1.10b Vectors in 3D: i,j,k notation

1. Two birds are flying towards their nest, which is in a tree.

Relative to a fixed origin, the flight path of each bird is modelled by a straight line.
In the model, the equation for the flight path of the first bird is $$\mathbf { r } _ { 1 } = \left( \begin{array} { r } - 1 \\ 5 \\ 2 \end{array} \right) + \lambda \left( \begin{array} { l } 2 \\ a \\ 0 \end{array} \right)$$ and the equation for the flight path of the second bird is $$\mathbf { r } _ { 2 } = \left( \begin{array} { r } 4 \\ - 1 \\ 3 \end{array} \right) + \mu \left( \begin{array} { r } 0 \\ 1 \\ - 1 \end{array} \right)$$ where \(\lambda\) and \(\mu\) are scalar parameters and \(a\) is a constant.
In the model, the angle between the birds' flight paths is \(120 ^ { \circ }\)

1. Determine the value of \(a\).
2. Verify that, according to the model, there is a common point on the flight paths of the two birds and find the coordinates of this common point. The position of the nest is modelled as being at this common point.
   The tree containing the nest is in a park.
   The ground level of the park is modelled by the plane with equation $$2 x - 3 y + z = 2$$
3. Hence determine the shortest distance from the nest to the ground level of the park.
4. By considering the model, comment on whether your answer to part (c) is reliable, giving a reason for your answer.

4. \begin{figure}[h] \end{figure} A small aircraft is landing in a field.
In a model for the landing the aircraft travels in different straight lines before and after it lands, as shown in Figure 2. The vector \(\mathbf { v } _ { \mathbf { A } }\) is in the direction of travel of the aircraft as it approaches the field.
The vector \(\mathbf { V } _ { \mathbf { L } }\) is in the direction of travel of the aircraft after it lands.
With respect to a fixed origin, the field is modelled as the plane with equation $$x - 2 y + 25 z = 0$$ and $$\mathbf { v } _ { \mathbf { A } } = \left( \begin{array} { r } 3 \\ - 2 \\ - 1 \end{array} \right)$$

1. Write down a vector \(\mathbf { n }\) that is a normal vector to the field.
2. Show that \(\mathbf { n } \times \mathbf { v } _ { \mathbf { A } } = \lambda \left( \begin{array} { r } 13 \\ 19 \\ 1 \end{array} \right)\), where \(\lambda\) is a constant to be determined. When the aircraft lands it remains in contact with the field and travels in the direction \(\mathbf { v } _ { \mathbf { L } }\) The vector \(\mathbf { v } _ { \mathbf { L } }\) is in the same plane as both \(\mathbf { v } _ { \mathbf { A } }\) and \(\mathbf { n }\) as shown in Figure 2.
3. Determine a vector which has the same direction as \(\mathbf { V } _ { \mathbf { L } }\)
4. State a limitation of the model.

8 The points \(A , B\) and \(C\) have position vectors \(\mathbf { a } , \mathbf { b }\) and \(\mathbf { c }\), relative to an origin \(O\), in three dimensions. The figure \(O A P B S C T U\) is a cuboid, with vertices labelled as in the following diagram. \(M\) is the midpoint of \(A U\). \includegraphics[max width=\textwidth, alt={}, center]{85de9a39-f8be-40ee-b0c8-e2e632be93d8-5_557_1221_2087_420}

2. \begin{figure}[h] \end{figure} The points \(A , B\) and \(C\) have position vectors \(\mathbf { a } , \mathbf { b }\) and \(\mathbf { c }\) respectively, relative to a fixed origin \(O\), as shown in Figure 1. It is given that $$\mathbf { a } = \mathbf { i } + \mathbf { j } , \quad \mathbf { b } = \mathbf { 3 i } - \mathbf { j } + \mathbf { k } \quad \text { and } \quad \mathbf { c } = \mathbf { 2 i } + \mathbf { j } - \mathbf { k } .$$ Calculate

1. \(\mathbf { b } \times \mathbf { c }\),
2. \(\mathbf { a . } ( \mathbf { b } \times \mathbf { c } )\),
3. the area of triangle \(O B C\),
4. the volume of the tetrahedron \(O A B C\).

