aoe 33 D+2b.ct+e [eo b. ce b, pate nice =] +4 Dae scosQ=—bee_ gabe? Syne aay Jb|.Je] 2|blje} : ps If a,b are two unit vectors and 0 is the angle between them, show that (SC 2013, UPSEAT 2002) 23 4.b = |al|b|cos®=1x! cos @=cos 2 hee Otte tap? ao 40 \a-bP = @—by =a? 4b?-2ab=141-24.b=2-24.6 Hence, ja-b|= OD Fine the angles which the vector a = 31-6) +2k makes with the coordinate aes solution:Let the vector @ make angle ot, B and 7 with x, y and z axes respectively. Also, we now that the unit vectors along the coordinate axes of x, y and z are i, jand k respectively. Now a = angle between @ and the x-axis = angle between @ and i 7 _Gi- 67+2h).@) _ jal.li] [3i—67+2a)-171 = cosa = = = a=cos' (3/7) ee a 74 Similarly, cos = —2+L— and cos y= 2-4 alld lal.té ‘Ans, B= cos! (-6/7), y= cos (2/7) in the unit vector @ are cos «t, cos By, COs 7. Method II. Coefficients of 7 «__3i-6]+2k 31-6} +2k 3? +6? +? u Type 3. Mutually perpendicular and parallel vectors. _. (a Find the value of 2 such that the vectors 2i-j-k and Ai+j+Sk are Perpendicular. 7 -6 2 _ casa 2 cos=TP cosy =F ete.Ch 22-26 il. 12. 13. 14, 15. 16. 17. 18. ISC Mathematics — XII lee 32 OF 2 = eee ee Find the projection of b+c on a, wherea=2i-2j+k, b =i+2j-2k and ea2i- 744k. , (CBSE 2007) Using vectors, find the projection of the line joining the points (1, -1, 1) and (—2 , 3, 4) on the line joining the points (4, -3, 5) and (7, 8, 7). Find the vector projection of the vector Ti+j—4k on (i) 214+67+3h (ii) Ti+ 7-3k (CBSE 2016) ey > 3333 3 8 > > Let u,v and w be vectors such that vw +v +w=0.1f|u|=3,|v|=4 and | w|=5, them 343 39 30 find u.v+v.w+w.u. (UT 1993) aon a“ A Find the angles which the vector a =i- j+V2k makes with the coordinate axes. Dot product of a vector with 7 + j =3k, i+ 37 -2k and 2+ j +4k are 0, 5 and 8 respectively. Find the vector. , (CBSE 2003) If the sum of two unit vectors is a unit vector, prove that the magnitude of their difference is V3. If a and b are unit vectors inclined at an angle 0, then prove that |a-5| i 0.1.4 4 (i) cos==—|atb|, (ii) tan 2=_ oO Ch 22-55 ait WFor, Veet 242 ang? Fad =x? +27 ang ke jaxit laxiy Bry 2 agit SECTION ¢ SCALAR TRIPLE PRODUCT , INTRODUCTION P igis formed with three vector, due OS ate called tri I apo «pen we maY have the following types of products rout: IF 2B, 2 are any three SS EO Rh.e (i) @Bz Pe wy bye ) abe) (ii) @B)x2 (wv) 2B x2) , ax(B2) (i) @xB).2 (viii) Gx(Bx2) jo ¢- Similarly Gi) is meaningless, The p * 9 defined between the scalar (@-B) and the Similarly (v) is meaningless, tte product (i), (i), (vi) and (vi) are meaningful : Of these (iv) and (vi) are called scalar Je products because their product is a Scalar quantity, and the Products (vii) and (viif) are jl the veetor triple products because their producti @ Vector quantity, .25, SCALAR TRIPLE PRODUCT (STP) ition. For any three given vectors, product of the remaining two, is Toduct (iti) is meaningless sinc y © cross product is vector ¢, the scalar product of one of the vectors and the called a scalar triple product. if @, B, ¢ are three vectors, then (@xB)-¢ is called scalar triple product and is denoted ees [ac] or (a,b, ec). 