CJC MATHEMATICS DEPARTMENT

2019 JC1 H2 MATHEMATICS (9758)

TOPIC: VECTORS (LINES)

H2 MATHEMATICS
TOPIC VECTORS (LINES) 2019/JC1

Chapter Opener
We’ve all marveled at the incredibly life-like computer generated images in the movies. What most
of us don’t realise is that the dinosaurs of Jurassic Park and the wonders of Lord of the Rings –
particularly the star turn of Gollum – wouldn’t have been possible without vector geometry and math.
But how are these amazing images made? Computer
graphics and computer vision are huge subjects. The first
step in creating a computer generated movie is to create the
characters in the story and the world they live in. Each of
these objects is modelled as a surface, made up of connected
flat polygons that are usually triangles, with the vertices of
each triangle stored in computer memory.
Now that the surface of our object is a wire mesh of
triangles, we are ready to colour each of its components.
Here it’s important to realistically capture the lighting of the First objects are modelled as wire skeletons made up
scene we’re modelling, and this is done using a process from simple polygons such as triangles.

called ray tracing. Starting from our viewpoint, we trace

rays backwards towards the object and let them reflect off it.
If the ray from our eye reflects off the facet (one of our wire
mesh triangles) and intersects a light source, we shade that
facet in a bright colour so that it appears lit up the light
source. If the reflected ray does not meet the light source,
we shade the facet in a darker colour.
To trace a ray back to a particular facet, we need to describe
the surface mathematically, and solve geometric equations
Trace a ray from your viewpoint to a facet. involving the straight lines described by the ray and the
Does it reflect off and intersect a light source ? plane described by that facet. This is done using vectors.
In the next two chapters, we would be introduced to the mathematical representation of lines and
planes.
(Source : https://plus.maths.org/content/os/issue42/features/lasenby/index)

Mastery Learning Objectives: At the end of the chapter, students should be able to :
 For a line in three-dimensional space :
- find a vector equation and cartesian equation of the line.
- convert a vector equation of the line to a cartesian equation, and vice versa.
 For a point and a line :
- determine whether the point lies on the line.
- find the foot of the perpendicular from the point to the line.
- find the perpendicular or shortest distance from the point to the line.
 For two lines :
- determine and describe the relationship between two lines in three-dimensional space :
coplanar (i.e. parallel or intersecting), or skew.
- find the angle between both lines.

Pre-requisites:
□ Basic Trigonometry
□ Vectors (Basic)
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 CJC MATHEMATICS DEPARTMENT
2019 JC1 H2 MATHEMATICS (9758)
TOPIC: VECTORS (LINES)

9 Equation of a Line in Three-Dimensional Space

9.1 Vector Equation of a Line

Exploratory Activity – Understanding Vector Equations of Lines

Let l be the line passing through two points, P and Q, as shown in the diagram below:

P
G m
Q
F E
p
l

O

Suppose the position vector of P is p and the vector PQ  m
(a) Express the position vector of Q in terms of p and m.

OQ  p  m
 
(b) It is given that the point E lies on the line PQ produced such that PE = 3 PQ, the point F is
the midpoint of the line segment PQ and the point G lies on QP produced such that PG: PQ
= 2:1.
(i) Mark E, F and G on the diagram above
(ii) Express the position vectors of E, F and G in terms of p and m respectively.

OE  p  3m
  
OF  p  12 m
  
OG  p  2m
 
(c) Based on parts (a) and (b), what can you conclude about the position vector of any point R
lying on the line l ?

OR  p   m for some scalar value   
 
General Case: Consider a line in space passing through a fixed point A , with position vector
a , and parallel to a given non-zero vector m , usually named direction vector (refer to Section
1.7, Vectors (Basic)).
R

O

Let R be a general point on the line with position vector r , then r  a  AR .
 
Since we have AR / / m , AR   m for some    , thus for the general point R on the line,
r  a   m,    .

Online Resource: https://tube.geogebra.org/material/simple/id/256909

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 CJC MATHEMATICS DEPARTMENT
2019 JC1 H2 MATHEMATICS (9758)
TOPIC: VECTORS (LINES)

Vector equation of a line passing through point A with position vector a in the direction m
is given by
r  a   m,   
where r is the position vector of a general point on the line,
m is a direction vector of the line.

 Remarks: 1. A line is infinitely long.

2. Every value of  corresponds to a unique point on the line. Conversely,
every point on the line has a unique value of  .
3. There is more than one way to represent the same line r  a   m,    .
For example, if another point B with position vector b also lies on the line
and n is another vector that is parallel to the line (i.e. parallel to m ),
another possible vector equation of the line is r  b   n,    .

