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DP IB Maths: AI HL Your notes
3.6 Matrix Transformations
Contents
3.6.1 Matrix Transformations
3.6.2 Determinant of a Transformation Matrix
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3.6.1 Matrix Transformations
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Transformation by a Matrix
What is a transformation matrix?
A transformation matrix is used to determine the coordinates of an image from the transformation of
an object
Commonly used transformation matrices include
reflections, rotations, enlargements and stretches
(In 2D) a multiplication by any 2x2 matrix could be considered a transformation (in the 2D plane)
⎛⎜ x ⎞⎟
An individual point in the plane can be represented as a position vector, ⎜⎜ ⎟⎟
⎝y ⎠
⎛⎜ x 1 x 2 x 3 . . . ⎞⎟
⎜ ⎟⎟
Several points, that create a shape say, can be written as a position matrix ⎜⎜
⎜ y y y . . . ⎟⎟
⎝ 1 2 3 ⎠
⎛⎜ a b ⎞⎟ ⎛⎜ x ⎞⎟ ⎛⎜ e ⎞⎟
A matrix transformation will be of the form ⎜⎜ ⎟⎟ ⎜⎜ ⎟⎟ + ⎜⎜ ⎟⎟
⎝ c d ⎠⎝ y ⎠ ⎝ f ⎠
⎛⎜ x ⎞⎟
where ⎜⎜ ⎟⎟ represents any point in the 2D plane
⎝y ⎠
⎛⎜ a b ⎞⎟ ⎛e⎞
⎜⎜ ⎟⎟ and ⎜⎜⎜ ⎟⎟⎟ are given matrices
⎝c d ⎠ ⎝f ⎠
How do I find the coordinates of an image under a transformation?
⎛⎜ a b ⎞⎟
The coordinates (x’, y’) - the image of the point (x, y) under the transformation with matrices ⎜⎜ ⎟⎟
⎝ c d ⎠
⎛⎜ e ⎞⎟
and ⎜⎜ ⎟⎟ - are given by
⎝f ⎠
⎛⎜ x ' ⎞⎟ ⎛⎜ a b ⎞⎟ ⎛⎜ x ⎞⎟ ⎛⎜ e ⎞⎟
⎜⎜ ⎟⎟ = ⎜⎜ ⎟⎟ ⎜⎜ ⎟⎟ + ⎜⎜ ⎟⎟
⎜ y' ⎟ c d ⎠⎝ y ⎠ ⎝ f
⎝ ⎠ ⎝ ⎠
Similarly, for a position matrix
⎛⎜ x '1 x '2 x '3 . . . ⎞⎟ ⎛ a b ⎞ ⎛⎜ x 1 x 2 x 3 . . . ⎞⎟ ⎛ e e e . . . ⎞
⎟⎟ = ⎜⎜
⎟⎟ ⎜ c d ⎟⎟ ⎜⎜⎜ x x x . . . ⎟⎟⎟ + ⎜⎜ f f f . . . ⎟⎟
⎜⎜ ⎟⎜ ⎟ ⎜ ⎟
y' y' y' . . .
⎜⎜
⎝ 1 2 3 ⎠ ⎝ ⎠⎝ 1 2 3 ⎠ ⎝ ⎠
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If you use this method then remember to add e and f to each column
A GDC can be used for matrix multiplication
If matrices involved are small, it may be as quick to do this manually Your notes
STEP 1
Determine the transformation matrix (T) and the position matrix (P)
The transformation matrix, if uncommon, will be given in the question
The position matrix is determined from the coordinates involved, it is best to have the coordinates in
order, to avoid confusion
STEP 2
Set up and perform the matrix multiplication and addition required to determine the image position
matrix, P’
P’ = TP
STEP 3
Determine the coordinates of the image from the image position matrix, P’
How do I find the coordinates of the original point given the image under a transformation?