7. Two ships \(P\) and \(Q\) are travelling at night with constant velocities. At midnight, \(P\) is at the point with position vector \(( 20 \mathbf { i } + 10 \mathbf { j } ) \mathrm { km }\) relative to a fixed origin \(O\). At the same time, \(Q\) is at the point with position vector \(( 14 \mathbf { i } - 6 \mathbf { j } ) \mathrm { km }\). Three hours later, \(P\) is at the point with position vector \(( 29 \mathbf { i } + 34 \mathbf { j } ) \mathrm { km }\). The ship \(Q\) travels with velocity \(12 \mathbf { j } \mathrm {~km} \mathrm {~h} ^ { - 1 }\). At time \(t\) hours after midnight, the position vectors of \(P\) and \(Q\) are \(\mathbf { p } \mathrm { km }\) and \(\mathbf { q } \mathrm { km }\) respectively. Find

1. the velocity of \(P\), in terms of \(\mathbf { i }\) and \(\mathbf { j }\),
2. expressions for \(\mathbf { p }\) and \(\mathbf { q }\), in terms of \(t\), i and \(\mathbf { j }\). At time \(t\) hours after midnight, the distance between \(P\) and \(Q\) is \(d \mathrm {~km}\).
3. By finding an expression for \(\overrightarrow { P Q }\), show that $$d ^ { 2 } = 25 t ^ { 2 } - 92 t + 292$$ Weather conditions are such that an observer on \(P\) can only see the lights on \(Q\) when the distance between \(P\) and \(Q\) is 15 km or less. Given that when \(t = 1\), the lights on \(Q\) move into sight of the observer,
4. find the time, to the nearest minute, at which the lights on \(Q\) move out of sight of the observer.
   1. In taking off, an aircraft moves on a straight runway \(A B\) of length 1.2 km . The aircraft moves from \(A\) with initial speed \(2 \mathrm {~m} \mathrm {~s} ^ { - 1 }\). It moves with constant acceleration and 20 s later it leaves the runway at \(C\) with speed \(74 \mathrm {~m} \mathrm {~s} ^ { - 1 }\). Find
   2. the acceleration of the aircraft,
   3. the distance \(B C\).
   4. Two small steel balls \(A\) and \(B\) have mass 0.6 kg and 0.2 kg respectively. They are moving towards each other in opposite directions on a smooth horizontal table when they collide directly. Immediately before the collision, the speed of \(A\) is \(8 \mathrm {~m} \mathrm {~s} ^ { - 1 }\) and the speed of \(B\) is \(2 \mathrm {~m} \mathrm {~s} ^ { - 1 }\). Immediately after the collision, the direction of motion of \(A\) is unchanged and the speed of \(B\) is twice the speed of \(A\). Find
   5. the speed of \(A\) immediately after the collision,
   6. the magnitude of the impulse exerted on \(B\) in the collision.
      
   \begin{figure}[h]
   \captionsetup{labelformat=empty} \caption{Figure 1} \includegraphics[alt={},max width=\textwidth]{94d9432d-1723-4549-ad5e-d4be0f5fd083-018_282_707_278_699}
   \end{figure}

7 The quadrilateral \(A B C D\) has vertices \(A ( 2,1,3 ) , B ( 6,5,3 ) , C ( 6,1 , - 1 )\) and \(D ( 2 , - 3 , - 1 )\).
The line \(l _ { 1 }\) has vector equation \(\mathbf { r } = \left[ \begin{array} { r } 6 \\ 1 \\ - 1 \end{array} \right] + \lambda \left[ \begin{array} { l } 1 \\ 1 \\ 0 \end{array} \right]\).

1. 1. Find the vector \(\overrightarrow { A B }\).
   2. Show that the line \(A B\) is parallel to \(l _ { 1 }\).
   3. Verify that \(D\) lies on \(l _ { 1 }\).
2. The line \(l _ { 2 }\) passes through \(D ( 2 , - 3 , - 1 )\) and \(M ( 4,1,1 )\).
   1. Find the vector equation of \(l _ { 2 }\).
   2. Find the angle between \(l _ { 2 }\) and \(A C\).

6 The points \(A , B\) and \(C\) have coordinates \(( 3 , - 2,4 ) , ( 5,4,0 )\) and \(( 11,6 , - 4 )\) respectively.

1. 1. Find the vector \(\overrightarrow { B A }\).
   2. Show that the size of angle \(A B C\) is \(\cos ^ { - 1 } \left( - \frac { 5 } { 7 } \right)\).
2. The line \(l\) has equation \(\mathbf { r } = \left[ \begin{array} { r } 8 \\ - 3 \\ 2 \end{array} \right] + \lambda \left[ \begin{array} { r } 1 \\ 3 \\ - 2 \end{array} \right]\).
   1. Verify that \(C\) lies on \(l\).
   2. Show that \(A B\) is parallel to \(l\).
3. The quadrilateral \(A B C D\) is a parallelogram. Find the coordinates of \(D\).

