ROTATION OF AXES

■ ■ For a discussion of conic sections, see In precalculus or calculus you may have studied conic sections with equations of the form
Calculus, Early Transcendentals, Sixth Edition,
Section 10.5. Ax 2
Cy 2
Dx
Ey
F
0

Here we show that the general second-degree equation

1 Ax 2
Bxy
Cy 2
Dx
Ey
F
0

can be analyzed by rotating the axes so as to eliminate the term Bxy.

In Figure 1 the x and y axes have been rotated about the origin through an acute angle
 to produce the X and Y axes. Thus, a given point P has coordinates
x, y in the first coor-
dinate system and
X, Y in the new coordinate system. To see how X and Y are related to
x and y we observe from Figure 2 that

X
r cos  Y
r sin 

x
r cos

 y
r sin



y P(x, y) y
Y Y
P(X, Y) P
X Y X
r y
˙
¨ ¨
0 x 0 x X x

FIGURE 1 FIGURE 2

The addition formula for the cosine function then gives

x
r cos


r
cos  cos   sin  sin 

r cos  cos  
r sin  sin 
 cos   Y sin 

A similar computation gives y in terms of X and Y and so we have the following

formulas:

2 x
X cos   Y sin  y
X sin 
Y cos 

Stewart: Calculus, Sixth Edition. ISBN: 0495011606. © 2008 Brooks/Cole. All rights reserved.

By solving Equations 2 for X and Y we obtain

3 X
x cos 
y sin  Y
x sin 
y cos 

EXAMPLE 1 If the axes are rotated through 60, find the XY -coordinates of the point
whose xy-coordinates are
2, 6.
SOLUTION Using Equations 3 with x
2, y
6, and 
60, we have
X
2 cos 60
6 sin 60
1
3s3

Y
2 sin 60
6 cos 60
s3
3

The XY -coordinates are (1
3s3, 3  s3 ).

1
2 ■ ROTATION OF AXES

Now let’s try to determine an angle  such that the term Bxy in Equation 1 disappears
when the axes are rotated through the angle . If we substitute from Equations 2 in
Equation 1, we get

A共X cos   Y sin 兲2  B共X cos   Y sin 兲共  sin   Y cos 兲

 C共X sin   Y cos 兲2  D共X cos   Y sin 兲

 E共X sin   Y cos 兲  F 苷 0

Expanding and collecting terms, we obtain an equation of the form

4 AX 2  BXY  CY 2  DX  EY  F 苷 0

where the coefficient B of XY is

B 苷 2共C  A兲 sin  cos   B共cos2  sin2兲

苷 共C  A兲 sin 2  B cos 2

To eliminate the XY term we choose  so that B 苷 0, that is,

共A  C兲 sin 2 苷
cos 2

or

AC
5 cot 2 苷
B

EXAMPLE 2 Show that the graph of the equation xy 苷 1 is a hyperbola.

SOLUTION Notice that the equation xy 苷 1 is in the form of Equation 1 where A 苷 0,

B 苷 1, and C 苷 0. According to Equation 5, the xy term will be eliminated if we choose
 so that
AC
cot 2 苷 苷0
B

Stewart: Calculus, Sixth Edition. ISBN: 0495011606. © 2008 Brooks/Cole. All rights reserved.
This will be true if 2 苷 兾2, that is,  苷 兾4. Then cos  苷 sin  苷 1兾s2 and Equa-
tions 2 become
X@ Y @
xy=1 or - =1
2 2
X Y X Y
y
X x苷  y苷 
Y s2 s2 s2 s2

Substituting these expressions into the original equation gives

冉 冊冉 冊
π
4
x X Y X Y X2 Y2
0   苷1 or  苷1
s2 s2 s2 s2 2 2

We recognize this as a hyperbola with vertices (s2, 0) in the XY -coordinate system.

The asymptotes are Y 苷 X in the XY -system, which correspond to the coordinate axes
FIGURE 3 in the xy-system (see Figure 3).
 ROTATION OF AXES ■ 3

EXAMPLE 3 Identify and sketch the curve

73x 2  72xy  52y 2  30x  40y  75 苷 0

SOLUTION This equation is in the form of Equation 1 with A 苷 73, B 苷 72, and C 苷 52.
Thus

AC 73  52 7
cot 2 苷 苷 苷
B 72 24

From the triangle in Figure 4 we see that

cos 2 苷 257

25
24 The values of cos  and sin  can then be computed from the half-angle formulas:

2¨
7
cos  苷 冑 1  cos 2
2
苷 冑 1  257
2
苷
4
5

FIGURE 4
sin  苷 冑 1  cos 2
2
苷 冑 1  257
2
苷
3
5

The rotation equations (2) become

x 苷 45 X  35 Y y 苷 35 X  45 Y

Substituting into the given equation, we have

73( 45 X  35 Y)  72( 45 X  35 Y)( 35 X  45 Y)  52( 35 X  45 Y)

2 2

 30( 45 X  35 Y)  40( 35 X  45 Y)  75 苷 0

which simplifies to 4X 2  Y 2  2Y 苷 3
Completing the square gives

共Y  1兲2
4X 2  共Y  1兲2 苷 4 or X2  苷1
4

and we recognize this as being an ellipse whose center is 共0, 1兲 in XY -coordinates.

