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Matrices and Rotation

Two exercises from marion and thornton on matrices and transforms

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23 views2 pages

Matrices and Rotation

Two exercises from marion and thornton on matrices and transforms

Uploaded by

aizu50troll
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Solutions to Selected Problems and Rotation Matrix

Derivation

Problem 1-1: Rotation Matrix


We are asked to find the transformation matrix that rotates the x3 axis of a rectangular
coordinate system 45° toward x1 around the x2 -axis.

Solution:
This is a rotation about the x2 -axis (y-axis) by θ = 45◦ . The standard rotation matrix
around x2 is:  
cos θ 0 − sin θ
Ry (θ) =  0 1 0 
sin θ 0 cos θ
For θ = 45◦ = π4 , we get:
 √2 √ 
π  2
0 − 22
Ry =  √0 1 √0 
4 2 2
2
0 2

Problem 1-10: Particle in Elliptical Orbit


The position vector of the particle is:

r(t) = 2b sin(ωt) i + b cos(ωt) j

(a) Find velocity v, acceleration a, and speed


Differentiate position:
dr
v(t) = = 2bω cos(ωt) i − bω sin(ωt) j
dt

d2 r
a(t) = 2
= −2bω 2 sin(ωt) i − bω 2 cos(ωt) j
dt

1
Speed is the magnitude of velocity:
p q
v(t) = (2bω cos(ωt))2 + (−bω sin(ωt))2 = bω 4 cos2 (ωt) + sin2 (ωt)
q p
= bω 3 cos2 (ωt) + cos2 (ωt) + sin2 (ωt) = bω 3 cos2 (ωt) + 1
p
v(t) = bω 3 cos2 (ωt) + 1

π
(b) Angle between v and a at t = 2ω
At this time:
π
ωt = , cos(ωt) = 0, sin(ωt) = 1
2

v = 0 i − bω j, a = −2bω 2 i + 0 j
These vectors are orthogonal, so the angle between them is:

90◦

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