Introduction

This chapter focuses on vectors

Vectors are used to describe movement

in a given direction

They are also used to describe straight

lines in 3D (in a similar way to y = mx + c
being used for 2D straight line graphs)
 Vectors
Q
You need to know the difference
between a scalar and a vector, and Scalar Vector
how to write down vectors and draw The distance From P to Q you
vector diagrams from P to Q is go 100m north
100m
P
A scalar quantity has only a
magnitude (size)

A vector quantity has both a N

Scalar Vector
magnitude and a direction
A ship is sailing A ship is sailing
at 12km/h at 12km/h on a
60
bearing of 060
Direction and
Magnitude

5A
 Vectors
Q
You need to know the difference
between a scalar and a vector, and
how to write down vectors and draw
S
vector diagrams
P
Equal vectors have the same
magnitude and direction
A Common way of R
showing vectors is
using the letters with
PQ = RS
an arrow above

Alternatively, a
single letters
can be used b

5A
 Vectors
You need to know the difference
between a scalar and a vector, and b
how to write down vectors and draw a
vector diagrams

Two vectors can be added using the a + b

Triangle Law

It is important to note that vector a + b is

the single line from the start of a to the
end of b.

Vector a + b is NOT the two separate

lines!

5A
 Vectors
You need to know the difference between
a scalar and a vector, and how to write a
b c
down vectors and draw vector diagrams

Draw a diagram to show the vector a + b + c

a
b

c
a + b + c

5A
 Vectors
Q
You need to know the difference
between a scalar and a vector, and a
how to write down vectors and draw
vector diagrams
P
Q
Adding the vectors PQ and QP gives a
Vector result of 0. -a

Vectors of the same size but in opposite

directions have opposite signs (eg) + or - P

5A
 Vectors
a
You need to know the difference
between a scalar and a vector, and
b
how to write down vectors and draw
a + b
vector diagrams

The modulus value of a vector is another

Use Pythagoras Theorem
name for its magnitude

Eg) The modulus of the Vector a is |a| + 2

= 122 + 52 Square the
shorter sides
2
The modulus of the vector PQ is |PQ| + = 169 Square
Root
Question: The vector a is directed due + = 13
east and |a| = 12. Vector b is directed
due south and |b| = 5. Find |a + b|

5A
 Vectors
Q
You need to know the difference a
between a scalar and a vector, and c b
P
how to write down vectors and draw
vector diagrams S
R
In the diagram opposite, find the
d
following vectors in terms of a, b, c and
d.
T

a) PS = -a + c Or c - a

b) RP = -b + a Or a - b

c) PT = -a + b + d Or b + d - a

d) TS = -d - b + c Or c - b - d

5A
 Vectors
You need to be able to perform a
simple vector arithmetic, and know
the definition of a unit vector

The diagram shows the vector a. 3a

Draw diagrams to show the vectors
3a and -2a

Vector 3a will be in the same

direction as a, but 3 times the size -2a

Vector -2a will be twice as big as s,

but also in the opposite direction

5B
 Vectors
You need to be able to perform 6 + 8 9 + 12
simple vector arithmetic, and know
Factorise
the definition of a unit vector
3
6 + 8
2
Any vector parallel to a may be
written as a, where (lamda) is a
non-zero scalar (ie - represents a
The second Vector is a multiple of the first,
number)
so they are parallel.

Show that the vectors 6a + 8b and In this case, is 3/2 or 1.5

9a + 12b are parallel

5B
 Vectors
You need to be able to perform 1
The unit vector will be: 20
simple vector arithmetic, and know
the definition of a unit vector

A unit vector is a vector which has a

magnitude of 1 unit
Vector a has a magnitude of 20 units.
Write down a unit vector that is
parallel to a.
This will be in the same
direction as a with a
magnitude of 1 unit
As a general rule, divide any vector
by its magnitude to obtain a parallel
unit vector

5B
 Vectors
You need to be able to perform Given that:
simple vector arithmetic, and know
the definition of a unit vector 5 4 = 2 + + ( )
Find the values of the scalars s and t
If:
+ = + Comparing coefficients:

And the vectors a and b are not 1) 2 + = 5

parallel and non-zero, then: 2) = 4 Add the equations
together
= and =
3 = 1
Divide by 3
Effectively, if the two vectors are 1
equal then the coefficients of a and =
3 Sub into either of
b must also be equal
1) or 2) to find the
1 value of t
=4
3

