Calculus II (part 6b): Lines and Planes in 3-Space

(by Evan Dummit, 2012, v. 1.00)

Contents
0.1

More Fun Stu With Lines and Planes in 3-Space . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

~v

0.1.1

Line Through Point

0.1.2

Line Through Two Points

P1

0.1.3

Intersection Point of Line

. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

0.1.4

Intersection Point of Two Lines l1 and l2 (if it exists) . . . . . . . . . . . . . . . . . . . . . . .

0.1.5

Plane With Normal Vector

0.1.6

Plane Containing Two Vectors

0.1.7

Plane Through Three Points

0.1.8

Line of Intersection of Two Planes

0.1.9

Angle Between Two Planes

0.1.10 Distance From Point

With Direction Vector

and

P2

. . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Pl

and Plane

~n

Through Point

~v1

P1 , P2 ,

P l1

and

P l1

Pl

(or Parallel to Lines l1 and l2 ), Through Point

P3

and

. .

. . . . . . . . . . . . . . . . . . . . . . . . . . . .

P l2

. . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

P l2

and

to Plane

~v2

and

. . . . . . . . . . . . . . . . . . . . . . . . . .

0.1.11 Minimal Distance Between Two Lines l1 and l2

. . . . . . . . . . . . . . . . . . . . . . . . . .

0.1 More Fun Stu With Lines and Planes in 3-Space

This section gives examples of most of the major kinds of problems one can ask about lines and planes in 3-space,
and how to solve them. The subsections are labeled in general order of increasing diculty.

Space coordinates are

{~v , w}
~ ,

normal vectors

{x, y, z}, equation coecients {a, b, c, d}, lines {l}, points {P, Q},
{~n}, line-parameters {s, t}, planes {P l}, angles {, , }.

Recall: For vectors

Recall: The cross product

Recall: The projection of

of

~v1

and

~v2

forming an angle

~v1 ~v2

w
~

onto

~v

we have

~v1 ~v2 = ||~v1 || ||~v2 || cos()

~v1 and ~v2 .



~v w
~
Proj~
~ =
~v ;
v (w)
~v ~v

arbitrary vectors

is orthogonal to both

is given by

it gives the piece of

w
~

in the direction

~v .

Recall: The line through the points

P~1

and

The direction vector for this line is

P~2

is given by

~v = P~2 P~1 .

l : hx, y, zi = P~1 + t (P~2 P~1 )

The direction vector is unique up to multiplication by

a nonzero scalar.

Two lines are parallel if their direction vectors are (nonzero) scalar multiples of one another.

Recall: The plane with equation

ax + by + cz = d

has normal vector

~n = ha, b, ci

The normal vector is orthogonal to every line that lies in the plane. It is unique up to multiplication by
a nonzero scalar.

0.1.1

Line Through Point P With Direction Vector ~

v

Idea: The line

Example: Find the line in the direction of

with direction vector

~v

which passes through point

~v = h1, 2, 1i

By the formula we see the line is parametrized by

Example: Find the line in the direction of

l1

has equation

passing through the point

l : hx, y, zi = P~ + t ~v

P = (1, 2, 2).

hx, y, zi = h1, 2, 2i+t h1, 2, 1i = ht 1, 2t + 2, t + 2i

~v = h6, 6, 6i

By the formula we see the line is parametrized by

Example: Find the line

passing through the point

passing through the point

P = (4, 1, 100).

hx, y, zi = h6t + 4, 6t 1, 6t + 100i

(2, 2, 3)

which is parallel to the line

l2 : hx, y, zi =

h1, t 1, 5t + 2i.

The direction vector of l2 is

is also

0.1.2

h0, 1, 5i.

P1

and

P2 ,

Example: Find the line through

We compute

compute the direction vector

(0, 0, 0)

and

We compute ~
v

(1, 1, 3)

~v = P~2 P~1 ,

and apply the formula to get

(1, 2, 3).

~v = h1 0, 2 0, 3 0i = h1, 2, 3i.

