The vectors \(\mathbf{p}\) and \(\mathbf{q}\) in three dimensions are non-zero and are not parallel.
The vector \(\mathbf{u}\) is given by \(\mathbf{u}=|\mathbf{q}|^2\,\mathbf{p}-(\mathbf{p}\cdot\mathbf{q})\,\mathbf{q}\), and \(\mathbf{u}\ne\mathbf{0}\).
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