5B
 Vectors
P 3a Q
You need to be able to perform simple
vector arithmetic, and know the b-a b
definition of a unit vector k(3a+b)
X

S R
In the diagram opposite, PQ = 3a, QR = b, 4a
SR = 4a and PX = kPR. Find in terms of a,
b and k:

a) PS = 3a + b 4a = ba

b) PX = kPR = k(3a + b)

c) SQ = 4a - b

d) SX = -b + a + k(3a + b)
Multiply out the bracket
= -b + a + 3ka + kb
Group up and factorise the
= (3k + 1)a + (k 1)b a and b terms separately
5B
 Vectors
P 3a Q
You need to be able to perform simple
vector arithmetic, and know the b
definition of a unit vector X

S R
4a
e) Use the fact that X lies on SQ to find the value of k
SQ = 4a - b SX = (3k + 1)a + (k 1)b

Since X is on SQ, SX and SQ are parallel, ie) one is a multiple of another!

Use the lamda symbol
3 + 1 + 1 = (4 ) Multiply out to represent one
the bracket being a multiple of
3 + 1 + 1 = 4 the other

1) 3 + 1 = 4 3 + 1 = 4
x4
2) 1 = 4 4 = 4
Add together
7 3 = 0
Solve for k
= 37
5B
 Vectors
A
You need to be able to use vectors
to describe the position of a point in a
2 or 3 dimensions

The position vector of a point A is the

O
vector OA, where O is the origin. OA
is often written as a.
A
b - a
AB = b a, where a and b are the a
position vectors of A and B B
respectively.
O b

5C
 Vectors
1/
3(b a)
A
You need to be able to use vectors 1 2/ (b a)
to describe the position of a point in P b-a 3

2 or 3 dimensions 2

a B
In the diagram, points A and B have
position vectors a and b respectively.
b
The point P divides AB in the ratio 1:2.
O

Find the position vector of P.

= Using the rule we just saw

If the line is split in the ratio 1:2, then one part is 1/3 and the other is 2/3

= + 13 ( )

= 23 + 13 The position vector of P is how we get from O to P

5C
 Vectors
You need to know how to write down
and use the Cartesian components of a
vector in 2 dimensions 10

The vectors i and j are unit vectors

parallel to the x and y axes, in the
increasing directions
5 A
The points A and B in the diagram have a
coordinates (3,4) and (11,2) respectively.
B
Find in terms of i and j:

0 b
a) OA = 3 + 4 0 5 10 15

b) OB = 11 + 2

c) AB =

= 11 + 2 (3 + 4)

= 8 2
5D
 Vectors
You need to know how to write down Given that:
and use the Cartesian components of a a = 2i + 5j
vector in 2 dimensions b = 12i 10j
c = -3i + 9j
You can write a vector with Cartesian
components as a column matrix:
Find a + b + c

+ =
++= 2 12 3
+ +
Column matrix notation can be easier to 5 10 9 Be careful
read and avoids the need to write out lots with
negatives!
of i and j terms. + + = 11
4

= 11 + 4

5D
 Vectors
You need to know how to write down The vector a is equal to 5i - 12j. Find |a| and find
and use the Cartesian components of a a unit vector in the same direction as a.
vector in 2 dimensions
5i
The modulus (magnitude) of xi + yj is: = 52 + 12 2

2 + 2 12j
5i 12j = 169

xi + yj = 13
yj

5 12
= =
xi
13
1
This comes from Pythagoras Theorem = (5 12)
13
Alternative
notation
1 5
=
13 12
5D
 Vectors
You need to know how to write down Given that a = 5i + j and b = -2i 4j, find the exact
and use the Cartesian components of a value of |2a + b|
vector in 2 dimensions

The modulus (magnitude) of xi + yj is:

5 2
2 + = 2 +
1 4
2 + 2 10 2
= +
2 4
8
=
2 Use x = 8
and y = -2
|2 + | = 82 + (2)2

= 68 Exact means
you can leave
= 2 17 in surd form

5D
 Vectors
You need to know how to use Cartesian Find the distance from the origin to the point P(4, 2, 5)
coordinates in 3 dimensions
z