9.2 Cartesian Equation of a Line

Given a vector equation of a line given by r  a   m,    .

 x  a1   m1   x   a1   m1 
Let r   y  , a   a2  and m   m2  , then  y    a2     m2  .
         
z a  m   z a  m 
   3  3    3  3

x  a1   m1
y  a2   m2 , a set of parametric equations for the line.
z  a3   m3

In this manner, the vector equation of a line can be seen as a set of parametric functions for x, y
and z in terms of the parameter  . (The topic of parametric equations would be covered in later
graphing and calculus modules.)
Given a set of parametric equations related to the vector equation of a line
x  a1   m1 , y  a2   m2 , z  a3   m3 ,    , we can make  the subject.

x  a1 y  a2 z  a3
  
m1 m2 m3

 m1 
Cartesian equation of the line passing through (a1 , a2 , a3 ) with direction  m2  is
m 
 3
x  a1 y  a2 z  a3
  .
m1 m2 m3

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 CJC MATHEMATICS DEPARTMENT
2019 JC1 H2 MATHEMATICS (9758)
TOPIC: VECTORS (LINES)

Worked Example 23: Find an equation of the line passing through the points  3,  4, 7  and
 5,  4, 6 in vector form and cartesian form.
Solution:

 5  3 2
     
m   4    4    0 
      
 6   7   1
 3 2
   
Vector equation: r   4     0  ,   
    1 
7  

 x  x  3  2
       
Let r   y  , then
    y    4     0  ,    .
z  7   1 
z      
 x   3  2 
   
So we have  y    4 
z  7 
   
x3

 x  3  2  2

 y  4
 z 7   7 z

x3
Cartesian equation:  7  z; y  4
2

 Remark: If m1  0 , m2  0 or m3  0 , the Cartesian equation of the line would be written

differently. For example, if m3  0 while m1  0 and m2  0 , then
x  a1 y  a2
 ; z  a3 .
m1 m2

x 5
Worked Example 24: A line has equation  1  y  2 z  4 . Find a vector equation of the line.
3
Solution: x 5
Let  1  y  2z  4  ,    .
3
x 5
Then    x  5  3
3
1 y    y 1 
1
2 z  4    z  2  
2
 5 3
Hence r   1     1  ,   
 
   1 
 2   2
 5  6 
    Page | 48
r  1   '  2  ,  '   .
    1
 2   
 CJC MATHEMATICS DEPARTMENT
2019 JC1 H2 MATHEMATICS (9758)
TOPIC: VECTORS (LINES)

 Self-Practice:
2  3
1. Convert the vector equation of a line r   3     4  ,    to a cartesian equation.
 1  5
   

2. Convert the vector equation of a line r  i  j    i  5k  ,    to a cartesian equation.

x 1 y
3. Convert the cartesian equation of a line   z  4 to a vector equation.
2 3

1 x 2 y 1
4. Convert the cartesian equation of a line  ; z  4 to a vector equation.
3 5
5. Write down a vector equation and cartesian equation for the line through the point A with
position vector a  i  3 j  2k and is parallel to the vector m  5i  4 j  k .

Answers:
x  2 y  3 z 1 z
1.   2. x 1  ; y  1
3 4 5 5
1  2 1  3 
       
3. r   0    3,    4. r   12     5 2  ,   
   1     0 
 4   4  
1 5
    x 1 y  3
5. r   3     4  ,    ;   z  2
    1  5 4
 2  

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 CJC MATHEMATICS DEPARTMENT
2019 JC1 H2 MATHEMATICS (9758)
TOPIC: VECTORS (LINES)

10 Calculations Involving a Point and a Line

10.1 Determining whether a Point Lies on a Line

Suppose we want to check if a point P , with position vector p , lies on the line,
l : r  a   m,    . The following steps can be used:

Step 1: Assume that point P lies on the line, then p  a   m for some  value.

Step 2: Comparing each of the x, y and z components, form three equations and solve for  .

Step 3: If  obtained from each equation is the same (i.e consistent), then P lies on the line.

Worked Example 25: Determine whether the point  1, 3, 3 lies on the line in Worked Example 24:.

Solution:
To check whether  1,3, 3 lies on the required line, whose vector equation is
5  6
   
r   1    '  2  ,  '  
   1
 2   

 1   5   6 
Let  3    1    '  2  ,  '  
 3    2   1 
     

1  5  6 '  (1)

3  1  2 '  (2)
3  2   '  (3)

 '  1 consistently solves all three equations. Hence the point  1, 3,  3 lies on the line.

Alternative Method:
Check whether the x, y and z coordinates of the required point  1,3, 3 satisfies the required line’s
x 5
cartesian equation,  1  y  2z  4 .
3
When x  1, y  3, z  3 ,

x  5 1  5
  2
3 3
1  y  1  3  2
2 z  4  2( 3)  4  2
x 5
Hence, the point  1, 3,  3 satisfies the cartesian equation  1  y  2z  4 ,
3
and as such this point lies on the line.
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 CJC MATHEMATICS DEPARTMENT
2019 JC1 H2 MATHEMATICS (9758)
TOPIC: VECTORS (LINES)

10.2 Finding Foot of Perpendicular from a Point to a Line

Given a line l :r  a   m,    and a point P that is not on the line, we want to find the foot
of the perpendicular F from P to l .

m
F


Step 1: Since F lies on l , OF  a   m for some  value.

