Module 2: Transformation of coordinates:

Rotation of axes and simplifying equations by rotation

Time allotted: 1 week.

The learner will be able to:

• Define a transformation of axes.

• Determine the rotation of axes.
• Simplify equations by rotation.
• Graph the equation of the rotation in a rectangular coordinate system.

Rotation of Axes
Consider two coordinate systems with common origin and with the angle between the 𝑥 and 𝑥′ - axes denoted
by 𝜃 where 0° < 𝜃 < 90° as shown in Fig. 5.6. Now if we regard the original axes as tilted through that angle
𝜃 (keeping the origin fixed), then the original axes are said to be rotated. In general, a rotation of axes is a
change of axes in which the origin is kept fixed and each of the new axes makes the same angle 𝜃 with the
corresponding original axis.

Each point 𝑃 in the plane will now have two sets of coordinates. i.e., (𝑥, 𝑦) relative to the original axes and
(𝑥 ′ , 𝑦 ′ ) relative to the new axes. To find the relation between these coordinates, let 𝜃 (refer to figure 5.7) be
the angle between the segments OP and OB. Let |𝑂𝑃| = 𝑟. Then from the triangle OAP, we have:
𝑥 = 𝑟𝑐𝑜𝑠(𝜃 + ∅) (1)
From trigonometry, we recall:
(cos(𝜃 + ∅) = 𝑐𝑜𝑠𝜃𝑐𝑜𝑠∅ − 𝑠𝑖𝑛𝜃𝑠𝑖𝑛∅ (2)
Substituting (2) in (1), we get:
𝑥 = 𝑟[𝑐𝑜𝑠𝜃𝑐𝑜𝑠∅ − 𝑠𝑖𝑛𝜃𝑠𝑖𝑛∅]
 Or 𝑥 = 𝑟𝑐𝑜𝑠𝜃𝑐𝑜𝑠∅ − 𝑟𝑠𝑖𝑛𝜃𝑠𝑖𝑛∅ (3)
But from triangle OBP we have:
𝑥 ′ = 𝑟𝑐𝑜𝑠∅ and 𝑦 ′ = 𝑟𝑠𝑖𝑛∅ (4)
Substituting (4) in (3), we obtain:
𝑥 = 𝑥 ′ 𝑐𝑜𝑠𝜃 − 𝑦′𝑠𝑖𝑛𝜃 (5)
Which expresses 𝑥 in terms of 𝑥 ′ , 𝑦 ′ 𝑎𝑛𝑑 𝜃, similarly
𝑦 = 𝑥 ′ 𝑠𝑖𝑛𝜃 + 𝑦′𝑐𝑜𝑠𝜃 (6)
Which expresses 𝑥 in terms of the same variables can be obtained from Fig. 5.7 but using this time the
identity:
sin(𝜃 + ∅) = 𝑠𝑖𝑛𝜃𝑐𝑜𝑠∅ + 𝑐𝑜𝑠𝜃𝑠𝑖𝑛∅
Therefore, the equations relating the original and new coordinates of any point 𝑃 in the plane are:
𝐸 (5.2):
𝑥 = 𝑥 ′ 𝑐𝑜𝑠𝜃 − 𝑦 ′ 𝑠𝑖𝑛𝜃
𝑦 = 𝑥 ′ 𝑠𝑖𝑛𝜃 + 𝑦 ′ 𝑐𝑜𝑠𝜃

These equations are called rotation formula. By solving 𝐸(5.2) for 𝑥′ and 𝑦′ we obtain 𝐸(5.3):

𝐸(5.3):

𝑥 ′ = 𝑥𝑐𝑜𝑠𝜃 + 𝑦𝑠𝑖𝑛𝜃
𝑦 ′ = −𝑥𝑠𝑖𝑛𝜃 + 𝑦𝑐𝑜𝑠𝜃

Example: Find the new equation of 5𝑥 2 + 6𝑥𝑦 + 5𝑦 2 − 8 = 0 when axes are rotated through an angle 45°.

