CJC MATHEMATICS DEPARTMENT

2023 JC1 H2 MATHEMATICS (9758)

TOPIC: VECTORS (PLANES)

H2 MATHEMATICS
TOPIC VECTORS (PLANES) 2023/JC1

Mastery Learning Objectives: At the end of the chapter, I should be able to:
 For a plane in three-dimensional space:
 formulate a vector equation of the plane
 in parametric form with a point on the plane and two direction vectors that are
parallel to the plane but not parallel to each other
 in the scalar product form given a point on the plane and a normal vector
perpendicular to the plane.
 convert a vector equation of the plane in parametric form to a vector equation in scalar
product form.
 convert a vector equation of the plane in scalar-product form to a cartesian equation, and
vice versa.
 For a point and a plane:
 determine whether the point lies on the plane.
 find the position vector of the foot of the perpendicular from the point to the plane.
 find the position vector of the reflection of a given point about the given plane.
 find the perpendicular/shortest distance from the point to the plane.
 find the length of projection of a vector onto a given plane.
 For a line and a plane:
 determine and describe the relationship between the line and the plane in three-
dimensional space.
 calculate the position vector of the point of intersection between the line and the plane,
given that they intersect at a point.
 find the angle between the line and the plane.
 find the equation of the line of reflection of a given line about a given plane.
 For two planes:
 determine and describe the relationship between two planes in three-dimensional space.
 find the perpendicular distance between a pair of parallel planes.
 determine an equation for the line of intersection between the two intersecting planes
using the graphing calculator or analytically.
 find the angle between both planes
 find the equation of the reflection of a given plane about another given plane.

Pre-requisites:
 Basic Trigonometry
 Vectors (Basic), Vectors (Lines)
12 Equation of a Plane in Three-Dimensional Space
A plane is a flat, two-dimensional surface that extends indefinitely.
The room represents three-dimensional space. Each wall is an example of a plane.

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 CJC MATHEMATICS DEPARTMENT
2023 JC1 H2 MATHEMATICS (9758)
TOPIC: VECTORS (PLANES)

12.1 Vector Equation of a Plane in Parametric Form

R
b+c
c

A
b

r
a

O
Suppose a plane contains a fixed point A with position vector a and is parallel to distinct, non-
parallel coplanar vectors b and c as shown above. By triangle law of vector addition, for any
point R on the plane with position vector r ,

AR   b   c,  ,   
 
OR  OA   b   c
r  a  b  c
r  a   b  c,  ,   

This is a vector equation of the plane in parametric form.  and  are known as parameters.

Online Resource: https://tube.geogebra.org/material/simple/id/258701

 Remarks: 1. The vectors b and c are called direction vectors of the plane.

2. If we set   0 and allow  to vary over all real numbers, then the above
equations becomes r  a  b,    which is the vector equation of a line
through A and parallel to b. So this line is contained in the plane. Therefore
a plane can be uniquely determined by a line r  a  b,    that it
contains together with a direction vector c which is not parallel to the line.

3. The vector equation of a plane is not unique. There is more than one way to
represent the same plane r  a  b  c,  ,    . For example, if another
point A1 with position vector a1 also lies on the plane and b1 , c1 are a pair
of non-parallel coplanar vectors that are parallel to the plane, another possible
vector equation of the plane would be r  a1    b1    c1 ,  ,     .
4. A parallelogram is usually used to represent the infinitely large plane but it
can be represented by any other shapes.

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 CJC MATHEMATICS DEPARTMENT
2023 JC1 H2 MATHEMATICS (9758)
TOPIC: VECTORS (PLANES)

Worked Example 32:

Find the vector equation for each of the following planes.
1 1 1 1
(i) The plane contains the lines l1 :r   2     2  ,    and l2 :r   2     3  ,    .
     
 3 1  3  4
       
Solution: 1
Problem solving tip: Draw a diagram.  
2
1 l1
 
Vector equation of plane:
1 1 1
     
r   2   s  2   t  3  , s, t   l2
      
 3 1  4

1 1
(ii) The plane contains the point 1, 2, 4  and the line r   2     1  ,    .
 