Stewart: Calculus, Sixth Edition. ISBN: 0495011606. © 2008 Brooks/Cole. All rights reserved.

Since  苷 cos1( 45 ) ⬇ 37, we can sketch the graph in Figure 5.

y X
Y

(0, 1) ¨Å37°
0 x
73≈+72xy+52¥+30x-40y-75=0
or
FIGURE 5 4X @+(Y-1)@=4
4 ■ ROTATION OF AXES

EXERCISES

(c) Find an equation of the directrix in the xy-coordinate

A Click here for answers. S Click here for solutions.
system.

14. (a) Use rotation of axes to show that the equation

1– 4 Find the XY -coordinates of the given point if the axes are
rotated through the specified angle.
2x 2  72xy  23y 2  80x  60y 苷 125
1. 共1, 4兲, 30 2. 共4, 3兲, 45
represents a hyperbola.
3. 共2, 4兲, 60 4. 共1, 1兲, 15 (b) Find the XY -coordinates of the foci. Then find the
■ ■ ■ ■ ■ ■ ■ ■ ■ ■ ■ ■ ■
xy-coordinates of the foci.
(c) Find the xy-coordinates of the vertices.
5–12 Use rotation of axes to identify and sketch the curve. (d) Find the equations of the asymptotes in the xy-coordinate
5. x 2  2xy  y 2  x  y 苷 0 system.
(e) Find the eccentricity of the hyperbola.
6. x 2  xy  y 2 苷 1
15. Suppose that a rotation changes Equation 1 into Equation 4.
7. x 2  xy  y 2 苷 1
Show that
8. s3 xy  y 2 苷 1 A  C  苷 A  C
9. 97x 2  192xy  153y 2 苷 225
16. Suppose that a rotation changes Equation 1 into Equation 4.
10. 3x 2  12s5 xy  6y 2  9 苷 0 Show that
11. 2s3 xy  2y 2  s3 x  y 苷 0 共B兲2  4AC  苷 B 2  4AC
12. 16x  8s2 xy  2y  (8s2  3) x  (6s2  4) y 苷 7
2 2
17. Use Exercise 16 to show that Equation 1 represents (a) a
■ ■ ■ ■ ■ ■ ■ ■ ■ ■ ■ ■ ■
parabola if B 2  4AC 苷 0, (b) an ellipse if B 2  4AC
0,
13. (a) Use rotation of axes to show that the equation
36x 2  96xy  64y 2  20x  15y  25 苷 0
represents a parabola.
(b) Find the XY -coordinates of the focus. Then find the
xy-coordinates of the focus.
and (c) a hyperbola if B 2  4AC  0, except in degenerate
cases when it reduces to a point, a line, a pair of lines, or no
graph at all.
18. Use Exercise 17 to determine the type of curve in
Exercises 9–12.
Stewart: Calculus, Sixth Edition. ISBN: 0495011606. © 2008 Brooks/Cole. All rights reserved.
 ROTATION OF AXES ■ 5

ANSWERS

9. X 2

Y 29
1, ellipse
S Click here for solutions.
y
X
1. ((s3
4)2, (4s3  1)2) Y

3. (2s3  1, s3
2) 4
sin–! ” 5 ’

5. X
s2 Y 2, parabola 0 x

Y X

11.
X  12  3Y 2
1, hyperbola

1 1
x y
0
Y

7. 3X
Y
2, ellipse 2 2

0 x
y

Y X

0 x
13. (a) Y  1
4X 2 (b) (0, 16 ), ( 20 , 80 )
17 17 51

(c) 64x  48y
75
0

Stewart: Calculus, Sixth Edition. ISBN: 0495011606. © 2008 Brooks/Cole. All rights reserved.
6 ■ ROTATION OF AXES

SOLUTIONS

√ √
1. X = 1 · cos 30◦ + 4 sin 30◦ = 2 + ,
Y = −1 · sin 30◦ + 4 cos 30◦ = 2 3 − 12 .
2
3

√ √
3. X = −2 cos 60◦ + 4 sin 60◦ = −1 + 2 3, Y = 2 sin 60◦ + 4 cos 60◦ = 3 + 2.
A−C
5. cot 2θ = = 0 ⇒ 2θ = π2 ⇔ θ = π4 ⇒ [by Equations 2]
B
X −Y X +Y
x= √ and y = √ . Substituting these into the curve equation
2 2
√ X
gives 0 = (x − y)2 − (x + y) = 2Y 2 − 2X or Y 2 = √ .
2
 √    √  
[Parabola, vertex (0, 0), directrix X = −1/ 4 2 , focus 1/ 4 2 , 0 ].