Solution: Substituting 𝜃 = 45° in 𝐸(5.2), we have:

𝑥 ′ −𝑦′
𝑥 = 𝑥 ′ 𝑐𝑜𝑠45° − 𝑦 ′ 𝑠𝑖𝑛45° = (1)
√2

𝑥 ′ +𝑦′
𝑦 = 𝑥 ′ 𝑠𝑖𝑛45° + 𝑦 ′ 𝑐𝑜𝑠45° = (2)
√2

Substituting (1) and (2) in the given equation:

2
𝑥 ′ −𝑦 ′ 𝑥 ′ −𝑦 ′ 𝑥 ′ +𝑦 ′ 𝑥 ′ +𝑦 ′
5( )+ 6( )( )+ 5( ) − 8 = 0 (3)
√2 √2 √2 √2

Expanding (3) and simplifying, we obtain:

𝑥 ′2 𝑦 ′2
4𝑥 ′2 + 𝑦 ′2 = 4 or + =1
1 4

Which is an ellipse. The graph will be:

Example: Find the new coordinates of the point 𝑃 (2, −3) when the axes are rotated through an angle of 60°.

Solution: Since 𝑥 = 2, 𝑦 = −3 and 𝜃 = 60°, then by 𝐸(5.3) we get:

𝑥 ′ = 2𝑐𝑜𝑠60° + (−3)𝑠𝑖𝑛60°

1 3
= 2 ( ) − 3(√
2 2

2 − 3√3
=
2
𝑦 ′ = −2𝑠𝑖𝑛60° + (−3)𝑐𝑜𝑠60°

3 1
= −2(√ − 3 ( )
2 2

−2√3 − 3
=
2
Thus, the new coordinates of the given point are:

2 − 3√3 −2√3 − 3
( , )
2 2

Simplifying equations by Rotation

In this section, we shall study how to simplify the general equation of the second degree:

𝐴𝑥 2 + 𝐵𝑥𝑦 + 𝐶𝑦 2 + 𝐷𝑥 + 𝐸𝑦 + 𝐹 = 0, 𝐵 ≠ 0 (1)

By rotation or by a combination of rotation and translation. The presence of the 𝑥𝑦 term or product term in (1)
tells us that the equation can not represent a circle since the equation of a circle has no product term. Hence,
(1) represents a conic, a degenerate conic, or the null set. Also, the presence of the product term indicates
that the axis of symmetry if the conic is not parallel to either 𝑥 or 𝑦 – axis.

If we substitute the rotation formula in (1), we obtain a transformed equation of the same form as equation
(1). That is:
2
𝐴′𝑥′2 + 𝐵′𝑥′𝑦′ + 𝐶′𝑦 ′ + 𝐷′𝑥′ + 𝐸′𝑦′ + 𝐹′ = 0 (2)

where:

𝐴′ = 𝐴𝑐𝑜𝑠2 𝜃 + 𝐵𝑠𝑖𝑛𝜃𝑐𝑜𝑠𝜃 + 𝐶𝑠𝑖𝑛2 𝜃 (3)

𝐵′ = 𝐵𝑐𝑜𝑠2𝜃 − (𝐴 − 𝐶)𝑠𝑖𝑛2𝜃 (4)

𝐶 ′ = 𝐴𝑠𝑖𝑛2 𝜃 − 𝐵𝑠𝑖𝑛𝜃𝑐𝑜𝑠𝜃 + 𝐶𝑐𝑜𝑠2 𝜃 (5)

𝐷 ′ = 𝐷𝑐𝑜𝑠𝜃 + 𝐸𝑠𝑖𝑛𝜃 (6)

𝐸 ′ = 𝐸𝑐𝑜𝑠𝜃 − 𝐷𝑠𝑖𝑛𝜃 (7)

𝐹 ′ = 𝐹 (8)
To eliminate the product term, we must have 𝐵′ = 0. That is 𝜃 must have a certain value such that:

