1.
Derive the tranformation that rotates an object point Ө˚
about the origin . Write the matrix representation for this rotation.
P’(x’,y’)
r
P(x,y)
r
Ф
Ө
The transformed coordinates are:
x’ = r cos(Ө+Ф) = r cosФ cosӨ – r sinФ sinӨ
y’ = r sin(Ө+Ф) = r cosФ sinӨ + r sinФ cosӨ
The original coordinates of the point are:
x = r cosФ and y = r sinФ
Substituting the values we get,
x’ = x cosӨ – y sinӨ
y’ = x sinӨ + y cosӨ
The above equation can be represented in matrix form as,
P’ = P.R
Where R is the rotation matrix given as,
For negative values of Ө i.e clockwise rotation , the rotation matrix becomes,
2. (a) Find the matrix that represents rotation of an object by 30˚
about the origin.
(b ) What are the new coordinates of the point P(2,-4) after the
rotation.
(a) Ө = 30˚
(b) The new coordinates P’(x’,y’) ,
The new coordinates are P’( +2 , 1-2 )
3.) Describe the transformation that rotates an object point, Q(x,y) , Ө˚ about a
fixed centre of rotation P . .
We determine the transformation ,in three steps :
(i) Translate so that centre of rotation P is at the origin. [ ]
(ii) Perform a rotation of Ө degrees about the origin. [ ]
(iii) Translate P back to .[ ]
We build by composite of transformations:
4.) Write the general form of matrix rotation about a point P(h,k).
From previous question ,
The translation matrix to move the point (h,k) to origin is given as,
The rotation matrix for rotation about the origin is given as,
The translation matrix to move the centre point back to its position is
given as,
Therefore the overall transformation matrix is given as,
5.) Perform a 45˚ rotation of triangle A(0,0) , B(1,1) , C(5,2)
a) about the origin
b) about the point P(-1,-1)
We represent the triangle by a matrix formed from the homogeneous
coordinates of the vertices:
A B C
(a) The matrix of rotation is,
The coordinates of the rotated triangle are,
A B C
A’ B’ C’
Thus the coordinates of the rotated the triangle are :
A’ = (0,0)
B’ = (0, )
C’ = ( , )
(b .) For rotation about the point P(-1,-1) ,
Now ,
A B C
A’ B’ C’
The coordinates of the rotated triangle are :
A’ = (-1 , )
B’ = ( -1 , )
C’ = ( , )
6.) Find the transformation that scales (with respect to origin) by :
(a) ‘a’ units in the X direction ,
• Let the scaling transformation applied to a point P(x,y)
produces a point P’(x’,y’). The scaling matrix is given as,
The new coordinates of the point are (ax , y).
(b) ‘b’ units in Y direction.
The new coordinates of the point are (x , by).
(c) Simultaneously ‘a’ units in the X direction and ‘b’ units the Y
direction.
The new coordinates of the point are (ax , by).
7.) Scale the triangle with coordinates A (2,5) , B (7,10) and C (10,29) by
two units in X direction and two units in Y direction.
Here = 2 and = 2 . Therefore , scaling matrix ,
A B C
A’ B’ C’
The transformed coordinates of the triangle are
A’(4,10) , B’(14,20) , C’(20,4).
8.) Write the general form of scaling matrix with respect to a fixed
point P(h,k).
We determine the scaling in three steps :
(i) Translate so that the point P is at the origin. [ ]
(ii) perform a scaling of ‘a’ units in X direction and ‘b’ units in Y
direction [ ]
(iii) Translate such that point P is back to (h,k) [ ]
The scaling matrix for the required transformation is ,
9.) Magnify the triangle with vertices A(0,0) , B(1,1) and C(5,2) to twice
its size while keeping C(5,2) fixed.
The scaling matrix is given as,
Now,
So, the coordinates of the magnified triangle are :
A’ = (-5 ,-2)
B’ = (-3 , 0)
C’ = ( 5 , 2) = C
10.) Describe the transformation which reflects an object about a
line L.
Let line L have a y intercept (0,b) and an angle of inclination Ө˚ (with
respect to the x axis) .
y
P’ L
B
(0,b)
P
Ө
x
We determine in five steps :
(i) Translate the intersection point B to the origin. [ ]
(ii) Rotate by - Ө˚ so that line L aligns with the x-axis. [ ]
(iii) Mirror – reflect about the x-axis. [ ]
(iv) Rotate back by Ө˚. [ ]
(v) Translate B back to (0,b). [ ]
In transformation notation we have ,
11.) Find the form of the matrix representation about a line L with
slope m and y intercept (0,b).
