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  2. Rotation matrix - Wikipedia

    en.wikipedia.org/wiki/Rotation_matrix

    The trace of a rotation matrix is equal to the sum of its eigenvalues. For n = 2, a rotation by angle θ has trace 2 cos θ. For n = 3, a rotation around any axis by angle θ has trace 1 + 2 cos θ. For n = 4, and the trace is 2(cos θ + cos φ), which becomes 4 cos θ for an isoclinic rotation.

  3. Rotation of axes in two dimensions - Wikipedia

    en.wikipedia.org/wiki/Rotation_of_axes_in_two...

    A point P has coordinates (x, y) with respect to the original system and coordinates (x′, y′) with respect to the new system. [1] In the new coordinate system, the point P will appear to have been rotated in the opposite direction, that is, clockwise through the angle . A rotation of axes in more than two dimensions is defined similarly.

  4. 3D rotation group - Wikipedia

    en.wikipedia.org/wiki/3D_rotation_group

    Every non-trivial rotation is determined by its axis of rotation (a line through the origin) and its angle of rotation. Rotations are not commutative (for example, rotating R 90° in the x-y plane followed by S 90° in the y-z plane is not the same as S followed by R ), making the 3D rotation group a nonabelian group .

  5. Rotations and reflections in two dimensions - Wikipedia

    en.wikipedia.org/wiki/Rotations_and_reflections...

    In the new coordinate system, the point P will appear to have been rotated in the opposite direction, that is, clockwise through the angle . A rotation of axes in more than two dimensions is defined similarly. [2] [3] A rotation of axes is a linear map [4] [5] and a rigid transformation.

  6. Active and passive transformation - Wikipedia

    en.wikipedia.org/wiki/Active_and_passive...

    In the active transformation (left), a point P is transformed to point P ′ by rotating clockwise by angle θ about the origin of a fixed coordinate system. In the passive transformation (right), point P stays fixed, while the coordinate system rotates counterclockwise by an angle θ about its origin.

  7. Euler's rotation theorem - Wikipedia

    en.wikipedia.org/wiki/Euler's_rotation_theorem

    A spatial rotation is a linear map in one-to-one correspondence with a 3 × 3 rotation matrix R that transforms a coordinate vector x into X, that is Rx = X. Therefore, another version of Euler's theorem is that for every rotation R , there is a nonzero vector n for which Rn = n ; this is exactly the claim that n is an eigenvector of R ...

  8. Rotation (mathematics) - Wikipedia

    en.wikipedia.org/wiki/Rotation_(mathematics)

    In two dimensions, only a single angle is needed to specify a rotation about the origin – the angle of rotation that specifies an element of the circle group (also known as U(1)). The rotation is acting to rotate an object counterclockwise through an angle θ about the origin; see below for details.

  9. Symmetry (geometry) - Wikipedia

    en.wikipedia.org/wiki/Symmetry_(geometry)

    A drawing of a butterfly with bilateral symmetry, with left and right sides as mirror images of each other.. In geometry, an object has symmetry if there is an operation or transformation (such as translation, scaling, rotation or reflection) that maps the figure/object onto itself (i.e., the object has an invariance under the transform). [1]

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