Showing there exists a unique $\theta$ for 2D rotation matrix

linear algebra

I'm trying to solve some exercises in the book I'm reading. Take a look at this question:

Suppose A is a $2\times2$ rotation matrix. In other words $A^T A = I$
and $\det A = 1$. Show that there exists a unique $\theta$ such that
$A$ is of the form $$ A = \begin{bmatrix} \cos\theta & -\sin\theta \\
\sin\theta &\cos\theta\end{bmatrix} $$

My attempt is first to compute the determinant
$$
\det(A) = \cos^2 \theta + \sin^2\theta = 1
$$

From the determinant, it clearly holds if the matrix $A$ has the form expressed in the question but I couldn't understand what does exactly the author mean by "a unique $\theta$". Any suggestions

Best Answer

I'll pick things up from the partial progress in the comments. As you have established, if $A = \pmatrix{a&b\\c&d}$, then $A^TA = I$ implies that $$ a^2 + c^2 = b^2 + d^2 = 1, \quad ab + cd = 0. $$ On the other hand, $AA^T = 0$ implies that $a^2 + b^2 = c^2 + d^2 = 1$. With that, we have $$ a^2 + c^2 = c^2 + d^2 \implies a^2 = d^2 \implies d = a \quad \text{or } \quad d = -a. $$ Similarly, $a^2 + b^2 = a^2 + c^2$ implies that $b^2 = c^2$, so that either $c = b$ or $c = -b$. Now, from the determinant of $A$, we have $$ ad - bc = 1 \implies a(\pm a) - b(\pm b) = 1 = a^2 + b^2. $$ Argue that this equality can only hold if $d = a$ and $c = -b$. Thus, $A$ is a matrix of the form $$ A = \pmatrix{a & b\\ -b & a}, $$ where $a^2 + b^2 = 1$. From there, you should be able to argue that such a $\theta$ exists and is unique.

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