3.

4
Chng minh rng php nhn cc ma trn chuyn i sau l php nhn giao hon.
a) Hai php quay lin tip
b) Hai php tnh tin lin tip
c) Hai php t l lin tip
Gii:
a) Ta c:
Gi A(x,y) l v tr u ca im cn quay.

Gi 1 l gc quay th nht, v 2 l gc quay th 2.

Sau ln quay th nht, ta c:

A =

][ ]

cos 1sin 1 x
sin 1 cos 1 y

Sau ln quay th 2, ta c ta im A:

cos 2sin 2

A = sin 2 cos 2

] [

][ ]

cos 1 cos 2sin 1 sin 2cos 1 sin 2sin 1 cos 2 x

cos 1 sin 2+ sin 1 cos 2 cos 1 cos 2sin 1 sin 2 y

By gi gi s quay gc
A=

][ ]

cos 1sin 1 x
sin 1 cos 1 y

][

trc , ri n gc

sau, ta c:

][ ]

cos 1sin 1 cos 2sin 2 x

sin 1 cos 1 sin 2 cos 2 y

][ ]

cos 1 cos 2sin 1 sin 2cos 1 sin 2sin 1 cos 2 x

cos 1 sin 2+ sin 1 cos 2 cos 1 cos 2sin 1 sin 2 y

Hai kt qu l nh nhau.
Vy: 2 php quay lin tip c tnh cht giao hon.
b) Ta c:
Gi A(x,y) l v tr u ca im cn tnh tin.
x ;y
Gi d( 1 1 l vec-t tnh tin th nht
d(

x2 ; y2

l vec-t tnh tin th hai.

Ta c:
Sau ln tnh tin th nht, v tr A l:
A=

[ ]
x+ x 1
y+ y1

Sau ln tnh tin th hai, v tr A l:

A=

x + x 1+ x2
y+ y1 + y 2

Tng t, nu ta dch chuyn A theo vec-t 2 trc, ri sau vec-t 1 th v

tr A c tnh l:
A=

x + x 2 + x1
y + y 2+ y
1

Hai v tr trn l nh nhau

Vy: 2 php tnh tin lin tip c tnh cht giao hon.
c) Ta c:
Gi A(x,y) l v tr u ca im cn t l
Gi h s t l ln th nht l S, ln th hai l B.
Ta c, sau ln t l th nht, ta A s l:
A =

[ ][ ]
Sx 0 x
0 Sy y

Sau ln t l th 2, ta A s l :
S B 0
x
[
]
[
[ ][ ] = [ 0 S B ] y ]
Bx 0 Sx 0 x
0 By 0 Sy y

A=

Tng t, khi ta t l A theo th t B trc, S sau, th ta c:

A=

][ ]

Bx Sx 0
x
0 By S y y

Ta thy hai kt qu l nh nhau.

Vy: hai php t l lin tip c tnh cht giao hon.

3.5

Chng minh rng 1 php t l ng dng l 1 php xoay to thnh 1 cp bin i

giao hon, nhng tng qut, php bin i ng dng v php xoay l khng giao
hon.
Gii:
Gi A(x,y) l ta ban u.
S l t l ng dng, l gc xoay.
Ta c: v l php t l ng dng nn

S x =S y

Do , ta A sau khi bin i ng dng v quay l:

A=

cos sin
sin cos

] [ ][ ] = [
S0 x
0S y

][ ]

S cos S sin x
S sin S cos y

Ta A sau khi quay v bin i ng dng l:

sin x
S cos S sin x
[ S0 0S] [ cos
[
]
sin cos ] y = [ S sin S cos ][ y ]

A=

Kt qu l nh nhau.
Vy, 2 php bin i ng dng v php quay c th giao hon.
Trong trng hp php bin i t l thng thng, ngha l
Do , ta A sau khi bin i ng dng v quay l:
A=

cos sin
sin cos

] [ ][ ]
Sx 0 x
0 Sy y

][ ]

S x cos S y sin x
S x sin S y cos y

Ta A sau khi quay v bin i ng dng l:

A=

[ ][

S sin x
[] ] = [ SS cos
sin S cos ] [ y ]

S x 0 cos sin x
0 S y sin cos y

Hai kt qu khng bng nhau

Sx S y

, ta c:

Vy, trong trng hp tng qut th hai php bin i t l v quay l khng giao
hon vi nhau.

3.6
Trnh by v ma trn chuyn v ca php i xng cho ng thng Y=X i
xng qua trc X, sau quay 1 goc 90 ngc chiu kim ng h.
Gii:
Gi A(x,x) l 1 im thuc ng thng Y=X
Gi A l im A sau khi c i xng qua X, ta c:
A =

[ 1010 ][ xx ]

Sau quay 1 gc 90 ngc chiu kim ng h, ta c:

A=

cos 900 sin 90

sin 90 cos 90

1 0 x
01 x
x
[
][
]
[
][
]
[
] 01 x = 1 0 x = x ]

Vy, ma trn chuyn v sau cc php bin i trn l M=

[ 01 10]

3.13
Trnh by v cc pht bin sau:
a) Php tnh tin l c giao hon.
b) Php i xng v quay 2D quanh trc Z l khng giao hon
c) Php chiu t l v quay 2D quanh trc Z l giao hon.
Gii:
a) Gi A(x,y) l v tr u ca im cn tnh tin.
x ;y
Gi d( 1 1 l vec-t tnh tin th nht
x ;y

d( 2 2 l vec-t tnh tin th hai.