1 2
   
Solution:  1  1   0  0
Another direction vector   2    2    0   3  0 
      1
 
 4 1 3 1  1
        1, 2, 4  2
 
Vector equation of plane in parametric form:
1 0  1 
      1, 2,1
r   2   s  0   t  1  , s , t   l
      
 4 1  2 

(iii) The plane contains the points A  3, 1, 2  , B  2, 1, 2  and C 1, 2, 1 .

Solution:
 2   3   1  C 1, 2,1
      
One possible direction vector AB   1    1    0  A  3,1, 2 
 2  2  0  B  2,1, 2 
     
 1   3   2 
      
One possible direction vector AC   2    1    1 
 1   2   1 
     
Vector equation of plane in parametric form:

 3  1   2 
     
r   1   s  0   t  1  , s, t  
    0   1 
 2    

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 CJC MATHEMATICS DEPARTMENT
2023 JC1 H2 MATHEMATICS (9758)
TOPIC: VECTORS (PLANES)

12.2 Vector Equation of a Plane in Scalar Product Form

R
A

a r
O

Let  denote a plane and n is a vector perpendicular to  . Let A be a given point on  whose
position vector is denoted by a and R be any general point on  whose position vector is
denoted by r as shown in the diagram above.
 
By Triangular Law of vector addition, we have AR  r  a . Since AR is perpendicular to n,

AR n = 0
(r  a)  n = 0
r n  a n = 0
r  n = a n

Therefore for any point R on the plane, with position vector r ,

r  n  a  n  d , where a  n  d is a real scalar

r n  d

This is a vector equation of the plane in scalar product form.

 Remarks: 1. The vector n is known as a normal vector of the plane.

Given two non-parallel vectors b and c that are parallel to the plane, we
could choose n  b  c or any scalar multiple of b  c .
2. If the plane passes through the origin, d  0 .

3. If a  n  d  0, then the angle between OA and n is acute. If a  n  d  0,

then the angle between OA and n is obtuse. The sign of d indicates whether
the origin is above or below the plane.


If a  n  0, then OA and n are n
A
in the same direction.
a
O

Side view of plane


If a  n  0, then OA and n are
O
in the opposite direction. n
a

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 CJC MATHEMATICS DEPARTMENT
2023 JC1 H2 MATHEMATICS (9758)
TOPIC: VECTORS (PLANES)
4. In the figure below, F is the foot of perpendicular from O to the plane. Let R
be any general point on the plane whose position vector is denoted by r. Let
 be the angle between n and r.
n
R F Side view of plane

r
O

In this case, the equation of the plane is r  n  d , where d > 0 (why?)

r n d
Dividing throughout by n , we get 
n n
d
r  nˆ 
n
From the figure above, the perpendicular distance from O to the plane is given
by
OF = length of projection of r onto n
= r  nˆ
d
=
n
In general, if the equation of a plane in scalar product form is r  n  d , the perpendicular distance from
d
the origin O to the plane is given by .
n

Worked Example 33: Find a vector equation, in scalar product form, of the plane containing the point
with position vector given by 3i  j  2k and which is normal to the vector
i  2 j  k . Hence determine the distance of the plane from the origin O.

Solution:
Equation of plane in scalar product form: 1
 1   3  1   
 2
      1
r   2  1   2  
      
 1   2  1 
1  3,1, 2
 
r   2  7
  
1
7 7
Perpendicular distance from O =  units.
1 6
 2
 
1
 

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 CJC MATHEMATICS DEPARTMENT
2023 JC1 H2 MATHEMATICS (9758)
TOPIC: VECTORS (PLANES)
1
Worked Example 34: Find the equation(s) of the plane that is perpendicular to  4  and at a
 
3
distance 26 units from the origin, in scalar product form.

Solution:
1
d
It is given that n   4  and  26 ,
 3  n
 
d
  26
12  42   3 
2

d
 26
26
d  26
n
d  26

Since equation of a plane in scalar product form is r  n  d ,

O
1 1
   
r   4   26 or r   4   26
     
 3   3 

Note that these two planes are on opposite sides of the origin.

12.3 Cartesian Equation of a Plane

Given the vector equation of a plane in scalar product form r  n  d .

 x  n1 
Let r   y  and write n   n2  , then
z n 
   3
r n  d
 x   n1 
   
 y    n2   d
 z n 
   3
n1 x  n2 y  n3 z  d

This is known as a cartesian equation of a plane.

