LINEAR TRANSFORMATIONS

ELECTRONIC VERSION OF LECTURE

HoChiMinh City University of Technology

Faculty of Applied Science, Department of Applied Mathematics

HCMC — 2022.

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OUTLINE

1 THE REAL WORLD PROBLEMS

2 DEFINITIONS AND TERMINOLOGY

3 MATRICES FOR GENERAL LINEAR TRANSFORMATIONS

4 KERNEL AND RANGE OF A LINEAR TRANSFORMATION

5 MODELING MOTION WITH MATRICES

6 MATL AB

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 The Real World Problems

MODELLING MOTION WITH MATRICES

In 1995, animation took a giant step

forward with the release of the first major motion
picture to be created entirely on computers.
Animators use computer software to create
three-dimensional computer models of characters,
props, and sets.

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 The Real World Problems

These computer models describe the shape of the

object as well as the motion controls that the
animators use to create movement and expressions.
The animation models are actually very large
matrices.

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 The Real World Problems

4PQRµ → 4P¶0Q 0 R 0 is the

a b
reflection over the x−axis. Let A = be the
c d
reflection matrix.
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 The Real World Problems

µ ¶ µ ¶ µ ¶
a b −1 −1
P → P0 : . =
c d −1 1
µ ¶ µ ¶ µ ¶
a b 2 2
Q → Q0 : . =
c d 1 −1
µ ¶ µ ¶ µ ¶
a b 3 3
R → R0 : . =
c d −2 2

 −a − b = −1, −c − d = 1

⇒ 2a + b = 2, 2c + d = −1

 3a − 2b = 3, 3c − 2d = 2

⇒ a = 1, b = 0, c = 0, d = −1

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 The Real World Problems

Therefore, for every point in the plane (x 1 , x 2 ), the

matrix that results in a reflection over the x−axis and
then we obtain a new point in the plane (y 1 , y 2 )
µ ¶ µ ¶ µ ¶ µ ¶
y1 1 0 x1 x1
= . =
y2 0 −1 x2 −x 2

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 Definitions and Terminology Linear transformations

DEFINITION 2.1
If f : E 7→ F is a mapping from a vector space E to a
vector space F , then f is called a linear
transformation from E to F if the following 2
properties hold for all vectors x and y in E and for all
scalars λ:
½
f (x + y) = f (x) + f (y), ∀x, y ∈ E
f (λx) = λ f (x), ∀λ ∈ R, ∀x ∈ E .

We denote the set of all linear transformations from E

to F by L (E , F ).

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 Definitions and Terminology Linear transformations

EXAMPLE 2.1
The mapping f : R2 → R3 which is defined for
∀x = (x 1 , x 2 ), by f (x) = (3x 1 − x 2 , x 1 , x 1 + x 2 ) is the linear
transformation.

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 Definitions and Terminology Linear transformations

EXAMPLE 2.1
The mapping f : R2 → R3 which is defined for
∀x = (x 1 , x 2 ), by f (x) = (3x 1 − x 2 , x 1 , x 1 + x 2 ) is the linear
transformation.

∀x = (x 1 , x 2 ), y = (y 1 , y 2 ) ∈ R2 ,

f(x+y) = (3(x 1 + y 1 ) − (x 2 + y 2 ), x 1 + y 1 , (x 1 + y 1 ) + (x 2 + y 2 )
= (3x 1 − x 2 , x 1 , x 1 + x 2 ) + (3y 1 − y 2 , y 1 , y 1 + y 2 )
= f(x)+f(y).

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 Definitions and Terminology Linear transformations

∀λ ∈ R, ∀x ∈ R2 ,

f (λx) = (3λx 1 − λx 2 , λx 1 , λx 1 + λx 2 )
= λ(3x 1 − x 2 , x 1 , x 1 + x 2 )
= λ f (x)

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 Definitions and Terminology Linear transformations

∀λ ∈ R, ∀x ∈ R2 ,

f (λx) = (3λx 1 − λx 2 , λx 1 , λx 1 + λx 2 )
= λ(3x 1 − x 2 , x 1 , x 1 + x 2 )
= λ f (x)

EXAMPLE 2.2
The mapping f : R2 → R2 defined by ∀x = (x 1 , x 2 ),
f (x) = (2x 12 − x 2 , x 2 ) is NOT a linear transformation.

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 Definitions and Terminology Linear transformations

∀λ ∈ R, ∀x ∈ R2 ,

f (λx) = (3λx 1 − λx 2 , λx 1 , λx 1 + λx 2 )
= λ(3x 1 − x 2 , x 1 , x 1 + x 2 )
= λ f (x)

EXAMPLE 2.2
The mapping f : R2 → R2 defined by ∀x = (x 1 , x 2 ),
f (x) = (2x 12 − x 2 , x 2 ) is NOT a linear transformation.

