Unit 4

m-Sy,rnf3Fmfmm**i:~%~*.
rn~l m
m + t i t : ~ ; m ~ ~ i f . ~ h a ~ m a i ; m ~ * m
m&~?mh*~*=m;mr$j:fft~:**~
#I ~ ~ * 3 m b % * ? ~ ; r m m ~ ~ ( ~ m ) M i t $ f $ 4 o
(h I ( * ) * ) ~ . m A l o ~ wtar*rn ~ ~ A l
u.nrcr.rj?mryox,ov3 i t i o z 3 ~ ~ m ~ m h i t R ; ~ o r n R m #
dkTldfh (right-handed screw) (h
~ ~ ~ i t o z * m % f . ~
* *
H)O X OY d7
I (8)
A l
&
~ : , v ~ ~ ~ m 3 i t w ~ ~ h h + t & mihn;~rf'~9m~mr
~ 3 - & 3 ~
wf+q~d*~~i~.dgMmmhmh+t13m:
3-& dk RJ f$ d h Q$%% (one-to-one dorrespondence)
$&#I ~ W ? J T ~ ~ . ~ *aTF ~ ~ : ~ R ~ ~
~ ~ ~ ~ ~ R ~ ~ J ~ T ~ B T ~
m:,P ( X , y, z ) & ~ f k * g t J - f $ ~ JhTa=r13ka3it

I
P ( X I ,yl, 11) & Q (x2, y:, ~ 2 )
formula)
+**
@ w m? w fl (distance
PQ = ~ ( I c I - x +~ ()Y~ I - Y ~+)(~Z I - ~ 2 ) ~ ... (1)
E 2) P (a, b, c) & Q (r, S, t ) * ~ d ? E l T 6 3 ~ ~ ~ ~ ~

*I
w - 5 y m v w o e o x , OY, o z ~ ~ S T R f h ~ a % w m * l
3lTVJ#C*0*-?$ p&'kT(directed line) ~ w ( f % T 3 * ) 1
TT& 813 FT cos a ,

cosines) 6 Ie
shi cosy
C O S ~ *
m ~ ~ , x , y e z ~ 8 ? A . ~ ~ 1 r ~ c r , R r n r 3 * ~ : a , p
L C-7 (direction
m d i k x-m*r- cos 0, cos 5, 5,

cos ~ r * 1, 0, 0 8 1
i % z ~ R r r ~ f $ i m r & ~ a % ~ R s f T ~ e ~
w w - 5 y m m t a r * - ~ + ~ m m m w ~ & l .m,
.RRPM* L * M ~ T y ~ a % + ~ i r * ~ C O S a , cos p
*COS r n m d d R i ~ F $ 4 ~ m R s am8; 1r m P ( x ; ;;z),
L V P ~ ~ ~ TTW, FmW h 4~ * I * d e b ,
T %,~+ &,<%a
x = OP cos a , y = OP cos p shi z = OP cos y.

(direction ratios) ~h *
~ ~ : * ~ a , b 4 k c f * ~ l , m 3 h T n d ~ $ ~ - ~
8, a = kl, b = km, c = kn, m k€R 3;
sra:*f+mijftmtar*~Jif&~*+b-~
m T M l
E 5) wm~
r y h ~ t h ~ 3 d * t a3fkr PQ
(a, b, C ) R W
*f&81 ?-b a, b, c L ~ , @ - - A I
..
31~vq31=r~s-rr-373bf*4mQ-sr;~rmatar?i;r~w&&
~ ~ ~ ~ T r m + t * l
4.3.2 WFf *
*?dhT
wr*RRpRMtar
31=rira~tardilwfhmb~3 m~1
*f%Td"WTWTl, m 3fk n j ! * b P ( a , b, c y ~ W f * n . 8 1
~ * ~ ( ~ , ~ , ~ ) ~ r n & r n ~ J t h ~ 6 , ~ a r s p ~ ~ ~
Ksim V$WTT (cuboid) .TT@ (h6 -373) I . * .
~ P A = X - ~ , P B = ~ - ~ ~ ~ ~ P C = Z - C , ~ ~ P Q = ~ , $ ~ ~ ~ V ~
**b
COS a = x-a
r
a*
x-a.*-,m= Y-b, n = -
z-C
r
E r <
k~
6: (x-a), (y-b) $R (z-c) PQdi w - w91
mmtarnRm*bM
x-a = -
- z-c ... (4)
1 m n
*~m$1
( * * R ; ( 4 ) w m M + p
x-a = y - b sfty-b=Z-Cq x-a - z-c
I m m n I n
& Y-b = z-c sr-- x-a1 - y-b sft -
Z-a
- - z-c
m n m 1 -
n
81)
m:? ( 4 ) & ~ ~ 3 ~ i W T k fb,~c )(* a- * ,d sft