1
 
For example, consider the equation of a plane r   3   10
 4
 
The Cartesian equation of the plane is x  3 y  4 z  10

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 CJC MATHEMATICS DEPARTMENT
2023 JC1 H2 MATHEMATICS (9758)
TOPIC: VECTORS (PLANES)

Worked Example 35: Find a vector equation of the plane that passes through the point (1,2,4) and
contains the line with equation r  (i  2 j  k )   (i  j  2k ),    . Hence
convert the equation into scalar product form and Cartesian form.

Solution:
From Worked Example 32(ii), a vector equation of plane in parametric form is
1 0  1 
     
r   2   s  0   t  1  , s , t  
      
 4 1  2 
To convert to scalar product form, we first find the normal vector n
0  1  1 1
       
Observe that n   0    1   1  (strictly speaking, n is merely parallel to 1)
1  2   0 0
       
1 1 1
     
Equation in scalar product form is r   1    2    1   3
 0  4  0
     
The Cartesian equation is x + y = 3

In general, a plane is uniquely located in space if

(i) it is perpendicular to a vector and passes through a fixed point, or
(ii) it is parallel to two non-parallel vectors and passes through a fixed point, or
(iii) it contains two non-parallel intersecting lines, or
(iv) it passes through three non-collinear points.

In summary,

Vector equation

Vector equation in scalar product

form Let and write

Cartesian equation

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 CJC MATHEMATICS DEPARTMENT
2023 JC1 H2 MATHEMATICS (9758)
TOPIC: VECTORS (PLANES)

 Self-Practice:
2  3  1 
1. Convert the vector equation of a plane r   3     4     0  ,   ,    to :
 1   5  
     2 
(i) an equation in scalar product form,
(ii) a cartesian equation.

2. Convert the cartesian equation of the following planes to an equation in scalar product form.
(i) 6 x  3 y  4 z  12
(ii) 2 x  3z  7
(iii) z  5

Answers:
 8 
1. (i) r   11   21 (ii) 8 x  11 y  4 z  21
 4 
 
 6   2 0
2. (i) r   3   12 (ii) r   0   7 (iii) r   0   5
 4   3  1
     

12.4 Special Planes: xy-, xz- and yz- Planes

Plane Equation of Plane

Vector Form Scalar Product Form Cartesian Form
xy-plane r   i   j,  ,    r k  0 z=0
yz-plane r   j  k ,  ,    r i  0 x=0
xz-plane r  i  k,  ,    rj 0 y=0

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 CJC MATHEMATICS DEPARTMENT
2023 JC1 H2 MATHEMATICS (9758)
TOPIC: VECTORS (PLANES)

13 Calculations Involving a Point and a Plane

Usually, computations are most easily done in scalar product form.

13.1 Determining whether a Point Lies on a Plane

Given a point and a plane. The approach is to convert the equation of the plane to scalar product
form if needed and then check whether the position vector of the point satisfies the equation of
the plane.

Worked Example 36: (Self-Directed Learning) A plane p has equation 3 x  3 y  2 z  3 .

Show that the point Q with coordinates 1, 2,3  lies on the plane p.

Solution:
 3
 
Expressing the equation of the plane p in scalar-product form: r   3   3
 2
 
1  3 
   
 2    3   3  6  6  3
 3  2 
   

Hence, the point Q lies on the plane p.

13.2 Finding the Foot of Perpendicular from a Point to a Plane

Given a plane  :r  n  d and a point P with position vector p that does not lie on  . Let
F be the foot of the perpendicular from P to  as shown in the diagram.

r = p + n,  
n

To find F:
The approach is to sketch a labelled diagram first. Then write
down the equation of the line passing through P and F as
lPF :r  p   n,    .

Observe that since F lies on l , write OF  p   n for some  value.

Observe also that since F also lies on  , write OF  n  d
 p  n   n  d
Solve the above equation for  .

Substitute this value of  into OF  p   n to find F .

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 CJC MATHEMATICS DEPARTMENT
2023 JC1 H2 MATHEMATICS (9758)
TOPIC: VECTORS (PLANES)

0
Worked Example 37: A plane p has equation r   1   5 . Find the foot of perpendicular, N, from the
2
 
point A 1,3, 1 to the plane p. Hence find the reflection (also known as the
mirror image) of the point A in p.
Solution:
1 0
   
l AN :r   3     1  ,   
 1  2
   
1 0  1 
  
Since N lies on line l AN , ON   3     1    3    for some  value.
 1   2   1  2 
     
 1  0
   
 3      1   5
Since N also lies on the plane,
 1  2   2 
   
3    2  4  5
 2
 1   1
    
 ON   3  2    1 
 1  2  2    3 
   

Hence, the foot of perpendicular is 1,1,3  .