Indeed, f (λx) = (2(λx 1 )2 − λx 2 , λx 2 ) =

(2λ2 x 12 − λx 2 , λx 2 ) 6= λ(2x 12 − x 2 , x 2 ) = λ. f (x), if λ 6= 1

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 Matrices for General Linear Transformations Relation between the coordinate vectors

RELATION BETWEEN THE COORDINATE VECTORS

Let f : E → F, y = f (x).
1
B = {e 1 , e 2 , . . . , e n } is the basis for E

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 Matrices for General Linear Transformations Relation between the coordinate vectors

RELATION BETWEEN THE COORDINATE VECTORS

Let f : E → F, y = f (x).
1
B = {e 1 , e 2 , . . . , e n } is the basis for E
2
C = { f 1 , f 2 , . . . , f m } is the basis for F

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 Matrices for General Linear Transformations Relation between the coordinate vectors

RELATION BETWEEN THE COORDINATE VECTORS

Let f : E → F, y = f (x).
1
B = {e 1 , e 2 , . . . , e n } is the basis for E
2
C = { f 1 , f 2 , . . . , f m } is the basis for F
n
X = [x]B = (x 1 , x 2 , . . . , x n )T or x =
P
3
xi e i
i =1

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 Matrices for General Linear Transformations Relation between the coordinate vectors

RELATION BETWEEN THE COORDINATE VECTORS

Let f : E → F, y = f (x).
1
B = {e 1 , e 2 , . . . , e n } is the basis for E
2
C = { f 1 , f 2 , . . . , f m } is the basis for F
n
X = [x]B = (x 1 , x 2 , . . . , x n )T or x =
P
3
xi e i
i =1
m
Y = [y]C = (y 1 , y 2 , . . . , y m )T or y =
P
4
yk fk .
k=1

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 Matrices for General Linear Transformations Relation between the coordinate vectors

RELATION BETWEEN THE COORDINATE VECTORS

Let f : E → F, y = f (x).
1
B = {e 1 , e 2 , . . . , e n } is the basis for E
2
C = { f 1 , f 2 , . . . , f m } is the basis for F
n
X = [x]B = (x 1 , x 2 , . . . , x n )T or x =
P
3
xi e i
i =1
m
Y = [y]C = (y 1 , y 2 , . . . , y m )T or y =
P
4
yk fk .
k=1
Find the relation between [x]B , [y]C ?

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 Matrices for General Linear Transformations Relation between the coordinate vectors

We have
m
X n
X
y = f (x) = yk fk = f ( xi e i )
k=1 i =1
Xn X n m
X m X
X n
= x i f (e i ) = xi ( a ki f k ) = ( a ki x i ) f k
i =1 i =1 k=1 k=1 i =1
X n
⇒ yk = a ki x i , k = 1, 2, . . . , m.
i =1


 y 1 = a 11 x 1 + a 12 x 2 + . . . + a 1n x n

 y = a x + a x +...+ a x
2 21 1 22 2 2n n

 . . . . . . . . . . . . . . . . . . . . . . . . . . . ........

y m = a m1 x 1 + a m2 x 2 + . . . + a mn x n


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 Matrices for General Linear Transformations Relation between the coordinate vectors

We have
m
X n
X
y = f (x) = yk fk = f ( xi e i )
k=1 i =1
Xn X n m
X m X
X n
= x i f (e i ) = xi ( a ki f k ) = ( a ki x i ) f k
i =1 i =1 k=1 k=1 i =1
X n
⇒ yk = a ki x i , k = 1, 2, . . . , m.
i =1


 y 1 = a 11 x 1 + a 12 x 2 + . . . + a 1n x n

 y = a x + a x +...+ a x
2 21 1 22 2 2n n

 . . . . . . . . . . . . . . . . . . . . . . . . . . . ........

y m = a m1 x 1 + a m2 x 2 + . . . + a mn x n


In matrix form [y]C = A BC [x]B

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 Matrices for General Linear Transformations Matrices for linear transformation relative to 2 bases

MATRICES FOR LINEAR TRANSFORMATION RELATIVE TO

2 BASES

Let f : E → F, y = f (x).
1
B = {e 1 , e 2 , . . . , e n } is the basis for E

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 Matrices for General Linear Transformations Matrices for linear transformation relative to 2 bases

MATRICES FOR LINEAR TRANSFORMATION RELATIVE TO

2 BASES

Let f : E → F, y = f (x).
1
B = {e 1 , e 2 , . . . , e n } is the basis for E
2
C = { f 1 , f 2 , . . . , f m } is the basis for F

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 Matrices for General Linear Transformations Matrices for linear transformation relative to 2 bases

MATRICES FOR LINEAR TRANSFORMATION RELATIVE TO

2 BASES

Let f : E → F, y = f (x).
1
B = {e 1 , e 2 , . . . , e n } is the basis for E
2
C = { f 1 , f 2 , . . . , f m } is the basis for F


 f (e 1 ) = a 11 f 1 + a 21 f 2 + . . . + a i 1 f i + . . . + a m1 f m



 ..........................................
f (e j ) = a 1 j f 1 + a 2 j f 2 + . . . + a i j f i + . . . + a m j f m




 ..........................................
f (e n ) = a 1n f 1 + a 2n f 2 + . . . + a i n f i + . . . + a mn f m


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 Matrices for General Linear Transformations Matrices for linear transformation relative to 2 bases

Then the matrix

 
a 11 ... a1 j ... a 1n
 .. . . . ... ... ..
 . .


 
 ai 1 . . . ai j
A= ... ai n 
 .. . . . ... ... ..

 . .


a m1 . . . a m j . . . a mn
 .. .. .. 
h . i h . i h . i
 
 f (e 1 )
= ... f (e j ) ... f (e n ) 
C C C 
.. .. ..
. . .
is called the matrix for f relative to the bases B and
C.
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 Matrices for General Linear Transformations Matrices for linear transformation relative to 2 bases

EXAMPLE 3.2
Let f : R2 → R2 be the linear transformation and the
matrix
µ
for f¶ relative to the basis B = {(1, 1), (−1, 1)} be
1 −1
A= . Find f (−1, 5).
0 2

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 Matrices for General Linear Transformations Matrices for linear transformation relative to 2 bases

EXAMPLE 3.2
Let f : R2 → R2 be the linear transformation and the
matrix
µ
for f¶ relative to the basis B = {(1, 1), (−1, 1)} be
1 −1
A= . Find f (−1, 5).
0 2

We have x = (−1, 5) = α(1, 1) + β(−1, 1) ⇒ α = 2, β = 3

⇒ [x]B = (2, 3)T .