Example: Find the line through

0.1.3

l2 : hx, y, zi = h2, t + 2, 5t + 3i

By the formula we get

Idea: If the points are

Since l1 and l2 are parallel we see that the direction vector for l1

Line Through Two Points P1 and P2

l : hx, y, zi = P~1 + t ~v .

h0, 1, 5i.

and

Then the formula gives

l : hx, y, zi = ht, 2t, 3ti

(2, 2, 2).

= h2 1, 2 (1), 2 3i = h1, 1, 1i.

l : hx, y, zi = ht + 1, t 1, t + 3i

Then the formula gives

Intersection Point of Line l and Plane P l

Idea: Take the parametrization of l, plug it into the equation for the plane, and solve for the parameter.

Note 1: If the resulting equation has no solution, the line and plane do not intersect. Equivalently, the
line is parallel to the plane.

Note 2: If the resulting equation reduces to an identity (i.e., is always true) then every point on the line
lies inside the plane. Equivalently, the line itself lies inside the plane.

Example: Find the intersection of the line

The line tells us

Hence the point of intersection is at

t = 2,

which is just

For a sanity check, this does lie on the plane, since

Example: Find the intersection of the line

and the plane

x = 2t + 1, y = t 1, z = t.
5 = (2t + 1) + 2(t 1) + 3(t) = 3t 1

Plugging into the plane gives

l : hx, y, zi = h2t + 1, t 1, ti

from which

(x, y, z) = (5, 3, 2)

x + 2y + 3z = 5.
t = 2.

5 + 2(3) + 3(2) = 5.

l : hx, y, zi = h3t 1, 2t + 2, 4ti

x = 3t 1, y = 2t + 2, z = 4t.
the plane gives 1 = 2(2t + 2) + (4t) = 4

and the plane

2y + z = 1.

The line tells us

Plugging into

from which we get

1 = 4,

which does not have

any solution.

Hence the line and plane do not intersect, which is to say, the line is parallel to the plane.

Example: Find the intersection of the line

The line tells us

l : hx, y, zi = h3t 1, 2t + 2, 4ti

x = 3t 1, y = 2t + 2, z = 4t.
4 = 2(2t + 2) + (4t) = 4

Plugging into the plane gives

and the plane

from which we get

4 = 4,

2y + z = 4.

which is an identity.

Hence every point on the line lies in the plane, which is to say, the line lies inside the plane.

0.1.4

Intersection Point of Two Lines l1 and l2 (if it exists)

l1 : hx, y, zi = P~1 + t ~v1 and l2 : hx, y, zi = P~2 + s ~v2 , set the

coordinates equal to get 3 equations in the two variables s and t. [Make sure to use DIFFERENT labels for
the parameters for the two lines.] Solve this system of 3 equations in the 2 variables s and t  if there is a

Idea: Given parametrizations for the two lines

solution, it will give the intersection point. If there is no solution, the lines do not intersect.

Example: Find the intersection point of the two lines l1

3t = 2s + 1.

2s + 4 = s + 1

Plugging the rst equation into the second one shows

t = 1, and
h1, 2, 3i on l1 .

Back-subbing gives
gives the point

ht, 2t, 3ti = hs + 2, s + 1, 2s + 1i, which is just the 3 equations t = s+2, 2t = s+1,

We solve the system

and

: hx, y, zi = ht, 2t, 3ti and l2 : hx, y, zi = hs + 2, s + 1, 2s + 1i.

we check that

intersect at

Therefore the lines

(1, 2, 3)

{s = 1, t = 1}

so that

s = 1.

satises all three equations. Having

t=1

l1 : hx, y, zi = h2t + 1, t 1, ti

Example: Find the intersection point of the two lines

and

l2 : hx, y, zi =

hs + 2, s + 1, 2s + 1i.

0.1.5

We solve the system

h2t + 1, t 1, ti = hs + 2, s + 1, 2s + 1i, which is just the 3 equations 2t + 1 =

s + 2, t 1 = s + 1, t = 2s + 1.

The rst equation gives

Back-subbing gives

Therefore the lines

Idea: Given

However,

{s = 7, t = 3}

t 1 = 2t + 2

t = 3.

hence

does not satisfy the third equation.

do not intersect .

