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Show that the trace of a rotation matrix equals 2cos+1 where 胃 is the rotation angle, and the trace of a reflection matrix equals 2cos-1. Hint: See equations (7.18) and (7.19), and Problem 10.

Short Answer

Expert verified

The trace of rotation matrix is TrA=2cos+1, and the trace of a reflection matrix is TrB=2cos-1.

TrB=2cos-1

Step by step solution

01

Given Information

A=cos-sin0sincos0001B=cos-sin0sincos000-1

02

Diagonal matrix

A Diagonal Matrix is a square matrix in which all elements are zero except the principal diagonal element.

03

Diagonal Matrix

The trace by the sum of the elements on the diagonals is TrA=2cos+1and TrB=2cos-1. This can be verified by noting that the trace of a matrix equals the sum of its eigenvalues. The eigenvalues of A is obtained as shown below.

TrA=2cos+1TrB=2cos-1

=cos--sin0sincos-0001-=(cos-)2(1-)+sin2(1-)=(1-)(1+2-2.cos.x)=0

One eigenvalue is 1 , and the other two can be obtained from the quadratic equation cosisin. The sum of the eigenvalues is equal to 2cos+1, as expected. For matrix B, the only thing that is different is the element b33, and the characteristic equation can be changed as (-1-)1+2-2cos=0. The first eigenvalue changes to -1, while the other two remains the same. Therefore, the sum of the eigenvalues will be 2cos-1, as expected.

(-1-)1+2-2cos=0

-12cos-1

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