4.

9 Basic Matrix Transformations in R 2 and R 3 261

Table 4

Operator Illustration Images of e1 , e2 , e3 Standard Matrix

z

Orthogonal projection T (e1 ) = T (1, 0, 0) = (1, 0, 0) 1 0 0
onto the xy -plane (x, y, z)
x
y T (e2 ) = T (0, 1, 0) = (0, 1, 0) 0 1 0
T (x, y, z) = (x, y, 0) T (e3 ) = T (0, 0, 1) = (0, 0, 0) 0 0 0
T(x)
x (x, y, 0)

z

Orthogonal projection
(x, 0, z) (x, y, z)
T (e1 ) = T (1, 0, 0) = (1, 0, 0) 1 0 0
onto the xz-plane x
y T (e2 ) = T (0, 1, 0) = (0, 0, 0) 0 0 0
T(x)
T (x, y, z) = (x, 0, z) T (e3 ) = T (0, 0, 1) = (0, 0, 1) 0 0 1
x

z
(0, y, z)
Orthogonal projection T(x) T (e1 ) = T (1, 0, 0) = (0, 0, 0) 0 0 0
(x, y, z)
onto the yz-plane T (e2 ) = T (0, 1, 0) = (0, 1, 0) 0 1 0
x y
T (x, y, z) = (0, y, z) T (e3 ) = T (0, 0, 1) = (0, 0, 1) 0 0 1
x

Rotation Operators Matrix operators on R 2 and R 3 that move points along arcs of circles centered at the
origin are called rotation operators. Let us consider how to nd the standard matrix for
the rotation operator T : R 2 R 2 that moves points counterclockwise about the origin
through a positive angle . As illustrated in Figure 4.9.1, the images of the standard
basis vectors are
T (e1 ) = T (1, 0) = (cos , sin ) and T (e2 ) = T (0, 1) = ( sin , cos )
so it follows from Formula (14) of Section 1.8 that the standard matrix for T is

cos sin
A = [T (e1 ) | T (e2 )] =
sin cos

y
T e2
(sin , cos )
(cos , sin )
u 1 T
1
u x
e1

Figure 4.9.1

In keeping with common usage we will denote this operator by R and call

cos sin
R = (1)
sin cos