~n = ha, b, ci

we have one equation of the plane of the form

we plug in the point

(1, 1, 1)

By the formula, an equation for the plane is

We plug in

(1, 1, 1)

to see

1+21=d

Example: Find the plane passing through

so

x + 2y z = d

(2, 3, 2)

By the formula, an equation for the plane is

We plug in

to see

whose normal vector is

d = 3,

(2, 3, 2)

ax + by + cz = 

for some value of

.

to the left-hand expression.

Example: Find the plane passing through

0.1.6

s = 7.

and plugging into the second yields

Plane With Normal Vector ~

n Through Point P

To nd

s = 2t + 1,

12 18 + 12 = d

~n = h1, 2, 1i.

for some value of

and the equation is

whose normal vector is

6x + 6y + 6z = d
so

d = 6,

d.

x + 2y z = 3

~n = h6, 6, 6i.

for some value of

and the equation is

Note that we could divide through by 6 to get the simpler equation

d.

6x + 6y + 6z = 6

x + y + z = 1.

Plane Containing Two Vectors ~

v1 and ~v2 (or Parallel to Lines l1 and l2 ), Through Point P
Idea: The normal vector to the plane is orthogonal to both

~v1 ~v2

is also orthogonal to both

~v1

and

~v2 ,

~v1

and

~v2

and so we can just take

and is unique up to a scalar. The vector

~n = ~v1 ~v2 .

Variation 1: If instead the plane is asked to contain be parallel to two arbitrary lines, we can reduce to
the above. We need the plane's normal vector to be orthogonal to both lines, and so we take
where

~v1

and

~v2

~n = ~v1 ~v2

are the direction vectors for l1 and l2 .

Note: This setup includes the special case where the lines l1 and l2 intersect. In this case we will be
nding a plane parallel to the plane containing l1 and l2 .

Variation 2: If instead we ask for a plane containing one line l1 and parallel to another line l2 , we again
compute

~n = ~v1 ~v2 ,

and then use as the point

any arbitrary point on the line l1 .

Example: Find an equation for the plane containing the vectors

through

We compute

~v1 = h1, 1, 1i

and

~v2 = h1, 2, 3i

and passing

(0, 0, 0).



~n = ~v1 ~v2 = 



~i ~j ~k  
  1
1 1 1  = 
2
1 2 3 



1 ~  1
i
1
3 





 ~j +  1
 1


1
3


1  ~
k = h1, 2, 1i.
2 

~n ~v1 = (1)(1) + (2)(1) + (1)(1) = 0

For a sanity check, we compute

and

~n ~v2 = (1)(1) + (2)(2) +

(1)(3) = 0.

This assures us that the normal vector we found really is orthogonal to both vectors, which we know
it's supposed to be.

Hence the equation for the plane is

We compute

Hence the plane is

by plugging in the point

x 2y + z = 0

for some

(x, y, z) = (0, 0, 0),

d.

which just gives

d = 0.

(1, 1, 2) which is parallel to the lines l1 : hx, y, zi =

: hx, y, zi = hs + 2, s + 1, 2s + 1i.

Example: Find an equation for the plane passing through

h2t + 1, t 1, ti

We have

and l2

~v1 = h2, 1, 1i

We compute

x 2y + z = d

and




~n = ~v1 ~v2 = 


Sanity check:

~v2 = h1, 1, 2i.


~i ~j ~k  
  1
2 1 1  = 
1
1 1 2 

~n ~v1 = (3)(2) + (5)(1) + (1)(1) = 0

Hence the equation for the plane is

We compute

Hence the plane is



1 ~  2
i
2 
1

3x + 5y z = d

by plugging in the point

3x + 5y z = 4

(1, 1, 2),

and

for some

so that



1  ~  2
j+
2 
1


1  ~
k = h3, 5, 1i.
1 

~n ~v2 = (3)(1) + (5)(1) + (1)(2) = 0.

d.

d = 3(1) + 5(1) (2) = 4.

: hx, y, zi = h2t + 1, t 1, ti and parallel to the line

l2 : hx, y, zi = hs + 2, s + 1, 2s + 1i. Also nd an equation for the plane containing l2 and parallel to l1 . Use
your planes to explain why l1 and l2 cannot intersect.