Step 2: Find PF (in terms of parameter  ).
  
Step 3: Since PF  l  PF  m  PF  m  0 . Solve for  .

Step 4: Substitute the value of  into OF  a   m .

Worked Example 26:

(i) Find the coordinates of the foot of the perpendicular from the point P 1,1, 1 to the line
1 1
   
r   2    2 ,    .
 3 1
   
(ii) Deduce the shortest distance from P to the line.
(iii) Find the position vector of the image of P in the line.

Solution:
(i) Let F be the foot-of-perpendicular from P to the line.
P
1 1
  
(Step 1) Since F lies on the line, OF   2     2  for some    .
 3 1
    l
F
1 1  1    
    
(Step 2) PF  OF  OP   2     2    1   1  2 
 3  1   1   4    P
       
   1
(Step 3) Since PF  l ,  1  2    2   0
 4    1
   
  2  4  4    0
  1
1 1 0
      
(Step 4) Hence OF   2   1 2    0  .
 3 1  2
     
Coordinates of F is  0,0, 2  .

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 CJC MATHEMATICS DEPARTMENT
2019 JC1 H2 MATHEMATICS (9758)
TOPIC: VECTORS (LINES)

(ii) Shortest distance from P to line is PF = perpendicular distance from P to line is PF

 0   1   1
      
 PF   0    1    1  11
 2   1  3 
     
(iii) Let P ' be the image of P in the line.
The foot-of-perpendicular F from P to line l, is the mid-point of P and its image P ' in the line.
 1  
By midpoint theorem,
2

OF  OP  OP '  P

  

OP '  2OF  OP
F l
 0  1   1
      m
 2 0   1    1
 2   1 5 P
     

 Remark: The shortest distance from a point to a line is also the perpendicular distance from the
point to the line.

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 CJC MATHEMATICS DEPARTMENT
2019 JC1 H2 MATHEMATICS (9758)
TOPIC: VECTORS (LINES)

10.3 Finding the Perpendicular/Shortest Distance from a Point to a Line

Let vector equation of the line, l :r  a   m,    and a point P that is not on the line, we
want to find the perpendicular distance, h , from P to l .

Method : Using Cross Product

A
m

 .
Referring to Section 8.4.3, Vectors (Basic), h  AP  m

Method : Through Finding Foot of Perpendicular

h
m
F

Referring to Worked Example 26:, we can find the foot of the perpendicular F from P to l .

Then h  PF . This method is used when we already have the foot of the perpendicular.

Method : Through Finding Length of Projection

h
A m

 
Step 1: Find length of projection of AP on m, d  AP m.
 2 
 .
2
Step 2: Using Pythagoras Theorem, h  AP 2  d 2  AP  AP  m

This method is usually used when we already have the length of projection d .

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 CJC MATHEMATICS DEPARTMENT
2019 JC1 H2 MATHEMATICS (9758)
TOPIC: VECTORS (LINES)

Worked Example 27: The three points A , B and P have position vectors i  2 j  3k ,
2i  4 j  4k and i  j  k . Find the perpendicular distance from P to the
line passing through A and B.

Solution:
P Problem Solving Tip: Heuristic: sketch a diagram.

A F B

 2 1  1  1  1  0 


      

     
AB   4    2    2  & AP   1    2    1 
 4  3  1  1   3   4 
           

Using Method : Using Cross Product

1
  1  
PF  AP  2
6  
1
  1 1    4   2  
 0  1
1     1  
  1  2     0  1    4   1  
6     6   
 4
   1   0  2     1  1 
 
 7
1  
 4
6  
 1
1
  49  16  1
6
 11

Using Method : Through Finding Length of Projection

Let F be foot of perpendicular from P to lAB.

0  1
  1   6
AF   1    2   6
 4  6  1  6
   
AP  02  (1)2  (4)2  17
 PF  17  6  11

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 CJC MATHEMATICS DEPARTMENT
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TOPIC: VECTORS (LINES)

11 Calculations Involving Two Lines

11.1 Relationship between Two Distinct Lines in Three-Dimensional Space

Given two distinct lines, three possible relationships exist:
(1) Parallel lines
(2) Lines intersecting at a point
(3) Skew lines (non-parallel and not intersecting)
and exactly one of this relationships holds.

Pause and think: The diagram depicts a cuboid with vertices A, B, C, D, E, F, G and H.