Cartesian coordinates in three

dimensions are usually referred to as the
x, y and z axes, each at right-angles to
the other.
5
Coordinates in 3 dimensions are given in 4
the form (x, y, z)

z 2 y
x
Imagine the x and y-axes
have fallen down flat, and You can use the 3D version of Pythagoras Theorem
the z-axis sticks up The distance from the origin to the point (x, y, z)
vertically out of the is given by:
origin

2 + 2 + 2

y = 42 +22 +52
x
= 6.71 (2dp)
5E
 Vectors
You need to know how to use Cartesian Find the distance between the points A(1, 3, 4) and
coordinates in 3 dimensions B(8, 6, -5)

Cartesian coordinates in three First calculate the vector

dimensions are usually referred to as the = from A to B
x, y and z axes, each at right-angles to
the other.
8 1
= 6 3
Coordinates in 3 dimensions are given in 5 4
the form (x, y, z) 7
z
= 3
9
Then use 3D
|| = 72 + 32 + (9)2 Pythagoras

= 139

= 11.8 (1dp)
y
x

5E
 Vectors
The coordinates of A and B are (5, 0, 3) and (4, 2, k)
You need to know how to use Cartesian respectively. Given that |AB| is 3 units, find the possible
coordinates in 3 dimensions values of k

Cartesian coordinates in three 4 5

Calculate AB using k
dimensions are usually referred to as the = 2 0
x, y and z axes, each at right-angles to 3
the other. 1
= 2
Use Pythagoras
Coordinates in 3 dimensions are given in 3
in 3D
the form (x, y, z)
= (1)2 +22 + ( 3)2 Careful when squaring
z
the bracket
= 2 6 + 14
|AB| = 3
3= 2 6 + 14
Square both sides
2
9 = 6 + 14
Solve as a quadratic
2
0 = 6 + 5

0 = ( 5)( 1)
y
x
= 5 = 1
5E
 Vectors
You need to know how to use Cartesian
coordinates in 3 dimensions

Please note that when operating in 3D,

Sometimes referred to as left
there can be some inconsistencies with
which way the axes are labelled!
handed or right handed!

5E
 Vectors
You need to know how to use Cartesian
coordinates in 3 dimensions

Please note that when operating in 3D, Stick to this way!

there can be some inconsistencies with
which way the axes are labelled!

5E
 Vectors
You can extend the two dimensional The points A and B have position vectors 4i + 2j + 7k
vector results to 3 dimensions, using k and 3i + 4j k respectively. Find |AB| and show that
as the unit vector parallel to the z- triangle OAB is isosceles.
axis
= Find the vector AB
The vectors i, j and k are unit 3 4
vectors parallel to the x, y and z- = 4 2
axes in the increasing directions 1 7
1
The vector xi + yj + zk can be = 2
written as a column matrix: 8

|| = (1)2 +22 + (8)2 Now find the
magnitude of AB
|| = 69

The modulus (magnitude) of xi + yj +

|| = 42 + 22 + 72
zk is given by:
Find the magnitude
|| = 69
of OA and OB using
2 + 2 + 2 their position vectors
|| = 32 + 42 + (1)2

|| = 26 Isosceles as 2 vectors are equal 5F

 Vectors
You can extend the two dimensional a) Find |AB| Calculate the vector AB
vector results to 3 dimensions, using k
as the unit vector parallel to the z- =
axis
2
= 5
The points A and B have the coordinates 3 1
(t, 5, t-1) and (2t, t, 3) respectively.

= 5
a) Find |AB|
4 Find the magnitude
of AB in terms of t
b) By differentiating |AB|2, find the
value of t for which |AB| is a || = 2 + 5 2 + 4 2
Careful with
minimum
the bracket
|| = 2 + 2 10 + 25 + 2 8 + 16 expansion!
c) Hence, find the minimum value of
|AB| || = 3 2 18 + 41

5F
 Vectors
|| = 3 2 18 + 41
You can extend the two dimensional
vector results to 3 dimensions, using k
as the unit vector parallel to the z- b) By differentiating |AB|2, find the value of t for
axis which |AB| is a minimum

The points A and B have the coordinates || = 3 2 18 + 41

(t, 5, t-1) and (2t, t, 3) respectively. Square both sides
2 2
|| = 3 18 + 41
a) Find |AB| Differentiate (often p is used
to represent the vector)
= 6 18

b) By differentiating |AB|2, find the Set equal to 0 for a minimum
value of t for which |AB| is a 0 = 6 18
minimum Solve
3=
c) Hence, find the minimum value of
|AB| The value of t = 3 is the value for which the distance
between the points A and B is the smallest..

