Transformations | Racquel Sanderson

We are going to derive the transformation matrix for a reflection across a line $y=mx$ .

Things to remember about a reflection:

The distance between $P'$ and the line is same as the distance between $P$ and the line. Hence $M$ is the midpoint of $P$ and $P'$ .
The line segment joining $P$ and $P'$ is perpendicular to the line.

Our aim is to find a general identity for $P'$ and then use that to derive a transformation matrix.

Let’s start by finding the equation of the line joining $P$ and $P'$ .

We know the gradient of this line is perpendicular to the gradient of $y=mx$ , hence the gradient is $-\frac{1}{m}$ .

$\begin{equation*}y-y_0=-\frac{1}{m}(x-x_0)\end{equation}$

And $(a,b)$ is a point on the line.

$\begin{equation*}y-b=-\frac{1}{m}(x-a)\end{equation}$

Which simplifies to

(1) $\begin{equation*}y=-\frac{1}{m}x+\frac{a+bm}{m}\end{equation*}$

We are going to find the co-ordinates of $M$ in two ways; as the midpoint of $P$ and $P'$ , and as the point of intersection of $y=mx$ and $y=-\frac{1}{m}x+\frac{a+bm}{m}$

As the midpoint of $P$ and $P'$

(2) $\begin{equation*}M=(\frac{a+c}{2}, \frac{b+d}{2})\end{equation*}$

As the point of intersection of $y=mx$ and $y=-\frac{1}{m}x+\frac{a+bm}{m}$

$\begin{equation*}mx=-\frac{1}{m}x+\frac{a+bm}{m}\end{equation}$

$\begin{equation*}mx+\frac{x}{m}=\frac{a+bm}{m}\end{equation}$

$\begin{equation*}\frac{m^2x+x}{m}=\frac{a+bm}{m}\end{equation}$

$\begin{equation*}x(m^2+1)=a+bm\end{equation}$

$\begin{equation*}x=\frac{a+bm}{m^2+1}\end{equation}$

Substitute $x$ into $y=mx$

$\begin{equation*}y=\frac{am+bm^2}{m^2+1}\end{equation}$

(3) $\begin{equation*}M=(\frac{a+bm}{m^2+1},\frac{am+bm^2}{m^2+1})\end{equation*}$

$M$ must equal $M$ , hence we can find $(c, d)$ in terms of $(a, b)$

Equate equation $2$ and $3$

$\begin{equation*}\frac{a+c}{2}=\frac{a+bm}{m^2+1}\end{equation}$

$\begin{equation*}a+c=2(\frac{a+bm}{m^2+1})\end{equation}$

$\begin{equation*}c=2(\frac{a+bm}{m^2+1})-a\end{equation}$

$\begin{equation*}c=\frac{2a+2bm-am^2-a}{m^2+1}\end{equation}$

$\begin{equation*}c=\frac{a+2bm-am^2}{m^2+1}\end{equation}$

(4) $\begin{equation*}c=\frac{1-m^2}{m^2+1}a+\frac{2m}{m^2+1}b\end{equation*}$

And

$\begin{equation*}\frac{b+d}{2}=\frac{am+bm^2}{m^2+1}\end{equation}$

$\begin{equation*}b+d=2(\frac{am+bm^2}{m^2+1})\end{equation}$

$\begin{equation*}d=2(\frac{am+bm^2}{m^2+1})-b\end{equation}$

$\begin{equation*}d=\frac{2am+2bm^2-bm^2-b}{m^2+1}\end{equation}$

$\begin{equation*}d=\frac{2m}{m^2+1}a+\frac{m^2-1}{m^2+1}b\end{equation}$

$\begin{equation*}d=\frac{2m}{m^2+1}a-\frac{-m^2+1}{m^2+1}b\end{equation}$

(5) $\begin{equation*}d=\frac{2m}{m^2+1}a-\frac{1-m^2}{m^2+1}b\end{equation*}$

Hence $P'=(\frac{1-m^2}{m^2+1}a+\frac{2m}{m^2+1}b, \frac{2m}{m^2+1}a-\frac{1-m^2}{m^2+1}b)$

For ease of writing, let $p=\frac{1-m^2}{m^2+1}$ and $q=\frac{2m}{m^2+1}$

Then

$P'=(pa+qb, qa-px)$ , which we can generalise to $(px+qy, qx-py)$

Now let’s think about a transformation matrix, we want to transform $(x, y)$ to $(px+qy, qx-py)$

$\begin{equation*}\begin{bmatrix}p&q\\q &-p\end{bmatrix}\begin{bmatrix}x\\y\end{bmatrix}=\begin{bmatrix}px+qy\\qx-py\end{bmatrix}\end{equation}$

Remember the gradient of a line is the tangent of the angle of inclination, $tan(\theta)=m$

$\begin{equation*}p=\frac{1-m^2}{m^2+1}=\frac{1-tan^2(\theta)}{tan^2(\theta)+1}\end{equation}$

Remember the identity

$\begin{equation*}tan^2(\theta)+1=sec^2(\theta)\end{equation}$

$\begin{equation*}p=\frac{1-(sec^2(\theta)-1)}{sec^2(\theta)}\end{equation}$

$\begin{equation*}p=\frac{2-sec^2(\theta)}{sec^2(\theta)}\end{equation}$

$\begin{equation*}p=\frac{2}{sec^2(\theta)}-\frac{sec^2(\theta)}{sec^2(\theta)}\end{equation}$

$\begin{equation*}p=2cos^2(\theta)-1\end{equation}$

(6) $\begin{equation*}p=cos(2\theta)\end{equation*}$

And we will do the same for $q$ .

$\begin{equation*}q=\frac{2m}{m^2+1}=\frac{2tan(\theta)}{tan^2(\theta)+1}\end{equation}$

$\begin{equation*}q=\frac{\frac{2sin(\theta)}{cos(\theta)}}{sec^2(\theta)}\end{equation}$

$\begin{equation*}q=\frac{2sin(\theta)}{cos(\theta)} \times cos^2(\theta)\end{equation}$

$\begin{equation*}q=2sin(\theta)cos(\theta)\end{equation}$

(7) $\begin{equation*}q=sin(2\theta)\end{equation*}$

Hence our transformation matrix is

(8) $\begin{equation*}\begin{bmatrix}cos(2\theta)&sin(2\theta)\\sin(2\theta)&-cos(2\theta)\end{bmatrix}\end{equation*}$

Example

The vertices of a triangle $T$ are $A(-3, 1), B(6, -4)$ and $C(1, 5)$ . $T'$ is a reflection of $T$ in the line $y-x=0$

The gradient of the line $y=x$ is $1$ .

$\begin{equation*}tan(\theta)=1\end{equation}$

$\begin{equation*}\theta=\frac{\pi}{4}\end{equation}$

Our transformation matrix is
$\begin{equation*}\begin{bmatrix}cos(\frac{\pi}{2})&sin\frac{\pi}{2})\\sin\frac{\pi}{2})&-cos(\frac{\pi}{2})\end{bmatrix}\end{equation}$

Which is

$\begin{equation*}\begin{bmatrix}0&1\\1&0\end{bmatrix}\end{equation}$

So

$\begin{equation*}T'=\begin{bmatrix}0&1\\1&0\end{bmatrix}\begin{bmatrix}-3&6&1\\1&-4&5\end{bmatrix}\end{equation}$

$\begin{equation*}T'=\begin{bmatrix}1&-4&5\\-3&6&1\end{bmatrix}\end{equation}$

Tag Archives: Transformations

Matrices – Linear Transformations (reflection in y=mx)

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