Write down the relationship (parallel / intersecting / skew)

between the following pairs of lines :

 AC and CD. intersecting

 AE and DH. parallel

 AE and CD. skew

 AF and BE. intersecting

 DG and BE. parallel

 AD and GF. skew

 AH and CF. intersecting

 AH and BE. skew

 Remark: If two distinct lines are intersecting or parallel, then they are coplanar
(i.e. they lie on a common plane).

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CJC MATHEMATICS DEPARTMENT
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TOPIC: VECTORS (LINES)

Consider two distinct lines with vector equations,

l1 :r  a1   m1 ,    and l2 : r  a 2   m 2 ,    .

l1
A2
A1 l2

Step : Check whether l1 and l2 are parallel.

i.e. Is there some value k   for which m1= km2 ?

Yes No
m1= km2 for some k   m1≠ km2 for any k  
 PARALLEL LINES  NOT parallel lines

Step : Solve the 2 vector equations simultaneously,

i.e. a1 + m1 = a2 + m2
to find the values of  and .

 Remark: In 3-D space, the above vector equation is a

system of 3 linear equations in 2 unknowns.

Method : Use G.C. Application PlySmlt2

Method : Use any 2 of the 3 equations, solve them for 
and . Determine if the pair of values of  and 
obtained also satisfies the 3rd, unused equation.

3rd equation satisfied 3rd equation not satisfied

i.e. pair of values of  and  i.e. no pair of values of  and  which
consistently solves all 3 equations would consistently solve all 3 equations.
 INTERSECTING LINES  SKEW LINES

If both lines intersect, it could be of interest to find

the common point of intersection, say P.

If  = o and  = o is the unique solution, then the

position vector of P is given by

= a1 + om1 = a2 + om2.

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 CJC MATHEMATICS DEPARTMENT
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TOPIC: VECTORS (LINES)

Worked Example 28: For each of the following pairs of lines, test whether they are parallel,
intersecting or skew. If they intersect, find the position vector of the point of
intersection.
1 1 1  2
   
(a) l1 : r   2     2  ,       
and l2 : r   3     4  ,    .
 3 1  4  2
       
Solution:
2 1
Since  4   2  2  , the two lines are parallel to each other.
 
2 1
   

1 1 0 1

    ,      
(b) l1 : r   2     2  and l2 : r   1     3  ,    .
 3 1 5  4
       
Solution:
1 1
Since  2   k  3  for any k, the two lines are not parallel.
 
1 4
   
Assuming that the two lines intersect,
1   0        1  (1)
2  2  1  3  2  3  1  (2)
3    5  4    4   2  (3)

Analytical Method:
(1)  (3): 3 = 3   = 1
Using (1):  = 11= 2
Using (2) to check: L.H.S. = 2(2)  3(1) = 1
R.H.S. = 1 = L.H.S.
G.C. Method

Since  = 2 and  = 1 satisfies all three equations, the two lines intersect.
1  1   1 
Position vector of the point of intersection is  2   ( 2)  2  =  2  .
 
3 1  1 
     

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CJC MATHEMATICS DEPARTMENT
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TOPIC: VECTORS (LINES)

1 1 0 1

       
(c) l1 : r   2     2  ,    and l2 : r   1     3  ,    .
 3 1  2  4
       
Solution:

1 1
Since  2   k  3  for any k, the two lines are not parallel.
1 4
   
Assuming that the two lines intersect,
1   0        1  (1)
2  2  1  3  2  3  1  (2)
3    2  4    4  1  (3)

Analytical Method:

(1)  (3): 3 = 0   = 0
Using (1):  = 1
Using (2) to check: L.H.S. = 2(1) = 2
R.H.S. = 1 ≠ L.H.S.
G.C. Method:

Since there is no pair of values for  and  that will satisfy all three equations, no point
of intersection exists between the two lines (i.e. they do not intersect).

The two lines are skew.

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 CJC MATHEMATICS DEPARTMENT
2019 JC1 H2 MATHEMATICS (9758)
TOPIC: VECTORS (LINES)

11.2 Angle between Two Lines

Consider two lines with vector equation l1 : r  a1   m1 ,    and l2 :r  a 2   m 2 ,    .

The angle  between the two lines is taken to be the acute angle between them. This angle
could be determined by firstly finding the angle  between the respective direction vectors
m1 and m2 used for the lines.

