MATRIX TRANSFORMATIONS IN 2-AND 3-DIMENSIONS

 cos 2 sin 2 
x X  T   
The equation T      where T is a 2  2  sin 2  cos 2 
 y  Y 
matrix, defines a linear transformation in 2
dimensions which alters area by scale factor T
x X 
   
The equation T  y    Y  where T is a 3  3
z  Z 
   
matrix, defines a linear transformation in 3
dimensions which changes volume by scale
factor T .
Example
A rectangle has vertices
O  0, 0  , A  3, 0  , B  3,1 and C  01 .
a) Find the images O ', A ', B ' and C ' of these
points when acted on by the transformation
 0 1
represented by the matrix M   
1 0 
b) Hence describe the transformation
represented by M.
Ans: Anticlockwise rotation about the origin
through 90o Exercise
State the transformation matrix for
How to find the transformation matrix 1. Rotation through 90o clockwise about O
2. Rotation through 90o anticlockwise about O
1  a  0  c  3. Rotation through 180o about O
If M      and M      then
0  b  1  d  4. Reflection in the x-axis
a c  5. Reflection in the y-axis
M   6. Reflection in the line y  x
b d 
7. Reflection in the line y   x
1 a 0  d   0  g  8. Enlargement with centre O and scale factor k
If M  0    b  , M  1    e  and M  0    h 
        then
9. Stretch of factor k parallel to the x-axis with
0  c   0  f  1   i  10. Shear of factor k parallel to the x-axis
           
11. Shear of factor k parallel to the y-axis
a d g
 
M  b e h 
c f i 
 

Example 1
Find the transformation matrix for a rotation
about the O through  anticlockwise.
 cos   sin  
T  
 sin  cos  
Example 2
Find the transformation matrix for a reflection
in the line y  x tan  or y  mx where m  tan 
  x   2x 
   
Show that T  y    x  y  is a linear
 z   z 
   
transformation.
Find the transformation matrix T
Example 2
Find the matrix for the linear transformation
which maps
1, 0, 0    3, 4, 2  , 1,1, 0    6,1,5  and
 2,1, 4   1,1, 1
Solution
1 1 2  3 6 1 
   
T 0 1 1   4 1 1 
 0 0 4   2 5 1
   
1 1 2  3 6 1 
   
A  0 1 1 , B   4 1 1 
 0 0 4   2 5 1
   
 3 3 2
1  
TA  B  T  BA   4 3 1 
 2 3 2
 
Composite transformations Example 3
The transformation represented by A followed Find the matrix representing a reflection in the
by a transformation represented by B is plane x = z followed by a rotation of 30o about
represented by the single matrix BA. the x-axis.
Example Solution
Find the matrix which represents a rotation of 1 0 0  0 0 1 
90o clockwise about O, followed by a reflection   
T   0 cos 30  sin 30  0 1 0 
in the line y   x , followed by a shear of factor  0 sin 30
 cos 30 
 1 0 0 

3 parallel to the x-axis
Consider a transformation T represented by
 1 3  0 1 0 1 the matrix M
M   
 0 1  1 0  1 1
 T :r r ' where r '  Mr
Find the 3 by 3 matrix representing a reflection
in the plane y   x followed by a rotation T 1 : r ' r where r  M 1r '
about the z-axis through 90o anticlockwise Example1
A transformation is represented by the matrix
LINEAR TRANSFORMATION  3 1
A linear transformation has the following T  
 4 3
properties
i. Find the image under this transformation of
For any vectors a and b , and any scalar t:
(a) the point P  2, 5
T  a   T  a  and T  a  b   T  a   T  b  (b) the line y  x  0
Example 1 (c) the line y  2 x  5
ii. Find the point whose image under T is 1, 6 
iii. Find the line whose image under T is ii. Find the line whose image under T is
y  5x  2 r  3j  t  2i  j  k 
iv. Find the equation of the invariant line iii. Find the plane whose image under T is
r  i  5k  s  3i  k   t  2 j  3k 
through the origin under T.
Image of a line r  a  d is
r '  Ma  Md
Example
Transfomation A is represented by matrix
Similarly the image of a plane 0 1
r  a  b  c is A  and transformation B is represented
1 0
r '  Ma   Mb   Mc  2 0
by matrix B   .
For the plane ax  by  cz  d , express it in the  0 3
form r  a  b  c . i. Describe transformations A and B. 3mks
Example 2 ii. Find the matrix for the composite
A linear transformation is represented by the transformation A followed by B. 2mks
matrix Solution
 3 2 1  A is a reflection in the line y=x
  B is a stretch of scale factor 2 in the x-direction
T  1 3 4
and scale factor 3 in the y-direction
 2 1 1 
 
Find under the transformation image of:
2  3
   
a) The line r   0     2 
 3   1
   
b) The plane 3x  2 y  4 z  7 in Cartesian form.