1

AE 321 Solution of Homework #2

1(a) (3 points) Note that we are rotating the original frame counterclockwise by 30 degrees.
Therefore, + = 30 u . The rotation matrix R has the form

' ' '
1 1 1 2 1 3
' ' '
2 1 2 2 2 3
' ' '
3 1 3 2 3 3
3 3
(1.1)
cos sin 0
sin cos 0 0, 3 (vertical axes coincide)
0 0 1
3 / 2 1/ 2 0
1/ 2 3 / 2 0
0 0 1
3 / 2 1/ 2 0
1/ 2 3 / 2 0
0 0 1
i i
x x x x x x
R x x x x x x
x x x x x x
i
u u
u u o o
( - - -
(
= - - -
(
(
- - -

(
(
= = = =
(
(

(
(
=
(
(
(

(

(
(
(
(


30
30
xB
1
xB
1
B

xB
2
xB
2
B

xB
3
B,
xB
3
B
2
1(b) (6 points) In this part of the problem, we are performing two successive rotations. Lets
denote the rotation matrix for the first rotation as
1
R and that for the second rotation as
2
R .

Applying Equation (1.1) to the first rotation, we get

1
2 / 2 2 / 2 0
cos( 45) sin( 45) 0
sin( 45) cos( 45) 0 2 / 2 2 / 2 0
0 0 1 0 0 1
R
(

(
(
(
= =
(
(
(
(

(


Applying Equation (1.1) to the second rotation, we get
2
1 0 0
1 0 0
0 cos60 sin60 0 1/ 2 3 / 2
0 sin60 cos60
0 3 / 2 1/ 2
T
R
(
(
(
(
= =
(
(
(
(



Combining the two above rotations to get the total rotations,
45
45
xB
1
xB
1
B

xB
2
xB
2
B

xB
3
B,
xB
3
B
xB
2
B

xB
1
B,xB
1
B

xB
3
B

xB
2
B

xB
3
B

60
60
3
(
(
(

=
(
(
(

(
(
(

= =
2 / 1 4 / 6 4 / 6
2 / 3 4 / 2 4 / 2
0 2 / 2 2 / 2
1 0 0
0 2 / 2 2 / 2
0 2 / 2 2 / 2
2 / 1 2 / 3 0
2 / 3 2 / 1 0
0 0 1
1 2
R R R

2. (3+1+1 points) The requested rotation is represented graphically in the figure below,
where the x
1
,x
2
, x
3
( ) represents the original coordinate system and ' x
1
, ' x
2
, ' x
3
( ) is the
rotated coordinate system.

The component of vector A

in the deformed (prime) coordinate system is obtained from the

following expression

' A
i
= o
ij
A
j
(1.2)
where
ij
o is the rotation matrix. You should notice that the first index, i, of the rotation matrix
represents both the rotated coordinate system and the rows of the rotation matrix, while the
second index, j, represents the initial coordinate system and the columns of the rotation matrix.
Then, an easy way of determining the rotation matrix is using the following table,


1
x
2
x
3
x


1
e

2
e

3
e

4
' x
1

' e
1
cos ' e
1
,e
1
( ) cos ' e
1
,e
2
( ) cos ' e
1
, e
3
( )
' x
2

' e
2
cos ' e
2
,e
1
( ) cos ' e
2
,e
2
( ) cos ' e
2
,e
3
( )
' x
3

' e
3
cos ' e
3
, e
1
( ) cos ' e
3
,e
2
( ) cos ' e
3
, e
3
( )