To find the reflection of A in p, we draw a diagram first.

 1  

By ratio Theorem, ON  OA  OA
2
 
1  1   1 
        
OA  2ON  OA  2  1    3    1
 3   1  7 
     
So the point of reflection has coordinates 1, 1,7  .

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 CJC MATHEMATICS DEPARTMENT
2023 JC1 H2 MATHEMATICS (9758)
TOPIC: VECTORS (PLANES)

13.3 Finding the Perpendicular or Shortest Distance from a Point to a Plane

Given a plane  :r  n  d and a point P with position vector p that does not lie on  . We
can find the perpendicular distance from P to  , h .

Method  : Through Finding Foot of the perpendicular

See Section 13.2 to find the foot of the perpendicular, F, from P to  . The perpendicular
distance from P to  is 
h  PF

Method : Using Length of Projection

P

n
A

If we know a point A with position vector a that lies on  , then the length of projection of
 
AP on n is h  AP  n

Pause and think: You can find a point in the plane by observation. For example, if the equation of
1
plane is r   2   4 , then  0, 2, 0  lies on the plane.
 3
 
Can you come up with two other points?

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TOPIC: VECTORS (PLANES)

Worked Example 38: (i) Find a vector equation of the line passing through the point A  3, 1, 2 
and perpendicular to the plane r   2i  j  k   4 .
(ii) Find the point of intersection of the line and the plane.
(iii) State the shortest distance from the line to the plane.
(iv) Find the shortest distance from the point A to the plane.
Solution:
 3  2
   
(i) l : r   1     1  ,   
   1
 2  
n
(ii) Let the point of intersection be B.
 3  2   3  2 
  
Since B lies on line l, OB   1     1    1    for some  value
 2  1   2 
     
 3  2   2 
   
 1      1   4
Since B also lies on the plane,
 2   1 
   
6  4  1    2    4
  0.5
 3  2  0.5   2 
    
 OB   1   0.5   1.5  .
 2   0.5  1.5 
   
Point of intersection of the line and the plane is  2, 1.5, 1.5  .

(iii) Since the line and the plane intersect, the shortest distance between the line and the plane is 0.0

(iv) B is the foot of perpendicular from A to the plane

 2   3   1 
        
AB  OB  OA   3 / 2    1    1 / 2 
 3 / 2   2   1 / 2 
     

Hence shortest distance from A to plane  AB

 ( 1) 2  (1 / 2)2  ( 1 / 2)2

6

2

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TOPIC: VECTORS (PLANES)

 Alternative Method (Self-Directed Learning):

What if you are asked to find part (iii) directly, without parts (i) and (ii) ?

 2  2 
   
Since  0    1  4 ,  2, 0, 0  is a point on the plane
0  1 
   
Let C be  2,0, 0 
 3  2  1 
      
CA   1    0    1 
 2 0  2
     
1  2 
   
 1    1 
 2  1 
   
Using length of projection, shortest distance =
22  12  12
3 6
 
6 2

14 Calculations Involving a Line and a Plane

14.1 Relationship Between a Line and a Plane in Three-Dimensional Space

Given a line and a plane, three possible cases of relationship exist :

Intersect Do not intersect

l
Parallel

Not parallel Not applicable.

Online Resource: http://tube.geogebra.org/material/simple/id/stz3URtT

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Consider a line l :r  a   m,    and a plane  : r  n  d .

Case : Line intersects the plane at one point (one point of intersection).

l is not parallel to   m is not perpendicular to n .  m n  0 .

To find the point of intersection P : The approach


is to first sketch a labelled diagram.
Observe that since P lies on l , we can write OP  a   m for some  value.

Observe also that since P also lies on  , we can write OP  n  d
Then we solve the equation  a   m   n  d , for  .

Lastly, substitute this value of  into the equation OP  a   m to find P .

Case : Line does not intersect the plane (no point of intersection).

l is parallel to   m is perpendicular to n .  m n  0 .
Point A does not lie on  .  an  d .