9 The points \(A\) and \(B\) lie on the line \(l _ { 1 }\) and have coordinates \(( 2,5,1 )\) and \(( 4,1 , - 2 )\) respectively.

1. 1. Find the vector \(\overrightarrow { A B }\).
   2. Find a vector equation of the line \(l _ { 1 }\), with parameter \(\lambda\).
2. The line \(l _ { 2 }\) has equation \(\mathbf { r } = \left[ \begin{array} { r } 1 \\ - 3 \\ - 1 \end{array} \right] + \mu \left[ \begin{array} { r } 1 \\ 0 \\ - 2 \end{array} \right]\).
   1. Show that the point \(P ( - 2 , - 3,5 )\) lies on \(l _ { 2 }\).
   2. The point \(Q\) lies on \(l _ { 1 }\) and is such that \(P Q\) is perpendicular to \(l _ { 2 }\). Find the coordinates of \(Q\).

8 The points \(A\) and \(B\) have coordinates \(( 2,1 , - 1 )\) and \(( 3,1 , - 2 )\) respectively. The angle \(O B A\) is \(\theta\), where \(O\) is the origin.

1. 1. Find the vector \(\overrightarrow { A B }\).
   2. Show that \(\cos \theta = \frac { 5 } { 2 \sqrt { 7 } }\).
2. The point \(C\) is such that \(\overrightarrow { O C } = 2 \overrightarrow { O B }\). The line \(l\) is parallel to \(\overrightarrow { A B }\) and passes through the point \(C\). Find a vector equation of \(l\).
3. The point \(D\) lies on \(l\) such that angle \(O D C = 90 ^ { \circ }\). Find the coordinates of \(D\).

8 The points \(A , B\) and \(C\) have coordinates \(( 2 , - 1 , - 5 ) , ( 0,5 , - 9 )\) and \(( 9,2,3 )\) respectively. The line \(l\) has equation \(\mathbf { r } = \left[ \begin{array} { r } 2 \\ - 1 \\ - 5 \end{array} \right] + \lambda \left[ \begin{array} { r } 1 \\ - 3 \\ 2 \end{array} \right]\).

1. Verify that the point \(B\) lies on the line \(l\).
2. Find the vector \(\overrightarrow { B C }\).
3. The point \(D\) is such that \(\overrightarrow { A D } = 2 \overrightarrow { B C }\).
   1. Show that \(D\) has coordinates \(( 20 , - 7,19 )\).
   2. The point \(P\) lies on \(l\) where \(\lambda = p\). The line \(P D\) is perpendicular to \(l\). Find the value of \(p\).

7 The points \(A\) and \(B\) have coordinates \(( 1,4,2 )\) and \(( 2 , - 1,3 )\) respectively.
The line \(l\) has equation \(\mathbf { r } = \left[ \begin{array} { r } 2 \\ - 1 \\ 3 \end{array} \right] + \lambda \left[ \begin{array} { r } 1 \\ - 1 \\ 1 \end{array} \right]\).

1. Show that the distance between the points \(A\) and \(B\) is \(3 \sqrt { 3 }\).
2. The line \(A B\) makes an acute angle \(\theta\) with \(l\). Show that \(\cos \theta = \frac { 7 } { 9 }\).
3. The point \(P\) on the line \(l\) is where \(\lambda = p\).
   1. Show that $$\overrightarrow { A P } \cdot \left[ \begin{array} { r } 1 \\ - 1 \\ 1 \end{array} \right] = 7 + 3 p$$
   2. Hence find the coordinates of the foot of the perpendicular from the point \(A\) to the line \(l\).

6 The points \(A\) and \(B\) have coordinates \(( 2,4,1 )\) and \(( 3,2 , - 1 )\) respectively. The point \(C\) is such that \(\overrightarrow { O C } = 2 \overrightarrow { O B }\), where \(O\) is the origin.

1. Find the vectors:
   1. \(\overrightarrow { O C }\);
   2. \(\overrightarrow { A B }\).
2. 1. Show that the distance between the points \(A\) and \(C\) is 5 .
   2. Find the size of angle \(B A C\), giving your answer to the nearest degree.
3. The point \(P ( \alpha , \beta , \gamma )\) is such that \(B P\) is perpendicular to \(A C\). Show that \(4 \alpha - 3 \gamma = 15\).

