Just a quick explanation for that azk term, if you still are unclear about it.
k adds another dimension to the vector. When a vector is only in i,j it's 2D and i,j,k is 3D. See it as drawing it in a xyz-coordinate system instead of a xy one. And as was mentioned earlier, it changes things a little bit when it comes to the magnitude. You wouldn't just do the √(ax2 + ay2), because then you wouldn't take the third dimension into consideration. From there it's not too big of a leap to √(ax2 + ay2 + az2).
You can prove it using Pythagoras' theroem. If you draw a 3D vector in a coordinate system you can figure it out. It can be a bit tricky to see, but it's not impossible.