Example: Find an equation for the plane containing l1

We computed the cross product of the direction vectors of l1 and l2 in the previous example; we obtained

h3, 5, 1i.

0.1.7

Hence the equation for either of the desired planes is

To get the plane containing l1 , we pick an easy point on l1 , with

We plug in this point to get

Hence the plane containing l1 parallel to l2 is

For the plane containing l2 , we need a point on l2 : take

Plugging in gives

Hence the plane containing l2 parallel to l1 is

We see in particular that the lines l1 and l2 cannot intersect, because they lie in dierent parallel planes.

for some

t = 0.

d.

This gives the point

(1, 1, 0).

d = 3(1) + 5(1) 0 = 2.
3x + 5y z = 2
s=0

to get

(2, 1, 1).

d = 3(2) + 5(1) 1 = 10.

3x + 5y z = 10

Plane Through Three Points P1 , P2 , and P3

Idea: We need the normal vector

~n.

By the previous example we just need to nd two vectors lying in the

plane, and then take their cross product to get

3x + 5y z = d,

~n.

We get the two vectors as

Example: Find an equation for the plane passing through

~v1 = P~2 P~1 = h2, 2, 3i and ~v2




 2 3 

~i  2 3
~n = ~v1 ~v2 = 

 5 5
1 5

We have

Then

~v1 = P~2 P~1

P~1 = (3, 0, 1), P~2 = (1, 2, 2)

= P~3 P~1 = h5, 1, 5i.







 ~j +  2 2  ~k = h7, 5, 8i.

 5 1 

and

and

~v2 = P~3 P~1 .

P~3 = (2, 1, 4).

Sanity check:

~n ~v1 = (7)(5) + (5)(1) + (8)(5) = 0

Applying the formula gives the plane's equation as

Finally we plug in the point

Therefore the equation of the plane is

P~1

to see

7x 5y + 8z = 13
and

Then

Sanity check:

~n ~v1 = 7(3) + 2(3) + 3(5) = 0

Applying the formula gives the plane's equation as

Finally we plug in the point

Therefore the equation of the plane is

P~1 = (2, 2, 4), P~2 = (1, 1, 1)

and

P~1

to see

and

7(3) 5(0) +
P~3 = (0, 1, 0).

~n ~v2 = 7(2) + 2(1) + 3(4) = 0.

7x + 2y + 3z = d,

for some

d.

d = 7(2) + 2(2) + 3(4) = 2.

7x + 2y + 3z = 2

For an extra error check, we verify that all three points do lie in this plane: we have
and

7(2) + 2(2) +

7(0) + 2(1) + 3(0) = 2.

Line of Intersection of Two Planes P l1 and P l2

Idea: Two nonparallel planes
nd a point on

P l1

and

P l2

will intersect in a line l. The normal vectors

we need just to nd a point

(x, y, z)

Example: Parametrize the line of intersection of

We have

The cross product is

~n1 = h1, 1, 2i

Sanity check:

and

Solving yields

The cross product is

~n1 = h2, 1, 4i

Sanity check:

and

2x + y z = 0.

and

and

~n ~v2 = 1(2) + 5(1) + 3(1) = 0.

so

(0, 3, 3)

x = 0:

this requires

y + 2z = 3

and

is in both planes hence on the line l.

l : hx, y, zi = ht, 5t + 3, 3t + 3i
2x + y 4z = 7

and

3x 4y + 5z = 2.

~n2 = h3, 4, 5i.

~v = ~n1 ~n2 = h11, 2, 5i.

~n ~v1 = 11(2) 2(1) + 5(4) = 0

We need a point in both planes.

4y + z = 2.

x y + 2z = 3

We try looking for one with

y = z = 3,

Example: Parametrize the line of intersection of

We have

~n2 of the planes

~v = ~n1 ~n2 . To

and

lying in both planes.

~n ~v1 = 1(1) + 5(1) + 3(2) = 0

~n1

will be given by the cross product

~v = ~n1 ~n2 = h1, 5, 3i.