It is possible to do this by differentiating |AB|

rather than |AB|2, but it can be more difficult!

5F
 Vectors
|| = 3 2 18 + 41
You can extend the two dimensional
vector results to 3 dimensions, using k
=3
as the unit vector parallel to the z-
axis c) Hence, find the minimum value of |AB|

The points A and B have the coordinates Sub in the value of t

|| = 3 2 18 + 41
(t, 5, t-1) and (2t, t, 3) respectively.
|| = 3(3)2 18(3) + 41
a) Find |AB|
|| = 14
b) By differentiating |AB|2,find the
value of t for which |AB| is a || = 3.74 (2dp)
minimum
So for the given coordinates, the closest that points
c) Hence, find the minimum value of A and B could be is 3.74 units apart, when t = 3.
|AB|

5F
 Vectors
You need to know the definition of the a
scalar product of two vectors in 2 or 3
30
dimensions, and how it can be used to
X
calculate the angle between 2 vectors
b

On the diagram to the right, the angle

between a and b is . The two vectors must
be directed away from point X

a
20
On the second diagram, vector b is X b
directed towards X. Hence, the angle
between the two vectors is 160.
a
This comes from re-drawing the diagram 160
20
with vector b pointing away from point X.
b X b

5G
 Vectors
You need to know the definition of the Vector multiplication
scalar product of two vectors in 2 or 3
dimensions, and how it can be used to
calculate the angle between 2 vectors
a b
The scalar product of two vectors a and b
is written as a.b (a dot b) and is defined a.b = |a||b| By multiplication
by:

. = ||

The scalar product can be thought of as

the effect of one of the two vectors on a
the other b

In this case, the vector a can |a|cos

be split into a horizontal and This is the formula
a.b = |a|cos|b|
vertical component for the scalar dot
Here we only consider the By GCSE trigonometry a.b = |a||b|cos product of 2
horizontal component as this vectors
is in the direction of vector b

5G
 Vectors
You need to know the definition of the
scalar product of two vectors in 2 or 3
dimensions, and how it can be used to
calculate the angle between 2 vectors a
b
The scalar product of two vectors a and b
is written as a.b (a dot b) and is defined
by: If two vectors are perpendicular, then the angle
between them is 90.
. = || As cos90 = 0, this will cause the dot product to
be 0 as well

This formula can be rewritten in order to Hence, if vectors are perpendicular, the dot
find the angle between 2 vectors: product is 0
If the dot product is 0, the vectors are
. perpendicular
=
||

5G
 Vectors
You need to know the definition of the If a = x1i + y1j + z1k and b = x2i + y2j + z2k
scalar product of two vectors in 2 or 3
dimensions, and how it can be used to Then:
calculate the angle between 2 vectors 1 2
The scalar product of two vectors a and b is
. = 1 . 2 = 1 2 + 1 2 + 1 2
written as a.b (a dot b) and is defined by: 1 2

. = ||

This formula can be rewritten in order to find

the angle between 2 vectors:
This is a way to find the dot
. product from 2 vectors
=
||

If we are to use this formula to work out the

angle between 2 vectors, we therefore need an
alternative way to calculate the scalar
product

5G
 Vectors
You need to know the definition of the Given that a = 8i 5j 4k and b = 5i + 4j k:
scalar product of two vectors in 2 or 3
dimensions, and how it can be used to a) Find a.b
calculate the angle between 2 vectors 1 2 Use the dot
. = 1 . 2 product
1 2 formula
The scalar product of two vectors a and b
is written as a.b (a dot b) and is defined 8 5
by: . = 5 . 4
4 1
. = ||
. = 8 5 + 5 4 + (4 1)
This formula can be rewritten in order to
find the angle between 2 vectors: . = 24
.
=
||