5. \begin{figure}[h] \end{figure} Figure 2 shows a sketch of a hexagon \(O A B C D E\) where
-the interior angle at \(O\) and at \(C\) are each \(60 ^ { \circ }\) -the interior angle at each of the other vertices is \(150 ^ { \circ }\) -\(O A = O E = B C = C D\) -\(A B = E D = 3 \times O A\) Given that \(\overrightarrow { O A } = \mathbf { a }\) and \(\overrightarrow { O E } = \mathbf { e }\) determine as simplified expressions in terms of \(\mathbf { a }\) and \(\mathbf { e }\)

1. \(\overrightarrow { A B }\)
2. \(\overrightarrow { O D }\) The point \(R\) divides \(A B\) internally in the ratio \(1 : 2\)
3. Determine \(\overrightarrow { R C }\) as a simplified expression in terms of \(\mathbf { a }\) and \(\mathbf { e }\) The line through the points \(R\) and \(C\) meets the line through the points \(O\) and \(D\) at the point \(X\) .
4. Determine \(\overrightarrow { O X }\) in the form \(\lambda \mathbf { a } + \mu \mathbf { e }\) ,where \(\lambda\) and \(\mu\) are real values in simplest form.

2 The points \(A\), \(B\) and \(C\) have position vectors \(3 \mathbf { i } - 4 \mathbf { j } + 2 \mathbf { k } , - \mathbf { i } + 6 \mathbf { k }\) and \(7 \mathbf { i } - 4 \mathbf { j } - 2 \mathbf { k }\) respectively. M is the midpoint of BC .

1. Show that the magnitude of \(\overrightarrow { O M }\) is equal to \(\sqrt { 17 }\). Point D is such that \(\overrightarrow { B C } = \overrightarrow { A D }\).
2. Show that position vector of the point D is \(11 \mathbf { i } - 8 \mathbf { j } - 6 \mathbf { k }\).

9 Two forces, of magnitudes 2 N and 5 N , act on a particle in the directions shown in the diagram below. \includegraphics[max width=\textwidth, alt={}, center]{ec83c2c5-f8f8-4357-abfa-d40bc1d026b4-07_323_755_548_283}

1. Calculate the magnitude of the resultant force on the particle.
2. Calculate the angle between this resultant force and the force of magnitude 5 N .

1. With respect to a fixed origin \(O\) the point \(A\) has coordinates \(( 3,6,5 )\) and the line \(l\) has equation

$$( \mathbf { r } - ( 12 \mathbf { i } + 30 \mathbf { j } + 39 \mathbf { k } ) ) \times ( 7 \mathbf { i } + 13 \mathbf { j } + 24 \mathbf { k } ) = \mathbf { 0 }$$ The points \(B\) and \(C\) lie on \(l\) such that \(A B = A C = 15\) Given that \(A\) does not lie on \(l\) and that the \(x\) coordinate of \(B\) is negative,

1. determine the coordinates of \(B\) and the coordinates of \(C\)
2. Hence determine a Cartesian equation of the plane containing the points \(A , B\) and \(C\) The point \(D\) has coordinates \(( - 2,1 , \alpha )\), where \(\alpha\) is a constant.
   Given that the volume of the tetrahedron \(A B C D\) is 147
3. determine the possible values of \(\alpha\) Given that \(\alpha > 0\)
4. determine the shortest distance between the line \(l\) and the line passing through the points \(A\) and \(D\), giving your answer to 2 significant figures. \includegraphics[max width=\textwidth, alt={}, center]{c0ac1e1e-16bf-4a06-9eaa-8dcf01177722-24_2267_50_312_1980}

1. Relative to a fixed origin \(O\)

• the point \(A\) has coordinates \(( - 10,5 , - 4 )\)
• the point \(B\) has coordinates \(( - 6,4 , - 1 )\)

The straight line \(l _ { 1 }\) passes through \(A\) and \(B\).

1. Find a vector equation for \(l _ { 1 }\) The line \(l _ { 2 }\) has equation $$\mathbf { r } = \left( \begin{array} { l } 3 \\ p \\ q \end{array} \right) + \mu \left( \begin{array} { r } 3 \\ - 4 \\ 1 \end{array} \right)$$ where \(p\) and \(q\) are constants and \(\mu\) is a scalar parameter.
   Given that \(l _ { 1 }\) and \(l _ { 2 }\) intersect at \(B\),
2. find the value of \(p\) and the value of \(q\). The acute angle between \(l _ { 1 }\) and \(l _ { 2 }\) is \(\theta\)
3. Find the exact value of \(\cos \theta\) Given that the point \(C\) lies on \(l _ { 2 }\) such that \(A C\) is perpendicular to \(l _ { 2 }\)
4. find the exact length of \(A C\), giving your answer as a surd.

