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MATHEMATICS
LINEAR GEOMETRY
by
UAFAEL AUTZY
Rutgers, The Slale University
...
TT
ADDISON-WESLEY
READING, MASSACHUSETTS
Copyright @ 1966
THIS BOOKI
OR PARTS THEREOF,
'l'HFj punLISHER.
Preface
in linear algebra were paying only scant attention to geometry, and the special
flavor and aesthetics of linear geometry was hardly ever felt ill them.
Thus
arose the need for independent upperclass undergraduate and beginning graduate
geometry programs stressing the strong relationship between algebra and linear
geometry without, however, making geometry a mere side issue in algebraic
discussions. This book is an attempt to fill the need.
The plan for this book took shape when my former teacher, Kurt Reidemeister,
the dean of German geometers, kindly placed at my disposal a set of his recent
lecture notes.
The spirit of these notes foulld its way into my own Rutgers
plane.
The second and third chapters contain a systematic treatment of affine, euclid
ean, and projective spaces over fields. Again algebraic material (vector spaces,
matrices, etc.) is explained in full whenever necessary. A few sections deal with
projective models of noneuclidean planes and elliptic 3-space.
the emphasis is on transformations and their groups.
Throughout,
vi
PHEFACE
Then axioms of order, continuity, and eongl'Uence make their appearance and
lead to euclidean and noneuclidean planes.
Lists of books for suggested further reading folio\\" the third and fourth chap
ters, and the Appendix provides lists of notations, axioms, and transformation
groups.
The material in the first three chapters has been used in a year course for
juniors and seniors, and the fourth: chapter in a one-semester graduate course.
In addition, an Academic Year Institute for high school teachers has studied
the first chapter as part of a geometry class. For students with sufficient prepara
tion in algebra the whole book eould be covered in a one-year course.
My sincere thanks are due to Roy A. Feinman and Hans 'V. E. Schwerdt
feger, who read the manuscript and made important comments, to AVl'aham J.
Ornstein, who carefully read the proofs, and to Lynn H. Loomis and Louis F.
McAuley, who read parts of the manuscript and contributed valuable remarks.
I also gratefully acknowledge the help of my students, in particular those of
the 1964-65 Rutgers University Academic Year Institute, who untiringly
discovel'ed major and minor mistakes in the lecture notes.
New Brunswick, New Jersey
1]priU965
R.A.
Contents
Chapter
1-1.
1-2.
1.
GROUPS
Basic concepts, 9 . Subgroups and cosets, 10 . Equivalence, 12 . Con
jugate and normal subgroups, 12 Isomorphism, 13 . Transformation
groups, 14
1-4.
1-5.
16
22
rotations, 23
1-6.
26
REFLECTIONS
Line reflections, 26 . Involutory isometrics, 28 . Isometries generated
by reflections, 29
1-7.
1-8.
36
VECTORS
Vectors and translationsl 36 . Tracesl 38
39
Dtr.INEAR TRANSI-'OnMATtoNS
Basic conccpts, 39 . Cross ratio,
1-9.
41
47
Chapter 2.
2-1.
57
2-2.
64
Linear transforma
viii
COXTEX'l'S
2-3.
Determinants, 72
spaces, 76
2-4.
Applicat.ions of determinants, 73
79
72
Dual \"ector
.-\ffinc
87
AFFINE PROPERTIES .
2-7,
A.2
ISOMETRIES IN
E2
AND
E3
122
PROJECTIVE GEOMETRY
AND NONEUCLIDEAN GEOMETRIES
3-i.
PROJECTIVE SPACES
3-2.
3-4.
3-5.
126
Basic facts, 126 Homogeneous coordinates and duality, ]27 ' Projective space and affine space, 129 . The real projective plane, 131
Projectivities, 136
3-3.
116
ORIENTATION
Chapter 3.
98
104
92
pl'eserving a
PHOJEC'fIVE COORDINATES .
] 36
142
pi
149
AND
p2
p2(ll)
158
168
POLAHITJES
.
'
Line
Points and lines in the hyperbolic plane, 174 . Angles in the hyperbolic plane, 177 . The elliptic plane, 180 . The uclidean plane as
limiti. ng
.174
COXTEXTS
::;-5.
3-9.
186
OTHER GEOMETRIES
Chapler 4.
Geometric axioms
-!-1 .
ix
201
THEIR COORDINATIZATION
210
VEBL}N-WEDDERBURN PLANES
The minor affine Dcsargues property, 210 . Vectors and their group,
212 Linearity and right distributivity of ternary rings, 2t5 . Veblen
Wedderburn systems, 216 . Central collineations, 217
-!-3.
220
MOUFANG PLANES
227
DESARGUESIAN PLANES
234
PAPPLAN PL.-'\NES
The real field, 239 . Separation, 239 . Separation and order, 240
Continuity in pappian projective planes, 244 . The real affine plane,
239
244
-1-7.
4-8,
FINAL REMARKS
Congruence and euclidean planes, 247 . Axioms for the real hyperbolic
plane, 249 Equivalence of the two models or the hyperbolic plane, 251
.
247
255
APPENDIXES
I:\DEX
LIST OF NOTATlONS
261
LIST OF AXIOMS
262
LIST OF GROUPS
262
265
CHAPTER
Transfonnations
in the Euclidean Plane
In this chapter no attempt will be made to construct a geometry from its
foundations; this will be left to later chapters.
OUf
We can best
because every student has studied it and knows a great deal about its properties.
In this chapter we utilize this knowledge of the theorems in plane euclidean
geometry as well as facts like the congruence theorems of triangles, Pythagoras'
theorem, and others, without)nquiring into their sources or their mutual rela
tions,
Another tool which will be freely used in this chapter is the analytic
geometry of the plane, The student will have discovered that in many instances
the methods provided by analytic geometry are easier to apply and less cumber
some than the "synthetic" treatment of geometrical problems which he had to
apply in high school. Thus, again without attempting in this chapter to provide
the theoretical foundations for analytic geometry, we will use it in a special
form, in the plane of complex numbers,
complex number will be assigned,
By doing so we
will be able to introduce- and to become acquainted with concepts like isometry,
similitude, rotation, and reflection,
1-1
a + bi,
1-1
is a oue-to-one correspondence of all the complex numbers and all the points
in the plane. In particular, the real numbers are represented by the points on
the complex numbers and the points of the plane we will not have to distinguish
between the concepts IIpoint" and IInumber."
If the cartesian coordinate system is replaced by a polar coordinate system
(Fig. 1-1) having the same origin and the real axis as its axis, then the complex
number
and 1>.
relatio;}s
The cartesian and the polar coordinates are then connected by the
==
p cos rp, b
= p sin rp,
and
p = va2 + b2.
Therefore,
a + bi
a + bi determines a
+ b2 and a unique
p = va2
arccos
a
va2 + b2
.
= al'csm
b
.
Va2 + b2
r-------L-t,_--t--. x
b=
= -1,
Figure 1-1
The directed segment (0, z) is called the position vector of the complex number z.
The value
its
The product
zz = (a + bi)(a - bi)
a2 + b2
Izl2
Izl = Izl.
1-2
(<I>, + <I>,)J.
In words, the absolute value of the product is the product of the absolute values,
while the argument of the product' is the sum of the arguments. In particular,
this implies the relation Iz,z,l = Izd Iz,l
The circle with radius r about the origin has the equation p = 1". In the
special case of r = 1 this equation represents the so-called unit circle.
The length of the segment (Z IJ Z2), that is, the distance d between the two
points Zl = a, + b1i and Z2 = a2 + b2i, can be determined by using _Pythag
oras' theorem,
d = v(a,
a,l' + (b,
and thus we obtain d = Iz, - Z2!. In particular, the length of the position
vector of z is Izl.
In calculus it is shown that ei4> = cos 1> + i sin 1> for every real 1>. Hence
every complex number with absolute value p and argument 1> can be written
as pei</>.
1-2
1-2
"onto." On the other hand] the mapping of Z that takes ,the even integers y
into y/2 while the odd integers are left unchanged is surjective, since the domain
and the range are both Z. However, this mapping is not injective, for instance
2 ---t 1 and I 1; hence it is not a transformation either.
Transformations can, of course, be very general. The transformations of
interest for geometry will always be restricted by the additional requirement
that some property be invariant, that is, preserved. Thus we might, for instance,
deal with transformations that preserve angles, distances, straightness of lines,
areas, or volumes.
We shall write a{3 for the transformation which results from performing first
" and then {3, provided the domains and ranges of " and {3 all coincide. Thus,
in contrast with other usages, we shall always be able to read products from
)
,,{3
left to right. The notation (P
[(Pa
) .B
l.
Q if Qa= P.
is defined by p,,-l
=
= l az + b - aw - b l = l a(z
=
in view of la l
Iz K - wKI
l a l lz - wi
1. Also,
= leil +.d - ew - dl
w
)
Iz - wi,
lei I"
wi
Iz -
Iz -
1-2
- zol z az l
= IWl - wa
Theorem 1-2.2. Given points ZOJ ZlI Wo, and-'lVIJ with ]ZI
': 0, there exist exactly two transformations of the types
+b
and z ----+ cz + d, with
=
= 1, which map Zo -----t 100 and ZI ---? WI-
lal lei
azo + b
lal
= Wa,
a(zl - zo), a
zol
[
lal = [
WI - Wo =
rf
WI - Wa
ZI - Zo
O. Also,
WI - wo
Zt - Zo
b = Wa -
azo =
Wa - Zo
1.
WI - Wa
ZI - Zo
= 1.
- zol
IWI - wol
IZI
1.
Theorem
1-2.3.
z,
Proof. If w, and t are three distinct points on a straight line, one of them,
say w, lies between the two others. Then
Iw
- zi + It
- wi = Iz - II,
z,
and jf 111 is an isometry, then the images of w, and t behave in the same way,
namely
I M - IMI.
IwM - zMI + 11M - wMI
zJJ1,
Corollary.
1-2
Au
congruent image.
Proof (Fig. 1-2). Let to, ZI, and Z2 be the vertices of the given triangle, and
let Waf WI) and W2 be those of its image, with
k, l
0,1,2.
Let z be a point distinct from the Zk'S. The parallel to the line (ZOI ZI) through
z meets the line (ZOI Z2) in a point Zll, and the parallel to (ZO.22) through z
meets (ZOI ZI) in a point z', If w is the image of z under an isometry which also
carries the Zk'S into the Wk'S, then, according to Theorem }-2.3 and the Corol
lary, the lines (z, z') and (z, til) will be mapped on corresponding lines ..(w, w')
and (w, w"), with w' on (wof WI) and w" on (wof W2)' Then
IZ I - z'l
IWI - w'l,
" ''f
---i'
---,,.,----,',"
Figure 1-3
Figure 1-2
Theoreml-2.S.
20
(1)
Proof (Fig. 1-3). In view of Theorems 1-2.1 and 12.2J there are at least
two such isometries. 'Ve have only to show that no more such isometries exist.
Now, any isometry mapping Zo on Wo and zion WI is a coJlineation, and there
fore maps the straight line through 20 and ZI onto the straight line through Wo
and WI. Every point z is mapped on a point w so that
Iz
zol
Iw - wol.
(2)
If Z, ZOJ and 21 are collinear, so arc w, wo, and WI, in view of Theorem 1-2.3.
Then Eqs. (l) and (2) determine uniquely the position of w on the line through
1-2
lS0METRIES
IN
THE
Wo and Wl. If z is not collinear w.ith Zo and ZI, then zo, Zl, and z form a triangle.
The triangle with vertices wo, WI, and W is congruent to this triangle. The
vertices Wo and WI being fixed, there are two possible positions for the triangle,
with W lying symmetrically on either side of the line through Wo and WI. Thus
every point Z has one or two images w, according to whether Z is collinear 01'
noncollinear with Zo and Zl. But, by 'I'heol'em 1-2.4, each of these triples,
wo, WI, and w, determines an isometry, and OUf theorem is proved.
We may summarize the results of this section as follows.
mL of all isometries of the number plane is composed
of two classes mt+ and mt_. The class mL+ consists of all isometrics of the
1), and the class mt_ of all isometrics of the form
form z - az + b (!al
z cz + d (lei
1).
Coordinate
direct,
those of mt_
opposite.
transformations.
Another
concept closely related to the isometries is
that of the coordinale tTansjonnations. By
this we mean the introduction of another
Auxiliary
cartesian coordinate system for assigning
-values to the points of the plane.
Let the origin of the new system be at the
Old rClll axis
point F (Fig. 1-4) whose complex value is j,
and let its positive real axis be obtained fron'l
the old positive real axis by spinning it
through an angle cp o Assume also that the
Figure 1-4
positive imaginary axis transforms into the
new positive imaginary axis by a rotation through the same angle cpo First con
sider an auxiliary system with origin 0, whose axes are parallel to those of the
new system.
If a subscript I designates values in the auxiliary system, a subscript 2 those
in the new system, and a subscript 0 the old value, let Z be an arbitrary point
with Zo
z. In the auxiliary system all arguments diminish by 1>, and thus,
according to De l\1oivre's theorem,
=
z,
and F\
f(cos 1> - i sin ).
of F1 from Z 1 sllch that
=
Z2
Z, - F,
z(cos</> - isin</
az + b,
say, where a and b arc uniquely determined by the choice or jand cp, and fal = 1.
Conversely, it can be shown (Exercise 9) that for any given a and b with fal = 1
TRANSFORMATIONS
IN
THE
EUCLIDEAN
PLANE
1-2
--->
(b)
z3
(e) x + yi
--->
+ yi ---> x3 + y3i
x2 + y2i
Are
they collineations? Find the image and the preimage of i in each of them.
(a) z ---> Izl
(e) z ---> zz
(b) z ---> z
(d) z
--->
Re (z)
4, Show that 7': z ---+ liz is a transformation of the number plane with the
the
the
the
the
the
real axis,
imaginary axis,
line containing all points with real part 1,
circle about 0 with radius r,
angle bisector of the first quadrant.
(a) i into
(b) 1 into 2, 1
+ i into 1.
Why are the two isometrics for (b) related to each other in such a simple
way?
1-3
GROUPS
(b) Ar'
8. In the proof of Theorem 1-2.5, a geometric argument was used to show that
there are two possible positions for the point w, if ZJ I Zo, and
'
linear. Replace this argument by an algebraic reasoning.
9. Prove that for every a and b with lal = 1 there exist unique coordinate
transformations z ----t az + b and z az + b.
10. Show that the second type of coordinate transformation described on
p. 8 indeed yields a formula z ---> az + b, lal = 1.
11. li'ind the transformation if a new system has its origin at 'va - i, if the
new positive real axis passes through 0, and if the new positive imaginary
axis intersecLs the old positive real axis.
1-3
(b) z ---> iz
(c)
z ---> -iz + 1.
GROUPS
a * at = a' * a = e.
'
We call a the inverse of a.
10
1-3
1-3.1.
Proof- a-Ia
Theorem
1-3.2.
4.
b-1a-l.
Proof. abb;-Ia-I = 1 .
Corollry. (ala2 ...an)-l
Theorem
1-3.3.
Each of ae = be and ea
eb implies a = b.
Proof. From ac
be we obtain by right multiplication with c-1, acc-1
bee-I, and hence a = b. The other result follows by left multiplication with
c-1
=
Theorem
1-3
GROUPS
11
Theorem 1-3.6. If the number of left or right cosets with respect to a subgroup
is finite, then there are as many left as right coscts.
Proof. There is a one-to-one correspondence between left and right coscts
f[-'a-' = lia-1; that is, the inverses of a left coset form
because (aH)-'
a right coset.
=
is the index of H in G.
It should be remarked that TheOl'em 1-3.6 in its present formulation does not
'hold for infinitely many coscts . However, if ucardinality" is substituted for
"number," the theorem becomes valid also for this case, and the proof remains
correct without any change.
Corollory. The cosets of a group G with respect to a subgroup H are dis
joint and exhaust G.
Theorem 1-3.7. Two elements a and b of G belong to the same coset with
respect to li if and only if ab-1 Eli.
Proof. ab-' E H implies a E fIb and therefore Ila = lib. Conversely, if
fla
lib, then a E lib and ab-' Eli.
As an example let us mention that _, the set of all opposite isometries, is a
coset of m with respect to m+. A detailed proof of this statement will be given
later.
=
12
1-3
a set S, let a relation (-) between elements be given such that for all
y, and z in 8,
In
Ev 1 . X - Y implies y - x (symmel,.y).
Ev 2. x - x (reflexivity).
Ev 3. If x - y and y - z,then x - Z (t,.ansitiuily).
Then this relation is an equivalence relation.
It can be shown that the existence of an equivalence relation in a set brings
about the partition of the set into equivalence classes such that each set element
belongs to one and only one class to each of whose elements it is related, wbereas
it is related to none of the elements of other classes.
If, in a group G with subgroup H, x
y means xy-l E H, then the relation
(-) can be shown to satisfy the postulates Ey I through 3. The equivalence
classes of G are then exactly the cosets "ith respect to H. The proof will be left
for the exercises.
-
11
in G,
1-3
GROUPS
13
1-3.9.
PTaa!. TheTe is only one left coset, gTi , distinct from H, and only one such
right coset. Since g is not in H, g is in the right coset which is, therefore, Hg.
Thus Hg = gTi, and H is normal ih G.
Isomorphism. One further concept that is of great importance is that of
isomorphism. Two groups G and Ga are isomorphic, in symbols G ::::::: Ga., if
thcre exists a bijective mapping a of (G, o) on (G, *) taking the elements 1,
a, b, . . . of G into the elements la , (La, bet, . . . of Ga such that
(a 0 b) a
aa
* ba ,
for all elements a and b of G. The significance of this requirement is that multi
plication is preserved under the isomorphism. It is easily verified that isomor
G, (b) G
H implies
phism is an equivalence relation, namely that (a) G
Ti
G, (c) G ::: H and H ::: K imply G ::: K. At times it will seem that
establishing an isomorphism between two groups is just another way of saying
that they are "essentially the same group," or that they al "abstractly identi
Indeed, the isomorphism notion only provides a well-defined term to
cal.
describe the situation. Examples of isomorphic groups will be mentioned in
the exercises.
special kind of isomorphism is the automorphism. An automorphism is an
isomorphism of a group with itseH. In the next theorem we will meet special
automorphisms.
Theorem 1-3.10. The mappings ao: G --> g - IGg, where g is a fixed element
of the group G, are automorphisms of G. If II is a subgroup of G, then
the mappings ao, for all elements g in H, form a group.
The mappings
ao
14
1-3
and (xUUh, = Ugh_ Since associativity of one-to-one mappings of a set onto itself
can be taken for granted, the theorem is proved.
If b = (I-leg, we say that c has been transformed by the element g to yield b.
The inner automorphism ct'gJ therefore, transforms the group G by the element g.
Transformation groups. We are now ready to introduce transfonnation groups.
We mentioned already that the result of performing a transformation a on a
set S, followed by a second transformation fj, is a third transformation which
we call afJ. We always assume that S is the domain and range of (x, {3, and afJ.
We may consider this composition of transformations as an operation and in
quire whether the transformations form a group under this operation. Since
a{3 is uniquely determined, Gp 1 is fulfilled. In order to verify Gp 2 ,we observe
that
(Sam . = [(Sa)tJ] . = (Sa)tJ .
Theorem 1-3. 1 1. The transformations of a set S form 'a group S(Sl under
composition.
1-3
GROUPS
15
3 . Over the set of all rationals distinct from - 1 let an operation be defined
a.+ b + ab (usual addition and multiplication).
by a b
(a) Show that the result is a group.
(b) Is the group abelian?
(c) Do the integers '" - 1 form a subgroup?
=
5. Prove:
(a) Under an isomorphism between two groups the identity elements cor
respond, and all the inverses of corresponding elements correspond
themselves.
(b) A group isomorphic to an abelian group is itself abelian.
(a) Let n be an integer > 0. Two integers are to be considered as identical
when their difference is divisible by n. Then prove that the n integers
0, I , 2, . . . , n - 1 form an additive group G.
Prove :
(b) The integers 1 , 2, . . . , n - 1 form a multiplicative group H, provided
n is prime.
4, and H, with n = 5, are isomorphic.
(c) G, with n
7. Prove that the set of all even integers forms a group under addition. What
kind of a set is formed by the odd integers?
6.
8. Prove: The group of all even integers is isomorphic to the group of all
integers under addition.
Prove : If a subgroup H is finite, each coset Ha of H has exactly as many
elements as H has.
10. Prove: A nonempty subset C of a group is a coset if and only if the following
holds true. If a, b, and c are elements of C, then ab-1c is also in C.
1 1 . If a and b are elements of a group, are ab and ba conjugate'?
9.
12. G is the group of all transformations of the set of reals that can be expressed
by x ...., ax + b, where a '" 0 and b are real.
(a) Prove: All the elements of G with a = 1 form a normal subgroup H
of G.
(b) Describe the right and left cosets of G with respect to H.
(c) Does the subset of all elements of G with b = 0 form a normal sub
group of G?
(d) Is G abelian? is If abelian?
13. Prove : If H and K are normal subgroups of a group G, so are H n Kand
11K (the set of all products hk with h E H and k E K).
14. (a) Do K <l Ii and Ii <l G imply K <l G?
(b) Do H <l G and K <l G and K C H imply K <l H?
15. Let Z (the "center") be the set of all elements z of a group G with the prop
gz for all elements g in G. Is Z a normal subgroup of G'!
erty that zg
=
16
1-4
18. If parallel lines in the plane are defined as lines with equal slope, show that
parallelism is an equivalence relation for the set of all lines ill the plane.
What are the equivalence classes?
19. Prove the existence of the equivalence classes for an equivalence relation,
as described in the text.
20. (a) Prove that (-) is an equivalence relation
if x - y in a group G with
.
l
subgroup H means xy - E H.
(b) Prove that the equivalence classes are the cosets of G with respect to H .
1-4
__ _
<::::::; 9:>-'
d':':::_ f----='
.... .... ....
"
.b
'0
()
Figure
1-5
Figure
1-4
17
Theorem 1-4. 1 . The translations of the number plane form an abelian group
'T which is isomorphic to the additive group of all complex numbers.
P1'OOj. Let Tb: Z ---7 Z + b and 'Pc: z ---7 Z + c be two arbitrary translations.
In view of Theorem 1-3.4, we have only to prove that TbTc -1 is a translation.
Now, T;l is obviously the translation z ---7 Z - c, and thus TbT;:l : z ---7
Z + b - c, which again is a translation. The isomorphism uses the one-to-one
mapping Tb .... b. The translation 1',1', corresponds to z --. (z + b) + c =
z + (b + c) , and hence TbT, = 1',+" which establishes the desired isomor
phism. The additive group of complex numbers is abelian, and therefore so is 'T.
Dilatations and rotations. An obvious analog
to the translations, with multiplication as opera
tion, arc the transformations z -+ az, where a is
a nonzero complex number. Of course, ral is not
necessarily 1, and hence these transformations
are not always isometrics. They are called dilative
rotations about 0 (dilate = expand, stretch) (Fig.
1-7) , and the motivation for this term will soon
become clear.
1-7
Figure
Theorem 1 -4.2. The dilative rotations of the number plane about 0 form
an abelian group :D which is isomorphic to the multiplicative group of
nonzero complex numbers.
Proof. Composition of z --t az and z ---. cz yields z ---. caz, and z --t a-1z is
the inverse of z --. az. Now the proof follows the line of that of Theorem 1-4.1.
,
,,
,
,
,,
,-"
--"
,,
,,
,,
,,
,,
\
\
I
I
I
Figure
1-8
Figure
1-9
18
and hence
z into a
every point
1-4
point
'
Z
O.
about
a.
0 carries
0 and z. The
z'
iii (]a]z),
1 ]:] 1
and
0 form a
subgroup eRa of
:D.
is a dilata
1.
:D.
Theorem
about
In short,
The rotations
Proof. If
]a]
]c]
= 1 implies
As subgroups of
Theorem
The set m_
m and m+
are nonabelian.
Proof.
NI,: z
->
az +
tions of m+
b and NI , :
Then we obtain
M,NI,:
Hence
m is a group.
Let
b)
= acz + be + d.
+d
!acl =
that is,
subgroup.
Now
N: z
-t
is in m, by Theorem
1-2.1.
We have
NMI : z
---jo
az + b,
and since all transformations of mt_ are of this form by Theorem 1-2.5, they
NM,
where
M E mI+
mI+ and
m + is not
I
M': z -> z -\- b. Then NIM' : z
->
M'M: z
For
a 1
and
abelian, combine
To show that
az -\-
->
Hence m_
m_. Thus
M : z ->
az
= NmI+,
mt_ is the
(]a] =
1) and
b and
a(z -\-
b)
az -\- abo
and thus
mI+
cannot be abelian.
]-4
19
Figure 1-10
---+
az + b, with ZkS
Wk
aZ2 - az l
aza
azl
Conversely, assume Eq. (1). This implies that w, ;" w,. Consider the simili
tude V : z -> (z - z,)/(z, - z,). V maps z, on 0, Z2 on (Z2 - z,)/(z, - z,),
and 2, on 1 . Similarly let W be z -> (z - w,)/(w, - w,). Then, under W,
WI goes into 0, W2 into (W2 - wl)/(wa - W I ) , and W3 into 1 . The product
VW- 1 , itself a similitude, acts as follows :
ZtVW-1
Z2VW- 1
z,VW- '
=
=
OW- 1
Z2
23 IW- '
WI,
( - ) W-,
2
1
1
wz,
w,.
Thus VW-1 is the required similitude. Both V and W are direct, hence also
VW-1 is direct. Explicitly we can compute VW- I as
20
1-4
1-4.7.
Proof. Let the similitude be, either S: z -> az + b or S': z -> az + b, with
Wk, with k
1, 2, 3.
a "" O. By Theorem 1-4.6, we have Eq. (1) if zkS
This implies
Iw, - wII
Iz, - z I I
(2)
IZ3 - z I I
I Wa - wII .
=
and hence
Iz,
IZ3
z31
zd
Iz,
Iw,
I W3
I w,
z31
wa
w31
'
wd
IZ3 - zd
I Wa
wd
which implies at once Eq. (2). The rest of the proof is like that of the direct case.
Orientation. The meaning of the distinction between Udircct " and i<opposite "
has not been clarified geometrically. 'We will do this for isometrics by discussing
orientation. By Theorem 1-2.4 there exists exactly one isometry mapping the
vertices of a given triangle onto the corresponding vertices of a given congl'Uent
triangle. If this isometry is direct, we say that the triangles have the same
orientation; jf it is opposite, their orientations are different. The property of
'
bcing equally oriented is invariant under the isometries, as the following theorem
will show,
1, 2, 3, be the vertices of a triangle, Wk be
Theorem 1-4 .8. Let Zk, with k
those of a congruent triangle, and let both triangles have the same orienta
tion. If }.lf is any isometry, then the triangles with the vertices zk'ft! and
wkftl are equally oriented. If, on the other hand, the original triangles are
differently oriented, so also are the images under M,
=
Proof. If the orientation of the triangles is the same, then there is a direct
Wk. Then w.M
zkNM
ZkM(M-INM).
isometry N such that zkN
Now, according to Theorem ]--4.4, g'It+ is a normal subgroup of g'It, As a con
sequence, N E g'It+ implies that }'1-1NM E mt+ Thus the zkA1 are carried
into the WkM by a direct isometry, and hence the triangles are equally oriented.
=
1-4
21
I n the case of different orientation, suppose that zkM and wkJ.1 are equally
oriented. Then there is a direct isometry N such that z.M = w.MN and z. =
w.MNM-1 Again MNM-1 is in +, a contradiction.
It should be noted that we have by no means defined the concept of orienta
tion. All that we have accomplished is the definition of equal or opposite orien
tation of congruent triangles.
EXERCISES
4. Find an infinite subgroup of 'T and its cosets. Also find a finite subgroup
of (Jto and its cosets.
6. Prove that there are exactly two similitudes which carry two given distinct
points A and B into their given distinct images A' and B'. Find these
1, and find the
similitudes when A = 1, B = i, A' = - 1 , and B'
image of 0 under them. Draw a diagram and check the similarity of
triangles.
=
7. Prove: A dilatation from 0 transforms each straight line into a parallel line.
Is the same true for dilative rotations about O? for similitudes?
8. Prove : The square of an opposite similitude is a dilatation from 0 followed
by a translation.
9. Prove: If two parallel line segments AB and A'B' are given, there exists
a unique direct similitude taking A into A' and B into B'. The similitude
is the product of a dilatation from 0 and a translation.
10. In Fig. 1-10, which of the .9 relations "is subgroup of" can be strengthened
to read /lis normal in "?
12. Are the following pairs of congruent triangles ABC and A 'B'C' equally or
differently oriented?
(a) A = A '
0, B = B' = 2, C = i, C' = -i
(b) A = A'
C' = 2 - i, C = B'
1 + i, B
1
(c) A = 1, B = 3 + i, C = C' = 1 + i, A' = 2 + i, B'
1 + 3i
=
13. Give a definition of equal and different orientation which applies also to
similitudes, not only to isometries. Show that Theorem 1-4.8 can be gen
eralized accordingly.
22
1-5
14.
triangles.
15. How would you go about defining a dilatation from a point w r!:
it in terms of a dilatation from
1-5
O?
Express
and a translation.
The
'
It should be clear by now that the group mr of isometrics is or special interest
for us because isometries preserve distances, and therefore every figure will
be carried by an isometry into a congruent figure.
AB
and
CD
A BC
and
DEF
different places", when actually we mean that they are congruent or, in other
words, that they may be carried into each other by an isometry. Thus preserva
tion of distances is strongly connected to the study of euclidean geometry, and
lal
lal > 1,
az
+b
is the trans
image figure as "the same . " We would rather call the image "an enlarged copy. "
We could, of course, deal with a geometry where only shape, not size, counts.
Such a geometry, which is different from euclidean geometry, would have S as
in
1872
(1849-1925)
in his inaugural
In topology, for
I n topology the interiors of all circles and all triangles are considered
copies of the same object, whereas the annular region between two concentric
circles i s a different object.
I n this course, we will deal only with
tions have to map straight lines on straight lines and planes on planes.
Thus
Since
1-5
23
Proof. The translation z --> 2 + 2 0 takes 0 into 20' This proves the transitiv
ity. Now let M : 2 --> a2 + b, with lal = 1, and let 1'd be an arbitrary trans
lation. Then
M-J : 2 --> a-J (2 - b),
2 + ad,
M - 1TdM: 2 --> a[a- I (2 - b) + d] + b
=
'1'o.d E
rJ'fM
>;;
'f,
z.
24
1-5
necessarily leave l fixed pointwise. Not the points of l, but rather l as a whole,
is preserved under {3.
It is obvious that nonidentical translations do not have invariant points.
Algebraically tbis amounts to the iact that z = z + b, with b ,. 0, cannot he
solved. Therefore it is reasonable to start with the investigation of invariant
points for the direct isometries which are not translations.
Theorem 1-5.2. Let M he the isometry z -> az + b with lal
Then i11 has exactly one invariant point
1, but a
,.
l.
(I )
Proof.
z -> a(z - w) + w.
-+ z
to.
If
(2)
--
az,
then
Since the opemtion is reversible, tbjs is the only illV8risllt poin t. NolV substitute
w(l - a) into az + b. The result is Eq. (2). But this could he expressed
z -+ z - W, Ra and T w' Hence
= T;\RaTw.
as
!If
a(z-w) + w
,
I
,
,
,
,,0
... '
.... ...
Figure 1-12
Figure 1-11
Figure 1-13
1-5
25
By Theorem 1-4.3, <Jlo is a group, and thus R'R - I is another element of eRo,
and M'M-! is in illw. If {3 is the bijective mapping R -> T;;!RTw
M of ill o
onto illw , then MM' can be expressed as RfJR'fJ as well as (RR')fJ, which
proves that {J is an isomorphism. Thus every CRw ::::: CRo, and the CRw's are isomor
phic to each other.
Corollary. All the rotation groups illw form a complete set of conjugate sub
groups of alo in the group of all isometrics.
lei
<Rh.
Finally it may be remarked that the concept of the invariant point provides
also a geometrical characterization of the translations, which at the start of
Section 1-4 were defined in a purely algebraic way.
26
1-6
Theorem
1-5.4.
---+
az
+ b.
z into
+ b,
a translation.
a = 1 , and Ai carries
EXERCISES
1.
Show that the two definitions of a transitive group given in the text arc
in fact equhalent.
2.
ffiw
:D*,
and :D.
Could
generated
T has none.
z -> z
+ 1.
5. If J.{ is the product of a half turn about w and a half turn about
is the product in reversed order, when w y6. w'?
A, B,
and
be
the elements of 9?
Let
Is 9 finite or infinite? If
6.
Let
C be half turns.
ABC
Prove that
'
w ,
what
= CBA.
8.
Let
through
-u.
What is
through
and
R'
RR'?
10.
about w
TR instead of RT?
2n
11.
and a translation 1
' '.
reflections ? after
2n + 1
reflections?
(n
is a positive integer.)
Develop a canonical form for all direct similitudes that are not translations.
\Vhat does this form show fot, tbe geometrical nature of these similitudes?
1-6
REFLECTIONS
Line reflections.
to their invariant points, it is natural to ask the analogous questions for opposite
isometrics.
HEfoLECTIOS
1-6
27
We start with the special opposite isometries of the type z -> ail, lal
1.
An invariant point w of this transformation satisfies w
aw, that is, w
0
or ww-1
a. Let us compare the arguments of the two sides of this equation.
If a is the argument of w then the argument of iii is -a, and a is the argument
'" + '" = 2"" and 2",
arg a and ", = (al'g a)/2.
of w-I Hence arg (w'W- 1 )
All the points whose argument is (arg a)/2, as well as the point 0, are invariant.
Since the procedure which yielded this result can be reversed, these are the only
invariant points. All of them lie on the straight line through 0, forming an angle
(arg a)/2 with the real axis, and all points on this line are invariant. Every other
point z will be taken by the isometry z ---? az into a
point z' which has the same distance as z from the in
variant line.
,
A line Tefiection will be defined as an isometry leav
\
\
\
'
ing invariant every point of a fixed line l and no
'
\
\
other points. We refer to this line reflection also as
the reflection in the line I. An optical reflection along I
in a mirror having both sides silvered, would yield
\ \ \
the same result (Fig. 1-14).
We have, therefore, proved
Figure 1-14
=
\/:!)\,
,\ \\
\'
Th.e orem 1-6. 1 . The isometry U.: z -> az, with lal = 1, is a reflection in
'
the straight line through 0, enclosing with the positive real axis an angle of
(arg a)/2.
a(liw + li) + b
aaw + ali + b
lal2w + ab + b
w + ab + b,
and hence,
ab + b
0,
(1)
aw + b
= abl2 + b
bl2
w.
28
\-5
Figure 1-1 5
If, on the other hand (Fig. 1-15), a reflection U in a line k is given, let w be
a point on k and let Ua be a reflection in the line I which passes through 0 and
is parallel to k. Such a Ua exists because, if fJ is the angle between I and the
positive real axis, there exists a complex number a
cos 2{3 + i sin 2{3, satisfy
ing the conditions !3
(nrg a)/2 and lal
1. Then M of Eq. (2) leaves invariant
all pojnts of k. By Theorem 1-2.5, there are two isometrics mapping all points
of k on themselves. One of these isometrics is the identity. Now Eq. (2) is
certainly not the identity, and is uniquely determined as the isometry which
leaves the points on k, and only these points, invariant. So U is Eq. (2). We
have therefore
=
zVa + b/2
-->
zVa + b12.
Under the coordinate transformation Z -i- zVa + b/2, this becomes Z -i- z,
which may be considered as the canonical form of every opposite isometry which
has invariant points. Geometrically it is a ]ine reflection whose mirror is the
real axis.
Involutory isometries. The line reflections have the property of being in
volutory, which means that their period is two ; that is, for every involutory
transformation V, y2
I. Points are interchanged by Y ; in other words,
zV = Z' if and only if z'V = z. The question before us is whether line rcHec
tions are the only involutory isometrics. As it turns out, there is one other kind
=
1-6
RE!"LECTIONS
29
of involutory isometry which somehow also deserves the name ureftection. "
This is the point reflection, which we have already met under the name half
turn. A half turn about w is a reRection in the point w. The next theorem will
justify this alternative name for half turns. A line reflection leaves invariant
one line and all the points lying on it. Thus it would be a fitting analog if the
point reflection were to leave invariant a point and aU the lines passing through
it.
Theorem 1-6.3. A half turn about a point w leaves invariant aU lines passing
through w.
Iz - z'l
Iz + z
2wl
2 1z
wi
Iz
w i + Iz'
w i
Thus for the triangle whose vertices are z, z', and w , one side equals the sum
of the two remaining sides. This can hold only when the three vertices are
collinear.