128. GEOMETRICAL INTERPRETATION OF SCALAR TRIPLE 2350 PRODUCT (axb)-c e scalar triple product (a b)-e represents the volume of a parallelopiped whose inous edges are represented by a, 6 and ¢ which forma right handed system of vectors. sera parallelopiped whose coterminous edges 04, OB, OCare represented in magnitude i direction by @,b, ¢ respectively, ie, OA=a,OB=6 and OC=€. Then axB isa perp. to the plane of a@ and b. Let be the angle between ¢ and axb, en (@xB).2 = (2-18 sin 6|al-c =(al|B sin Gre)cna ISC/Mathematics — yy = (/a || [sin @) (t] ¢ |cos 4) = ab sin 0 - coos > = area of the || gm OADB x length of 1. from C on OADB. = area of the base x height of the parallelopiped = volume of the parallelopiped. Note The scalar product (@xB)-¢ is posit laccordingas @, B, ¢ form, aright handed ora left handed system. ive or negative 2 Fig. 22.34 a ‘ ee) 22.27. EXPRESSION OF THE SCALAR TRIPLE PRODUCT (ax b)-c IN TERMS OF COMPONENTS EBami+5,jroheaqi ten) tek, then yi tay J+ as la : , F BxB =], ay a5 |=(aybs —agby)? (bs — 450) J + ib — a2) bh by (@xB)-2 = [(aghy—asb,)i ~ (ab, — 05h) 7+ (aby ag) k}-(c,i +c, Fregk) = cy (ayb3 — ybp) — €7(ayb3 — 51) + €3(44b2 ~ 4964) = ay (by¢5 ~ byep) ~ ay (by 03 ~ bye) + a(by¢2 ~ 2%) 337 m% a & or [abc]=|b, b, b; & 4 22.28. THE NECESSARY AND SUFFICIENT CONDITION, THAT THREE NON-ZERO AND NON-PARALLEL VECTORS a,b, ¢ BE COPLANARIS [a b e]=0. Proof. The condition is necessary. Let a, b, ¢ be three non-zero, non-parallel and coplanar vectors. It is to be proved that [a b c]=0. xB isa vector perpendicular to the plane of @ and B. Since a, b, ¢, are coplanar; xB is.also perpendicular to ¢. Hence, (@xB)-¢ =0,ie,[a B c]=0. @ are coplanar wld) The condition is sufficient. Let [a B 2] =0, it is to be proved that a, B, Now, (aB 2] = 0 > @xB).2=0 This shows that either @ x B is perpendicular to @ or 2 =Oor axB =Obut C#9- a> Se 726: Also axb=0 = @=0,8=0 or @,B areparallel vectors. Butitis given that # * 6Ch 23-2 1SC Mathematics — yy (ii) the ¥- (0,9, 0) (ii) the (0,0, 2) 5. Equations of lines parallel to coordinate axes (i) The equations of a line parallel to x-axis are y= b, is (ii) The equations of a line parallel to Y-axis are z= ¢, (ii) The equations of a line parallel to Z-axis are x= a, y= b. 6. Distance formula. The distance between two points ( PQ, z)) and OG%y,.">.25) is given by 1PO|= Ji, x)? +0) 9) +4 Fig. 23.02 Vato (ii) The distance of any point P(x, 2,) from the origin is given by O1 7. Section formula. The coordinates of the point which divides the join of the points (x,, y,. 2) and (x,y, 23) in the ratio m, : m, are (a (meat marty mie tmts) ie ing my+m, 7 my+m, * my, +m, division is internal (b [MRM MYM yy myey — mae my — my m,—m, m, iE if the i, v division is external Fig. 23.03 (€) Coordinates of the middle point of the line segment joining the points (x,y, ,) and jg (Aut Mt Aty ty Yys 3) is (AR MM te) 2 ( 2 2° 2 23.02. ANGLE BETWEEN TWO. LINES The angle between two intersecting, :e., coplanar lines is already known to the student. We now define the angle between two non-intersecting, i.e., skew lines, as follows: Definition. The angle between two skew lines is the angle between two imersecting lines drawn from any point parallel to each of the given lines. Note. Generally, we choose the origin from which lines are dravin parallel to the skew lines. Thus, it follows thatthe angles between a given line and the coordinate axes