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 Matrices for General Linear Transformations Matrices for linear transformation relative to 2 bases

µ ¶µ ¶ µ ¶
1 −1 2 −1
Therefore [ f (−1, 5)]B = A.[x]B = = .
0 2 3 6
So f (−1, 5) = −1(1, 1) + 6(−1, 1) = (−7, 5)

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 Matrices for General Linear Transformations Matrices for linear transformation relative to 2 bases

EXAMPLE 3.3
Let f : R2 → R3 be defined by ( f (x))T = Ax T , where
1 −3
A =  0 2  . Find the matrix for f relative to the
 
4 3
bases B = {(1, 1), (1, 2)} and C = {(1, 0, 1), (1, 1, 1), (1, 0, 0)}

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 Matrices for General Linear Transformations Matrices for linear transformation relative to 2 bases

 
 
1 −3 µ ¶ −2
 1
We have ( f (1, 1))T =  0 2  =  2 .
  
1
4 3 7

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 Matrices for General Linear Transformations Matrices for linear transformation relative to 2 bases

 
 
1 −3 µ ¶ −2
 1
We have ( f (1, 1))T =  0 2  =  2  . We
  
1
4 3 7
compute the coordinate vector ( f (1, 1))T relative to
the basis C
       
−2 1 1 1
 2  = α 0 +β 1 +γ 0 .
       
7 1 1 0

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 Matrices for General Linear Transformations Matrices for linear transformation relative to 2 bases

  
1 −3 µ ¶ −2
 1
We have ( f (1, 1))T =  0 2  =  2  . We
  
1
4 3 7
compute the coordinate vector ( f (1, 1))T relative to
the basis C
       
−2 1 1 1
 2  = α 0 +β 1 +γ 0 .
       
7 1 1 0

Therefore, α = 5, β = 2, γ = −9.
So [ f (1, 1)]C = (5, 2, −9)T .

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 Matrices for General Linear Transformations Matrices for linear transformation relative to 2 bases

 
6
Similarly, we compute [ f (1, 2)]C =  4  .
 
−15

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 Matrices for General Linear Transformations Matrices for linear transformation relative to 2 bases

 
6
Similarly, we compute [ f (1, 2)]C =  4  .
 
−15
Thus, the matrix for f relative to the bases B,C is
 
5 6
A= 2 4 .
 
−9 −15

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 Matrices for General Linear Transformations Matrices for General Linear Transformations

f : R2 → R2

1
The standard basis of R2 is B = {(1, 0), (0, 1)}
2
f is the reflection over the x−axis.

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 Matrices for General Linear Transformations Matrices for General Linear Transformations

THE TRANSITION MATRIX

1
The standard basis of R2 is B = {(1, 0), (0, 1)}
2
The non-standard basis is B 0 = {( 13 , 1), (1, 13 )}

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 Matrices for General Linear Transformations Matrices for General Linear Transformations

f : R2 → R2

1
The non-standard basis of R2 is B 0 = {( 13 , 1), (1, 13 )}
2
f the reflection over the x− axis.

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 Matrices for General Linear Transformations Matrices for General Linear Transformations

MATRICES FOR GENERAL LINEAR TRANSFORMATION

RELATIVE TO DIFFERENT BASES

Consider the linear operator f : E → E , y = f (x)

1
B = {e 1 , e 2 , . . . , e n }, B 0 = {e 10 , e 20 , . . . , e n0 } are the 2 bases
for E .

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 Matrices for General Linear Transformations Matrices for General Linear Transformations

MATRICES FOR GENERAL LINEAR TRANSFORMATION

RELATIVE TO DIFFERENT BASES

Consider the linear operator f : E → E , y = f (x)

1
B = {e 1 , e 2 , . . . , e n }, B 0 = {e 10 , e 20 , . . . , e n0 } are the 2 bases
for E .
2
A = M at B ( f ) is the matrix for f relative to basis B

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 Matrices for General Linear Transformations Matrices for General Linear Transformations

MATRICES FOR GENERAL LINEAR TRANSFORMATION

RELATIVE TO DIFFERENT BASES

Consider the linear operator f : E → E , y = f (x)

1
B = {e 1 , e 2 , . . . , e n }, B 0 = {e 10 , e 20 , . . . , e n0 } are the 2 bases
for E .
2
A = M at B ( f ) is the matrix for f relative to basis B
Find the matrix for f relative to basis B 0 ?

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 Matrices for General Linear Transformations Matrices for General Linear Transformations

Let P B 0 →B be the transition matrix from B 0 to B. Then

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 Matrices for General Linear Transformations Matrices for General Linear Transformations

Let P B 0 →B be the transition matrix from B 0 to B. Then

[ f (x)]B = A B .[x]B ⇔ P B 0 →B [ f (x)]B 0 = A B .P B 0 →B [x]B 0
⇔ [ f (x)]B 0 = P B−10 →B A B P B 0 →B [x]B 0 .

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 Matrices for General Linear Transformations Matrices for General Linear Transformations

Let P B 0 →B be the transition matrix from B 0 to B. Then

[ f (x)]B = A B .[x]B ⇔ P B 0 →B [ f (x)]B 0 = A B .P B 0 →B [x]B 0
⇔ [ f (x)]B 0 = P B−10 →B A B P B 0 →B [x]B 0 .

