TERM PAPER OF MATHS

TOPIC:
PROVE THAT THE PRODUCT OF TWO ORTHOGONAL MATRICES IS AN ORTHOGONAL MATRIX AND SO AS FOR THE INVERSE OF AN ORTHOGONAL MATRIX.ALSO PROVE THIS IN THE CASE OF ROTATION

SUMMITED BY: NAME:ANKESH GOYAL ROLL NO:B52 SEC NO:D4001 REG.NO:11004467

SUMMITED TO: MR. ASOK DAS (subject incharge)

ACKNOWLEDGEMENT
I WOULD LIKE TO EXPRESS MY GRATITUDE TO OUR FACULTY OF LOVELY WHO INSPITE OF THEIR BUSY SCHEDULE TOOK PERSONAL INTEREST TO ENSURE THAT THIS TERM PAPER IS THROUGH LEARNING PROCESS FOR ME. I WOULD LIKE TO GIVE THANKS TO OUR

sir Asok

Das

UNDER WHOSE GUIDANCE THIS TERM PAPER WAS

BEING CARRIED OUT FOR PROVIDING THE REQUISITE PLATFORM AN D SUPPORT THROUGHOUT THE TERM PAPER. I AM GREATFUL TO OUR FRIENDS AND SENIORS FOR PROVIDING CRITICAL FEEDBACK AND SUPPORT WHENEVER REQUIRED . I WOULD LIKE TO THANK ALL OTHER WHO OBLIGED ME WITH THEIR SUPPORT AND HAVE HELPED ME IN CONVERTING MY COLLECTION OF DATA INTO FINALLY POLISHED PAPER.

INTRODUCTION:MATRIX:
Matrix is a rectangular array of real entries in horizontal rows and vertical columns. A Matrix can be denoted by capital case letters A, B, --------, Z; and the corresponding elements are denoted by a, b, c, ---------, z. Of course, an element of a matrix can be denoted by aij, where i indicate the number of rows and j indicates the number of columns. Ex: a32 is an element which belongs to 3rd row and 2nd column of a matrix. A matrix is identified by its order which is denoted by mxn, where m is the number of rows and n is the number of columns. The order of a matrix is read often as m by n which is written as mxn. Usually, General matrix = a11 a12 - - - - - - - a1n a21 a22 - - - - - - - a2n | | | which has n rows and n columns | an1 | | an2 - - - - - - - ann

It is known to us that there are many types of matrices like Row matrix, Column matrix, Square matrix, Orthogonal matrix etc., Square matrix: A Matrix is said to be a square matrix if and only if the number of rows is equal to the number of columns in that matrix. Ex: A= a11 a12 a21 a22 is a square matrix of order nxn.

Now, let us have our focus on Orthogonal Matrices. Orthogonal Matrix: A Square Matrix is said to be orthogonal if and only if the product of given matrix and transpose of given matrix is equal to Identity matrix and if the product of given matrixs transpose and given matrix is equal to Identity matrix. i.e., AAT=AT A=I=> A is an orthogonal matrix. A matrix to be orthogonal should satisfy the first condition i.e. it should be a square matrix. By this time, the following question might have stuck in your mind: Why a matrix to be orthogonal, should be firstly a square matrix? Here is the explanation for the above question: Let us consider, A matrix which is not a square matrix; Suppose, A= a b c def ; For a square matrix to be orthogonal, AAT=ATA=I ---------------- (1) We know that, AA-1=I --------------- (2) By relating (1) and (2); we get

AT=A-1 And |AT|=|A-1| Since, AAT=I By taking determinant on both sides, we get |A| |AT|= |I| |A| |A| =1{As |A|=|AT|} |A|2 =1 |A|=+1 or -1 which is a condition for orthogonality of a square matrix Hence, Determinant of an orthogonal matrix is +1 or -1. Coming to the point of general orthogonal matrix, Let us consider, A matrix of lowest order: 1x1 A= a 1x1 ; AT= a 1x1 Now, for A to be orthogonal, AAT=ATA=I (1x1) => a (1x1). a (1x1) = 1 1x1 => a2=1 => a=+1 or -1 which implies that 1 and -1 are the simplest general orthogonal matrices of order 1x1. Shifting to 2x2 order general orthogonal matrices, Let, A 2x2 order matrix is considered. A=a b c d 2x2 For A to be orthogonal, AAT=I ; ATA=I a b a c a c a b c d b d =I ; b d c d =I a2+b2=1 ---- (4), ac+bd=0 ; a2+c2=1 ----- (5), ab+cd=0 2 2 c +d =1 ---- (3) b2+d2=1 From (4) and (5), we get => b2=c2 ; from (3), we get => b=+c or c c2=1-d2 => c = +/1-d2 or -/1-d2 From (3) and (5), we get a2=d2 => a= +d or d Hence, a=+d or d, b= +/1-d2 or -/1-d2, c=+/1-d2 or -/1-d2. a b d +/1-d2 => A = 2 c d +/1-d d Since, |A|= +1 or -1 for orthogonality Therefore, d -/1-d2 -d /1-d2 A = 2 ; 2 /1-d d /1-d d
A=

So, d General 2x2 order orthogonal matrices= /1-d2 Now,

-/1-d2 d and

-d /1-d2 2 /1-d d

Proceeding into another method, As |A| = |AT| and since AT = A-1 (A is orthogonal matrix) |AT| = |A-1| |a c | = |d -b| |b d| |-c a| .1/ad-bc (ad-bc)2 = ad-bc ad-bc=0, ad-bc=1 but, As for A-1 to exist, ad-bc should not be equal to 0. Hence, a c d -b b d = (1/ad-bc). -c a By equating corresponding elements of both matrices on both sides, we get a=d, b=-c and ad=1+bc d2=1+bc(as a=d) b2=1-d2(as c=-b) b= +/1-d2 or -/1-d2 d -/1-d2 Therefore, general 2x2 order orthogonal matrix is A = /1-d2 d Considering the two general 2x2 order orthogonal matrices, d -/1-d2 -d /1-d2 Let A= /1-d2 d ; B= /1-d2 d d C= AB = /1-d2 -1 0 => C = 0 1 -1 CT = 0 CCT = And C C=
T

-/1-d2 d

-d /1-d2 /1-d2 d

0 1 -1 0 0 1 -1 0 0 1

-1 0 1 0 0 1 = 0 1 = I ------------- (6) -1 0 0 1 1 0 = 0 1 = I ------------ (7)

From (6) and (7), we get CCT =CTC=I Hence, C=AB is an orthogonal matrix

As A and B are orthogonal matrices, the product of A and B i.e. AB is an orthogonal matrix. By this, we can conclude that the product of two orthogonal matrices is an orthogonal matrix. Consider, General 2x2 order orthogonal matrix i.e. d -/1-d2 2 A= /1-d d A-1=AT (As A is an orthogonal matrix) d A = -/1-d2
-1

/1-d2 d

Let D=A-1 d T D = /1-d2 d D D = -/1-d2

T

-/1-d2 d /1-d2 d d /1-d2 -/1-d2 d = 1 0 0 1 = I ------------- (8)

And D D=
T

d -/1-d2 2 /1-d d

d -/1-d2

/1-d2 d

1 0

0 1 = I -------------- (9)

From (8) and (9), we get DDT=DTD=I A-1 ( A-1)T = (A-1)T A-1 =I (As D=A-1) Hence, the inverse of an orthogonal matrix is an orthogonal matrix. Considering another general 2x2 order orthogonal matrix, d /1-d2 2 A= /1-d d A-1 =AT (As A is orthogonal) -d /1-d2 So, A-1= /1-d2 d = AT = A Let D = A-1 d /1-d2 2 D = /1-d d -d T D D = /1-d2 /1-d2 -d d /1-d2 /1-d2 d = 1 0 0 1 = I ------------ (10)

-d T D D = /1-d2

/1-d2 d

-d /1-d2

/1-d2 d

1 0 0 1 =

I --------------- (11)

From (10) and (11), it is clear that DDT=DTD=I So, D is an orthogonal matrix And A-1 is an orthogonal matrix as D=A-1 Hence, the inverse of an orthogonal matrix is an orthogonal matrix. Here, D=A-1=A=AT Since, A is an orthogonal matrix, A-1 is an orthogonal matrix as A=A-1 Similarly, the above can be proved in the case of 3x3 order orthogonal matrices.