𝐵′ = 𝐵𝑐𝑜𝑠2𝜃 − (𝐴 − 𝐶)𝑠𝑖𝑛2𝜃 = 0

𝑜𝑟 (𝐴 − 𝐶)𝑠𝑖𝑛2𝜃 = 𝐵𝑐𝑜𝑠2𝜃 (9)

If 𝐴 = 𝐶, then 𝐵𝑐𝑜𝑠2𝜃 = 0. Since 𝐵 ≠ 0, then 𝑐𝑜𝑠2𝜃 = 0 or 𝜃 = 45°. If we propose that 0° < 2𝜃 < 180°.
Therefore, if 𝐴 = 𝐶, then we eliminate the product term by rotation the axes through an angle of 45°.

If 𝐴 ≠ 𝐶, then we can divide both sides of (9) by (𝐴 − 𝐶)𝑐𝑜𝑠2𝜃 to obtain:

𝐵
𝐵(5.4): 𝑡𝑎𝑛2𝜃 =
𝐴−𝐶
An infinite number of values of 𝜃 will satisfy 𝐸(5.4). However, it is customary to regard 𝜃 as a positive angle
such that 0° < 𝜃 < 90°. The value of 𝜃 in 𝐸(5.4) is the required value of the angle of ration which will
eliminate the product term.

We can compute this value of 𝜃 directly from 𝐸(5.4) and then substitute this value in 𝐸(5.2) to get the
required equations for rotation. However, in practice after obtaining the value of 𝑡𝑎𝑛2𝜃 in 𝐸(5.4), we compute
for 𝑐𝑜𝑠2𝜃 by using the trigonometric identity.
1
𝐸(5.5): 𝑐𝑜𝑠2𝜃 = ±
√1 + tan2 2𝜃
The sign of 𝑐𝑜𝑠2𝜃 is 𝐸(5.5) is to be chosen as to agree with sign of 𝑡𝑎𝑛2𝜃. Then the values of 𝑠𝑖𝑛𝜃 and 𝑐𝑜𝑠2𝜃
are computed from the following half – angle formula.

1 − 𝑐𝑜𝑠2𝜃 1 + 𝑐𝑜𝑠2𝜃
𝐸(5.6): 𝑠𝑖𝑛𝜃 = √ , 𝑐𝑜𝑠𝜃 = √
2 2

After 𝑠𝑖𝑛𝜃 and 𝑐𝑜𝑠𝜃 have been found from 𝐸(5.6), we substitute in the rotation formulas or 𝐸(5.2). Finally, we
substitute the resulting equations of rotation into equation (1) and simplify to obtain the desired transformed
equation.

Example: Simplify 5𝑥 2 + 4𝑥𝑦 + 8𝑦 2 − 36 = 0 by rotating the axes.

Solution: Hence, 𝐴 = 5, 𝐵 = 4 and 𝐶 = 8. By 𝐸(5.4):

4 3
𝑡𝑎𝑛2𝜃 = =
5−8 4
Then by 𝐸(5.5):
−1 3
𝑐𝑜𝑠2𝜃 = =−
2 5
√1 + (− 4)
3
Substituting this value in 𝐸(5.6), we get:

3
√1 − (− 5) 2
𝑠𝑖𝑛𝜃 = =
2 √5

3
√1 + (− 5) 1
𝑐𝑜𝑠 = =
2 √5
Then using 𝐸(5.2):
1 2 𝑥 ′ − 2𝑦′
𝑥 = 𝑥′ ( ) − 𝑦′ ( ) =
√5 √5 √5
2 1 2𝑥 ′ + 𝑦′
𝑦 = 𝑥′ ( ) + 𝑦′ ( ) =
√5 √5 √5
Substituting these equations in the given equation, we have:
2
𝑥 ′ − 2𝑦 ′ 𝑥 ′ − 2𝑦 ′ 2𝑥 ′ + 𝑦 ′ 2𝑥 ′ + 𝑦 ′
5( ) + 4( )( ) + 8( ) − 36 = 0
√5 √5 √5 √5
Upon simplification, we get:
𝟐
𝒙′ 𝒚′𝟐
𝟗𝒙′𝟐 + 𝟒𝒚′𝟐 = 𝟑𝟔 or + =𝟏
𝟒 𝟗

This equation represents an ellipse with major axis 6 and minor axis 4. Where 𝜃 = 63.4° approximately.