"Theorem 1-6.4. Every involutory isometry is a line reflection, or a point
reflection or the identity, nd conversely, these reflections are involutory
isometrics.
--+
az + b, we have
z = a(az + b) + b = a2z + ab + b
identically. This implies a2
1 and ab + b = O. Then a = 1 and b = 0, or
a = - 1 and b arbitrary. Consequently the isometry is the identity or a point
reflection. For opposite isometries z ---+ az + b, we get
=
z = a(az + b) + b
a(az + 0) + b = aaz + ab + b,
and hence Eq. (I). But then Theorem 1.2 implies that the transformation
is a line reflection. The converse statement is trivial.
Isometries generated by reflections. We shall now deal with transformations
resulting from consecutively performed line reflections. First we consider two
such reflections.
Theorem 1-6.5. Two reflections in lines k and I result in (i) a translation if
and only if k and I are parallel, (ii) a rotation about the common point of k
and I if and only if they intersect.
30
1-6
cd -I- d = O.
(3)
liez -I- be + d.
(be -I- d)/(l - l1e), by Theorem 1-5.2. For the converse, intersecting k and I
imply a '" e and oc '" 1. In order to prove that w is the point of intersection of
lc and l, we show that both reflections leave w invariant. For reflection in k,
w ---> aw -I- b
d -I- b.
a(be -I- (1)(1 - ac) -' -I- b = a
1 - ac
Multiplying both the numerator and the denominator by l1e and recalling that
1 , we get
au
cc
cd -I- abc
w --->
ac - 1
=
We now apply Eqs. (1) and (3) and obtain (be -I- d)/(l - l1e), which is w.
Thus w lies on k.
A reflection in I maps w o n ew -I- d. By substitution we get
1-6
31
REFLECTIONS
Figure 1-16
Proof. If 111 = UaTb is not a glide reflection, NI must have an invariant point,
and Eq. (1) holds. Then ab
-b and arg ali = arg (-b), which becomes
arg b = arg b ;o 7r, and finally (arg a) /2
arg b 7r/2. Now, by
arg a
Theorem 1-6.1, (arg a)/2 is the angle between the positive real axis and l, while
arg b is the angle between the positive real axis and the position vector of b.
Hence l is then perpendicular to this position vector.
( b)
z -> az + b = a z - 2
b
ab + b
+2+
-2
with
ab
:i b
'" O.
arg a. Indeed,
which implies
arg
(ldI)
d
'
d
= 2 arg ldI
=
2 arg d
arg a.
Figure 1-17
Theorem 1-6.7. Every product of three line reflections is either a line reflec
tion 01' a glide reflection.
Proof. Let the three reflections be
their product is
Then
+ asb, + bs,
32
1-6
Pl'oof. The inverse of an isometry !VI has the same invariant point as AI.
l( lvI and N are two isometries leaving w invariant, then wMN = wN = w.
There exists an interesting relation between perpendicularity and reflections.
Theorem 1-6.9. Two distinct lines k and l are perpendicular to each other
if and only if the product of the reflections in k and 1 is involutory and
not the identity (Figs. 1-18 and 1-19).
z=%"
---+--.,,-L.>,----+-- k
k
z,
Figure
Figure
1-1 8
1-19
Now k -L 1 implies
arg a
2- -
arg C
7r
2- = "2 '
a
arg a - arg c = arg c = 7r,
->
a(-a)z - a(-a)w + w
-z
+ 2w.
1-6
llEFLECTIOXS
33
" --I--"'7
'"
Z=Z""--Ir---"
Figure 1-20
Figure 1-21
Theorem 1-6.10. (Figs. 1-20 and 1-21). The product of the reflection in a
point w and the reflection in a line l is involutory if and only if w lies on l
C:w is incident with l").
P,oof. Let the refiection in 1 be U: z -> az + b, with Eq. (I). The reflection
in w is V : z -> -z + 2w. Their product is VU
M : z -> a( z + 2w) + b =
-az + 2aw + b. Now assume w on l. Then w is invariant under U ; that is,
w
aw + b. When we substitute, we have 'AI : z -+ -az + 2w - b, and
=
az + 2w
b) '+ 2w - b
= z - 2aw + ab + 2w - b
= z - (2aw + 2b) + (b + ab) + 2w
= z
- 2w + + 2w
z,
and At is involutory.
To prove the converse, assume M' = I. Then M: z -> -az + 2aw + b,
as an involutory opposite isometry, has to be a line reflection and has an in
variant point. The condition for this is, by Eq. (1),
-a(2aw + b) + 2aw + b
0,
0,
10
lies on
l.
34
1-5
The last two. theorems show that very important relations can be expressed
in terms of reflections. It is, therefore, reasonable to attempt a construction
of the whole geometry based on the concept of the reflection. This has indeed
been achieved by a school of geometers, the foremost of whom was the Danish
mathematician J. T. Hjelmslev (1 873-1950). For more information on this
subject, the reader is referred to F. Bachmann, Aufbau del' Geome/l'ie aus dent
SpiegelungsbegrijJ, Berlin: Springer Verlag, 1959.
The following theorem shows clearly the fundamental significance of the
reflections.
Theorem 1-6. 1 1 . Every isometry is the product of at most three line reftec
tions. If the isometry has
. an jmral'iant point, at most two line reflections
suffice.
w'
= z - (ab + b)/2 + b = z + b,
which is Tb. Now turn to the rotational case,
whlch is the product of two line reflections, since U I : Z ---+ z, Ua: Z ---+ az, and
therefore U 1 U(1: Z ---+ az = az , which is Ra.
If, on the other hand, the isometry is opposite, it is either a line reflection or
a glide reflection. A glide reflection is the product of a line reflection and a
translation, but the translation is the product of two reflections. Hence the
glide reflection may be written as the product of at most three reftections.
If there is an invariant point, the isometry is either a rotation or a line reflec
tion, that is, the product of two reflections at most.
EXERCISES
J.
Prove Theorem 1-6.10 with the modification that the point reflection be
performed after the line reftection instead of before it.
2. If A and B are two distinct points and C their midpoint, determine the
isometrics that take
(a) A into C and C into B,
1-6
REFLECTIOl'\S
35
(a) z
iz,
(b) z ---> ]I + i - I ,
4. (a) Use the geometrical meaning of Eq. (1) in order to prove the following
for every line reflection z -- az + b, with b r!= 0 : The join of any point, not
5. Prove: The product of reflections in three lines that pass through one point
w
7. Let M
8. Prve: Every direct isometry is the product of two line reflections. Every
opposite isometry is the product of a line reflection and a point reflection.
12. Prove: The product of the reflections in three distinct lines is never the
identity .
13. Prove: Every glide reflection is the product of a line reflection and a point
reflection.
1 5. Let
U 1 , U 2 , U 3, and U4 be, respectively, the reflections in the real axis,
.
in the angle bisector of the first and thi.rd quadrants, in the imaginary axis,
and in the line through i enclosing all angle of 71"/4 with the positive real
axis. Compute U,U,U3, U, U,U" and U, U3U,. What kind of isometry
is each of them?
16. Find one way of decomposition of the translation Ti into a product of line
reflections. Do the same with z
......
if and z
......
Z + i.
36
1-7
17. Use the same coordinate transformation as in the case of the opposite
isometries with invariant points for establishing a canonical form for those
without invariant points. What is the geometrical significance of the result?
18. Find canonical forms for opposite similitudes and discuss them geometrically.
1-7
VECTORS
Vectors and translations. Vectors arc known to the reader from calculus,
physics, and vector analysis. Here we shall introduce them in a slightly different
way.
If w and z are two points, then, by Theorem 1-5.1, there exists exactly one
translation, Tz_w1 which carries w into z. We know that translations Tb and
To are muUiplied by adding b and c, that is, the ntuUiplicative group of transla
tions is isomorphic to the additive group of complex numbers. It would simp1ify
the handling of translations if the multiplicative notation were replaced by
an additive one. For this reason a translation Tb will alternatively be desig
nated as the vectoJ' b. The operation between vectors is addition, and thus
b + c corresponds to the translation Tb+c Thus the vectors form an additive
group 'U isomorphic to 'T, and the null veetOJ' 0 corresponds to the identity
transformation. How is this new definition of a vector related to the familial'
description of a vector as a set of parallel segments, equal in length and direc
tion? How does the addition of these vectors fit into our picture? The answer
is contained in the next theorem.
Theorem 1-7. 1 . The multiplicative group of translations, 'T, the additive
group of vectors, '0, and the group of all classes of equal, parallel, and
equally directed segments under vector addition are isomorphic.
Pmof. Every directed segment is equal, parallel, and equally directed to one
and only one position vector of a complex number, and no two distinct complex
numbers have the same position vector. Therefore there exists a one-to-one
correspondence between vectors and complex numbers. The familiar vector
addition according to the "parallelogram law" is performed componentwise.
That is, if vectors VI and V2 have components (X l , yd and (X2 ' Y2) in a cartesian
coordinate system, then VI + V 2 has the components (X l + X2, YI + Y2). This
is the same addition as that of the complex numbers, which proves the isomor
phisI'n between '0, T, and the vectors, in view of Theorem 1-4.1. We may also
define the length Ivl of v as the absolute value of the corresponding complex
number.
How do vectors behave under isometries? If we denote the vector lcading
from a point P to a point Q by PQ, and if M is an isometry, what is the vector
(P)M(Q)M? Let p and q be the complex numbers corresponding to P and Q,
respectively . Then the translation belonging to PQ is 1',-., that belonging to
(P)M(Q)M is T,M_pM, which after a short computation can be shown to be
\-7
VEC'rOHS
37
The scalar product of a vector v and a real number p is defined in the well
known way. If p > 0, then pv
vp is the vector parallel to v and equally
directed, such that Ipvl = plvl. FOI P = 0, pv is the null vector. If p < 0,
we introduce pv = vp = (-p)(-v), where -v is the additive inverse of v.
The rules p(uv)
(pu)v, p(v + w) = pv + pw, and (p + u)v = pv + uv and
their proofs are well known from calculus texts. They imply the following
theorem.
=
aV
(pv)a
is an automor
p(Va).
The set of vectors aV with fixed nonzero v forms an abelian group under
addition. This group is isomorphic to the additive group of real numbers.
The inner product of two vectors, vw, is defined as Ivl lwl cos l\- (v, w). The
commutativity of this product follows from cos (-a) = cos a. The following
rules.are well known :
(pv) w = p(vw),
u(v + w)
uv +
UW,
v2
vv = Iv1 2.
Two vectors, both nonzero, have a vanishing inner product if and only if they
are perpendicular to each other. A vector of length 1 is called a unit vector.
Warning. With the introduction of the inner product, the correspondence
between vectors and complex numbers breaks down. If v and w correspond,
respectively, to complex numbers v and w, then the complex product does not
correspond to the inner product vw, which is not even a vector.
Theorem 1-7.4. If el and e2 are two perpendicular unjt vectors, then every
vector v has a unique representation
(1)
with real XI and X2 . If W
value vw = XlVI + X2Y2 .
(v - Xlel - x2e2)ei = Xj - Xj = 0,
substituting for j successively 1 and 2. The term in the parentheses cannot be
perpendicular to both el and e2, and it must, therefore, be zero. The result
38
1-7
X2
v,
r = a + ph,
and
el
and
e2
are called
Figure 1-22
p real.
(2)
This provides the equation of a straight line in the plane of complex numbers,
and we have :
Theorem 1-7.5. If a is any point on I, then every point r on l can be repre
sented as r = a + pb, where b is a complex number whose position vector
is parallel to I, and where p is a real parameter.
'We have encountered here a situation which is worthy of closer examination.
Let us write Eq. (2) in translation notation, r = aTpb A reasonable defini
tion of the pth power of Ihe tmnslation 1', would be (1',)' = 1'" because this
coincides with the meaning of (1',)' with integral p, the only case already de
fined. Besides, this new definition which replaces the additive operation in the
subscript by the multiplicative operation between translations fits the fact
of the isomorphism between the multiplicative gmup 'T and the additive group of
complex numbers. By allowing p to assume all real values, we recognize now that
the group 'T' of all powers of 1', depends on the continuous parameter p. By
operating on a with the pth power of 1'" we obtain exactly all points ,. on the
straight line l, when p ranges through all real numbers. We say then that l is
the trace of Zo under the group 'I'. We know that the group T' is a one-parameter
group.
Another example of a one-parameter group is (Ro. We write again r = aR ",
with the restriction a r! 0, and assume
R : z -> z(cos ", + i sin ",).
We then obtai n
,. =
If p ranges thmugh all reals, r runs through all points on a circle about 0 through
a, Thus this circle is the trace of a under the group consisting of all powers of
R which i s identical with (Ro. The group CRo also is a one-parameter group.
1-8
39
BILINEAR TRANSFORMATIONS
EXERCISES
1 . Are vectors invariant under
(a) translations?
2.
3.
Use the equation of the straight line in the form of Theorem 1-7.5 to show
4.
Find the parametric representation of the straight line passing through the
v
5.
Prove : If
Zk,
with
and w.
Zk
'
their
6.
7.
Zo,
under
illw J when c w?
with
BILINEAR TRANSFORMATIONS
Basic concepts.
l/z
00
when
OUf
fore, to deal with the euclidean plane, augmented by the new point,
computation with the symbol
00
c,
00
Practical
c,
00 ,
c/oo = 0,
00 ,
c ' OO = OO ,
00
00 .
00
c/O
/ 00 , 0 .
00 I
as undefined.
00 .
and %
are to be considered
transformations
where
a, b,
c,
bilinear
az + b
B: z
'
cz + d
= ad - bc
determinant of B.
r'
O.
(1)
40
]-8
First of all, let us prove that Eq. (1) is a transformation in the augmented
complex number plane. Every finite z yields an image, in particular
(-d/c)B
00 ,
"e O. For
where
f=
be - ad
-0
=
c2
c2 '
-->
jz.
Proof.
which results in Eq. (I). Dj is a dilative rotation only if j "e 0; this is assured
by the requirement 0 "e O.
It should be noted that in general B is no isometry and not even a similitude ,
because D, is not nccessarily an isometry, and N is certainly no similitude,
while the rcst of the factors are similitudes.
Theorem 1-8.2. All bilinear transformations form a group ffi. If B and G
are two bilinear transformations} and OB and oc their determinants, then
O'BC = OBOC is the determinant of BG.
a'z + b'
c'z + d"
with
OC
"e O.
1-8
BIL1NEAR TRANSFORMATJONS
41
Then
BC '. z
-->
az + (3
a' (az + b)/(cz + d) + b'
(00' + b'c)z + a'b + b'd
=
c'(az + b)/(cz + d) + d' - (ac' + cd')z + be' + dd'
'Yz + f '
Proof. Consider
B .' z -->
(z - Z2)(Z1 - Z3)
(z - Z ,) (Z2 - Z 3)
---+
0, and Z3
C'. z
-->
--+
(z
(z
W2)(W, - W3) .
W3)
w,)(wz
Cross ratio. We shall now define a concept of great importance for further
work.
Definition. The cross 1"atio of four points ziJ with j
= 1 , 2, 3, 4, is
42
1-8
Theorem 1-8.4. The cross ratio of four points is invariant under bilinear
transformations.
(Wj - W2)(W 1
wa) ,
(Wj - W 1) (W2 - W3)
P1'OOf. Of the four points Zj, withj = 1, 2, 3, 4, let Zl, Z2, and za lic on a straight
line. Then arg (21 - 23) and arg (22 - 23) differ only by a multiple of 71',
that is, arg (ZI - 23)/(22 - 23) is a mUltiple of 71', and (2 1 - 23)/(22 - 23)
is real. The cross ratio c is therefore real in this case if and only if the remaining
factor (Z2 - 2,)/(21 - 2,) is real.
This in turn happens exactly when
arg (22 - 2,) and arg (21 - 2,) differ by a multiple of 71', that is, when 2"
z2, and Z4 are collinear. Thus if Z}, 22, and Z3 lie on one straight line, c is real
if and only if Z4 also lies on this line. All these con
siderations will hold also if one of the four points
is 00 .
Now suppose that Zll Z2, and 2 3 are not collinear.
Then there exists a circle passing through them.
In Fig. 1-23,
Oi =
=
Figure
1-23
arg (2 1 - 2,) ,
and f3 - a = 0; that is, arg c = 0 if Z4 lies on the circle, on the same side as
23 of the chord k. If 2, lies on the circle, but on the other side of k, the angle is
"Y =
and
'Y =
7r,
1-8
BILINEAR TRANSFORMATIONS
43
which implies
arg I/e = 71",
and
arg c
= - 7r
To these values of arg e, any multiple of 271" might have to be added. If Z4 does
not lie on the circle, arg c cannot have any multiple of 1r as its value. Hence
e is real if and only if z, ]jes on the circle.
Now the main theorem of this section follows easily.
A bilinear transformation takes straight lines and circles
into straight lines and circles.
Theorem 1-8.6.
This does not mean that lines are mapped on lines and circles 011 circles .
In a stricter wording the theorem could be expressed as "takes into itself
the set of all straight lines and circles of the plane." Consider, for instance,
the circle about the center 1 with radius I , transformed by z --> l/z. The points
2, 1 + i, and 1 - i of the circle are carried into 1/2, 1/2 - i/2, and 1/2 + i/2,
respectively, and the three image points are collinear. Every straight line con
tains the point 00 , and therefore the image (or preimage) of a straight line under
z ---i' l/z is a circle or a straight line passing through O. In our example the circle
indeed passed through the point O.
.
Proof. Bilinear transformations preserve the cross ratio of four points. If
Zj -? Wj, with j
1, 2, 3, 4, and if ZI, Z2, and Z3 lie on a circle or a straight line
which contains also Z4, then (z" z21z3 , Z4) is real and so is (w" w21w3 , w,). The
points W lJ W2, and Wa lie on a circle or a straight line which contains also W4
because (Wb wzlw3 , w.) is real. Thus the 'theorem is proved.
=
or
z -
(w - q) (p
(w - p) (q
r)
r)
(p - q)z + (q
- r)
- r)
44
1-8
azlv'fS[ + bIv'fS[
czlv'fS[ + dlv'fS[
Pmof. Let z = x + yi, with x and y real, be transformed by Eq. (1), with
"" O. Then
with real
-->
a(", + yi) + b _
c(x + yi) + d
V"
yo
,--.
(ex + d) 2 + c2y2
__
For a preimage in the upper half-plane, y > O. Then the sign of v is equal to
that of o. For a preimage in the lower half-plane, y < O. The image u + vi
lies then in the upper half-plane if 0 = -1 and in the lower half-plane if 0 = 1.
Theorem 1-8.9.
ill.
Proof. The inverse of a real transformation and the product of two real
transformations are again real transformations.
Theorem 1-8.10. The real bilinear transformations with positive determinant
form a group,
JC+
BILINEAR TRANSFOIU,'IA'I'IO:XS
)-8
45
Proof. By Theorems 1-8.2 and 1-8.9, the product of two such transformations
is again real, with /j > O. The identity has a positive determinant, and hence
the inverse of a real bilinear transformation with 5 > 0 has a positive determi
nant and is real.
Bilinear transformations and their groups play an important role in the
theory of complex analytic functions. It is not difficult to show that the bilincar
transformations preserve angles. Angle-preserving mappings are called conformal.
In analogy with what we did in the first sections, it is reasonable to investigate
transformations of the type G : z -> (az + b)j(cz + d), with real a, b, c, and d,
and with determinant ad - bc = - 1 . Obviously, if Eq. (1) holds, then
G = UB, where U is the reflection in the real axis, Z -> z (U is the U 1 of
Theorem 1-6.1) .
Theorem 1-8. 1 1 . The set JC+ of all real bilinear transformations with positive
determinant and the set JC_ of all transformations z -> (az + b)j(cz + d)
-I,
form a group
3C
in which
Proof. First we intend to show that JC_ is a coset with respect to JC+. Every
element H of JC_ can be represented as a product UBF, where B is z -> z
and F is a suitable element of JC+ Namely, from H = UBF we can determine
F = B- 1 UIi, with F real bilinear and /j = (-1)(-1) = 1 . (Note that U
commutes with every real bilinear transformation, and U = U-I.) On the
other hand, every UBF, for all F E JC+, is in JC_. In other words, all elements
of JC, and only these, are products of one of them, UB, with all elements of
JC + . Hence they form a coset. If we can prove that JC+ and JC_ form a group
JC, we shall have proved that JC_ is the only coset of JC with I'espect to the sub
group JC+, and thus JC+ <I JC. Now if C is a real bilinear transformation with
/j = -1, the inverse of an element UC is UC-I which is in JC_. The product
of two elements of JC+ is in JC+. An element F of JC+ and an element UC of
JC_ yield a product FUC = UFC E JC_, or UCF E JC_. Two elements of JC_,
UC and UC', yield UCUC' = U2CC'
CC' E JC+ This completes the proof.
-
Proof. In view of Theorem 1-8.6 this has to be proved only for transforma
tions of JC_. Every such transformation is of the form UC with C E ill. Non
real cross ratios are complex numbers which are taken by U into conjugate
complex numbers; real cross ratios are left unchanged by U and hence also by
UC. Thus, by Theorem 1-8.5, UC takes circles and lines into circles and lines.
Theorem 1-8.13. The transformations of
46
1-8
Proof. The theorem follows immediately from the fact that the tran.sforma
tions of X preserve right angles. However, we will give a direct proof. The
set e contains the circles and straight lines, and only those, which are symmetric
to the real axis. In other terms, they are invariant under the reflection in the
real axis; that is, invariant under the transformation U. For every H in X we
have HU = UH. Let z be a point belonging to a circle or a straight line from
e. The point zH lies then on the image of this line under H. In order to show
that this image belongs to e we have to prove that it is invariant under U,
that is, that zHU is a point of this image. But zHU = zUH, and zU II is a
point of the image line because zU is a point of the original line.
The group X will play a major mle in the considerations of the next section
where significant analogies between X and the group of isometries will be
discussed and applied. An analogy between X + and + will be shown, and
this will help the reader to understand why X+ had to be introduced in a some
what artificial way; X_ will be the analog of _.
For further and more advanced discussion of these subjects the reader is
referred to H. Schwerdtfeger' s, Geometry of Complex Numbers, Toronto : Univer
sity of Toronto Press, 1962.
EXERCISES
(a) z -->
1 z+2
(b) z -->
6z - 9
z
defined as follows. Let N (North Pole) be a fixed point on the sphere and
1-9
6.
7.
S.
9.
10.
47
(z, w l u, v).
-l.
13. Check the conformity of the transformation z -> l/z by finding the angle
of intersection of the circles Iz - il = 1 and Iz - t l = !, and by com
1-9
48
1-9
(that is, points properly belonging to the geometry), while the real points and
the puint 00 will be referred to as improper. The remaining points of the euclid
ean plane will not be mentioned at all. The hyperbolic lines will be all the half
circles and half-lines in the upper half-plane which are perpendicular to the
real axis. In the case of the circles this means that we consider only half-circles
whose centers are improper points, lying on the real axis. This implies that
through every two proper points there exists exactly one hyperbolic line, namely
a straight line when the points have equal real parts, and otherwise one of those
half-circles. Lines which intersect on the real axis (including the puint 00 )
will be called parallel hyperbolic lines (Fig. 1-24).
Figure
m.
l and
1-24
z)(q W) I
I IOg (p(p w)(q
I
z)
Z)I
(p w)(q
(p z ) (q w)
iJog (g, pl z , w)l
10g
Thus, indeed, it does not matter in which order p and q are used.
Observation 1 -9.2. The same argument shows that d(z, w)
d(w, z).
1-9
49
Proof. The logarithm of a positive real number is real. Thus we want to show
that the cross ratio always has a real and positive value. Its reality is assured
by Theorem 1 -8.5. When the line through z and w is straight we have
p = 00 J and hence
lim
(p - z)(q - w)
(p - w)(q - z)
1 - z/p)(q - w) = q - w ,
lim (
(1 - w/p)(q - z)
q - z
where q, W, and z have equal real parts. Let q = u, W = a + {3i, and z = a + Ei.
Then (q - w)/(q - z) = fJ/E. Both fJ and E are real and positive, thus fJ/E
is positive. In the second case where p, q, z, and w lie on a half-circle, express
the cross ratio in the form p(cos </> + i sin </ , with positive p. The argument of
(z - p)/(z - q) is (Fig. 1-25)
arg (z - p) - arg (z - q) =
and
w - q
arg -- = arg (w - q)
w - p
Hence </>
= - 71'/2
"
- fJ = - 7r/2,
arg (w - p)
'1
- E
7r
= -.
p > O.
1' 11<2::::-----= .
Figure
Figure
1-25
1-26
Proof. Consider first the case of a straight line passing through v, w, and z.
Then v
" + fJi,
w = " + 'Yi, z = " + Ei, with 0 < fJ < '1 < E or
fJ > '1 > E > 0, and
=
d(z, w) + dew, v)
I log I + I log il
Now E/'Y and 'Y/fJ are either both > 1 or both < 1, and thus
+ log il
I I = d(z, w).
= log
In the case of v, w, and z lying on a circle (Fig. 1-26), we may assume, without
and
50
1-9
z - p
(z - p)(w - q)
=
w - p
(w - p)(z - q)
I IW l > 1,
(v
p)(v - q)
p)(w - q)
- q
z - q
Similarly we obtain
1.
> 1
Hence log (p, ql z, w) and log (p, ql w, v) are both positive, and
d(z, w) + dew, v) = log
=
log
(w - p)(v - q)
(z - p)(w - q) +
log
(v - p)(w - q)
(w - p)(z - q)
(z - p)(v - q)
= d(z, v).
(z - q) (v - p)
lim lOg
E_O
z W -
E--+O
00 ,
- 00 .
How do the hyperbolic lines behave with respect to intersection with each
other? Since they are either half-circles or straight lines parallel to the imaginary
axis, two lines cannot intersect more than once. On the other hand, it is quite
possible that two lines do not intersect and yet are not parallel ( "parallel"
meaning intersecting in a point of the real axis) . Thus, in hyperbolic geometry,
we encounter a new situation : a pair of lines is intersecting (one common proper
point), or parallel (one common improper point) or not intersecting (no common
point). The following theorem also indicates a basic difference between euclidean
and hyperbolic geometry.
Theorem 1 -9.7. For every proper point Z and every hyperbolic line 1 not
passing through Z there exist exactly two hyperbolic lines passing through
Z, both hyperbolically parallel to I.
f'
..
)-9
EUCLIDEAN MOI}ET
01"
HYPERBOLIC GEOMETRY
51
Figure
Figure
1-27
1-28
Proof (Fig. 1-27). When I is a straight line, the parallel straight line through
Z is also a hyperbolic parallel. The second hyperbolic parallel is the half
circle passing through Z and the finite point of intersection of I and the real
axis. We now let I be a half-circle intersecting the real axis in P and Q (Fig. 1-28).
The perpendicular bisectors of the segments PZ and QZ meet the real axis in C,
and C2, respectively. C, and C2 do not coincide because, if they did, then
C, = Co would be the center of the half-circle PQ and Z would be on it, a
contradiction. The half-circle with C, as center, which passes through P, and
the half-circle about Co, which passes through Q, are the hyperbolic parallels
of I through Z. If C, or Co is the point 00 , one of these half-circles becomes a
straight line.
Evidently hyperbolic parallelism is not transitive; that is, if j II k and k il l,
then not necessarily j il l.
Hyperbolic isometries. Our next concern will be hyperbolic isometries, that is,
transformations of the hyperbolic plane which preserve hyperbolic distance.
The developments of Section 1-8 will provide us with a group of hyperbolic
isometries. However, in a different manner from OUf procedure in the euclidean
plane, here we shall take it for granted and not attempt to prove that there are
no hyperbolic isometries other than these.
Theorem 1-9.8. The group
Proof. By Theorem 1-8.14, hyperholic lines are carried into hyperbolic lines.
At first, there might be some doubt whether or not the wrong parts of circles
(only half-circles are needed !) appear as images. However, Theorem 1-8.13
assures us that the upper half-plane is preserved.
After having established the analogy between the isometry groups X and
n it is reasonable to investigate subgroups of X. By Theorem 1-8. 1 1 the
transformations from X+ play the role of the direct hyperbolic isometries, in
analogy with +, and the opposite hyperbolic isometries 3C_ correspond to
..,
52
1-9
*_.
Theorem 1-9.10 (Fig. 1-29). A direct hyperbolic isometry [Eq. (1) of Section
1-8], with 5 = 1, which is not the identity, has
(i) one proper invariant point if and only if la + dl < 2,
(ii) one improper invariant point if and only if la + d l = 2,
(iii) two improper invariant points if and only if l a + dl > 2.
(i)
(iii)
(ii)
Figure
1 -29
(i) When (a - d)2 + 4be < 0, there are two solutions, and only one of them
lies in the upper half-plane. Then also
a2 + d2 - 2ad + 4be = a2 + d2 + 2ad - 4,
4 - 45 = 0,
and the quadratic equation has one single solution w = (a - d)/2e, which is
real. Conversely, l a + dl = 2 when this is the only solution.
(iii) The case l a + d l > 2 is equivalent to a positive discriminant of Eq. (1).
Hence there arC two real solutions.
Finally consider c = o. Then 5 = ad = 1, and the transformation is
z -> a'z + abo If a = 1, z -> Z b is a translation which has 00 as its
only improper invariant point. This belongs to case (ii), and indeed l a + dl
has the value 2. If, on the other hand, a2 '" 1, an invariant point w has
w = a2w + ab, w = abl(I - a2). Another invariant point is 00 , so that we
have here two improper invariant points if and only if a2 I , which is equiv
alent to
l a + llal = la + d l > 2.
The direct hyperbolic isometry with one proper invariant point) as in case
(i), is called a hYPe1bolic rotation. This is in accordance with the analogous isom-
1-9
53
etries of the group :m+ However, in contrast to the situation in the euclidean
plane, the cases (ii) and (iii) constitute two different categories of direct hyper
bolic isometries without proper invariant points, instead of the one subgroup
of translations there.
Let us find canonical forms for the three cases. We treated euclidean rotations
by representing them in the form T;; lRTw, where R was a rotation about O.
In the hyperbolic case 0 has, of course, to be replaced by a suitable proper point.
We choose i. If W = U + vi with v > 0 is to be the proper invariant point,
the hyperbolic isometry A : z --> vz + u maps i on w, and every hyperbolic
rotation can be written as A -I RA, where R is a hyperbolic rotation about i.
Now the invariant point i of R is given by Eq. (1), if we disregard the minus sign.
Then we obtain a = d and VbTc = i, which implies b = -c. Hence R is
of the form z --> (az + b)/( -bz + a), with the provision 0 = aZ + b2 = 1.
The case (ii) of Theorem 1-9.10 is called a parallel displacement. Here again
we introduce a standard parallel displacement, this time with 00 as invariant
0 and a = d, and
point. When W = 00 and (a - d) Z + 4bc = 0, then c
we obtain this standard form as T : z --> z + b. The parallel displacement,
whose invariant point has the real value w, is CTC-1, where C is some hyperbolic
isometry mapping w on 00 . One obvious possible choice of C would be z -->
=
(- I)/(z - w).
The case (iii) is called a hyperbolic translalion. Here we transfer the two
invariant points to 0 and 00 . The result is EDE-1, where E is a hyperbolic
isometry taking the real invariant values WI and W 2 into 0 and 00 , respectively,
and D : z --> az. One possible choice for E would be z --> (2 - Wl)/(Z - W z).
We summarize these results.
Theorem 1-9. 1 1 . Each of the types (i), (ii), and (iii) of direct isometries of
Theorem 1-9.10 can be transformed by direct hyperbolic isometries into
a standard form which is
(i) z --> (az + b)/(-bz + a), a hyperbolic rotation about i,
(ii) z --> z + b, a parallel displacement with 00 as invariant point,
(iii) z --> az, a hyperbolic translation with 0 and 00 as invariant points.
Next we propose to study the invariant points of opposite hyperbolic isom
etries. As they did in the euclidean plane, they will lead us to reflections.
However, hyperbolic lines being euclidean half-circles, it appears obvious that the
notion of reflection has to be generalized. Thus we arrive at the inversion with
respect to a circle.
An invariant point W under an opposite hyperbolic isometry
z
-->
(az + b)/(cz + d)
has to satisfy W
(aw + b)/(cw + d). which becomes cww + dw - aw b = O. Taking conjugates and subtracting, we get (d + a)(w - w) = 0 as a
=
w.
The condition
w - w = 0 yields only real points, which we may disregard as not being proper
t
)
..,
54
1-9
a2
I
b
bc + a2
-+,=
= "2 > O.
c
c
c2
c
The upper half of the circle is again a pointwise invariant hyperbolic line.
Again we define a line reflection as an isometry that leaves a hyperbolic line
pointwise invariant and has no other proper invariant points. Thus we have:
Theorem 1-9.12. An opposite hyperbolic isometry has proper invariant points
if and only if it has the form
a;; + b
cz - a
z ...... ---
......
aii + b
-a
---
-z -
0,
b
-,
a
55
But this is a point on the same straight line through 0 as z, with absolute value
l/lzl. The dilatation D1/,' moves this point along the same straight line through
o to a point at a distance of 1/(e2Iz11 from O. This whole operation is called an
inversion in the circle of radius l/e about O.
Definition. An inversion in a circle of radius l'
and center C carries a point P into a point Q
such that C, P, and Q are collinear and that
I CP I I CQ I = 1' 2 (Fig. 1-30).
Figure 1-30
proper points.
(a) There is exactly one line passing through two arbitrarily given points.
(b) There is at most one point of intersection for two arbitrarily given lines.
I,1
56
1-9
(c) To a given line there are exactly two paraliel lines through a given point
not on the line.
2. Find the hyperbolic distances between the vertices of the square, 2i, i,
i + 1 , 2i + I . Which is the "longest, " which the "shortest" side?
3. Find d(z, w) , where z = 5i, w = 3 + 4i, and find a point v on the hyper
bolic line through z and w such that w is the hyperbolic midpoint of z and v.
4. Find the parallels
(a) to the imaginary axis through the point 1 + i,
(h) to the unit circle through the point 2i.
5. Assign IIhypcrbolic coordinates" to all points on the positive imaginary
axis in the following way. Let i be the origin and assign to every point yi
a coordinate h(y) that is the hyperbolic distance of yi from i. If y > 1,
let the coordinate be positive, and if y < 1, let it be negative. Determine
the function h(y). What is the coordinate of 2ooi? of i? of 1O-3i?
6. Show that the hyperbolic rotations about i form a group. Is this group
isomorphic to the multiplicative group of complex numbers of absolute value
1, like tRo? Show that the transformations depend on one parameter ollly.
7. Show that the trace of 2i undedhe hyperbolic rotations about i is a (euclid
ean) circle. Is i its center?
8. Prove : The hyperbolic rotations about a proper point w form a group iso
morphic to the group of hyperbolic rotations about i.
9. In the euclidean plane the translations have straight lines as traces. Is
there one type of hyperbolic isometry that has hyperbolic lines as traces?
10. What are the involutory hyperbolic isometries?
1 1 . Prove: Every bilinear transformation is either a similitude or the product
of an inversion and a euclidean isometry.
12. Prove : A straight line not through the center C of the reflecting circle is
transformed by an inversion into a circle through C.
13. Prove: A straight line through the center C of a reflecting circle is mapped
on itself.
14. Prove : The reflecting circle of an inversion is uniquely determined by two
given points and their images under the inversion.
15. Prove: An inversion carries parallel straight lines not through the center
C of the reflecting circle into two circles which touch each other at C.
16. Prove : An inversion in a circle of increasing radius tends toward a reflection
in a straight line.
CHAPTER
Affine Geometry
and Euclidean Geometry
2-1
Skew fields and fields. In contrast to the procedure in Chapter 1, we will now
build up our geometries from first principles. For this purpose we need several
basic algebraic concepts, which will be given in this section.
A set S, together with two binary operations, + (addition) and (multiplication), is called a skew field if the following postulates hold.
Fd 1 . S has at least two elements, 0 and l .
Fd 2. (S, +) is an abelian group with 0 as identity element.
Fd 3. If S' is the set S with the element 0 excluded, then (S', -)
IS a group
with 1 as identity element.
Fd 4. For all a, b, c in S, a(b + c) = ab + ac and (b + c)a = ba + ca
(distributivity) .
The skew field is called a field if, in addition to Fd 1-4, the following postulate
holds.
Fd 5. (S', ') is abelian.
All the real numbers obviously form a field, which will be denoted by R.
The complex numbers also form a field. Other fields will be discussed in Exercise
14.
58
2-1
0,
with
2, . .
.
