The vector (2,2,2) doesn't have magnitude 2*√3, it has a magnitude of √(2^2 + 2^2 + 2^2) = √12, doesn't it? Is the intention to get the unit vector? I really don't understand at all. If you could please just tell me, I'm simply not getting it.
v and r are vectors, ω is a scalar
If P-Q = r, then...