Therefore, matrix P B−10 →B A B P B 0 →B is the matrix for f

relative to the basis B 0

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 Matrices for General Linear Transformations Matrices for General Linear Transformations

EXAMPLE 3.4
Let f : R2 → R2 be the linear operator and matrix
µ
for
¶
f
1 0
relative to the basis B = {(1, 0), (0, 1)} be A = .
0 −1
Findnthe matrixo for f relative to the basis
B 0 = ( 13 , 1), (1, 13 ) .

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 Matrices for General Linear Transformations Matrices for General Linear Transformations

EXAMPLE 3.4
Let f : R2 → R2 be the linear operator and matrix
µ
for
¶
f
1 0
relative to the basis B = {(1, 0), (0, 1)} be A = .
0 −1
Findnthe matrixo for f relative to the basis
B 0 = ( 13 , 1), (1, 13 ) .

Find the matrix for f relative to the basis B 0 can be

found by A 0 = P B−10 →B AP B 0 →B where P B 0 →B is the
transition matrix from B 0 to B.

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 Matrices for General Linear Transformations Matrices for General Linear Transformations

Find S.
( 13 , 1) = s 11 (1, 0) + s 21 (0, 1) s 11 = 13 ; s 21 = 1
½ ½
⇒
(1, 31 ) = s 12 (1, 0) + s 22 (0, 1) s 12 = 1; s 22 = 31
µ 1 ¶ µ 3 9 ¶
1 −
So P B 0 →B = 3 1 ⇒ P B →B 0 = P B−10 →B = 98 83 .
1 3 8
−8
Therefore,
− 83 9
µ ¶ µ ¶ µ 1 ¶
0 1 0 1
A = P B−10 →B AP B 0 →B = 9 3
8 . . 3
8
−8 0 −1 1 13
− 45 − 34
µ ¶
= 3 5 .
4 4

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 Matrices for General Linear Transformations Matrices for Linear Transformations relative to different bases

MATRICES FOR GENERAL LINEAR TRANSFORMATIONS

RELATIVE TO DIFFERENT BASES

Let f : E → F, y = f (x)
1
B = {e 1 , e 2 , . . . , e n }, B 0 = {e 10 , e 20 , . . . , e n0 } are the 2 bases
for E .

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 Matrices for General Linear Transformations Matrices for Linear Transformations relative to different bases

MATRICES FOR GENERAL LINEAR TRANSFORMATIONS

RELATIVE TO DIFFERENT BASES

Let f : E → F, y = f (x)
1
B = {e 1 , e 2 , . . . , e n }, B 0 = {e 10 , e 20 , . . . , e n0 } are the 2 bases
for E .
2
C = { f 1 , f 2 , . . . , f m },C 0 = { f 10 , f 20 , . . . , f m0 } are the 2 bases
for F.

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 Matrices for General Linear Transformations Matrices for Linear Transformations relative to different bases

MATRICES FOR GENERAL LINEAR TRANSFORMATIONS

RELATIVE TO DIFFERENT BASES

Let f : E → F, y = f (x)
1
B = {e 1 , e 2 , . . . , e n }, B 0 = {e 10 , e 20 , . . . , e n0 } are the 2 bases
for E .
2
C = { f 1 , f 2 , . . . , f m },C 0 = { f 10 , f 20 , . . . , f m0 } are the 2 bases
for F.
3
A = M at BC ( f ) is the matrix for f relative to the
bases BC .

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 Matrices for General Linear Transformations Matrices for Linear Transformations relative to different bases

MATRICES FOR GENERAL LINEAR TRANSFORMATIONS

RELATIVE TO DIFFERENT BASES

Let f : E → F, y = f (x)
1
B = {e 1 , e 2 , . . . , e n }, B 0 = {e 10 , e 20 , . . . , e n0 } are the 2 bases
for E .
2
C = { f 1 , f 2 , . . . , f m },C 0 = { f 10 , f 20 , . . . , f m0 } are the 2 bases
for F.
3
A = M at BC ( f ) is the matrix for f relative to the
bases BC .

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 Matrices for General Linear Transformations Matrices for Linear Transformations relative to different bases

MATRICES FOR GENERAL LINEAR TRANSFORMATIONS

RELATIVE TO DIFFERENT BASES

Let f : E → F, y = f (x)
1
B = {e 1 , e 2 , . . . , e n }, B 0 = {e 10 , e 20 , . . . , e n0 } are the 2 bases
for E .
2
C = { f 1 , f 2 , . . . , f m },C 0 = { f 10 , f 20 , . . . , f m0 } are the 2 bases
for F.
3
A = M at BC ( f ) is the matrix for f relative to the
bases BC .
Find the matrix for f relative to the bases B 0 ,C 0 ?

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 Matrices for General Linear Transformations Matrices for Linear Transformations relative to different bases

Let S be the transition matrix from B 0 to B, P be the

transition matrix from C 0 to C . Then

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 Matrices for General Linear Transformations Matrices for Linear Transformations relative to different bases

Let S be the transition matrix from B 0 to B, P be the

transition matrix from C 0 to C . Then
[ f (x)]C = A BC .[x]B ⇔ P [ f (x)]C 0 = A BC .S[x]B 0
⇔ [ f (x)]C 0 = P −1 A BC S[x]B 0 .

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 Matrices for General Linear Transformations Matrices for Linear Transformations relative to different bases

Let S be the transition matrix from B 0 to B, P be the

transition matrix from C 0 to C . Then
[ f (x)]C = A BC .[x]B ⇔ P [ f (x)]C 0 = A BC .S[x]B 0
⇔ [ f (x)]C 0 = P −1 A BC S[x]B 0 .

Therefore, P −1 A BC S is the matrix for f relative to the

bases B 0 ,C 0 .

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 Matrices for General Linear Transformations Matrices for Linear Transformations relative to different bases

EXAMPLE 3.5
Let f : R3 → R2 be linear transformation, and the
matrix for f relative to 2 bases
B = {(1, ¶ (1, 0, 0)} and C = {(1, 0), (0, 1)} be
µ 1, 1), (1, 1, 0),
8 4 2
A= . Find f (x 1 , x 2 , x 3 )
−4 −2 −1

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 Matrices for General Linear Transformations Matrices for Linear Transformations relative to different bases

 −1
1 1 1 µ ¶
1 0
S = 1 1 0  , P = .
 
0 1
1 0 0

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 Matrices for General Linear Transformations Matrices for Linear Transformations relative to different bases

 −1
1 1 1 µ ¶
1 0
S = 1 1 0  , P = .
 
0 1
1 0 0
Matrix for f relative to 2 standard bases is
 −1
µ ¶−1 µ ¶ 1 1 1
1 0 8 4 2
A 0 = P −1 AS = . . 1 1 0 
 
0 1 −4 −2 −1
1 0 0
µ ¶
2 2 4
= ⇒ [ f (x)]C T = A 0 [x]C T
−1 −1 −2
f (x 1 , x 2 , x 3 ) = (2x 1 + 2x 2 + 4x 3 , −x 1 − x 2 − 2x 3 )

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 Matrices for General Linear Transformations Matrices for Linear Transformations relative to different bases

EXAMPLE 3.6
Let f : R2 → R2 be defined if f (1, 1) = (−1, 1),
f (1, 0) = (1, 2). Find the matrix for f relative to
standard basis.

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 Matrices for General Linear Transformations Matrices for Linear Transformations relative to different bases

EXAMPLE 3.6
Let f : R2 → R2 be defined if f (1, 1) = (−1, 1),
f (1, 0) = (1, 2). Find the matrix for f relative to
standard basis.
B = {(1, 1), (1, 0)}, C T = {(1, 0), (0, 1)}

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 Matrices for General Linear Transformations Matrices for Linear Transformations relative to different bases

EXAMPLE 3.6
Let f : R2 → R2 be defined if f (1, 1) = (−1, 1),
f (1, 0) = (1, 2). Find the matrix for f relative to
standard basis.
B = {(1, 1), (1, 0)}, C T = {(1, 0), (0, 1)}

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 Matrices for General Linear Transformations Matrices for Linear Transformations relative to different bases

µ ¶−1 µ ¶ µ ¶
1 1 1 0 −1 1
S= ,P= , A BC T = .
1 0 0 1 1 2

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 Matrices for General Linear Transformations Matrices for Linear Transformations relative to different bases

µ ¶−1 µ ¶ µ ¶
1 1 1 0 −1 1
S= ,P= , A BC T = .
1 0 0 1 1 2
Matrix for f relative to the standard basis is

A 0 = P −1 AS
µ ¶−1 µ ¶ µ ¶−1
1 0 −1 1 1 1
= . . .
0 1 1 2 1 0
µ ¶
1 −2
=
2 −1

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 Kernel and Range of a linear transformation Kernel and Range

DEFINITION 4.1
If f : E 7→ F is a linear transformation, then
1
The set of all vectors in E that maps into 0 is called
the kernel of f :

K er ( f ) = {x ∈ E : f (x) = 0} (1)

2
The set of all vectors in F that are images under f
of at least one vector in E is called the range of f :
I m( f ) = {y ∈ F : ∃x ∈ E , y = f (x)} = f (E ) (2)

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 Kernel and Range of a linear transformation Kernel and Range

THEOREM 4.1
If f : E 7→ F is a linear transformation, then
1
The range I m( f ) of f is a subspace of F
2
The kernel K er ( f ) of f is a subspace of E

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 Kernel and Range of a linear transformation Kernel and Range

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 Kernel and Range of a linear transformation Kernel and Range

EXAMPLE 4.1
If f : R3 → R2 is defined by
f (x 1 , x 2 , x 3 ) = (x 1 − x 2 , x 2 + x 3 ), then
1
Find K er ( f ), its basis and dimension.
2
Find I m( f ), its basis and dimension.

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 Kernel and Range of a linear transformation Kernel and Range

EXAMPLE 4.1
If f : R3 → R2 is defined by
f (x 1 , x 2 , x 3 ) = (x 1 − x 2 , x 2 + x 3 ), then
1
Find K er ( f ), its basis and dimension.
2
Find I m( f ), its basis and dimension.
n o
K er ( f ) = (x 1 , x 2 , x 3 ) : x 1 − x 2 = 0, x 2 + x 3 = 0 . Solving the
linear system, we obtain x 1 = α, x 2 = α, x 3 = −α, ∀α ∈ R.
Therefore, K er ( f ) = {α(1, 1, −1) : ∀α ∈ R}.

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 Kernel and Range of a linear transformation Kernel and Range

EXAMPLE 4.1
If f : R3 → R2 is defined by
f (x 1 , x 2 , x 3 ) = (x 1 − x 2 , x 2 + x 3 ), then
1
Find K er ( f ), its basis and dimension.
2
Find I m( f ), its basis and dimension.
n o
K er ( f ) = (x 1 , x 2 , x 3 ) : x 1 − x 2 = 0, x 2 + x 3 = 0 . Solving the
linear system, we obtain x 1 = α, x 2 = α, x 3 = −α, ∀α ∈ R.
Therefore, K er ( f ) = {α(1, 1, −1) : ∀α ∈ R}. The basis of
K er ( f ) is (1, 1, −1). Di m(K er ( f )) = 1.

