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Prove That The Matrix 1 9 4 7 4 1 4 8 8 4 1
Prove That The Matrix 1 9 4 7 4 1 4 8 8 4 1
Thus the transformation matrix A, defined by (18.5), is an orthogonal matrix. For this
reason, the transformation formula (18.4) is called an orthogonal transformation.
is orthogonal.
Solution
⎛ ⎞⎛ ⎞ ⎛ ⎞
4 1 8 4 7 −4 81 0 0
1 ⎝ 1 ⎝
BT · B = 7 4 −4 ⎠ ⎝ 1 4 8 ⎠ = 0 81 0 ⎠ = 1.
81 81
−4 8 1 8 −4 1 0 0 81
Since this example is a special case of the preceding theory, the matrix A in (18.8) must
be orthogonal. [You should check this directly.] A rotation of C about the O x1 or O x2
axis is treated in the same way.
496 Chapter 18 Tensor algebra and the inertia tensor
x3 x 3 n
x 2
x2
M E
ψ
O ψ x1 e
E
x1 O e
Solution
The formula corresponding to (18.8) when C is rotated through an angle ψ about the
axis O x1 is
⎛ ⎞
1 0 0
A = ⎝ 0 cos ψ sin ψ ⎠ .
0 − sin ψ cos ψ
The components of the vector v in C are then given by the elements of the column
vector v , where
⎛ ⎞ ⎛ ⎞⎛ ⎞ ⎛ ⎞
3 1 √ 0 0 3 3√
v = A · ⎝ −4 ⎠ = ⎝ 0 3/2 √1/2 ⎠ ⎝ −4 ⎠ = ⎝ 1 − 2√ 3 ⎠ .
2 0 −1/2 3/2 2 2+ 3
√ √
The components of the vector v in C are therefore { 3, 1 − 2 3, 2 + 3 }.
In the general case, the rotation of C can take place about an axis {O, n}, where n is
any unit vector. The argument is messier but we can still find an explicit formula for A.
18.2 Rotated and reflected coordinate systems 497
Figure 18.2 (Right) shows how a typical unit vector e of the coordinate system C is obtained from the
corresponding vector e belonging to C. Let e be resolved into parts parallel and perpendicular to the axis
{O, n} in the form
e = e + e⊥ ,
where
−→ −→
e = O M= (e · n) n, e⊥ = M E= e − (e · n) n.
e = e + e ⊥ ,
If we now take e = e1 , e = e1 and take the scalar product of equation (18.9) successively with e1 , e2 and
e3 , we obtain
where n 1 , n 2 , n 3 are the components of the vector n in the coordinate system C. This gives the elements of
the first row of the transformation matrix A, and the elements of the second and third rows can be found in
a similar manner. The full transformation matrix A is given by
⎛ ⎞
cos ψ + (1 − cos ψ)n 21 (1 − cos ψ)n 1 n 2 + n 3 sin ψ (1 − cos ψ)n 1 n 3 − n 2 sin ψ
⎜ ⎟
⎝ (1 − cos ψ)n 2 n 1 − n 3 sin ψ cos ψ + (1 − cos ψ)n 22 (1 − cos ψ)n 2 n 3 + n 1 sin ψ ⎠ (18.10)
(1 − cos ψ)n 3 n 1 + n 2 sin ψ (1 − cos ψ)n 3 n 2 − n 1 sin ψ cos ψ + (1 − cos ψ)n 23
Solution
−→ √ √ √
The unit vector n in the direction O P has components {1/ 3, 1/ 3, −1/ 3} in C ,
and ψ = 60◦ . It follows from the formula (18.10) that the tranformation matrix from
498 Chapter 18 Tensor algebra and the inertia tensor
C to C is
⎛ ⎞
2 −1 −2
1⎝
A= 2 2 1⎠.
3
1 −2 2
The components of the vector v in C are then given by the elements of the column
vector v , where
⎛ ⎞ ⎛ ⎞⎛ ⎞ ⎛ ⎞
3 2 2 1 3 1
T ⎝ ⎠ 1⎝
v = A · −6 = −1 2 −2 ⎠ ⎝ −6 ⎠ = ⎝ −11 ⎠ .
3
9 −2 1 2 9 2
Reflections
The coordinate system C may also be defined by reflecting C in a plane through O. For
example, if C is reflected in the coordinate plane O x1 x2 , the transformation matrix is
easily found to be
⎛ ⎞
1 0 0
A = ⎝0 1 0⎠.
0 0 −1
In the general case, if C is reflected in the plane through O with unit normal vector n, then
the transformation matrix is
⎛ ⎞
1 − 2n 21 −2n 1 n 2 −2n 1 n 3
A = ⎝ −2n 2 n 1 1 − 2n 22 −2n 2 n 3 ⎠ , (18.11)
−2n 3 n 1 −2n 3 n 2 1 − 2n 32
where n 1 , n 2 , n 3 are the components of the vector n in C . [The method of proof is similar
to that for the general rotation.]
Solution
The equation x3 = 2x1 + 2x2 can be written in the form
It can be proved that the most general orthogonal transformation corresponds either
to (i) a rotation of coordinates, or (ii) a reflection followed by a rotation. Which of these
classes a particular orthogonal transformation belongs to can be decided by examining the
sign of the determinant det A.
If we take determinants of equation (18.7) we obtain
det 1 = det AT · A = det AT × det A = det A × det A = (det A)2 ,
from which it follows that det A can only take the values ±1. Surprisingly, we can work
out the determinant of the general A defined by equation (18.5) quite easily. The first row
of A contains the three components of the vector e1 in the coordinate system C . Likewise,
the second and third rows contain the components of the vectors e2 and e3 . It follows from
the vector formula (1.7) that, provided C is a right-handed coordinate system,
det A = e1 ×e2 · e3 .