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Standard Matrix for R2 Rotation

This document discusses the standard matrix representation of rotations in R2. It explains that a rotation of R2 by an angle θ can be represented by the 2x2 matrix with cosθ in the diagonal and -sinθ and sinθ in the other entries. It provides examples of rotating vectors by this matrix.

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119 views6 pages

Standard Matrix for R2 Rotation

This document discusses the standard matrix representation of rotations in R2. It explains that a rotation of R2 by an angle θ can be represented by the 2x2 matrix with cosθ in the diagonal and -sinθ and sinθ in the other entries. It provides examples of rotating vectors by this matrix.

Uploaded by

benyfirst
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

The Standard Matrix of a Rotation

Linear Algebra
MATH 2076

Linear Algebra Standard Matrix Rotations of R2 1/6


Linear Transformations are Matrix Transformations
T
Recall that every linear transformation Rn −
→ Rm can be written as
T (~x ) = A~x for some m × n matrix A; A is the standard matrix for T .

The j th column of A is just ~aj = T (~


ej ) where
     
1 0 0
0 1 0
e~1 =  .  , e~2 =  .  , . . . , e~n =  .  .
     
 ..   ..   .. 
0 0 1

T
When m = 2 = n, so R2 −→ R2 , we have
       
1  0 
A = T (~ e1 ) T (~
e2 ) = T T .
0 1

Linear Algebra Standard Matrix Rotations of R2 2/6


Rotations of the Plane R2
R
Let R2 − → R2 be the transformation of R2 given by rotating by θ radians
(in the counter-clockwise direction about ~0). That is, for each vector ~v in
R2 , R(~v ) is the result of rotating ~v by θ radians (in the counter-clockwise
direction).

~
w R(~v ) ~v
θ

R(~
w)

Linear Algebra Standard Matrix Rotations of R2 3/6


First we examine the special case where we rotate by 90◦ .
 
x
√ y
2r

 
−y
r
x
θ So, θ = π/2
r

   
x −y
∴ R =
y x
 
y
−x
Rotations of the Plane R2
R
Back to a general rotation R2 −
→ R2 of R2 by θ radians. We know that
           
x x 1  0 
R =A where A = R(~ e1 ) R(~
e2 ) = R R .
y y 0 1

Thus we gotta determine R(~ e1 ) and R(~ e2 ). This is easy, once we


remember a wee bit of trigonometry! ^ ¨
 
e~2 cos θ
R(~e11) =
sin θ
 
− sin θ
= R(~e2 ) 1
cos θ sin θ
θ

     cos θ e~1
x cos θ − sin θ x
∴ R =
y sin θ cos θ y

Linear Algebra Standard Matrix Rotations of R2 5/6


Standard Matrix for a Rotation of the Plane R2
R
Let R2 −→ R2 be the transformation of R2 given by rotating by θ radians
(in the counter-clockwise direction about ~0).
 
cos θ − sin θ
The standard matrix for R is A = .
sin θ cos θ
 
x
That is, for all vectors in R2 ,
y
      
x cos θ − sin θ x x cos θ − y sin θ
R = = .
y sin θ cos θ y x sin θ + y cos θ

So, what does the following transformation do?


    
x cos θ 0 − sin θ x
y  7→  0 1 0  y
z 0 sin θ cos θ z

Linear Algebra Standard Matrix Rotations of R2 6/6

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