Matrices 1: An Introduction to Matrices

Exercise 2: Transformations in 2D and 3D

Solutions

1. Find the matrix which represents a 90∘ rotation clockwise about the origin.

To find the matrix which represents a 90° rotation clockwise about the origin, it is sufficient to
1 0
calculate the image of the unit vectors ( ) and ( ) under the given transformation.
0 1

These points will respectively form the first and second columns of the matrix.

1 0
After the rotation, we observe that the first unit vector ( ) is mapped to ( ) and the second
0 −1
0 1
unit vector ( ) is mapped to the point ( ).
1 0

0 1
Therefore, the matrix which represents the rotation is given by ( ).
−1 0

2. Find the matrix which represents a reflection in the 𝑦-axis.

Following a similar argument to question 1, let us investigate how the unit vectors are
transformed under the reflection.
 1 −1
We see that the vector ( ) is mapped to ( ) after being reflected, and the second unit vector
0 0
remains fixed.

−1 0
Hence it follows that the matrix is given by ( ).
0 1

3. Find the matrix which represents a rotation by 30∘ anti-clockwise about the origin.

We showed in the previous video, that the matrix which represents a rotation anti-clockwise
about the origin by 𝜃° is given by

cos 𝜃 −sin 𝜃
( )
sin 𝜃 cos 𝜃

Substituting 𝜃 = 30° into the matrix, gives

√3 1
−
2 2
1 √3
(2 2 )
 1 0
4. Calculate the image of the rectangle R under the transformation given by the matrix ( ).
2 1

To compute the image of the rectangle under the given transformation, we will now consider the
image of each vertex.

1 0 0 0
( )( ) = ( )
2 1 0 0

1 0 2 2
( )( ) = ( )
2 1 0 4

1 0 0 0
( )( ) = ( )
2 1 1 1

1 0 2 2
( )( ) = ( )
2 1 1 5

Sketching these points onto a diagram, we observe that the given rectangle R is transformed into
the following parallelogram.
 1 0
5. Describe the geometric transformation represented by the matrix ( ) given in question 4.
2 1

We may observe from our previous diagram, that the given matrix represents a shear.

In particular, points on the 𝑦-axis remain fixed under the transformation, which we may
algebraically verify by noting

1 0 0 0
( ) ( ) = ( ).
2 1 𝑦 𝑦

1 1
Considering the point ( ) we may see that its map to ( ).
0 2

1
Hence the transformation is given by a shear with the 𝑦-axis invariant and which maps ( ) to
0
1
( ).
2

Note that you may alternatively use another point and its image in characterising the shear, as
long as the chosen point does not remain fixed under the transformation.

1 0
6. Calculate the image of the rectangle R given in question 4, under the transformation ( ).
0 2
1 0
The matrix given by ( ) 𝑟epresents a stretch along the 𝑦-axis by a scale factor of 2.
0 2

Therefore, without computing the matrix multiplication with the vertices of the rectangle, we
may immediately compute its image by geometrically considering the effect of the previously
mentioned stretch in the 𝑦 direction.

Doing so results in the following square.

7. Find the matrix which represents a 90∘ clockwise rotation about the 𝑦-axis in 3-dimensional space.

To calculate the matrix, we need to find the image of the unit vectors
1 0 0
(0) (1) (0)
0 0 1

under the rotation transformation.

It is important to note, that a clockwise rotation about the 𝑦-axis, means a rotation in the
clockwise direction when we are looking from the positive 𝑦 direction to the origin.

Unit vectors

Therefore, if we change our perspective of the unit vectors, to that of the view from the positive
𝑦 direction, we can now easily see the clockwise direction and the result of the transformation.

Unit vectors from the positive y direction Result of the transformation

In particular, we see that we have the following mappings:

1 0
(0) ↦ (0)
0 1
 0 0
(1) ↦ (1)
0 0

0 −1
(0) ↦ ( 0 )
1 0

Hence, the matrix representing the rotation of 90° clockwise about the 𝑦-axis is given by
0 0 −1
(0 1 0 )
1 0 0

8. Given the matrix representations of the following single transformations:

0 1
• A reflection in the line 𝑦 = 𝑥 is represented by ( )
1 0
1 0
• A reflection in the 𝑥-axis is represented by matrix ( )
0 −1
Find the matrix which represents the combined transformation of a reflection in the line 𝑦 = 𝑥
followed by a reflection in the 𝑥-axis.

For the combined transformation, we need to take particular care in the order in which we
multiply the matrices.

The correct order to represent the combined transformation consisting of a reflection in the line
𝑦 = 𝑥 followed by a reflection in the 𝑥-axis is

1 0 0 1
( )( )
0 −1 1 0

as we are applying the transformation which reflects in the 𝑦 = 𝑥 first. Calculating the matrix
multiplication gives

1 0 0 1 0 1
( )( ) = ( )
0 −1 1 0 −1 0

Note that this matrix is precisely a rotation by 90° clockwise about the origin, which is expected
if we consider the result of these successive transformations geometrically.
Unit vectors Reflection in line 𝑦 = 𝑥 Reflection in 𝑦-axis