The University of Sydney MATH1902 Linear Algebra (Advanced) Semester 1 Exercises for Week 7 (beginning 22 April) 2013

Preparatory exercises should be attempted before coming to the tutorial. Questions labelled with an asterisk are suitable for students aiming for a credit or higher. Important Ideas and Useful Facts: (i) A line in space is determined by two points, or by one point and a direction. (ii) A plane in space is determined either by three non-collinear points, or by one point and a perpendicular (normal) direction. (iii) If the vector v points in the direction of a line L containing the point P0 , then the parametric vector equation of L is r r0 = tv or equivalently r = r0 + tv where r is the position vector of a typical point on L, r0 is the position vector of P0 and t is a parameter which varies over all real numbers. (iv) If the vector v = a i + b j + c k points in the direction of a line L containing the point P0 (x0 , y0 , z0 ), then the parametric scalar equations of L are x = x0 + ta y = y0 + tb tR z = z0 + tc and the Cartesian equations are (in the case that a, b, c are all nonzero): x x0 y y0 z z0 = = . a b c (v) The shortest distance d from a point P to a line containing the point Q and pointing in the direction of v is |v P Q| d = . |v | (vi) If the vector n is normal to a plane P containing the point P0 , then the vector equation of P is (r r 0 ) n = 0 or equivalently r n = r0 n where r is the position vector of a typical point and r0 is the position vector of P0 . (vii) If the vector n = a i+b j+c k is normal to the plane P containing the point P0 (x0 , y0 , z0 ), then the Cartesian equation of P is ax + by + cz = d where d = ax0 + by0 + cz0 . 1

(viii) If P1 , P2 , P3 are non-collinear points on a plane, then a normal vector to the plane is n = P1 P2 P1 P3 . (ix) The shortest distance d from a point P to a plane containing the point Q and with normal vector n is |n P Q| d = . |n| Preparatory Exercises: 1. Find two distinct points on the line L1 and a vector in the direction of L1 described by the Cartesian equations y+1 x2 = = z4 . 3 2 2. Find two distinct points on the line L2 and a vector in the direction of L2 described by the parametric equations x = 8 3t y = 3 2t t R. z = 6t Is L2 the same line as L1 from the previous exercise?

3.

Find parametric vector, parametric scalar and Cartesian equations of the line passing through the point (2, 3, 5) in the direction of i + 3j k . Find a point on the plane P and a vector normal to P described by the Cartesian equation 4x 3y + 6z = 7 . Find vector and Cartesian equations of the plane containing the point (2, 3, 5) with normal vector i + 3j k . Let P = (1, 2, 3), Q = (1, 2, 3) and R = (4, 4, 4). (i) Express P Q and P R in Cartesian form. (ii) Find the cross product P Q P R.

4.

5.

6.

(iii) Find a Cartesian equation of the plane containing P , Q, R . 7. Find a Cartesian equation for the plane containing P = (6, 7, 2) , Q = (0, 8, 11) , 2 R = (14, 3, 9) .

Tutorial Exercises: 8. For each of (i)(vii), nd two matching descriptions from (a)(n). (i) (ii) (iii) (iv) (v) (vi) (vii) line containing (0, 0, 0) in the direction of i + j + k line containing (1, 2, 1) and (0, 0, 2) line containing (1, 2, 1) in the direction of i + 2j + 2k

plane containing (0, 0, 0) with normal vector i + j + k

plane containing (1, 2, 1) with normal vector i + 2j + 2k plane containing (1, 2, 1), (0, 0, 2) and (1, 3, 2) plane containing (1, 2, 1), (0, 0, 2) and (1, 3, 3)

(a) x + y + z = 0 (b) x = y = z (c) x + y z = 2 y2 z+1 (d) x + 1 = = (e) 7x + 6y 5z = 10 2 2 y2 z+1 (f) x + 1 = = (g) x 2y 2z = 3 2 1 (h) r + 2k 7i + 6j 5k = 0 (i) r = i 2j 5k + t(i 2j 2k) (j) (l) (n) 9. r + 2k i + j k = 0 (k) r + 3i i 2j 2k = 0 (m) r i+j+k =0 r = i 2j 3k + t(i 2j k)

r = i + j + k t(i + j + k)

Consider the following points in space: P (1, 1, 1) , Q(5, 5, 3) , R(6, 3, 1) , S (2, 3, 3) . (i) Find the parametric vector, parametric scalar and Cartesian equations of the line L1 passing through P and R, and also the line L2 passing through Q and S .

(iii) Verify that T is the midpoint of both P R and QS . Are you surprised? 10. The following planes intersect in a line: x+y+z = 2 and x y + 3z = 0 .

(ii) Find the intersection point T of L1 and L2 .

Find a point on this line of intersection and its direction. Now write down parametric and Cartesian equations for this line. 11. What do we mean by the angle between two planes? Find the cosine of the angle between the two planes given by equations x+y+z =6 and x 2y z = 3 .

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(suitable for group discussion) Let P and Q be xed points in space. Suppose R is a point in space (which varies) such that OR = OP + OQ for real numbers and , subject to the constraint + = 1. Prove that R varies over the line that passes through P and Q. Describe the values of such that R is located: (i) somewhere on the line segment joining P to Q (ii) somewhere on the line beyond P on the side away from Q (iii) somewhere on the line beyond Q on the side away from P (iv) twice as far from P as it is from Q.

13.

(suitable for group discussion) Let r be a xed positive real number. Describe geometrically the conguration S in space of points whose position vectors r satisfy the equation | r| = r . Let P (x0 , y0 , z0 ) be a point on S . Find the Cartesian equation of the tangent plane to S at P .

14.

(suitable for group discussion) Suppose that P is a point in space and P is a plane not containing P . Let Q be any point on P and let R be the closest point on P to P . Explain why the dot product P Q P R must be positive.

15. Find the distance from P (3, 0, 1) to the plane P described by the equation 4x + 2y z = 6 . Find the closest point to P which lies on P .

Further Exercises: 16. Find Cartesian equations of the line passing through (1, 0, 2) and perpendicular to the plane 3x 4y + z = 6. x3 y4 z5 = = 2 3 4 is parallel to the plane 4x + 4y 5z = 14. 4 Verify that the line

17.

18.

Find the Cartesian equation of the plane containing (1, 1, 1) and the line x4 z1 = y+3 = . 2 3

19.

Verify that the line L1 described by y2 z 10 x1 = = 4 3 5 is identical to the line L2 described by x = 7 4t y = 4 3t z = 5t tR.

20.

Find the distance from P (2, 1, 1) to the line L given by the equations x1 = Find the closest point to P lying on L. z+4 y1 = . 3 1

21.

Describe a general technique for nding the shortest distance between two parallel lines in space. Use your method to nd the distance between the lines given by the following sets of Cartesian equations: x1 = y2 z3 = 4 3 and x+1 = y3 z+1 = . 4 3

22. Let L1 and L2 be lines in space, containing points P1 and P2 respectively, and pointing in non-parallel directions v1 and v2 respectively. Explain why the shortest distance d between L1 and L2 is given by the formula d = P1 P2 (v1 v2 ) v1 v2 .

Give a general method for nding the closest points Q1 and Q2 on L1 and L2 respectively. Find d , Q1 and Q2 for the following lines: L1 : x = 2 , y = 1 z ; L2 : x + 1 = z+1 y3 = . 4 3

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where f , g and h are dierentiable functions. Let r = r(t) denote the position vector of a point on C at time t. Dene the derivative of r to be r = r (t) = lim r(t + ) r(t) . 0

A smooth curve C in space is dened parametrically by the equations x = f (t) y = g (t) tR, z = h(t)

Give a physical interpretation of r . Prove that r is given parametrically by x = f (t) y = g (t) tR. z = h (t) 24. Let z = f (x, y ) be a real-valued function of two real variables such that the partial derivatives f /x and f /y exist and are continuous. It is a theorem of calculus that the tangent plane is a good approximation to the surface z = f (x, y ) at a given point (x0 , y0 , z0 ) . Explain why the vectors i+ f (x0 , y0 ) k x and j+ f (x0 , y0) k y

are parallel to the tangent plane. Deduce the following equation for the tangent plane to the surface at (x0 , y0 , z0 ) : z z0 = f f (x0 , y0 ) (x x0 ) + (x0 , y0 ) (y y0 ) . x y

25. You are the painter Magritte pondering the horizon, standing on the xy -plane, with your eyeball positioned at the point (10, 0, 101). You are looking at your canvas, which is the yz -plane. You wish to faithfully depict two innitely thin roads on your canvas, one to the left and one to the right of your vision, represented by the lines left : and right : x = t , y = 10 , z = 0 , (t 0) as t heads o towards negative innity. For a xed value of t, let Lleft (t) be the line joining your eyeball to the point (t, 10, 0) on left and Lright (t) be the line joining your eyeball to (t, 10, 0) on right . Find the point of intersection of Lleft (t) and Lright (t) with the canvas. Show that the intersection points form two lines on your canvas which are not parallel, yet do not intersect. What happens to the z -values as t ? 6 x = t , y = 10 , z = 0 , (t 0)

Selected Short Answers: 1. 2. 3. 4. 5. 6. 7. 8. 9. (2, 1, 4) , (5, 1, 5) , 3i + 2j + k (8, 3, 6) , (5, 1, 5) , 3i 2j k , yes. r = 2i + 3j + 5k + t(i + 3j k) , (1, 1, 0) , 4i 3j + 6k r i + 3j k = 6 , (i) 2i 4j 6k , 3i 6j + k 7x + 34y + 36z = 124 (i) (b),(n). (ii) (d),(i). (iii) (f),(m). (iv) (a),(k). (v) (g),(l). (vi) (e),(h). (vii) (c),(j). x = 1 + 5t x1 y1 z1 (i) L1 : r = i + j + k + t(5i 4j 2k), y = 1 4t t R , = = 5 4 2 z = 1 2t x = 5 3s x5 y+5 z+3 L2 : r = 5i5j3k+s(3i+8j+6k), y = 5 + 8s s R , = = 3 8 6 z = 3 + 6s (ii) (7/2, 1, 0) (1, 1, 0) , 4i 2j 2k , 2/3 (i) x0 x + y0 y + z0 z = r 2 21/3 , (5/3, 2/3, 2/3) x1 y = =z+2 3 4 x = 1 + 2t x1 y1 z y = 1t tR, = = 2 1 1 z = t x = 2+t y = 3 + 3t t R, z = 5t x2 = y3 z5 = 3 1

x + 3y z = 6 . (ii) 40i 16j + 24k (iii) 5x + 2y 3z = 0

10. 11. 12. 13. 15. 16. 17. 18. 20. 21. 22. 25.

0 1 (ii) > 1 (iii) < 0 (iv) = 1/3 or = 1

(2i + 3j + 4k) (4i + 4j 5k) = 0 12x + 9y + 5z = 26 270/ 11 , (7/11, 1/11, 40/11) 2275/13 4/ 3 , (2, 25/3, 22/3) , (2/3, 29/3, 6) 100 t 101 0, , as t , z 101 , t 10 t 10 7