If a = x1i + y1j + z1k and b = x2i + y2j + z2k

Then:
1 2
. = 1 . 2 = 1 2 + 1 2 + 1 2
1 2
5G
 Vectors
You need to know the definition of the
scalar product of two vectors in 2 or 3
dimensions, and how it can be used to
calculate the angle between 2 vectors
Given that a = 8i 5j 4k and b = 5i + 4j k:
a) Find a.b . = 24
b) Calculate the angle between vectors a and b

The scalar product of two vectors a and b . Use the angle formula you will
is written as a.b (a dot b) and is defined = need to calculate the magnitude
||
by: of each vector as well

. = ||
|a| = 82 + (5)2 +(4)2 |b| = 52 + 42 + (1)2
This formula can be rewritten in order to
|a| = 105 |b| = 42
find the angle between 2 vectors:
.
=
|| .
=
|| Sub in the
If a = x1i + y1j + z1k and b = x2i + y2j + z2k values
24
Then: =
105 42 Solve, remembering
1 2
to use inverse Cos
. = 1 . 2 = 1 2 + 1 2 + 1 2 = 68.8
1 2
5G
 Vectors
You need to know the definition of the Given that the vectors a = 2i 6j + k and b = 5i + 2j + k
scalar product of two vectors in 2 or 3 are perpendicular, calculate the value of .
dimensions, and how it can be used to
calculate the angle between 2 vectors 1 2
. = 1 . 2
1 2
The scalar product of two vectors a and b Calculate the dot
is written as a.b (a dot b) and is defined 2 5 product in terms of
by: . = 6 . 2
1
. = ||
. = 2 5 + 6 2 + (1 )
This formula can be rewritten in order to
find the angle between 2 vectors: . = 2 + As the vectors are perpendicular,
. the dot product must be 0
= 0 = 2 +
|| Solve
=2
If a = x1i + y1j + z1k and b = x2i + y2j + z2k
Then:
1 2 Only this value of will cause these
. = 1 . 2 = 1 2 + 1 2 + 1 2 vectors to be perpendicular
1 2
5G
 Vectors
You need to know the definition of the Let the required vector be xi + yj + zk
scalar product of two vectors in 2 or 3
The dot products of
dimensions, and how it can be used to
. = 0 and . = 0 both a and b with the
calculate the angle between 2 vectors
required vector will be 0

2 4
Given that a = -2i + 5j - 4k and b = 4i -
5 . =0 8 . = 0
8j + 5k, find a vector which is
4 5
perpendicular to both a and b
2 + 5 4 = 0 Let 4 8 + 5 = 0 Let
z=1 z=1
Choosing a different value for z 2 + 5 = 4 4 8 = 5
will lead to a vector that is a x2
different size, but which is still
4 + 10 = 8
pointing in the same direction (ie Now solve as
perpendicular) 4 8 = 5 simultaneous equations

However, this will not work if 2 = 3

you choose z = 0 = 32 = 74

So a possible answer would be:

7 3
+ + 7 + 6 + 4
4 2 x4 5G
 Link to Autograph
Vectors
You need to know the definition of the
scalar product of two vectors in 2 or 3
dimensions, and how it can be used to
calculate the angle between 2 vectors
Given that a = -2i + 5j - 4k and b = 4i -
8j + 5k, find a vector which is
perpendicular to both a and b
7 + 6 + 4

The 3D axes show the 3 vectors in question. The green

vector is perpendicular to both the others, but you can
only see this clearly when it is rotated!
5G
 Link to Autograph
Vectors
You need to know the definition of the
scalar product of two vectors in 2 or 3
dimensions, and how it can be used to
calculate the angle between 2 vectors

On this example, the second picture shows the

diagram being viewed from the top of the red
vector

5G
 Link to Autograph
Vectors
You need to know the definition of the
scalar product of two vectors in 2 or 3
dimensions, and how it can be used to
calculate the angle between 2 vectors

On this example, the second picture shows the

diagram being viewed from the top of the red
vector
The vectors do not need to be touching it is
always possible to find a vector that is
perpendicular to 2 others! 5G
 Vectors
1 2
Showing that both ways of calculating (1) . = 1 . 2 = 1 2 + 1 2 + 1 2
the dot product work! 1 2
2 1 (2) . = ||
= 6 = 5
1 4