, 1',
consisting of r
1 equations. Since X l has been eliminated from all equations,
the system now has n
1 unknowns. We have r < n and therefore r
1 <
n
1 , and the induction hypothesis yields the existence of a nontrivial solu
tion for X2 J . . . , Xn . By substitution of this solution into Ll = 0 we obtain
a value for XI, as well. Obviously this solution is also a solution of the original
I , . . . , n, and the theorenl is proved.
system Lk = 0, with k
-
Basic fads about vedor spaces. Next we define a vector space V over a field
K. Its elements are called vectors and are denoted by small boldface letters.
They are connected with each other and with the elements of K (called soolars)
by two binary operations, -\- (addition) and (scalar multiplication) . The fol
lowing postulates hold in V.
VS 1. (V, -\-) is an abelian group with the null vector 0 as identity element.
VS 2. Every r E K and v E V determine a unique scalar product TV = vr
such that for all T and s in K and all v and w in V,
VS 2. 1 . r(v -\- w) = rv -\- 'w, (r -\- s)v = '-v -\- sv (distributivity),
VS 2.2. (rs)v = T(SV) (associativity),
VS 2.3. Iv = v.
The vector space is called n-dimensional (n > 0) if, in addition to VS 1
and 2, VS 3 also holds:
VS 3. There exist n vectors e" . . . , en in V such that every vector v of V
can be represented in a unjque way as v = Xlel + . . + xne n, with all Xi
.
elements of K.
2-1
59
-I
Xl X2V2 -
o.
Not all
.,
60
2-1
01'
morc
In order to check the linear dependence of the vectors bk, we consider the
equation
x,b, + . . . + xnbn + xn+l bn +1 = O.
Substituting Eq. (1) for the bo, we obtain
x;;-,f,xn)bn,
k = 1 , . . . I n,
2- 1
51
Now suppose the bk to be a basis. Can they be lineariy dependent ? The unique
representation of 0 in terms of the basis bk is 0 = Xtbt + . . . + xnbn . But
Obt + . . . + Obn = 0, and hence all Xk = 0, and the bk are linearly inde
pendent.
The concept of an n-dimensional vector space would be meaningless if not
all its bases had the saIne number n of elements. The following theorem removes
this doubt.
Theorem 2-1 .7. All the bases of a finite-dimensional vector space have the
same number of elements.
Proof. Suppose that there are two bases, B with n elements, C with 111 ele
ments, and 1n > n. The vector space is n-dimensional, and by Theorem 2-1.5,
the vectors of C are linearly dependent. Because of the basis C, the space is
m-dimensional, and by Theorem 2-1.6, C has to be linearly independent, which
leads to a contradiction.
W)
dim U + dim W.
b,
Y tC , + . . + Y,C,
.
C, and Ztd, +
+ z,d, = d.
62
2-1
(,. + s + t) + r (r + s)
+ (r + t).
, a,.
+ bn) ,
g,
(1, 0, . . . , 0) ,
g2
(0, 1 , . . . , 0) , . . .
gn
(0, 0, . . . , 1).
L:i, ajgi
2-]
63
EXERCISES
1 . Does the system of equations
x + y + z = 0,
2x + y
0,
3x + 2y + z = 0,
(a) (1, - 1 , 1)
64
2-2
1 1. Let two subspaces U and W of a vector space have the same dimension.
(a) Does U W imply U = W?
(b) Does U n W r' 0 imply U = W?
12. The subspace U of R4 is spanned by (1, 2, -1, 0), (2, - 1 , 0, 1), and
(1, -3, 1, 1), and the subspace W of R' by (3, -4, 1 , 2) and (1, 0, 0, 0).
Find the dimensions of U, W, U + w, and U n W.
13. In a V 3 over the complex field, let a = e , + ie2 and b = (1 + i)e2 +
(1 - i) e3 .
Xlel + . .
.
+ x"en
:L: xjej.
j
Here and in the following, Lj will stand for Lj" and the j will be omitted
even wh'Em there is no possible ambiguity. The n real numbers Xl, . . . , Xn
are called the components of v with respect to the basis E. With the basis given,
the vector v is determined by the ordered n-tuple (Xl, . . . , xn ) . With respect
to another basis F = {fl, . . . , fn} of Vn, let the components of v be Y I , . . . , Yn .
We will now find the relations between the x 's and the y's.
Since E is a basis of V n, each fi has a unique representation
fi
L aijej =
j
1,
aile l + . . . + ainen
. . . , n,
(1)
(2)
This array of numbers is a square matrix. It has n horizontal rolVS and n vertical
2-2
65
columns and is therefore called an n X n matrix. A short notation for the matrix
is (a,j) . The scalars a'j are called the entries of the matrix. The rows and
columns may be considered vectors of V' because they are ordered n-tuples
of scalars.
If again v = Lj Xjej expresses v in the basis E, while in the basis F it is
expressed as v = L' y,f" and if, as above, Eq. (1) hOlds, then we substitute
and obtain
v =
When we compare this with v = Lj Xjej and recall that the representation is
unique, we obtain Xj = L i aijYi Of, after interchanging i and j, Xi = Li ajiYi'
Comparing this expression with Eq. (1), we see that aj' appears here in the
same role as did O'j in Eq. (1). The matrix involved here is, therefore,
all
a2 1 . . . anI
a'2
a22 . . . an2
a 'n
(3)
The matrix (3) can be obtained from (2) by interchanging rows and columns,
such that the entry a'j in the ith row and jth column of (2) appears in (3) in
the jth row and the ith column. We call (3) the transpose of (2). If (2) is desig
nated A, we denote the transpose (3) by A'. Of course, (A')' = A . Accordingly
we use the notation a:i = a,'i.
We have proved:
Theorem 2-2.1. Let E = {e" . . . , en} and F = {f" . . . , fn} be two bases
of a vector space vn such that Eq. (1) holds. If the components of a vector
in vn are Xl , . . . , Xn with respect to E, and Y l , . . . , Yn with respect to
F, then
(4)
Xi =
aiiYj.
L:j
Thus Xl
a l l Y l + a2lY2 and X2 = al2Yl + a2ZYZ , or Xl = a lYI + a2Yz
and X2 = a lY l + a 2Y2 ' as stated in the theorem.
=
Warning The matrix A carried E into F, while A' carried the components
of a vector relative to F into those relative to E. Note this reversion of direction!
.
66
2-2
The reader may have had difficulty understanding the treatment of the sum
mations and in particular the summation subscripts. It will be well to keep in
mind two important rules. First, the index, or subscript, over which the sum
mation is performed, is a IIdummy subscript, " very much like the variable of
integration in a definite integral, and may therefore be replaced arbitrarily by
any other letter. For instance, L; a,;e; = L. a;.ek and La ba = L' b,. How
ever, the i in the first example is no dummy subscript, and cannot be changed
in this fashion.
A second rule is the following. If the summations involve only finite nwnbers
of surnmands, then the order of two or more summations may be changed with
out affecting the value. For example,
I: p,(q"r
i_ l
+ q'2r2
+ q,ara)
I: I:
;_ 1
i=1
p,q,;
1';.
'Y ik
2:: Ct.ij{3jk
;
(5)
What, then, is the matrix (-;,;) ? When we study Eq. (5) we see that the two
n-tupJes (ail, ai2 , . . . J ain) and ({3 1kJ (32kJ . . . ) (3nk) are combined, that is, cor
responding components are multiplied and all the resulting products are added.
A' and the second is the kth
Now the first n-tuple is the ith row of (ai;)
column of (l1,j) = B'. The result is the entry -;" in the ith row and kth column
A'B' = C'.
of the matrix (-;,;) , which we designate as the product (a,;)(I1'j)
=
2-2
67
-)0
Cki =
Oik =
O if i r< k
1
if i = k
68
2-2
Proof. Let E and F and the matrix A be defined as in Theorem 2-2.1, E being
a basis, while the basis property of the vector n-tnple F is to be tested. Consider
2:= y,f, =
O.
(6)
j = 1,
. . . , no
(7)
Now assume F to be a basis and therefore linearly independent. Then Eq. (6)
implies that all Yi = 0, and since Eq. (7) is equivalent to Eq. (6), the rows of
A are linearly independent.
If, on the other hand, the rows of A are linearly independent, then the vanish
ing of all y, follows from Eq. (7), and consequently F is linearly independent
and hence a basis.
Since every transformation, as a bijective mapping, has an inverse, a com
ponent transformation LA, with matrix A, has an inverse which is again a
component transformation. Like every component transformation, it is repre
sented by a matrix A- I with the property A A -1 = A-I A = In . The matrix
A - 1 will be called the inverse matrix of A . This completes the proof.
Ln 1 . (v + w)L = vL + wL.
Ln 2. (cv)L = c(vL).
c(vL) + d(wL).
O.
2-2
69
..
vL
(x,e,)L + . . . + (xnen)L
x,e,T., +
. . . + xnenL.
L: aijXj,
(8)
...
70
2-2
which implies that Ln l and Ln 2 hold for LIL2 if they hold for both L, and L2
The inverse of a linear transformation L is linear, because from
(vL- 1 + wL-')L
v+w
it follows that vL-' + wL-1 = (v + w)L- 1 , and the relation [c(vL- 1)]L =
c(vL -I L) = cv implies that c(vL-I ) = (cv)L -I The remaining group postu
lates are trivially satisfied.
The group of all linear transformations of V" is called the n-dimensional
(general) linear group, !joe".
Corollary. The set of all nonsiugular n' X
group which is isomorphic to !joe".
Moreover we note :
Theorem 2-2.8. A linear transformation maps m-dimensional subspaces of
V " onto m-<limensional subspaces of V".
Proof. The transformation L maps a basis e " . . . , em of an m-dimensional
space S onto m vectors ejL, j
1, . . . , m. If the ejL are linearly dependent
then there exist scalars Cj, not all of them zero, such that
=
a contradiction. Hence the vectors ejL are linearly independent. Every vector
of S is a linear combination of the ej and goes under L into a linear combination
of the e jL which arc, therefore, a basis for the image space of dimension ?n.
EXERC[SES
1 . Find the matrix of a linear transformation which carries the subspace of
R 3 generated by (1, 0, 3) and (2, 1, 0) into the subspace of vectors of the
- -
----=,",-
:----
2-2
4. Let
A = [ l B = [
A 2 (b) A 3 AC
(A')-' = (A -')'.
Find
(a)
(d) A
(c)
5. Prove :
l C = [ l
(e)
BA
(I)
71
B2 (g) B2C
2 matrices
[: :] = [: :] B
A = [ : : :] ,
B
for all B?
7. If
-c
-a -b
find
An
a+b - e = 1, (b) a + b - e =
- be
1
-4 ]
9. For what
Ie
[ ]
is the matrix
Ie
10. Find
-,
and
B-'
A=
II.
if
I: 1 :
0
and
A=
if ad - be = 1,
[: :1
and if
x, y,
and
B=
B = [:
:l
""
O.
O.
72
2-3
. ,
ann
L:
k
k
(- 1 ) +'a' k",k ,
2-3
73
In particular, det In = 1 .
D1 6. I f all entries a'k o f one row or one column are changed t o ea'k (c scalar) ,
then the value of det A changes to c det A .
DI 7. I f both v and w are rows (or columns) o f A, and i f w is replaced by
w + tv (c any scalar) , then the value of det A is unchanged.
DI 8. If A and B are n X n matrices, then det A det B = det AB.
DI 9. If aik is the same as in the definition of the determinant, then
I: (-l) k+'aika;k =
k
oi; det A,
B =
a,
a"
74
2-3
ar+l,r+l
and "ik the determinant of the matrix obtained from C by deleting the ith row
and the leth column. Then ",+ 1 , '+1 = det B '" O. Now multiply the first
row of A with a l , r + l , its second row with -a2.T + I J . . . , its (1" + I)-row with
( _ 1) , + 2 , and sum up. Repeated use of Dt 9, and of the fact that all (r + 1) X
(r + 1) matrices in A are singular, yields the sum zero. Since at least one of
the factors was nonzero, the linear dependence of the rOws of A has been
established.
Corollary 1 . A matrix is nonsingular if and only if its columns are linearly
independent.
Proof follows from Dt 1.
2-3
75
After having studied the linear transformations of Vn, we shall give a very
short account of linear functionals over Vn,
"
,.
J.
76
2-3
Dual vector spaces. A funetwnal over V' is a one-valued mapping </> of V'
into the field K, satisfying the linearity requirements,
Ln 1 . (v + w)</> = v</> + w</>,
Ln 2. (ev)</> = e(v</ ,
O.
c(v</ + d(w</ ,
and
and </> is a functional. If, on the other hand, </> is any functional with ek</>
. + xnb. follows from Ln 1 and Ln 2.
then v</> = Xl b I +
.
bk,
for all v
v</> + vo,
(v</ c.
c</> is defined by
From these definitions it follows immediately that </> + 0 and' </>c are func
tionals on V, and that consequently the functionals form a vector space. This
space will be called the dual space of V, denoted V'. Its elements will be desig
nated by small Greek letters, its zero by o.
The following theorem provides a method of finding one of the bases of V'.
= 1, . . . , n,
form a basis of V and the functionals fk are determined by eifk = 0ik,
then the fk form a basis of V'.
Pmof. The fk are uniquely defined, in view of Theorem 2-3.5. For any n
given scalars Yl, ' " J Yn) !/J = E1Yl + . . + EnYn is a functional satisfying
ek<i> = Yk, and every functional on V can be represented in this form. Thus
the f. span V'. If we could prove them to be also linearly independent, they
would form a basis. Now, for the basis vectors ek, we have
.
2-3
77
0
+ e.y. = 0, then vcf> = 0 for all v, and hence also e,cf>
If cf> = el Y l +
for each i, and thus all Y. = O. Therefore the e. are linearly independent and
form a basis of V', called the cobasis of the e. basis.
.
1 . The sum of two m X n matrices (a,j) and (b'i) is defined to be (a'j + b'j).
The scalar prodnct of a sealar c and the matrix (a'i) is defined by c(a'i) =
(ca'i)' Show that the m X n matrices form a vector space. What is its
dimension? What is the zero element? Find a basis. Do the matrices
form a group under matrix multiplication?
2. What is the transformation Xl -7 2X2 Xz -7 Xl + X2 relative to the basis
fl = (1, 1), f2 = (0, 2) ?
3. Find the matrix of the transformation Xl -7 3Xl - X2, X2 -+ 2X2 relative
to the basis fl = 3e" f2 = -el + 2e2'
4. Prove: If in an n X n matrix (aij) , aij = -aji (the matrix is skew-sym,
met1'ic) and if n is odd, then the matrix is singular.
1
fl
78
z-a
is nonsingular.
6. Verify the following rule for 2 X 2 and 3 X 3 matrices. If det (ai;) = 0 '" 0,
then (ai;)- l = (bi;), where bi; = (-1)' +;"';;/ 0. Express (ai;)-l explicitly
for 2 X 2 matrices without using the {Xji.
7. emmer's rule (after the Swiss mathematician Gabriel Cramer, 1704-1752)
X+ y + z = 2
x + 2y
2
kx
- z = O
=
If the right-hand sides were replaced by zeros, would the system have non
trivial solutions for this value of k ?
9 . I f a vector x '" 0 is taken by a linear transformation o f vn with matrix
A into one of its scalar multiples, AX, then A is called a characteristic root
of the transformation and x is called a characteristic vector. Show that A
is a characteristic root of A if and only if det (A - AIn) = O.
10. Find three linearly independent characteristic vectors and all characteristic
roots of the matrix
o
2
2
l .
-lJ
1 1 . Prove:
(a) If A is a characteristic root of an n X n matrix and if B is a nonsingular
n X n matrix, then A is a characteristic root of BAB-1
(b) If x is a characteristic vector of A, then xB- 1 is a characteristic vector
of BAB-I
(c) If x is a characteristic vector of a matrix, so is cx for every scalar c '" 0.
12. A square matrix where all entries outside the main diagonal are zero is
called a diagonal matrix. What are its characteristic roots and vectors?
13. Show that the vectors (1, 1 , 0), (2, 0, 1), and (0, 0, 1) form a basis E of R 3 .
Find the scalars that are the values of the vector (1, - 1 , 1) under each of
the functionals of the cobasis of E. Is there a vector (x" X2, xa) whose values
under the eobasis are X l , X2, and X 3 , respectively?
14. Prove that every square matrix which has an inverse is nonsingular.
2-4
79
. .
.,
Proof. Suppose v =
by Af 4 and Af 3. Hence QP
consequently w = v.
Corollary. PQ =
Theorem 2-4.2.
PQ = v.
= pP = 0,
-v. But PQ + QP = w + (-v) = 0, and
-Q"P.
P E An and v
PR,
011
I ,.
80
2-4
umque.
'"
"
,
Q
,
--.p,
__
__
"/
P,
Figure
2-1
Figure
2-2
2-4
81
both linear m
E S, and if {3 is
P,Q + QP2 =
{3.
I.
:'
82
P = [pJ E An ..... p
S"
->
2-4
->
(P)LT E A".
However, sometimes we will disregard the distinction between point and posi
tion vector.
What happens when the translation is performed before the linear transforma
tion instead of after it? The following theorem provides the answer.
TnL holds.
This does not necessarily mean that L7' = TL for every T E Tn. The mean
ing is that, for given T and L, there is a unique T' E Tn such that LT = T'L.
Theorem 2-4.7. The affinities of A n form a group, the so-called affine group an.
Proof. For proving closure, let L , T , and L21'2 be affinities. Then L, T ,L21'2 =
L,L2L2 -'T1L2T2 = L,L2T3 T2, where T3 is another translation, by Theorem
2-4.6. This is of the form L1' a required. The identity obviously is an affinity.
The inverse of L1' is T-'L-' = L-'LT-'L-'
L-'T' for some translation
T', again by Theorem 2-4.6.
=
Thus every affinity M has a linear part L and a translation part T. These
parts are uniquely determined because, if (O)M = B = [b], then Tb is the
translation part of M. The linear part is then MT.'.
Theorem 2-4.8. S.cn is a subgroup of an, and Tn <l an. The elements LT
with L E S.c,+ and T E Tn form a normal subgroup, a,+, of an. The index
of Ci+ in an is 2.
.
Theorem 2-4.9. The coordinates of all points [x" X2, X 3 ] of A 3 which lie in
a plane, and only these, satisfy an equation a,x, + a2X2 + a3x3 + ao = 0,
where not all of at, a21 and aa are zero.
2-4
83
/I/
Figure 2-3
Now, conversely, consider all points X = [Xl, X2, xs] = [x] which satisfy
alxl + a2X2 + aa Xs + ao = 0, not all of a l, a21 a3 zero. Suppose, without
l
loss of generality, that al ". o. Then Xl = -al (ao + a2X2 + aaxa). The
vectors v = (-az, a I , 0) and w = (-a3, 0, al) are linearly independent and
2
form a basis of some S C V a . As the point from which the plane will
l
be extended, choose P = [-al ao, 0, OJ. Then x is indeed obtained as
l
(alaO, 0, 0) + pv + tjWJ because if we choose p = a1 x2 and tj = allx3 J
we obtain
-al'ao + allx2( -a2)
+ al'xa( -a3)
l
l
-al (ao
0 + al x2al + al x30
l
l
0 + al x20 + al x3al
X2J
X3'
-r
a2X2 + aaX3)
Xl ,
2
The corresponding result for A is
Theorem 2-4. 10. The coordinates of all points [Xl, X2J of A which lie on a
straight line, and only these, satisfy an equation alxl + a2X, + ao
where al and a2 are not both zero.
0,
84
2-4
The rest of t)1is section will be devoted to the study of the properties that
are left invariant by affinities and by subgroups of an.
Pmof.
xLTb = (p + PlY' + . .
- (pL + p, v , L +
- pL
+b
+ Pmvm) LTb
.
+ p,v,L +
+ PmvmL) Tb
.
. + PmvmL.
.
Rs
qLT - pLT = qL - pL = (q
p)L
= (s - f)L = sL + b
fL
b = sLT - fLT
(R)N(ff)N.
This theorem enables us to define vN. From the proof it becomes evident that
vL if L is the linear part of N.
vN
The reader may be under the mistaken impression that images of vectors
under affinities have been used before and in a different way. All previous
=
F'
2-4
85
Theorem 2-4. 1 3. If w
every scalar p.
pv, then wN
The significance of this theorem is that the partition ratio by which a vector
is divided is an affine invariant.
Proof.
p(v)N.
If N
LT, then wN
wL
Corollary 2. If Q lies on a line with P and R and between them, then (Q)N
lies between (P)N and (R)N.
In other terms, over the real field affinities preserve the IIbetweenness"
relation.
Proof. The statement "Q lies between P and R on a straight line" can be
expressed as PQ = pPR, with < p < 1. Since p is unchanged under an
affinity, the corollary is proved.
Betweenness is not meaningful
III
EXERCISES
1. Prove Theorem 2-4.10.
2. Prove: For two points P and Q in A there exists exactly one line passing
through them. Find an expression for the position vector of an arbitrary
point on this line.
3. Prove: For three noncollinear points P, Q, and R in A 3, there exists one
and only one plane passing through them. Find an expression for the posi
tion vector of an arbitrary point in this plane.
4. Prove: If two planes in A 3 have a point in common, then they have at least
one other point in common.
5 . Find the equation of the plane 7r through the points [1, 0, 1], [0, 2, - 1],
and [3, 1, 0]. What is the equation of the plane obtained from 7r by a
translation through the vector v = (1, 0, - I ) ?
86
2-4
7. If
find
(c) Njl
(d) N;;l
[1 , 0],
[1, 0],
[1, 0],
9. The planes Xl +
X2
= 0 and Xl +
X2 =
X3 --; 2X3 - 1 .
Show that the images are parallel planes. Is the affinity direct or opposite?
10. Is there an affinity of a' carrying [1, 2], [3, 6], and [-2, -4], respectively,
into [-1, -1], [0, 0], and [2, 2]? If there is, find it. If not, explain why.
11. An affinity of a2 takes [0, 0] and [4, 2] into [2, 1] and [-2, 3], respectively.
What is the image of [2, 1]1 Do not compute the affinity.
12. Find an affinity that preserves the points [-1, 0] and [1, 0], while it carries
[0, h] into [t, h]. Show that this is possible for every h '" O. What happens
when h tends toward zero'/ Why?
1 3 . Find an example of an affinity which maps a right angle on au angle of 45.
Can you also find an affinity taking a right angle into an angle of 180?
14. Use the equation of Exercise 6 for proving directly that an affinity takes a
3
straight line of A into a straight line of A 3.
15. Find the center of a' .
AFFINE PROPERTIES
2-5
87
18. Prove:
(a) All elements of an that preserve some given point P of An form a group.
(b) This group is isomorphic to g.cn
19. Show that a necessary and sufficient condition (a) for three points [xi> Yj]'
with j 1, 2, 3, of A Z to be collinear is
1
Xl
Yl
X2
Y2
X3
Y3
2-5
0,
3
1, 2, 3, 4, of A to be coplanar is
X,
y,
2,
X2
YZ
Z2
X3
Y3
Z3
X4
Y4
Z4
o.
AFFINE PROPERTIES
------"
D'
"
,"
c'
A I/:- - - - - +.,
'-,C
B' D
------iO'>---'Bil--- Xl
Figure
2-4
88
2-5
Xl +
X2
--+
X2
- 1,
X 2 + 1.
Thus rectangularity and equality of length are not affine properties. To what
extent affinities are capable of changing the shape of figures can be seen from :
Theorem 2-5.1. For any two given triangles X , X2Xa and Y, Y2 Ya there is
a unique affinity in (t 2 mapping Xi on YiJ with i = 1, 2, 3.
Proof. The vectors X;X; and are linearly independent and so are
Hence they are bases of the V2 that contains all the vectors
of A . By the corollary to Theorem 2-2.6, there is a nnique linear transformation
L taking the first pair of vectors into the second. If T is the unique translation
mapping X , on Y" then LT is the desired affinity.
2
X , X2 XaX.
----7
YiJ
and Y, Y2 Ya Y.
with i = 1 , 2, 3, 4.
It wonld be easy to generalize these theorems for any An by nsing tbe concept
of an n-simplex, that is, an (n + I)-tuple of points such that no Ie + 2 of them
lie in a linear Ie-variety (k = 1, . . , n - 1). A I-simplex is a segment, and
the theorem would then state that every segment can be carried into any other
segment by a suitable affinity of (l ' . A 2-simplex is a triangle, a 3-simplex a
tetrahedron.
.
AFFINE PROPERTlES
89
X2
Xl sin a + X 2 cos a,
IJ
Figure
2-5
90
Figure
2-6
2-5
Figure
2-7
Theorem 2-5.3. Besides the degenerate conics and those that do not contain
any points with real coordinates, there are three classes of conics such that
any two conics of the same class are affineiy equivalent, while no two conics
from distinct classes are affinely equivalent. These are the clases of all
ellipses (including the circles), all hyperbolas, and all parabolas.
2-5
AFFINE PROPERTIES
91
"essentially the same . " In Exercise 6 we will see that parallel projection of a
plane on another plane is an affinity, and naturally this fact was at the source
of the development of affine geometry. Indeed, the parallel rays of the sun
(Fig. 2-8) produce shadows which are affine images of the objects used, and
perhaps everybody has at some time wondered about the weird shapes of
shadows of perfectly ordinary objects.
EXEnCISES
Assume K
= R.
1. Which of the following theorems about parallelograms are affine statements?
(a)
(b)
(c)
(d)
A
A
A
A
A
(c) OACB,
(b) OCAB
(a) OBCA
-->
-->
A',
B',
[1, 0, 4],
B ---')- B',
B A',
C
C
----t e',
--1>
G',
D D',
D --> D'.
92
2-6
6. Prove that the mapping of a plane 7/" onto another plane 7/"' by parallel
7. Consider the following mapping of the points inside the unit circle of a plane
into the same plane : The plane is 7/" of Exercise 5 of Section 1-8. First map
. a point Q of 7/" on a point Q' on the southern hemisphere by intersecting
the sphere with the parallel to NS through Q. Then map Q' on Qn E 7/"
by means of the stereographic mapping. Is the mapping Q --> Qn an
affinity?
8. (Pasch's axiom) Let PQR be a triangle and I a straight line in the same plane
as PQR, such that I does not pass through P, Q, or R. If I meets the line
PQ between P and Q, then it meets either the line PR between P and R
or the line QR between Q and R. [Hint: Incidence and betweenness will
be preserved when the triangle PQR is transformed into a conveniently
located triangle.]
9. An ellipse may be considered as the affine image of a circle that has one
diameter coinciding with the major axis of the ellipse. The images of two
perpendicular diameters of the circle are called conjugate diameters. Prove :
(a) All ellipse chords parallel to one diameter are bisected by a conjugate
diameter.
(b) The parallels to one diameter through the endpoints of the conjugate
diameter are tangents of the ellipse.
y' = ex + dy + f,
(1)
93
where x and y temporarily replace our usual notation Xl and X2' .We want to
study the linear part of the transformation and, for the time being, we ignore
the translation terms e and f. We divide the first equation by the second,
let z' = x' /y', and z = x/V. The result is
z'
az + b
ax + by
x'
=
cz + Ii '
y' - ex + dy
If X r:!: 0 and y = 0, write z = 00 , and if x' r:!: O and y' = 0, assume z' = 00 .
The point [0, 0] will be disregarded.
We obtain a real bilinear transformation as in Section 1-8. In Theorem
1-9.11 we showed that by utilizing certain coordinate changes each of our
transformations could be brought into exactly one of three standard forms,
(i) z'
(az + b)/( -bz + a),
(ii) z' = z + b,
(iii) z' = az.
=
The coordinate changes used for the standardization were the following. For
(i) it was z ---> az + {3, with a r' 0, which means x ---> aX + (3y, y ---> y, for
(ii) we had z ---> -1/(z - 1'), which means x ---> -y, y ---> x - 1'y, and for
(iii) the change was z ---> (z - (3)/(z
1'), with {3 r' 1', which means x ---> x - {3y,
'Yy. All these are linear transformations and therefore constitute
yX
coordinate transformations in the affine plane.
To every linear transformation there corresponds one well-defined real bilinear
transformation. In Theorem 1-9.1 1, the bilinear transformations had to have
a determinant = 1 and z could be complex, whereas here we require only that
the determinant not vanish, and z has to be real. Does this affect the feasibility
of our procedure ? If we scrutinize the proof of Theorem 1-9. 11, we find that
the requirement that the determinant be 1 was not used at all for the classifica
tion. On the other hand, there is no danger in onr restricting ourselves only to
real values of z. The bilinear transfonnation then becomes simply a transforma
tion of the real axis (including the point 00 ) instead of the whole plane.
Another question is whether every real bilinear transformation determines
exactly one linear transformation. This, in fact, is not so. If two linear trans
formations L and L' yield the same bilinear transformation B, then L'L - 1
yields BB - 1 = I . The only real bilinear transformations yielding I are those
with a = d = T, any nonzero real number, and b = c = O. This results in
L'L - 1 : x ---7 rx, y ry, which has been called a dilatation from the origin.
Thus any linear transformations belong to the same bilinear transformation if
-
94
2-6
and only if they can be obtained from each other by multiplication with a
dilatation from the origin. This makes it possible to arrange all linear trans
formations in classes such that each class belongs to onc bilinear transformation.
As standard form x -> ax + by, y -> ex + dy, we designate those represen
tatives of a class which have their determinant ad - be = l . Let
----+
a'x + b'y,
(ii)
(i)
Figure
(iii)
2-9
Theorem 2-6.1 (Fig. 2-9). The linear part of each affinity of a? can be brought
into one of the following standard forms by a coordinate transformation
followed by a dilatation from the origin.
(i) x -> ax + by, y -> -bx + ay, with a and b
(ii) x -> x + by, y -> y, with b '" O.
(iii) x -> ax, y -> y/a, with a '" O.
The coefficients a, b,
c,
'"
0, a2 + b2
= l.
In the euclidean plane, type (i) would become a direct isometry as defined
in Section 1-2. For, consider z' = aZ + /3, where a = a - bi, [3 = e + fi,
z = x + yi, z' = x' + y'i. Then x' + y'i = (a - bi)(x + y'l + e + Ii =
ax + by + e + i( -bx + ay + f), which is the same as (i). Moreover, tal =
a2 + b2 = 1 , which makes z ------7 aZ + /3 a direct isometry. Since the origin is
preserved in every linear transformation, this standard affinity has one invariant
point and represents a rotation about O.
2-6
95
Type (iii) of Section 1-9 had two invariant points, both real. Accordingly
we have here two invariant lines through 0, which in the standard case become
the x- and y-axes.
I n this theorem the affinities (i), (ii), and (iii) depend each on one parameter
to which a second parameter has to be added in view of a possible dilatation.
III order to study traces of points under a one-parameter subgroup in the case
(i), we put a = cos t and b = sin t. Then
x' = x cos t "+ y sin t,
y'
-x sin t + Y cos t,
z ->
(2)
A " +,, , .
x5 + Y5,
a circle about the origin passing through [xo, Yo], if the coordinates are con
sidered as orthonormal.
As a further example we study the case (iii) in the same fashion. The trans
formations x ----t ax, Y y/a form a one-parameter group because Ha: x -+ ax,
y ----t y/a implies Ha,Ha,, : x -+ a'a"x, Y ----+ yj(a'a") , and therefore Ha,H a" = Ha 'a ".
The trace of a point [xo, Yo] under this group is the hyperbola xy = XoYo
* In the euclidean plane this means that points outside the invariant line are moved
parallel to it through a distance ybJ that iSJ proportional to the distance from the
J
invariant line. (This "distance J has to be measured parallel to the corresponding ax.is,
not necessarily at right angles to the other axis!)
96
2-6
For the case {ii) we choose an example in which the affinity is not lineal'. Let
x -> x + by + b2/4 , y -> y + b/2. Then the Jb form a one-parameter
group. Namely,
Jb:
J" Jb" :
->
and therefore Jb,Jb" = Jb'+b'" The trace of a point [xo, Vol under this group
can be obtained by elimination of b from
x = Xo + byo + b2/4,
y = Yo + b/2 .
2-6
97
of points on the circle there is all element of the group which carries the first
point into the second point (ef. Exercise 11).
Every parabola can be reduced to x = y2 by an affine coordinate transfor
.mation. If an affinity, Eq. (1) sends the parabola x - y2
0 into itself, then
=
x' - y'2
ax + by + e - (ex + dy + f)2 = O.
y' = dy + f
(:3)
Assume K = R.
1. An affinity has a linear part
L: x
->
ax + by,
->
cx + dy,
. C
98
2-7
2. Test the following affinities as to the types to which they belong. If applica
-->
(b) x --> 2x + y
2x - y + 1
y --> x + 5y - 5.
Y --> x + 4y
(a) x --> x - 2y - 1
y --> 4x + y + 2
7.
8.
9.
10.
11.
-->
---+-
4x - y
r( -x sin a + y cos a) ,
--> ax
+ by,
-->
-bx + ay,
with
a2 + b2
->
-->
ax,
y/a.
2-7
99
of the bases of V', and any such mapping induces an isomorphism V .... V'.
When we consider such an isomorphism between V, with basis 1 1 , . . . , fn , and
V', with basis </>1> . . . , </>., we call this relation a pairing of V and V'.
Every pairing of V and V yields an inner product in the following way.
Let v E V, v = x,f, + . . . + xnfn, and 0 = </>, y, + . . . + </>nYn. Then, in
accordance with Theorems 2-3.5 and 2-3.6, we have v6 = LiL; xiy;(f,</>;) .
Now the fi</>; are well-defined scalars, say fi</>;
gi;, and then
=
v6
X,y;gi;'
;
..,
; .
VS 4. 1 . vw = wv,
VS 4.2. u(v + w) = uv + uw,
VS 4.3. (l'V) W = r(vw) ,
VS 4.4. vv > 0 unless v = O.
Thus if our vector space is to be euclidean, the pairing has to be such that
VS 4.4 holds. The requirements VS 4.1 through 4.3 follow immediately from
the linearity properties of the functionals. Now VS 4.4 in our case means that
LiLj XiX;gij > 0 unless all Xi = O. A function LiL; gi;XiXj is called a quad
ratic form in the Xi. We say that the quadratic form determined by the n2
real numbers gij has to be positive definite if the space V with this pairing is
euclidean. By positive definite we mean that the form assumes only positive
values for nonzero x' s.
A few simple examples should clarify this concept. The quadratic form
x i + X I X2 + x is positive definite because it can be vritten as
--
100
2-7
gij
x,y, + .
. .
+ XnYn .
0. 1 . IPPI
o.
D. 2. IPQI = IQP I
0. 3. IPQI + IQRI I PRI , the t,-wngle inequality.
The ftrst two postulates are trivially satisfied in our case. We express the
validity of Ds 3 ill our space as a theorem, in a slightly different form.
Theorem 2-7. 1 . If v and w are two vectors in a euclidean vector space, then
I v + wi ::;; I vl + Iwl
o. Suppose that v ;c 0, w ;c o.
Pmof. The theorem is trivial when v or w
Then there exists a positive real fJ such that Iv l = fJlwl, and therefore v2 =
fJ2w2 = fJ lv l l wl. We have
=
o ::;; ({3w - V) 2
Consequently,
2fJvw ::;; fJ2w2 + v' = fJlvl lwl + fJlvl Iwl = 2{3lvl Iwl ,
and hence vw ::;; Ivl lwl . Now
Iv + w l 2
We extract the positive square root on both sides and obtain the assertion.
2-7
101
IPQI2 + IPRI 2
Hence
IRQ I 2
=
_
IPH
(PH
Po l 2
PQ) 2
IRQI2.
PR - PQ.
Figure 2-10
Theorem 2-7.3. The isometries, and they only, are the affinities that preserve
inner products of vectors.
Proof. An affinity M which preserves inner products sends the inner product
v 2 into itself and is, therefore, an isometry. Conversely, let M be an isometry.
Now
(v +
W)2
v2 +
2vw + w2
2vw = (v + W)2 - v2 - w2
vw
This expression will not be affected by any isometry, since it involves lengths
of vectors, that is distances, only.
102
2-7
orthogonality were not affine concepts. Rather, they are euclidean in nature
because they are invariant under the transformations of euclidean space, the
isometrics.
We are now looking for the affinities which map an orthonormal coordinate
system onto an orthonormal coordinate system. We may disregard the transla
tion part of an affinity because it preserves vectors and their lengths. A lineal'
transformation which preserves distances and therefore also the orthonormality
of a coordinate system will be called an orthogonal transformation, and the matrL'C
which belongs to it an orthogonal matrix.
A-I .
