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3 4 30 4
21 0 1 0
b. y A5 A5
0 1 21
(x, y)
Reflection in Line y 5 x
31 4
0 1
A5
x 0
30 4 30 4
k 0 1 0
A5 A5
1 k
c. y
Horizontal Shear Vertical Shear
(x, y)
30 4 3k 4
1 k 1 0
A5 A5
(y, x) 1 1
x
Reflections in R 2
The transformations defined by the following matrices are called reflections. These
Reflections in R2 have the effect of mapping a point in the xy-plane to its “mirror image” with respect to
Figure 6.11 one of the coordinate axes or the line y 5 x, as shown in Figure 6.11.
a. Reflection in the y-axis:
Tsx, yd 5 s2x, yd
3 43 4 3 4
21 0 x 2x
5
0 1 y y
b. Reflection in the x-axis:
Tsx, yd 5 sx, 2yd
30 43 4 3 4
1 0 x x
5
21 y 2y
c. Reflection in the line y 5 x:
Tsx, yd 5 s y, xd
3 43 4 3 4
0 1 x y
5
1 0 y x
6.5 Applications of Linear Transformations 331
30 43 4 3 4
k 0 x kx
5
1 y y
b. Vertical contractions and expansions: Tsx, yd 5 sx, kyd
30 43 4 3 4
1 0 x x
5
k y ky
Note in Figures 6.12 and 6.13 that the distance the point sx, yd moves by a contraction
or an expansion is proportional to its x- or y-coordinate. For instance, under the
transformation represented by
Tsx, yd 5 s2x, yd
the point s1, 3d would move one unit to the right, but the point s4, 3d would move
four units to the right. Under the transformation represented by
Tsx, yd 5 sx, 12 yd
the point s1, 4d would move two units down, but the point s1, 2d would move one unit
down.
y y
x x
y y
(x, ky)
(x, y) (x, y)
(x, ky)
x x
Shears in R 2
30 43 4 3 4 3k 43 4 3 4
1 k x x 1 ky 1 0 x x
5 5
1 y y 1 y kx 1 y
a. A horizontal shear represented by y
y
(x, y + 2 x)
4
3
2
1
(x, y)
x
−4 −3 − 2 − 1 1 2 3 4
−4
Figure 6.15
34 3 43 4 3 4
x y x9 cos u 2sin u 0 x x cos u 2 y sin u
y9 5 sin u cos u 0 y 5 x sin u 1 y cos u .
Figure 6.16 z9 0 0 1 z z
Example 4 shows how to use this matrix to rotate a figure in three-dimensional
space.
3 4 3 4
60° cos 608 2sin 608 0 1y2 2 !3y2 0
x y A 5 sin 608 cos 608 0 5 !3y2 1y2 0 .
0 0 1 0 0 1
b. z
Multiplying this matrix by the column vectors corresponding to each vertex produces
the following rotated vertices.
V19 s0, 0, 0d V29 s0.5, 0.87, 0d V39 s21.23, 1.87, 0d V49 s21.73, 1, 0d
V59 s 0, 0, 3d V69 s0.5, 0.87, 3d V79 s21.23, 1.87, 3d V89 s21.73, 1, 3d
3 4 3 4
cos 908 2sin 908 0 0 21 0
c. z A 5 sin 908 cos 908 0 5 1 0 0
0 0 1 0 0 1
and Figure 6.18(b) shows a graph of the rotated prism.
c. The matrix that yields a rotation of 1208 is
3 4 3 4
cos 1208 2sin 1208 0 21y2 2 !3y2 0
120° A 5 sin 1208 cos 1208 0 5 !3y2 21y2 0
x y 0 0 1 0 0 1
Figure 6.18 and Figure 6.18(c) shows a graph of the rotated prism.
334 Chapter 6 Linear Transformations
REMARK Example 4 uses matrices to perform rotations about the z-axis. Similarly, you can
To illustrate the right-hand rule, use matrices to rotate figures about the x- or y-axis. The following summarizes all three
imagine the thumb of your right types of rotations.
hand pointing in the positive
Rotation About the x-Axis Rotation About the y-Axis Rotation About the z-Axis
direction of an axis. The cupped
3 4 3 4 3 4
fingers will point in the direction 1 0 0 cos u 0 sin u cos u 2sin u 0
of counterclockwise rotation. 0 cos u 2sin u 0 1 0 sin u cos u 0
The figure below shows 0 sin u cos u 2sin u 0 cos u 0 0 1
counterclockwise rotation
about the z-axis. In each case, the rotation is oriented counterclockwise (using the “right-hand rule”)
relative to the indicated axis, as shown in Figure 6.19.
z
z z z
x y x y x y
x Rotation about x-axis Rotation about y-axis Rotation about z-axis
Figure 6.19
3 4 3 4
1 0 0 1 0 0
A5 0 cos 908 2sin 908 5 0 0 21 .
Simulation 0 sin 908 cos 908 0 1 0
Explore this concept further with
an electronic simulation available Figure 6.20(a) shows the prism from Example 4 rotated 908 about the x-axis.
at www.cengagebrain.com. b. The matrix that yields a rotation of 908 about the y-axis is
3 4 3 4
cos 908 0 sin 908 0 0 1
A5 0 1 0 5 0 1 0 .
2sin 908 0 cos 908 21 0 0
Figure 6.20(b) shows the prism from Example 4 rotated 908 about the y-axis.
a. z b. z
90° 90°
x y x y
90°
120°
x Figure 6.20
y
Rotations about the coordinate axes can be combined to produce any desired view
Figure 6.21 of a figure. For instance, Figure 6.21 shows the prism from Example 4 rotated 908 about
the y-axis and then 1208 about the z-axis.