Case : Line lies on the plane (infinite points of intersections).

l is parallel to   m is perpendicular to n .  m  n  0 .
Point A lies on  .  a n  d .

 Remark: For Cases  and , the line l is parallel to the plane  .

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TOPIC: VECTORS (PLANES)

 4  1 
Worked Example 39: Find the point of intersection between the line r   6     2  ,    and
 2   0 
   
 
2
plane whose vector equation is r   1  4 .
2
 
Solution:
Let the point of intersection be B.
 4  1   4 
  
Since B lies on line, OB   6     2    6  2  for some  value.
 2   0   2 
     
 4   2 
Since B also lies on the plane,  6  2    1   4
 2   2 
   
8  2  6  2  4  4
3
 
2
 4   32   52 
    
 OB   6  2   3 2     3  .
 2   2 
   
5 
Point of intersection is  ,  3,  2  .
2 

1  2
Worked Example 40: Show that the line whose vector equation is r   1     1  ,    does not
 
0  4
   
1
intersect the plane whose vector equation is r   2   4 .
 1
 
Solution:

 2  1 
   
1 2   2  2  4  0
 4   1 
   
 the line is parallel to plane.
1  1 
   
1  2  1 2  3  4
 0   1 
   
 the point 1, 1, 0  is not on the plane.

Hence the line does not intersect the plane (shown).

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2023 JC1 H2 MATHEMATICS (9758)
TOPIC: VECTORS (PLANES)
1  2
Worked Example 41: Show that the line whose vector equation is r   1     1  ,    lies on
 0 4
   
1
the plane whose vector equation is r   2   3 .
 1 
 
Solution:
 2  1 
   
1 2   2  2  4  0
 4   1
   
 the line is parallel to plane.
1  1 
   
1 2  1 2  3
 0   1 
   
 the point 1, 1, 0  is on the plane.

Hence the line lies on the plane (shown).

14.2 Finding the acute angle between a Line and a Plane

Consider a line l : r  a   m,    and a plane  : r  n  d .
The angle  between the line and the plane is taken to be the acute angle between the line and
its projection in the plane. This angle could be determined by firstly finding the angle  between
direction vector m and normal vector n respectively used for the line and the plane.
 mn  For details on finding the angle between two
Angle between m and n ,   cos 1  
m n vectors, refer to Section 7.4.1, Vectors (Basic).

Case  l
n
If the angle  between m and n is acute, then the
π m
angle  between the line and the plane is   .
2


Case 
n l
If the angle  between m and n is obtuse, then the

angle  between the line and the plane is   .
2

m
__________________________________________________________________________________
 Remark: The acute angle  between the line l and the plane  is given by,
m n
  sin 1 since cos   sin 
m n

__________________________________________________________________________________

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 CJC MATHEMATICS DEPARTMENT
2023 JC1 H2 MATHEMATICS (9758)
TOPIC: VECTORS (PLANES)

Worked Example 42: Find the acute angle between the line r  1    i   2    j     1 k ,    and
the plane r   2i  j  k   4 to the nearest 0.1 .
Solution:
1 1 2
   
Equation of line: r   2     1  ,    . Equation of plane: r   1  4
   1   
 1    1
Let the angle between the line’s direction vector and the plane’s normal vector be  .
1 2 1 2
       
 1   1   1   1 cos 
1 1 1 1
       
4  3 6 cos 
  19.471  3d.p 

Hence, the angle between the line and the plane is 90   19.471  70.5 1d.p  .

 Self-Practice:
Find the acute angle between the line r  1  2  i   2  3  j  4k ,    and the plane
r   i  2 j  k   3 to the nearest 0.1 .

Answer:
64.9

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TOPIC: VECTORS (PLANES)

14.3 Finding the Image of a Line reflected in a Plane

3  y z 1
Worked Example 43: The equation of line l is x  2   .
2 2
1
 
(i) Find the coordinates of the point of intersection N of l and the plane  : r   1  15
2
 
(ii) Find an equation of the line of reflection l’ of the line l in the plane  .