Applying the line formula gives

~n2 = h2, 1, 1i.

We need a point in both planes.

y z = 0.

7(2) 5(1) + 8(4) = 13.

will both be orthogonal to l, so the direction vector for

d.

~v1 = P~2 P~1 = h3, 3, 5i and ~v2 = P~3 P~1 = h2, 1, 4i.










 3 5 
~i  3 5  ~j +  3 3  ~k = h7, 2, 3i.
~n = ~v1 ~v2 = 




2 1 
2 4
1 4

We have

3(4) = 2, 7(1) + 2(1) + 3(1) = 2,

for some

For an extra error check, we verify that all three points do lie in this plane: we have

0.1.8

7x 5y + 8z = d,

Example: Find an equation for the plane passing through

~n ~v2 = (7)(2) + (5)(2) + (8)(3) = 0.

d = (7)(3) 5(0) + 8(1) = 13.

8(1) = 13, 7(1) 5(2) + 8(2) = 13,

and

Solving yields

~n ~v2 = 11(3) 2(4) + 5(5) = 0.

We try looking for one with

y = 1

Applying the line formula gives

and

and

z = 2,

so

(0, 1, 2)

x = 0:

this requires

y 4z = 7

and

is in both planes hence on the line l.

l : hx, y, zi = h11t, 2t 1, 5t 2i

0.1.9

Angle Between Two Planes P l1 and P l2

Idea: Draw two intersecting normal lines

right angles, one angle

we have

= ,

N1

and

N2

where

between the two planes.

0 .
2

Note: Typically we want the acute angle

since cosine is nonnegative for

Example: Find the angle formed by the planes

We have

Thus the Dot Product Theorem gives

Hence

~n1 = h1, 1, 2i

~n2 = h2, 1, 1i,

and

We have

x y + 2z = 3

and

with

and

~n1 ~n2 = 30

along with

|~n1 ~n2 |
30
Thus the Dot Product Theorem gives cos() =
= =
||~n1 || ||~n2 ||
5 42
!
42
Hence the angle between the planes is cos1
radians .
7

6.

3x 4y + 5z = 2.

5 2.

0.1.10

|~n1 ~n2 |
||~n1 || ||~n2 ||

radians .

2x + y 4z = 7

~n2 = h3, 4, 5i,

cos() =

2x + y + z = 0.

with

and so the angle between the planes is

~n1 = h2, 1, 4i

and

This will satisfy

~n1 ~n2 = 3 and ||~n1 || = ||~n2 || =

|~n1 ~n2 |
3
1
cos() =
= = .
||~n1 || ||~n2 ||
2
6 6

Example: Find the angle formed by the planes

formed by the two normals. Thus

is just the angle between ~n1 and ~n2
~n1 ~n2 = ||~n1 || ||~n2 || cos().

is the angle between the two normals. But

which we can nd via the Dot Product Theorem:

from the two planes. They form a quadrilateral with two

formed by the two planes, and a fourth angle

||~n1 || =

21

and

||~n2 || =

42
.
7

Distance From Point P to Plane P l

Idea: The shortest vector connecting

to the plane will be in the same direction as the normal vector to

the plane. In theory we could use this information to parametrize the line joining

to the plane, nd the

intersection of the line and plane, and nally compute the distance we seek. However, there is a less messy
way using vector projections:

Clever Idea:

Pick any point

Let

Then the vector

~n

P l.

on the plane

be the normal vector to the plane

~v

connecting

to the plane is given by the vector projection of


normal

~n.

Explicitly,

~v = Proj~n (w)
~ =

In particular, the length of

~v

is

||~v || =

The fact that

|~n w|
~
||~n||

~ =d
~n Q

and

(x0 , y0 , z0 )

~n= ha, b, ci and P = hx0 , y0 , z0 i

||~n|| = a2 + b2 + c2 .
~
Q

x+y+z =1

|ax0 + by0 + cz0 d|

a2 + b2 + c2

to the origin

we compute

lies in the plane

ax + by + cz = d.

