DEFINITION 1 A square matrix A is said to befarthogonal{ tits transpose is thésame(, that as, if . uu or, equivalently, if AAT = ATA = 1 JU a » EXAMPLE 1 A x 3 Orthogonal ‘The matrix ™ pi qe ss pee OoO' 6 A= EL [eA F |e oO Le e-alls +3 is orthogonal sinee 7 -$ G)PF 7 fio AMa=|$ 3 $]|-$ $ 3[-lo ro sells sa] wed® EXAMPLE 2 Rotation and Reflection Matrices Are Orthogonal Recall from Table 5 of Section 4.9 that the standard matrix for the counterclockwise rotation of R° through an angle @ is. A cox?) =—sind ~(Lsind — cosd ‘This matrix is orthogonal for all choices of @ since AN = cosd sind ao ceal[aee ene) [ 1] ‘We leave it for you to verify that the reflection matrices in Tables | and 2 and the rotation matrices in Table 6 of Section 4.9 are all orthogonal. <4“Ayconem 711 The following are @HUNANRB for ann x m matrix A. CPS NT ey Aisorthogonal /ATA_K'A ——a Ww ee ee es with the Euclidean inner Ng a Ton ata the ean ine THEOREM 7.1.2 (a) The transpose of an orthogonal matrix is orthogonal. (b) The inverse of an orthogonal matrix is orthogenal, (e) A product of orthogonal matrices ix orthogonal. (d@) If Ads orthogonal, then det(A) = | or det(A) = —1. OS© Incach part of Exercises |4, determine whether the matrix is, orthogonal, and if'so find it inverse. ‘oleae cof] nls 3] See jew [: ‘} Hwee [z *] A \_ A cyate1 toate 4 1) Bia ays a.(! Jaded oO / 8 EST: Lo J] eagle cepa» I zt show that : first ATA, then by conf Bet (oof Menem 7, _ seen yep of Msn 1G paiha= [ceo S.A=|— -EMbaA= ad 4 e tle oye seo af ede F ole ole xy q ‘S uh * . vl Peay cy TAN ASI E 3 shi vi. eet Wey = 23 ahs 5 Wel woe 3 Hat - writs by ul ‘ Wate I vl ll = alle Walle! wnsTHEOREM 7.1.3 if A is ann x a matrix, then the following are equivalent. (Q) Ax+ Ay=x-y forall x andy in R". THEOREM 7.1.4 if S és an orthonormal basis for an n-dimensional inner product space V, and if (u)s = (Uy, Mp, ..-.Un) and (w)s = (Uy, bp. ---5 i) then: (a) ful = fap eud eee (8) diu,v) = Vy — PF $y — HP Ee (iy — OP fc) (u,v) = mini + uove +--+ + Wade THEOREM 7.1.5 Let V be a finite-dimensional inner product space. If P ix the tran- sition matrix from one orthonormal basis for V to another orthonormal basis for V, then P is an orthogonal matrix.—. » EXAMPLE 4 Rotation of Axes in 2-Space Inmany problems a rectangular xy-coordinate system is given, and a new x‘y'-coordinate system is obtained by rotating the xy-system counterclockwise about the origin through an angle @. When this is done, each point @ in the plane has two sets of coordinates— coordinates (1, y) relative to the xy-system and coordinates (1’, y’) relative to the x"y'- system (Figure 7.1.22). By introducing unit vectors u, and w along the positive x- and y-axes and unit vec- torsu} and w along the positive x’- and y’-axes, we can regard this rotation as a change from an old basis B — (m,,u)) to a new basis BY — fu}, uj) (Figure 7.1.25). Thus, the new coordinates (x", y") and the old coordinates (x, ¥) of a point Q will be related by Ent a where P is the transition from 8" to #. To find P we must determine the coordinate Matrices of the new basis vectors uj and u) relative to the old basis. As indicated in Figure 7.1.2c, the components of uj in the old basis are cos @ and sin 6, 50Similarly, from Figure 7.1.2d we see that the components. of wf in the old basis axe eos(@ + 1/2) ‘sin@ and sin(@ + 1/2) = cos, so wi = [25] e080 “Thus the transition matrix from BF to B is cos? —sin role ne % ‘Observe that P is un orthogonal matrix, as expected, since B and B° are orthonormal ‘bases, Thus pref ome sae] =sin® cose. (F- sno at ("] ) Feos6 ty sind —rsin@ +yeosé s0 (2) yields: ‘or, equivalently, y (3) ‘These are sometimes called the rotation equations for R?.» EXAMPLE 5 Rotation of Axes in 2-Space Use form (4) of the rotation equations for R? to find the new coordinates of the point O(-4) if the coordinate axes of a rectangular coordinate system are rotated through an angle of @ = 9/4. Solution Since the equation in (4) beeames (Lg ‘Thus, if the old coordinates of a point @ nl 3] 1 A ¥) = (2, -1), then 3 us so the new coordinates of Q are (x',y') = (> —)- a,> EXAMPLE 6 Application to Rotation of Axas in 3-Space [axe —sine °] P=|sing cosd 0 | a oO | (verify). Thus, the new coordinates (x, y", 2) of a point Q can be computed from its old coordinates (x, ¥,z) by [r]-[-2° : 9]ff) « LP Ee "ye