + λ b1 and r = a2 + µb2 are coplanar, if ( a2 − a1 ) ⋅ ( b1 × b2 ) = 0
Equation of plane passing through the point of intersection of two planes
  Cartesian Form
r ⋅ n 1 = d1 and r ⋅ n = d 2is given as: x − x1 y − y1 z − z1 x − x2 y − y2 z − z2
Two lines = = & = = are coplanar, if
  
2
a1 b1 c1 a2 b2 c2
r ⋅ ( n1 + λ n2 ) = d1 + λ d 2 x2 − x1 y2 − y1 z2 − z1
Cartesian Form a1 b1 c1 = 0

n1 = A1i + B1 j + C1 k a2 b2 c2
 
n 2 = A 2 i + B2 j + C 2 k and r = xiˆ + yjˆ + zkˆ
therefore its cartesian equation is:
13. Distance Of A Point From A Plane
( A1x + B1y + C1z − d1 ) + λ ( A 2 x + B2 y + C2 z − d 2 ) = 0
Vector Form
Distance of a point with position vector a from a plane r ⋅ n = d
| a ⋅n − d |
is given as:
12. Angle Between Two Planes |n|
    Cartesian Form
Vector Form: The angle between two planes r ⋅ n = d & r ⋅ n = d Distance of a point ( x1 , y1 , z1 ) from a plane: ax + by + cz = d is given as :
1 2
is given as:  
n 1 ⋅ n2 ax1 + by1 + cz1 − d
cos θ =  
n1 n2 a 2 + b2 + c2
Cartesian Form: The angle between two planes
a1x + b1 y + c1z + d1 = 0 and a 2 x + b 2 y + c 2 z + d 2 = 0 is given as

cos θ =
a1a2 + b1b2 + c1c2 14. Angle Between A Line And A Plane
2 2 2 2 2 2
a +b +c
1 1 1 a +b +c
2 2 2 Vector Form
Angle between a line
 
- If two planes are perpendicular, then n1 ⋅ n2 = 0 or a1a2 + b1b2 + c1c2 = 0 r = a + λb and a plane r ⋅ n = d is
  a b c
- If two planes are perpendicular, then n1 = λ n2 or 1 = 1 = 1 b ⋅n
a2 b2 c2 sin θ =
| b || n |

Cartesian Form
x − x1 y − y1 z − z1
Angle between a line = = and a plane
a1 b1 c1
a 2 x + b 2 y + c 2 z = d is given as:
a1a2 + b1b2 + c1c2
sinθ =
a + b12 + c12 a22 + b22 + c22
2
1

a1 b1 c1
• If line is perpendicular to the plane, then n = λ b or = =
a2 b2 c2

• If line is parallel to the plane, then n ⋅ b = 0 or a1a2 + b1b2 + c1c2 = 0