Hyperbolic Geometry – Is Hyperbolic Rotation Truly a Rotation?

hyperbolic-functionshyperbolic-geometrylinear-transformationstransformation

We define a $2\times 2$ Givens rotation matrix as:

$${\bf G}(\theta) = \begin{bmatrix}
\cos(\theta) & -\sin(\theta) \\
\sin(\theta) &\cos(\theta) \end{bmatrix}.$$

On the other hand, we define a $2\times 2$ hyperbolic rotation matrix as:

$${\bf H}(y)=\begin{bmatrix}
\cosh( y) & \sinh( y) \\
\sinh( y) &\cosh( y) \end{bmatrix}.$$

I don't see why do we qualify matrix ${\bf H}$ as a rotation!

Suppose we take a 2-D vector $x=[-3, 1]^T$ and we transform it using ${\bf G}(\theta), \theta = 0,\dots, \pi/2$, and ${\bf H}, y = -2,\dots, 2.5$. See below for the result.

For me Givens rotation does clearly rotate the initial point around the point $[0,0]^T$ but for the hyperbolic rotation, we see a bending but not a rotation, at least not around a fixed point (I checked for other points and its the same behavior with different bending angles). am I missing something?

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Best Answer

You can say that ${\bf H}(y)$ is a rotation, not for the usual inner product $$\langle {\bf x}, {\bf y}\rangle_E = x_1y_1 + x_2y_2,$$but for the Lorentz-Minkowski product $$\langle {\bf x}, {\bf y}\rangle_L = x_1y_1 - x_2y_2.$$ In the same way that orthogonal transformations are linear maps preserving $\langle\cdot,\cdot\rangle_E$, we call the linear maps preserving $\langle \cdot,\cdot\rangle_L$ Lorentz transformations.

The point is that ${\bf H}(y)$ is not an orthogonal map, but a Lorentz transformation. You can see it as a "rotation" moving points along hyperbolas $xy = {\rm constant}.$


In $\Bbb R^n$, consider $$\langle {\bf x},{\bf y}\rangle_L = x_1y_1+\cdots+x_{n-1}y_{n-1} - x_ny_n.$$Call ${\bf x} \neq {\bf 0}$ spacelike, timelike or lightlike if $\langle {\bf x}, {\bf x}\rangle_L$ is positive, negative, or zero.

In the Euclidean case, we call the elements of ${\rm SO}(n,\Bbb R)$ (orthogonal maps with unit determinant) rotations (with respect to the Euclidean inner product). You can mimic that and say that Lorentz transformations with unit determinant are rotations with respect to the Lorentz-Minkowski product. You must be careful in odd dimensions, though. For example, in $n=3$ Lorentz transformations with unit determinant always have an eigenvector. The rotation will be called hyperbolic (resp. elliptic, parabolic) if said eigenvector is spacelike (resp. timelike, lightlike).

In your case we consider ${\bf H}(y)$ a hyperbolic rotation seeing the plane $\Bbb R^2$ as the $xz$ (or $yz$) plane in $\Bbb R^3$, so that the eigenvector $(1,0,0)$ of $$\begin{pmatrix} 1 & 0 & 0 \\ 0 & \cosh y & \sinh y \\ 0 & \sinh y & \cosh y\end{pmatrix}$$is spacelike.

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