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DP IB Maths: AA HL

Revision Notes

Home / IB / Maths: AA HL / DP / Revision Notes / 3. Geometry & Trigonometry / 3.10 Vector Equations of Lines / 3.10.1 Vector Equations of Lines


3.10.1 Vector Equations of Lines


Equation of a Line in Vector Form

How do I find the vector equation of a line?

  • The formula for finding the vector equation of a line is
    • bold italic r equals bold italic a plus lambda bold italic b
      • Where r is the position vector of any point on the line
      • a is the position vector of a known point on the line
      • b is a direction (displacement) vector
      • lambda is a scalar
    • This is given in the formula booklet
    • This equation can be used for vectors in both 2- and 3- dimensions
  • This formula is similar to a regular equation of a straight line in the form y equals m x plus c but with a vector to show both a point on the line and the direction (or gradient) of the line
    • In 2D the gradient can be found from the direction vector
    • In 3D a numerical value for the direction cannot be found, it is given as a vector
  • As a could be the position vector of any point on the line and b could be any scalar multiple of the direction vector there are infinite vector equations for a single line
  • Given any two points on a line with position vectors a and b the displacement vector can be written as b - a
    • So the formula r = a + λ(b - a) can be used to find the vector equation of the line
    • This is not given in the formula booklet

How do I determine whether a point lies on a line?

  • Given the equation of a line begin mathsize 16px style bold italic r blank equals blank open parentheses fraction numerator bold italic a subscript 1 over denominator table row cell bold italic a subscript 2 end cell row cell bold italic a subscript 3 end cell end table end fraction close parentheses plus lambda open parentheses fraction numerator bold italic b subscript 1 over denominator table row cell bold italic b subscript 2 end cell row cell bold italic b subscript 3 end cell end table end fraction close parentheses end style the point c with position vectorbegin mathsize 16px style blank open parentheses fraction numerator bold italic c subscript 1 over denominator table row cell bold italic c subscript 2 end cell row cell bold italic c subscript 3 end cell end table end fraction close parentheses end style is on the line if there exists a value of lambdasuch that
    • begin mathsize 16px style open parentheses fraction numerator bold italic c subscript 1 over denominator table row cell bold italic c subscript 2 end cell row cell bold italic c subscript 3 end cell end table end fraction close parentheses blank equals blank open parentheses fraction numerator bold italic a subscript 1 over denominator table row cell bold italic a subscript 2 end cell row cell bold italic a subscript 3 end cell end table end fraction close parentheses plus lambda open parentheses fraction numerator bold italic b subscript 1 over denominator table row cell bold italic b subscript 2 end cell row cell bold italic b subscript 3 end cell end table end fraction close parentheses end style
    • This means that there exists a single value of lambdathat satisfies the three equations:
      • c subscript 1 equals blank a subscript 1 plus lambda b subscript 1
      • c subscript 2 equals blank a subscript 2 plus lambda b subscript 2
      • c subscript 3 equals blank a subscript 3 plus lambda b subscript 3
  • A GDC can be used to solve this system of linear equations for
    • The point only lies on the line if a single value of lambda exists for all three equations
  • Solve one of the equations first to find a value of lambdathat satisfies the first equation and then check that this value also satisfies the other two equations
  • If the value of lambda does not satisfy all three equations, then the point c does not lie on the line

Exam Tip

  • Remember that the vector equation of a line can take many different forms
    • This means that the answer you derive might look different from the answer in a mark scheme
  • You can choose whether to write your vector equations of lines using unit vectors or as column vectors
    • Use the form that you prefer, however column vectors is generally easier to work with

Worked Example

a)
Find a vector equation of a straight line through the points with position vectors a = 4i – 5k and b = 3i - 3k

M83a0TRO_3-10-1-ib-aa-hl-vector-equation-of-a-line-we-a

b)
Determine whether the point C with coordinate (2, 0, -1) lies on this line.

3-10-1-ib-aa-hl-vector-equation-of-a-line-we-b

Equation of a Line in Parametric Form

How do I find the vector equation of a line in parametric form?

