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    Examples of Change of Basis and Matrix Transformations. Quadratic Forms

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    This document provides an outline and examples for a lecture on change of basis, matrix transformations, and quadratic forms. It begins with examples of rotating 2D and 3D coordinate systems. It then demonstrates rotating vectors in both changing and fixed coordinate systems through matrix multiplication. Finally, it gives examples of representing quadratic forms using matrices.

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    Examples of Change of Basis and Matrix Transformations. Quadratic Forms

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    39 views12 pages
    This document provides an outline and examples for a lecture on change of basis, matrix transformations, and quadratic forms. It begins with examples of rotating 2D and 3D coordinate systems. It then demonstrates rotating vectors in both changing and fixed coordinate systems through matrix multiplication. Finally, it gives examples of representing quadratic forms using matrices.

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    Lecture14 Handout

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    This document provides an outline and examples for a lecture on change of basis, matrix transformations, and quadratic forms. It begins with examples of rotating 2D and 3D coordinate systems. It then demonstrates rotating vectors in both changing and fixed coordinate systems through matrix multiplication. Finally, it gives examples of representing quadratic forms using matrices.

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    © All Rights Reserved
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    39 views12 pages

    Examples of Change of Basis and Matrix Transformations. Quadratic Forms

    Uploaded by

    Anonymous 9q5GEfm8I
    This document provides an outline and examples for a lecture on change of basis, matrix transformations, and quadratic forms. It begins with examples of rotating 2D and 3D coordinate systems. It then demonstrates rotating vectors in both changing and fixed coordinate systems through matrix multiplication. Finally, it gives examples of representing quadratic forms using matrices.

    Copyright:

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    of 12

    LECTURE 14:

    EXAMPLES OF CHANGE OF
    BASIS AND
    MATRIX TRANSFORMATIONS.
    QUADRATIC FORMS.
    Prof. N. Harnew
    University of Oxford
    MT 2012
    1
    Outline: 14. EXAMPLES OF CHANGE OF BASIS
    AND MATRIX TRANSFORMATIONS.
    QUADRATIC FORMS.
    14.1 Examples of change of basis
    14.1.1 Representation of a 2D vector in a rotated coordinate
    frame
    14.1.2 Rotation of a coordinate system in 2D
    14.2 Rotation of a vector in fixed 3D coord. system
    14.2.1 Example 1
    14.2.2 Example 2
    14.3 MATRICES AND QUADRATIC FORMS
    14.3.1 Example 1: a 2 × 2 quadratic form
    14.3.2 Example 2: another 2 × 2 quadratic form
    14.3.3 Example 3: a 3 × 3 quadratic form

    2
    14.1 Examples of change of basis
    14.1.1 Representation of a 2D vector in a rotated coordinate
    frame

    I Transformation of vector r from Cartesian axes (x, y) into frame


    (x 0 , y 0 ), rotated by angle θ

    3
    x 0 = r cos α y 0 = r sin α
    x = r cos(θ + α) y = r sin(θ + α)
    y sin α
    x cos α
    → x 0 = cos(θ+α) → y 0 = sin(θ+α)
    x cos α = x 0 cos θ cos α − x 0 sin θ sin α y sin α = y 0 sin θ cos α + y 0 cos θ sin α
    Since x 0 sin α = y 0 cos α Since y 0 cos α = x 0 sin α

    x = x 0 cos θ − y 0 sin θ y = x 0 sin θ + y 0 cos θ


    I Coordinate transformation:  These equations
    x0
        
    x cos θ − sin θ
    = (1)  relate the coordinates

    y sin θ cos θ y0 

     of r measured in the
    I Take the inverse:  (x, y) frame with those
    x0  measured in the rotated
         
    cos θ sin θ x 
    = (2) 
    y0 − sin θ cos θ y (x 0 , y 0 ) frame
    4
    14.1.2 Rotation of a coordinate system in 2D
    I Start from the familiar orthonormal basis
       
    1 0
    |e1 i = (≡ x̂), |e2 i = (≡ ŷ) (3)
    0 1
    I Transform the basis via a rotation through an angle θ

       
    cos θ − sin θ
    New basis : |e01 i = (≡ x̂0 ), |e02 i = (≡ ŷ0 )
    sin θ cos θ
    (4)

    5
    I The transformation matrix S is determined from |e0i i = S|ei i
        
    S11 S12 1 cos θ S11 = cos θ
    = ⇒ (5)
    S21 S22 0 sin θ S21 = sin θ
        
    S11 S12 0 − sin θ S12 = − sin θ
    = ⇒ (6)
    S21 S22 1 cos θ S22 = cos θ
     
    cos θ − sin θ
    Hence S(θ) = (7)
    sin θ cos θ

    As expected, the basis transformation matrix |ei → |e0 i is the


    inverse of the transformation (x, y ) → (x 0 , y 0 ) of the components
    derived in the previous sub-section.
    I The inverse transformation matrix rotates backwards
     
    cos θ sin θ
    S −1 (θ) = ≡ S(−θ) (8)
    − sin θ cos θ
    I It is easy to show via substitution that two successive rotations