Equation of line :
y = mx + b
slope = m and y-intercept = b
We can relate slope m to angle of
inclination Ө by equation ,
m = tan Ө
Ө=
Final transformation matrix can be
obtained as,
As we have tan Ө = m , using trigonometry we can obtain,
and
Substituting the value of sin Ө and cos Ө we have,
12.) An object is defined with respect to a coordinate system whose
units are measured in feet . If an observer’s coordinate system uses
inches as the basic unit, what is the coordinate transformation used to
describe object coordinates in the observer’s coordinate system ?
Since there are 12 inches to a foot , the required transformation can be
described by a coordinate scaling transformation with,
The scaling matrix is given as,
So,
The new coordinates are ( 12x , 12y ).
13.) Find the equation of circle in terms of xy
coordinates , assuming that the x’y’ coordinate system results from
scaling of a units in the x-direction and b units in the y-direction.
-----------(i)
From the equation of coordinate scaling transformation, we find
Substituting these values in eq(i) we have ,
14.) Find the equation of the line y’ = mx’ +b in xy coordinate system if
the x’y’ coordinate system results from a 90˚ rotation of the xy coordinate
system.
y’ = mx’ + b ------------ (i)
and Ө = 90˚
The rotation coordinate transformation equations can be written as,
and,
Substituting these values in eq(i) we have ,
15.) An observer standing at the origin sees a point P( 1,1 ) . If the point
is translated by one unit in the direction v = I , its new coordinate
position is P’(2,1). Suppose instead that the observer stepped back one
unit along the x-axis . What would be the apparent coordinates of P
with respect to the observer.
The transformation can be set up as a transformation of the coordinate
system . If we translate the origin O in the direction v = -I (to a new position
O’) the coordinates in the system can be found by the translation ,
So the new coordinates are ( 2,1 )’ . This has the following interpretation : a
displacement of one unit in a given direction can be achieved by either
moving the object forward or stepping back from it.
16.) Reflect the diamond - shaped polygon whose vertices are A(-1,0) ,
B(0,-2) , C(1,0) and D(0,2) about :
(a) The horizontal line y = 2 ,
(b) The vertical line x = 2,
(c) The line y = x + 2
We represent the vertices of the polygon by the homogeneous coordinate
matrix ,
The reflection matrix can be written as,
(a) The line y = 2 has intercept (0,2) and makes an angle of 0˚ with the
x-axis . So,
Ө = 0˚ and v = 2J
The transformation matrix is,
To reflect the polygon we set,
A’ B’ C’ D’
Converting from homogeneous coordinates ,
A’ = (-1,4) , B’ = (0,6) , C’ = (1,4) and D’ = (0,2)
(b) The vertical line x = 2 has no y-intercept and an infinite slope. We can
use , reflection about the y-axis , to write the desired reflection by :
(i) Translating the given line two units over to the y-axis [ ]
(ii) Reflect about the y-axis [ ]
(iii) Translate back two units [ ]
So with v = 2I ,
Finally,
So,
A’ = (5,0) , B’ = (4,-2) , C’ =(3,0) , D’ = (4,2)
(c) The line y = x + 2 has slope 1 and y intercept (0,2),
i.e. m = 1 and b = 2
The required coordinates A’ , B’ , C’ ,and D’ can be found as,
So,
A’ = (-2,1) , B’ = (-4,2) , C’ =(-2,3) , D’ = (0,2)
17.) Find the instance transformation which places a half-size copy of the
square A(0,0) , B(1,0) , C(1,1) , D(0,1) [Fig. (a)] into a master picture
coordinate system so that the centre of the square is at (-1,-1) [Fig. (b)].
D
(0,1) C (1,1)
P(3/ 2,3/2) -2 -1
P’
-1
A B
(0,0) (1,0)
-2
(a) (b)
The centre of square ABCD is at P(1/2,1/2). We shall first apply a scaling
transformation while keeping P fixed . Then we shall apply a translation that
moves the centre P to P’(-1,-1).
Taking ,
Similarly,
So,