are the angles which the line drawn through the origin parallel to the given line makes with the axes, 23.03. DIRECTION COSINES Let the line OP, parallel to the given line AB, make anyba veo Dimensional Geometry 1H the angles &, B, y are known as the direction angles and satisfy recondition that 0 So, B, y that line where & is any non-zero real number Cc aN Maths alert. The student should always make a distinction/yetween direction cosines and direction ratios. It is only when /, m, n are direction cosines, that we have the relation eS oi mt =I. gente 8 ——___ RRatio and Proportion} 23.05A. DIRECTION RATIOS AND DIRECTION COSINES OF A VECTOR Let raaisbjrek be a vector then coeicents of i,j ratios of 7 - the — cosines of 7 are given by a. 7 ae ese? a ea ain @ 7% ILLUSTRATIVE SOLVED EXAMPLES The direction ratios of a line are 3, 4, 12. What are its direction cosines? Solution: Direction ratios are 3, 4, 12. Therefore, direction cosines J, m, n are 3 12 : 4.12 - 3 9 i 3A ang 2 (rea? 4i2%)) a? 44? 4122) +e ei) BBB Find the direction cosines of the line that makes equal angles with the axes. Solution: Let /, m, n be the required direction cosines. Then l=m=n(: 60s A= cos B= cos yas a =f =) Also, P +m? +n?=1 => P+P+Pa, + 32 If the line ik in rr i OXYZ, then J, m, n will be Positive. Therefore, Fe cirton cosines will be BR + Ifthe line lies in the octant Ox YZ, then the direction cosines . 11 7 will be eR ca a for other octants.pimensional Geometry ee Ch 23-5 Aline makes angles of 45° and 60° with the posi Positive ax ne does it make with the pos €8 ofxa axis of 2? ind y respectively, y jine make an angle y wit ee . yes Let the line make an angle ' with the positive z-axis, then its sires Pb) a ION cosines a os 60° a4 COSY are pane +n Ye 60° or 120°. ur question: Mu a angles 90°, 60° and @ with x, y and z-axis respectively, ja is aoute, then find 6, (Ans. 30°) (CBSE 2015) pl Write the direction ratios of the vector 3a+26 where a=i+j-2% and 2a} dj+ Ske (CBSE 20150) OOF pe mem ne saution: 34420 =3 (i+ 7-2k)+2(21-43 45%) = Ti-5j+4k + The di’s of the vector 3a+2b and 7, 5, 4, Note. The d.c’s will be. 5 5 4 7 4 . 7 —=—. ae, ie, a, Pacspea (P+ csypee (P45) +42 3vi0’ 3vi0’ 3Vi0 23.06, DIRECTION RATIOS OF A LINE JOINING TWO POINTS Let d (xy, yy, 21) and B (Xp, Yo» Z) be the two given points. Draw aan BM 1 OX and AKL BM, Bl Yn2) Then AK = LM = OM - OL = x,—*, cosq= AK 22-71 (Let AB=1) AB r er j= 2=A, r Y Fig. 23.09 = nr Similarly, m = 22 - n= B ay a YI 2h 2 (xy — i) 02 — 2 22a cae r r = pireetion ratios are — Xp Ja “Jn - while the direction cosines of line AB determined by ly that whi Note. It is to be noted carefull icected from A to B are Poin 4 (xy, y,, 21) and B Cea» Yo *2) and direISC Mathematics — x =41 | those of line BA directed from B to 122 12 2]... : Except for the natural preference for [3.2.2 ]over [-3, 5775 | it is immateriat which set of direction cosines are used when dealing with an undirected line. A line passes through the points (6, — 7, ~ 1) and (2, ~ 3, 1). Find direction ratios and direction cosines of the line so directed that the angle « is acute. (SC) Solution: The direction ratios of the line are 3-(7),1-C 1), ie, -4, 4, 2, ie, 2,-2,-1 [xy = Xp, ¥2 —Yys 2-24) <. Direction cosines are 2 2 -1 ' + 5 bes Vo? +2? +0) Ye 