Ta c:
Sau ln tnh tin th nht, v tr A l:

A=

[ ]
x+ x 1
y+ y1

Sau ln tnh tin th hai, v tr A l:

A=

x + x 1+ x2
y+ y1 + y 2

Tng t, nu ta dch chuyn A theo vec-t 2 trc, ri sau vec-t 1 th v

tr A c tnh l:
A=

x + x 2 + x1
y + y 2+ y
1

Hai v tr trn l nh nhau

Vy: 2 php tnh tin lin tip c tnh cht giao hon.
Tng t, vi n php tnh tin th cng c tnh cht giao hon nh trn.
b)
c)
Gi A(x,y) l ta ban u.
S l t l ng dng, l gc xoay.
Ta c: v l php t l ng dng nn

S x =S y

Do , ta A sau khi bin i ng dng v quay l:

A=

cos sin
sin cos

] [ S0 0S][ xy ]

][ ]

S cos S sin x
S sin S cos y

Ta A sau khi quay v bin i ng dng l:

A=

sin x
S cos S sin x
[ S0 0S] [ cos
[
]
sin cos ] y = [ S sin S cos ][ y ]

Kt qu l nh nhau.
Vy, 2 php bin i ng dng v php quay c th giao hon.

3.14
Mt khi lp phng c chiu di l 10 n v, c 1 nh ti gc ta O(0,0,0) v
3 cnh dc theo 3 trc chnh. Nu xoay khi lp phng quanh trc Z 1 gc 30
ngc chiu kim ng h, tnh ton v tr ca khi lp phng.
Gii:
Gi ABCDEFGH l 8 nh ca khi lp phng.
v tr ban u, ta c cc ta : A(0,0,0) B(10,0,0) C(10,10,0) D (0,10,0)
E(0,0,10) F(10,0,10) G(10,10,10) H(0,10,10)
Trong qu trnh quay quanh trc Z, ta Z s khng thay i ta
im A v im E c gi nguyn.
im B,F:
Xt trong mp xOy, th ta B l B(10,0)
Khi quay 1 gc 30 ngc chiu kim ng h th:
B=

30 sin 30 10
5 3
[] ] = [ cos
sin 30 cos 30 ] [ 0 ] = [ 5 ]

cos sin x
sin cos y

Suy ra, ta B v F ca khi lp phng sau khi quay l: B( 5 3 , 5, 0 F(

5 3 , 5, 10

im C,G:
Xt trong mp xOy, th ta C l C(10,10)
Khi quay 1 gc 30 ngc chiu kim ng h th:
C=

][ ] = [

cos sin x
sin cos y

] [ ] = [ ]

cos 30 sin 30 10
sin 30 cos 30 1 0

5 35
5 3+5

Suy ra, ta C v G ca khi lp phng sau khi quay l:

C( 5 35 , 5 3+5, 0 G( 5 35, 5 3+5, 10

im D,H:
Xt trong mp xOy, th ta D l C(0,10)
Khi quay 1 gc 30 ngc chiu kim ng h th:
D=

30 sin 30 0
5
[] ] = [ cos
[
]
sin 30 cos 30 ] 10 = [5 3 ]

cos sin x
sin cos y

Suy ra, ta D v H ca khi lp phng sau khi quay l:

D( 5, 5 3 ,0 H( 5, 5 3 ,10
Vy: ta ca cc nh hnh lp phng sau khi quay l:
A(0,0,0); B( 5 3 , 5, 0 ; C( 5 35, 5 3+5, 0 ; D( 5, 5 3 ,0 ;
E(0,0,10) ; F( 5 3 , 5, 10 ; G( 5 35, 5 3+5, 10 ; H( 5, 5 3 ,10

3.15
Mt hnh vung c di 1 cnh l 15 n v, t ti gc ta , c 1 cnh hp vi
trc X 1 gc l 30 . Tnh v tr mi ca hnh vung nu quay hnh vung 1 gc
30 quanh trc Z theo chiu kim ng h.
Gii:
Ta coi nh l gii bi ton 1 hnh vung quay 1 gc 60 quanh trc Z vi v tr
u l c 1 cnh nm trn trc X.
Gi A (0,0) B ( 15,0) C(15,15) D(0,15) l cc nh ca hnh vung.
Ta c: sau khi quay th im A s gi nguyn v tr c.
Xt B:
Khi quay 1 gc 60 ngc chiu kim ng h th:

B=

][ ] = [

cos sin x
sin cos y

][ ] =

cos 6 0 sin6 0 15
sin 6 0 cos 6 0 0

[ ]
15
2
1 5 3
2

15 1 5 3
Suy ra, ta B ca hnh vung sau khi quay l: B( 2 , 2

Xt C:
Khi quay 1 gc 60 ngc chiu kim ng h th:

C=

][ ] = [

cos sin x
sin cos y

][ ] =

cos 60 sin 60 15
sin 60 cos 60 15

[ ]
1515 3
2
15+15 3
2

1515 3 15+15 3
,

Suy ra, ta C ca hnh vung sau khi quay l: C(

2
2

Xt D:
Khi quay 1 gc 60 ngc chiu kim ng h th:

D=

][ ] = [

cos sin x
sin cos y

][ ] =

cos 60 sin 60 0
sin 60 cos 60 15

[ ]
15 3
2
15
2

Suy ra, ta D ca hnh vung sau khi quay l: D(

15 3 15
,
2
2

15 15 3
1515 3 15+15 3
,
; D(
Vy: ta cc nh l: A(0,0) ; B( 2 , 2 ; C(
2
2
15 3 15
,
2
2

4.1
Xc nh phm vi ng dng ca m hnh ha hnh hc tiu biu c s dng?
Gii: