Académique Documents
Professionnel Documents
Culture Documents
2: Orthogonal Transformations
• For convenience, change of notation:
x x1, y x2, z x3, x´ x1, y´ x2, z´ x3
Also: aij cosθij
• In new notation, transformation eqtns between
primed & unprimed coords become:
x1 = a11 x1+a12 x2 +a13 x3
x2 = a21 x1+a22 x2 +a23 x3
x3 = a31 x1+a32 x2 +a33 x3
Or: xi = ∑j aij xj (i,j = 1,2,3) (1)
• (1) = An example of what mathematicians call a
Linear (or Vector) Transformation.
• For convenience, another change of notation:
If the index is repeated, summation over it is
implied.
xi = ∑j aij xj (i,j = 1,2,3)
xi = aij xj (i,j = 1,2,3)
Einstein summation convention
• To avoid possible ambiguity when powers of
an indexed quantity occur: ∑i(xi)2 xixi
• For the rest of the course, summation
convention is automatically assumed, unless
stated otherwise.
• Linear Transformation: xi = aij xj (i,j = 1,2,3) (1)
• With aij cosθij as derived, (1) is only a special
case of a general linear transformation, since, as
already discussed, the direction cosines cosθij are
not all independent.
– Re-derive connections between them, use new notation.
• Both coord systems are Cartesian:
Square of magnitude of vector = sum of squares of
components.
Magnitude is invariant on transformation of coords:
xixi = xixi
Using (1), this becomes: aijaikxjxk = xixi (i,j,k = 1,2,3)
• aijaikxjxk = xixi (i,j,k = 1,2,3)
Can be valid if & only if
aijaik = δj,k (j,k = 1,2,3)
Identical previous results for orthogonality
of direction cosines.
• Any Linear Transformation:
xi = aij xj (i,j = 1,2,3) (1)
Orthogonal Transformation
aijaik = δj,k Orthogonality Condition
• Linear (or Vector) Transformation.
xi = aijxj (i,j = 1,2,3) (1)
• Can arrange direction cosines into a square matrix:
a11 a12 a13
A a21 a22 a23
a31 a32 a33
• Consider coordinate axes as column vector components:
x1 x1
r = x2 r = x2
x3 x2
Coordinate transformation reln can be written:
r = Ar with A Transformation matrix or
rotation matrix (or tensor)
Example: 2d Coordinate Rotation
• Application to 2d rotation. See figure: