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Linear Algebra

Linear Algebra introduces key concepts like vectors, matrices, and their operations. Vectors represent geometric objects with magnitude and direction, and can be added or scaled. Matrices generalize these concepts to higher dimensions and can rotate, scale or transform vectors through multiplication. Key matrix properties include non-commutativity of multiplication and how they encode linear transformations. The cross product provides a vector perpendicular to two input vectors.

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221 views

Linear Algebra

Linear Algebra introduces key concepts like vectors, matrices, and their operations. Vectors represent geometric objects with magnitude and direction, and can be added or scaled. Matrices generalize these concepts to higher dimensions and can rotate, scale or transform vectors through multiplication. Key matrix properties include non-commutativity of multiplication and how they encode linear transformations. The cross product provides a vector perpendicular to two input vectors.

Uploaded by

Unwanted Things
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Linear Algebra

A gentle introduction

Linear Algebra has become as basic and as applicable


as calculus, and fortunately it is easier
What is a Vector ?
• Think of a vector as a directed line
segment in N-dimensions! (has “length”
and “direction”) a 
  
• Basic idea: convert geometry in higher v  b 
dimensions into algebra!
– Once you define a “nice” basis along  c 
each dimension: x-, y-, z-axis …
– Vector becomes a 1 x N matrix!
– v = [a b c]T y

– Geometry starts to become linear v


algebra on vectors like v!
x
MA8352/Linear Algebra and PDE/1.1
Introduction to Linear Algebra
Vector Addition: A+B
 w  ( x1 , x2 )  ( y1 , y2 )  ( x1  y1 , x2  y2 )
vA+B

A
A+B = C
(use the head-to-tail method
B to combine vectors)
C
B

MA8352/Linear Algebra and PDE/1.1


Introduction to Linear Algebra
Scalar Product: av

av  a( x1 , x2 )  (ax1 , ax2 )

av

Change only the length (“scaling”), but keep direction fixed.

Sneak peek: matrix operation (Av) can change length,


direction and also dimensionality!

MA8352/Linear Algebra and PDE/1.1


Introduction to Linear Algebra
Inner (dot) Product: v.w or wTv

v 
w v.w  ( x1 , x2 ).( y1 , y2 )  x1 y1  x2 . y2

The inner product is a SCALAR!

v.w  ( x1 , x2 ).( y1 , y2 ) || v ||  || w || cos 

v.w  0  v  w
If vectors v, w are “columns”, then dot product is wTv

MA8352/Linear Algebra and PDE/1.1


Introduction to Linear Algebra
Inner (dot) Product: v.w or wTv

v 
w v.w  ( x1 , x2 ).( y1 , y2 )  x1 y1  x2 . y2

The inner product is a SCALAR!

v.w  ( x1 , x2 ).( y1 , y2 ) || v ||  || w || cos 

v.w  0  v  w
If vectors v, w are “columns”, then dot product is wTv

MA8352/Linear Algebra and PDE/1.1


Introduction to Linear Algebra
Bases & Orthonormal Bases
• Basis (or axes): frame of reference

vs

Basis: a space is totally defined by a set of vectors – any point is a linear


combination of the basis

Ortho-Normal: orthogonal + normal


x  1 0 0 x y  0
T

[Sneak peek: y  0 1 0 x z  0
T

Orthogonal: dot product is zero


z  0 0 1 yz  0
T
Normal: magnitude is one ]
MA8352/Linear Algebra and PDE/1.1
Introduction to Linear Algebra
What is a Matrix?
• A matrix is a set of elements, organized into
rows and columns
rows

a b 
c d 
columns

 
MA8352/Linear Algebra and PDE/1.1
Introduction to Linear Algebra
Basic Matrix Operations
• Addition, Subtraction, Multiplication: creating new matrices (or functions)

a b   e f  a  e b  f 
c d    g 
h  c  g d  h 

   Just add elements

a b   e f  a  e b  f 
c d    g 
h  c  g d  h 
 Just subtract elements
  

a b   e f  ae  bg af  bh
c d   g   Multiply each row
  h  ce  dg cf  dh  by each column

MA8352/Linear Algebra and PDE/1.1 Introduction to Linear Algebra


Multiplication
• Is AB = BA? Maybe, but maybe not!

a b   e f  ae  bg ... e f  a b  ea  fc ...


c d   g   
  h   ... ... g

  
h   c d   ... ...

• Matrix multiplication AB: apply transformation B first, and


then again transform using A!
• Heads up: multiplication is NOT commutative!

• Note: If A and B both represent either pure “rotation” or


“scaling” they can be interchanged (i.e. AB = BA)

MA8352/Linear Algebra and PDE/1.1 Introduction to Linear Algebra


Matrix operating on vectors
• Matrix is like a function that transforms the vectors on a plane
• Matrix operating on a general point => transforms x- and y-components
• System of linear equations: matrix is just the bunch of coeffs !

a b   x   x'
  =  
• x’ = ax + by
• y’ = cx + dy

c d   y  y'

MA8352/Linear Algebra and PDE/1.1


Introduction to Linear Algebra
Direction Vector Dot Matrix

 ax bx cx d x   vx 
a by cy d y  v y 
v  M  v   y 
 az bz cz d z   vz 
   
0 0 0 1  1

vx  vx ax  v y bx  vz cx
vy  vx a y  v y by  vz c y v  v x a  v y b  v z c
vz  vx az  v y bz  vz cz
MA8352/Linear Algebra and PDE/1.1 Introduction to Linear Algebra
•
Matrices: Scaling, Rotation, Identity
Pure scaling, no rotation => “diagonal matrix” (note: x-, y-axes could be scaled differently!)
• Pure rotation, no stretching => “orthogonal matrix” O
• Identity (“do nothing”) matrix = unit scaling, no rotation!

r1 0
0 r2
[0,1]T [0,r2]T
scaling

[1,0]T [r1,0]T

cos -sin
sin cos
[-sin, cos]T
[0,1]T
rotation [cos, sin]T


[1,0]T

MA8352/Linear Algebra and PDE/1.1 Introduction to Linear Algebra


Rotation About a Fixed Point other
than the Origin
Move fixed point to origin
Rotate
Move fixed point back
M = T(pf) R(θ) T(-pf)

MA8352/Linear Algebra and PDE/1.1 Introduction to Linear Algebra


Vectors: Cross Product
• The cross product of vectors A and B is a vector C which is
perpendicular to A and B
• The magnitude of C is proportional to the sin of the angle between
A and B
• The direction of C follows the right hand rule if we are working in a
right-handed coordinate system

A×B A  B  A B sin( )

MA8352/Linear Algebra and PDE/1.1 Introduction to Linear Algebra


MAGNITUDE OF THE CROSS PRODUCT

MA8352/Linear Algebra and PDE/1.1 Introduction to Linear Algebra


DIRECTION OF THE CROSS PRODUCT
• The right hand rule determines the direction of
the cross product

MA8352/Linear Algebra and PDE/1.1


Introduction to Linear Algebra
THANK YOU

MA8352/Linear Algebra and PDE/1.1 Introduction


to Linear Algebra

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