To ‘reverse’ a transformation we would need the inverse transformation matrix
i.e. T-1
⎛⎜ a b ⎞⎟ 1 ⎛⎜ d −b ⎞⎟
For a 2x2 matrix ⎜⎜
⎝c d ⎠
⎟⎟ the inverse is given by
det T ⎜⎜
⎝ − c a
⎟⎟
⎠
T
where det = ad − bc
A GDC can be used to work out inverse matrices
⎛⎜ x ' ⎞⎟ ⎛⎜ a b ⎞⎟ ⎛⎜ x ⎞⎟ ⎛⎜ e ⎞⎟
You would rearrange ⎜⎜⎜ ⎟⎟ = ⎜⎜ ⎟⎟ ⎜⎜ ⎟⎟ + ⎜⎜ ⎟⎟
y ' ⎟ c d ⎠⎝ y ⎠ ⎝ f
⎝ ⎠ ⎝ ⎠
1 ⎛⎜ d −b ⎞⎟ ⎡ ⎛⎜ x ' ⎞⎟ ⎛⎜ e ⎞⎟ ⎤ ⎛⎜ x ⎞⎟
T ⎟⎟ − ⎜⎜
⎜⎜ ⎟⎟ ⎢ ⎜⎜ ⎟⎟ ⎥ = ⎜⎜ ⎟⎟
det ⎝ −c a ⎠⎣⎝ y ' ⎠ ⎝f ⎠⎦ ⎝ y ⎠
Examiner Tip
The formula for the determinant and inverse of a 2x2 matrix can be found in the Topic 1: Number
and Algebra section of the formula booklet
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Worked example
Your notes
A quadrilateral, Q, has the four vertices A(2, 5), B(5, 9), C(11, 9) and D(8, 5).
⎛ ⎞
Find the coordinates of the image of Q under the transformation T = ⎜⎜⎜ −31 −21 ⎟⎟⎟ .
⎝ ⎠
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Matrices of Geometric Transformations
What is meant by a geometric transformation? Your notes
The following transformations can be represented (in 2D) using multiplication of a 2x2 matrix
rotations (about the origin)
reflections
enlargements
(horizontal) stretches parallel to the x-axis
(vertical) stretches parallel to the y-axis
The following transformations can be represented (in 2D) using addition of a 2x1 matrix
translations
What are the matrices for geometric transformations?
All of the following transformation matrices are given in the formula booklet
Rotation
Anticlockwise (or counter-clockwise) through angle θ about the origin
⎛⎜ cosθ −sinθ ⎞⎟
⎜⎜ ⎟⎟
⎝ sin θ cosθ ⎠
Clockwise through angle θ about the origin
⎛⎜ cosθ sinθ ⎞⎟
⎜⎜ ⎟⎟
⎝ −sin θ cosθ ⎠
In both cases
θ>0
θ may be measured in degrees or radians
Reflection
In the line y = (tanθ ) x
⎛⎜ cos2θ sin2θ ⎞⎟
⎜⎜ ⎟⎟
⎝ sin2 θ − cos2 θ ⎠
θ may be measured in degrees or radians
for a reflection in the x-axis, θ = 0° (0 radians)
for a reflection in the y-axis, θ = 90° (π/2 radians)
Enlargement
Scale factor k, centre of enlargement at the origin (0, 0)
⎛⎜ k 0 ⎞⎟
⎜⎜ ⎟⎟
⎝ 0 k ⎠
Horizontal stretch (or stretch parallel to the x-axis)
Scale factor k
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⎛⎜ k 0 ⎞⎟
⎜⎜ ⎟⎟
⎝ 0 1 ⎠ Your notes
Vertical stretch (or stretch parallel to the y-axis)
Scale factor k
⎛⎜ 1 0 ⎞⎟
⎜⎜ ⎟⎟
⎝ 0 k ⎠
Translation (vector)
p units in the (positive) x-direction
q units in the (positive) y direction
⎛⎜ p ⎞⎟
⎜⎜ ⎟⎟
⎝q ⎠
This is not given in the formula booklet
How do I solve problems involving geometric transformations?
The matrix equations involved in problems will be of the form
P’=AP or
P’=AP+b where b is a translation vector
(sometimes called an affine transformation)
where
P is the position vector of the object coordinates
P’ is the position vector of the image coordinates
A is the transformation matrix
b is a translation vector
Problems may ask you to
find the coordinates of point(s) on the image
find the coordinates of point(s) on the object using an inverse matrix (A-1)
deduce/identify a matrix corresponding to one of the common geometric transformations
E.g. Find the matrix of a rotation of 45° clockwise about the origin
Examiner Tip
The formulae for the all of the transformation matrices can be found in the Topic 3: Geometry and
Trigonometry section of the formula booklet
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Worked example
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Triangle PQR has coordinates P(-1, 4), Q(5, 4) and R(2, -1).
The transformation T is a reflection in the line y =x 3 .
a) Find the matrix T that represents a reflection in the line y =x 3 .
b) Find the position matrix, P’, representing the coordinates of the images of points P, Q and R
under the transformation T.