For details on finding the angle  between two vectors, refer to Section 7.4.1, Vectors (Basic).
 m m 
m1  m 2  m1 m 2 cos    cos 1  1 2 
m m 
 1 2 
Case  l1

If the angle  between m1 and m2 is acute,

then the angle  between both lines is also  . θ=

l2

Case  l1

If the angle  between m1 and m2 is obtuse,

then the angle  between both lines is    .
l2
θ

Online Resource: https://tube.geogebra.org/material/simple/id/282293

 Remarks: 1. The acute angle between both lines l1 and l2 can also be directly found by using

m1  m 2
  cos 1 .
m1 m 2
2. The two lines need not be intersecting for the angle to be determined.
__________________________________________________________________________________

Worked Example 29: Find the acute angle between the two lines:
 4  1   1  3
       
l1 : r   3     2  ,    and l2 : r   0     2  ,   
1 1  1 6
       
Solution: Let the angle between the lines’ respective direction vectors be  .
 1   3   1   3
       
2 
    2   2   2  cos 
 1  6 1 6
       
1  6  7  cos
 1 
  cos 1    93.34345...
7 6
  93.3 1d.p  or 1.63 rad (3 s.f), which is obtuse.

Therefore the acute angle between the two lines is   1.62915  1.51 rad .
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 CJC MATHEMATICS DEPARTMENT
2019 JC1 H2 MATHEMATICS (9758)
TOPIC: VECTORS (LINES)

Method 2:

m1  m 2
The acute angle  cos 1
m1 m 2

 1   3 
   
 2    2 
 1  6
 cos 1    
 1   3 
   
 2   2 
 1  6
   
1
 cos 1
7 6
 1 
 cos 1  
7 6
 1.5124
 1.51

 Self-Practice:
Given two lines l1 : r   i  2 j  3k     i  2 j  5k  ,    and
l2 :r   2i  j  7k     i  5 j  6k  ,    ,
find
(i) the point of intersection between them,
(ii) the acute angle between the them.

Answers:
(i)  3, 6, 13 (ii) 18.1 1 d.p  or 0.315 rad  3 s.f 

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 CJC MATHEMATICS DEPARTMENT
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TOPIC: VECTORS (LINES)

Worked Example 30: (Self-Reading)

With respect to an origin O, the points A and C have position vectors 3i + 11j + 11k and 2i – j + 10k
respectively. The point B is such that OABC is a parallelogram.
(i) Write down the position vector of B.
(ii) Find the size of the angle OAB, giving your answer to the nearest degree.
(iii) Find a vector equation of the line AB.
The point D has position vector – i + 13j – 9k.
(iv) Verify that D is on the line AB.
(v) Find the position vector of the point on the line AB that is closest to O.

Solution: C B
 
(i) Since OC = AB and OC//AB, OC  AB .
  
By triangle law of addition, OB  OA  AB
 
 OA  OC O A
3  2 5
      By convention, points are
  11   1   10 
 11  10   21 labeled in anti-clockwise order.
     

(ii) Let the angle between OAB be  .

   
AO  AB  AO AB cos OAB ˆ

C B
 3   2  3
2
     
  ˆ
 11   1   1 cos OAB
 11
 11  10   11
 10 
     
 
ˆ
105  251 105 cos OAB O A

ˆ  cos 1  105 
OAB  
 251 105 
ˆ  130  to nearest degree 
OAB

 
(iii) Equation of line AB: r  OA   AB

3 2
   
r   11     1  ,   
    10 
 11   

 1   3  2
     
(iv)  13   11     1
 9  11   10 
     
1  3  2  (1)
13  11    (2)
9  11 10  (3)
Solving   2 ,  D lies on the line AB.

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TOPIC: VECTORS (LINES)

(v) Let F be the foot of the perpendicular from O to the line AB, also the point on AB closest to O.

Since F lies on the line AB,

3  2   3  2 
      
OF   11    1   11    for some    O
 11  10   11  10 
     

Since OF perpendicular to line AB,

 3  2   2  F A B
   
 11      1  0
11  10   10 
   
6  4  11    110  100  0
  1
 3  2  1   1 
  
 OF   11   1    12 
11  10  1   1 
   

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 CJC MATHEMATICS DEPARTMENT
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TOPIC: VECTORS (LINES)

H2 MATHEMATICS
TOPIC VECTORS (LINES) 2019/JC1

DISCUSSION Objective

BASIC

1. Find whether the following pairs of lines are parallel, intersecting or skew. If they intersect,
Relationships
find the point of intersection and the acute angle between the lines. between 2
1 3 1 9 lines;
        Angles
(a) r   1     4  ,    and r   2     12  ,    .
between
1 1 3 3 lines.
       

1  2 2  1
       
(b) r   0  s 1, s   and r    1   t  2  , t   .
3 1 1  0 
       

(c) r  4i  8 j  3k    i  2 j  k  ,   and r  7i  6 j  5k    6i  4 j  5k  ,    .

 4  2 
   
(d) r   2     1  ,    and z-axis.
1  2 
   
0
[Hint: The z-axis has equation r    0  ,    .]
1
 
INTERMEDIATE

2. [Adapted from Oxford Pure Mathematics (Page 221, Q8)]

OABCDEFG is a cube with edge 5 cm.
(a) Find in terms of i, j and k

(i) OF Find
 displacement
(ii) AG . vector.;
Find angle
(b) Find the angle between the diagonals OF and AG. between 2 line
segments.
G F
E
D

C
k j B

O i A
Check
3. Given a line with vector equation r   i  2 j  3k     i  2 j  5k  ,    , whether a
point lies on a
(i) show that point A  3, 6,13 lies on the line, line; shortest
distance btw.
(ii) find the perpendicular distance from point B 1, 7, 4  to the line. a point and a
line.