  • By considering the three separate components of a vector in the x, y and z directions it is possible to write the vector equation of a line as three separate equations
    • Letting begin mathsize 16px style bold italic r equals blank open parentheses fraction numerator x over denominator table row y row z end table end fraction close parentheses end style then bold italic r equals bold italic a plus lambda bold italic b becomes
    • begin mathsize 16px style open parentheses fraction numerator x over denominator table row y row z end table end fraction close parentheses equals blank open parentheses fraction numerator x subscript 0 over denominator table row cell y subscript 0 end cell row cell z subscript 0 end cell end table end fraction close parentheses plus lambda open parentheses fraction numerator l over denominator table row m row n end table end fraction close parentheses end style
      • Where begin mathsize 16px style open parentheses fraction numerator x subscript 0 over denominator table row cell y subscript 0 end cell row cell z subscript 0 end cell end table end fraction close parentheses end style is a position vector and begin mathsize 16px style open parentheses fraction numerator l over denominator table row m row n end table end fraction close parentheses end style is a direction vector
    • This vector equation can then be split into its three separate component forms:
      • x equals blank x subscript 0 plus blank lambda l blank
      • y equals blank y subscript 0 plus blank lambda m blank
      • z equals blank z subscript 0 plus blank lambda n
    • These are given in the formula booklet

Worked Example

Write the parametric form of the equation of the line which passes through the point (-2, 1, 0) with direction vector begin mathsize 16px style open parentheses fraction numerator 3 over denominator table row 1 row cell negative 4 end cell end table end fraction close parentheses end style.

3-10-1-ib-aa-hl-parametric-we

Equation of a Line in Cartesian Form

  • The Cartesian equation of a line can be found from the vector equation of a line by
    • Finding the vector equation of the line in parametric form
    • Eliminating lambda from the parametric equations
      • lambda can be eliminated by making it the subject of each of the parametric equations
      • For example: blank x equals blank x subscript 0 plus blank lambda l blankgives blank lambda equals blank fraction numerator blank x minus blank x subscript 0 over denominator l end fraction blank
  • In 2D the cartesian equation of a line is a regular equation of a straight line simply given in the form
    •  begin mathsize 16px style y equals m x plus c end style
    • begin mathsize 16px style a x plus b y plus d equals 0 end style
    • begin mathsize 16px style fraction numerator y minus y subscript 1 over denominator y subscript 2 minus y subscript 1 end fraction equals fraction numerator x minus x subscript 1 over denominator x subscript 2 minus x subscript 1 end fraction end style by rearranging begin mathsize 16px style y minus y subscript 1 equals m open parentheses x minus x subscript 1 close parentheses end style
  • In 3D the cartesian equation of a line also includes z and is given in the form
    • begin mathsize 16px style fraction numerator x minus blank x subscript 0 over denominator l end fraction equals blank fraction numerator y minus blank y subscript 0 over denominator m end fraction equals blank fraction numerator z minus blank z subscript 0 over denominator n end fraction end style
    • where begin mathsize 16px style open parentheses fraction numerator x over denominator table row y row z end table end fraction close parentheses equals blank open parentheses fraction numerator x subscript 0 over denominator table row cell y subscript 0 end cell row cell z subscript 0 end cell end table end fraction close parentheses plus lambda open parentheses fraction numerator l over denominator table row m row n end table end fraction close parentheses end style
    • This is given in the formula booklet
  • If one of your variables does not depend on lambda then this part can be written as a separate equation
    • For example: begin mathsize 16px style m equals 0 blank rightwards double arrow y equals blank y subscript 0 blank end stylegives begin mathsize 16px style fraction numerator x minus blank x subscript 0 over denominator l end fraction equals blank fraction numerator z minus blank z subscript 0 over denominator n end fraction blank comma blank y equals blank y subscript 0 end style

How do I find the vector equation of a line given the Cartesian form?

  • If you are given the Cartesian equation of a line in the form
    • begin mathsize 16px style fraction numerator x minus blank x subscript 0 over denominator l end fraction equals blank fraction numerator y minus blank y subscript 0 over denominator m end fraction equals blank fraction numerator z minus blank z subscript 0 over denominator n end fraction end style
  • A vector equation of the line can be found by
    • STEP 1: Set each part of the equation equal to lambdaindividually
    • STEP 2: Rearrange each of these three equations (or two if working in 2D) to make x, y, and z the subjects
      • This will give you the three parametric equations
      • x equals blank x subscript 0 plus blank lambda l blank
      • y equals blank y subscript 0 plus blank lambda m blank
      • z equals blank z subscript 0 plus blank lambda n blank
    • STEP 3: Write this in the vector form begin mathsize 16px style open parentheses fraction numerator x over denominator table row y row z end table end fraction close parentheses equals blank open parentheses fraction numerator x subscript 0 over denominator table row cell y subscript 0 end cell row cell z subscript 0 end cell end table end fraction close parentheses plus lambda open parentheses fraction numerator l over denominator table row m row n end table end fraction close parentheses end style
    • STEP 4: Set r  to equal begin mathsize 16px style open parentheses fraction numerator x over denominator table row y row z end table end fraction close parentheses end style
  • If one part of the cartesian equation is given separately and is not in terms of lambda then the corresponding component in the direction vector is equal to zero

Worked Example

A line has the vector equation begin mathsize 16px style r blank equals blank open parentheses table row 1 row 0 row 2 end table close parentheses plus lambda open parentheses table row 4 row cell negative 2 end cell row 1 end table close parentheses end style. Find the Cartesian equation of the line.