2 1
. = 6 . 5 = 2 1 + 6 5 + 1 (4)
1 4
= 2 30 + 4

= 24

5G
 Vectors
1 2
Showing that both ways of calculating (1) . = 1 . 2 = 1 2 + 1 2 + 1 2
the dot product work! 1 2
2 1 = 41 = 42
(2) . = ||
= 6 = 5
1 4

To find the dot product using (2), we first need , and

= (2)2 +(6)2 +(1)2 = (1)2 +(5)2 +(4)2

= 41 = 42

5G
 Vectors
1 2
Showing that both ways of calculating (1) . = 1 . 2 = 1 2 + 1 2 + 1 2
the dot product work! 1 2
2 1 = 41 = 42
(2) . = ||
= 6 = 5
1 4

To find , you need to imagine this situation as a triangle

A =
If we have the
magnitude of , we 1 2
can then use the cosine 41 = 5 6
rule to find the angle 4 1
B
1
O 42 = 11
3

5G
 Vectors
1 2
Showing that both ways of calculating (1) . = 1 . 2 = 1 2 + 1 2 + 1 2
the dot product work! 1 2
2 1 = 41 = 42
(2) . = ||
= 6 = 5
1 4

To find , you need to imagine this situation as a triangle

1
A
= 11
If we have the
3
magnitude of , we 131
can then use the cosine 41
rule to find the angle = (1)2 +(11)2 +(3)2
B

O 42 = 131

5G
 Vectors
1 2
Showing that both ways of calculating (1) . = 1 . 2 = 1 2 + 1 2 + 1 2
the dot product work! 1 2
2 1 = 41 = 42
(2) . = ||
= 6 = 5 = 0.578
1 4

To find , you need to imagine this situation as a triangle

2 = 2 + 2 2
A Sub in
If we have the values
131 = 41 + 42 2 41 42
magnitude of , we 131 Work
can then use the cosine 41
out
rule to find the angle 48 = 2 41 42
Divide to
B leave CosA
0.578 =
O 42
This is all we need!

5G
 Vectors
1 2
Showing that both ways of calculating (1) . = 1 . 2 = 1 2 + 1 2 + 1 2
the dot product work! 1 2
2 1 = 41 = 42
(2) . = ||
= 6 = 5 = 0.578
1 4

Now we can find the dot product using equation (2)

. = ||
Sub in
values
. = 41 42 0.578
Calculate
. = 24

As you can see, both give the same answer!

5G
 Vectors
y
You need to be able to write the
equation of a straight line in
vector form (effectively the
equation of a 3D line!)

Let us first consider how this is

done in 2 dimensions x

So any linear 2D graph needs a

direction, and a point on the line

With just the direction, the line

wouldnt have a specific path and
could effectively be anywhere = +

With only a given point, the line

would not have a specific direction m is the gradient of the line c is the y-intercept
This can also be thought of as This is a given point on
the DIRECTION the line goes the line

5H
 Vectors
You need to be able to write the A vector equation of a straight line passing through the
equation of a straight line in point A with position vector a (effectively the coordinate),
vector form (effectively the and parallel to the vector b, is:
equation of a 3D line!)
= +
where t is a scalar parameter
In 3D, we effectively need the
same bits of information

We need any point on the line

(ie a coordinate in the form
(x, y, z))

We also need to know the

direction the line is travelling (a
vector with terms i, j and k)

5H
 Vectors
You need to be able to write the Find a vector equation of the straight line which passes
equation of a straight line in through a, with position vector 3i 5j + 4k, and is parallel
vector form (effectively the to the vector 7i 3k
equation of a 3D line!)
3 7
= 5 = 0
A vector equation of a straight line 3
4
passing through the point A with
position vector a (effectively the
coordinate), and parallel to the vector
b, is: This is the position This is the direction
vector we will use vector we will use
= +
where t is a scalar parameter = +

3 7
= 5 + 0 This is the vector
4 3 equation of the line

The value t remains unspecified at this point, it can be

used later to calculate points on the vector itself, by
substituting in different values for t
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 Vectors
3 7
You need to be able to write the = 5 + 0
equation of a straight line in 4 3
vector form (effectively the
equation of a 3D line!) Some alternative forms