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 CJC MATHEMATICS DEPARTMENT
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TOPIC: VECTORS (LINES)
Objective
4. The line l passes through the points A  2, 1,5 and B  1, 4,2 . Forming eqn.
(i) Find an equation of l , of line given 2
 pts.; Length
(ii) Find the length of projection of AP on l where P  4, 5, 3 , of proj.; Using
Pythagoras
(iii) Hence, find the perpendicular distance from the point P to l . theorem to
find shortest
dist. from a pt.
5. Given three points A  0, 2,7  , B  5,  3, 2  and C 1, 1, 1 , find the position vector of the point to a line.
R on AB such that CR is perpendicular to AB. Hence find the perpendicular distance from C to Finding foot
AB and the position vector of the reflection of C in AB. of perp.;
Finding
shortest dist.
from a pt. to a
6. Given two lines l1 : 4(1  x) = y = 2z + 4 and l2 : 8  4x = y + 3 = 2z, explain why l1 and l2 line using
are parallel. Find the distance between them. foot; Finding
reflection of a
point.

ADVANCED Dist. btw 2

parallel lines
7. [2012/I/9]
(i) Find a vector equation of the line through the points A and B with position vectors
7i  8 j  9k and i  8 j  k respectively. Finding
equation of
(ii) The perpendicular to this line from the point C with position vector i  8 j  3k meets line given 2
the line at the point N . Find the position vector N and the ratio of AN : NB . points;
Finding foot;
(iii) Find a Cartesian equation of the line which is a reflection of the line AC in the line AB . Finding line
of reflection
about
another line
8. [2017/I/10]
Electrical engineers are installing electricity cables on a building site. Points  x, y , z  are Intersection
point bet. 2
defined relative to a main switching site at  0, 0, 0  , where units are metres. Cables are laid in lines;
Dot product;
straight lines and the widths of cables can be neglected. Use diff. to
 3  find min.
  length
An existing cable C starts at the main switching site and goes in the direction  1 .
 2
 
A new cable is installed which passes through points P 1, 2,  1 and Q  5, 7, a  .
(i) Find the value of a for which C and the new cable will meet.

To ensure that the cables do not meet, the engineers use a  3 . The engineers wish to connect
each of the points P and Q to a point R on C .
(ii) The engineers wish to reduce the length of cable required and believe in order to do this
that angle PRQ should be 90  . Show that this is not possible.
(iii) The engineers discover that the ground between P and R is difficult to drill through
and now decide to make the length of PR as small as possible. Find the coordinates of
R in this case and the exact minimum length.

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 CJC MATHEMATICS DEPARTMENT
2019 JC1 H2 MATHEMATICS (9758)
TOPIC: VECTORS (LINES)

Answers:
1. (a) parallel (b) skew (c) intersect at 1,2,0  ; 0.487 rad (3 s.f) or 27.9 1 d.p 
(d) intersect at  0, 0, 5 ; 0.841 rad (3 s.f) or 48.2 1 d.p 
 
2. (a)(i) OF  5i  5 j  5k (ii) AG  5i  5 j  5k
     
(b) 1.23rad  5 s.f  or 70.5  3 s.f 
37
3. (ii) units
2
2  1
   
4. (i) r   1    1 ,    (ii) 2 3 units (iii) 4 2 units
    1
5  
 8   13 
1  5 1 
5. 2 ; 6 units ; 7
3   3 3  
 13   23 
71
6. units
7
7 1 5
y 8
7. (i) r   8     2  ,   
  (ii)  4  ; 1:3 (iii) x  7   z 9
   1 7 4
9    
22 3 1  1
8. (i)  (iii)  , ,1 , 10
5 2 2  2

REVIEW PROBLEMS

1. [2004/I/15(part of)]
1  2 
The equation of the line L is r   3   t  1  , t   . The points A and B have position
7  5 
   
 9  13 
vectors  3  and  9  respectively. The line L intersects the line through A and B at P .
 