Proof. The basis vectors ei are transformed by A = (aik) in such a way that
ei A = aile l + . . . + U-inen. Now eiek = Oik, and since the transformation
preserves the inner product, ejA . ekA = Oik, or the combination of the ith
row of A with the kth column of A ' is Oik. But this means A A' = I, and since
A as the matrix of a linear transformation is nonsingular, A' = A - I ,
A converse to this theorem is provided by:
Oik .
A - I implies
Corollary 2. If A is orthogonal, so is A -I
Proof. (A - I )'
(A')'
= A
(A -1 ) -1.
B'A'
= B - I A-I
(AB)- l
2- i
103
From the last two corollaries the following theorem is easily obtained ,
Theorem 2-7.6. The orthogonal transformations of Vn , and therefore also
the orthogonal n X n matrices, form a group, the orthogonal group, en .
P,'oof. The only part of the statement which has to be proved is the non
singularity of every orthogonal matrix. Now, by definition, the matrix has an
inverse, and in view of Exercise 14 of Section 2-3, it is nonsingular.
Obviously On is a subgroup of S.cn , From Theorem 2-4,6 we see that for every
N E On , 'f"N NTn holds, If we consider all the affinities NT with N E On
and T E Tn , we can show, just as in Theorem 2-4.8, that they form a subgroup
of an , This subgroup will be called the group mIn of isometrics, Again every
isometry can be uniquely written as NT with a linear orthogonal part N and a
translation part T.
Important subgroups of On and of mIn will be obtained by studying determi
nants of orthogonal matrices.
Theorem 2-7.7. If a matrix A is orthogonal, then det A
2
Proof, We have (det A)
dct A , det A'
det I
1 , and consequently det A
1.
det A , det A - I
1 or -1 .
det AA - I
104
2-8
one line in common and when two vectors orthogonal to this line and each
lying in either of the planes are orthogonal to each other. Prove that a
necessary and sufficient condition for this orthogonality is
a,b, + a2b2 + a,b,
O.
6. Prove : If P and Q are two points of E', then all points equidistant from
P and Q lie on a plane. If A and B are two points of this plane then
AB PQ = O.
7. Prove: Three points P, Q, and R satisfy IPQI + IQRI = IPRI if and only
if Q lies on the segment (PR), that is, if Q lies on the line PR and between
P and R.
8.. Construct a basis of an orthonormal coordinate system in E' such that one
01 its vectors is parallel to the vector (2, 1 , 2). Is the resulting basis unique?
9. Prove : An orthogonal transformation is involutory if and only if its matrix
A is symmetric, that is, A = A',
E'
2-8
ISOME'l'lliES IN
E2
AND
E3
105
is singular.
First let us consider direct isometries, that is, det A
variant vectors, then det B = 0. Now
det B = det A
1 . I f there are in
[ a22
A' =
-a21
[a11
a' 2
Here a'l '" 1 because otherwise det B = 0. The orthogonality condition now
reads ai l + a l = 1 . We put a l l
cos ex. and a2 1 = sin a, with ex. r O.
Then we get
Xl
-1
Xl
COS
x2 sin a,
106
Hence al2
native, a21
2-8
-cos a
If we let X I + ix2 = z, then the isometry becomes z -> i(COS a + i sin a).
This is, by Theorem 1-6.1, a reflection in the straight line through 0 which
encloses with the positive X .-axis a slope angle of a/2.
Conversely, consider a reflection in a line not through O. It can always be
h,' " died by means of a coordinate translation such that the reflecting line passes
through the new origin. Then the reflection can be represented, as in Theorem
1-6.2, as T- I UT, where T is a translation and U a reflection in a line through
the origin.
Finally, let A (det A = - 1) be an opposite isometry without invariant
vectors (det B "" 0). Then we have
a l l = -a22'
But theu det B = det A - a l l - a22 + 1 = - 1 + al l + 1 = 0, a contradiction. Hence there are no opposite isometries
without invariant vectors.
To summarize our results, we have:
and
al l
Angles. We have been using angles and their cosines and sines without giv
ing a proper definition of an angle. Now this gap will be filled.
In Section 1-7 the group of two-dimensional vectors was shown to be essen
tially the same as the group of translations, only written additively instead of
multiplicatively. Here is an analog for rotations. By Theorem 1-5.3, the rota
2
tions about any point of E form a group, and all these groups (about different
points) are isomorphic to CRo, the group of rotations about O. The elements of
CRo have the form
2
with c + 8
1.
(1)
2-8
ISOMETRIES IN
E2
AND
E3
107
Thus IRa is a one-pararneter group which, moreover, is transitive on the " unit
circle," the circle about 0 with radius 1, by Theorem 2-6.2. A half-line originat
ing from a point P (Fig. 2-11) is defined as the set of points containing with
a fixed point Q all the points R on the line PQ such that either R is between
P and Q, or Q is between P and R. Every half-line originating from 0 has one
point on the unit circle, and every point on the unit circle lies on one half-line
originating from O. Hence <Ro is transitive on the set of half-lines through O.
Each ordered pair of such half-lines, hI and hz, determines an element of <Ro ,
and we call this element the angle th1hz = '" (Fig. 2-12). If this rotation is
given as Eq. (1), we furthermore define c = eos ex and s = sin "'. If "'I and
(;(2 are angles corresponding to rotations RI and R2 J respectively, then al + (;( 2
corresponds to R1R2. The angle that corresponds to the identity is a = O.
The angles then form an additive group which is isomorphic to the multiplica
tive group <Ro . These definitions yield also the well-known rules for the cosine
and the sine of sums of angles (cf. Exercise 10). It can be proved (Exercise 9)
that angles are invariant under direct isometries, and this removes the impres
sion that in the definition of the angle the origin had a privileged position.
Actually, the isomorphism between the groups of rotations about different points
is sufficient to take care of this doubt.
o a
h,
Figure
Figure
2-1 1
2-12
The following difficulty arises in the definition of the angle. For two given
half-lines originating from a point, there is not only one rotation mapping the
first onto the second, but rather an infinity of them. Thus the angle is deter
mined by the two half-lines only up to a multiple of 21l' (if angles are measured
in radians). However, this multivaluedness is not reflected in the behavior of
the sine and cosi lle functions, which are uniquely determined by the two given
balf-lines.
The introduction of the angle and its functions cos and sin makes it possible
to express the inner product of vectors in an alternative way.
Theorem 2-8.2. If in
<x, then
Proof. Let v
into
EZ
(X l cos a -
X2
X2
cos a) =
u,
say.
108
cvu
2-8
cu. Then
c(xi + x) cos a.
lvi, and
We substitute the obtained values for Ivl and Iwl and obtain
vw
..
as asserted.
Isometries in E3. Let us turn to the three-dirnensional case. Again we start
with a study of invariant vectors of orthogonal transformations. In a somewhat
more general form we look for a characteristic vector v of an orthogonal transfor
mation LA with matrix A which is sent by LA into a vector AV parallel to v.
Since LA preserves lengths, the chm"acie?"istic root I\. has one of the values 1 01'
- 1 . If A = (aik), we have vA = AV, or with v = (x" X2, Xs) ,
1" =
or
1 , 2, 3,
O.
o.
bs
b33
ISOMETHIES IN E2 AND
2-8
------O----
Figure
)<S
X2
2-13
det B
b"
b23
b32
b33
Figure
LI
=
E3
109
2-14
-1.
1 . Then
is orthogonal and det C = 1. In view of our results in E' this isometry leaves
invariant all points on the XI-axis and only those (Fig. 2-13 ) . A reasonable
name for such an isometL'y is a rotation about the Xl-axis. In E 3 rotations about
2
a point as used in E would be meaningless and all three-dimensional rotations
are assumed to be about a line. Now (b) let A = - 1. Then det C = -1.
In the plane XI = 0 this yields a reflection in some line through the origin,
according to Theorem 2-8.1. If we perform a coordinate change such that e I
is unchangcd and e, falls along the reflecting line, then B becomes
det A
with det C
=
-1.
1. Then
1 10
2-8
- - --- ,
_____
Figure
Figure
2- 1 5
,
,
,
...1
2-16
l .
-lJ
with det C
1.
-1
0 .
-1
ISQMETRIES IN
E2
Figure
AND
E3
111
2-17
all segments joining a point and its in1age point, then we call it a point reflection
(Fig. 2-17). This yields
Theorem 2-8.4. Every opposite isometry in E 3 is either a reflection in a
plane followed by a translation or a rotatory reflection followed by a
translation. Point reflections are a special case of rotatory reflections.
It is a remarkable fact that a point reflection in E3 is an opposite isometry,
while it is direct in E2 . In E2 the point reflection is a rotation through 180,
while in E3 it cannot be considered a rotation at all.
vVe can perform a further classification of the isometries by using invariant
point properties. First we will treat the direct isometries.
Theorem 2-8.5. Every direct isometry in E 3 with an invariant point
rotation about a line.
IS
(2)
X3
Figure 2-18
Corollary. The product of two rotations about lines through the same point
P is itself a rotation about a line through P (Fig. 2-18).
Proof. The determinants of the matrices of orthogonal transformations
multiply with thc transformations, and hence the product of two rotations is
direct. P is invariant under the product of the rotations. Thus we obtain a
112
2-8
direct isometry preserving P which has to be a rotation about a line that con
tains all invariant points including P.
The following theorem is, in a sense, a converse to the corollary, above.
Theorem 2-8.6. If in E a two distinct lines k and l through a point P are given,
then every rotation about a line through P can be generated by rotations
about k and l.
The term "generated " has to be understood here as describing a combination
of rotations by means of multiplications and powers. The rth power (r any real
number) of a rotation through an angle a is the rotation about the same axis
through ra.
[:
[
0
cos a
sm a
o 1[
-sin
-sin f3
ex
cos a
cos Il
cos Il
-cos
sin,(3
."' <a"'
sin
cos Il
.," , j
cos a
'1
.
:
'
-sin a cos {3
cos
cos f3
A point [Xl, X2, X3] is invariant under R, that is, lies on the axis of R, when
X l (COS Il - 1 )
and
X2 (COS a - I)
Xa sin a
O.
[C
sin {3
I - cos ll
JC
sin a
,
I - cos a
for all real c, forming an axis through P. Thus for every given couple a and Il
there exists an axis of R. Are all these axes different for different choices of
couples (x, (3? As representative of the axis points we choose the point [Xl) X J x31
2
with Xa = 1 . Then X l = sin Il/(I - cos Ill . By squaring and substituting
sin2 {3 = 1
cos 2 {3, we get
(xi + 1)
cos2 Il -
2xi cos Il + xi
(xi
- 1
0,
- I)/(xl +
1)
and 1 .
The
ISOMETRIES IN E2
2-8
-- 1 ;;;
x - 1
2
x, 4-
AND
E3
]]3
< 1,
1, 2,
each-point [x" X2 , 1J yields one couple a, fl. Thus there is a one-to-one cor
respondence between all the couples ", i3 and all the lines through the origin
as axes.
There is exactly one rotation R. about k through a and one rotation Sp
about the X 2-axis through i3 such that R.Sp = T has I as axis. Let j be an
arbitrary l ine through P. Again there is one rotation R, about k through
Y and one S, about the x2-axis through Q, such that R,S, has j as axis. Then
Now, R,S, = R,(R_.1')"P is a rotation about j, and every rotation about j
is a power of this expression, which is thus shown to be generated by rotations
about k and I.
Corollary. ('),\- is generated by the rotations about two distinct lines through
the invariant point.
Deflnition. A
Theorem 2-8.7. A direct isomet,"y in E3 without invariant points is either a translation or a screw motion.
X2
Xa
X 2 cos a - X3 sin a + b 2 J
X2 sin a + X3 cos a + b3
Figure
2-19
must not have a solution. This means, by Theorem 2-3.4, that the determinant
cos " -- 1
sm a
-sin a
cos o: - 1
--
O.
2 cos "
0 and consequently
1 14
cos "
O. This implies
2-8
which is a translation.
Case (ii) , b, r' O. Then we have, by Theorem 1-5.2, a rotation about some
line perpendicular to Xl = 0 followed by the translation Xl -> Xl + bl. This
is a screw motion, which completes the proof.
Now we will attack the same questions for opposite isometries.
Theorem 2-8.8. Every opposite isometry of E3 which has an invariant point
is a rotatory reflection.
P,oof. By Theorem 2-8.4, we must distinguish between two cases, (i) the
isometry is a reflection in a plane followed by a translation, (ii) it is a rotatory
reflection followed by a translation.
(i) If the reflecting plane is X l = 0, then we have the isometry in the form
(3)
The existence of an invariant point irnplies b 2 = b3 = 0, while Xl -t -Xl + b i
means a reflection in the plane Xl
bd2 when X2 and X3 are not changed.
Thus, in this case, we get the special case of a rotatory reflection with a zero
rotation.
(ii) may be represented by
=
Xl
---+
-X l + b ll
X2
-t
X2
Xa
-+
COS a
X a sin a + b2)
(4)
Proof (Fig. 2-21). Formula (3) is always a glide reflection because the vector
2-8
lSOMETRIES IN
Figure
Figure
2-20
H2
AND
E3
115
2-21
EXERCISES
6. In
(b) B, C, 0, D
(c) B, 0, C, D.
116
AFFINE
GEOMETRY
2-9
It, would be far beyond the scope of this treatment to discuss the content in all
its generality. This is the task of other theories, e.g., measure theory and theory
of integration. We will confine ourselves to a discussion of the content of the
so-called parallelotopes, replacing Ct 2 by weaker requirements. A two-dimen
sional parallelotope is a parallelogram, a three-dimensional parallelotope is a
parallelepiped, and an n-dimensional parallelotope is defined as a point set
consisting of a point Po and all points obtained from Po by translating it through
vectors CISl + . . . + cnsn, where the sk(k = 1 , . . . , n) are a basis of vn and
where all Ck run through the interval 0 ;:;; Ck ;:;; 1. We denote the content of
the parallelotope by p.(s j , . . . , sn)' This content does not depend on the choice
of Po because, by Ct 4, it is not affected by isometries, and hence certainly
not by translations which leave the Sk unchanged. Postulate Ct 3 now reads
p.(e" . . . , en)
1.
CONTENT. ORIENTATION
2- 9
117
The significance of Ct 2" is simple. If any one of the "edge vectors" Sk of the
parallelotope is multiplied by a scalar c, then the content also is multiplied
by lei. The meaning of Ct 2' will be illustrated (Fig. 2-22) for n = 2. The
parallelograms PoP,P 2Pa , with edge vectors s, and S2, and POP,P.P 2 , with
edge vectors s, and s, + S 2 , have equal areas by Ct 2'.
...
1
,
Figure
,J
2-22
I'(S 1 A , . . . , snA) - de
=
JS 1:
I.SnA
Idet BI
Idet BAI
Idet Bl ldet A I
I'(s" . . . , Sn),
1.
as a scalar function of
lowing postulates.
,I
118
2-9
r!=-
j.
Proof.
= l.
Pk
[Xk, Yk], k
--t
ax - by + e,
y -> bx + a:y + f,
where a and b are not both zero?
It should be noted that in complex notation this similitude could be written
as z -> (a + bi)z + (e + ji) , with z = x + iy.
The edge vectors of the parallelogram are
81
==
82
==
det
(Xl - Xo,
YI - Yo),
(X2 - X O , Y2 - Yo) ,
[Xl
- Xo
Yl - YO
X, - Xo
y, - Yo
'
2-9
COXTENT.
ORIEN'rATION
119
ax. - by. + e
Xk, bXk + ay. + f
a(Xl - xo) - b(Yl - Yo) b(Xl - xo) a(Yl - Yo)]1
[
a(y, - Yo)
I a(x, - xo) - b(y, - Yo) b(x,
I [X2Xl -- XoXo YY2l -- YoYo] [-ba ab]1 e(a' + b'),
and
det
- xo)
det
Orientation. In the second part of this section we shall deal with a concept
tnat has been mentioned in Section 1-4, the
There we discussed the
equal or different orientation of congruent triangles. However, this restriction
of the orientation concept to euclidean geometry and to two dimensions is not
necessary. The following more general definition will be seen to contain the
treatment of Section 1-4 as a special case.
Let an arbitrary basis of V" be given. Then for every basis of V" there
exists a well-defined n-dimensional affinity which takes the first basis into the
second basis. If the transformation is direct, the bases are said to have the same
orientation 01' to be equally oriented. If the transformation is opposite, the
bases are called differently oriented. An equivalent treatment would speak
about n-simplexes that are taken into each other by transformations of a".
Thus equally oriented simplexes are mapped on each other by direct affinities.
orientation.
Theorem 2-9.3. The baes of V" (01' the n-simplexes of A") are divided into
2 classes such that any two elements of the same class are equally oriented,
and that any two elements from different classes are differently oriented.
Any interchange of two of the vectors in the basis (simplex) changes the
orientation.
Proof.
B" B" B3 B l - B" B l - B,
B, - B3 B B l - B3.
B',
B,B - B1,
B' B
B
B1 .- B,
B'
120
2-9
Figure
2-23
----"7if--- x
,
Equally
oriented
,
Differently
oriented
Figure
---71"---- ,
y
Figure
2-24
2-25
EXEHCISES
1.
Prove: The volume of a tetrahedron in E3 with vertices [Xi, Yi, Zi] and with
i
1, 2, 3, 4, is the absolute value of
=
XI
YI
Z,
1 X2
6 X3
Yz
22
Y3
Z3
y,
Z4
X4
Z-9
CONTENT.
ORIENTATION
121
X,
YI
X2
Yz
X3
Y3
X,
Y1
X,
Y2
<..
Xl
y,
Z,
X2
Y2
Z,
Xa
Ya
23
1 , 2, in E', is
o.
1 , 2, 3, in E3 is
o.
4.
Draw figures and test the smallest positive angle leading from the first
basis vector of each basis to the second vector.
7. Prove : A basis f,
ae , + be" f, = ee, + de, of V' has the same orien
tation as the orthonormal basis e " e2 if and only if sin 1: f,f, > O .
8. Prove: A simplex spanned by VI, . . . , V has the saIne orientation as the
n
simplex spanned by the ordered basis vectors if and only if the determinant
having Vb ' . . , Vn as ordered rows is positive.
9. Two points P and Q are defined to lie on different sides of a line I (in A')
or a plane p (in A 3) if the line PQ meets I (or p) in a point R such that R
lies between P and Q. Prove (a) that P and Q lie on different sides of a line
=
122
2-10
AB if and llnly if the triangles ABP and ABQ have different orientation,
(h) that P and Q lie on different sides of a plane determined by three non
collinear points A, B, and C if and only if the tetrahedra ABCP and ABCQ
have different orientation.
10. Let P be the vertex o[ an angle .!f:,kl in E2, and let Q and R be points lying
on the two sides of the angle. If the orientation of PQR is like that of
0[1, 0)[0, 1], call the angle positive. Show that the sine of a positive angle
is positive.
2-10
In this section we shall discuss affine planes over certain special finite fields.
Theorem 2-10. 1 . For p a prime integer, the integers mod
wbich has p elements.
form a field
This field is called GF(p), as a special case of the more complicated GF(pn)
[01' integers n ;::: 1. (The abbreviation is short [or Galois field, another term
[or a finite field, named for the French mathematician l1:variste Galois, 18111832) .
Proof. In order to prove the validity o[ the field properties, consider the p
numbers 0, 1, . . . I P
1 as representatives of their classes which form the set
S. Then it is easy to show that the postUlates Fd 1 , 2, 4, and 5 are satisfied. For
Fd 3, the only difficulty arises regarding the existence of the multiplicative
inverse. Let a be nonzero, that is, not divisible by p. Consider all ab where b
ranges through all the p
1 nonzero elements. All these ab are distinct be
cause if ab = ac, then a(b - c) is divisible by p. But since a is not divisible
by p, b
c must be a multiple of p. But then b
c, mod p. Hence ab = ac
if and only i[ b
c, and aU the ab are distinct. There are p
1 of them and
none o[ them is 0 because a and b are nonzero. But then ab assumes as values
all p
1 elements of S, and among them 1 , and in this case b is the inverse of a.
Remark. Had we taken a composite number instead of p, this proof would
have been impossible. Namely, modulo a composite number, say m = pq,
there are at least two integers p and q, both positive and <m, whose product is
m.
On the other hand, there are finite fields with a composite number o[ ele
ments, but they will not be discussed here.
-
EXAMPLE.
o
1
o 1
1 0
and
o
1
o 0
o 1
2-10
123
Now consider the two-dimensional vector space over GF(p) and call it
V'(p). Each ordered couple of elements of GF(p) is a vector of V'(p) or a point
of the affine plane A '(p), which sometimes is designated AG(2, p), for "affine
geometry of dimension 2 over GF(p) . " Since GF(p) has p elements, there are
p' vectors and therefore p' points. By Theorem 2-4.10, straight lines have
the equations
alX I + a'X2 + ao = O.
( 1)
If a,
r!
O.
O.
2
There is no straight line for al = a2 = O. Hence there is a total of p + p
lines.
In Eq. (1) all p elements of GF(p) can be substituted for X l > and for each of
them a value of X2 is obtained. Hence every line contains p points. On the
other hand, through every point leI, C2] there is a line Xl = c, and p lines
X2 - C2 = m(x,
Cl), one for each possible value of m. All these p + 1
lines through [c" c,] are distinct.
We surnmarize.
-
Theorem 2-10.2. For every GF(p) there is an affine plane whose points are
2
2
the p ordered couples [x" X2] with Xl> X2 E GF(p). This plane has p + p
distinct lines. Through each point pass p + 1 lines, and on each line lie
p points.
How can we visualize these finite geometries? Let us deal with the simple
cases p = 2 and p = 3. For p = 2 there are 4 points, 0, B, C, and D. There
are 6 lines, OB, BC, CD, OD, OC, and BD. If II means "parallel, " then OBIICD,
ODIIBC, and, surprisingly, OCIIBD. The two diagonals of the quadrangle OBCD
are, therefore, parallel. If 0
[0, 0], B = [1, 0], C = [1, 1], and D = [0, 1],
then the equations of OC and BD are, respectively, Xl + Xz
0 and Xl +
Xz + 1 = 0, and it is analytically obvious that they are parallel.
Indeed they
do not have any point in common. In Fig. 2-26 all the points which bear the
same name have to be considered as abstractly identical. These relations will
be recognized more clearly if we draw the plane on the surface of a doughnut
shaped "torus " (Fig. 2-27).
In the case p = 3, there are 9 points, 0, B, C, D, E, F, G, II, J. The 12 lines,
arranged in four groups of parallel triples, are OBCIIDEFII GHJ, ODGIIBEIIIICFJ,
OEJIIBFGIICDII, and CEGIIOFHIIBDJ. In order not to confuse the figure,
the lines in Fig. 2-28 have not been drawn in all possible positions. Once more
a clearer understanding could be obtained by drawing the figure on a torus.
=
124
2-10
GEOMETRY
C-
C --'---
,D
//
/
,/
B:I---on---
/
/
,
,/
i----1 O
Figure
J)
Figure
2-26
2-27
Figure
2-28
There, for instance, the segment ODG could be extended beyond G to reach
o from the other side, and no abstract identification of points would be necessary.
The planes exhibited here are not all possible finite planes over Galois fields.
There is a Galois field of order q whenever q is a power of a prime number.
However, when q is not a prime, the geometry of the finite plane is more corn
plicated than the simple case studied by us. As an example, here are the addi
tion and multiplication tables of GF(22).
0 1 2 3
0 1
1 0
2 3
3 2
2
3
2 3
3 2
0 1
1 0
0 1 2 3
0
1
2
3
0
0
0
0
0 0
1 2
2 3
3 1
0
3
1
2
2-10
125
negative element of the field. This is impossible for Galois fields because posi
tiveness of an element cannot be properly defined (2 = - I , mod 3, is it posi
tive?). Moreover, there exist elements in every Galois field that do not have a
square root, e.g . , mod 3, 2 does not have a square root.
In the same manner as affine planes over Galois fields, affine n-spaces over
Galois fields can be constructed. This will not be attempted here.
EXERCISES
0, 2XI + X2
0, and Xl - 3X2 + 1
CHAPTER
Projective Geometry
and Noneuclidean Geometries
Basic facts. When the concept of affine n-space was introduced, the starting
point was an abstract n-dimensional vector space. In order to define projective
n-space, we start from an (n + 1)-din1ensional vector space Vn+1 over a field Ie
Every two vectors v and w of Vn+1 will be considered as "projectively equiva
lent " jf they are linearly dependent, that is, if there is a scalar r '" 0 such
(hat w = ,v. Obviously this equivalence satisfies Ev 1 through 3 of page 12,
and the vectors of Vn+ 1 are thus partitioned into equivalence classes. The
null vector forms a class by itself. If a class contains a vector v, it will be
called [vJ . Evidently [vJ = [rvJ for all nonzero scalars 1". Each class distinct
from [OJ is called a projective po int . The set of all projective points in ]1"+1 is
said to be the project.;ve n-space over K, denoted pn (K) or, for short, po. Thus
126
3-1
PROJECTIVE SPACES
127
Theorem 3-1 . 1 .
Here we have 3 + dim (SI n S2) = 2 + 2, and conseqnently dim (SI n S,) = 1.
This means that 81 and S2 share a common one-dimensional subspace, that is,
one common point.
Corollary.
In e;very p n(n > 0), any two distinct points belong to exactly
one line.
Homogeneous coordinates and duality. We need a suitable systein of co
n
ordinates for pt. First we choose a basis eo, ..., e of V +l. Then every
n
point of p n can be represented in the form [xl = [Lo x;e;]. We call the point
[x] or [xo, ..., xn] if xo, . . . , X are the components of x. The numbers
n
xo, . . . ,. Xn are the homogeneous coordinates of the point [x]. These coordinates
are not determined uniquely because multiplication of all coordinates with any
fixed nonzero scalar would yield the same point. Thus a point is represented
by the ratio of the coordinates xo: Xl : . . . : X . Conversely, the ratio of every
n
(n + I)-tuple of scalars, not all of which are zero, determines a unique point
oIpn.
Let [xl = [xo, ... , xn], ..., [zl = [zo, ..., Zn] be n + I points of P" which
lie in the same hyperplane. This means that [x], . . . , [zl are all contained in the
""l
128
x,
3-1
. , . ,z are linearly
- o.
(1)
We have, therefore,
In pn, n + I points [x] = [xo, ... , xnl. . . . ,[z] = [zo, ... ,zn]
belong to the same hyperplane if and only if Eq. (1) holds.
Theorem 3-1.2.
Corollary 1 .
Proof.
[ y]
or
X2
Y2 = 0,
Z2
All the coefficients Uj vanish only in the case when y and z are linearly dependent,
that is, when [y] and [z] coincide. On the other hand, if [x] is not in the plane,
x, y, and z could not be linearly dependent and the determinant would not
vanish. This completes the proof.
The corollary implies that there is a one-to-one correspondence between the
lines of p2 and the nonzero ordered triples of scalars, if proportional triples are
considered identical. The same was true about thc points of po. Just as a
point [xo, XI, X2] is determined by the ratio of the three homogeneous coordi
nates Xo, Xl, and X2, a line is given when the ratio of its three homogeneous line
coordinates Uo, UtJ and U2 is known. In complete analogy to the homogeneous
point coordinates, the line will be denoted by (u) = (uo , Ulo U2). SO far as
incidence of points and lines in p2 is concerned, points and lines play exactly
the same roles, and every statement about incidence of points and lines in the
plane will remain true if the words "point" and "line" are interchanged. This
is the so-called duality prncple in the projective plane, and a statement after
the interchange will be called the dual statement.
When a theorem involving only incidence has been found, the dual theorem,
that is, that theorem in which the words "point" and llline" have been inter
changed, is automatically true. This might require simple grammatical changes.
For instance, uTwo distinct points lie on exactly one line" might sound un
wieldy in the translation, I'Two lines lie on exactly one point," and we might
replace Illie on 11 by "pass through" or "have . . . in common. " The advantage
3-1
PROJEC'l'IVE SPACES
129
of the term lIincident" is that it expresses a mutual relation between point and
line and does not have to be replaced when an interchange is desired. The two
parts of Theorem 3-1.1 can then be joined and rephrased :
P oints
line "
Corollary 2 .
( l
130
3-1
have a bijective mapping of all these points of pn onto all points of An, namely
[1, YI, .. . ,Ynl E pn corresponds to [YI, ..., Ynl E An. There are no points
in An which correspond to the points of the second kind in pn.
In order to show that the described mapping is meaningful, we will prove that
it preserves incidence. We perform the proof for pZ and A2 . For higher dimen
sions the proof is analogous.
Suppose the three points [XoJ Xl, xzl, [Yo,YI, Y2L and [zo, ZI, Z2 ] with nonzero
Xo, Yo, and Zo are collinear. Then, by Theorem 3-1.2,
Xo XI Xz
0 = Yo Y1 Yz
Zo
Xo Yo Zo 1 ydyo YzIyo
Zz
Z1
xdxo x';xo
zdzo
z' ;zo
and therefore
1
xd xo x21xo
ydyo Yzlyo
zdzo
o.
zz lzo
3-1
PROJECTIVE SPACES
131
point. Therefore, in the affine model of the projective plane, all parallel lines
meet in exactly one improper point, and every improper point is the meeting
point of a line and aU its parallels. Thus every two lines intersect in exactly one
point, in accordance with Theorem 3-1.1. The analog of this situation in A 3
is that all planes parallel to a fixed plane contain exactly one improper line,
and every improper line is common to a set of parallel planes.
We have proved the following:
Theorem 3-1.3.
The augmented affine plane and the augmented affine three-space are co
ordinatized by homogeneous coordinates which are identical with the COITe
sponding homogeneous coordinates of p' or p"- The usual affine coordinates
are sometimes called nonh01nogeneous coordinates.
The construction of the augmented affine plane is independent of the coordi
nate system. It is performed by assigning an improper point to each of the
possible slopes of lines, including the "slope 00 " of the lines x I = const, and by
assuming that all the improper points lie on an improper line. On the other hand,
when p2 is given, the corresponding affine plane and its improper line do depend
on the choice of the coordinate system. In p2 all lines are equivalent, in that
each can be chosen arbitrarily as the line Xo = 0 , so that in the model its image
becomes the improper line. This explains the often-heard statement that
"p2 becomes A 2 after the removal of one line. " An analogous situation holds
in higher dimensions.
The word "augmented " will sometimes be omitted when no ambiguity results.
Thus we might mention improper points in an affine space although, properly
speaking, there is no such thing unless the space is augmented.
The real projective plane. We will attempt to study the augmented affine
plane over the real field in order to obtain information about the real projective
plane, denoted p2(R). Let a straight line in the plane be given by two proper
points on it, say [xo, Xl, X 2] and [Yo, Yt, Y 2]' Then every point on the line except
fy] can be represented as [xo + ryo, Xl + ryI, X, + ry,] by suitable choice of
132
r.
For
For
3-1
,. = -xo/Yo
[z].
[z']
[<Yo, X, - xoY';Yo
[z"]
[zl
JzJ
Iz'J
Figure 3-1
Figure 3-2
We will conclude this section with a few topological observations which should
serve to clarify some concepts, although no proofs will be given. The euclidean
plane is separated into two half-planes by every straight line, and it is impossible
tn gct from one half-plane to the other on a continuous curve without crossing
the line. In P2(R) this is not so (Fig. 3-2). No line in p2(R) separates p2(R).
That is, given a line in p2(R) and two points not on it, there is a continuous
path, namely a straight line segment, containing both points but not inter
secting the line. In other words, a line has only one side in p2(R). In oi'der to
cut this projective plane into two disjoint pieces we therefore need, in addition
to the first straight line, one other line. If on a surface at most k closed curves
are possible which do not cut the surface into disjoint pieces, we say that the
surface is (k + 1)-ply connected. Thus P2(R) is doubly connected (k = 1).
The euclidean plane, however, is simply connected (k = 0). If a disk (that is,
a circle and all its interior points) is cut out of the projective plane, it can be
3-1
PROJECTIVE SPACES
133
134
3-1
Figure 3-4
(c)
(b)
(3)
Figure 3-5
3
4
(a) Front
(b)
Rear, as seen
from front
Figure 3-6
'
=----
Q '
'------
Figure 3-8
Figure 3-7
'"'
I,
(3) Preimage in
11"
Figure 3-9
3-1
PROJECTIVE SPACES
135
Y
y = are mapped on improper points, and the
plane y = meets the plane y = 1 in the improper
line. This is the so-called bundle model of p 2 (R).
The bundle model can be clarified by an abstract
identification of antipodal points of a circle or a
x
sphere. If the bundle is intersected by the unit
circle or the unit sphere, respectively, the points of
intersection on the circle (in pairs) represent the
points of P '(R), and the pairs of antipodal points
on the sphere represent the points of p 2 (R). A
Figur. 3-10
homeomorphic modification of this model for
p 2 (R) would be a hemisphere with only the points on its boundary antipodally
identified; or equivalently, a rectangle with antipodally identified boundary
points. The result is again Fig. 3--4 or 3-7.
EXERCISES
l . Prove: Every two distinct projective planes in p3 have precisely one line
common.
Prove: If two points of p3 lie in a plane, then every point of their join
also lies in this plane.
Prove Corollary 2 of Theorem 3-l.2.
Find
(a) the equation of the projective line joining the points 12, 1,3] and
13, 0, 1] of p 2 (R)
(b) the point on this line which corresponds to an improper point in the
augmented A2 (R).
Let [x] = [1, 3, 1] and [y] = [0, 2, 1].
(a) Show that [z] = [1, - 1 , -1] lies on the join of [x] and [y].
(b) Find a representation such that [z] = [x + y], and another such that
[x] = [y + z].
Find the equation of the plane through the points [0,0, 1, 0], [0, 1 , 0, 1],
and [1, 1, 1 , 1] in p3 (R).
Write each of the following equations of conics in A 2 (R) in homogeneous
coordinates. Which improper points does each conic contain when A2 (R)
is augmented ?
(a) x 2 + y2 - 2x = 3
(b) x 2 - 3y2 - 2xy =
2
2
(c) 3x + 4y - 2x + 1 =
(d) x 2 - 2xy + y 2 - Y = l.
Find the homogeneous coordinates of the following points of p3(R).
(a) the origin
(b) the point on the x2-axis which corresponds to an improper point
(c) the point with nonhomogeneous coordinates [1, 1, 1 ]
(d) the point where the join of the origin and the point of (c) intersects
the improper plane of A 3(R).
111
2.
3.
4.
5.
6.
7.
8.
'.
"
136
3-2
9. Which are the improper points of the point sets described by the following
equations when A3(R) is augmented ?
(b) x2 + y2 + z2 - 2x =
(a) x - 2y + 3z = 4
z
(c) xy
l.
(d) x2 + y 2 - Z 2
=
lO.
1l.
12.
13.
14.
3-2
137
Theorem 3-2 . 1 .
Theorem 3-2.3.
Corollary.
*
138
3-2
Theorem 3-2.4.
and
rx o
aooxo
Since det (a,.) "" 0, necessarily aoo "" O. What happens to those points of p n
which can be considered also as proper points of An? None of these becomes
an improper point because x = aooxo/j' r' O. For all proper points we may
write
xj/X6 =
2:
k
(ajkxk)/(aOOxo).
an'
all
a'n
ann
an'
ann
a'n - aoo
all/aOO
aln!aOO
ant/aoo
ann/aoo
and therefore det (aj./aoo) "" O. Thus all the projectivities which leave Xo = 0
invariant are affinities and form a group. However, every affinity can be ob
tained from a projectivity by replacing the homogeneous coordinate Xj by
Xj/xo and by putting x = Xo. Hence the group is (in.
In p n, let two ordered (n + 2)-tuples of points be given
such that in neither of them n + 1 points lie in the same hyperplane.
Then there exists one and only one projectivity which takes one (n + 2)
tuple into the other.
Theorem 3-2.5.
n + 2 invariant points, no
which lie in a hyperplane, then the projectivity is the identity.
+ 1 of
3-2
11
139
Proof. At first we will show that there is a unique projectivity taking the
+ 2 special points
Qo
Q.
[1, 0, . . . , 0],
[0, 0, . .. , 1],
and
[1, 1, . . . , 1]
[alO,"" a'n], . . . ,
into the arbitrary points lao] [aoo,,aon], [ad
[an]
[ ano, ... , ann], and [b] lbo, ... ,bn], respectively, such that no
n + 1 of the image points are in the same hyperplane. Considering only the
first n + 1 points and their images, we obtain a projectivity with 1l.1atrix
OOTO
L :
anOTn
aOITo .. .
antTn
aOjTO + . + anj1'fl
.
bj,
with j = 0, . .. , n.
140
3-2
T,
ctj
Theorem 3-2.6.
3-2
141
'.
