2 Three-dimensional coordinate frames
The real world is three-dimensional and in order to solve many engineering problems it is necessary to develop expertise in the mathematics of three-dimensional space. An important application of vectors is their use to locate points in three dimensions. When two distinct points are known we can draw a unique straight line between them. Three distinct points which do not lie on the same line form a unique plane. Vectors can be used to describe points, lines, and planes in three dimensions. These mathematical foundations underpin much of the technology associated with computer graphics and the control of robots. In this Section we shall introduce the vector methods which underlie these applications.
Figure 28
Figure 28(a) shows a three-dimensional coordinate frame. Note that the third dimension requires the addition of a third axis, the -axis. Although these three axes are drawn in the plane of the paper you should remember that we are now thinking of three-dimensional situations. Just as in two-dimensions the and axes are perpendicular, in three dimensions the , and axes are all perpendicular to each other. We say they are mutually perpendicular. There is no reason why we could not have chosen the -axis in the opposite direction. However, it is conventional to choose the directions shown in Figure 28(a).
Any point in the three dimensional space can be defined in terms of its , and coordinates. Consider the point with coordinates as shown in Figure 28(b). The vector from the origin to the point is known as the position vector of , denoted or . To arrive at from we can think of moving units in the direction, units in the direction and units in the direction.
A unit vector pointing in the positive direction of the -axis is denoted by . See the Figure 28(c). Noting that and that we can state
We conclude that the position vector of the point with coordinates is . (We might, for convenience, sometimes use a subscript notation. For example we might refer to the position vector as in which ( ) have taken the place of ( ).)
Task!
State the position vector of the point with coordinates .
The modulus of the vector is equal to the distance , which can be obtained by Pythagoras’ theorem:
Task!
Find the modulus of the vector .
Example 7
Points , and have coordinates , and respectively.
- Find the position vectors of , and .
- Find and .
- Find and .
Solution
-
Denoting the position vectors of
,
and
by
,
and
respectively, we find
- . .
- . .
Exercises
- State the position vector of the point with coordinates .
-
Find the modulus of each of the following vectors.
- ,
- ,
- ,
- ,
-
Points
,
and
have coordinates
and (5,5,7) respectively.
- Find the position vectors of , and ,
- Find and
- Find and .
-
- ,
- ,
- ,
- ,
- .
-
- , , .
- ,
- ,