Example: Find the distance from the plane

onto the

~n.

is just a restatement of the fact that

to the plane

~ P~
w
~ =Q

Putting it all together gives us the rather nice formula

point

~n w
~
~n ~n

In fact we can actually write down a formula: if

~ = (ax0 + by0 + cz0 ) (d),

~n P~ ~n Q

P l.

(0, 0, 0).

~n w
~ =

P l.

for the distance from the

~n = h1, 1, 1i, along with P = h0, 0, 0i. We also grab any old

compute w
~ = h1, 0, 0i, and then get ~n w
~ = 1 and ||~n|| = 3.

We

Thus we obtain that the distance is

We check this with the formula: it gives

We have

1
||~v || =
3

Example: Find the distance from the plane

We have

~n = h2, 1, 2i,

along with

point

Q = h1, 0, 0i

on the plane.

|1(0) + 1(0) + 1(0) 1|

1

=
2
2
2
3
1 +1 +1

2x y + 2z = 12

P = h2, 1, 3i.

to the point

(2, 1, 3).

We also grab our favorite point

Q = h6, 0, 0i

on the

plane.

0.1.11

We compute

w
~ = h4, 1, 3i,

Thus we obtain that the distance is

We check this with the formula: it gives

~n w
~ =3

and then get

||~v || =

3
=1
3

and

||~n|| = 3.

|2(2) 1(1) + 2(3) 12|

3
p
=
=1
3
22 + (1)2 + 22

Minimal Distance Between Two Lines l1 and l2

Idea: Imagine the two lines l1 and l2 as sitting inside two parallel planes

P l1

and

P l2 .

The distance between the lines will then be the same as the distance between the planes, which we can
compute just by nding the distance of any arbitrary point

of

P l1 ,

to the plane

P l2 .

[This we know

how to do with the point-to-plane distance formula.]

In order to nd these two parallel planes, we just need to nd their (common) normal vector

~n,

which

will be orthogonal to the direction vectors of both lines. [This we also know how to do using the cross
product.]

To save us a little work, if we nd the equations for the two planes as

P l2 : ax + by + cz = d2 ,
|d d1 |
2
.
a2 + b2 + c2

Example: Find the smallest distance between a point on the line

point on the line l2

We have

~v1 = h2, 1, 1i

and

~v2 = h1, 1, 2i,

l1 : hx, y, zi = h2t + 1, t 1, ti

and can compute

~n ~v1 = (3)(2) + (5)(1) + (1)(1) = 0

Sanity check:

Hence the equations for the two plane

and a

P l1

and

P l2

and

~n = h3, 5, 1i.
~n ~v2 = (3)(1) + (5)(1) + (1)(2) = 0.

3x + 5y z = d for some d.
t = 0. This gives
P l1 : 3x + 5y z = 2 .

are

To get the plane containing l1 , we pick an easy point on l1 , with

d = 3(1) + 5(1) 0 = 2,

For the plane containing

d = 3(2) + 5(1) 1 = 10,

and

: hx, y, zi = hs + 2, s + 1, 2s + 1i.

We plug to get

P l1 : ax + by + cz = d1

we can compute using the point-to-plane formula that the distance will be

l2 ,

so we get

l2 : take s = 0
P l2 : 3x + 5y z = 10 .

we need a point on

so we get

to get

(2, 1, 1).

the point

(1, 1, 0).

Plugging in gives

Applying the formula above shows that the distance between these planes, and hence the lines, is

|10 (2)|
p

32

52

(1)2

12
=
35

Remark: If we tried to nd the minimum distance as a regular optimization problem, we would have

[(s + 2) (2t + 1)] +

2
2
expression 6s 2st + 6t +

to compute the minimum value of the square of the distance, which is

[(s + 1) (t 1)] + [(2s + 1) (t)] . It expands to the still not nice

6s + 2t + 6. This requires either tremendous cleverness or multivariable

calculus to minimize, and

it's not easy either way! But our not-so-dicult vector computation shows that the minimum of this
expression is

144
.
35

Well, you're at the end of my handout. Hope it was helpful.

Copyright notice: This material is copyright Evan Dummit, 2012. You may not reproduce or distribute this material
without my express permission.