---I, m s f t n d ~ t a r * m ~ ~ a( 4r )bM~~ n t a r r
& m r%f&dW (canonical form) TF'3RIT 8 I
x-1 = y-l - -,-I

-
1
J7 - -1
J3 Jk 9 q%
x-XI - Y-Y, - 2-z1

-
1 m n
- - --
x-XI Y-Y, - -
- z-z,
~,-XI Y2-Yl z2-z1
( 8 ) ~ 1 & ~ ( 7 ) i f i l ~ 6 3 8 7 3 - & * ~ ~ d i
m r ? qW (two-point form) bI
~m~vr~m,
( 1 , 2 , 3 ) *(o, 1 , 4 ) * m - d 3 ~ ~ + -
x-1 = y - 2 = - (z-3)tl
*rnR;(8)rrmel~r~s&m;sftrnf R;
PQ2 = OP2 + OQ2-20P. OQ cos 8
WWT FX L, sifi L2 * WllT *

& a 2 , b 2 , c 2 V 7 b d * l *,W'ITWM*~S;L~ *L2+**3fk
m-v
a,, b,, c,
FT *, VET ~
f$* v 8f R; sR a, b, c a', b', c' FWTT: L, dk L2 d;
f 5 y - v 8,*
a =b_ = c .
-
a' b' c'
~*~=RmT*wT5y*~~**l
3- R-v al, bl, c , * a2, b2, c2f

'
(i) ala2+ b,b2+ clc2= 0;

(ii) ~mimmsR.h.it.ra4R = 2
= EL.
c2
-- - - -- - - - - -
(coplanar) Q, ~ 4 %8 m RW Q I
(Fi-h:s;r;f*m*%***dmm*nrn
*
E l l ) r ~ ~ ; T T 7 % ( 0 - 1, , - I ) , (4, 5, I), (3 9, 4) 3ih (-4, 4, 4)
**mR;m*prrkmmRw$~)
m,~ r n m + m + 3 ; & m m m * l dm*
3 ~ v p w m m m q r n v y ~ e II*)I(M m m b w
* m
w m ~@ P m f Q m f~ I . ~ m cosa, cosp, cosy, OP i ?
d3hiP=Jop(.
?
a=f(13)+hibr*, m;Ff+wr
x cosa, + y cosp + z cosy = p ... (14)
~ W E F i * d h T T ~ w t r r s r . u V ! (normal form) -61
m*rnmwtllyl'rlFCT-3fm xcosa + ycosp+ z ~ o ~ ~ - ~ = o

61 m ; * a 7 r * q + W E F i m h i m r ~ 6 1 m:E t 3 * m *
d b ~ t $ T R m k r n 6 b
cosa, =kA, cosp = kB, cosy= k c . p= -kD.
I m, ( 3 ) * r n d d b .I
1
TTf FT 0 w me^ m (absolute value) *%, =T& p 1 0.

aA + bB + c-C
COS 0 =A
2 + b2 + ~2 J A +
~ B2 + cf
E2 1 ) f m A k'
l = YA? =
a -
Z-C &-AX+ B ~ c+z + D
=oj;*m& P Y
I
sin-' [
(1) @t FpT: b 3 h (x, y, z) 3k (a,'b, c) & * @t
nx, + mx, ny, + my, nz, + mz2 )

