If a plane contains a variable point $P$ with position vector ${\bf
r}$, and if ${\bf n}$ is a unit vector perpendicular to the plane,
then consider the right angled triangle $OPN$, where $N$ is the
foot of the perpendicular from the origin $O$ to the plane and
$ON=d$ is the perpendicular distance from the origin to the plane.
Then $ON = OP \cos \angle PON$ which is given by the scalar product
$ {\bf r.n}$ so the equation of the plane is given by ${\bf r.n}=
d$.
In Cartesian form ${\bf r}=(x,y,z)$ and ${\bf n} = (a,b,c)$ so
${\bf r.n}= d$ translates to $ax+by+cz=d$.
See how 4 dimensional quaternions involve vectors in 3-space and
how the quaternion function F(v) = nvn gives a simple algebraic
method of working with reflections in planes in 3-space.