Solution:
(i) First, we convert the equation of l into vector form: we have
x  2 y  3 z  (1)
  .
1 2 2
2  1
   
r   3     2  ,   
 1   2 
   
2  1   2 
  
Observe that N lies on l, ON   3     2    3  2  , for some   
 1    2   1  2 
     
1
  
Observe also that N lies on  , so ON   1  15
2
 
 2     1
   
Thus,  3  2    1  15
 1  2   2 
   
 2    3  2  2  4  15
   18

 16 
 
Thus, ON   39  . The coordinates of N is (–16, 39, 35)
 35 
 
(ii) First we sketch the side view of the plane. P l
Plan: We need to find the reflection P’ of the point
P (2,3,-1) in the plane. N
1 1 
   
Observe that PP / /  1  , so PP   k  1 ,for some k   P’
2 2 ’
    l’

1
   
OP  OP  k  1
2
 

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TOPIC: VECTORS (PLANES)
2  1   2k 
      
OP   3   k  1   3  k 
 1   2   2k  1
     
 2   16   2  k   16 
         
Observe also that NP  NP   3    39    3  k    39 
 1  35   2k  1  35 
       

 18   18  k 
   
  36    36  k 
 36   2k  36 
   
(18  k )2  (36  k )2  (2k  36)2 = 54
Solving the quadratic equation gives k  6 .
 8
  
OP    3 
 11 
 
 16   4
Thus, the equation of the line of reflection is given by r   39     7  ,   
 35   4 
   

14.4 Find the length of Projection of a vector onto a Plane

b
Length of projection of b onto plane  = b  nˆ .


b  nˆ

Worked Example 44: (Self-Directed Learning) The plane  has equation 2x + y – 2z = 8. Find
the length of projection of the vector j + 4k onto the plane.

Solution:
0  2   6 
     
1 1   ( 8) 
 4   2   2 
      2 26
The required length of projection is given by  
22  12  ( 2)2 3 3

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TOPIC: VECTORS (PLANES)

15 Calculations Involving Two Planes

15.1 Relationship between two planes

In the three-dimensional space with cartesian coordinates, any two distinct planes are either
parallel or intersecting.
Parallel planes

n1
n1
n 1 and n 2 are parallel.
1
n1  k n 2 for some k   .
n2

2

Non-parallel (intersecting) planes

n2

n1 n 1 and n 2 are not parallel.

n1  kn 2 for any k   .
1 ( i.e. There is no k   for which n1  k n 2 . )

2

The intersection of two non-parallel planes is a straight line.

Online Resource: http://www.geogebra.org/material/simple/id/izQecHFX

Pause and think: How do we check if two planes are perpendicular?

Answer: Check whether n 1 and n 2 are perpendicular.

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TOPIC: VECTORS (PLANES)

15.2 Distance between Two Parallel Planes

The distance between two parallel planes in three-dimensional space is the perpendicular distance
between the planes. It could be determined by the method of projection.

 2  4
Worked Example 45: Two planes p1 and p 2 have vector equations r   1   3 and r   2   9
 2   4 
   
Explain why p1 and p 2 are parallel and find the distance between them.

Problem Solving Tip: Heuristic : Re-state the problem:

Find a point in p1 , then find distance from this point to p 2 .

Solution:

 4   2
   
 2   2  1  implies that the two normal vectors of the planes are parallel.
 4   2 
   
Therefore the two planes are parallel to each other.

Let point A be a point on p1 . A possible coordinate of A is  0,3,0 .

 9 
Let point B be a point on p 2 . A possible coordinate of B is  0,  , 0  .
 2 

2
 1  
The distance between the planes, h  BA   1 
3 
 2 
 0   0    2 
1      
  3    9 / 2     1 
3   
 0   0    2 

 0   2
1   
  15 / 2    1 
3   
 0   2 

 units
2

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 CJC MATHEMATICS DEPARTMENT
2023 JC1 H2 MATHEMATICS (9758)
TOPIC: VECTORS (PLANES)

Alternative:

 2   4   2  4
Since  1  and  2  are in the same direction, r   1   3 and r   2   9 implies that p1 and
 2   4   2   4 
       
p 2 are on opposite sides of the origin.