A vector equation of a straight line
passing through the point A with
position vector a (effectively the
coordinate), and parallel to the vector
b, is:
= +
where t is a scalar parameter
= 3 5 + 4 + (7 3)
(By writing in a different form)
= 3 + 7 + (5) + (4 3)
(By multiplying out the brackets and then re-
grouping i, j and k terms)
3 + 7
= 5
4 3

(By rewriting again in the original column vector form)

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 Vectors
You need to be able to write the Find a vector equation of the straight line passing through
equation of a straight line in the points A and B, with coordinates (4, 5, -1) and (6, 3, 2)
vector form (effectively the respectively.
equation of a 3D line!) 4 6
= 5 = 3
Working in 2D the equation of the line can be
calculated by using either: 1 2
a) The gradient (direction) and a coordinate
(like we just did) Calculating b a will give you the
6 4 vector AB, ie) the direction
b) Two coordinates (since you can calculate
= 3 5
the gradient between them) vector that passes through A
2 1
and B
3D can also be done either way
2
= 2
A vector equation of a straight line passing
through the points A and B, with position 3
vectors a and b respectively, is given by:
= + ( ) = + ( )
where t is a scalar parameter Then use (b a) along with
4 2 either of the 2
As you arent given the direction vector in = 5 + 2 coordinates/position vectors
this type, you have to work it out by
calculating the vector AB (b a)
1 3 youre given

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 Vectors
You need to be able to write the The straight line l has a vector equation:
equation of a straight line in r = (3i + 2j 5k) + t(i 6j 2k)
vector form (effectively the
Given that the point (a, b, 0) lies on l, calculate the values
equation of a 3D line!) of a and b
The top numbers give the
A vector equation of a straight line passing x coordinate, the middles
through the points A and B, with position
3 1 3+ =
give the y, and the bottom
vectors a and b respectively, is given by: = 2 + 6 2 6 = gives the z, all for an
5 2 5 2 = 0 unknown value of t (at this
= + ( )
point)
where t is a scalar parameter

We can use the bottom equation to find the value of t

As you arent given the direction vector in
this type, you have to work it out by
calculating the vector AB (b a) 5 2 = 0
= 2.5

3+ = 2 6 =
3 + (2.5) = 2 6(2.5) =
0.5 = 17 =

The coordinate itself is (0.5, 17, 0)

5H
 Vectors
The straight line l has vector equation:
You need to be able to write the r = (2i + 5j 3k) + t(6i 2j + 4k)
equation of a straight line in Show that an alternative vector equation of l is:
vector form (effectively the r = (8i + 3j + k) + t(3i j + 2k)

equation of a 3D line!) 2 6 8 3
= 5 + 2 = 3 + 1
A vector equation of a straight line passing 3 4 1 2
through the points A and B, with position
vectors a and b respectively, is given by: Original vector If you look at the direction vectors, one is a multiple
updated with a of the other
= + ( ) different b This means they are parallel and hence it does not
where t is a scalar parameter part matter which you use
2 3
As you arent given the direction vector in = 5 + 1
this type, you have to work it out by
3 2
calculating the vector AB (b a)
If t = 2
1) Rewrite the original straight line 2 6
equation with a different direction vector = 5 + 2
3 4
2) Then try to find a value for t that will
give you the given coordinate as an answer 8 So a coordinate on
This shows that the given coordinate is = 3 the line is (8, 3, 1)
on the line and hence, can be used in the 1
vector equation
8 3
= 3 + 1
1 2 5H
 Link to Autograph
Vectors
You need to be able to determine whether
two given straight lines intersect

Up until now we have used t as the scalar

parameter
If we have more than one vector equation,
then s is usually used for the other
Eg)
= 5 + 2 3 + (2 3 + )

= 4 5 + 2 + ( + 6)

Sometimes the Greek letters and are used

as well.