3-10-1-ib-aa-hl-cartesianwe



  • 1. Number & Algebra
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                                        • 1.8 Complex Numbers
                                          • 1.8.1 Intro to Complex Numbers
                                            • 1.8.2 Modulus & Argument
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                                              • 1.9 Further Complex Numbers
                                                • 1.9.1 Geometry of Complex Numbers
                                                  • 1.9.2 Forms of Complex Numbers
                                                    • 1.9.3 Complex Roots of Polynomials
                                                      • 1.9.4 De Moivre's Theorem
                                                        • 1.9.5 Roots of Complex Numbers
                                                        • 1.10 Systems of Linear Equations
                                                          • 1.10.1 Systems of Linear Equations
                                                            • 1.10.2 Algebraic Solutions
                                                          • 2. Functions
                                                            • 2.1 Linear Functions & Graphs
                                                              • 2.1.1 Equations of a Straight Line
                                                              • 2.2 Quadratic Functions & Graphs
                                                                • 2.2.1 Quadratic Functions
                                                                  • 2.2.2 Factorising & Completing the Square
                                                                    • 2.2.3 Solving Quadratics
                                                                      • 2.2.4 Quadratic Inequalities
                                                                        • 2.2.5 Discriminants
                                                                        • 2.3 Functions Toolkit
                                                                          • 2.3.1 Language of Functions
                                                                            • 2.3.2 Composite & Inverse Functions
                                                                              • 2.3.3 Symmetry of Functions
                                                                                • 2.3.4 Graphing Functions
                                                                                • 2.4 Other Functions & Graphs
                                                                                  • 2.4.1 Exponential & Logarithmic Functions
                                                                                    • 2.4.2 Solving Equations
                                                                                      • 2.4.3 Modelling with Functions
                                                                                      • 2.5 Reciprocal & Rational Functions
                                                                                        • 2.5.1 Reciprocal & Rational Functions
                                                                                        • 2.6 Transformations of Graphs
                                                                                          • 2.6.1 Translations of Graphs
                                                                                            • 2.6.2 Reflections of Graphs
                                                                                              • 2.6.3 Stretches Graphs
                                                                                                • 2.6.4 Composite Transformations of Graphs
                                                                                                • 2.7 Polynomial Functions
                                                                                                  • 2.7.1 Factor & Remainder Theorem
                                                                                                    • 2.7.2 Polynomial Division
                                                                                                      • 2.7.3 Polynomial Functions
                                                                                                        • 2.7.4 Roots of Polynomials
                                                                                                        • 2.8 Inequalities
                                                                                                          • 2.8.1 Solving Inequalities Graphically
                                                                                                            • 2.8.2 Polynomial Inequalities
                                                                                                            • 2.9 Further Functions & Graphs
                                                                                                              • 2.9.1 Modulus Functions
                                                                                                                • 2.9.2 Modulus Transformations
                                                                                                                  • 2.9.3 Modulus Equations & Inequalities
                                                                                                                    • 2.9.4 Reciprocal & Square Transformations
                                                                                                                  • 3. Geometry & Trigonometry
                                                                                                                    • 3.1 Geometry Toolkit
                                                                                                                      • 3.1.1 Coordinate Geometry
                                                                                                                        • 3.1.2 Radian Measure
                                                                                                                          • 3.1.3 Arcs & Sectors
                                                                                                                          • 3.2 Geometry of 3D Shapes
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                                                                                                                              • 3.2.2 Volume & Surface Area
                                                                                                                              • 3.3 Trigonometry Toolkit
                                                                                                                                • 3.3.1 Pythagoras & Right-Angled Triganometry
                                                                                                                                  • 3.3.2 Non Right-Angled Trigonometry
                                                                                                                                    • 3.3.3 Applications of Trigonometry & Pythagoras
                                                                                                                                    • 3.4 Trigonometry
                                                                                                                                      • 3.4.1 The Unit Circle
                                                                                                                                        • 3.4.2 Exact Values
                                                                                                                                        • 3.5 Trigonometric Functions & Graphs
                                                                                                                                          • 3.5.1 Graphs of Trigonometric Functions
                                                                                                                                            • 3.5.2 Transformations of Trigonometric Functions
                                                                                                                                              • 3.5.3 Modelling with Trigonometric Functions
                                                                                                                                              • 3.6 Trigonometric Equations & Identities
                                                                                                                                                • 3.6.1 Simple Identities
                                                                                                                                                  • 3.6.2 Compound Angle Formulae
                                                                                                                                                    • 3.6.3 Double Angle Formulae
                                                                                                                                                      • 3.6.4 Relationship Between Trigonometric Ratios
                                                                                                                                                        • 3.6.5 Linear Trigonometric Equations
                                                                                                                                                          • 3.6.6 Quadratic Trigonometric Equations
                                                                                                                                                          • 3.7 Inverse & Reciprocal Trig Functions
                                                                                                                                                            • 3.7.1 Reciprocal Trig Functions
                                                                                                                                                              • 3.7.2 Inverse Trig Functions
                                                                                                                                                              • 3.8 Further Trigonometry
                                                                                                                                                                • 3.8.1 Trigonometric Proof
                                                                                                                                                                  • 3.8.2 Strategy for Trigonometric Equations
                                                                                                                                                                  • 3.9 Vector Properties
                                                                                                                                                                    • 3.9.1 Introduction to Vectors
                                                                                                                                                                      • 3.9.2 Position & Displacement Vectors
                                                                                                                                                                        • 3.9.3 Magnitude of a Vector