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 Kernel and Range of a linear transformation Kernel and Range

FIND I m f

Step 1. Choose a basis for E = R3 : e 1 = (1, 0, 0),

e 2 = (0, 1, 0), e 3 = (0, 0, 1).

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 Kernel and Range of a linear transformation Kernel and Range

FIND I m f

Step 1. Choose a basis for E = R3 : e 1 = (1, 0, 0),

e 2 = (0, 1, 0), e 3 = (0, 0, 1).
Step 2. Find f (e 1 ) = (1, 0), f (e 2 ) = (−1, 1), f (e 3 ) = (0, 1).

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 Kernel and Range of a linear transformation Kernel and Range

FIND I m f

Step 1. Choose a basis for E = R3 : e 1 = (1, 0, 0),

e 2 = (0, 1, 0), e 3 = (0, 0, 1).
Step 2. Find f (e 1 ) = (1, 0), f (e 2 ) = (−1, 1), f (e 3 ) = (0, 1).
Step 3. We have

y = f (x) = f (λ1 e 1 + λ2 e 2 + λ3 e 3 ) =

= λ1 f (e 1 ) + λ2 f (e 2 ) + λ3 f (e 3 )
n o
⇒ I m( f ) = span f (e 1 ), f (e 2 ), f (e 3 )

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 Kernel and Range of a linear transformation Kernel and Range

 
 
1 0 1 0
 −1 1  →  0 1 
   
0 1 0 0
n o n o
Therefore, the set f (e 1 ), f (e 2 ) = (1, 0), (−1, 1) is the
basis for I m( f ) and d i m(I m( f )) = 2.

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 Kernel and Range of a linear transformation Kernel and Range

EXAMPLE 4.2
Let f : R3 → R3 be defined by f (1, 0, 0) = (1, 1, 1),
f (−1, 1, 0) = (−2, −1, 0), f (0, −1, 1) = (2, 1, 3).
Find f (x 1 , x 2 , x 3 )
Find the basis and dimension for K er f
Find the basis and dimension for I m f

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 Kernel and Range of a linear transformation Kernel and Range

EXAMPLE 4.2
Let f : R3 → R3 be defined by f (1, 0, 0) = (1, 1, 1),
f (−1, 1, 0) = (−2, −1, 0), f (0, −1, 1) = (2, 1, 3).
Find f (x 1 , x 2 , x 3 )
Find the basis and dimension for K er f
Find the basis and dimension for I m f
n o
Choose the basis B = (1, 0, 0), (−1, 1, 0), (0, −1, 1) , and
the standard basis C T = {(1, 0, 0), (0, 1, 0), (0, 0, 1)}.

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 Kernel and Range of a linear transformation Kernel and Range

FIND f (x 1 , x 2 , x 3 )

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 Kernel and Range of a linear transformation Kernel and Range

 −1  
1 −1 0 1 0 0
S =  0 1 −1  , P =  0 1 0  ,
   
0 0 1 0 0 1
 
1 −2 2
A BC T =  1 −1 1  .
 
1 0 3
Matrix for f relative
 to the
 standard bases
1 −1 1
A = P AS =  1 0 1  ⇒ [ f (x)]C T = A 0 [x]C T
0 −1  
1 1 4

f (x 1 , x 2 , x 3 ) = (x 1 − x 2 + x 3 , x 1 + x 3 , x 1 + x 2 + 4x 3 )

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 Kernel and Range of a linear transformation Kernel and Range

THE BASIS AND DIMENSION FOR K er ( f ).

f (x 1 , x 2 , x 3 ) = (x 1 − x 2 + x 3 , x 1 + x 3 , x 1 + x 2 + 4x 3 )
∀x∈ K er ( f ) ⇔ f (x) = 0
 x1 − x2 + x3 = 0
 n o
⇔ x1 + x3 = 0 ⇔ x 1 = x 2 = x 3 = 0 K er ( f ) = 0 .

 x + x + 4x = 0
1 2 3
Di m(K er ( f )) = 0.

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 Kernel and Range of a linear transformation Kernel and Range

THE BASIS AND DIMENSION FOR K er ( f ).

f (x 1 , x 2 , x 3 ) = (x 1 − x 2 + x 3 , x 1 + x 3 , x 1 + x 2 + 4x 3 )
∀x∈ K er ( f ) ⇔ f (x) = 0
 x1 − x2 + x3 = 0
 n o
⇔ x1 + x3 = 0 ⇔ x 1 = x 2 = x 3 = 0 K er ( f ) = 0 .

 x + x + 4x = 0
1 2 3
Di m(K er ( f )) = 0.
The basis for K er ( f ) does NOT exist.

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 Kernel and Range of a linear transformation Kernel and Range

THE BASIS AND DIMENSION FOR I m( f ).

n o
The basis for R3 is (1, 0, 0), (−1, 1, 0), (0, −1, 1) .