,
,
.J
142
3-3
5. What is the matrix of the projectivity which takes the special reference
points Qo, Q" Q 2 , Q3, U of Theorem 3-2.6 into [1, 1, 0, 0], [0, 0, 1 , 1],
[0, 1 , 1 , 0], [1, 0, 0, 0], and [1, 2, 3, 4], respectively?
6. (a) Show that the plane projectivities which preserve the special reference
points Qo, Q" and Q 2 are affinities.
(b) Describe these affinities.
(c) Generalize the result for n dimeusions.
7. Find all involutory projectivities of P ' .
8. Find the two-dimensional projectivities that leave the line (1, 1 , 1 ) point
9.
10.
11.
12.
3-3
wise invariant.
Qo = [2, 3], Q, = [1, 1], and U = [0, 1] are the reference points of a coordi
nate system in P ' (R).
(a) Find the projective coordinates of P = [4, 5].
(b) What are the projective coordinates of P in a system with Qo = [1, 0],
Q, = [0, 1], and U = [1, I]?
Let Qo = [1, - 1 , 2], Q, = [1, 0, 1], Q2 = [0, 2, 1], and U = [1, 0, 4] be
the reference points of a coordinate system. Find the projective coordinates
of [-1, 1 , -1].
Dualize Theorem 3-2.6 with particular attention to the cases n = 2 and
n = 3.
Dualize Theorem 3-2.5. In particular, formulate the dual statement for
n = 2 and n = 3.
THE CROSS RATIO AND ITS APPLICATIONS
Cross ratio and coordinates in pl. In order to better understand the concept
of projective coordinates, we will establish a connection between them and the
cross ratio. The cross ratio was introduced in Section 1-8, but there we used
the concept of distance, which has no meaning in projective geometry. We
will define the cross ratio without using distances, and it will be shown that the
definitions are equivalent in the pertinent cases. The cross ratio of four collinear
points will turn out to be a projective invariant.
Let Qo, Q" and U be the reference points of a projective coordinate system
in p i ; that is, on a projective line. Let W be a point on the line, not coinciding
with Q , . Let Qo = [qo], Q, = [q,] , U = [u], W = [w], u = 'oqo + ',q " and
w = "oqo + "lq, The projective coordinates of W are "0/'0 and 01';." and
their ratio is invariant under all projectivities of pl. This ratio
'"
Q"
010
cannot vanisb,
3-3
Theorem 3-3 . 1 .
143
projectivities.
P,oof. Theorem 3-2.7.
Consider the special case in which all four points Qo, QIo W, and U are proper
points of the augmented A I Then we may put qo = [ 1 , go) , q, = [ 1 , gd ,
u = [1, u], and w = [1, w]. We have then
[u]
[w]
ao [l, qo]
+ a,[l , qil
[1, u],
+ a,qil = [ 1 , w] .
u - qo
g, - qo
Hence
(QoQ ,I WU)
(qo - w) (q, - u) .
(qo - u)(q, - w)
(1 )
On the euclidean line this expression involves four segments and coincides
exactly with the definition of the cross ratio in Section 1-8, when applied to
collinear points.
Another case we will discuss is that in which Qo = [1, 0] is the origin,
[1, w] a proper point of the augmented
U = [1, 1] the unit point, and W
A ' , while Q , = [0, 1] is its improper point. Then, with Eo , E l o ao , and a, having
the same meaning as above, we obtain E O = E l = a o = 1 and c q = W, and
therefore
=
atlE,
- - w.
(QoQ , I W U) - a o / Eo _
Thus in this special case the cross ratio turns out to be the nonhomogeneous
affine coordinate of W. Since every triple Qo , QIo U, of points of p ' can be
mapped onto the points [1, 0] , [0, 1), and [ 1, 1] by a projectivity, the cross
ratio (QoQtlWU), which is invariant under this projectivity, can be defined as
the nonhomogeneous coordinate of W after this projectivity has been performed.
144
3-3
Corollary.
For the three given points can be transformed into Qo [1, 0], Ql
[0, 1],
and U [1, 1], respectively, and there is a point for every value of the non
homogeneous coordinate. In particular, we obtain c = 0 for W = Qo and c = 1
for W
U. The only point on the line that does not have a nonhomogeneous
coordinate is Q l and, indeed, in the case W Q" Eq. (1) does not yield any
result for c. In order to take care of this case, we say that
. This is a purely symbolic notation which, on the other hand, becomes meaningful
l
[0, 1] Ql.
in P (R) when we recall that lim W " [1, w]
If e
(B 1 B2IB3B,) and if B " B2, B3, and B, are distinct,
then (B,B1IB3B,) (B1B2I B,B3) l/e.
Theorem 3-3.3.
Corollary.
If (B1B2IB3B,)
3-3
145
higher-dimensional projectivity 7r. For p' will be carried by 7r into some one
dimensional projective snbspace of P" and 7r will induce a projectivity in this
subspace.
Theorem 3-3.4.
Proof. Obviously there exists a projectivity, say 7r, which takes l into Ie.
Let Qj1r = Rj. By Theorem 3-2.5, there is a unique pl'ojectivity -rr' frorn (p t
such that R;7r' = Rj. Hence Qj7r7r' = Rj and a = 7r7r'. By Theorem 3-3.1,
Proof (Fig. 3-1 1). We may assume that the four lines are oQo, oQ" oW,
and oU, as defined above. In any other case a projectivity exists which maps
any four concurrent lines with cross ratio 'W on oQo J OQ 1 , aW, and aU, as a
consequence of the dual of Theorems 3-2.5 and 3-3.4. A simple computation
shows that the four lines intersect the line x , = in the points Q , = [0, 1, 0],
Qo = [1 , 0, 0], B
[w, -1, 0], and C = [1, - 1 , OJ, respectively. In order to
=
146
3-3
compute (Q,QoJEC), we may ignore the third coordinate for all points. The
vectors of Q I and Qo are, respectively, e I and eo. The vector of E is weo - e I ,
and that of C is e o - elo Consequently, ao = -I, a l = 'lV, EO = -I, E l = I ,
and the cross ratio is
(Q,Qo[EC)
a,f.,
0<0/ '0
w/ 1
-1 / -1
= w.
Corollary. 1 .
(K;K;[ K ; K ;).
A mapping of points K j of one line onto points K; of another line such that
all lines joining Kj and K; pass through a point S is called a point perspectivity.
The corollary can now be expressed : The cross ratio of four collinear points is
preserved under point perspectivities.
Corollary 2.
With the help of the above theorem we are able to describe a construction for
finding the fourth harmonic to a given triple of collinear points in P'(R).
The following convention will be used : BC is the join of the points B and C,
and b X c is the point of intersection of the lines b and c.
Construction of the fourth harmonic (Fig. 3-13). Let B" B " and Ba he distinct
collinear points and S any point not on the line B,B,. Choose any point C on
B,S distinct from B, and S. Let B,C X SB3 = D, B,D X SB,
E, and
CE X B,B, = E . Then B. is the desired fourth harmonic
=
PToof. All the points and lines constructed lie in one plane. Hence Theorem
3-l . 1 applies, and the points of intersection and the joins exist unless two inter
secting lines or two points to be joined coincide. This cannot happen, as can be
verified. For instance, B, '" C because S is not on B ,B, ; therefore SE, '" B ,B,
and SB 1 X B,B, = B, is the only common point of the two lines. But
C = B, would be another common point. As another example, check B,C '"
s
Figure 3-12
,
\
\
\
\
,
\
,
\
\
,
\
\
\
\
,
'
\
..... ....
Figure 3-13
3-3
147
SB3. We know that B2 "" Ba. If B2C = SB3, then B 2 , B3, C, and S are col
linear; that is, S lies on B2Ba J which is a contradiction.
Now we approach the actual proof. By repeated use of Theorem 3-3.5, we
obtain
(B,B2IBaB,) = (SB1, SB2ISB3, SB,) = (SC, SEISF, SB,)
= (CEIFB,) = (DC, DEIDF, DB,) = (DB2' DB,IDBa, DB,)
= (B2B,IBaB,) = e, say.
By Theorem 3-3.3, e = l/e, and hence e = 1. The value c = 1 cannot
occur unless Ba = B,. But this would imply FBa = FB, = FC = FS, and
hence C = S, a contradiction to the construction rule. The remaining possi
bility is e = -1, which makes B, the fourth harmonic as required.
A direct consequence of the construction of the fourth harmonic in P 2 (R) is
Theorem 3-3.6
Four distinct lines, n o three of which are concurrent, and all six points of
intersection form a complete quadrilateral. The six points are called its vertices,
the four lines its sides. In Theorem 3-3.6, the vertices are C, D, E, S, B1, and
B2 ; SD and CE are two of the diagonals of the complete quadrilateral.
The above theorem implies Theorem 3-3.7, which will involve only incidences
of points and lines and will not use any other concept, such as the value of a
cross ratio. Such a theorem is called an incidence tMorem.
s
Figure 3-14
Theorem 3-3.7
....
148
3-3
EXERCISES
l . (a) Show that (ABICD) = c assumes the six different values c, l/c, 1 - c,
1/(1 - c) , 1 - l/e, c/(e - 1) under all the possible permutations of
A, E, C, and D, and list the 24 cases.
(AEICE).
3-4
PHOJECTIVITIES IN pi AKD p2
1-19
5]
Evaluate (ABICD) .
5. The following lines in P'(R) are given by their equations, I, : x, + X 2 = 0,
12 : Xo = 0, and 13 : 3xo + 2x, + 2x, = 0. Find the equation of I, such
that (1,lzI131,) = -3.
6. Generalize the cross-ratio concept so as to define a cross ratio of planes.
What is the statement corresponding to Theorem 3-3.5?
-
point of the line A '(R), prove that C is the midpoint of the segment
AB if and only if (ABICD) = - I .
(b) Dualize the statement for the plane.
S. (a) What becomes of the cross ratio (ABICD) of four collinear points
when D is the improper point of the line AB?
(b) Use your answer to (a) for showing that Theorem 2-4.13 is but a special
case of Theorem 3-3.1.
9. (a) Prove that the cross ratio of four concurrent lines in E 2 is equal to the
cross ratio (in the sense of Section 1-S) of their slopes with respect to
an orthonormal system.
(b) Find (1,lzI/3 /,) if in an orthonormal system the equations of the lines
are ll : Y = 0, l2: x = 0, la : Y = 1nx, and l4 : Y = x.
(e) Eow would you define the "slope" of a line in p Z with respect to a
projective coordinate system ?
10. In the proof for the construction of the fourth harmonic, elaborate all the
possible coincidences of points and lines.
1 1. Describe the construction of the fourth harmonic line when three distinct
concurrent lines are given.
12. Dualize Theorems 3-3.6 and 3-3.7. (The dual of a complete quadrilateral
is called a complete quadrangle.)
13. What is the affine specialization of Theorem 3-3.6 which results from
choosing CDES such that SB, is the improper line?
14. If in P' (R), for a nonidentical one-dimensional involutory projectivity 7r,
A7r = A and B7r = B, and if A, B, and C are distinct, prove that
3-4
- 1.
150
3-4
z
(az + b)j(cz + d) or cz2 + zed - a) - b = O. By distinguishing the
possible values of the discriminant of this equation we obtain the following
theorem.
=
Theorem 3-4. 1 .
0,
O.
This is possible if and only if det [(alk) - r13] = O. As we said in Sections 2-3
and 2-8, this involves finding the characteristic root r of the matrix (alk). Now
r
a oo
aOt
alO
al l azo
a21
a02
a12
aZ2 -
= 0
is a cubic equation in r with real coefficients. Such an equation has one real
solution or two or three real solutions. It cannot happen that it ,has no real
solutions at all. There is, therefore, at least one characteristic vector with
components XO J X I , X 2 Of, in other words, an invariant point [xo J Xl, X 2 ] ' Thus, in
contrast to projectivities of the line, we have:
Theorem 3-4.2.
point.
In view of Theorem 3-2.3, the theorem can be dualized to:
Theorem 3-4.3.
line.
PROJECTIVITIES IN p I AND
3-4
p2
151
Theorem 3-4.4. Every perspectivity, not the identity, has exactly one center
and exact1y one pointwise-invariant line, called its
axis.
Proof. In view of applications in Chapter 4, the proof will not use any proper
ties 01 projectivities beyond the fact that they are collineations.
The first step of the proof will deal with the uniqueness of the center and the
Suppose that the perspectivity has a center C and two invariant lines
axis.
I.
. ''6
In the case where no invariant lines exist other than those through C, let Ie
- I"
Let (k X k,,)C
l.
Then
X I = k X I.
Thus every line not through C has precisely one invariant point, namely its
intersection with its image under
a.
the invariant point of anothel' such line is an invariant line and must pass
through C. This join is, therefore, I. Conversely, every point of
I is the invariant
2
Corollary I . A nonidentical perspectivity in p has no invariant points besides
its center and the points on its axis.
The dual of Theorem
Corollary 2.
3-4.4
if it is a perspectivity.
152
Theorem 3-4.5.
I
I
.1
I
,
II
3-4
Proof. When two minor perspectivities with the same axis are multiplied,
all the points of the axis are preserved. The factors do not have any invariant
points outside the axis. If the product has such an invariant point Q, then for
every point R on the axis, the line QR is invariant. Hence Q would be a second
center, which is impossible unless the product is the identity. This proves the
closure. The inverse 7r-1 of a minor perspectivity 7r obviously preserves all
points of the axis. If it had an invariant point Q outside the axis, then Q =
Q7r- l 7r = Q7r, a contradiction. Hence it is a minor perspectivity. Finally,
the identity is a minor perspectivity.
We shall make the dual statement as follows.
Corollary 1 .
1
:
ii
Corollary 2.
Theorem 3-4.6
Pmoj. The lines SAA', SBB', and SCC' are distinct. (If two coincided, the
theorem would be trivially true.) Neither of the quadruples SABC and SA'B'C'
contains collinear triples, and there exists a unique projectivity a such that
...
3-4
pt
PROJECTIVITIES IN
F
AND
p2
153
, ,
.1 :1
,
'.
':
A'
i .
. !.
Figure 3-17
Figure 3-16
AB X A'B',
AC X A'C',
and
BC X B'C'
A'
Figure 3-18
A'
Figure 3-19
A special position for Desargues' theorem is the one in which the axis of ex
is the in1proper line of an affine plane. This is the so-called affine Desargues
theorem (Fig. 3-18). If in this case ex is major, it is a dilatation. If it is minor,
so that the center also is irnpl'Oper, then a is a translation and we obtain the
minor affine Desargues theorem (Fig. 3-19).
.1
.
.,
,.
'd
154
3-4
c
I
I
Figure 3-21
Figure 3-20
Theorem 3-4.7
collinear.
Proof. Let a be the perspectivity with center A which takes the points of
A'B into those of A'B'. If S = AB X A'B', R = AC' X A'B, and T
BC' X A'C, then we have a : B 8, R C', D B', and A' A'. Now
let fJ be the perspectivity with center C, mapping the points of A'B' on those
of BC'. Then fJ : S -> B, C' -> C', B' -> F, and A' -> T. The projectivity
a{3 therefore maps B on B, R on C', D on F, and A' on T. Now consider the
perspectivity 7r with center E carrying the points of A' B into those of BC'.
It yields 7r : B -> B, R -> C', and A' -> T. When we compare afJ and 7r,
Theorem 3-3.4 implies D7r
DafJ = F, and since 7r is a perspectivity with
center E, the points D, E, and F have to be collinear.
=
The dual of Pappus' theorem will be discussed in the exercises. Both Des
argues' and Pappus' theorems are of great importance in the axiomatic theory
of the foundations of geometry, and we will meet them again in the next chapter.
Collineations and projectivities. After studying various types of projectivi
ties ill P2 (R), we may ask the following question. Every pojectivity is a col
lineation, but is every coliineation in p 2 (R) a projectivity ? In othOl' words,
PRQJECTIVITIES IN pI AND p2
3-4
155
are projectivity and collineation in p2(R) just synonyms? The answer will be
in the affirmative. However, this result will be seen to be correct under the
restriction K = R.
In order to prepare the main theorem we prove two lemmas.
Lemma 3-4.8.
,,
) 1
r .
! .i1
I f
,,.
Lemma 3-4.9.
;
,\
(ABIC, DK)
'
(ACIB, DK)
(1 - T) '
1 -
1" .
Then (1'
s)' = r'(l - sir)' = 1" [1 - (s/r),J = 1" - s'.
If s = -t, this
yields (1' + t)' = 1" + t', which together with (rs)' = r's' proves that l' -> r'
is an automorphism of the coordinate field. By Lemma 3-4.8, it is the identity
if the coordinates are real.
156
Theorem 3-4.10.
3-4
Proof (Fig. 3-22). Let A, B, C, and D be four points, no three of which are
collinear. First suppose that they are invariant under a collineation. Then the
six sides of the quadrangle ABC D are invariant lines and their intersections are
invariant points. Each side contains three invariant points, and by Lemma
3-4.9 is pointwise invariant. Every line of P2 (R) intersects the sides in at least
three distinct invariant points and thus each line of p 2 (R) is pointwise invariant,
so that the collineation is the identity.
D
Now suppose that the quadmngle
ABCD is mapped onto another quad
rangle A' B'C' D' by two collineations K
and A. Then KA -I takes ABCD into it
A
self and consequently KA - 1 = I. This
c
B
implies that K = A is the only collinea
tion mapping ABCD on A'B'C'D'. By
Theorem 3-2.5, K is a projectivity.
Figure 3-22
For a p:ojective plane p 2 over an arbitmry field K, in view of Lemma 3-4.9,
Theorem 3-4.10 changes into the following theorem.
Fundamental Theorem of Projective Geometry.
[Xo l X l , X2]
1. Given that ". and ". ' are two one-dimensional projectivities in p2 (R) such
that there is a point P with P = p". = p".' but no further invariant points,
prove that 7r7r'
= 7(" 7r'.
3-4
PROJECTIVITIES I:f
pl
AND p2
157
11. (a) Which rotations in E2:e nonidentical perspectivities and which are not?
(b) Find center and axis for those that are, and determine whether they
are major or minor.
12. Find the trace of [1, 2, 3J under the group of perspectivities whose center
is [1 , 0, OJ and whose axis is (0, 1 , 1).
13. The figure that describes Desargues' theorem consists of 10 lines and
10 points. How many of the points can be taken as perspectivity centers
for the theorem so that the same figure is obtained ?
14. Find the three-dimensional dual to Desargues' theorem.
15. Find the plane dual of Pappus' theorem. How is it related to Pappus'
theorem itself?
16. Classify the following statements as euclidean, affine, or projective.
(a) ABCD is a quadrangle,
(b) its sides are equal,
(c) opposite sides are parallel,
(d) its angles are right,
(e) its diagonals bisect each other,
(f) the point F is inside ABCD,
(g) the sides are tangents to a conic.
158
3-5
3-5
xi
,
,
i
- X5
0,
(1)
X I X2 - x5 = 0,
(2)
(3)
- XOIl = 0,
respectively. After a first look at these equations one sees that Eq. (2) goes
into Eq. (3) by the transformation
-+
II I
X l -+ X o + X 2,
X2 -+ X o - X2 ,
Eq. (2) goes into Eq. (1). Again the transformation is a project
.
The geometrical difference between the three affinely distinct types of conics
lies in their relation to the improper line of the augmented A 2 (R). Intersecting
each of the standard conics with the line Xo = yields the following results.
Equation (1) results in x i + x = 0 ; that is, Xo = X , = X 2 = 0, with no
real point.
Equation (2) yields X,X2 = 0, which has two solutions, x, = 0, X2 >" 0, and
X, >" 0, X2 = 0, the points [0, 1 , OJ and [0, 0, 1J.
Equation (3) yields x = 0, and consequently the single point [0, 1 , OJ.
Thus we have the following.
In p 2 (R) any one of the set of all ellipses (and circles),
hyperbolas, and parabolas can be mapped into any other by a projectivity.
The affine distinction of the three types of conics is based on the number of
improper points on the conic [regarded as a conic in the augmented A 2 ( R ) ],
none on the ellipse, one on the parabola, and two on the hyperbola.
Theorem 3-5. 1 .
3-5
CO"ICS
IN
P'(R)
15!l
Indeed, affirLities preserve the improper line of the augmented plane, and
since they also preserve incidence, the number of points that a conic has in
common with the improper line is an affine invariant. Geometrically it can be
seen that the improper point of a parabola lies on its axis, while the improper
points of a hyperbola lie on its asymptotes (Fig. 3-23).
0 00
Ellipse
Hyperbohl
Parabola
Figure 3-23
The general quadratic function. Besides the equations of the conics treated
here, there are also other quadratic functions which we have ignored so far.
In the following we shall attempt to develop a classification of these functions
in the projective plane. The most general quadratic equation in homogeneous
coordinates is
F = L L bjkxjxk = 0,
k
bkj. Explicitly
The expression F is called a homogeneous quadratic fm'm in the variables xo, Xl,
and x,.
Let F = Lj Lk bjkxjXk, with j, k = 0, 1, 2 and bjk = bkj,
not all bjk = 0. By a lineal' transformation, F can be brought into the
canonical fonn cox5 + clxi + C2X, where each of Co, ell and C2 has one
of the values 0, 1, or -1.
Theorem 3-5.2.
ProD!. First considet the case that at le one of boo, b", and b22 is nonzero.
Suppose that boo '" 0, otherwise renumber. (Renumbering is a linear trans
formation.) Then
+. . . ,
where . . stands for terms containing only the variables X l and x,. Now put
160
3-5
bo I
Xo
Yo - Y1 ,
'"
O.
Suppose that
X, = Yo + YI ,
and obtain
2bolXoxI
2bo2XoX2 + 2bl2X1X2
2bolY 5 - 2bo1Y; + . . .
The dots mean terms which contain no squares. Thus this case has been reduced
to the first case by a linear transformation .
2Z, a final linear transformation
After obtaining F = doZ6 + dIZ;
z; = v'fdj[Zj, with j = 0, 1, 2, brings about the canonical form. This completes
the proof.
If one or more of the Cj 1n the canonical form vanish, we say that F = a
represents a ciegenerate conic.
Theorem
"
CONICS IN p2(n)
3-5
161
+ xl + = o
'"
O.
is expressed by
yg + yl + y
( ajkx.)2 = 0,
(5)
(ao o
=
2
2
ao,i) + (alO + al li)
(a20 + ani)
i,
and
Suhstitution of X o
1, Xl
0, and X2
and
Since we are dealing with pl'Ojectivities, the matrix (ajk) can be replaced by
(rajk), where r is an arbitrary nonzero real number. We choose r so that
2
2
, (ago + ala + ao) = ,2(ag, + aI , + a,) = , (052 + al2 + a2 ) = 1 .
This is always possible because a50 + aIo + a o i s positive, and i f " satisfies
the equation, so also does -1', which is distinct from r. Then the matrices
(rajk) are orthogonal because they fulfill the conditions of Theorem 2-7.5.
These two matrices represent the same projectivity. Exactly one of them has
a positive determinant and thus belongs to e'\.. On the other hand, every such
pail' of orthogonal 3 X 3 matrices represents a projectivity which preserves
Eq. (4) .
162
3-5
Now let [x] = [XO, x" xz] be an arbitrary point on the couic of Eq. (4). Its
coordinates are complex numbers. A projectivity 7r with real coefficients ajk
taking [0, 1, i] into [x] has to satisfy alk + iaZ k = rxk, with k = 0, 1, 2. The
reals alk and a Z k are thus uniquely determined, and if [x] is on the conic of
Eq. (4), the matrix (ajk) can be made orthogonal (cf. Exercise 12) . If [y] =
[Yo , Y I , Y2 ] is another arbitrary point on the conic, let a projectivity 7r' map
[0, 1 , i] on [y]. Then '1l'- I '1l" takes [x] into [y]. This completes the proof.
Now we come to the real conics. Since, from a projective point of view, there
is only one type of nondegenerate real conic, we may arbitrarily choose one such
conic and find the projectivities which leave it invariant. Our choice will be
the conic of Eq. (3). By Theorem 2-6.2, all affinities preserving this parabola
form a two-parameter group. All these affinities leave invariant the improper
point [0, 1, 0] of Eq. (3), whereas under projectivities this point will lose its
privileged position . Thus the group of projectivities preserving Eq. (3) might
well depend on more than two parameters.
Theorem 3-5.5.
(6)
(ad - bc)y
(7)
2e dx + e Z (x 2 + y 2) + d2
iy) + b]la(x - iy) + b]
[e(x + iy) + d] [e (x - iy) + d] ,
[a(x +
2abx + a2 (x' + y2 ) + b 2
2c dx + e2 (xZ + yZ) + d 2
(8)
3-5
nates, = xdxoJ
and (8) become
COXICS IN pO(R)
11 =
X 2/XO J and e
xUx,
'
71
SX't
b dxo
8X,
8Xb
163
(9)
[a
e
b] [a'
b']
d'
e'
[aU
bU]
e"
d".
with ad - be > 0: a'd' - b'e' > 0, and a"d'! - bile" > O. This completes
the proof.
What was the meaning of the transformation
x2 + yO,
x ? All the
points on the real axis y = 0 are mapped on the curve = XO = o, which is
the conic x - xox,
o. The proper points of the hyperbolic plane in Poin
care's model, that is, the points y > 0, are mapped on points with > x 2 = 11 2 ,
or x - XOXI < O. The set of these points will be temporarily defined as the
interior of the conic in Eq. (3). (Another, more general, definition of the interior
of a conic will be given at the end of this section.) Hence the hyperbolic plane
has been mapped into the interior of the conic and even onto it, because every
point [1, , l with > o (which cannot be improper) corresponds to a point
+ iv' - 2 in the upper half-plane. The transformations of Eq. (9) pre
serve the conic, just as the direct hyperbolic isornetries preserve its preimage,
the real axis.
Are there any projectivities besides Eq. (9) which leave the conic of Eq. (3)
invariant? The answer is the following theorem.
=
J64
3-5
Theorem
Lemma
$;
X2
a dx2 .
SIo
rxo,
SXl
xdr,
(10)
with some s o;t 0, and every transformation (Eq. 10) with positive ,. can be
obtained in this way.
The transformation of Eq. (10) can, by suitable choice of r, take any point
of the conic in Eq. (3) except [1, 0, OJ and [0, I , OJ into any other point of the
conic except these two. For instance, let [xo, Xl, X2 ] be one of its points and
[xb, x, x;] the desired image point. We have XOII = x and xbx
X; 2
Now X 2 o;t 0 and x o;t 0 because we have excluded the points [ 0 , I , OJ and
X2/X
[1, 0, 0]. For the same reason, Xo and xh have to be nonzero. Set s
and l' = sxh/xo. Then sxh = rxo and sx = X dr. However, this procedure
might involve negative values of ,.. In that case the transformations of Eq. (10)
still are projectivities, but not necessarily of the type in Eq. (9), because ad
be
might have become negative. Let T3 be the transformation of Eq. (10) which
takes C, into C;. Then the projectivity T,'T3T2 maps A , B, C, on A', B',
C', respectively, as required.
We have to prove that this is the only projectivity mapping the three points
on the three image points. It is known from elementary geometry that through
every point of a nondegenerate conic there is a single line that does not inter
sect the conic in any other point. This is the tangent to the conic in this
=
=
.'
3-5
COXICS IX p 2(R)
165
point. The tangents to the conic of Eq. (3) in A and E meet in a point,
say D. No three of the four points A, E, C, D can be collinear because a
line has at most two points in cOlllmon with a nondegenerate conic, and a
tangent, by definition, meets the conic in only one point. Since incidences arc
preserved under projectivities, D will be mapped by T,'1'3T2 on a point D',
which is the common point of the tangents to the conic in A I and R'. Hence
four points, no three of which are collinear, have been mapped on four other
points that fulfill the same condition. By Theorem 3-2.5, there is only one
projectivity doing this, and hence TI 1 T3 7'2 is unique. Thus the lemma is proved.
P" ooj oj the theorem. In every mapping of the conic of Eq. (3) onto itsclf,
some given three of its points are mapped onto three other given points of the
conic, and the only pl'ojectivity doing so, as descl'iped in the proof of the lemma,
is composed of projectivities of the type in Eq. (9) and possibly also others of
the type in Eq. (10). But Eq. (10) is a special case of Eq. (9) if ,. > 0, and a
transformation (Eq. 10) with negative ,. is obtained from Eq. (10) with positive
,. by right or left multiplication with G. Hence every projectivity preserving
Eq. (3) is of the type T,'T3 T2, which is in g if T 3 E g, or of the type T,IT,GT2,
where T" T, and 1'2 E g. Now it can easily be checked that the effect of multi
plying an element (Eq. 9) of g with G is the same as multiplying the matrix
"
' tl
.
c,
r;..
'e
:il
: 1,;
:j
by the matrix
The product is a matrix with negative determinant. The group g is isomorphic
to the multiplicative group gl of all nonsingular 2 X 2 matrices with positive
determinant. The resulting group g' is isomorphic to the multiplicative group
g; of all nonsingular 2 X 2 matrices. It can be shown without difficulty that g 1
is of index 2 in g, and hence also S is of index 2 in g',
The transitivity of g' follows from the lemma.
Corollary 1 .
metries.
Pmoj. g
Corollary 2.
Pmoj. The conic can be transformed into the special conic of Eq. (3) by a
projectivity, say 111. All elements of g' , and only these, preserve Eq. (3), which
in turn is taken by 111-1 into the given conic. Hellce Mg'M-' is the group of
projectivities preserving the conic.
Corollary
3. g' is transitive
011
,.1
166
3-5
Proof (Fig. 3-24). A point [y] is defined to be in the interior of the conic of
Eq. (3) by the inequality y
YoY, < O. Every line through such a point
intersects the conic of Eq. (3) in two distinct points, as will be proved in Exercise
17. Let P and Q be distinct interior points and R be the intersection of the
tangents at U, and U 2 , where U, and U 2 are the points in which PQ meets
the conic. R cannot lie on the conic. Let PR intersect the conic in S and let
QR intersect it in T. The element of S' that maps U, and U 2 on themselves
and S on T also maps P on Q because R is preserved.
It may surprise the reader that what is obviously a concept of orientation
has been used in Theorem 3-5.6. The transformations from S are direct, while
those frorn gG are opposite, and we have seen that there is no orientation in
the projective plane. The reason for the sudden appearance of orientabiliy
is that the conic as a one-parameter projective subset is indeed orientayle.
A point which moves continuously along a conic does so either in one sense or
in the opposite sense, and these two are clearly distinguishable.
-
u,
--i--,;-__:""
: R
____
A
Figure 3-24
Figure 3-25
8
Figure
3-26
CO"'CS IX p2CR)
3-5
167
nondegenerate come
1 . Find the projectivities that take the ellipse b 2x; + a2x = a2b 2x5 into
3.
Prove : A COllie in whose equation all the square terms, but none of the
other terms, vanish, is nondegenerate.
4. The number of nonzero coefficients Cj in the canonical forrn of F = xBx' is
called the rank of the matrix B. Show that, if F = 0 represents two distinct
lines, the rank of B is 2, and if Ji' = 0 represents one line, the rank is 1 .
5. What, i f any, real points d o the degenerate conics contain i f they are given
by the following canonical forms?
Ca)
x + x;
Cb)
x - x;
Cc) x
168
3-6
11.
12.
13.
14.
15.
16.
17.
18.
3-6
POLARITIES
3-6
POLARITIES
169
having treated mappings of points on points and lines on lines at length in the
earlier sections of this chapter. Theoretically these new lineal' transformations
will be mappings of the one-subspaces of a V' onto the one-subspaces of the dual
space (VO) 3 , and vice versa. These so-called correlations have the same form as
projectivities, the only difference being that here the preimages are given in
point coordinates and the images in line coordinates, and vice versa. Hence,
under a correlation with nonsingular matrix B a line (u) is mapped on a point
[u(B-I)'J, while a point [xJ is mapped on a line
), in accordance with Theorem
3-2.3. Since the equation of a line xu' = 0 then goes into (xB)[u(B-I)'l' =
xu' = 0, collinearity and incidences are preserved under correlations. Thus,
if a point Q is incident with a line q and if a is a correlation, then the line Qa
is incident with the point gao We will have to pay special attention to involutory
correlations, which are called polarities. If a is a polarity and if Qa = g, then
2
ga = Qa = Q. Thus, if a polarity maps a point Q on a line g, then the same
polarity takes q back into Q. The point Q is called the pole of the line g, q being
the palm of Q.
If again a is a polarity and if the point Q is incident with the line p, then Qa
is incident with pa. We say that Q and pa are conjugate points and that p and
Qa are conjugate lines under a. If Qa is incident with Q, Q is a self-conjugate
point and Qa a self-conjugate line.
The choice of the name Ilconjugate" is misleading because in most of the
mathematical uses of this word a one-to-one correspondence is implied (for
instance, the conjugate complex number), while here a point is conjugate to all
the points on its polar.
xo (booYo
-+
O.
-+
(yB) is
170
r '"
det B
3-6
=
-det B
Theorem
1I
c!
"
Case I (Fig. 3-27). The point Q is outside the conic. Then there are two
tangents to the conic passing through Q. The join q of the two contact points
R and S is the polar of Q. Conversely, if q is given, intersecting the conic in
two points R and S, construct Q as the intersection of the tangents at R and S.
Proof. R and S are self-conjugate points. Q lies on the polars of R and S,
hence its polar q is the join of R and S.
s----
Figure 3-27
Figure 3-28
Figure 3-29
3-6
POLARITIES
171
intersecting
The equation uB 'u' = 0 represents the tangents (u) of the original conic.
Just as the conic waS composed of points [xl, our new line conic consists of tangent
lines which envelop the point conic. Its matrix B-1 is nonsinguiar, and it is
also symmetric because ( B-1)' = (B')-I = B-' (cf. Exercise 5 of Section
2-2). Thus we have
-
Theorem 3-6.3.
172
3-6
Thus polarities and nondegenerate conics are associated with each other to
such an extent that a treatment or a classification of conics is frequently per
formed by discussing polarities instead. This is not surprising, since both are
represented by the same symmetric matrices. The following theorem illustrates
this attitude.
Theorem 3-6.4.
C if and
Theorem 3-6.5.
How can the polarity concept be extended to p 3 ? The conic will have to be
replaced by a quadric and the point-line duality by the point-plane duality
of pa The same techniques apply. A quadric has the equation F(x, x)
xBx', with B a symmetric 4 X 4 matrix and x a vector from a V4 The polar
F(y, x) = 0 of a point [y] is now a plane, the polar plane. The main difference
between p 2 and p3 concerning polarity lies in the fact that not every involutory
correlation in p3 is a polarity because B = r2B (cf. the proof of Theorem 3-6.1)
does not necessarily imply r = 1 . A discussion of the other case will be left
for the exercises.
=
3-6
POLAHITIES
173
EXERCISl-::S
174
3-7
14. Verify Theorem 3-6.4 for the projectivities that preserve the conic
XOXl
0 into itsel
takes the COilic x 5 - x i - x
(b) by using Theorem 3-6.4.
(a) directly
=
16. Use Theorem 3-6.4 to prove the second statement of Theorem 3-5.4.
3-7
Points and lines in the hyperbolic plane. In Section 1-9 we discussed Poin
canl's model of the hyperbolic plane. The British mathematician Arthur
Cayley (1821-1895) laid the foundations for another model of the hyperbolic
plane which was later developed by Felix Klein. In contrast to Poincare's
model, which lies in the euclidean 'plane, the Cayley-Klein model lies in the
projective plane. As we will see, this model serves the hyperbolic plane and
another plane geometry, the elliptic plane. These two geometries are called thc
plane noneuclidean geometries.
It should be clear that in these models we are dealing with projective ge
ometry. Just as we obtained euclidean geometry by imposing a metric on affine
geometry) we will modify the projective plane, and later also projective three
space, by the two kinds of noneuclidean metrics.
For the purpose of introducing the hyperbolic plane, let a nondegenerate
real conic in p2 be given, and be called the absolute conic C. The polarity be
longing to the absolute conic is the absolute polarity. 'For the sake of simplicity
we will assume C to be the circle Ch :
x l = O. The points of the
x5 - x i
model are all the real points inside Ch
(Fig. 3-30). The "hyperbolic lines " are
those segments of projective lines which
lie inside Ch . Hyperbolic lines which
intersect each other 011 Ch, like Ie and l,
Figure 3-30
are called parallel. Thus again through
a given point Q tbere exist exactly two parallels j and lc to a given byperbolic
\'1)e l W'n.1C'n. "IDes 1)\)\ 1>"SB \'n.,\)'Ug'n. Q. l'111n \)\ 'n.),1>",1:>\)\1C \\1)C "YC, \,'n.CYC\\)YC,
-
1..dtra-
3-7
175
parallel, which means that the projective lines carrying thern intersect outside
Ch. Consequently no duality exists between points and lines of the model
because through every two points there is a line, but not every two lines have
a point in common.