 26   
   
Find  and the acute angle between line L and AB . [7]

2. [2000/II/15]
Relative to the origin O , the points A , B and C have position vectors 5i  4 j  10k ,
4i  4 j  2k , 5i  9 j  5k , respectively.
(i) Find the Cartesian equation of the line AB . [3]

(ii) Find the length of projection of AC onto the line AB . [3]
(iii) Hence or otherwise find the perpendicular distance from C to the line AB , and the
position vector of the foot N of the perpendicular from C to the line AB . [6]
(iv) The point D lies on the line CN produced and is such that N is the mid-point of CD .
Find the position vector of D . [2]

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 CJC MATHEMATICS DEPARTMENT
2019 JC1 H2 MATHEMATICS (9758)
TOPIC: VECTORS (LINES)

3. [2008/NYJC/Promo/5]
The line l passes through the points A and B with coordinates (1, 2,  1) and (2, a, 1)
respectively.
(i) Show that the line l cuts the x-axis when a  2 . [3]
(ii) Find the length of projection of OA onto the line l and hence, the shortest distance
of the origin from l. [5]

4. [2012/IJC/Promo/10]
Relative to the origin O, the points A, B and C have position vectors i  6 j  2k ,
3i  2 j  5k and 3i  2 j  2k respectively. The line L passes through the points A and
C.
(i) Find a vector equation of L. [2]

(ii) Find the exact length of projection of AB onto L. [3]
(iii) Hence or otherwise, find the shortest distance from B to L, leaving your answer in
exact form. [2]
D is a point such that ABCD is a parallelogram. Use a vector product to find the exact
area of the parallelogram. [3]

5. [2008/NYJC/Promo/8]
Relative to the origin O, the points A, B and C have position vectors 3i  8j  k ,
7i  3j  6k and  i   j  6k respectively, where  and  are real numbers.
(i) Given that the vector equation of line BC is r  (7  3 )i  3j  (6  4  )k , find the
values of  and  . [2]

(ii) Find the length of projection of AB onto the line BC. [2]
(iii) Hence or otherwise, find the position vector of the foot of perpendicular from A to
the line BC. [3]
(iv) Find the exact area of the triangle ABC. [3]

6. [2010/HCI/Promo/8]
The position vector of A , relative to the origin O , is j  7k . The line l through A is
parallel to the vector i  j  k and the foot of perpendicular from O to l is denoted by S.

(a) Find the acute angle between l and OA . [2]
(b) Find the coordinates of S . [3]
Point B is on OA such that 3OB  OA and point C is the mid-point of OS . T is a
point on l such that B , C and T are collinear.
(c) Find the position vector of T . [4]

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 CJC MATHEMATICS DEPARTMENT
2019 JC1 H2 MATHEMATICS (9758)
TOPIC: VECTORS (LINES)

7. [2012/MJC/Promo/6]
Relative to the origin O, points A and B have position vectors 4i  3 j and 5i  7 j
respectively. The line l1 passes through point B and is parallel to the vector i  2 j   k.
1 x z  2
The line l2 has cartesian equation  , y  4.
2 1
(i) Given that l1 and l2 are perpendicular, show that the value of α is 2. [2]
 
(ii) Find the length of projection of BA onto line l1 . Hence find the vector BN ,
where N is the foot of perpendicular from A to line l1 . [4]
(iii) Point A ' is the reflection of point A in the line l1 and point C is such that AA ' CB
forms a parallelogram. Find the exact area of the parallelogram AA ' CB . [3]

8. [2012/CJC/Promo/10(a)]
The line l1 passes through the points A and B with coordinates (–1, –2, 1) and (0, 1, 5)
y2
respectively. The line l2 has equation x  1   z  3 . l1 and l2 intersect at the point
2
A. Find
(i) the vector equations of the lines l1 and l2, [2]
(ii) the acute angle between the lines l1 and l2, [2]
(iii) the position vector of the foot of perpendicular, F, from B to the line l2, [3]
(iv) the equation of the line l3 which is the mirror image of l1 in l2. [3]

9. [2012/HCI/Promo/13]
With respect to the origin O , the points A , B and C have position vectors
 1   cos t  2
 ,   and  
a   sin t  b   2  c   1 respectively, where t is a real parameter such that
 0   1  1
     
0  t  .
(a) Find the exact value of t given that a is perpendicular to b . [3]
(b) The point X is on AB produced such that AB : BX is 1: 4 and the point Y is such

that ACXY is a parallelogram. Take t  for the rest of the question.
2
(i) Find the position vectors of X and Y . [4]
(ii) Find the area of ACXY . Hence, find the shortest distance from X to the
line that passes through the points A and C . [3]
x  2 3 y
(iii) The line l1 has equation  , z  k , where h and k are constants.
6 h
The line that passes through A and B intersects l1 at a right angle. Find the
values of h and k . [4]

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 CJC MATHEMATICS DEPARTMENT
2019 JC1 H2 MATHEMATICS (9758)
TOPIC: VECTORS (LINES)