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 Kernel and Range of a linear transformation Kernel and Range

THE BASIS AND DIMENSION FOR I m( f ).

n o
The basis for R3 is (1, 0, 0), (−1, 1, 0), (0, −1, 1) .
n o
I m( f ) = span f (1, 0, 0), f (−1, 1, 0), f (0, −1, 1)
n o
= span (1, 1, 1), (−2, −1, 0), (2, 1, 3)
   
1 1 1 1 1 1
 −2 −1 0  →  0 1 2 
   
2 1 3 0 0 3
n o
The basis for I m( f ) is f (e 1 ), f (e 2 ), f (e 3 ) =
n o
(1, 1, 1), (−2, −1, 0), (2, 1, 3) and Di m(I m( f )) = 3.
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 Kernel and Range of a linear transformation The coordinate vector of vector in K er f

THEOREM 4.2
Let f : E → F be a linear transformation and
A ∈ M m×n (K ) be the matrix for f relative to 2 bases
B = {e 1 , e 2 , . . . , e n } ⊂ E and C = { f 1 , f 2 , . . . , f m } ⊂ F or
A = M at BC ( f ). Then the coordinate vector of
x ∈ K er ( f ) relative to the basis B satisfies the linear
system A[x]B = 0.

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 Kernel and Range of a linear transformation The coordinate vector of vector in K er f

THEOREM 4.2
Let f : E → F be a linear transformation and
A ∈ M m×n (K ) be the matrix for f relative to 2 bases
B = {e 1 , e 2 , . . . , e n } ⊂ E and C = { f 1 , f 2 , . . . , f m } ⊂ F or
A = M at BC ( f ). Then the coordinate vector of
x ∈ K er ( f ) relative to the basis B satisfies the linear
system A[x]B = 0.

x ∈ E , x ∈ K er ( f ) ⇔ f (x) = 0 ⇔ [ f (x)]C = 0 ⇔ A[x]B = 0.

Therefore, the coordinate vector of x ∈ K er ( f ) relative
to the basis B satisfies the linear system A[x]B = 0.

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 Kernel and Range of a linear transformation The coordinate vector of vector in K er f

EXAMPLE 4.3
Let f : R3 → R2 be the linear transformation and the
matrix for f relative to 2 bases
B = {e 1 = (1, 0, 0), e 2 = (1, 0, 1), e 3 = (1, 1, 1)} and
C = { f 1 = (1, 0), f 2 = (1, 1)} be
µ ¶
1 2 3
A BC =
2 1 0

Find a basis and dimension of K er ( f ).

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 Kernel and Range of a linear transformation The coordinate vector of vector in K er f

x ∈ K er ( f ) ⇔ f (x) = 0 ⇔ [ f (x)]C = 0 ⇔ A BC [x]B = 0.

Suppose [x]B = (x 1 , x 2 , x 3 )T . Then

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 Kernel and Range of a linear transformation The coordinate vector of vector in K er f

x ∈ K er ( f ) ⇔ f (x) = 0 ⇔ [ f (x)]C = 0 ⇔ A BC [x]B = 0.

Suppose [x]B = (x 1 , x 2 , x 3 )T . Then
     
µ ¶ x1 x1 α
1 2 3 
 x 2  = 0 ⇔  x 2  =  −2α 
    
2 1 0
x3 x3 α

⇒ x = x1e 1 + x2e 2 + x3e 3

= α(1, 0, 0) − 2α(1, 0, 1) + α(1, 1, 1)
= (0, α, −α) = α(0, 1, −1)
n o
Therefore (0, 1, −1) is the basis for K er ( f )
⇒ d i m(K er ( f )) = 1
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 Kernel and Range of a linear transformation Relation between the dimensions of Kernel and Range

RELATION BETWEEN THE DIMENSIONS OF KERNEL AND

RANGE

THEOREM 4.3
Let f : E → F be the linear transformation. Then

r ank( f ) + d i m(ker ( f )) = d i m(E )

or
d i m(I m( f )) + d i m(ker ( f )) = d i m(E )

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 Modeling Motion with Matrices

Even though large matrices are used for computer

animation, you can use a simple matrix to decribe
many of the motions called transformations.

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 Modeling Motion with Matrices

Even though large matrices are used for computer

animation, you can use a simple matrix to decribe
many of the motions called transformations.
Some of the transformations we will examine in this
lesson are
1
translations (slides)

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 Modeling Motion with Matrices

Even though large matrices are used for computer

animation, you can use a simple matrix to decribe
many of the motions called transformations.
Some of the transformations we will examine in this
lesson are
1
translations (slides)
2
reflections (flips)

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 Modeling Motion with Matrices

Even though large matrices are used for computer

animation, you can use a simple matrix to decribe
many of the motions called transformations.
Some of the transformations we will examine in this
lesson are
1
translations (slides)
2
reflections (flips)
3
rotations (turns)

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 Modeling Motion with Matrices

Even though large matrices are used for computer

animation, you can use a simple matrix to decribe
many of the motions called transformations.
Some of the transformations we will examine in this
lesson are
1
translations (slides)
2
reflections (flips)
3
rotations (turns)
4
dilatations (enlargements or reductions).

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 Modeling Motion with Matrices

A 2 × n matrix can be used to express the vertices of

an n-gon (a polygon with n sides) with the first row
of elements representing the x−coordinates and the
second row the y−coordinates of the vertices.
EXAMPLE 5.1
Triangle ABC can be represented by the following
vertex matrix
A B C
x − coor d i nat e −2 0 1
y − coor d i nat e 4 6 −1

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 Modeling Motion with Matrices Translation matrix

TRANSLATION MATRIX

Find the vertex matrix of ∆A 0 B 0C 0 ?

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 Modeling Motion with Matrices Translation matrix

TRANSLATION MATRIX

Find the vertex matrix of ∆A 0 B 0C 0 ?

