Relative to the origin \(O\), the position vectors of the points \(A\), \(B\) and \(P\) are \(-\mathbf{i}-3\mathbf{j}+2\mathbf{k}\), \(5\mathbf{i}+2\mathbf{k}\) and \(\left( 1+2\lambda \right)\mathbf{i}+\left( \lambda -2 \right)\mathbf{j}+2\mathbf{k}\) respectively, where \(\lambda \in \mathbb{R}\), \(\lambda \ne -1\).
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