The projectivities which carry Ch into itself and preserve orientation form
a group e which, by Theorem 3-5.6 and its corollaries, is isomorphic to :JC+ .
By Theorem 3-5.8, the projectivities of e map the interior of Ch onto itself.
Thus all the points of the model are mapped on all the points of the model and,
since the projectivities are collineations, projective lis 011 projective lines.
Consequently, the segments of projective lines interior tp Ch go into segrncnts
of the same kind, or in short, hyperbolic lines into hyperbolic lines. Incidence,
and hence also parallelism, is preserved. All this explains the name "model
of the hyperbolic plane. "
In order to justify fully the assertion that the CayJey-I<lein model describes
the sarnc geometry as Poincare's model, we would need an explicit exhibition
of an incidence-preserving bijective mapping between the points and the lines
of one model and those of the other model. This has actually been outlined in
the proof of Theorem 3-5.5, where the upper half-plane of the complex number
plane was mapped onto the interior of the conic x - XOX, = O. It would be
easy, though cumbersome, to estahlish the full details of the incidence
preserving bijectivity. However, we will postpone this matter until Section 4-7,
where a different proof will be given.
The distance between two points P
and Q is defined as follows (Fig. 3-31).
Let the projective line PQ have the two
points M and N on Ch. Then the hyper
bolic distance is
M\-....
P... --iQ
>.-I.d(P, Q)
Ie log, (PQIMN)I. ( 1 )
Figure 3-31
The hyperbolic distance, as defined in Section 1-9, did not use a specified basis
of the logarithm. Thus a proportionality factor was involved which we call e.
For the hyperbolic plane we fix e = l By Exercise 2 of Section 3-3, the cross
ratio (PQIMN) is always positive because P, Q and M, N do not separate each
other. Hence log (PQIMN) is always real and so is d(P, Q).
For given points P, M, and N and a given value b > 0, there is a unique Q
such that e log, (PQIMN) = b, by the corollary to Theorem 3-3.2. Since
there is also a unique Q' for e log, (PQ'IMN) = -b, there are two points, Q
and Q', on the line MPN, whose distance from P is Ibl, one on eaeh of the half
lines PM and PN. When Q approaches M or N, d(P, Q) tends toward 00 .
Thus, in this model of the hyperbolic plane, C" plays the rolc of a "line at infinity"
just as the impropcr line does in the augmented affine plane.
All the mappings from e leave the cross ratio and hence d(P, Q) invariant.
The group e is therefore a group of isometries in our model.
176
3-7
A useful formula can be found for the distance d([x], [y ]). We will develop it
for a general absolute conic C, rather than for the special case Ch, in view of later
applications. Let C have the equation F(x, x)
0, with F a homogeneous
quadratic form of rank 3. The join of [x] and [y] contains the points [x - " y ],
for all r. The points of intersection of the join with C have
F(x -
or
ry,
- '1') =
0,
o.
This yields
rz
rl
2i arccos
+ 1
2Va
2ic arccos
F(x, y)
VF(x, x)F(y , y)
i arccos
xoYo
"\j(x - xi
- X1Y I - xzYz
-
x)(y - y; - y)
(2)
(3)
In Eq. (3), "i arccos" may be written as "arccosh. " Then it becomes clear
that, in order to obtain a rcal value for the distance, the fraction after i arccos
has to be positive. This can always be achieved, because this expression is a
nonzero real number. If it is negative, it can be made positive by choosing the
coordinate values [-xo 1 -XI I -X 2] instead of [xo, Xl, X 2].
Docs the hyperbolic distance satisfy the requirements Ds 1 through 3 of
page 100? It obviously satisfies the first two, namely d([x], [x]) = 0 and
d ( [x], [y]) = d([y], [x]), but the verification of Ds 3, the triangle inequality, is
more difficult.
3-7
177
= [f, VP - 1 , 0] ,
d(P, Q)
d(P, R)
=
;;:; c2
and similarly
d(Q, R)
-y]'
From Eq. (3) "ie obtain
R = [b, c, Vb2 - c2
= arccosh b,
+ (3)
we have
cosh [d(P, Q)
+ d(P,
R)]
= 1.
bf + V( b 2 - 1)(f2 - 1),
As a consequence of b2 - 1
c2,
d(P, R)]
;;:;
For positive arguments the function cosh is monotonically increasing, and thus
d(P, Q) + d(P, R)
;;:;
d(Q, R),
the triangle inequality for hyperbolic distances. The equality sign appears if
and only if b2 - 1 = c2, that is, if R lies on PQ. This completes the proof that
hyperbolic distance, as defined here, satisfies all the distance requirements.
Angles in the hyperbolic plane. We add another definition, that of perpendicu
lar hyperbolic lines. Two lines p and q are called (hyperbolically) perpendicular
if their projective carriers are conjugate to each other with respect to the
polarity determined by Ck. Obviously, p is perpendicular to q if and only if
q is perpendicular to p. Through every point P on a line 1 (Fig. 3-32) there is
exactly one line perpendicular to 1 because, if L is the pole of I, then PL is this
line. Since the mappings from e preserve incidence, they preserve polarity and
hence also perpendicularity. Two lines PL and QL, perpendicular to the same
line I, need not be parallel, in contrast to the situation in euclidean geometry.
178
Figure 3-32
3--7
Figure 3-33
This theorem shows that the hyperbolic angle measure can be introduced in
the same way as the angle measure in the euclidean plane, and that the hyper
bolic angle is invariant nnder direct hyperbolic isometries. We shall attempt to
define angle measure dually, corresponding to the distance between points as
defined in Eq. (1). In order to define the distance between two points, we used
their join and its points of intersection with eh. The dual procedure would be
(Fig. 3-33) to draw the two tangents (t,) and (t2 ) to eh through the vertex of
the angle -}: (u)(v) and then to consider the value of [log (uv[t,t 2 )[. This pro
cedure, however, seems not to be applicable in our model. Namely, (u) and (v)
have to intersect inside eh, and then no tangent to eh passes through the point
(u) X (v). In order to overcome this difficulty we could use complex coordinates.
However, an easier procedure is obtained by dualizing Eq. (2). The point
conic e now is replaced by the dual line conic lie, whose equation . is E(u, u) = 0,
and Eq. (2) becomes
E(u, v)
(4)
-}: (u)(v)
2ic arccos
viE(u, u)E(v, v)
=
3-7
179
one o f the sides of the angle and (v) = (0, m, -1), which ill an orthonormal
system would mean that (u) is the x-axis and (v) the line through the origin with
slope m. Indeed, assume m = tan a. Now substitute these values in Eq. (4),
observe that the matrix for Ch is equal to its inverse, and get
<):: (u)(v) = 2ic arccos
- 2ic arccos
1
r==;;'7'"
2
vm + 1
1
= 2ica.
vtan 2 a + l
Theorem 3-7.2.
<):: (u)(v)
where (t,) and (1,) are the two tangents to Ch through (u ) X (v). Then
every angle whose vertex is [1, 0, 0] has equal euclidean and hyperbolic
values.
The angle measure defined in Eq. (5) is actually the absolute value of an angle
measure. In other words, the rotation that takes (u) into (v) is identified with
its invCIse. It is standard procedure sometimes to do so with angles (in analogy
with distances), but it cannot be done when dealing with rotations.
Theorem 3-7.3.
Lemma 3-7.4.
180
3-7
Proof. For disposing of the second case, a glance at Fig. 3-34 is sufficient.
In the first case we use Corollary 3 to Theorem 3-5.6 and perform a hyperbolic
isometry such that d becomes the line X 2 = 0 (Fig. 3-35). Let d X 1 = [1, f, 0]
with < IfI < 1 , and let the equation of 1 in an orthonormal system be
X 2 = (Xl - fxo)m, with m = tan a and, of course, a "" 1[/2. We have for
d, (d) = (0, 0, 1 ) and for l, (I) = (-fm, m, -1). By Eq. (5), the hyperbolic
angle
f3 = arccos ( _/2 m2 + m2 + 1) -1/ 2
=
arccos /=;==;=;==;
vm 2 (1 - f2) + 1
tan a.
--
[ J ,O, O[
Figure 3-34
Figure 3-35
Figure 3-36
3-7
181
the absolute conic is called the elliptic geometry. It is the second case of a plane
noneuclidean geometry represented by a Cayley-Klein model.
As with the hyperbolic geometry, the name "elliptic" is slightly confusing
(no ellipse is involved here!) and is retained mainly for historical reasons . .----....
There may be some doubt in the reader's mind concerning the use of a conic
without a single rcal point as the absolute conic of a geometry with real points.
However, we do not actually use the conic itself but rather the quadratic form
and the polarity which belong to it. This becomes abundantly clear when we
scrutinize the formulas of Eqs. (2) and (4) which replace the formula of Eq. (1).
The absolute polarity, that is, the polarity associated with the absolute conic,
is a perfectly good transformation of the real points and lines of p2 , even when
the absolute conic ha no real points. The polarity in this case is distinguished
merely by the fact that it has no (real) self-conjugate points. Moreover, the
points of the geometry are still all real points of p 2 , and the absolute conic
or the absolute polarity serve only to introduce a metric (that is, a distance
function) and an angle measure for p 2.
The points of p2 which have to be considered as belonging to the Cayley
Klein model of elliptic plane geomctry are all the real points, because C, does
not have any real points to forrn a boundary between the interior and the ex
terior of C., as was the case for the hyperbolic plane. In fact, since no real
tangents to C, are possible, all points of the plane are interior. The isometry
group of the elliptic plane is isomorphic to 0;', by Theorem 3-5.4. This group
is isornorphic to the group of all direct isometries preserving the unit sphere in
E 3 . Accordingly, by Theorem 2-8.3, we should expect the elliptic isometries
to be related to rotations about lines. This will now be clarified by computing
the elliptic distancc between two points, utilizing Eq. (2).
By an elliptic isometry we move the first point to Q, = [1, 0, 0] and the
second point to some point Q2 = [I, b, 0] on the projective line X2 = O. Then
Eq. (2) yields
1
.
2to arccos .
2ic arctan b.
v"...
I + b2...,..---;
182
3-7
Theorem 3-7.6.
It can be shown that the sphere model is conformal, that is, euclidean angles
on the sphere coincide in their value with that of elliptic angles. The angle sum
of a spherical triangle always exceeds 7r. In the exercises it will be shown that
this is true for triangles in the elliptic plane.
3-7
183
Theorem 3-7.7.
d ( [P], [q])
2ic arcsin V.
o=+=<=
<P=2=
P=!
q,,::
q
:;==
lq=I=+
2 ==.:=
-:<c=;:=P==, o=
"I/(pg + <pi + <p)(qg + <q; + <q)
arcsin vI
0:2, after a short cornputatioll
2ic arccos
Now let < tend toward zero and determine c so that 2icy<
arcsin a
...... 0 a
.
I1m
1,
I ( ql
'\J qo
PI ) 2 + ( g2
Po
qo
P2) 2 ,
Po
I . Since
184
3-7
Is there a conic that can be considered as the absolute conic of the euclidean
plane? Since in Theorem 3-7.7 the conic CE appeared, we will check to see
whethcr it indeed plays this role. In fact, in the neighborhood of the absolute
conic, distances always tend toward infinity, and in the euclidean plane this
happens when one approaches the improper line Xo = 0 which coincides with CE .
However, the assumption of CE being the absolute conic of E2 1eads to compli
cations. First, there is no polarity associated with CE. This follows from the
fact that CE is degenerate, and it appears intuitively clear when we try to con
struct poIal's. FUl'therrnore, the group of projectivities preserving Xo = 0 is
2
a 2 , which certainly is not the group of E .
Let us therefore return to the conic x6 + f(xi + x) = 0, determine its
equation in line coordinates, and then see what happens when E tends toward
zero.
By Theorem 3-6.3, the line conic is EU5 + ui + u = O. When E = 0, we
have u + u = 0, or U 2 = UI' These lines have coordinates (uo, 1 , i)
and their equations are UOXo + Xl iX 2 = O. This set of lines must be in
variant under the transformations for which CE is to be the absolute conic.
Their points of intersection with x5 = 0 will also have to be preserved or inter
changed. They are [0, 1 , i] and 10, 1, -i]. Let us find out which projectivities
preserve or interchange [0, 1 , i] and [0, 1, -i].
First we assume that each of them is preserved. If [x ] --> [x A ] = [x'], with
A = (ajk) , then substitution of the invariant points yields a l O = a2 0 = 0,
a 1 2 = -a2 1 and a l l = a22 , such that
rxo
ao oxo,
y --> -bx + ay + j,
a direct similitude, and every direct similitude can be thus obtained. In the
second case, where [0, 1, i] are interchanged, the same method yields all the
opposite plane similitudes.
Thus instead of obtaining the gJ'OUp ;m 2 of isometrics, we found S 2 to be the
group of projectivities preserving CE and the corresponding conic in line coordi
nates. This illustrates the difficulties arising from the degenerate character
of the euclidean metric. Similitudes preserve angles and distance ratios, but not
the distances themselves. We lost the invariance of distances when, in the proof
of Theorem 3-7.7, we had to make c infinite. This procedure introduces an
indeterminate factor. On the other hand, it can be proved (cf. Exercise 18)
that the angle can be properly determined with respect to the absolute conic.
3-7
185
-----
The degenerate conic CE O X5 = 0, together with the corresponding imaginary line conic u + u = 0, serves as absolute conic of
the plane similarity geometry whose group is S 2. Equivalently, this is the
geometry whose transformations preserve or interchange the two imaginary
circle points, [0, 1, i] and [0, 1, -i].
Theorem 3-7.8.
EXERCISES
1 . Prove that two perpendiculars to the same hyperbolic line are ultraparallel.
2. If a hyperbolic line is intersected by two other lines which are parallel to
each other, are the corresponding angles equal ?
3. Show that perpendicular hyperbolic lines indeed enclose a hyperbolic angle
of 7r/2.
4 . Show that no two parallel or concurrent hyperbolic lines can have a com
mon perpendicular, while any two ultrapal'allel lines have a common
perpendicular.
5. The distance between ultraparallel hyperbolic lines is measured along
their common perpendicular. Compute the hyperbolic distance in the
Cayley-Klein model between the lines (0, 0, 1 ) and (1 , 0, 2).
6. Assuming that the absolute conic is Ch, compute the sum of hyperbolic
angles in the triangle whose vertices are [1 , 0, 0], [2, - 1, 0], and [2, 0, 1].
7. (a) Find the midpoints of the elliptic segment with endpoints [1 , 0, 0] and
[1, 1, 0].
(b) Why are there two midpoints? Why does this fact confonTI with the
duality between segments and angles in the elliptic plane?
8. Since the elliptic line (0, 1, 0) is of finite length, there must he a midpoint
between [1, 0, 0] and itself. Compute this point on (0, 1, 0).
9. Show that an elliptic angle whose vertex is [1, 0, 0] has the same angular
measure as the euclidean angle.
10. Prove: In the elliptic plane the angle sum of every triangle exceeds 7r.
1 1 . (a) Use the hyperbolic definition of perpendicularity to introduce per
pendicularity in the elliptic plane.
(b) Find the elliptic perpendicular to (0, " " "2 ) at any of its points, to
(I, " t . " 2 ) at any of its points, and compare the results when drawn in
an orthonormal coordinate system.
12. Dualize the perpendicularity of elliptic lines by formally carrying out the
dual to the construction of perpendicular lines with respect to the absolute
conic C,. What is the elliptic distance between the resulting "perpendicular
points ? " Why are there no "perpendicular points" in the hyperbolic plane?
13. Prove the triangle inequality for elliptic distances.
186
3-8
14. Use the spbere model to determine what is a line reflection in the elliptic
plane.
-15. Show that the following mapping in the bundle model represents a polarity
of the elliptic plane: Every line of the bundle is mapped on the plane per
pendicular to it through the bundle center, and vice versa.
16. (a) Assuming that the angles in the bundle model are equal to correspond
ing elliptic angles and distances, show that in the polarity of Exercise 15
a distance d is mapped on an angle .".
d.
(b) Under this polarity, what is the dual statement to Exercise 10?
(c) What is the dual statement to the triangle inequality?
17. Between the points [1, 0, 0] and [2, 1 , 1] in the Cayley-Klein models, find
(a) the hyperbolic distance
(b) the elliptic distance.
(c) Compare with the euclidean distance.
18. (a) Show that the euclidean angle measure coincides with that obtained
by considering the euclidean metric as a limiting case of the noneuclidean
metrics.
(b) In particular, show that the euclidean angle measure is proportional to
Ilog (uvljk) l , where (u) and (v) are the sides of the angle and (j) and
(k) the joins of the angle vertex with the circle points [0, 1 , i].
1
I
I
/
!
J
3-8
3-8
187
j
k
j -k - 1
k
-i
k
-j
-1
-1
k, jk
ji
-k, kj
iZ
jZ
i, ki
kZ
j;
-i, ik
-j;
-1.
The elements of Q are called quaternions. I t follows that 1 is the unit element
of Q. Q is noncommutative because ij = -ji ;" ji. It can easily be checked
using the multiplication table that the multiplication of the basis elements is
associative, and consequently the multiplication in Q is associative. This can
be verified by repeated use of Al 2 and 3.
Instead of writing correctly qol, with real qo, we will adopt the easier, less
rigid, notation qol = qo. (Algebraically this procedure reflects the existence
of an isomorphic mapping of the reals into Q, with the quaternions qol +
Oi + OJ + Ok as images.)
We designate qo as the real part and q,i + q, j + q3k as the imaginary part
of the quaternion q = go + q,i + qzj + q3k. Its conjugate is q = go q,i - qzj - g3k. A quaternioll with zero real part is called pure. It is easy to
verify that for quaternions p and q,
(pq)
= qp
and
Theorem 3-8 . 1 .
188
Theorem 3-8.2.
3-8
N(pq).
Proof.
N(pq) = (pq)(pq)
pq q p
pN(q)p
pjiN(q) = N(p)N(q) .
Corollary,
Proof. pq
= 0
implies p
N(p) = 0
or N(q)
O. Consequently
Theorem 3-8.3.
Proof. That the mappings are one-to-one follows readily from elementary
properties of the quaternions. Hence they are transformations. To show that
they are projectivities we verify their linearity by employing Al 3. As the
determinant of the projectivities R. and L. we find N(a) (cf. Exercise 14).
The closure of the groups follows from xR.Rb = xab = X R'b and xL.Lb =
bax = xLb. The identity is R l = Ll and the inverses are R;:1 = R.-, and
L;:1 = L._L The transitivity is a consequence of x (x-1y) = xRx-'y = y and
the corresponding procedure for 8L.
The transformations from 8n and GL leave invariant the
imaginary quadric J,
Theorem 3-8.4.
X6 + xi + x + x
O.
Proof. It can be shown that Theorem 3-6.4 holds also in the three-dimensional
case. This makes it possible to avoid dealing with imaginary points, which do
not have an easy quaternion representation. Thus, if {3 E 8R or 8L and if
1
7l" is the polarity belonging to J , we have to prove 7l"{3 = {37l"'- . But, since the
matrix of 7r is 14, we have 7r, - 1 = 7r, and we claim 7r{3 = {37r. Let {3 = Ra ,
3-8
189
[xJ{37r
[xa)7r
d(x, y)
where A t and N are the points where the join of x and y intersects J , then the
ellipt.ic transforrnations preserve elliptic distance because, as projectivities,
they preserve cross ratios and leave J invariant. In the plane X3 = 0, this new
elliptic distance coincides with the distance as defined for the elliptic plane
because X3 = 0 intersects J in C,. Hence we have the following.
Theorem 3-8.5.
isometries.
Theorem 3-8.6.
Proof.
x,
xa
transformations.
Proof. Let B be some direct elliptic transformation and let B : 1 --. q. Then
BR;;' preserves l . In order to find all direct elliptic transformations it suffices,
therefore, to determine all those which leave
'" In the
190
3-8
them with elements of SR. In every projectivity preserving 1 and the absolute
quadric J, the polar plane of 1 with respect to J will also be preserved. This
polar plane is Xo = O. Now, if x5 + xi + x + x 5 = 0 and Xo = 0 are pre
served, then x i + x + x = will also be left unchanged. Therefore, in the
plane Xo = 0, the conic C, is invariant. But C, is preserved by exactly those
elliptic transformations which map the plane Xo = outo itself. By Theorem
3-5.4, the group of these transformations is isomorphic to e. Now, by the
corollary to Theorem 2-8.6, the group 0,\- can be generated by all the rotations
about any two lines through the invariant point of 0,\-. For the direct elliptic
transforrnations in Xo = 0, this means that their group is generated by the I'Ota
tions about two distinct points. Consider those about the point [1, 0, 0] in the
plane Xo = 0 ; that is, the point [0, 1 , 0, 0] = i in elliptic th,ee-space. Since
this point is invariant, we obtain transformations with a matrix
0 0
cos <I>
-sin <I>
0 0
sin <I>
cos <I>
Obviously, T E
x ->
(a + bi) -'x(a
S'\- and I T =
1, iT
+ bi) ,
a'
b'
1.
jT
kT
2abj
+ (a' - b')k.
If we now substitute a = cos (<1>/2) and b = sin (<1>/2), we see that T has the
matrix A . In view of the condition a2 + b2 = 1, every transformation of the
type T can be written as a transformation with matrix A. This procedure can
be repeated for the second invariant point, j, just as was done for i, and again
all the direct transformations obtained will be elements of S'\-. This proves the
theorem.
The group &3 of all three-dimensional elliptic transformations
consists of & and one coset e_ T, where T is any opposite elliptic trans
formation, as for instance T : x X.
Corollary.
and
det T
- 1 < O.
Now the projectivities of p3 are divided into direct and opposite projectivitics,
/
3-8
191
(a + ap) (b + ilp)
c =
= c
+ 1'p,
Theorem 3-8.9.
192
3-8
(iii) If two distinct lines wel'e to lie in a plane, they would intersect, a contradic
tion to (ii).
(iv) Let x and y be two distinct points on a line. Then x- ' y = go + g,i +
g2i + g3k
y. Hence y lies on the trace of
go + "p, say, and x(qo + "p)
x under eR(p). Can a line be a trace under two different groups en(p) and
eR(q) ? If so, then for some x ... 0, x (a + "p) = x(b + iJq). Consequently,
q.
a + "P = b + iJq are equal normalized quatel'llions and hence p
(v) Obvious.
=
Two lines are right Clifford parallels if they are traces under the
same eR(p) . They are left Clifford parallels if they are traces under the
same eL(p).
Definition.
Y3
Figure 3-37
3-8
193
xeR(p), XeL(q), and xen(p)eL(q) also lie on this line. What happens in the
other case, when x, xp, and qx form a triangle? In other terms, what kind of
point set (hopefully: surface) is generated by all the Clifford parallelograms?
We choose the points x, xp, qx, and qxp as reference points of a coordinate
system in p3, This involves a projectivity which maps x on 1 , qx on i, xp on j,
and qxp on k. Then the point (b + iJq)x(a + ap) goes into (b + iJi) (a + aj) =
ab + aiJi + abj + aiJk = [xo, X1, x" xa], say.
Consequently we obtain the relation XoXa
X1X, = O. That is, the point
(b + iJq)x(a + ap) ranges over a so-called Clifford surface, which is projectively
equivalent to a quadric whose equation in nonhomogeneous coordinates would
be z = xy, a hyperbolic paraboloid. The hyperbolic paraboloid is well known
to be a "ruled surface," that is, to be generated entirely by straight lines. These
straight lines, in our case, are the sides of the Clifford parallelograms.
-
Theorem 3-8. 1 1 .
1 . Let p
(a) pq
i + j + 2k, and q
(b) pq
(c) pq-1
2i
k. Find
(d) p'.
p X q - (p, q),
2. Show that, if p and q are two pure quaternions, pq
where p X q is the cross product, as used in calculus and physics, and (p, q)
is the inner product of p and q, considered as three-dimensional vectors.
3. (a) Show that 1 , i, j, k form a multiplicative group.
=
194
3-9
8. (a) Show that the transformations x -> px and x -> xq do not have in
variant points unless they are the identity.
(b) Is the same true for x -> pxq?
9. Let q = (-1 + 2i - 2k), and T : x -> qx.
(a) What are the invariant points of T, if any?
(b) Is T involutory ?
10. Let
11.
12.
13.
14.
3-9
x = i, p = i - k, and q
j + k. Verify that the Clifford paral
lelogram with vertices x, px, xq, and pxq is not coplanar.
Show that in a Clifford parallelogram the sum of two angles adjacent to
one side is 7r.
Explain why x, px, qx, and pqx do not yield a Clifford parallelogram.
Is a Clifford surface projectively equivalent to an ellipsoid? Why?
Show that the determinant of the projectivity R. is N(a).
=
OTHER GEOMETRIES
In this section we intend to summarize the results obtained so far and take
a brief look at possible further developments without going into detailed proofs.
Instead of proofs, we shall give, at the end of the section, a list of books for
suggested reading.
We have obtained an outline of important results in the two plane non
euclidean geometries and some facts about elliptic three-space. Of course, these
geometries have been developed in full detail, analytically as well as synthet
ically, and the theories that can be found in the literature are almost as com
plete as the corresponding treatment of euclidean geometry. For instance, a
noneuclidean trigonometry is available. Also, noneuclidean coordinate systems
have been introduced and discussed. Noneuclidean geometries in higher dimen
sions exist and have interesting properties. Thus our treatment so far cannot
be considered as more than a sample.
Most of the projective geometry in ou)" exposition was done over the real
field. Sometimes we used complex coordinates in order to reach new con
clusions in real projective and noneuclidean geom.etry. But we never treated
projective geol11etry over the field of complex numbers in its own right. This
can be done, and exhaustive studies of complex projective geometry appear in
the literature.
Since the cornplex numbers form an associative and commutative division
algebra of rank 2 over the reals, it is reasonable to inquire about projective
geometries over algebras of higher rank over the reals. The next step would be
a projective geometry over the quaternions, whose rank over the reals is 4.
Now we used quaternions for the treatment of a projective model of elliptic
three-space. However, this is quite a different subject. The quaternions were
only a technical device for studying real projective geometry, just as in Chapter 1
3-9
OTHER GEOMETRlES
195
the complex numbers were used for dealing with the euclidean plane over the
field of real numbers. Projective geometry over the quaternions (i.e., where
each of the coordinates is a quaternion) has also been studied. One further step
is the so-called octave geometry.
The octaves or Cayley numbers form the Cayley algebra of rank 8 over the
reals. We start from the quaternions and introduce a new symbol e. The octaves
are all possible expressions p + qe, where p and q are quaternions, with the
conventions p + Oe = p, and 0 + qe = qe. When we define addition by
(p + qe) + (r + se)
(p + r) + (q + s)e
ie
je
ke
ie
je
ke
-1
-ke
je
ke
-e
-ie
-1
-ke
je
-ie
e
ke -je
ie
-e
-ie
-1
-i
-je
-j
i
ie
-k
1
1
i
ie
1
i
j
k
e
ie
-ke
je
je
ke
ke
ke -je
ie
j
k
e
-e
je
-1
-i
-j
-k
-1
k
-j
-k
-i
-1
-1
ji
and
i(je)
nann of an octave 0
N(a,e, +
. . .
+ a.e.)
= ai
. . .
+ a;
is called a nonned algebra, provided N(p)N(q) = N(pq) for all elements p and q
of the algebra. The following is an important result concerning normed algebras.
196
3-9
Here alternative means the following special case of associativity : a2b = arab),
= (ba)a for all a and b in the algebra.
The first two parts of the theorem are the work of the German G. Frobenius
(1849-1917). The third result was found in 1950 by two American mathemati
cians, R. H. Bruck and E. Kleinfeld .
Thus it appears that every time we increase the rank of the algebra used for
constructing a geometry, we have to sacrifice a desirable property. When we
exchange the reals for the complex numbers we sacrifice the order, because, in
contrast to the reals, we cannot always decide which of two complex numbers
is greater than the other. When we move on to the quatel'nions, we lose com
mutativity, and finalJy, the octaves are not even associative, but satisfy only
the rather weak alternative laws instead. However, it is important to note that
ba'
3-9
197
( )
( )
General
E. ARTIN, Geometric Algebra, New York: Intel'science, 1957. This work covers
various geometries over arbitrary fields, from an advanced algebraic
standpoint.
G . DE B. ROBINSON, The Foundations oj Geometry, Toronto: University of
Toronto Press, 1940. This is a short easy-to-read introduction to the
subject, covering the axiomatic aspect as well.
198
Projective Geometry
H . BUSEMANN and P.
H.
F.
H.
D.
Geometrical groups
CHAPTER
I. For every two points there is exactly one line incident with both.
II. For every two lines there is exactly one point incident with both.
III. There exist four points no three of which are incident with a line.
rv. Every line is incident with exactly three points.
199
200
4-1
It is easy to verify that the augmented A 2(2) satisfies the four axioms.
GF(2) is a field over which a vector space, V2(4)) , and hence a projective
plane, P2(4)), can be defined without any contradiction. Hence the axiom system
is consistent.
4> =
C [l, I , I)
--=-"
-+-E [O, 1 , 01
B [ I , 1 , 0)
.4 [ t , 0, 01
Figure 4-1
1.
4- 1
201
Then, in view of the categorical property of the axiom system, there are
exactly 7 balls and 7 colors. If the colors are A, B, C, D, E, F, and G, then the
7 balls contain colors as follows: ABE, A DF, ACG, BCF, BDG, CDE, EFG
(meaning that one ball has the colors A, B, and E, another the colors A, D, and
F, etc.), or in any other arrangement obtained from this list by permuting the
seven colors.
Thus, in the words of H. G. Forder, "Our Geometry is an abstract Geometry.
The reasoning could be followed by a disembodied spirit who had no idea of a
physical point ; just as a man blind from birth could understand the Electro
magnetic Theory of Light. ".
Our plan for this chapter calls for the construction of a rudimentary projec
tive plane, based on incidence axiorns alone. Gradually more axioms will be
added and the corresponding algebraic coordinate structures will be studied, with
special ernphasis on the collineations whose existence is assured by the axioms.
The additional axioms will be of the type of incidence properties, such as those
of Desargues and Pappus. Eventually the coordinates will constitute a field.
Then new axioms, of order and continuity, will be added in order to make the
coordinate field isomorphic to the field of reals. Certain modifications will be
made for dealing with affine rather than projective planes. This brings us back
to the starting point of Chapter 2, and were we to be completely logical, this
axiomatic treatment should appear before Chapters 2 and 3, rather than after
them.
As an alternative to the analytic introduction of euclidean geometry in
Section 2-7, an axiomatic treatment is provided by means of congruence axioms.
Then it will be shown that hyperbolic geometry in the plane satisfies all axioms
of the euclidean plane except one. The equivalence of the two models of the
hyperbolic plane, Poincare's model of Section 1-9 and the Cayley-IGein model
of Section 3-7, will be proved. Finally, the position of the two noneuclidean
geometries with respect to other plane geometries will be discussed on the grounds
of the axiomatic treatment.
4-1
For every two points there is exactly one line incident with both.
For every two lines there is exactly one point i ncident with both.
PP 3. There exist four points no three of which are incident with a line .
PP 1 .
PP 2.
202
4-1
In the following we will again use the various terms that replace the word
"incident" in a less rigid style, such as for instance "lie on, " IIbelong to," "pass
through, " collinear, and concurrent. The word "rudimentary" will be omitted
from now Oll.
Theorem 4-1 . 1 .
Theorem 4- 1 .2.
Proof. If A, B, C, and D are such as mentioned in the last proof, then every
line not through A is intersected by AB, AC, and AD in three distinct points.
Every line through A, except AB, is intersected by BC and BD in two distinct
points different from A, and thus contains at least three points. Finally, AB
contains the three distinct points A, B, and AB X CD. The second part of
the theorem is dual to the first.
Thus the smallest projective plane has three points on each line, as shown in
Fig. 4-1. On the other hand, the projective planes of Chapter 3 also satisfy
PP 1 through 3, and thus there are finite as well as infinite projective planes.
In order to introduce coordinates in a projective plane we choose foul' points
as reference points. These points have to be such that no three of them are
collinear, and we caU them Qo, Q" Q2, and U, as we did in Section 3-2.
We make our plane a (rudimentary) augmented affine plane by distinguishing
Q 1Q2 as the improper line. By removing it we obtain an affine plane, and again
the term "augmented " will be omitted when no ambiguity is to be feared.
From PP 1 through 3 we obtain the well-known properties of parallels, for
instance, the equivalence property of parallelism and the fact (Euclid's pamllel
axiom) that through a given proper point P
there is exactly one line parallel to a given line
Q,
not through P (cf. Exercises 3 and 4).
To points on QoU we assign symbols [b, b],
where b belongs to a set 2: of labels containing
at least two elements called 0 and 1 . The
points Qo and U receive the labels Qo = [0, 0]
and U
[1, 1]. The only point of QoU in the
augmented plane without such a label will be
the improper point QoU X Q1Q2. The remainQ,
ing proper points are coordinatized by the rule Qo
[x, X]Q2 X [y, y]Ql = [x, y] (Fig. 4-2).
Hgure 4-2
=
4- 1
203
For the improper points of the augmented plane we use a special notation,
Qo[l, m] X Q,Q 2
[mI. This provides names for all improper points other than
Q2. In particular, QoU X Q,Q 2
[1] and Q,
[0]. We derme also Q 2 = [00],
00 being a mere symbol, not an element of .
=
[a, t],
(see Fig. 4-3). Then t is an element of because [a, tJQ, X QoU = [t, t], and it
is a function of a, b, and c. We use the notation
l = a * b * c.
This is a temary operation, mapping all ordered triples of elements of into ,
in symbols of a cartesian product, X X :1: --> , just as ordinary addition
or multiplication are binary operations, mapping X :1: --> :1:. The set :1: under
this ternary operation is called a ternary ring, (, *).
If a ranges through all elements of :1:, then the points [x, y] 0 11 the line
[0, c][bJ are [x, x * b * cJ. Hence we may say that the equation of this line is
y = x * b * c.
(1)
Every proper line I, not through Q 2, h8.'l an equation of this kind. For I X Q OQ 2
is always of the form [0, cj, and I X Q,Q 2 of the form [bj, with b and c in .
The equations of the lines through Q2 are of the form x = a, with a E .
We draw Fig. 4-3 again as Fig. 4-4, using an orthonormal coordinate system.
This is done purely as an explanatory device and should not mislead the reader
into thinking that any right angles have been defined. Then we see that Eq. (1)
generalizes the line equation y
xb + c of the real euclidean plane, while [b]
corresponds to the point where all the lines of slope b meet.
=
100 J
[bJ
[0, a b * cl +----0'"[.
a, a .
[O,cJ
b * cJ
[bJ
[ I , bJ
10, bJ +--'--'-,;,
II, II
[0, 01
[01
Figure 4-3
."...::-;-+::- - [OJ
[0,
01 '-- 1 1 , 01 [a, OJ
Figure
4-4
204
4-- 1
TR l . a * O * c = c.
TR 2. 0 * b * c = c.
TR 3. 1 * b * 0 = b.
T.R 4. a * 1 * 0 a.
TR 5. The equation a bl * CI = a b, * C2 has exactly one solution for
a ill 1: if bl ,e b2
TR 6. a * b * c = d has exactly one solution c in 1:.
TR 7. The simultaneous equations al * b c = dl and a2 * b * c = d, have
a solution for b and c in 1: if al ,e a,.
=
a * b * c = ab + c,
(2)
the postulates TR are satisfied by skew fields and fields, which are therefore
special ternary rings. When Eq. (2) is satisfied, the ring is called linear.
We introduce an addition and a mUltiplication by
a * l * c = a + c,
a * b * 0 = abo
(3)
(4)
In contrast to Eq. (2), which does not hold in every ternary ring, Eqs. (3) and
(4) are nothing but definitions of new binary operations and, as such, hold in
every ternary ring. Under addition alone, (1:, +) forms a loop, and so does
(1:', ) , that is, l: less the zero element under mUltiplication. (The proof is left
for the exercises.) By a loop we mean a set S, closed under a binary operation
(0), and satisfying the following axioms.
.
a = b have unique
a 0 e = e a = a.
In a mUltiplicative loop we use the notations a\c = b and c/b = a, when
ab c. In an additive loop we write a f- c b and c --j b = a, when
a + b c. Obvious rules are
=
4-1
205
Groups are special loops. In particular, a loop in which the associative law
holds is a group (Exercise 10).