10. [2016/AJC/Promo/7]
Relative to the origin O, three points A, B and C have position vectors given by a  3i  j ,
b  3i  4 j  12k and c   j  12k , where  is a constant. The line l1, passing through
x  3 y 1 z
points A and C, has equation   .
3 4 12
(i) Show that   5 . [2]
(ii) Find the position vector of the point P on OA such that BP is perpendicular to OA.
Hence or otherwise, prove that OBAC is a rhombus. [5]
(iii) Find the area of OBAC. [2]
(iv) The line l2 passes through points O and Q, where Q lies on BA produced
BA 1
such that  . Find the acute angle between lines l1 and l2.
BQ 4 [3]

11. [2010/AJC/Promo/11]
2  3 
Relative to an origin O, the position vectors of the points A and B are    and  2 
 
1 2
   
respectively. The line l1 passes through the points A and B. Another line l2 has Cartesian
equations given by x  1  2  z , y  4 . The lines l1 and l2 intersect at the point A. Find
(i) a vector equation of the line l2 , and state the value of  ,
(ii) the acute angle between the lines l1 and l2 ,
(iii) the position vector of the foot of perpendicular, N, from B to the line l2 .
Area of ABS 3
The point S lies on the line segment BN and is such that  .
Area of ABN 4
Find the position vector of S.

12. [2018/PJC/MYE/11(i), (ii), (iv)] An artist decides to use light and ropes to create an art
installation in a room. Points ( x, y, z ) are defined relative to a hook of negligible size on the
wall at (0,0, 0) , where units are in metres. Ropes are laid in straight lines and the thickness of
ropes can be neglected.
 2
(i) A rope starts at the hook and goes in the direction  . It is 8 metres long and ends at
 3
 3
 

point P. Find the exact coordinates of P. [2]

A rope D starts at the hook and goes in the direction i  j . Another rope E is installed which

passes through points Q(3,1, 2) and R(1, 2, a) .

(ii) Find the values of a for which D and E will not meet. [3]
After considering the artistic effects, the artist uses a  2 .
(iv) The artist wants to add two ropes F and G. Both ropes pass through point Q and are
reflection of each other about rope E. It is known that the rope F goes in the direction
10 
  . Find the vector equation of G. [5]
3
0
 

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 CJC MATHEMATICS DEPARTMENT
2019 JC1 H2 MATHEMATICS (9758)
TOPIC: VECTORS (LINES)

Answers:
1.   34 ; 44.6
 1  3
x  5 z  10
2. (i)  ; y4 (ii) 10 (iii) 50 ;  4  (iv)  1
3 4 2  1 
   
9 15
3. (ii) ;
21 7
1   1 
6 11
4. (i) r   6     4  ,    (ii) (iii) 5 ; 10 33
    2 21 7
 2   
 1 
75 2
5. (i)  = 2 ,  = 3 (ii) 10 (iii)  3  (iv)
 2  2
 
4
6. (a) 60.7 or 1.06 rad (b) (2, 3, 5) (c)  5 
3
 
 1 
7. (ii) 3;  2  (iii) 12 2
 2 
 
0 1 1 1
8. (i) l1 : r = 1 +   3 ,    ; l2 : r = 2 +   2 ,   
 5 4  3 1
1 
5  –1  8
(ii) 28.3 o
(iii) 6  10 (iv) l3 : =   +  13 ,   
r –2
 17   1  1
 4   5 
1   175 1
9. (a)   tan 1 (b)(i) OX   6  ; OY   8  (ii) 350 ; (iii) h  6 , k 
2  5   4 3 2
   
3
 1  
10. (ii) OP   1 (iii) 40.8 (iv) 18.5
2 
0
1 1  1   3 
       1  
11. (i) l2: r   4     0  ,    ;   4 (ii) 39.2 (iii)  4  ; OS   7 
     4 2 
 2  1    7
 3  6 
   
(i) 
16 24 24 
12. , ,  (ii) a  3 (iv) r   1     3  ,   
 22 22 22   2 8
   

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 CJC MATHEMATICS DEPARTMENT
2019 JC1 H2 MATHEMATICS (9758)
TOPIC: VECTORS (LINES)

Challenge Yourself

1. Consider a line l :r  a  m,    and a point P that is not on the line, having a position
vector p . Show that the foot of the perpendicular from point P to line l has a position vector
 (p  a )  m 
given by a   m .
 mm 

x x  2 1  y
2. Given two lines l1 :  y  z and l2 :  , z  1.
2 2 3
(i) Explain why lines l1 and l2 are skew.
(ii) Find the shortest possible distance between the two lines.
(iii) Determine the Cartesian equation of the common perpendicular that intersects with l1 as
well as with l2 .

References:
1. Jean, L., James, N., Brian, W. (2014). Oxford Pure Mathematics for Cambridge International
AS & A Level. Oxford University Press.
2. Stewart, J. (2003). Calculus. (5th ed.). Thomson Brooks / Cole.
3. Thomas, G.B., Finney, R.L., Weir, M.D., Giordano, F.R. (2003). Thomas’ Calculus.
(updated 10th ed.). Addison Wesley.

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