Rotation matrix in R2 D.N.

Ghayatadak
gdatta3.14@gmail.com
dng.maths@coep.ac.in
Hello friends, Today we will discuss the structure of real 2 × 2 orthogonal matrix in particular
Rotation matrix in details. Recall A ∈ M (n, R) is orthogonal matrix if AAT = I = A T
 A In
a b
other words we say that A is orthogonal matrix if AT = A−1 . Suppose that A = is an
c d
orthogonal matrix then AAT = I = AT A
    
a b a c 1 0
=
c d b d 0 1
   
a2 + b2 ac + bd 1 0
=
ac + bd c2 + d2 0 1
This matrix equality gives us a2 + b2 = 1, c2 + d2 = 1 and ac + bd = 0. Thus if we solve equation
ac + bd = 0 for a and b then we get b = ±c and a = ∓d. If b = −c then we get a = d and if we
choose b = c then we get a = −d. Now for the equation a2 + b2 = 1 solution are a = cos θ and
b = sin θ for 0 ≤ θ ≤ 2π, and we have already get a = ∓d, b = ±c. so we get the solution of
equation
 c2 + d
2
= 1.Therefore every 2 × 2 orthogonal
 matrixmust be one of the forms
cos θ − sin θ cos θ sin θ cos θ sin θ
or . Matrix is known as Reflection matrix
sin θ cosθ sin θ − cos θ sin θ − cos θ
cos θ − sin θ
and matrix is known as Rotation matrix and it’s usually denoted by R(θ). Now
sin θ cos θ
we will learn geometrical interpretation of rotation matrix in R2 .

Example-1 Suppose that in the cartesion plane the coordinate axes rotated in an anticlockwise
direction through an angle θ about the origin. Show that the new coordinate P 0 = (x0 , y 0 ) of the
point P whose old coordinate are P = (x, y) are given by
 0    
x cos θ − sin θ x
=
y0 sin θ cos θ y

Solution: Let (x, y) ∈ R2 then point (x, y) identify uniquely with z = x + iy ∈ C and we
know that Exponential form of  yComplex
 Numbers z = x + iy = reiϕ = r cos ϕ + r sin ϕ where
p
r = x2 + y 2 and ϕ = tan−1 so (x, y) = (r cos ϕ, r sin ϕ), 0 ≤ ϕ ≤ 2π. Let Tθ (x, y) be a
x
linear transformation that rotate point P = (x, y) by an angle θ. Therefore P 0 = (x0 , y 0 ) makes
an angle ϕ + θ with positive x-axis.

Tθ (x, y) = (x0 , y 0 )
Tθ (x, y) = (r cos(ϕ + θ), r sin(ϕ + θ))
Tθ (x, y) = (r cos ϕ cos θ − r sin ϕ sin θ, r sin ϕ cos θ + r cos ϕ sin θ)
Tθ (x, y) = (x cos θ − y sin θ, x sin θ + y cos θ)
 0    
x cos θ − sin θ x
=
y0 sin θ cos θ y

1
 Y
Y0

P 0 (x0 , y 0 )

X0
r
y0 x0

ϕ
θ X
0

Figure 1: Rotation in R2

For each a + bi ∈ 
C with a and b are real numbers,
 we consider
 the set of all 2 × 2 matrices
a −b 1 0 0 −1
which have the form =a +b i.e. have the form aI + bJ where
  b
 a  0 1 1 0
1 0 0 −1
I= and J = . If we compute the square of J we get J 2 = −I and hence we
0 1 1 0
√
get J 3 = −J and J 4 = I, so observation is the matrix J bahave like complex number i = −1
because we know that i2 = −1, i3 = −i, i4 = 1. Thus the sum of two such matrices is

(aI + bJ) + (cI + dJ) = (a + c)I + (b + d)J

and matrix multiplication of two such matrices is of the form

(aI + bJ)(cI + dJ) = (ac − bd)I + (ad + cb)J

So those matricesmay be added

 and multiplied in just the same way as complex numbers. There-
a −b
fore the matrix for a, b ∈ R behave exaclty same like the complex numbers a + ib.
b a
Thus we have represented the complex numbers as a family of real matrices. one says that our
family of matrices and the family of complex number are isomorphic that is the  two systems are

cos θ − sin θ
different ways of representing the same algebra. So conclusion is the matrix
sin θ cos θ
iθ iθ
is equivalent to complex number cos θ + i sin θ = e , and we know that e for 0 ≤ θ ≤ 2π is
rotation in complex plane.

2019
Example-2 Give an example  of a 2 × 2 matrix
n Asuch that A 6= I and  A = I.
cos θ − sin θ cos nθ − sin nθ
Solution: Using the facts = .(for proof use induction)
sin θ cos θ sin nθ cos nθ
 2019    
cos(2π/2019) − sin(2π/2019) cos 2π − sin 2π 1 0
= =
sin(2π/2019) cos(2π/2019) sin 2π cos 2π 0 1
 
cos(2π/2019) − sin(2π/2019)
So A = is the required example. n
sin(2π/2019) cos(2π/2019)