Three-nets and isotopic loops. vVe will now restrict ourselves to those pl'oper
lines of the augmented plane which pass through [ <Xl J and those in whose equa
l . The equations of these lines are express
tions (Eq. 1) either b
or b
ible in terms of (2:, +) alone. The equations are of the types x = t, Y = t,
Y = x + t, with t ranging over all elements of 2:. These are three sets of parallels
or, in projective language, the three pencils of all lines through the improper
points [0], [ 00 ] , and [lJ. What we obtain is a so-called three-net, defined as a set
of points and lines in an affine plane such that : (a) each line of the set belongs
to exactly one of the three pencils with proper or improper centers, (b) throngh
each proper point, other than the pencil centers, passes exactly one line from
each of the three pencils, (c) lines from different pencils intersect in a point of
the net. If all three pencil centers are improper (as in our case), the net is a
=
parallel three-nel.
Let us specialize Fig. 4-4 for the case b = l . Then the construction of
1 '" c = a + c, which remains entirely in the three-net, is described by
Fig. 4-5.
a*
If, ,<G)cl
[O, a+c]
If, cl
If, a]
[O, c]
[a""g , g[
Qo If,f+gl
1M]
[0, 01
Figure
[0,01
4-5
Figure
4-6
-f-
(J r c).
(5)
206
4-- 1
(, EB) is a loop. Its closure under the addition (Eq. 5) is obvious. In order
to check the validity of Lp 1 for (, EB), we solve Eq. (5) for a and then for c.
Let a EB c = d. Then
a = [d -1 (f f- c)] + g,
c = f + [(a -1 g) f- d].
The loop (, EB) is called isotopic to the loop (, +), or an isotope of (, +).
Isotopy is an equivalence relation, as will be proved in Exercise 13.
We summarize.
Theorem 4-1.3.
(6)
[1)
--,-;-- 10)
,1-----;;'0-:[xb, xb)
\X,xj
[0, 0)
1001
Figure 4-7
for all a in .
In the multiplicative loop (L', .) , isotopes can be introduced precisely as in
the additive case. The isotopes coordinatize nets with different unit points
[1, 1]. The proof will be left for the exercises.
We will prove one further theorem about isotopes.
If a loop L and all its isotopes are commutative, then L is
a group, and all its isotopes are isomorphic to L.
4-1
207
Proof. Let L have the operation (+). For every b in L there is an isotopic
loop (L, EB) such that
x EB y = x +
f-
(b
f-
V),
y = z. Then
x EB (b + z) = x + z.
Both (L, +) and (L, EB) are commutative. Thus, for all elements a and
(a +
of L,
b) + c = (a + b) EB (b + c)
= + EB + = + + a = a + +
X - (f + g) + y.
This implies
(x
y) - (f + g) = x - (f + g) + y - (f + g),
which shows that the mapping x --> x - (f + g) maps ( L, +) on (L, ') iso
morphically. This completes the proof.
So far, the plane has been given and (:1:, * ) has been developed from the proper
ties of the plane. The converse problem is: If a ternary ring satisfying TIl 1
through 7 is given, is there an affine plane coordinatized by it '? The answer is
contained in the following theorem.
For every given ternary ring (2,;, * ) , there is an affine plane
which it coordinatizes.
Theorem 4-1.5.
Proof. For each ordered pair (p, q) of elements of :1: we define a point [p, qJ
of the plane. For each p in :1: an improper point [pJ is introduced. Moreover,
another improper point [ 00 J shall be in the augmented plane. All the improper
points are collinear, and so are the points [ 00 J and [t, yJ for fixed t and for y
ranging through all of :1:. Also collinear are the points [x, x * b * cJ and [bJ
for fixed b and c and for x running through the elements of :1:. We have to prove
that the points and lines introduced in this way satisfy the axioms PP 1 through 3.
This involves the discussion of various cases, and we will go into the details of
a few sample cases only.
(i) Let [p, qJ and [r, 8J be two points, p '" r, q '" 8. Their join cannot have
an equation of the type x = t, because p r!: 1', nor is it the improper line. Hence
208
4-1
'" b 1 * C l = P * b2 '" C2 ,
'" bl Cl = r '" b2 * C2 .
Corollary.
EXERCISES
1. Show that the axioms PP 1 through 3 are equivalent to a system ill which
PI' 2 is replaced by the weaker axiom "For every two lines there is at least
one point incident with both . "
2, Ca) Prove that i f one line o f a projective plane i s incident with exactly
n + 1 points Cn ;:; 2) , then every line of the plane has this property.
Cb) Prove that under the same assumption as in Cal, every point is incident
with exactly n + 1 lines.
Cc) How many points does the plane contain?
Cd) How many lines does the plane contain?
3, Prove: In an affine plane the following statements are true.
Ca) For every two points there is exactly one line incident with both.
Cb) Given a point P and a line I not through P, there exists a unique line
through P which does not intersect I.
Cc) There exist three noncollinear points.
4-1
209
4. Take the statements (a) , (b), and (e) of Exercise 3 as axioms of an affine
plane and prove that:
(a) There are at least two points on every line
(b) Two lines either do not intersect or have exactly one common point
(c) If the lines I I and l2 do not intersect, and if l2 and a line l3 do not
intersect, then II and l3 do not intersect.
5. Prove that in every ternary ring the following equations have a unique
solution for x.
(a) x * b * c = d, with b "" 0
(b) a * x * c = d, with a "" O.
6. In the projective plane of Fig. 4-1, choose two different reference point
quadruples and list the ternary ring operations in each of thern. A1'e these
two rings necessarily isornorphic?
7. In the finite affine plane A 2(5), as defined in Section 2 10, choose Qo = [0, 0],
U = [1, 1]. Q l as the improper point of x = 0, and Q 2 as the improper point
of y = O. Find :
(a) 2 * 3 * 4,
(b) the equation of the line through [0, 4J and [3],
(c) the intersection of this line with the line y = 0,
(d) its intersection with the line y = x * 2 * l .
8 . (a) I s x ---> x + a , y ---> y + b a collineation of the plane for every arbitrary
a and b ?
(b) I s it a collineation of the parallel three-net?
9. If (2:, *) is a ternary ring, show that (2:, +) and (2:', ') are loops.
e
e
a
b
c
d
a
b
c
d
c d
d e
e d a c
d a e b
c e b a
a b
b c
210
4-2
a, g
= c,
where
15. Introduce a new multiplication ( ) resulting from leaving Qo, Ql, and Q,
unchanged but replacing U by the point [a, bJ, where a r! 0 r! b.
(a) Show that (2:', ) is a loop isotopic to (2:', . ).
(b) Conversely, show that every loop isotopic t o (2:', . ) can be created in
this fashion by suitable choice of a and b.
0
VEBLEN-WEDDERBURN PLANES
C'
To our
axioms PP 1 through 3 we now add another, the
minor affine Desargues property, oa (Fig. 4-8) : If
B
ABC and A'B'C' are two triangles and AA', BB',
and CC' are distinct and parallel, and if AB II A' B'
Figure 4-8
aud BC II B'C', then AC II A'C'.
Some exceptional cases such as, for instance, B' on BC have to be excluded.
In Section 3-4 we could prove the Desargues property in the coordinate model
of the projective plane over a field. In the rudimentary plane such a proof is
impossible; that is, in some planes the theorem holds while in others it does not.
In p ' over a field the Desargues property is always valid; it is a so-called
desarguesian plane. In the fonowing we will describe an affine nondesarguesian
plane '11', as proposed by F. R. Moulton (1902).
Let an orthonormal coordinate system in a euclidean plane be given. The
points of this plane are also the points of 71'. The euclidean straight lines x
const and y = mx + n, with m ;> 0, are straight lines of '11'. However, each
line y = mx + n with m > 0 is considered as a line of 'II' only in the lower
half-plane, y O. From its point on the x-axis the line of 7r continues upward,
like a refracted light ray, with the slope m/2 (Fig. 4-9) . Parallel lines of '11' are
those which have equal slopes below the x-axis and equal slopes above it. The
plane '11' can be augmented by an improper line which intersects a propel' line
in [mJ if its lower part has slope m. As we will show, the augmented 'II' satisfies
PP 1 through 3. However, as Fig. 4-10 shows, oa does not hold in 71', because
the corresponding sides AC and A'C' meet in D instead of being parallel.
We proceed to prove that the augmented Moulton model, '11" , is indeed a
projective plane.
The minor affine Desargues property.
PP 1 holds. Let [a" bd and [a" b,J be two distinct proper points of '11" , and
assume at az The following cases are trivial: at = az; bt = bz; at < a2
and b1 > b,; a, < a, and b1 < b, ;;; 0; al < a, and 0 ;> b1 < b,. For in
211
VEBLEN-WEDDERBURN PLANES
4-2
C'
Figure 4-9
Figure
4-10
these cases the points are joined by their euclidean straight line joins. The only
remaining case is al < a2 1 b 1 < 0 < b2 . Then the equations
and
bz
2 (az - ao) ,
with ao the x-coordinate of the intersection of the join with the x-axis, have a
unique solution m = (2b z - b l )/(az - al) for the slope. The slope m is
positive because the numerator (bz - bl) + b2 and the denominator are both
positive.
Now consider improper points. If both points are improper, the join is the
improper line. If [a, b] and [m] are the points, then the following cases are trivial:
m ;;;; 0; m = 00 ; m > 0 and b O. In the remaining case m > 0, b > 0,
the only solution is the broken euclidean line, passing through [a, b] with slope
m/2 and changing to slope m in the lower half-plane.
PP 2 holds. When the intersecting lines are unbroken euclidean lines or when
one of them is improper, the result is obvious. Now assume both lines to be
broken. Let their slopes in the lower half-plane be "'I and mz, both positive.
If "'I = nt2 , then their upper as well as their lower parts are parallel, and their
only common point in .".' is [m]. If ml > "'z > 0, then let y = ml (x - al)
and y = mz(x - a2 ) be the euclidean equations of the lower parts of the two
lines. The corresponding upper half-lines are then
and
mz
y = 2 (x - az).
The two euclidean lines carrying the lower half-lines meet at a point whose
y-coordinate is
ml m2(al - a2)
ml - m2
a2 .
According to the sign of this expression we distinguish three cases : (a) a,
Then the only intersection of the lines is [at, 0]. Case (b), al < az. The inter
section lies in the lower half-plane. The "pper half-lines do not meet. Case
=
212
4-2
(c), al > a2 The lower half-lines do not meet, but the upper half-lines inter
sect at exactly one point.
PP 3 holds. Obvious.
Lemma 4-2.1
Proof. Let the parallel to BB' through A intersect A'B' in A". Then 0.
A'C'. But A'C' can intersect A'B'
implies A"C' II AC, and therefore A"C'
A" and AA' II BB'. The proof that the converse
only in A', and hence A'
implies 0. will be left for the exercises.
A'
S'
Figure 4-12
Figure 4-1 1
Vectors and their group. In Section 2-4, an affine space was derived from
a vector space by means of the postulates Af 1 through 4. We will attempt to
introduce vectors whose relation to the rudimentary affine plane resembles that
of V2 to A z . We cannot expect these vectors to be anything but rudimentary
analogs of those of VZ
A vector PQ in a rudimentary affine plane will temporarily be defined as an
ordered pail' of points P and Q. Two vectors P1QI and P;Qz are defined to be
congruent 01', in short, equal if P1QI II PZQ2 and P,P2 II QIQZ (Fig. 4-12).
This definition is formally possible in every affine plane based on PP 1 through 3.
However, vector equality will be meaningful only if it is an equivalence rela
tion. Let us, therefore, check whether axioms Ev 1 through 3 of Section 1-3 hold
P;Q z implies P;Q2
for vector equality. Evidently P&,
P& I , and this
PQ, for Ev 2, is trivially satisfied if we
settles Ev 1. The requirement PQ
extend the definition of parallelism for degenerate cases in a suitable way.
P&a, the
The discussion of Ev 3 is harder. If P ,Q,
P&2 and P& z
PaQa. Suppose first that P" QIo and Pa are not col
requirement is P& I
linear (Fig. 4-13). Then we assert P,Q, II PaQa and P,Pa II Q,Qa. The first
claim follows from parallelism being an equivalence relation. Moreover,
P,Pa II Q,Qa, by Lemma 4-2.1, is equivalent to 0. Thus the transitivity of
vector equality for all vectors follows from the validity of 0. in the plane.
Now consider the case in which P l o Q" and Pa are collinear (Fig. 4-14) .
P&a through the mediation of a vector P4Q,
Then it is required that P&,
4-2
VEBLEN-WEDDEHBURN PLANES
P ""=:----
I
Figure 4-13
,
,,
213
,,
,, ,
PI ----
' -- Q3
Figure 4-14
for which 1'&1 = 1'&, = P3Q3, and independently of its choice. This means
that PIP, II Q1Q, has to imply P3P, II Q3Q, This again follows from oa,
since 0. for the triangles P1P2P, and Q1Q2Q, states P2P, II Q2Q4, and then
P3P, II Q3Q, follows from oa for the triangles P2P3P. and Q2Q3Q . This pro
cedure is impossible when P2) Q2 and P 4 are collinear, a case which will be left
for the exercises.
We have proved the following theorem.
In an affine plane in which PP 1 through 3 and oa are valid,
vector equality is an equivalence relation.
Theorem 4-2.2.
The addition of two vectors ?;P2 and l'zP3 will be defined by P1P2 +
3 ' If the addition of two vectors 2 and 1J&3 is required and
if P2 "" Q" then there is exactly one point P3 such that J5;P3 = Q2Q3, and
then again ?;P2 + Q;Q3 = ?;P3 (Fig. 4-15). The uniqueness of N3 follows
from the incidence axioms. An exceptional case would be that in which P2J
Q2, and Q3 were collinear, and in this case the procedure of Fig. 414 would have
to be used, and uniqueness of "f5;P3 secured by virtue of oa . Whatever vectors
pip and P{P we choose among all those which are, respectively, equal to
P-;P2 and P2J531 their sum will always be P:'P J in view of oa
l'zP"
Figure 4-1 5
214
4-2
We may now compare our results about vectors with the requirements
Af 1 through 4 of Section 2-4, and it can easily be verified that these require
ments hold.
How is the addition of vectors related to the addition in (L, +)? In Fig. 4-5,
we have the vector addition
[0, 0][0, aJ
(1)
for all a and c in L. Since every vector on a line through Q 2 is equal to exactly
one vector [0, 0][0, al for some a E L, Eq. (1) yields an isomorphism between
(L, +) and all the vectors on lines through Q 2 '
Theorem 4-2.3. If oa holds in an affine plane, the vectors form an abelian
Proof. Closure and existence of the null vector are obvious. For a verifica
tion of associativity we consider three vectors AB, BQ, and CJ5. The definition
of vector addition immediately implies
Figure 4-16
we have to distinguish between two cases. First (Fig. 4-16), assume that the
well-defined vector BE = CJ5 is not collinear with AB. Then AB + BE = AE.
Now define F by AF = BE. This implies AB + CJ5 = AB + BE = AE and
CJ5 + As = BE + As = AF + FE = AE,
in view of Dal which completes the proof in this case. In the second case A:B
and BE are collinear. Let G be a point not on AB. Then
CJ5 + As =
=
=
=
BE + As = + + As = + +
+ (AB + GE) = ( + AB) + GE
(As + l + GE = Aa + GE
AE = As + BE = As + CJ5.
4-2
215
VEBLEN-WEDDERBURN PLANES
Corollary.
Theorem 4-2.4.
PTOO! (Fig. 4-17). We construct the points [a, a * b * e] and lab, ab + e].
Then, by 00, their join passes through [0] and hence a * b * e
ab + e.
=
Theorem 4-2.5.
In]
[I]
[p, q+r[
(a, a . b * c1
[9,9+r[
lab,aHe]
[m]
10, e]
[11
[O,r]
--[0]
-J
!7
ab]
[a,--;-;-
[I]
[q,9]
lOt
10, 0[
100]
10, OJ
Figure 4-18
Figure 4-17
PTOO!. In order to prove the validity of oa for two triangles, perspective with
improper center C, choose a coordinate system such that C = [00] and one of
the triangle vertices is at [0, 0]. The improper points [0] and [1] are chosen so
as to be the intersections of two pairs of corresponding triangle sides. Let the
triangle vertices, in terms of the resulting linear ternary ring, be (Fig. 4-18)
[0, 0], [p, g], [g, g], [0, r], [p, q + r], and [g, g + r]. The remaining sides
[p, g + r][O, r] and [p, q][O, 0] have, respectively, the equations y = xn + r and
y = xm. By substituting the coordinates of the points [p, q + r] and [p, g] ,
pn and q = pm, and consequently
respectively, in these equations, we get q
m = n because p '" O. Hence these lines are parallel and 00 is valid.
=
Theorem 4-2.6.
216
4-2
[e[
la, a * c * bel
[e[
---- - - - - - - -
[a+b, (a+b)e[
[lJ
[0, b[
fL----,L--"v.[b, bJ
[a+b, a+b[
[O,O[
Figure 4-19
(a + b)e = a
be.
Deflnition.
VW
2.
Theorem
4-2
VEBLEN-WEDDERBURN PLANES
217
Proof (Fig. 4-20) . Assume that for given axis I and center S all the collinea
tions exist. Let ABC and A' B'C' be two triangles with none of their vertices on I,
with S on AA', BB', and CC', and such that AB X A'B' and AC X A'C' lie an i.
Theu there is a collineation a with center S aud axis I such that Aa = A',
implying Ba
B', Ca
C'. Also
=
(BC)a = BaCa
B'C',
and
(BC X I)a
B'C' X I.
Figure 4-20
Figure 4-21
218
4-2
with Aa = A', center S and axis I. Ba must lie on BS as well as on (AB X I) A'
and is therefore
Ba = BS X [(AB X l)A'].
This procedure provides an image for every point not on AA', assuming that
the points of I are invariant under a. Now let E be a point on AA', distinct
from A and S and not on I. We construct Ea = [(BE X I)Ba] X AE. This
construction is meaningful only if we can prove that it is independent of the
choice of B. Let C replace B and again
Ca = CS X [(AC X l) A']
Is Ea = (CE X I)Ca? By 6(S, I) for the triangles ABC and A'BaCa, the
point BC X BaCa lies on I. On applying 6(S, I) to the triangles CBE and
CaSaBa, we find that CaBa X CE lies on I, which proves that indeed Ea =
(CE X I)Ca. This completes the construction of images for all points of the
plane.
Figure 4-22
We still have to show that a is a collineation, that is, that a takes three
arbitrary collinear points into collinear points. Let A, A', I, and S (Fig. 4-22)
F.
be deined
f
as above. If B and C are two points not on AA', let BC X I
We construct Ba and Ca. 6(S, I) for the triangles ABC and A'BaCa yields
that Ba, Ca, and F are collinear; that is, the collinearity of B, C, and F implies
collinearity of their images. EvCl'y point on BF = BC goes into a point on
BaF
BaCa, as asserted. The only case not settled by this proof is that where
B ar C lies on AA'. In this case we replace A and A' by some other point, not
on A A', and its image and proceed in the same way.
The following lemma is important for later applications.
=
Lemma 4-2.9.
Proof (Fig. 4-23). Let j be any line distinct from k and I through k X 1 = S,
and A a point on k, distinct from S. If B is a point of I distinct from S, and
4-2
VEBLEN-WEDDERBURN PLANES
C
AB X j, then, by hypotbesis, there exists a minor central collineation a
with axis k and center A such that C = Ba. This implies la = j. By Lemma
4-2.8, the minor Desargues property holds for 1 as axis and any point of 1 as
center. The collineation a takes these Desargues figures into minor Desargues
figures with axis j, and hence the minor Desargues property holds for the axis j.
Then, by Lemma 4-2.8, all minor central collineations with j as axis exist,
except perhaps those whose center is S. Now let B' be a point on I, distinct
from B and S, and B' A X j = C'. Then C' is
s
distinct from C and S. In view of our results so
far, there are two minor central collineations with
A and {3'
axis j: {3 with center C such that B{3
with center C' such that A{3' = B'. By Theorem
3-4.5, {3{3' is a minor central collineation with
B
axis j. Since B{3{3'
B', the center of {3{3' must
k
be BB' X j = S. Thus {3{3' provides the only
j
lacking minor central collineation, and the proof
Figure 4-23
is complete.
=
Theorem 4-2.10.
/:; (S, l) for all points S of the improper line l. This is precisely
planes.
EXERCISES
220
4-3
8. Show directly that the "hexagon figure" representing the uniqueness of the
additive inverse for every element of 2: follows from oa.
9. Draw the "Reidemeister figure" (after the German mathematician K.
Reidemeister) which represents the associativity of (2:, +). Show directly
that it is a consequence of oa.
10. Draw the "Thomsen figure" (after the German mathematician G. Thomsen)
representing the commutativity of (2:, +).
1 1 . Prove: If in a parallel three-net the Thomsen figure of Exercise 10 holds,
so does the Reidemeister figure of Exercise 9.
12. Prove: If in lL parallel three-net the Reidemeister figure of Exercise 9 holds,
then all the loops isotopic to (2:, +) are isomorphic.
13. (a) Find the figure representing the fact that ab = 1 implies ba = 1 .
(b) Prove: I f this figure holds throughout the three-net for (2:', ) , then
(2:', ) is power associative, that is, every element of (2:', -) generates an
abelian group.
14. (a) Draw the figure representing the commutativity of (2:', ) .
(b) Is its validity a consequence o f oa?
(c) Is this "major Thomsen figure" equivalent to the Thomsen figure of
Exercise 1O ?
-
4-3
MOUFANG PLANES
MOUFANG PLANES
Lemma 4-3 . 1 .
221
0.
PTOO! (Fig. 4-24) . Let ABG and A'B'G' be the triangles of the Desargues
figure and let AB X A' B' = F lie on GG'. The assertion is the collinearity of
D, E, and F. By Lemma 4-3.1, we may apply the converse of 0 to the triangles
BB'D and AA'E. For the corresponding sides we have BB' X AA' = S,
B D X AE
G, B'D X A'E = G'. Indeed S, G, and G' are collinear, and
F lies on their join. The converse of i5 states that AB, A'B',
AB X A'B'
and DE meet in one point, or, in other words, that DE is collinear with F, as
required.
=
Figure 4-24
Figure 4-25
Theorem 4-3.4.
Proof (Fig. 4-26). Since in the plane oa is valid as a special case of 0, the
ternary ring is linear, and the assertion may be written
a (1 * b * c)
b * ac.
(1)
222
4-3
[ I ", b c]
We construct
[a, a b ae]
Q.
[0, ad "",==---L-JiI
Q.
[O, cj ....-:v
[O,O[
Figure
4-26
Definition.
Thus every ternary ring of a Moufang plane is a division ring. But we can
say more.
Inverse properties. Every nonzero element b of a ternary ring has a multipli
cative right inverse bR, such that bbR = 1 , and a left inverse bL, such that bLb = l .
The right inverse property is said to hold if, for all nonzero b, bR and bL coincide
a for all a. Analogously, the
(now called the inverse b-') and if (ab)b-'
left inverse ptOperty requires the existence of an inverse for all nonzero b and
moreover b-' (ba) = a.
=
Theorem
A division ring in which the two inverse properties hold is called an alternative
,/ivision ring. The reason for this name will become clear later.
Proof. (i) The right inverse property (Fig. 4-27) . As a temporary notation
we write b-' instead of b L It will appear later that this is justified. After con
structing the points [a, a] and [ab, (ab) b - ' ] , we have to prove that their join
passes through [0]. Let [ab, (ab)b-'][b-l, b-'] X [0, 0][0] = S. Then Lemma
4-3.3 applies to the triangles
and
because the vertex [b-', b-'] lies on the side [1, l][ab, ab]. Consequently
[b- ' , l][ab, ab] passes through S. Now we use the same lemma on the triangles
MOUFANG PLANES
4-3
(b}
(I}
(ab, abl
(O,O}
-'
(b }
Figure 4-27
[b- ', l][a, ab][ab, ab] and [b-" b-'J[a, a][ab, (ab)b-l], in which the vertex
lab, ab] lies on the side [b-l, b-'][a, a]. We obtain the collinearity of
lab, (ab)b-l], [a, a], and [0],
implying (ab)b-l = a.
In order to justify the use of b-' for the left inverse of b, we put a = 1 in
(ab)bL = a, and get bbL = 1. This makes bL also the right inverse.
(ii) The left inverse property (Fig. 4-28). We construct [a-" a-'(ab)] and
[1, b] and have to prove that their join passes through [0]. In view of Lemma
4-3.3, in the triangles [a, 1][1, l][a, ab] and [1, a-l][a-', a-l][l, b], the sides
[1, I][a, ab] and [a l , a-l][I, b] intersect at a point R on the improper line. Then,
by the same lemma, applied to the triangles
-
and
the side [a-l, a- l (ab)][I, b] must pass through [1, ab][a, ab] X [oo]R
completes the proof.
(b}
(O,O}
(ab}
Figure 4-28
[0]. This
224
4-3
Theorem
Theorem
4-3
MOUFANO PLANES
225
established.
Theorem
4--3.8. The right alternative law, (ba)a = ba' , and the left alterna
'
= a b, hold in every alternative division ring.
Proof. We will prove the right alternative law only. Thc proof for the left
alternative law is analogous. For a = 0, 1, or - 1 , the theorem is trivial, and
we exclude these cases. We have for any x, by left distributivity,
(xa)[a-1 - (a + 1)- l j = X - (xa)(a + 1)-1
x(a + 1) - xa
x.
In particular, for x
Now we set x
226
4-3
E XERCISES
1 . Carry out the proof of Lemma 4-3.1.
2. Complete the proof of Theorem 4-3.7 by proving that the collineation a
preserves incidences.
3. I f the plane in the proof of Theorem 4-3.7 were p 2 , how would the pro
jectivities ex and 13 be expressed in homogeneous coordinates?
4--4
DESARGUESIAN PLANES
227
4. (a) Draw the figures for the left inverse property and for the left alternative
law.
(b) What conclusions can you draw from their mutual resemblance?
(c) Is the same true for the right inverse property and the right alternative
law?
5. In order to show the mutual independence of the left and right inverse
properties, find a finite loop having either property without satisfying the
other.
6. Show that either of the left or right inverse properties implies
y = x
DESARGUESIAN PLANES
228
4-4
[bJ
III
f.:---/--'1I'lb, bJ
Corollary.
Ie[
--)f-.-,--7r[Jb, be[
We construct
[a, a(be)] and lab, (ab)e], and have to
prove that their join passes through [0].
We apply /'; to the triangles [1, b][b, b]
[b, be] and [a, ab][ab, ab][ab, (ab)e] and
obtain
r-!'-/--7'[ab, (ab)e
[0, OJ
[beJ
Figure 4-29
Then /'; for the triangles [1, b][l, be][b, be] and [a, ab][a, a(be)] [ab, (ab)e] yields
[a, a(be)][ab, (ab)e] II [1, be][b, be],
which is equivalent to the assertion.
Collineations in desarguesian planes.
Theorem 4-4.2.
[d]. = [d],
[oo]. = [00],
4-4
DESARGUESIAN PLANES
229
(x
c) ---> (x = ae),
(y = xm + n)
--->
(y = xm + an).
The improper line is invariant under CPa. We check the invariance of incidence
only for the lines y = xm + n and the points [e, d]. The remaining cases are
easy. Suppose that [c, d] lies on y = xm + n. Then
4>.: [e, d]
[e, em + n]
--->
We have to show that a (em + n) = (ae)", + an. But this is true in a skew
field. The improper line is preserved pointwise, and thus it is the axis. The point
[0, 0] is the center because every line through it, with an equation y = X11l or
x = 0, is preserved. There are no other central collineations with this axis
and this centel, because every such collineation would necessarily have [d] ---> [dj
and [<Xl] ---> [ w I . and if [e, dj ---> [e, !I . then [e, dI. [e,f], and [0, 0] have to be col
linear. This implies that for some 1n, d = em and f = em" and hence jd- 1 =
em",-Ie-I = ee-I = a, say, and f = ad, e = ae. Thus [e, d] ---> [ae, ad] for
some nonzero a. The rules for the lines follolv easily.
Now we have to show the existence of all major collineations for arbitrarily
chosen axis and center. Let A and B be two points on the axis, let C be the center,
and let A, B, C not all be collinear. Not all three points [0], [ <Xl ] , and [0, 0]
can be on any one of the lines AB, BC, and CA . Suppose [0, OJ is not on AB,
otherwise rename A, B, and C. Then, by Theorem 4-3.6, there is a minor
central collineation 01 such that COl
[O, OI. with AB as axis, and therefore
Aa = A , Ea = B. For the same reason there is a minor central collineation
fJ with axis [O, O]A, mapping B on [ 00], and preserving [0, 0] and A . Finally
there exists a minor central collineation "Y with axis [0, 0][ <Xl ] taking A into [0]
and preserving [0, 0] and [ <Xl ] . If P and Q are arbitrary distinct points, collinear
with C, but not coinciding with C and not on AB, then POIfJ"Y and QOIfJ"Y are
proper and collinear with [0, 0], and there is a 4>. which maps POIfJ"Y on QOIfJ"Y.
Thus 0I{3"Y4>.(0I{3"y) - 1 is the collineation wit.h center C and axis AB, mapping
P on Q.
Thus all major central collineations exist for any given axis and center.
All the minor central collineations exist for every center and axis in the plane,
in view of Theorem 4-3.6. Thus, by Lemma 4-2.8, the Desargues property
holds, and the plane is desarguesian. This completes the proof.
=
Theorem
Proof. Using 0If3"Y of the last proof, we get a collineation 9 for three of the
vertices and three image vertices. Choose the three image vertices as the
reference points Qo, Q" Q, of a ternary ring. Let the fourth desired image
230
4-4
point have the. coordinates [a, bJ in the temary ring, while the image of the
fourth vertex under 0 is [a', b'J. Both points are proper and ti, b, a', and b' are
nonzero, because in a quadrangle no three vertices can be collinear. There is
a collineation 7ra,b taking the point [1, 1J into [a, bJ. This collineation operates
on the points:
[c, dJ7ra,b
[ca , db],
[ooJ7ra,b
[ooJ,
(y = xm + n)
-->
(y
(x
xa- 1 mb + nb),
c) --> (x
cal,
and the improper line is preserved. (For motivation cf. Exercise 4.) Indeed
ll, l]1T'a,b = [a, b1, and the rernaining reference points are preserved. Again,
we check only the incidence invariance for points [c, dJ and lines y = Xln + n.
We have [c, Cllt + nJ --> [ca, (Gilt + n)bJ and
(ca)(a-Imb) + nb
(em + n)b,
For every two points there is exactly one line joining them.
PS 4.
Deflnition.
Figure 4-30
If P is a point not on the line QR, then the set of all points on all
the lines PS, with S on QR, is called a plane. Points in the same plane are
said to be coplanar.
4-4
DESAUOUESIAN PLANES
231
PS 5.
For every three noncollinear points there is a fourth point such that
not all four are coplanar.
PS 6. Every two planes have a common line.
A few theorems follow which can be derived directly from these axioms.
Theorem 4-4.5.
2, 3 hold.
Figure 4-31
Theorem 4-4.6.
Corollary
them.
Corollary
belong to
7r,
7r.
Theorem 4-4.7.
A plane
7r
7r,
Proof. Let 7r ' be a plane containing I. Then, by PS 6, 7r and 7r' have a com
mon linc, say k. Now, by Theorem 4--4.5, lc and l have a cornman point, which
belongs to 7r as well as to 7f'. This proves the theorem.
232
4-4
Proof Let the plane ABC be called q" and let the plane A'B'C' be q,'. We
distinguish between two cases. First case: q, "" q,'. By Corollary 2 of Theorem
4-4.6, the lines SC and SB determine a plane 1r" containing S, C, B, C', and B'.
Also, S, A, C, A', and C' lie in a plane 7r2, and S, B, A , B', and A' in a plane 'lr3.
By Theorem 4-4.5, in 1r" the point BC X B'C' exists, in 1r2, the point AC X A 'C'
exists, and in 1r3, the point AB X A' B' exists. Now, by PS 6, q, and q,' intersect
in a line, say I. Since BC E q, and B'C' E q,', we have BC X B'C' E I, and
likewise, AC X A 'C' E l and AB X A'B' E I. This completes the first case.
T
Figure 4-32
Now assume q, = q,' (Fig. 4-32) . Then our statement is precisely the plane
Desargues property 6. Let T be a point outside q, = q,', and let 6 "" q, be a
plane through AC, but not through T. Then B T pierces 6 in a point, say D.
The line SD is coplanar with B'T, because both lie in the plane STB'. Let
SD X B'T = D'. Now the triangles ACD and A'C'D' give rise to a figure of
the type treated in the first case, because AA', CC' and DD' meet in S. Hence
AC X A 'C', A D X A'D', and CD X C'D' lie on a line, say k, which cannot
contain T. Let y, be the plane generated by k and 1'. The planes ABD and
A'B'D' meet in a line containing A D X A'D' and T, and this line therefore
belongs to y,. Also the planes BCD and B'C'D' meet in a line containing
CD X C'D' and T, and this line, therefore, lies in y,. Thus the points A B X A'B',
BC X B'C', and AC X A'C' all belong to y, as well as to cp. Hence they are all
DESARGUESIAN PLANES
4-4
233
on the common line of '" and q,. This completes the proof. (To summarize the
last steps, we could say that ", n q, is the image of k under a projection from
T on q,.)
The resulting situation is most peculiar. As we saw, it was impossible to prove
D. by means of PP 1 through 3. On the contrary, in Section 4-2 we were able to
set up a counter-example in which PP 1 through 3 were valid but not D. . Now
it turns out that PS 1 through 6 do imply D. . Thus the Desargues property in the
plane can be proved if the plane is regarded as part of a projective three-space,
hut not in the plane by itself. We will express this result in a slightly different
form.
Theorem 4-4.9.
For later application we state the affine equivalence of 6a and its converse,
in analogy with Lemmas 4-2.1 and 4-3.1.
Lemmo 4-4. 1 1 .
234
4-5
"II"a,b
be
mx + n.
(b) [1, p]
(c) [0, p]
x.
12. In a desarguesian plane a collineation maps [1, 1] on [-1, 1], and [0], [00],
and [0, 0] are invariant. Find the images of all the points and all the lines
of the plane and verify that collinearity is preserved.
13. Prove Lemma 4-4.11.
4-5
PAPPIAN PLANES
Pappus and commutativity. In this section we add another axiom, the valid
ity of the Pappus property, 11 (p. 154). A projective plane satisfying PP 1
through 3 and this new axiom will be called a pappian plane.
Theorem 4-5. 1 .
Proof (Fig. 4-33). In an arbitrary ternary ring construct [a, ab] and [b, bal.
The assertion is that ba = ab; in other words, that [0] lies on [a, ab][b, bal.
This follows from IT. For easier reference we draw Fig. 4-34. Let [0, 0] = A,
B', [1, a] = C', [a, ab] = D,
[a, a] = B, [b, b] = C, [ 00 ] = A ' , [1, b]
[b, ba] = E, and [0] = F. Then the statement of IT is that D, E, and F are
collinear. This is exactly our assertion.
=
PAPPIAN PLANES
4-5
235
[00]
[00]
[b]
[a]
[b, bal
[x]
[I]
Ib, bl
[1, a]
[0, 0]
[1, I]
[a, a]
[01
[01
Figure 4-33
Conversely, suppose that every ternary ring in the plane has commutative
mUltiplication. A Pappus figure (Fig. 4-34) is given, and the collinearity of D,
E, and F has to be proved. Choose A, F, A' and AB X A'B', respectively,
as the reference points [0, 0], [0], [00], and [1, 1] of a coordinate system.- Then
B and C will be the points [a, a] and [b, b] for some elements a and b of one of
the ternary rings. The commutativity of the multiplication in this ring yields
ab
ba, which, in turn, implies the collinearity of D, E, and F.
=
Pappus and Desargues. The commutativity of all the ternary rings or,
equivalently, the validity of II, has an interesting consequence. In Theorem
4-1.4 we saw that a loop which, together with all its isotopes, is commutative,
has to be associative. Now the isotopes of the multiplicative loop of a ternary
ring are multiplicative loops of other ternary rings of the plane (cf. Exercise 15
of Section 4-1), and in a pappian plane all these loops are commutative. Hence
we obtain the result that mUltiplication in a ternary ring of a pappian plane is
always associative. This raises the question : Is every pappian plane desargue
sian? The answer was given in 1905 by the German mathematician G .
Hessenberg.
s
Figure 4-34
Figure 4-35
* If A , F, and A' are collinear, the points of the figure have to be renamed.
case where D is on CC', E on BB', and F on AA', requires a special proof.
The
236
Theorem
4-5
Proof (Fig. 4-35). Let ABC and A'B'C' be two triangles, with S, the inter
section of the distinct lines AA', BB', and CC'. We have to show the collinearity
of F = AB X A'B', E
AC X A'C', and D = BC X B'C'. We define
SG X AB.
