X=Y , X Y +det (Y , X) J Y.

where Y , X isthe inner product of vectors X , Y ,and J isthe counter clockwise rotation matrix by 90 degrees andY=1 Proof:

First noting that angle between two vectors X and Y is given by XY XY = XY X sinceY=1 cos = means
Xcos =XY

(1)

This scalar (magnitude) is in the direction of Y. Since Y=1 we have have the vector (Xcos )Y =XYY =Y , X Y whose magnitude length is Xcos proof:
2 Y , X Y is expressed in component forms as (x 1 y1 + x 2 y 2 y 1 , x 1 y 1 y 2 + x 2 y 2 ) 2 where the magnitude length of such of vector is written

( x

y 2 + x 2 y 2 y 1)2 +(x 1 y 1 y 2+ x 2 y 2)2 1 2

means means in the direction of Y. Now since J Y we need to show Xsin =det (Y , X)

y (x y + x ( y + y )(x
2 1 1 2 1 1 2 2

2 1

y 2)2 + y 2 (x 1 y 1+ x 2 y 2)2 2 y 1+ x2 y 2)2 = ( y 2 + y 2) (x 1 y 1 + x 2 y 2)2= (x 1 y 1+ x 2 y 2)2 1 2

is a vector in the direction of Xsin

Using the identity sin2 +cos 2 =1 and substituting equation (1) above we have XY sin2 =1 X2
2

multiplying both sides of this equation by X2 and expanding in component form on the right side of our equation we have
X sin =x1 + x 2 +[( x 1 y1 ) 2x 1 x 2 y 1 y 2(x2 y 2) ]
2 2 2 2 2 2

Multiplying both sides of the equation by Y2=1 where applied to the left side as 1 and applied the right side of the equation as 1 under the second bracketed grouping of terms and expanded in component form on the right side of the equation on the non bracketed terms we have
X sin =(x 1 + x 2)( y 1 + y 2 )+[(x 1 y 1 ) 2x1 x 2 y 1 y 2( x 2 y 2) ]
2 2 2 2 2 2 2 2

with simplification X2 sin2 =x2 y 2 + x 2 y 22x 1 x 2 y 1 y 2 1 2 2 1

under factorization we have

X sin =(x 1 y 2 x2 y 1)
2 2 2

means Xsin =(x 1 y 2x 2 y 1 ) Similarly it can be shown (as in above) that

det (Y , X )J Y

is of magnitude length det (Y , X ) .

The formula above results from vector addition of Y , X Y and det (Y , X ) J Y