                                                                                                                                                                          • 3.9.4 The Scalar Product
                                                                                                                                                                            • 3.9.5 Geometric Proof with Vectors
                                                                                                                                                                            • 3.10 Vector Equations of Lines
                                                                                                                                                                              • 3.10.1 Vector Equations of Lines
                                                                                                                                                                                • 3.10.2 Applications to Kinematics
                                                                                                                                                                                  • 3.10.3 Pairs of Lines in 3D
                                                                                                                                                                                    • 3.10.4 The Vector Product
                                                                                                                                                                                      • 3.10.5 Shortest Distances with Lines
                                                                                                                                                                                      • 3.11 Vector Planes
                                                                                                                                                                                        • 3.11.1 Vector Equations of Planes
                                                                                                                                                                                          • 3.11.2 Intersections of Lines & Planes
                                                                                                                                                                                            • 3.11.3 Angles Between Lines & Planes
                                                                                                                                                                                              • 3.11.4 Shortest Distances with Planes
                                                                                                                                                                                            • 4. Statistics & Probability
                                                                                                                                                                                              • 4.1 Statistics Toolkit
                                                                                                                                                                                                • 4.1.1 Sampling & Data Collection
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                                                                                                                                                                                                    • 4.1.3 Frequency Tables
                                                                                                                                                                                                      • 4.1.4 Linear Transformations of Data
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                                                                                                                                                                                                          • 4.1.6 Univariate Data
                                                                                                                                                                                                            • 4.1.7 Interpreting Data
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                                                                                                                                                                                                              • 4.2.1 Bivariate Data
                                                                                                                                                                                                                • 4.2.2 Correlation & Regression
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                                                                                                                                                                                                                  • 4.3.1 Probability & Types of Events
                                                                                                                                                                                                                    • 4.3.2 Conditional Probability
                                                                                                                                                                                                                      • 4.3.3 Bayes' Theorem
                                                                                                                                                                                                                        • 4.3.4 Sample Space Diagrams
                                                                                                                                                                                                                        • 4.4 Probability Distributions
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                                                                                                                                                                                                                            • 4.4.2 Mean & Variance
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                                                                                                                                                                                                                              • 4.5.1 The Binomial Distribution
                                                                                                                                                                                                                                • 4.5.2 Calculating Binomial Probabilities
                                                                                                                                                                                                                                • 4.6 Normal Distribution
                                                                                                                                                                                                                                  • 4.6.1 The Normal Distribution
                                                                                                                                                                                                                                    • 4.6.2 Calculations with Normal Distribution
                                                                                                                                                                                                                                      • 4.6.3 Standardisation of Normal Variables
                                                                                                                                                                                                                                      • 4.7 Further Probability Distributions
                                                                                                                                                                                                                                        • 4.7.1 Probability Density Function
                                                                                                                                                                                                                                      • 5. Calculus
                                                                                                                                                                                                                                        • 5.1 Differentiation
                                                                                                                                                                                                                                          • 5.1.1 Introduction to Differentiation
                                                                                                                                                                                                                                            • 5.1.2 Applications of Differentiation
                                                                                                                                                                                                                                            • 5.2 Further Differentiation
                                                                                                                                                                                                                                              • 5.2.1 Differentiating Special Functions
                                                                                                                                                                                                                                                • 5.2.2 Techniques of Differentiation
                                                                                                                                                                                                                                                  • 5.2.3 Higher Order Derivatives
                                                                                                                                                                                                                                                    • 5.2.4 Further Applications of Differentiation
                                                                                                                                                                                                                                                      • 5.2.5 Concavity & Points of Inflection
                                                                                                                                                                                                                                                        • 5.2.6 Derivatives & Graphs
                                                                                                                                                                                                                                                        • 5.3 Integration