    S(θ)S(α) = S(α)S(θ) = S(θ + α)


    6
    14.2 Rotation of a vector in fixed 3D coord. system
    I In 3D, we can rotate a vector r about any one of the three axes

    r0 = R(θ) r

    A rotation about the z axis is given by


     
    cos θ − sin θ 0
    Rz (θ) =  sin θ cos θ 0  (9)
    0 0 1
    Note that rotations of a vector in a fixed coordinate system
    transform in the same way as rotations of the base vectors (see
    previous section).
    I For rotations about the x and y axes
       
    1 0 0 cos γ 0 sin γ
    Rx (α) =  0 cos α − sin α  , Ry (γ) =  0 1 0 
    0 sin α cos α − sin γ 0 cos γ
    (10)
    I But note that now for successive rotations:
    Rz (θ)Rx (α) 6= Rx (α)Rz (θ)
    7
    14.2.1 Example 1
     
    Rotate the unit vector cos θ − sin θ 0
    (1, 0, 0) by 90◦ about Rz (θ) =  sin θ cos θ 0 
    the z-axis 0 0 1
        
    0 −1 0 1 0
    →  1 0 0  0  =  1 
    0 0 1 0 0
    → Which is a unit vector along the
    y -axis (as expected).

    I Now make a 2nd rotation of 90◦


    about the x-axis:
         
    1 0 0 0 −1 0 1 0
    Rx (90◦ )Rz (90◦ ) = 0 0 −1   1 0 0  0  =  0 
    0 1 0 0 0 1 0 1

    So ... by now the procedure of matrix multiplication should be clear:


    the exact form of the row/column multiplication is necessary to make
    a linear transformation between two bases. It is also the required
    form for rotations of vectors in their associated vector space(s).
    8
    14.2.2 Example 2
    I Rotate the vector r = (1, 2, 3) by 30◦ about the y axis.
    √
    sin 30◦ = 1/2; cos 30◦ = 3/2
    I The rotation matrix is
       √ 
    cos γ 0 sin γ 3/2 0 1/2
    Ry (γ) =  0 1 0 = 0 1 √0  (11)
    − sin γ 0 cos γ −1/2 0 3/2
     0   √    √ 
    x 3/2 0 1/2 1 3/2 + 3/2
     y0  =  0 1 √0
     2  =  2 √  (12)
    z0 −1/2 0 3/2 3 −1/2 + 3 3/2

    I As a check - rotate back → use inverse matrix


       √  √ 
    x 3/2 0 −1/2 3/2 + 3/2
     y = 0 1 √0   2 √  (13)
    z 1/2 0 3/2 −1/2 + 3 3/2
     √ √   
    3/4 + 3 3/4 + 1/4 − 3 3/4 1
    = 
    √ 2√  =  2  as required. (14)
    3/4 + 3/4 − 3/4 + 9/4 3

    9
    14.3 MATRICES AND QUADRATIC FORMS
    Best illustrated by a few examples.

    14.3.1 Example 1: a 2 × 2 quadratic form

    I Represent equation x 2 + y 2 = 1 in matrix form X T AX = 1


    I Matrix A is a transformation matrix which represents the
    conic form of the equation.

        
    2 2 x 1 0 x
    x +y = (x, y) = (x, y) =1
    y 0 1 y
    (15)

    10
    14.3.2 Example 2: another 2 × 2 quadratic form

    I Matrix representation:
      
    5 2 x
    (x, y) =5 (16)
    2 3 y

    I Write in equation form:


     
    5x + 2y
    = (x, y) (17)
    2x + 3y

    = 5x 2 + (2xy + 2xy) + 3y 2 = 5x 2 + 4xy + 3y 2

    → 5x 2 + 4xy + 3y 2 = 5

    11
    14.3.3 Example 3: a 3 × 3 quadratic form
    I Represent x 2 + y 2 − 3z 2 + 2xy + 6xz − 6yz = 4 in the matrix
    form (X T AX ).
    I Write 
    a b c
    
    x
     
    ax + by + cz

    (x, y, z)  d e f   y  = (x, y, z)  dx + ey + fz  (18)


    g h i z gx + hy + iz

    = ax 2 + bxy + cxz + dxy + ey 2 + fyz + gxz + hyz + iz 2


    I Comparing terms:
    [x 2 ] → a = 1; [y 2 ] → e = 1; [z 2 ] → i = −3
    [xy ] → b + d = 2; [xz] → c + g = 6; [yz] → f + h = −6
    (underconstrained)
     
    I In echelon form: 1 0 0
    T
    set b = c = f = 0 X  2 1 0 X = 4 (19)
    6 −6 −3

    I In symmetrical form: 1

    1 3

    set b = d, c = g, f = h X  1T
    1 −3  X = 4 (20)
    3 −3 −3

    12

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