9 At noon a vessel, \(A\), leaves a port, \(O\), and travels at \(10 \mathrm {~km} \mathrm {~h} ^ { - 1 }\) on a bearing of \(042 ^ { \circ }\). Also at noon a second vessel, \(B\), leaves another port, \(P , 13 \mathrm {~km}\) due north of \(O\), and travels at \(15 \mathrm {~km} \mathrm {~h} ^ { - 1 }\) on a bearing of \(090 ^ { \circ }\). Take \(O\) as the origin and \(\mathbf { i }\) and \(\mathbf { j }\) as unit vectors east and north respectively.

1. Express the velocity vector of \(A\) relative to \(B\) in the form \(a \mathbf { i } + b \mathbf { j }\), where \(a\) and \(b\) are constants to be determined.
2. Express the position vector of \(A\) relative to \(B\), at time \(t\) hours after the vessels have left port, in terms of \(t , \mathbf { i }\) and \(\mathbf { j }\).
3. Explain why the scalar product of the vectors in parts (i) and (ii) is zero when the two vessels are closest together.
4. Find the time at which the two vessels are closest together. \(10 A\) and \(B\) are two points 6 m apart on a smooth horizontal surface. A particle, \(P\), of mass 0.5 kg is attached to \(A\) by a light elastic string of natural length 2 m and modulus of elasticity 20 N , and to \(B\) by a light elastic string of natural length 1 m and modulus of elasticity 10 N , such that \(P\) is between \(A\) and \(B\).
5. Find the length \(A P\) when \(P\) is in equilibrium. \(P\) is held at the point \(C\), where \(C\) is between \(A\) and \(B\) and \(A C = 4.5 \mathrm {~m} . P\) is then released from rest. At time \(t\) seconds after being released, the displacement of \(P\) from the equilibrium position is \(y\) metres.
6. Show that $$\frac { \mathrm { d } ^ { 2 } y } { \mathrm {~d} t ^ { 2 } } = - 40 y$$
7. Find the time taken for \(P\) to reach the mid-point of \(A B\) for the first time. \includegraphics[max width=\textwidth, alt={}, center]{963c0834-fe49-480b-9bb5-1ace4254641a-6_750_1187_258_479} Two particles, \(P\) and \(Q\), are projected simultaneously from the same point on a plane inclined at \(\alpha\) to the horizontal. \(P\) is projected up the plane and \(Q\) down the plane. Each particle is projected with speed \(V\) at an angle \(\theta\) to the plane. Both particles move in a vertical plane containing a line of greatest slope of the inclined plane and you are given that \(\alpha + \theta < \frac { 1 } { 2 } \pi\) (see diagram).
8. Show that the range of \(P\), up the plane, is given by $$\frac { 2 V ^ { 2 } \sin \theta } { g \cos ^ { 2 } \alpha } ( \cos \theta \cos \alpha - \sin \theta \sin \alpha ) .$$
9. Write down a similar expression for the range of \(Q\), down the plane.
10. Given that the range up the plane is a quarter of the range down the plane and that \(\alpha = \tan ^ { - 1 } \left( \frac { 1 } { 2 } \right)\), find \(\theta\).

10 The points \(A\) and \(B\) have position vectors \(\mathbf { a }\) and \(\mathbf { b }\) relative to an origin \(O\), where \(\mathbf { a } = 5 \mathbf { i } + 4 \mathbf { j } - 2 \mathbf { k }\) and \(\mathbf { b } = - 7 \mathbf { i } + 3 \mathbf { j } + \mathbf { k }\).

1. Find the length of \(A B\).
2. Use a scalar product to find angle \(O A B\).

9 Two straight lines have equations $$\mathbf { r } = \left( \begin{array} { r } 16 \\ 2 \\ 3 \end{array} \right) + \lambda \left( \begin{array} { r } 3 \\ 2 \\ - 1 \end{array} \right) \quad \text { and } \quad \mathbf { r } = \left( \begin{array} { r } - 3 \\ 8 \\ 12 \end{array} \right) + \mu \left( \begin{array} { r } 5 \\ - 6 \\ - 3 \end{array} \right) .$$ Show that the two lines intersect and find the coordinates of their point of intersection.