                                                                                                                                                                                                                                                          • 5.3.1 Introduction to Integration
                                                                                                                                                                                                                                                            • 5.3.2 Applications of Integration
                                                                                                                                                                                                                                                            • 5.4 Further Integration
                                                                                                                                                                                                                                                              • 5.4.1 Integrating Special Functions
                                                                                                                                                                                                                                                                • 5.4.2 Techniques of Integration
                                                                                                                                                                                                                                                                  • 5.4.3 Definite Integrals
                                                                                                                                                                                                                                                                    • 5.4.4 Further Applications of Integration
                                                                                                                                                                                                                                                                    • 5.5 Optimisation
                                                                                                                                                                                                                                                                      • 5.5.1 Modelling with Differentiation
                                                                                                                                                                                                                                                                      • 5.6 Kinematics
                                                                                                                                                                                                                                                                        • 5.6.1 Kinematics Toolkit
                                                                                                                                                                                                                                                                          • 5.6.2 Calculus for Kinematics
                                                                                                                                                                                                                                                                          • 5.7 Basic Limits & Continuity
                                                                                                                                                                                                                                                                            • 5.7.1 Basic Limits & Continuity
                                                                                                                                                                                                                                                                            • 5.8 Advanced Differentiation
                                                                                                                                                                                                                                                                              • 5.8.1 First Principles Differentiation
                                                                                                                                                                                                                                                                                • 5.8.2 Applications of Chain Rule
                                                                                                                                                                                                                                                                                  • 5.8.3 Implicit Differentiation
                                                                                                                                                                                                                                                                                    • 5.8.4 Differentiating Further Functions
                                                                                                                                                                                                                                                                                    • 5.9 Advanced Integration
                                                                                                                                                                                                                                                                                      • 5.9.1 Integrating Further Functions
                                                                                                                                                                                                                                                                                        • 5.9.2 Further Techniques of Integration
                                                                                                                                                                                                                                                                                          • 5.9.3 Integrating with Partial Fractions
                                                                                                                                                                                                                                                                                            • 5.9.4 Advanced Applications of Integration
                                                                                                                                                                                                                                                                                              • 5.9.5 Modelling with Volumes of Revolution
                                                                                                                                                                                                                                                                                              • 5.10 Differential Equations
                                                                                                                                                                                                                                                                                                • 5.10.1 Numerical Solutions to Differential Equations
                                                                                                                                                                                                                                                                                                  • 5.10.2 Analytical Solutions to Differential Equations
                                                                                                                                                                                                                                                                                                    • 5.10.3 Modelling with Differential Equations
                                                                                                                                                                                                                                                                                                    • 5.11 MacLaurin Series
                                                                                                                                                                                                                                                                                                      • 5.11.1 Maclaurin Series
                                                                                                                                                                                                                                                                                                        • 5.11.2 Maclaurin Series from Differential Equations
                                                                                                                                                                                                                                                                                                        • 5.12 Further Limits (inc l'Hôpital's Rule)
                                                                                                                                                                                                                                                                                                          • 5.12.1 Further Limits
                                                                                                                                                                                                                                                                                                        Amber Perry

                                                                                                                                                                                                                                                                                                        Author: Amber

                                                                                                                                                                                                                                                                                                        Amber gained a first class degree in Mathematics & Meteorology from the University of Reading before training to become a teacher. She is passionate about teaching, having spent 8 years teaching GCSE and A Level Mathematics both in the UK and internationally. Amber loves creating bright and informative resources to help students reach their potential.


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