G = BC X A'C', H
CS X A'B, J = SG X A'B', and K
Now we use II for the figure B'BS, GC'A' and obtain
=
D, H, and J collinear.
The Pappus property
II,
(1)
(2)
Theorem
PAPPIAl"l PLANES
4-5
Theorem 4-5.5.
237
J. H. M. Wedderburn (1905) states that every finite skew field is a field. There
fore, every finite desarguesian plane is pappian. A later result, connected with
the names of E. Artin, F. VI, Levi, and M. Zorn, goes even further in proving
that every fillite alternative division ring is a field. Thus II holds in every finite
Moufang plane. A detailed proof of these theorems can be found in M. Hall's
Theory of Groups (see references) .
C'
8'
--i
Proof. We start with 6.a (Fig. 4-38). Let ABC and A'B'C' be the Desargues
triangles, let S be on AA', BB', and CC', and moreover let AB II A' B', BC II B'C'.
We have to show AC II A'C'. Let AB intersect the parallel to BC through S
* See also Exercise 14 of Section 4-2.
238
A'
4-5
Figure 4-37
Figure 4-38
We saw that every ternary ring in an affine plane is a field if 0 and ITa are
valid. However, even these requirernents can be cut down, namely by elimina
tion of 0 .
Theorem
A'
--j-r-----=="' C
Figure 4-39
Corollary.
4-6
239
plane is linear and a skew field, to. holds throughout the plane. Now, II implies
ITa) and by Theorem 4-5.6, ITa implies 6a and a which, in turn, assure the
linearity and skew-field properties of one ternary ring. Thus to. is a consequence
of II.
4-6
The real field. We saw that a projective plane satisfying PP 1 th.rough 3 and
the Pappus axiom can be coordinatized by a field. In Chapters 2 and 3 we
gave special attention to planes over the field of reals. Thus it is reasonable
to ask about additional axioms which make the coordinatizing field isomorphic
to the field of real numbers. In order to be able to do this, we first have to study
propcrties that characterize the real field. We start with a few definitions.
A skew field fi' is said to be ordered if it contains a subset P of so-called positive
elements which satisfies the order axioms.
Or 1 . P
Or
2. For every element x E fi', one and only one of three alternatives holds:
In view of Or 2, for any two elements a and b of F, one and only one of three
alternatives holds : either a - b E P, or a - b = 0, or b - a E P. In these
cases we say a > b, a = b, or a < b, respectively. (The statements a > b
and b < a are equivalent.) Thus x E P means x > 0, and -x E P means
x < 0.
Not every skew field is ordered. For instance, finite fields are not ordered
(see Exercise 1).
A lower bound of a subset S of an ordered field F is an element b E fi' for
which b s for all s E S. The element b is the greatest lower bound if there
is no lower bound greater than b. An ordered field F is called complete if every
nonempty set of positive elements of F has a greatest lower bound in F. The
field of reals is easily seen to be a complete ordered field.
Theorem 4-6. 1 .
The proof will not be given here. It can be found i n Birkhoff and MacLane,
240
4-6
Lemma
Proof (Fig. 4-40). A point perspectivity with center [1] maps each point
[0, a,] on [p, p + a,], and then a point perspectivity with center [0] maps this
point on [0, p + a,]. The additive statement then follows from Sp 5. For the
mUltiplicative assertion (Fig. 4-41), a point perspectivity with center [0] maps
every [0, a,] on [a" a,]. This point, in turn, is taken by a point perspectivity
with center [00 ] Into [a" a,p]. Finally, a third point perspectivity with center
[0] maps [a" a,p] on [0, a,p]. Then Sp 5 yields the multiplicative statement.
The case ai = 00 is trivjal.
4-6
24 1
(pi
10,
(O, aipI---{
Figure 4-40
Lemma
(0,01
Figure 4-41
is not 2.
Proof. Suppose the characteristic were 2. By Sp 1, there exists an element
a of which is distinct from 0 and I . There are three possibilities, in view of
Sp 3 :
Case (i)
.,-(Oall oo ) .
(1)
Case (ii)
.,-(01laoo).
Case (iii)
.,-(lal ooO).
(2)
0'(1, a + 1 1 0, 00),
(3)
1, lla, 00),
(4)
and
O'(a
in view of 1 + 1 = a + a
and .,-(0, 0011, a + 1) yield
(5)
and
.,-(a + 1, 01 00 , a),
(6)
(7)
By Sp 4, Eqs. (2) and (6), in the form .,-(lalooO) and .,-(a, 00 10, a + 1), yield
"-(00, Ola + 1 , 1) which, in view of Sp 3, contradicts Eq. (7).
{-6
.-\n immediate result of the last lemma is the existence of a poiut [0, - 1]
diEt inct from [0, 0], [ 00], and [0, 1]. Now we define an element p of 2: to be
positiYe if and only if 10, p] belongs to the segment [0, OJ[ 00 ] / [0, -1] or, in other
terms, rI(p, - 1 10, 00).
L e m m a 4-6.4.
10, I J
-:\"e.
11 , IJ
A-C--":";
o J-,.I[ 1 , O[
""""
I - I , OJ r'--
IO,
1 - 1, - IJ
/O, - I J
Figure 4-42
Theorem 4-6.5.
- (-1)
(8)
.pl ies (T( -I, C I A , [1]) and successively (T(a, CID, [OJ), and
(T(a, - 1 10 - 1, 00).
The positiveness of b implies (T(-I, blO, 00), which, by Lemma
shout
(T(a - I, a + bla, 00 ) .
In
(9)
4-6.2, brings
(10)
"
Ci a
Xow Eqs. (11) and (8), in the form (T(a + b, - 1 10, 00 ) and (T(-I, al oo , 0), impJy
(T(a, 00 10, a + b)
::'y i"p
'.i
a.
'l.
(12)
:., positive.
4-6
243
[0,
[ oo[
[l[
aJ+----7!D------;,,--_o;C?--. [oJ
[IJ
[O, IJ
[0, a - I IJf--f----r--;iIB
[0,
-aJ
[oJ
[0, a]
[0,
B"'----[O, - I J
I]
Figure 4-44
Figure 4-43
Theorem 4-6.6.
O'(-a, 00 1 1, 0) .
(13 )
Lemma 4-6.4 means 0'(-1, 110, (0 ) , and this, in conjunction with Eq. (13) in
the form 0'(1, 0 1 00 , -a), yields 0'(0, 00 I-a, - 1), in view of Sp 4. Thus -a is
positive. This precludes a being positive.
Case (iii). As a consequence of Lemma 4.2, O'(a, 0 1 00 , - 1) implies
O'(-a, 01 00 , 1). By Lemma 4.4, 0'(1, - 1 10, (0 ) . Sp 4, applied to the two last
relations in the form 0'( - 1 , 1 1 00 , 0) and 0'(1, 00 10, -a), results in
0' ( 00 , 0 l -a, -1),
and -a is positive.
The remaining part of Or 1 will be settled in the following.
244
4-- 6
Theorem
:!;
in an ordered pappian
-u
u(-a, OI-I, oo )
(0
).
(14)
u( -a, 00 1 - 1 , 0)
holds. In the first case, Eq. (14) together with u(-a, 01 00 , - 1) , by Sp 4 yields
u(O, 00 1 - 1 , ab), as claimed. In the second case, Eq. (14), in the form
u(ab, -al oo , 0),
combined with u(-a, 00 10, -1), by Sp 4 results iu u( oo , O I - I , ab). This is
the desired result.
Continuity in pappian proiective planes. In an ordered pappi an plane the
coordinatizing field is ordered. We will add another geometric axiom, a con
tinuity postulate, which will make the field complete and, therefore, isomorphic
to the field of reals.
PC.
Theorem 4-6.8. A
The real affine plane. How would the various axioms have to be modified
for the affine plane? The incidence axioms PP 1 through 3 will have to be
changed, because in an affine plane improper points can no longer be C011-
4-6
245
sidered as points. Lines that formerly met in an improper point will now be
called parallel, a term which will mean here merely Iinot intersecting. JJ
PP 1 through 3 in their affinely modified form become, respectively, the
three following axioms of a rudimentary affine plane (cf. Exercises 3 and 4 of
Section 4-1 and Exercise 8 of this section) .
For every two points there is exactly one line incident with both.
(Euclid ' s parallel axiom). Given a point P and a line I not through P,
there exists a unique line through P parallel to I.
AP 3. There exist three points which are not incident with a line.
AP 1 .
AP 2.
In the affine plane, IT will be replaced by ITa. Concerning the order axioms it
has to be noted that in the affine plane the straight lines are no longer closed.
The removal of the improper point makes the affine line into an open line. The
separation relation of four collinear points has to be replaced by a betweenness
relation of three distinct collinear points. <T(ABICD), with D the improper
point of the line, will be written (3(ACB) ; in words, "C between A and B "
(Fig. 4-45). The axioms Sp 1 through 5 then change respectively into the five
betweenness axioms of an ordered offine plane (cf. Exercise 9) :
Every line contains at least three distinct
points.
Bt 2. (3(ABC) implies (3(CBA ).
Bt 3 . One and only one o f the relations fJ(ABC),
(3(BCA), and (3(CAB) holds if A, B, and C are
distinct and colJinear.
Bt 4. If (3(ACB) and (3(BEC), then (3(ACE).
Bt 1 .
Figure 4-45
In the affine plane, the segment ABID will, naturally, always exclude the
improper point D and can, therefore, be called simply IABI. Thus in the affine
plane the segment IABI consists of all the points C satisfying (3(ACB). A half
line AlB consists of all the points C satisfying (3(BAC). In words, AlB is
"the half-line originating from A, without B." With these modified terms,
Bt 5 and PC for the affine plane will be as follows.
Let A , B, and C, lie on a line j and A', B', and C' on another line k,
and let S be a point not on j or k, such that AA', BB', and CC' either are
parallel or lie on the half-lines SAA', SBB', and SCC' originating from S.
Then (3(ABC) implies Il(A'BC').
Bt 5.
AC.
246
4-6
We have constructed the affine plane over the reals. The axioms used were
(a) thc incidence and parallel postulates AP, (b) Pappus' affine postulate ITa,
(c) the betweenness postulates Bt, (d) the affine continuity postulate AC.
Based on these axioms, plane affine geometry can be developed along the lines
of Chapter 2. Thus we have come to the end of the axiomatic development of
real affine plane geometry. Certainly, more convenient axiom systems could be
devised for the real affine plane, had we not insisted on considering affine geom
etry as a special case of projective geometry and, therefore, taken the pro
jective plane and its axioms as our starting point. Indeed, ample treatment of
such a direct axiomatic approach to the euclidean plane can be found in the
literature to which we will refer at the end of this chapter.
EXEHCISES
1 . Show that :
2.
3.
4.
5.
c =
(a + b + l)-l(ab - bal.
Then there exists d E F such that d > 0, d < 1, d < c, and there are
non-negative integers p and q such that pd < a (p + l)d and qd <
b (q + l)d. Combine these inequalities and get
ab - ba < (p +
+ l)d 2
4-7
247
7 . Show that in Sp 3, "one and only one" may be replaced by "at least one, "
Congruence and euclidean planes. In order to develop the affine plane into
a euclidean plane in an axiomatic way, we need the concept of congruence.
In the affine plane we encountered a special case of congruence, namely that of
equality of vectors. This special type of congruence enables us to take care of
segments on parallel lines only. Thus we have to introduce axioms of congruence
and then verify that they are valid for vector equality. We define a relation
" == " (congruent) between affine segments satisfying the following congruence
axioms.
If A and B are distinct points and CIP a half-line, then there is precisely
one point D on CIP such that IABI == ICDI.
Cg 2. If IABI == ICDI and ICDI == IEFI, then IABI == IEFI
Cg 1 .
Cg
3. IABI
Cg 4.
IAC I
==
IBA I
IA'C' I
==
==
IB'C'I, then
Cg 5.
248
4-7
C'
/J A / B '
Figure 4-46
Figure 4-47
In the following we will make a few observations which can easily be proved.
The proofs will not be worked out explicitly, but some of them will be given
as exercises.
(1) Congruence is an equivalence relation; that is, it satisfies the postulates Ev.
(2) Distances IABI and ICDI, as defined in Section 2-7, are equal if and only
if the segments IABI '" ICDI, provided the axioms of the real affine plane hold.
Thus no confusion will he caused if in the following we use IABI for the segment
as well as for the distance, and if we write IABI = ICDI instead of lAB! '" ICDI.
(3) Every two half-lines A lP and AIQ determine an angle. We say that two
angles with vertices A and A' are congruent or equal if there are points B, C, B',
and C' such that B E A lP, C E AIQ, B' E A 'I?', C' E A'IQ', IABI = IA'B'I,
IACI = IA'C'I, and IBCI = IB'C'I (Fig. 4-47). Now the equality of the angles
is independent of the choice of B, C, B', and C'. For suppose that, respectively,
D, E, D', and E' had been chosen instead, such that I A DI = IA'D'I and
IE'B'I, and then I DEI = WE'I.
IAEI = jA'E'I Then, by Cg 5, first IEBI
(4) The "congruence theorems " for triangles of high-school geometry follow
easily from the axioms of the euclidean plane, that is, AP, Bt, AC, and Cg.
The proof will be left for the exercises.
(5) For vectors over the reals, All = cD implies IABI = ICDI.
In view of these remarks it is reasonable to assume that high-school plane
geometry can be developed from the axioms of the euclidean plane. This applies
to the well-known theorems about angles, parallels, congruence of triangles and
polygons, and similarity of triangles and polygons. We will not go into the
details of this development, which is lengthy and tedious, but refer the interested
reader to the literature.
The axiom ITa turns out to be a consequence of the remaining axioms. We
will show only that it follows from the theorems of high-school plane geometry.
=
Theorem 4-7. 1 .
and Cg.
Proof. We distinguish between the case (i) in which ABC 1/ A 'B'C' (Fig. 4-48)
and the case (ii) where AB X A'B' = S (Fig. 4-49). We assume AB' II A'B
and BC' 1/ B'C, and show AC' 1/ A'C.
Case (i). ABA'B' and BCB'C' are parallelograms and thus IA'B'I + IB'C'I =
IA'C'I and IABI + IBCI = IACI are parallel and equal segments. Hence
ACA'C' is a parallelogram and AC' 1/ A'C.
4-7
'
249
Figure 4-49
Figure 4-48
AC' II A'C.
Theorem
Proof. We deal with the Cayley-Klein model. Its points are all the real points
inside the un.it circle, and thus AP 1, AP 3, and Bt 1 are obviously satisfied.
Hyperbolic points are collinear if and only if they lie on the same affine line,
because the improper line of the projective plane certainly does not have any
hyperbolic points. Hence the betweenness relation {3 on the hyperbolic lines
can be defined as coinciding with fJ on the affine lines. Then Bt 1 through [)
are satisfied. Also AC can be verified without difficulty.
As to the congruence axioms, we define I ABI as the hyperbolic distance
d(A, B), in accordance with Eqs. (1) or (3) of Section 3-7. Then Cg 2 and
Cg 3 are obviously satisfied. If CIP is a half-line intersecting the absolute conic
at M, and if the second intersection of CM with the conic is N, then (CDIMN)
ranges continuously through all real values between 1 and 00 when D runs along
CIP from C to M. Thus d(C, D) ranges continuously from } log 1
0 to 00
and assumes the given value d(A, B) in exactly one point D of CIP, in accord
ance with the corollary to Theorem 3-3.2. This proves the validity of Cg l .
I n Exercise 3 of Section 3-3 it was proved that
=
(ABIMN) (BClMN)
(ACIMN).
250
The proof for the validity of Cg 5 is harder. We will first need two lemmas.
4-7.3. If two distinct hyperbolic points A and B and two positive
numbers d1 and d2 are given, then there exist at most two points whose
hyperbolic distance from A is d 1 and whose hyperbolic distance from
B is d2
Lemma
The denominator cannot vanish, because A and X are hyperbolic points and
do not lie on the absolute conic. Thus
(1 )
where k or! 0 and depends only on A and d1. The locus which could be called
"the hyperbolic circle about A with radius d1 " is, therefore, represented by a
quadratic function.
Now let cosh d1 = c cosh d2 , which defines c uniquely, because the real
cosh function does not assume the value zero. Thus
where c' depends only on A, B, and c. This is the equation of a projective straight
line. The required points [xl have to satisfy Eq. (1) as well as Eq. (2). A simul
taneous system of a linear and a quadratic equation cannot have more than two
solutions. This proves Lemma 4-7.3.
If ABC and A'B'C' are two triangles in the hyperbolic plane,
d(B', C'), and d(C, A) =
such that dCA , B) = dCA', B'), d(B, C)
d(C', A'), then there is a hyperbolic isometry mapping A on A', B on B',
and C on C'.
Lemma 4-7.4.
Proof (Fig. 4-50) . Let AB and A'B' intersect the absolute conic in M, N,
and M', N', respectively, where M and M' are chosen so that f3(MA B) and
f3(M' A'B'). If the absolute polarity takes AB into P and A'B' into P', let
P A and P' A' intersect the absolute conic at E, F, and E', F', respectively.
By Lemma 3-5.7, there is exactly one hyperbolic isometry " with M" = M',
Na = N', and Ea = E' and consequently Fa = F', Pa = P', and Aa = A';
4-7
d(A, B)
M', N'Y
E', P'Y
N',
P',
Wag, (ABIMN)I
d(A', B') = Wag, (A'B'IM'N') I,
d(C'Y, A')
251
d(C", A')
Figure 4-50
So far we have dealt only with the Cayley-IOein model of the hyperbolic
plane. Let us now compare this model with the Poincare model, in which the
hyperbolic points are represented by the points x + iy with y > 0 in the com
plex number plane. The hyperbolic lines of this model were the upper half
lines of the euclidean lines parallel to the y-axis and the upper half-circles
with centers on the x-axis. In Theorem 3-5.6 and its Corollary 1, it was shown
that the isometry groups of the two models are isomorphic. This is sufficient
for considering the models as representing the same geometry. However, our
present purpose calls rather for the exhibition of an explicit bijective mapping
of one model on the other.
Equivalence of the two models of the hyperbolic plane. As illustrated in
Fig. 4-51, a hemisphere of radius 1 is placed so that it touches the euclidean
plane at the origin of an orthonormal coordinate system. By a perpendicular
parallel projection the points inside the unit circle are mapped onto the points
of the hemisphere. The following equations for the mapping of a point P
[x, yJ
on a point P'
[x', y', z'J may be read easily from the figure, if the three
dimensional orthonormal coordinate system of the x', y', z', with its origin at the
=
252
4-7
z,
--<---x'
----;f--
Figure 4-51
X,
y' = y, Z' = - vI - X 2 - y 2 .
2y'
1 - x"
"
-2z'
1 - x"
2Vl - x2 - y 2 .
1 -x
It is geometrically obvious that this mapping P -> P" is bijective and takes
the interior of the unit circle onto the upper half-plane. It is easy to verify this
algebraically by finding the inverse mapping
(3)
What are the images of the hyperbolic lines in the Cayley-Klein model, that
is, the secant segments of the lines which intersect the unit circle? Let the
equation of the line be ax + by + c = O. The euclidean distance between the
origin and the line is lel/va2 + b2 and has to be < 1 . Thus
(4)
By Eq. (3) we have
a(x" 2 + y,,2
4) + 4bx" + C(X" 2 + y" 2 + 4) = 0,
2
a
+
x" (
c) + y"2(a + c) + 4bx" + 4(c - a) = O.
_
(5)
4-;
253
J-----;>....-_+ x'
Figure 4-52
XU
Case (1). a + c =
2 + , ,,2
a - c + 4b 2 = 4 a2 + b 2 - c2 .
)
(Xu +
=
4
a+c
a + c (a + C)2
(a + C)2
Y
The right-hand side is positive, in view of Eq. (4), and Eq. (5) represents a
circle whose center lies on the x-axis. Its upper half is a byperbolic line of the
Poincare model. Conversely, if a circle
(x"
- s) 2 + y,,2 = r 2
(r2
82 + 4)x -
4sy + 4
>
- r2 + S2 = 0,
which corresponds to it and contains a segment inside the unit circle, because
a2 + b 2 = (r2
S2 + 4) 2 + 16s2
>
(4
r2 + 82) 2
c2.
EXERCISES
1. Prove that congruence of segments is an equivalence relation.
2. Prove the congruence theorems for triangles in the euclidean plane by using
the axioms AP, Bt, AC, and Cg. The theorems are: Two triangles ABC
and A'B'C' have equal corresponding sides and angles if
(a) IABI = IA'B'I, IBCI = IB'C'I, <):. ABC = <):.A'B'C',
(b) IABI
IA'B'I. <):. ABC
<):.A'B'C', <):.CAB = <):.C'A'B',
(c) IABI = I A'B' I. IBCI = IB'C'I . ICA I = I C'A'I
=
=-=--
--
..-
-
"'.
.--
254
4-7
G.
7.
8.
9.
00
16. Show that an additional model of hyperbolic geometry (the conformal unit
circle model) may be obtained from Poincare's model by the transformation
-->
z(1 + i) - (1 - i)
i)
z(1 + i) + (1
What are the hyperholic lines in this model? Which lines are parallel?
FINAL REMARKS
4--8
4-8
255
FINAL REMARKS
256
4-8
truths. Thus the appearance of a new geometry in which part of these "truths"
did not hold signified a shattering of beliefs that were firmly established ill
mathematics and philosophy. Later the new geometries attracted the interest
of the mathematical world in their own right. In our treatment we did not
exhibit any axiom system for the hyperbolic plane. It can he shown that such
a system is provided by the axioms of the euclidean plane (AP 1 and 3, Bt,
AC, Cg) in which the parallel axiom AP 2 is replaced by the axiom, "Given
a point P and a line I not through P, there exist at least two lines through P
which do not intersect with l. ))
The first complete treatment of the axiomatics of euclidean geometry was
published in 1899 by the German mathematician David Hilbert (1862-1943).
In his book Grundlagen der Geomet" ie, Hilbert stated his axioms and proved
that they were consistent, independent, and categorical. In order to prove the
independence of his axioms he constructed various new geometries, which in
each case did not satisfy one of the axioms or axiom groups, while the rest of the
axioms held. Again history repeated itself. While Hilbert used these geometries
only as counter-examples, later mathematicians were attracted to such geom
etries as new research objects, and a whole new field of mathematics emerged :
the study of non-desarguesian geometries and of general projective planes.
This tendency had an analog in algebra, where nonassociative generalizations
of groups and fields were widely studied in accordance with the strong trend
toward generality throughout mathematics.
Our treatment of the axiomatic foundations was by no means complete.
We did not strive for independence of our axioms, and in fact sometimes used
axioms which were much stronger than necessary. Moreover, by separating the
different geometries entirely, far morc convenient axiom systems can be devised.
Thus a separate development starting with affine geometry, independent of
projective geometry, leads conveniently, by adjunction of the congruence axioms,
to "absolute geometry, " which is the common part of euclidean and hyperbolic
geometry. Then the branching into euclidean geometry or hyperbolic geometry
is obtained by the adjunction of a single axiom, the parallel axiom or its hyper
bolic counterpart, respectively.
The interested reader can find these subjects in the following list of references
for further reading.
Rudimentary planes
L. M. BLUMENTHAL, A Modern View of Geomet,.y, San Francisco: Freeman,
1961. Elementary and rather comprehensive.
R. H. BRUCK, Recent Advances in the Foundations of Euclidean Plane Geometry,
Slaught Memorial Paper Ko. 4, Amer. Math. Monthly 62, 2 (1955). An
expository article, elementary.
M. HALL, The Theory of Groups, New York: Macmillan, 1959. Chapter 20
gives a moderately advanced treatment of projective planes.
4-8
F-INAL Jl.E?l1ARKS
257
An advanced most
comprehensive work.
B. SEGRE, Lectures on Modern Geometry, Rome: Edizioni Cremonese, 196 1 .
A moderately advanced treatment.
Axiomatic fouruiations
K. BOllSUK and W. SZMIELEW, Fouruiations of Geometry, Amsterdam: North
Holland, 1960. Comprehensive and detailed.
H. S. M. COXETER, Introduction to Geometry, New York: John Wiley, 196 1 .
A moderately easy-to-read work covering most aspects o f geometry.
H . G. FORDER, The Fouruiations of Euclidean Geometry, Cambridge: Cambridge
University Press, 1927. Reprint, New York: Dover, 1958. This work is
most detailed and rigid, and no steps are omitted.
D. HILBERT, The Fouruiations of Geometry, trans. E. J. Townsend, Chicago:
Open Court, 1 902. Reprint, La Salle, Ill.: Open Court, 1959. A classic.
G. DEB. ROllINSON, see p. 197.
Noneuclidean geometry
H. S. M. CoxmEll, see p. 198.
H. SCHWEllDTFEGER, see p. 198.
F. KLEIN, see p. 198.
Appendixes
List of Notations
over OF(p)
arg
Z,
argument of
5 + xi + x
GEl the degenerate conic x5
Ch, the conic x5 - xi - x
Cel the conic
2\- , angle
=
=
det, determinant
dim, dimension
Oik, the Kronecker delta
En J euclidean n-space
OF,
not containing B
Galois field
congruent
I, identity transformation
::: , isomorphic
In , n X n identity matrix
N(q), norm of q
(AB
pn.,
R,
II, parallel
..1,
perpendicular
U,
set union
n,
set intersection
C,
subset of
Tv)
E,
element of
translation through
"" 0;
261
List of Axioms
245
Gp, group,
79
68, 76
Ln, linearity,
186
204
245
Lp, loop,
Bt, betweenness,
245
Cg, congruence,
Ct, content,
247
116
Ds, distance)
100
!!.(S, I)
1 18
Sp, separation,
227
0, minor Desargues,
220
12
E>, Thomsen,
VS
233
S, 217
VS
through VS
(]l ,
40
:D,
17
:.0*, 1 8
&J
189
GLI SRI
188
S.c', 70
X, JC+, JC_, 45
4, euclidean vector
58, 99
List of Groups
(in, 82
204
237
space,
210
237
240
230
234
73
Dt* , determinant,
II, Pappus,
244
201
.6., Desargues,
57
a",
137
ffiw,
25
sn, S+, s,
Tn, 1 7
'U, 36
262
19
216
Index
Index
Abel, N. R., 1 0
abelian, 1 0
absolute, conic, 1 74
geometry, 256
polarity, 174, 1 8 1
value, 2
addition ill a ternary ring, 204
additive, 1 0
affine, continuity axiom, 245
coordinate transformation, 81
Desargues, 153, 233
minor, 153, 210
group, 82
invariant, 87
line, 80
Pappus, 237
plane, 80, 202
augmented, 202
ordered, 245
real, 244
segment, 245
spacc, 79, 129
augmented, 1 3 1
affinity, 8 1
elliptic, 97
hyperbolic, 97
linear part of, 82
parabolic, 97
preserving a conic, 96
translation part of, 82
Albert, A. A., 196
algebra, 186
associative, 187
Cayley, 195
commutative, 187
division, 187
normed, 195
quaternion, 186
Bachmann, F., 34
basis, 59
vector, 38
betweenness, 245
preserved under affinities, 85
bijective, 3
bilinear, form, 169
transformation, 39, 93
real, 43
binary operation, 9, 203
Birkhoff, G., 239
Blumenthal, L. M., 256
265
266
IDEX
complex number, 1
algebra, 187
field, 57
plane, 2
component, 38, 64
transformation, 66
group, 74
cone, 90
conformal, 182
model of hyperbolic plane, 55
canonical form, 25
congruence,
categorical, 199
conic, 88, 1 58
4, 22, 247
absolute, 174
degenerate, 160
imaginary, 160
number, 195
of a group, 1 5
preserved by an affinity, 96
of a perspectivity, 1 50
cntral collineation, 2 1 7
major, 229
minor, 218
characteristic,
real, 1 60
conjugate, complex, 2
] 25, 148
diameter, 92
of a group element, 1 2
vector, 108
line, 169
circle, 89, 1 5 8
points, 168, 1 85
Clifford, W. K, 192
of an octave, 195
point, 169
quaternion, 187
seif-, 169
subgroup, 1 2
connected, 132
consistent, 199
cobasis, 77
content, 1 1 6
central, 217
projective,
244
hyperbolic, 51
convex, 168
minor central, 2 1 8
cartesian, 101
column o f a matrix, 65
homogeneous, 127
combination, linear, 59
hyperplane, 129
of n-tujlles, 66
commutativity, 10, 206, 234
complete, field, 239
linc, 129
nonhomogeneous, 1 3 1
orthonormal I 101
quadrangle, 149
projective, 139, 1 40
quadrilateral, 147
TNJ)EX
coplanar, 230
correlation, 168, 169
coset, 1 1
Coxeter, H . S . M., 198, 257
Cramer, G., 78
domain, 3
Cramer's rule, 78
cylinder, 90
degenerate, conic, 160
second degree function, 88
delta, Kronecker, 67
De Moivre, A., 3
De V
I loivre's theorem, 3
dependent, linearly, 59
Desargues, G., 152
Desargues, 152, 217
affine, 153, 233
minor, 153, 220
minor affine, 153, 210
in three-space, 232
desarguesian plane, 210, 227
ordered, 255
determinant, 7 2
o f a bilinear transformation, 39
geometrical definition of, 1 1 8
diagonal, main, 67
matrix, 78
diameter, conjugate, 92
Dieudonne, J., 198
dilatation, 17, 95
dilative rotation, 17, 95
dimension, 61
direct, 18, 5 1 , 103
directrix, 173
disk, 132
displacement, parallel, 53
distance, 100
elation, 151
ellipse, 89, 158
ellipsoid, 90
elliptic, affinity, 97
distance, 189
geometry, 181
isometry, 182
plane, 174, 181
three-space, 189
transformation, 189
entry of matrix, 65
equation, of a line, 38, 83, 128, 203
linear, 57, 75
linear homogeneous, 57
of a plane, 82, 129
simultaneous, 57
equiaffine group, 121
equivalence, class, 12
relation, 1 2
Erlangen program, 22
Euclid, 22
Euclid's parallel axiom, 202, 251
euclidean, distance, 100, 183
geometry, 22
plane, 22, 183
space, 100
vector space, 99
extend a linear variety, 80
exterior to a conic, 166
elliptic, 189
euclidean, 100, 183
hyperbolic, 48, 175
distributivity, 57, 58
field, 57
archimedean, 246
complete, 239
left, 221
Galois, 122
right, 215
ordered, 239
2G7
268
INDEX
lNDEX
improper, line, 1 3 l
point, 48, 130, 203
incidence, 33, 1 99
theorem, 147
independent, axiom system, 240
linearly, 59
index, 1 1
inequality, triangle, 100, 176
infinity, point at, 39, 132
injective, 3
inner, automorphism, 1 3
product, 3 7 , 99
interior, 163, 166
intersection of subspaces, 60
invariant, 4
affine, 87
line, 23
point, 23
inverse, 9, 222
left, 222
property, 222
crossed, 227
right, 222
transformation, 4, 14
inversion, 53
involutory, 28
isometry, 4, 101
direct, 7, 18
elliptic, 182
group, 18, 22, 103, 104
hyperbolic, 5 1 , 1 65
opposi te, 7, 1 8
isomorphism, 13, 62
isotope, 206
Kelly, P. J., 198
Klein, F., 22, 198, 257
Kleinfeld, E., 196, 226
Kronecker, L., 67
left, alternative, 225
distributivity, 221
inverse, 222
property, 222
length of a vector, 100
Levi, F. 'V. , 237
line, 80, 127, 199
affine, 80
269
INDEX
270
sum, 7 7
order of a group, 10
symmetric, 104, 1 7 0
transpose, 65
metric structure, 99
orientable, 133
central collineation, 2 1 8
Desargues, 220
origin, 79
perspectivity, 151
: obius, A . F.) 39
M
Mobius, transformation, 39
strip, 133
model, bundle, 1 3 5
matrix, 102
transformation, 102
vectors, 100
orthonormal, 1 0 1
motion, 4
i\1oufang, R., 220
Moulton, F. RO J 210
parabolic, affinity, 97
multiplication, scalar, 58
in a ternary ring, 204
multiplicative, 1 0
projectivity, 150
paraboloid, 90
parallel, 130, 183, 202, 245
axiom, Euclid's, 202, 251
net, 205
parallel, 205
nondesarguesiau, 2 1 0
noneuclidean, 174, 251
Clifford, 192
displacement, 53
hyperbolic, 48, 50, 174
projection, 91, 92
nonhomogeneous coordinate, ] 3 1
parallelepiped, 1 1 6
84
parallelogram, 1 1 6
Clifford, 192
parallelotope, 1 1 6
parameter, 38
null vector, 36
85
Cayley, 1 9 5
Pasch's axiom, 92
complex, 57
octave,
] 95
geometry, 195
one-sided surface, 133
one-to-one mapping, 3
major, 1 5 1
minor, 1 51
ternary, 203
opposite, 18, 5 1 , 103
point, 146
Pickert, G., 225, 257
INDEX
piane, 80, 127, 230
affine, 80, 202, 244
augmented affine, 202
complex number, 2
desarguesian, 210, 227
elliptic, 174
equation, 82, 129
euclidean, 22, 183
finite, 122, 197
hyperbolic, 47, 174, 249
Mourang, 220
nondesarguesian, 210
ordered, 240, 245, 255
pappinn, 234
polar, 172
projective, 127, 1 3 1 , 197, 201
reai, 239
translation, 219
Vebien-Wedderburn, 216
Poincare, H" 55
Poincare's model, 55, 249
point, 79, 199
affine, 79
circle, 185
conjugate, 169
improper, 48, ]30, 203
at infinity, 39, 132
invariant, 23
perpendicular, 185
perspectivity, 146
projective, 126
propel', 47, 1 3 1 , 202
quadruple, harmonic, 144
reference, 139, 202
reflection, 29, I I I
self-conjugate, 169
poiar, 169
plane, 172
poiarity, 169
absolute, 174, 182
pole, 169
position vector, 2, 38, 79, 80
positive, 239
definite, 99
postulate, 199
power, associativity, 220
of a transformation, 38
pl'cimage, 3
271
272
INDEX
part, 1 , 1 8 7
group, 19, 22
linear, 104
opposite, 19
simplex, 88, 1 1 9
i n a hyperbolic line, 54
line, 27
simultaneous, 57
in a plane, 1 1 0
point, 29, 1 1 1
rotatory, 1 1 0
reflexivity, 1 2
singular matrix, 68
skew field, 57
archimedean, 246
ordered, 239
Reidemeister J 220
skew-symmetric matrix, 77
Skornyakov, L. A . , 226
slope, 1 3 1 , 203
distributivity, 215
inverse, 222
trivial, 57
property, 222
Robinson,
Sommerville,
D. M. Y., 198
dual, 76
elliptic, 189
euclidean, 1 00
dilative, 17, 95
vector, 58
group, 25, 38
hyperbolic, 53, 56
hyperbolic, 52, 178
rotatory reflection, 1 1 0
Sperner, E., 1 1 8
sphere, geometry o n a , 182
stereographic mapping, 46, 92, 252
subgroup, 1 0
row of a matrix, 64
conjugate, 1 2
normal, 1 2
H. J" 197
subspace, vector, 59
sum of matrices, 77
summation, 66
scalar, 58
multiplication, 58
product, 37
Schreier, 0., 1 1 8
Schwerdtfeger,
one-sided, 133
surjective, 3
symmetric, group, 1 4
matrix, 104, 170
screw motion, 1 1 3
symmetry, 1 2
projective, 240
Segre, B . , 257
tangent, 164
self-conjugate, 169
Seidenberg, A . , 198
semilinear, 156
separation, 239
plane, 92
ring, 204
linear, 204, 2 1 5
shadow, 9 1
tetrahedron, 88
shear transformation, 95
incidence, 147
Thomsen,
G., 220
INDEX
Thomsen, figure, 220
major, 220
property, 237
three-net, 205
parallel, 205
ultraparallel, 174
trace, 38, 1 9 1
unit circle, 3
transform by an element, 14
unitary, 196
transformation, 3
affine coordinate, 8 1
variety, linear, 80
bilinear, 39
component, 4, 66
plane, 216
vector, 36, 58, 80, 212
group, 14, 1 9 , 22
basis, 38
identity, 1 4
characteristic, 108
inverse, 4 , 1 4
linear, 69, 1 3 6
null, 36, 58
n.1obius, 39
orthogonal, 100
orthogonal, 102
space, 58
semilineal', 156
automorphism, 72
shear, 95
euclidean, 99
volume, 1 1 6
Wedderburn , J . H . M . , 216, 237
Young, J. VV., 198
plane, 219
transpose, 65
ABCDE698765
273