Example: Simplify the equation 16𝑥 2 − 24𝑥𝑦 + 9𝑦 2 − 250𝑦 + 1025 = 0 by rotation and translation axis.

Solution: Since 𝐴 = 16. 𝐵 = −24, 𝐶 = 9, then by 𝐸(5.4):

−24 −24
𝑡𝑎𝑛2𝜃 = =
16 − 9 7
Then by 𝐸(5.5):
−1 7
𝑐𝑜𝑠2𝜃 = =−
2 25
√1 + (− 24)
7
Substituting this value in 𝐸(5.6), we get:

7
√1 − (− 25) 4
𝑠𝑖𝑛𝜃 = =
2 5
 7
√1 + (− 25) 3
𝑐𝑜𝑠 = =
2 5
Then using 𝐸(5.2):
3 4 3𝑥 ′ − 4𝑦′
𝑥 = 𝑥′ ( ) − 𝑦′ ( ) =
5 5 5
4 3 4𝑥 ′ + 3𝑦′
𝑦= 𝑥′ ( ′
)+𝑦 ( )=
5 5 5
Substituting these equations in the given equation, we have:
2 2
3𝑥 ′ −4𝑦 ′ 3𝑥 ′ −4𝑦 ′ 4𝑥 ′ +3𝑦 ′ 4𝑥 ′ +3𝑦 ′ 4𝑥 ′ +3𝑦 ′
16 ( ) − 24 ( )( ) +9( ) − 250 ( )+ 1025 = 0 (1)
5 5 5 5 5

Upon simplification, we get:

𝑦 ′2 − 8𝑥 ′ − 6𝑦 ′ + 41 = 0
4
Which is the transformed equation of the curve after rotating the axes through an angle 𝜃 defined by 𝑠𝑖𝑛𝜃 =
5
3
and 𝑐𝑜𝑠𝜃 = . By completing the square in 𝑦′, equation (1) can be written in the form:
5

(𝑦 ′ − 3)2 = 8(𝑥 ′ − 4) (2)

If we let:

𝑥 ′′ = 𝑥 ′ − 4 and 𝑦 ′′ = 𝑦 ′ − 3 (3)

And then substitute these into (2), we get:

2
𝑦 ′′ = 8𝑥′′ (4)

The substitution of (3) in (2) is a translation with new origin at point (4,3) relative to the 𝑥′ and 𝑦′ axes. The
graph (4) is a parabola in standard position relative to the 𝑥′′ and 𝑦′′ axes. The parabola and the three sets
are shown in this graph:
Assessment #2 – Module 2
1. Find the new coordinate of the given point when the axes are rotated through the indicated angle.
(1, √3) , 60°
4
2. Find the original equation of the line given that when 𝜃 = tan−1 (3), the transformed equation is 2𝑥 ′ −
𝑦 ′ = 4.
3. Find the transformed equation of the curve when the axes are rotated through the indicated angle.
𝑥 2 + 4𝑥𝑦 + 𝑦 2 − 16 = 0, 𝜃 = 45°
4. By a rotation of axes, transform the equation into an equation with no product term.
𝑥 2 + 2√3𝑥𝑦 − 𝑦 2 − 4 = 0
5. Reduce the equation to standard form by rotation and translation of axes.
5𝑥 2 + 6𝑥𝑦 + 5𝑦 2 + 22𝑥 − 6𝑦 + 21 = 0