[Math] Rotation matrix check

linear algebramatricesproof-verification

Let matrix $A=\frac{1}{\sqrt{2}}
\begin{bmatrix}
1 & -1 \\
1 & 1 \\
\end{bmatrix}
$. Check if $A$ is a rotation matrix in $\mathbb{R^2}$ by angle $\theta=\frac{\pi}{4}$.

Entries of a matrix $A$ in trigonometric form are $A=
\begin{bmatrix}
\cos(-\theta) & {-\sin(-\theta)} \\
{\sin(-\theta)} & \cos(-\theta) \\
\end{bmatrix}$

This means that $A$ is a rotation matrix in $\mathbb{R^2}$ by angle $\alpha=\frac{-\pi}{4}$, but not by $\theta=\frac{\pi}{4}$.

Is this correct?

Best Answer

The vector $(1,0)$ along the $x$ axis is rotated into $\frac1{\sqrt2}(1,1)$ in the first quadrant. Thus $A$ rotates counterclockwise, which is by convention associated with positive angles; it represents a rotation by $+\frac\pi4$.

In a wider sense, one might also say that $A$ rotates by an angle $\frac\pi4$ if strictly speaking it rotated by $-\frac\pi4$. The distinction between the two is only valid in $\mathbb R^2$; in $\mathbb R^3$ the rotation by $-\frac\pi4$ around an axis is the rotation by $\frac\pi4$ around the inverse axis. As we tend to think of rotations in three dimensions, this reduction to positive rotation angles is sometimes also applied in talking about $\mathbb R^2$.