A−C
7. cot 2θ = = 0 ⇒ 2θ = π
2
⇔ θ= π
4
⇒ [by
B
X −Y X +Y
Equations 2] x = √ and y = √ . Substituting these into the
2 2
curve equation gives
X 2 − 2XY + Y 2 X2 − Y 2 X 2 + 2XY + Y 2
1= + + ⇒
2 2 2
X2 Y2
3X 2 + Y 2 = 2 ⇒ + = 1. [An ellipse, center (0, 0), foci on
2/3 2
√ √ √
Y -axis with a = 2, b = 6/3, c = 2 3/3.]
97 − 153 −7
9. cot 2θ = = ⇒ tan 2θ = − 24
7 ⇒ π
2 < 2θ < π
192 24
and cos 2θ = −7
25
⇒ π
4
<θ< π
2
, cos θ = 35 , sin θ = 4
5
⇒
3X − 4Y
x = X cos θ − Y sin θ = and
5
4X + 3Y
y = X sin θ + Y cos θ = . Substituting, we get
5
97
25
(3X − 4Y )2 + 192
25
(3X − 4Y )(4X + 3Y ) + 153
25
(4X + 3Y )2 = 225,

Y2
which simplifies to X 2 + = 1 (an ellipse with foci on Y-axis, centered
9

Stewart: Calculus, Sixth Edition. ISBN: 0495011606. © 2008 Brooks/Cole. All rights reserved.
at origin, a = 3, b = 1).
√
A−C 1 π 3X − Y
11. cot 2θ = = √ ⇒ θ= ⇒ x= ,
B 3 6 2
√
X + 3Y
y= . Substituting into the curve equation and simplifying gives
2
4X 2 − 12Y 2 − 8x = 0 ⇒ (X − 1)2 − 3Y 2 = 1 [a hyperbola with foci
√ √
on X-axis, centered at (1, 0), a = 1, b = 1/ 3, c = 2/ 3 ].
 ROTATION OF AXES ■ 7

A−C −7 3X − 4Y 4X + 3Y
13. (a) cot 2θ = = so, as in Exercise 9, x = and y = .
B 24 5 5
Substituting and simplifying we get 100X 2 − 25Y + 25 = 0 ⇒ 4X 2 = Y − 1, which is a parabola.
 
(b) The vertex is (0, 1) and p = 161
, so the XY -coordinates of the focus are 0, 17
16
, and the xy-coordinates are
     
x = 0 5· 3 − 17
16
4
5
= − 17
20
and y = 0 5· 4 + 17
16
3
5
= 51
80
.

(c) The directrix is Y = 15

16
, so −x · 4
5
+y· 3
5
= 15
16
⇒ 64x − 48y + 75 = 0.

15. A rotation through θ changes Equation 1 to

A(X cos θ − Y sin θ)2 + B(X cos θ − Y sin θ)(X sin θ + Y cos θ) +
C(X sin θ + Y cos θ)2 + D(X cos θ − Y sin θ) + E(X sin θ + Y cos θ) + F = 0.

Comparing this to Equation 4, we see that A0 + C 0 = A(cos2 θ + sin2 θ) + C(sin2 θ + cos2 θ) = A + C.

17. Choose θ so that B 0 = 0. Then B 2 − 4AC = (B 0 )2 − 4A0 C 0 = −4A0 C 0 . But A0 C 0 will be 0 for a parabola,

negative for a hyperbola (where the X 2 and Y 2 coefficients are of opposite sign), and positive for an ellipse (same

sign for X 2 and Y 2 coefficients). So :

B 2 − 4AC = 0 for a parabola, B 2 − 4AC > 0 for a hyperbola, B 2 − 4AC < 0 for an ellipse.

Note that the transformed equation takes the form A0 X 2 + C 0 Y 2 + D0 X + E 0 Y + F = 0, or by completing the

square (assuming A0 C 0 6= 0), A0 (X 0 )2 + C 0 (Y 0 )2 = F 0 , so that if F 0 = 0, the graph is either a pair of intersecting

lines or a point, depending on the signs of A0 and C 0 . If F 0 6= 0 and A0 C 0 > 0, then the graph is either an ellipse, a

point, or nothing, and if A0 C 0 < 0, the graph is a hyperbola. If A0 or C 0 is 0, we cannot complete the square, so we

get A0 (X 0 )2 + E 0 Y + F = 0 or C 0 (Y 0 )2 + D0 X + F 0 = 0. This is a parabola, a straight line (if only the

second-degree coefficient is nonzero), a pair of parallel lines (if the first-degree coefficient is zero and the other two
have opposite signs), or an empty graph (if the first-degree coefficient is zero and the other two have the same sign).
Stewart: Calculus, Sixth Edition. ISBN: 0495011606. © 2008 Brooks/Cole. All rights reserved.