µ ¶ µ ¶ µ ¶
−2 0 1 3 3 3 1 3 4
+ =
4 6 −1 −2 −2 −2 2 4 −3
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 Modeling Motion with Matrices Reflection matrix

REFLECTION MATRIX

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 Modeling Motion with Matrices Reflection matrix

REFLECTION MATRIX

µ ¶ µ ¶ µ ¶
a b −1 2 3 −1 2 3
. =
c d −1 1 −2 1 −1 2
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 Modeling Motion with Matrices Reflection matrix

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 Modeling Motion with Matrices Reflection matrix

EXAMPLE 5.2
To create an image that appears to be reflected in a
mirror, an animator will use a matrix to reflect this
image over the y−axis. Use a reflection matrix to find
the coordinates of the vertices of a star reflected in a
mirror (the y−axis) if the coordinates of the points
connected to create the star are
(−2, 4), (−3.5, 4), (−4, 5), (−4.5, 4), (−6, 4), (−5, 3),
(−5, 1), (−4, 2), (−3, 1), and (−3, 3).

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 Modeling Motion with Matrices Reflection matrix

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 Modeling Motion with Matrices Reflection matrix

µ ¶µ ¶
−1 0 −2 −3.5 −4 −4.5 −6 −5 −5 −4 −3 −3
0 1 4 4 5 4 4 3 1 2 1 3

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 Modeling Motion with Matrices Reflection matrix

µ ¶µ ¶
−1 0 −2 −3.5 −4 −4.5 −6 −5 −5 −4 −3 −3
0 1 4 4 5 4 4 3 1 2 1 3
µ ¶
2 3.5 4 4.5 6 5 5 4 3 3
=
4 4 5 4 4 3 1 2 1 3

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 Modeling Motion with Matrices Rotation matrix

ROTATION MATRIX

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 Modeling Motion with Matrices Rotation matrix

EXAMPLE 5.3
Suppose a figure is animated to spin around a certain
point. Numerous rotation images would be necessary
to make a smooth movement image. If the image has
key points at (1, 1), (−1, 4), (−2, 4), and (−2, 3) and the
rotation is about the origin, find the location of these
points at the 90o , 180o , and 270o counterclockwise
rotations.

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 Modeling Motion with Matrices Rotation matrix

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 Modeling Motion with Matrices Rotation matrix

Rot 90 :
µ ¶µ ¶ µ ¶
0 −1 1 −1 −2 −2 −1 −4 −4 −3
=
1 0 1 4 4 3 1 −1 −2 −2

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 Modeling Motion with Matrices Rotation matrix

Rot 90 :
µ ¶µ ¶ µ ¶
0 −1 1 −1 −2 −2 −1 −4 −4 −3
=
1 0 1 4 4 3 1 −1 −2 −2

Rot 180 :
µ ¶µ ¶ µ ¶
−1 0 1 −1 −2 −2 −1 1 2 2
=
0 −1 1 4 4 3 −1 −4 −4 −3

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 Modeling Motion with Matrices Rotation matrix

Rot 90 :
µ ¶µ ¶ µ ¶
0 −1 1 −1 −2 −2 −1 −4 −4 −3
=
1 0 1 4 4 3 1 −1 −2 −2

Rot 180 :
µ ¶µ ¶ µ ¶
−1 0 1 −1 −2 −2 −1 1 2 2
=
0 −1 1 4 4 3 −1 −4 −4 −3

Rot 270 :
µ ¶µ ¶ µ ¶
0 1 1 −1 −2 −2 1 4 4 3
=
−1 0 1 4 4 3 −1 1 2 2

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 Modeling Motion with Matrices Dilatation

DILATATION

EXAMPLE 5.4
A trapezoid has vertices at L(−4, 1), M (1, 4), N (7, 0), and
P (−3, −6). Find the coordinates of the dilated
trapezoid L 0 M 0 N 0 P 0 for a scale factor of 0.5. Describe
the dilatation.

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 Modeling Motion with Matrices Dilatation

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 Modeling Motion with Matrices Dilatation

µ ¶ µ ¶
−4 1 7 −3 −2 0.5 3.5 −1.5
0.5 =
1 4 0 −6 0.5 2 0 −3

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 MatLab

LET f : Rn → Rm BE THE LINEAR TRANSFORMATION

( f (x))T = A m×n .x T

1
The basis for K er f : nul l (A,0 r 0 )
2
Choose the standard basis {e 1 , e 2 , . . . e n }.
 
f (e 1 )
 f (e 2 ) 
M =  ⇒ r r e f (M ) ⇒ The basis for I m f
 
 ... 
f (e n )

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 MatLab

THE MATRIX FOR f RELATIVE TO 2 BASES B,C

Let f : E 7→ F be the linear transformation and

d i mE = n, d i mF = m.

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THE MATRIX FOR f RELATIVE TO 2 BASES B,C

Let f : E 7→ F be the linear transformation and

d i mE = n, d i mF = m. Suppose that B = {e 1 , e 2 , . . . , e n } is
the basis for E ,

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 MatLab

THE MATRIX FOR f RELATIVE TO 2 BASES B,C

Let f : E 7→ F be the linear transformation and

d i mE = n, d i mF = m. Suppose that B = {e 1 , e 2 , . . . , e n } is
the basis for E , C = { f 1 , f 2 , . . . , f m } is the basis for F .
The matrix for f relative to 2 bases B,C is A, which is
defined by

B = f 1 . 0 f 2 .0 . . . f m . 0 ;
¡ ¢

C = f (e 1 ).0 f (e 2 ).0 . . . f (e n ).0

¡ ¢

B ∗ A = C ⇒ A = i nv(B ) ∗ C

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THANK YOU FOR YOUR ATTENTION

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