2? +n) 2? +E 2+ C07 23.07. ANGLE BETWEEN TWO LINES Let (I, m,, n,) and (J), 1, n,) be the direction cosines of ‘two given lines. Let OP, and OP, be the two lines through the origin parallel to the given lines and let 6 be the angle RO Yor2) P, Yn) between the lines. Let OP, = r,, OP, = ry, and P,P, = d. : By the Cosine Formula, x & = +r — 2H ry cosO oi) Let the coordinates of P, be (xy 9, z,) and those of P, be (&y Yp5 2). Then Fig. 23.10 2_ 2 Paap typ tapas ye #= (xP +, -y,)? + (2-2, oe OL + OT +21) +(e] +92 423) 2 (mm + +24) pg BPM Wt +P ~2 (x, x2 + yy +2129) i) Comparing () and (i), we have r, ry 608.0 = x, + y, 9, + 212 or cos = yy M YM ied i x We know that x, = fr, or“ =), and x= hyn, ot 22 = 1, ete ‘i be) —— cos 0 = 1, + myn, + nny = Zh, which gives the angle @ between the two lines, Caution, In the above formula /,, m,, n, and Jy My n, are actual direction cosines and not direction ratios.jonal Geometry. re pimensi Ch 23-7 Angle in €erms of the direction ratios of the line or. ction cosines of two lines be proportional to cya ori pi 4 by €, and ay by, cy, then their by 4 ase Et Et ind a al 9 La; 2 e x i Laj ay Eada? = 42 Mag + byby + ce 08, LAGRANGE'S IDENTITY OF +m + mf ) CF + m3 + 03) Aly + mpg + nyny ? = (myn, — mn, + (nh, - Ml? + ym, - Lm Proof. LHS. = 173 + Pm} + Ind + m?3 + mim} + min} + nPB + nom 22 272 2. + ning ~ 1B — mem ~ nbd — 2hymlymy - mymgry ry — Aylonyny | = (mn, = mam)? + (rly = ngl,Y? + (mg — Lm, P= RAS. | 209. SINE FORM AND TANGENT FORM OF THE ANGLE FORMULA sin? 0 = 1 ~ cos? @ = 1 ~ (Il + mym, + nn, (2 + mp + np) B + m3 +03) — yy + mm + mm)? (el +m} +n? =1= 85 + m3 +3] = (Lym, = hm? + (myn, — myn? + (ml —myl)? [Lagrange’s Identity] SRG in® E (Img = Lamy sin @ = + JE(ymy — bm’, tan @= 5 = cos8 Zh ee proportional to a,, 5, ¢, and a,, b,, c,, “" their actual values are ts and te, ea? faa?” |E0? \2a3 ayy + bp + 062 eee 2 a Lap, = ah)? + (bien = bye) + (qiaz — 224) tat Vea? 23 : jon cosines or direction rati ®Xpression for tan 0 is of the same form whether we use direction cosines irection ratios, 62 2a AE (aby = ah? tie aaycn 288 (SC Mathematics — yi, 23.10. CONDITIONS OF PERPENDICULARITY AND PARALLELISM (i) When the given lines are perpendicular to each other, then 0 = 90° so that cos 9 = cos 90° = 0. Il, ¥ myn + my, = 0 (ii) When the given lines are parallel to each other, then 0 = 0° so that sin 0 = sin g° 2 2. - => sin? =O => (mrt, — img)? # (ly — Mah Um, — lym P=9 my, mh ono oe aAeh myny— myn, = oe mick hm hm _ my Iymg— hm, =0 => 4=" Hence == Lm bm, my ee i m Vip tmp tng Further, since 7 f= = Lit follows that , = 1,,m,=m,,n,= im hmm ip mend Hence the condition of parallelism is fy = dys m, = sys m, = 1. Note. Ifa,, b,,¢, and a,, b,c, are the direction ratios ‘of the two lines, and if @= Zayay 90°, then cos @ = ——!"2__ = 0 = Emap =0 Vora?) eed) ie, aja, + byb, + c,c,=0 which is the condition of perpendicularity. If the lines are parallel, then @ = 0°, ie., 2 sin0=0 => sim=o = Ztiba—aab)” Ea? Ea} > (ajby ~ agb,)? + (bye, ~ bye,)? + (cay ~ cya, = This is true only if each term is zero, a,b, ~ ayb, = 0, bic, ~ b, =0 => E(ayby - ay)? =0 261 = 0, cya, — ea, = 0 or which is the required condition for parallelism. Find the acute angle between two lines whose direction ratios are 2,3, 6304 1, 2, 2 respectively. Solution: If @ is the acute angle between the lines, then cos 6 = 2 py 2 Oe eost en 21 tts ay - BH+9O+( 2) 449436. /14444oinensional GEOMEIY. TTT NI ad Ch 23-9 Find the angle between the lines whose direetion cosines are Y3, 1 V3 - are 2 we on 10 is the acute angle between the lines, then BDL a enna sot cos 0 2 ee 16°16 42? 