( m+n m+n m+n
*i\l
(3) vR cosa, cosp 3hi cosy Rrcff k -r

cosza + c0s2p + c0s2y = 1.
i\, +
(4) * *
(a, b, c) $bT
ql+tk;i:q*u-&mp5@7J?!g
mT;R 3hi cosa, cosp $k cosy ~+W%XIT*
X-a - Y-b - "-C
cosa cosp cosy 6 1
(6) a', bl, c, 3hC a,, b,, c 2 @ - ~ m f t * ? m 3 h & ' ~ m ~

(9) J T T ~ W F & F T J T ~ X , ~ ~ ~
a, b
~ &~c &
- *S: eE ~ ~ * ~ :
i m m * , ~ + + + ~ = l * * l
r ( +r y ~cosp + z cosy = pi3m*l
(10) ~ d ; ~ F r n ~ 1 9 1x cosa
rn
. ~ ~ ~ * T F R R V T W ~ ~ **cos * cosp,
* ~ a, , cosy
, **Q*W*l
~ i i(f. 1 ,:-$) 6~
1
hr 14 E 6) W& L, x, y 3fk z-S*$t Qrttc~c~, m*$WIT: n-a, n-p,

*.rr-y*m8 1 sra: m r * w - c o s a , - cosp &
20 -cosy 8 l
@~ € R w ~ ~ ~ ~ & ( I , ~ , o )
- I ) + 3k = 0 -
... (coso + 2 COSS k = I (I-cosa-2 cos8).
3
3 F f F T F ~ W f h T Jkl& ? ? T W 7 & ( 2 0 ) ~ T & ~ W W $ k i l f t l
COS 0 = I (2) + 2 ( 2 ) + 2 (0) - 1

PJfr 5
7.r
cos ( - - 0) = Acu+BP+Cy
2
J A ~+ ~2 + ~2 j f f 2 + ~2 + ~2
a sin 0 = Aa+ BP+Cy
JA~ + BZ+ ~2 Jff2 + ~2 + ~2

Unit 4

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m-Sy,rnf3Fmfmm**i:~%~*.

m:,P ( X , y, z ) & ~ f k * g t J - f $ ~ JhTa=r13ka3it

E 2) P (a, b, c) & Q (r, S, t ) * ~ d ? E l T 6 3 ~ ~ ~ ~ ~

TT& 813 FT cos a ,

m d i k x-m*r- cos 0, cos 5, 5,

x = OP cos a , y = OP cos p shi z = OP cos y.

m:? ( 4 ) & ~ ~ 3 ~ i W T k fb,~c )(* a- * ,d sft

x-1 = y-l - -,-I

x-XI - Y-Y, - 2-z1

PQ2 = OP2 + OQ2-20P. OQ cos 8

WWT FX L, sifi L2 * WllT *

3- R-v al, bl, c , * a2, b2, c2f

(i) ala2+ b,b2+ clc2= 0;

~ W E F i * d h T T ~ w t r r s r . u V ! (normal form) -61

m*rnmwtllyl'rlFCT-3fm xcosa + ycosp+ z ~ o ~ ~ - ~ = o

TTf FT 0 w me^ m (absolute value) *%, =T& p 1 0.

(1) @t FpT: b 3 h (x, y, z) 3k (a,'b, c) & * @t

nx, + mx, ny, + my, nz, + mz2 )

(3) vR cosa, cosp 3hi cosy Rrcff k -r

(6) a', bl, c, 3hC a,, b,, c 2 @ - ~ m f t * ? m 3 h & ' ~ m ~

hr 14 E 6) W& L, x, y 3fk z-S*$t Qrttc~c~, m*$WIT: n-a, n-p,

COS 0 = I (2) + 2 ( 2 ) + 2 (0) - 1

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hr 14 E 6) W& L, x, y 3fk z-S$t Qrttc~c~, m$WIT: n-a, n-p,