matrix transformations | Racquel Sanderson

Tag Archives: matrix transformations

August 25, 2025 · 3:29 am

Matrices -Linear Transformations (Rotation)

We are going to find a matrix to rotate a point about the origin a number of degrees (or radians).

$P$ and $P'$ are equidistant from the origin. I.e. $\sqrt{c^2+d^2}=\sqrt{a^2+b^2}$

Remember, anti-clockwise angles are positive.

$\begin{equation*}cos(\theta+\alpha)=\frac{c}{\sqrt{c^2+d^2}}\end{equation}$

$\begin{equation*}c=\sqrt{a^2+b^2}cos(\theta+\alpha)\end{equation}$

Use the cosine addition identity.

$\begin{equation*}c=\sqrt{a^2+b^2}(cos(\theta)cos(\alpha)-sin(\theta)sin(\alpha))\end{equation}$

$\begin{equation*}c=\sqrt{a^2+b^2}(cos(\theta)\frac{a}{\sqrt{a^2+b^2}}-sin(\theta)\frac{b}{\sqrt{a^2+b^2}})\end{equation}$

(1) $\begin{equation*}c=acos(\theta)-bsin(\theta)\end{equation*}$

We will do the same for $d$

$\begin{equation*}sin(\theta+\alpha)=\frac{d}{\sqrt{a^2+b^2}}\end{equation}$

$\begin{equation*}d=\sqrt{a^2+b^2}sin(\theta+\alpha)\end{equation}$

Use the sine addition identity.

$\begin{equation*}d=\sqrt{a^2+b^2}(sin(\theta)cos(\alpha)+cos(\theta)sin(\alpha)\end{equation}$

$\begin{equation*}d=\sqrt{a^2+b^2}(sin(\theta)\frac{a}{\sqrt{a^2+b^2}}+cos(\theta)\frac{b}{\sqrt{a^2+b^2}})\end{equation}$

(2) $\begin{equation*}d=asin(\theta)+bcos(\theta)\end{equation*}$

Let $R$ be the rotation matrix, then

$\begin{equation*}R\begin{bmatrix}a\\b\end{bmatrix}=\begin{bmatrix}acos(\theta)-bsin(\theta)\\asin(\theta)+bcos(\theta)\end{bmatrix}\end{equation}$

Hence $R$ must be

(3) $\begin{equation*}R=\begin{bmatrix}cos(\theta)&-sin(\theta)\\sin(\theta)&cos(\theta)\end{bmatrix}\end{equation*}$

Example

Find the image of the line $y=x+1$ after it is rotated $60^\circ$ about the origin.

I am going to select two points on the line and transform them.

$\begin{equation*}\begin{bmatrix}cos(60)&-sin(60)\\sin(60)&cos(60)\end{bmatrix}\begin{bmatrix}0&4\\1&5\end{bmatrix}=\begin{bmatrix}x'_1&x'_2\\y'_1&y'_2\end{bmatrix}\end{equation}$

$\begin{equation*}\begin{bmatrix}\frac{1}{2}&-\frac{\sqrt{3}}{2}\\\frac{\sqrt{3}}{2}&\frac{1}{2}\end{bmatrix}\begin{bmatrix}0&4\\1&5\end{bmatrix}=\begin{bmatrix}x'_1&x'_2\\y'_1&y'_2\end{bmatrix}\end{equation}$

$\begin{equation*}\begin{bmatrix}-\frac{\sqrt{3}}{2}&\frac{4-5\sqrt{3}}{2}\\\frac{1}{2}&2\sqrt{3}+\frac{5}{2}\end{bmatrix}=\begin{bmatrix}x'_1&x'_2 \\y'_1&y'_2\end{bmatrix}\end{equation}$