From the above table, we have


1
x
2
x
3
x


1
e

2
e

3
e

' x
1
' e
1

cos 45 ( ) =
2
2
cos 90 ( ) = 0
cos 135 ( ) =
2
2

' x
2
' e
2
cos 90 ( ) = 0
( )
1 0 cos = cos 90 ( ) = 0
' x
3
' e
3

cos 45 ( ) =
2
2
( ) 0 90 cos = cos 45 ( ) =
2
2


Therefore the rotation matrix is given by
o
ij
=
2
2
0
2
2
0 1 0
2
2
0
2
2







(

(
(
(
(
(

Substituting into Equation (1.2),
' A
| |
=
2
2
0
2
2
0 1 0
2
2
0
2
2







(

(
(
(
(
(
2
4
2





(

(
(
(
=
0
4
2 2





(

(
(
(

Therefore vector A

in the rotated system is given as follows

A = 4 ' e
2
+ 2 2 ' e
3

The magnitude of a vector in an arbitrary rectangular coordinate system is given by
5
A = x
1
2
+ x
2
2
+ x
3
2
(1.3)
Using Equation (1.3) the magnitude of A

and ' A

are
( )
2
2 2 2 2
2 4 2 2 6, 4 2 2 2 6 A A' = + + = = + =

3.1 (2 points) a b b a V = = V = V V where , 0 0

( )
k j k j a
a
a
a b a
b b
kj ijk
jk ikj
jk ijk
k k kj ijk
j k ijk i
=
=
=
= =
= V
,
of property
partials mixed of e equivalenc
,
,
,
, ,
,
c
c c
c
c
c

Equating the second line and the last line above: 0
, , ,
= =
kj ijk kj ijk kj ijk
a a a c c c .
3.2 (1 points)
i i
a b a b a
,
or b where , = V = - V = V - V a a b b
ii i i
2
, ,
V = = = - V
3.3 (3 points) ( )
j k ijk i
u v u v v u
,
or where , c = V = V = V V

( ) | | ( )
( )
( )
( )
( )
( ) | | u u
u u
u u
u u
u
u
u
u u
u
v
v u
i
jj i
i
j j
jj i ij j
pj r jp ir pj r jr ip
pj r jp ir jr ip
pj r kpr kij
j kpr pj r kpr ijk
pj r kpr p r j kpr ijk
j
p r kpr ijk
j k ijk
i i
2
, ,
, ,
, ,
,
,
, ,
, , ,
,
,
,
0
V - V V =
=
=
=
=
=
= =
+ =
=
=
V = V V
o o o o
o o o o
c c
c c c
c c c
c c
c

3.4 (2 points) ( ) u a b b u a = - V = - V where ,
6

( )
( )
( )
( )
( ) a u u a
u a u a
au u a
au
b
b u a
i i
i i i i
i i
i i
V - + - V =
- V + V =
+ =
=
=
- V = - V
rule product
, ,
,

3.5 (3 points) ( ) | | ( ) W C C W
T T
V = = - V = V - V where , 0

,
,
ij ipq qj p
T T
ij ji jpq qi p
C W C W
C C C W
c
c
= V =
= =


( ) ( )
,
,
,
,
,
,
property of
,
T T
i ij j
ji j
jpq qi pj
pjq qi pj
jpq qi jp
jpq qi pj
C C
C
W
W
W p j j p
W
c
c c
c
c
V- =
=
=
=
=
=

Equating the third line and the last line above,

, , ,
0
jpq qi pj jpq qi pj jpq qi pj
W W W c c c = =

4. (5 points) Look at the first two equations:
( )
11 11 22 33
1
E
c o u o o = + (


12 12
1
E
u
c o
+
=
Re-expressing the first equation:
( )
11 11 11 22 33 11
1
E
c o u o o o uo = + + + (


Where the extra
11
uo is required to balance the term added within the parentheses. Now, to
switch to indicial notation, looking at the second equation we note that it is
12
c ; therefore, we
need both i and j. Our expanded equation can be rewritten as:
7
( ) ( )
11 22 33
1
1
ij ij
E
c o u u o o o ( = + + +


So, the first term within the brackets is identical to our
12
c expression. The second term involves
a sum which can be rewritten with double indices:
( ) ( )
1
1
ij ij ij kk
E
c o u uo o ( = +