= 2 + 2 + ( 2 2)

= 3 5 + 4 + (3 3 + 2)

It is important to note that in 3 dimensions, 2

straight lines may pass each other without
intersecting!
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 Vectors
3 2 3 + 2
You need to be able to determine = 8 + 1 8
2 + 3 Find the x, y and z
whether two given straight lines intersect 2 3
coordinates in terms
7 2 7 + 2 of t and s
It is important to note that in 3 dimensions, = 4 + 1 4+
2 straight lines may pass each other without 3 4 3 + 4
intersecting! If there is a point of intersection, then at this point the
equations for the x, y and z coordinates in terms of t and s will
1a) Show that the lines with vector equations: be equal
Solve 2 of the equations simultaneously, and then check if the
answers also satisfy the third
r = (3i + 8j 2k) + t(2i j + 3k)
and r = (7i + 4j + 3k) + s(2i + j + 4k) Solve
3 + 2 = 7 + 2 2 2 = 4 simultaneously
8 = 4+ = 4 by making
intersect. either the t
rearrange
=1 =3 or s terms
equal

2 + 3 = 3 + 4 Sub s and t into the 3rd pair

if it works then the lines
2 + 3(3) = 3 + 4(1) intersect. If not, then they
dont
7=7

So the lines DO intersect

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 Vectors
3 2
You need to be able to determine = 8 + 1
Sub t = 3 into the first
whether two given straight lines intersect 2 3 equation and calculate
3 2 the position vector
= 8 + 3 1
It is important to note that in 3 dimensions,
2 straight lines may pass each other without 2 3
intersecting! 9
= 5
1a) Show that the lines with vector equations: 7

r = (3i + 8j 2k) + t(2i j + 3k)

and r = (7i + 4j + 3k) + s(2i + j + 4k) 7 2
= 4 + 1
Sub s = 1 into the
intersect. 3 4 second equation and
calculate the position
We have just calculated that the above lines 7 2 vector
intersect for the values of t = 3 and s = 1 = 4 +1 1
3 4
b) Calculate the position vector of the point of 9
intersection = 5
7
You only need to choose one of the equations for the
substitution, as you can see, it works for both!
5I
Link to Autograph

Vectors
You need to be able to calculate the angle
between any 2 straight lines

The acute angle between two straight lines

is given by:

.
=
||

Where a and b are the direction vectors of

the two lines.

The lines do not have to be intersecting

the angle is the angle between them if one
was moved along so they do intersect

Eg) The lines to the right do not intersect, but

the angle calculated is the angle between them
if one was translated such that they do
intersect

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 Vectors
You need to be able to calculate the Modulus is used so that you get the acute
angle between any 2 straight lines angle rather than the obtuse one

1 y = Cos
The acute angle between two straight
lines is given by: 0
90 180 270 360
-1
.
= For example, calculating cos-1(-0.5) would give us
||
the angle 120
Where a and b are the direction vectors of For example, calculating cos-1|(-0.5)| would give us
the two lines. the angle 60 since -0.5 would be replaced with 0.5

The lines do not have to be Each pair will always add up to 180
intersecting the angle is the angle
between them if one was moved along Obtuse
so they do intersect
Acute

This is because when 2 lines cross, you will always get a

straight line with an acute and an obtuse angle on it
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 Vectors
You need to be able to calculate the Find the acute angle between the lines with vector equations:
angle between any 2 straight lines r = (2i + j + k) + t(3i 8j k)
and r = (7i + 4j + k) + s(2i + 2j + 3k)
The acute angle between two straight
To do this, you only need the direction vectors
lines is given by:
3 2
. = 8 = 2
= 1 3
||
3 2
Calculate the dot
. = 8 . 2
Where a and b are the direction product, a.b
1 3
vectors of the two lines.
. = 3 2 + 8 2 + (1 3)
The lines do not have to be . = 13
intersecting the angle is the angle
between them if one was moved || = 32 + (8)2 +(1)2
along so they do intersect
|| = 74
Calculate the
|| = 22 + 2 2 + 32 magnitude of a and b

|| = 17

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 Vectors
You need to be able to calculate the .
angle between any 2 straight lines =
|| Sub in the values we
have just calculated
The acute angle between two straight 13
=
lines is given by: 74 17
Work out the sum
. = 0.3665 Since the answer is negative, we
= need to make it positive by
|| = 0.3665 multiplying by -1

Where a and b are the direction = 68.5

vectors of the two lines.

The lines do not have to be

intersecting the angle is the angle
between them if one was moved
along so they do intersect

. = 13
|| = 74

|| = 17
5J
 Summary
We have learnt a great deal about vectors this
chapter

We have seen that when vectors are perpendicular,

their dot scalar product is equal to 0

We have looked at the vector equation of a

straight line

We have seen how to calculate the angle between 2

lines

We have learnt how to calculate whether 2 vectors

intersect