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    Homework 9

    Uploaded by

    Celeste Romero Longar
    This document contains 4 physics homework problems about rotations in 3D space: 1) Shows that a rotation about the z-axis can be written as a matrix exponential using the z-axis angular momentum matrix Mz. 2) States Euler's theorem that any rotation can be represented as a single-axis rotation and derives the general rotation matrix expression. 3) Shows that the rotation axis n is an eigenvector of the general rotation matrix R with eigenvalue 1 and relates the trace of R to the rotation angle. 4) Asks to determine the single rotation axis and angle corresponding to a given set of Euler angles.

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    © All Rights Reserved
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    Homework 9

    Uploaded by

    Celeste Romero Longar
    30 views1 page
    This document contains 4 physics homework problems about rotations in 3D space: 1) Shows that a rotation about the z-axis can be written as a matrix exponential using the z-axis angular momentum matrix Mz. 2) States Euler's theorem that any rotation can be represented as a single-axis rotation and derives the general rotation matrix expression. 3) Shows that the rotation axis n is an eigenvector of the general rotation matrix R with eigenvalue 1 and relates the trace of R to the rotation angle. 4) Asks to determine the single rotation axis and angle corresponding to a given set of Euler angles.

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    mechanics homework

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    This document contains 4 physics homework problems about rotations in 3D space: 1) Shows that a rotation about the z-axis can be written as a matrix exponential using the z-axis angular momentum matrix Mz. 2) States Euler's theorem that any rotation can be represented as a single-axis rotation and derives the general rotation matrix expression. 3) Shows that the rotation axis n is an eigenvector of the general rotation matrix R with eigenvalue 1 and relates the trace of R to the rotation angle. 4) Asks to determine the single rotation axis and angle corresponding to a given set of Euler angles.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    30 views1 page

    Homework 9

    Uploaded by

    Celeste Romero Longar
    This document contains 4 physics homework problems about rotations in 3D space: 1) Shows that a rotation about the z-axis can be written as a matrix exponential using the z-axis angular momentum matrix Mz. 2) States Euler's theorem that any rotation can be represented as a single-axis rotation and derives the general rotation matrix expression. 3) Shows that the rotation axis n is an eigenvector of the general rotation matrix R with eigenvalue 1 and relates the trace of R to the rotation angle. 4) Asks to determine the single rotation axis and angle corresponding to a given set of Euler angles.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 1

    Physics

    601 Homework 10---Due Friday November 12


    Goldstein---4.22, 4.24, 4.25


    0
    1. This problem concerns rotations about the z axis.

    cos( ) sin( ) 0

    a. Show that the rotation about the z axis: R = sin( ) cos( ) 0 can be

    0
    1
    0
    0 1 0

    written as R = exp( M z ) where M z = 1 0 0 .

    0 0 0

    b. Show that cos( ) = 12 tr( R) 12


    2. There is
    a general theorem by Euler that any rotation matrix can be represented as
    a rotation about one given axis.
    Thus by analogy to problem 3a. it can be written
    n x


    as R = exp n M = exp n x M x + n y M y + n z M z where n = n y is the unit

    n z
    vector specify the axis of rotation and is the angle specifying the rotation. The
    purpose of this problem is to find the explicit of the rotation matrix for such a

    rotation. As a first step note


    specified by a polar angle and
    that
    n is completely
    azimuthal angle . Define Rn Rz ( ) Ry ( ) .

    a. As a first step show that n M = Rn M z RnT .

    b. Show that R = exp( n M ) = Rn exp(M z ) RnT

    nine matrix elements of R in terms of the polar and azimuthal


    c. Express the
    angles defining n and the rotation angle .
    Not that this description of the rotation matrices is alternative parameterization to

    the Euler angles.

    3. For the general rotation of the form given


    in 2:
    a. Show that n is an eignevector
    1 of R with eigenvalue one.
    1
    b. Show that cos() = 2 Tr( R) 2 .
    4. Suppose we have a rotation specified by the Euler angles ( 3 , 3 , 3 ) (that is

    R = Rz ( 3) Rx ( 3 ) Rz ( 3 ) ) . Find the
    angle of rotation about the single axis and the axis
    n .

    ( (

    ))

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