9=120. Show that the lines joining 4 (5, 2, pel, 13) are parallel. sation: The direction ratios of AB are 6 ~ 5, 12,443, i, + 3), to B (6, 1, 4) and C (3, -2, - 1) to 1,-1, 7. The direction ratios of CD are-1+3,-442, 13 +1, ie, 2,-2, 14. Sine 7 2, 14. 1 Conditions used: “1 = 2 | % bh % Show that the lines AB and BC are perpendicular to each other if the points are 4¢11,8, 4), B(- 1,-7,-1) and C(, - 2, 4). Suution: The direction ratios of AB are 10, ~15,~5, ie.,2,-3,—1. Let a, =2, by =-3,¢ The direction ratios of BC are 10, 5, 5, ie.,2, 1, 1. Let ay = 2, by = 1,e=1. Now, aa) + byby + cc) =2%2+(-3)K1+ EN *1=0. Hence, the lines AB and BC are perpendicular to each other. If A (3, 2, 4), B (2, 5, - 2), C (1, - 2, 2), D (4, 2, 3) are four given points, then find the angle @ between AB and CD. Solution: The direction ratios of AB are 5, 3, - 6. The direction cosines of AB are given by | pe = Pu ty = aw 2 Warscep V70 v70 v10 teefore, AC is a parallel to CD, [ 3 ee The direction cosines of CD are given by / ae ea = pert = pe 21 15 pe pce = 0.4923, SB hy +m, + mita™ ey ag * Yo V26 * 7026/70 V6 AG Yu 2) a nd from table, we get @ = 60° 31’ approximately. 1s ay ‘Ay B, Care the points (1p 4,25 © 2s 152-3 Sin tte angles of the triangle ABC. ton: The vertices of A ABC are A (Ih 42 2-3, 4) sig x, mn F ), B(-2, 1, 2), Cc Getz) 2 Cardr2 das. of AB ate Fig. 23.11 V_— Vy 2 > By 214,22, je, 3-3, 0, bes bbe O | ,oo SC Mathematics — Pare 242,-3-1.4-2,0r4,—4, 2, or 2,2, 15 1-2,4-(-3),2-4 or =I, 7, -2 or I, -7, 2; OM+OCD+OR) t+1+0 Jl+ 4944 erty ayers ( BAe Vos BB cos B= WA*NCHI+0) _ 2-29 Bao. +140 f4+44l 2WM+CYCD+1@) _2+144+2__ 18 _ V2 Cwkes (4) Yarael fit aed 43x36 3 } Find the coordinates of the foot of the perpendicular from P(2, 1, 3) on the line joining the points A (1, 2, 4) and B (3, 4, 5). Solution: Let be the foot of the perp. from P to AB and let L divide 48 the ratio k= 1 L aa: cos 9 = —=I2 cos C = SUELO *. Coordinates of L are Gy ae v4) k+l’ k+l? k+l : kilt Direction ratios of PL are Aiea : ae Fig. 23.12 3k+1 = 7, 4+? Ska _ k=1 3k+1 2k+1 kel Rel kal aD eed ead Direction ratios of AB are 3-1,4-2,5-4, ie, 2,2, 1. If PL 1 AB, then k-1 3k +1 2k+t = (EE ao aman eene 1 = =~ 7 + Coordinates of J are G 16 3) 99’ 9 EJ Find the direction cosines of the line which is perpendicular to the lines with direction cosines proportional to (6, 4, - 4), ( 6, 2, 1). Solution: Let /, m,n be the direction cosines cosines (6, 4, -4); (-6, 2, 1). 61+ 4m —4n=0 0) Of the line perp. to the given lines, with direction ~64+2m+n=0 ii) m Solving, De so 4-2(-4) -4(-6)-1(6) 6x2-4(-6) > Lomi 12°18 36>pimensional Geometry ne Ch 23-14 pirection ratios of the reqd. lines are 2, 3, 6. . 2 3 *. Direction cosines of the reqd, lines are 6 ; —— 6 23 eee ue > — Ie, =,5,2. Tape 22432 462 2432462) 7°77 1, The direction ratios of a line are 1,2, _9. What are their direction cosines? + ra. BeY are angles which a line makes with the axes, prove that sin? o + sin? B + sin? y = 2. 