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Your notes
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Matrices of Composite Transformations
The order in which transformations occur can lead to different results – for example a reflection in the x-axis Your notes
followed by clockwise rotation of 90° is different to rotation first, followed by the reflection.
Therefore, when one transformation is followed by another order is critical.
What is a composite transformation?
A composite function is the result of applying more than one function to a point or set of points
e.g. a rotation, followed by an enlargement
It is possible to find a single composite function matrix that does the same job as applying the
individual transformation matrices
How do I find a single matrix representing a composite transformation?
Multiplication of the transformation matrices
However, the order in which the matrices is important
If the transformation represented by matrix M is applied first, and is then followed by another
transformation represented by matrix N
the composite matrix is NM
e. P’ = NMP
(NM is not necessarily equal to MN)
The matrices are applied right to left
The composite function matrix is calculated left to right
Another way to remember this is, starting from P, always pre-multiply by a transformation matrix
This is the same as applying composite functions to a value
The function (or matrix) furthest to the right is applied first
How do I apply the same transformation matrix more than once?
If a transformation, represented by the matrix T, is applied twice we would write the composite
transformation matrix as T2
T2 = TT
This would be the case for any number of repeated applications
T5 would be the matrix for five applications of a transformation
A GDC can quickly calculate T2, T5, etc
Problems may involve considering patterns and sequences formed by repeated applications of a
transformation
The coordinates of point(s) follow a particular pattern
(20, 16) – (10, 8) – (5, 4) – (2.5, 2) …
The area of a shape increases/decreases by a constant factor with each application
e.g. if one transformation doubles the area then three applications will increase the (original) area eight
times (23)
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Examiner Tip
Your notes
When performing multiple transformations on a set of points, make sure you put your
transformation matrices in the correct order, you can check this in an exam but sketching a
diagram and checking that the transformed point ends up where it should
You may be asked to show your workings but you can still check that you have performed you
matrix multiplication correctly by putting it through your GDC
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Worked example
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The matrix E represents an enlargement with scale factor 0.25, centred on the origin.
The matrix R represents a rotation, 90° anticlockwise about the origin.
a) Find the matrix, C, that represents a rotation, 90° anticlockwise about the origin followed by an
enlargement of scale factor 0.25, centred on the origin.
b) ⎛ ⎞
A square has position matrix T 0 = ⎜⎜⎜ 00 256
0 256 256 ⎟
256 0 ⎟
⎟ . Tn represents the position matrix
⎝ ⎠
of the image square after it has been transformed n times by matrix C. Find T4
c) Find the single transformation matrix that would map T4 to T0.
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Your notes
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3.6.2 Determinant of a Transformation Matrix
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Determinant of a Transformation Matrix
What is a determinant?
⎛ ⎞
For the 2x2 matrix A = ⎜⎜⎜ ac bd ⎟⎟⎟
⎝ ⎠
the determinant is det A = ad - bc
What does the determinant of a transformation matrix (A) represent?
The absolute value of the determinant of a transformation matrix is the area scale factor
Area scale factor = |det A|
The area of the image will be product of the area of the object and |det A|
Area of image = |det A| × Area of object
Note the area will reduce if |det A| < 1
If the determinant is negative then the orientation of the shape will be reversed
For example: the shape has been reflected
How do I solve problems involving the determinant of a transformation matrix?
Problems may involve comparing areas of objects and images
This could be as a percentage, proportion, etc
Missing value(s) from the transformation matrix (and elsewhere) can be deduced if the determinant of
the transformation matrix is known
Remember to use the absolute value of the determinant
This can lead to multiple answers to equations
Use your GDC to solve these
Examiner Tip
Remember that the formula for finding the determinant of a matrix is given in the formula booklet!
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Worked example
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An isosceles triangle has vertices A(3, 1), B(15, 1) and C(9, 9).
a) Find the area of the isosceles triangle.
b) ⎛ ⎞
Triangle △ABC is transformed using the matrix T = ⎜⎜⎜ −31 22 ⎟⎟⎟ . Find the area of the
⎝ ⎠
transformed triangle.
c) ⎛ a −2 ⎞⎟
Triangle △ABC is now transformed using the matrix U = ⎜⎜⎜ 3
a 2 ⎟
⎟ where a ∈ ℤ . Given that
⎝ ⎠
the area of the image is twice as large as the area of the object, find the value of a .
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Your notes
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