3
Displacement of p1 from origin is 1
2  1   2 
2 2 2

9 3
Displacement of p 2 from origin is 
4 2  2 2   4 
2 2

 3 5
Distance between two planes is 1      units
 2 2

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 CJC MATHEMATICS DEPARTMENT
2023 JC1 H2 MATHEMATICS (9758)
TOPIC: VECTORS (PLANES)

15.3 Finding the Line of Intersection between Two Non-Parallel Planes

 a1   b1 
Given two non-parallel planes  1 and  2 with normal vectors a   a2  and b   b2  such
 
a  b 
 3  3
 a1   b1 
that 1 :r   a2   d1 and  2 :r   b2   d 2 , we can find the line of intersection between them.
 
a  b 
 3  3

Method : Using G.C.

Rewrite the equations of both planes in Cartesian form:

a1 x  a2 y  a3 z  d1
b1 x  b2 y  b3 z  d 2
Use the G.C. application PlySmlt2 to solve the above equations for 2 variables in terms of the
third. This will give a set of parametric equations of line of intersection (See Worked Example
46).

Method : Find a direction vector of the line of intersection and a point on the line

a l
ab
b

1

2

Since the line of intersection is perpendicular to both normal vectors a and b , it is parallel to
a  b . Therefore the line of intersection is l :r  p   m,    , where
 a1   b1 
   
m //  a2    b2  (in simplest form) .
a  b 
 3  3
Secondly, a point P on l is a common point of 1 and 2 and this can be found by letting

 x
  
r = OP   y  and substituting into the equations of 1 and 2 to give two equations in three
z
 
unknowns. This means that the system of linear equations has one degree of freedom and we
can let any of the variables x, y or z be any number we like (we usually choose the number 0).
The two variables can then be found by solving the two simultaneous equations. The point P is
now determined and the equation of l can then be written down.

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 CJC MATHEMATICS DEPARTMENT
2023 JC1 H2 MATHEMATICS (9758)
TOPIC: VECTORS (PLANES)

Worked Example 46: (Self-Directed Learning)

Find a vector equation of the line of intersection of two planes given by
 1  2
1 : r   1   6 and 2 : r   1  4 .
 3  1
   
Hence find the reflection of the plane 1 in the plane 2 .

Solution:

Method 1: Use GC
 1 
 
r   1   6  x  y  3 z  6  (1)
  
 3 
2
 
r   1   4  2 x  y  z  4  (2)
  
1

10 2
Using G.C., x  z
3 3
8 7
y  z
3 3
zz
 10 3   23 
A vector equation of the line of intersection is r   8 3     7 3  ,    .
 
   1
0  
Remarks:
 1   2   2   23 
     
Do note that  1    1   7  which is also parallel to  7 3  . Therefore you can always use GC to
 3   1   3  1
       
verify correctness of your vector product. Please refer to the Annex (Page 102) for more information.

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 CJC MATHEMATICS DEPARTMENT
2023 JC1 H2 MATHEMATICS (9758)
TOPIC: VECTORS (PLANES)

Method 2: Analytical Method

In this method, we still begin with the set of equations

 1 
 
r   1   6  x  y  3 z  6  (1)
  
 3 
2
 
r   1   4  2 x  y  z  4  (2)
  
1
Let x = 0 (we could have let y = 0 or z = 0). Then we have
y  3 z  6  (1)
 y  z  4  (2)
Solving simultaneously, we obtain z = –5 and y = –9. So a common point is (0, –9, –5).

Next we determine the direction vector of the line of intersection.

 1   2   2 
     
The direction vector is parallel to  1    1    7 
 3   1   3 
     
 0  2
So a vector equation of the line is r   9     7  ,   
 
 5   3
   

We denote the reflection of plane 1 in the plane 2 by 3 , we again sketch the

Q
1
side view of the planes.

 2 2
Notice that  7  gives one direction vector of 3 .
 3
 
The line of Q
To find a second direction vector, we need to join the point (0, –9, –5) intersection 3
to a point on Q that does not lie on the line of intersection. and (0, –9, –5)
lie in this dot.
To find this unknown point, we first find a point on 1 .
 0 1
Since  0    1   6 , Q (0,0, –2) lies on 1 . We then find the point of reflection Q’ of (0, 0, –2) in
 2    3 
   
the plane 2 . We use the similar method as in Worked Example 43 part (ii).
The reader can verify that Q’ is (4, –2, 0).
 4  2  4
So a vector equation of 3 is r   2     7     7  ,  ,   
 0  3 5
     

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 CJC MATHEMATICS DEPARTMENT
2023 JC1 H2 MATHEMATICS (9758)
TOPIC: VECTORS (PLANES)