4.Cana line have direction angles 45°, 69°, 1207 ee 1, Prove that 1, 1, 1 cannot be direction cosines of a straight line. s Find the direction cosines and direction ratios of the line joining the points () 4(0,0,0), B(4, 8,-8) (i) A(1,3, 5), B(-1,0,-1) . 73). BCI, — 6, 3) (iv) A (4, 2,-6), B(-2, 1,3). « By using direction ratios method, show that the following set of points are collinear: () A(1, 2, 3), B (4, 0, 4) and C (2, 4,2); (if) (-2, 4, 7), 3, -6, -8), (1, -2,-2). aA r +. Aline makes an angle of | with each of the x-axis and the y-axis. Find the angle made by itwith the z-axis. §. the line OP makes with the x-axis an angle of measure 120° and with y-axis an angle of measure 60°. Find the angle made by the line with the z-axis. 9, Find the angle between the vectors whose direction cosines are proportional to 2, 3,—6 and 3-45. 0. Ifa, B, 7 are the angles that a line makes with the axes, then find cos y if -1 ' eB = 135°, ena 3, ©0s B= > (ii) a = 60°, B= 135°. IL Ifthe coordinates of A and B be (2, 3, 4) and (1, ~ 2s 1) respectively, prove that OA is Perpendicular to OB, where O is the origin. _ : 12. Show that the join of the points (1, 2, 3), (4, 5, 7) is parallel to the join of the points (—4, 3, ~6)and (2, 9, 2). oe '3. Find the angles between the lines whose direction ratios are (i) 5,-12, 13; 3, 4, 3; (iI, 1,23 VB VB a a "IP. 0. R are respectively (2, 3, 5)» 1. 3,2) and G5~ 2), find the direction cosines of ‘he Sides of the triangle POR. Is, * Prove thatthe three points P, Q, R, whose (°,8,~10) are collinear and find the rati " Find the angle not greater than 90° between coordinates are respectively (3, 2,—4), (5,4, ~6) an d pean Oat re 0 ee ats the following pairs of points: (8,2, 0), 4, 6,7), and C3, 1,29. 4 )(4,~2,3), 6 1,D,and 4-23), i) (3,1, 2y, 4, 0, —4), and (4,-3.3) 6-1 | —_—| Ch 23-12 'SC Mathematics _ 4 17. Find the direction cosines of the line which is perpendicular to the lines wi ith direct cosines proportional to 1,—2,-2; 0, 2, 1. ‘on 18. Find the direction ratios of a line perpendicular to the two lines determined by the Pairs of points (2, 3, - 4), (— 3, 3, - 2) and (-1, 4, 2), (3, 5, 1). 19, For what value of x will the line through (4, 1, 2) and (5, x, 0) be parallel to the-ine through (2,1, 1) and @, 3, - 1). 20. For what value of x will the lines in Problem 19 be perpendicular ? 21. Show that the points (4, 7, 8), (2, 3, 4), (— 1, — 2, 1) and (1, 2, 5) are the vertices of parallelogram, Show that the points (5,—1, 1), (7,—4, 7), (1, — 6, 10), and (~ 1, ~3, 4) are the vertices of a thombus. 2 Rp 23. 5 Find the foot of the perpendicular drawn from the point 4 (1, 0, 3) to the join ofthe point B(4,7, l) and C(3, 5, 3). 24. A(1,0,4) and B (0, 11,3), C(2,~3, 1) are three points and D is the foot ofthe perpendicular from A on BC. Find the coordinates of D. 25. Calculate the cosine of the angle 4 of the triangle with vertices 4 (1, ~ 1, 2), B (6, 11,2), C(I, 2,6). 26. IfA, B, C, Dare the points (6,~6, 0), (— 1, ~7, 6), (3,—4, 4), (2,9, 2) respectively, prove that AB is perpendicular to CD. 27. Find the angle between any two diagonals of a cube. a 8. 45° or 135° 1 1 0, 1: Boye 11:2 16. (i) 88° 11" (ii) 90° (it) = 3 2-12 Se 18, ~2, 3,5 19. x=3 Se cl Leta aa NS eke fe tS .