Relative to the origin \(O\), point \(A\) has position vector given by \(\mathbf{a} = \begin{pmatrix} 1 \\ 2 \\ 1 \end{pmatrix}\). The line \(l_1\) passes through the point \(A\) and is parallel to \(\begin{pmatrix} t \\ 3 - t^2 \\ 1 \end{pmatrix}\). The plane \(p\) has equation \(\mathbf{r} = \lambda \begin{pmatrix} 0 \\ 5 \\ 2 \end{pmatrix} + \mu \begin{pmatrix} 5 \\ 0 \\ t \end{pmatrix}, \lambda, \mu \in \mathbb{R}\) where \(t\) is a real constant. It is known that \(l_1\) and \(p\) are parallel and \(l_1\) is not on \(p\).
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