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Noting that any identity matrix is a rotation matrix, and that matrix multiplication is associative, we may summarize all these properties by saying that the n × n rotation matrices form a group, which for n > 2 is non-abelian, called a special orthogonal group, and denoted by SO(n), SO(n,R), SO n, or SO n (R), the group of n × n rotation ...
Rotation matrices have a determinant of +1, and reflection matrices have a determinant of −1. The set of all orthogonal two-dimensional matrices together with matrix multiplication form the orthogonal group: O(2). The following table gives examples of rotation and reflection matrix :
Rotation formalisms are focused on proper (orientation-preserving) motions of the Euclidean space with one fixed point, that a rotation refers to.Although physical motions with a fixed point are an important case (such as ones described in the center-of-mass frame, or motions of a joint), this approach creates a knowledge about all motions.
An infinitesimal rotation matrix or differential rotation matrix is a matrix representing an infinitely small rotation. While a rotation matrix is an orthogonal matrix = representing an element of () (the special orthogonal group), the differential of a rotation is a skew-symmetric matrix = in the tangent space (the special orthogonal Lie ...
If a rotation of Minkowski space is in a space-like plane, then this rotation is the same as a spatial rotation in Euclidean space. By contrast, a rotation in a plane spanned by a space-like dimension and a time-like dimension is a hyperbolic rotation , and if this plane contains the time axis of the reference frame, is called a "Lorentz boost".
By referring collectively to e 1, e 2, e 3 as the e basis and to n 1, n 2, n 3 as the n basis, the matrix containing all the c jk is known as the "transformation matrix from e to n", or the "rotation matrix from e to n" (because it can be imagined as the "rotation" of a vector from one basis to another), or the "direction cosine matrix from e ...
In geometry the rotation group is the group of all rotations about the origin of three-dimensional Euclidean space R 3 under the operation of composition. [1] By definition, a rotation about the origin is a linear transformation that preserves length of vectors (it is an isometry) and preserves orientation (i.e. handedness) of space.
An isoclinic rotation will form a Villarceau circle on the torus, while a simple rotation will form a circle parallel or perpendicular to the central axis. [1] For each rotation R of 4-space (fixing the origin), there is at least one pair of orthogonal 2-planes A and B each of which is invariant and whose direct sum A ⊕ B is all of 4