ROTATION MATRIX AND REFLECTION MATRIX:

Rotation is a transformation in a plane or space that describes the motion of a rigid body around a fixed point. Only a single angle is needed to specify a rotation in two dimensions which is referred as the angle of rotation. To proceed with rotation using matrices the point (x,y) to be rotated is written as a vector and then multiplied by a matrix calculated from the angle, . x cos -sin x y = sin cos y --------------- (12) x and y are the coordinates of the point after rotation and the coordinates x and y can be easily found if the angle of rotation and the coordinates of the initial point is given from (12)x=xcos -ysin ; y=xsin +ycos x x The vectors y and y have the same magnitude but are separated by an angle . In general, when discussing rotation there are two possible conventions: Rotation of the axes Rotation of the object relative to the fixed axis In two dimensions, consider a matrix that rotates a given vector vo by a counter clockwise angle in a fixed coordinate system. Then cos -sin R8= sin cos So, v=R8v0 On the other hand, consider the matrix that rotates the coordinate system through a counter clockwise angle .

The coordinates of the fixed vector v in the rotated coordinate system are now given by a rotation matrix which is the transpose of the fixed axis matrix and as can be seen In the above diagram, is equivalent to rotating the vector by a counter clockwise by an angle of -8 relative to the fixed set of axes, giving cos sin R8= -sin cos Considering 2x2 general orthogonal matrix, d /1-d2 -/1-d2 d and since /1-d2>=0 =>1-d2>=0 => -1<=d<=1

So, d may be equal to sin8 or cos8. Let d=cos8 cos -sin A= sin8 cos --------------- rotation by an angle 8. Where, rotation is the circular movement of a rigid body. And If rotation is done in clockwise direction by an angle 8, we get cos sin A= -sin cos Now, Reflection= Rotation by an angle 1800=>Inverse of the given orthogonal matrix. cos sin So, B= -sin cos -------------Reflection matrix , where B=A-1 If =900, A= 0 1 And B= 0 -1 Consider, A= 0 -1 -1 0 1 0 -----------reflection matrix .................... rotation matrix (rotation by 900)

1 0 Let (x1,y1) = ( 0,1) be a point in xy plane. As the axis is rotated by angle x2=x1cos +y1sin y2=-x1sin +y1cos if =1800,

x2=-x1+0(y1)=0 y2=0(x1)-y1=-1 therefore in A= 0 1 -1 0 ;(0,1) is rotated by 1800 And we get (-1,0) Let (x3,y3)= (0,-1) Let B= x3 y3 x4 y4 = 0 -1 1 0 by rotating the axis by 0 we get

x4=x3cos +y3sin = 0 y4=x3sin +y3cos = 1 there fore in B= 0 -1 Hence 0 1 1 0 -1 0 we get (0,1) by rotating (0,-1) by an angle 1800. 0 is the rotation matrix and -1 1 0

As we know that Let A= cos -sin sin cos AT= cos sin -sin cos Then A.AT= cos -sin cos sin = 1 0 sin cos -sin cos 0 1 = I --------(13) and AT.A= cos sin cos -sin = 1 0 -sin cos sin cos 0 1 = I ------------- (14) T T From (13) &(14) , A.A = A .A=I Cos -sin So, A= sin cos is an orthogonal matrix in the case of rotation. Hence, Rotation is carried by orthogonal matrices. Consider two general rotation matrices A= cos -sin B= -cos sin sin cos and sin cos which are two orthogonal matrices let D=A.B= cos -sin sin cos D.DT= -1 0 0 1 -1 0 0 1 = -cos sin 1 0 sin -1 0 cos = 0 1

0 1 = I ------------- (15)

DT.D= -1 0 0 1

-1 0

0 1

1 0

0 1 = I -------------- (16)

From (15) and (16), we get D.DT=DT.D=I And so, D=A.B is an orthogonal matrix. Hence, the product of two orthogonal matrices is an orthogonal matrix in the case of rotation.

Now, As A-1= cos -sin Let C=A-1 Now, C.CT =cos -sin sin cos sin cos cos -sin sin cos = sin cos = 1 0 1 0 0 1 = I -------------- (17) 0 1 = I ---------------(18)

C.CT = cos -sin cos sin cos -sin from(15)&(16), it is clear that

C.CT = CT.C = I Therefore C=A-1 is an orthogonal matrix i.e. the inverse of an orthogonal matrix in rotation is an orthogonal matrix. Hence A= Cos -sin sin cos is an orthogonal rotational matrix

C = A-1= cos sin -sin cos is an orthogonal reflection matrix

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