15.4 Finding the angle between two non-parallel Planes

Consider two planes,  1 : r  n1  d1 and  2 : r  n 2  d 2 .
The angle  between the two planes is taken to be the acute angle between the respective normals
to the planes. From the cross-sectional view of the planes, this angle could be determined by firstly
finding the angle  between the respective normal vectors n 1 and n 2 used for the planes.
 n n  For details on finding the angle between two
Angle between n 1 and n 2 ,   cos 1  1 2 
 n1 n 2  vectors, refer to Section 7.4.1, Vectors (Basic).

n2 n1
Case  

If the angle  between n 1 and n 2 is acute,

then the angle  between both normals is also  . 2

 The angle between both planes is  .

1

n2
Case 

If the angle  between n 1 and n 2 is obtuse,
then the angle  between both normals is    . n1
2
 The angle between both planes is    . 

1

Worked Example 47: Find the acute angle between the planes
1 : r   i  j  k   6 and  2 : r   i  j  2k   10 .
Solution:
Let the angle between both planes’ respective normal vectors be  .
1  1 1 1 
       
 1   1    1  1  cos
 1  2   1  2 
       
4  3 6 cos 
4
cos 
3 6
  19.5 1d.p  or 0.340 rad  3s.f 
 The angle between the planes is 19.5 or 0.340 rad.

 Remark: The acute angle  between both planes  1 and  2 is given by

n1  n 2
  cos 1
n1 n 2

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 CJC MATHEMATICS DEPARTMENT
2023 JC1 H2 MATHEMATICS (9758)
TOPIC: VECTORS (PLANES)

Worked Example 48: [Contextual Problem] [2018/JJC/I/10]

Building contractors are constructing a rock climbing wall at the corner wall of a gymnasium. Points
 x, y, z  are defined relative to a ground anchor point at  0,0,0  , where units are metres. Support
beams are laid in straight lines and the thickness of the support beams and rock climbing wall can be
neglected.

The three support beams of the rock climbing wall, S1 , S2 and S 3 start at the ground anchor point and
1 0 0
     
go in the direction  0  ,  1  , and  0  respectively. The support beams S1 and S2 are on the ground
0 0 1
     
level. The vertices A , B and C of the rock climbing wall lie on the support beams S1 , S2 and S 3
respectively. The rock climbing wall lies on the plane  with vector equation
1  2   1 
     
r   5     3     2  , where  ,    .
 1   12   7 
     
(i) Find the cartesian equation of the plane  and hence show that the coordinates of A are
(4, 0, 0) . [4]

One of the building safety standards stipulates that the rock climbing wall should be inclined to the
horizontal ground at an acute angle not exceeding 80 .
(ii) Determine if this building safety standard is met. [3]

For additional stability, a fourth support beam from the ground anchor point to a point N on the rock
climbing wall is laid. This support beam is the shortest in length.
(iii) Find the coordinates of N and the exact length of this support beam. [5]

Solution:

(i)  2   1   3
     
A normal vector =  3    2    2 
 12   7   1 
     
 3  1   3
    
Scalar product of plane  : r 2  5  2  12
    
 1   1   1 
    
Therefore, Cartesian equation of plane  : 3 x  2 y  z  12
At support beam S1 : y  z  0

 vertex A   4, 0, 0 

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 CJC MATHEMATICS DEPARTMENT
2023 JC1 H2 MATHEMATICS (9758)
TOPIC: VECTORS (PLANES)

(ii)  0  3
  
 0  2 
1 1
  
Acute angle of inclination of wall  cos 1  74.498  74.5
9  4 1
Since 74.5  80 , the safety standard is met.

(iii)  3
  
Let ON    2  for some   
1
 
To find N,
 3   3 
  
  2  2   12 S3
   1
  
6

7 S2
N
 18 12 6 
Point N :  , ,  S1
 7 7 7
6
Length of 4th support beam  9  4 1 S4
7
6 14

7

Annex: Use of Graphing Calculator to check the correctness of vector product

Using PlySmlt2 application can help you verify your calculations of vector product quickly.
 1   1   2 
     
For example, we want to check if  2    1    7  is correct.
 4  3   3 
     

 2
 
Notice that the GC generates a set of solution which has the same ratio as the vector  7  , verifying
 3
 
that the calculation is correct.

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