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    AE 321 - Solution of Homework #2

    Uploaded by

    Arthur Ding
    1. The document discusses solving homework problems involving matrix rotations. It provides the rotation matrix for rotating a coordinate system 30°, 45°, and 60° clockwise. 2. It then considers performing two successive rotations of 45° and 60° and calculates the total rotation matrix. 3. It also discusses calculating the components of a vector in the rotated coordinate system using the rotation matrix, and calculating the magnitude of vectors before and after rotation.

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd

    AE 321 - Solution of Homework #2

    Uploaded by

    Arthur Ding
    105 views7 pages
    1. The document discusses solving homework problems involving matrix rotations. It provides the rotation matrix for rotating a coordinate system 30°, 45°, and 60° clockwise. 2. It then considers performing two successive rotations of 45° and 60° and calculates the total rotation matrix. 3. It also discusses calculating the components of a vector in the rotated coordinate system using the rotation matrix, and calculating the magnitude of vectors before and after rotation.

    Original Title

    Solution 2

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    1. The document discusses solving homework problems involving matrix rotations. It provides the rotation matrix for rotating a coordinate system 30°, 45°, and 60° clockwise. 2. It then considers performing two successive rotations of 45° and 60° and calculates the total rotation matrix. 3. It also discusses calculating the components of a vector in the rotated coordinate system using the rotation matrix, and calculating the magnitude of vectors before and after rotation.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    105 views7 pages

    AE 321 - Solution of Homework #2

    Uploaded by

    Arthur Ding
    1. The document discusses solving homework problems involving matrix rotations. It provides the rotation matrix for rotating a coordinate system 30°, 45°, and 60° clockwise. 2. It then considers performing two successive rotations of 45° and 60° and calculates the total rotation matrix. 3. It also discusses calculating the components of a vector in the rotated coordinate system using the rotation matrix, and calculating the magnitude of vectors before and after rotation.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 7

    1

    AE 321 Solution of Homework #2


    1(a) (3 points) Note that we are rotating the original frame counterclockwise by 30 degrees.
    Therefore, + = 30 u . The rotation matrix R has the form

    ' ' '
    1 1 1 2 1 3
    ' ' '
    2 1 2 2 2 3
    ' ' '
    3 1 3 2 3 3
    3 3
    (1.1)
    cos sin 0
    sin cos 0 0, 3 (vertical axes coincide)
    0 0 1
    3 / 2 1/ 2 0
    1/ 2 3 / 2 0
    0 0 1
    3 / 2 1/ 2 0
    1/ 2 3 / 2 0
    0 0 1
    i i
    x x x x x x
    R x x x x x x
    x x x x x x
    i
    u u
    u u o o
    ( - - -
    (
    = - - -
    (
    (
    - - -

    (
    (
    = = = =
    (
    (

    (
    (
    =
    (
    (
    (

    (


    (
    (
    (
    (


    30
    30
    xB
    1
    xB
    1
    B


    xB
    2
    xB
    2
    B


    xB
    3
    B,
    xB
    3
    B
    2
    1(b) (6 points) In this part of the problem, we are performing two successive rotations. Lets
    denote the rotation matrix for the first rotation as
    1
    R and that for the second rotation as
    2
    R .

    Applying Equation (1.1) to the first rotation, we get

    1
    2 / 2 2 / 2 0
    cos( 45) sin( 45) 0
    sin( 45) cos( 45) 0 2 / 2 2 / 2 0
    0 0 1 0 0 1
    R
    (


    (
    (
    (
    = =
    (
    (
    (
    (

    (


    Applying Equation (1.1) to the second rotation, we get
    2
    1 0 0
    1 0 0
    0 cos60 sin60 0 1/ 2 3 / 2
    0 sin60 cos60
    0 3 / 2 1/ 2
    T
    R
    (
    (
    (
    (
    = =
    (
    (
    (
    (



    Combining the two above rotations to get the total rotations,
    45
    45
    xB
    1
    xB
    1
    B


    xB
    2
    xB
    2
    B


    xB
    3
    B,
    xB
    3
    B
    xB
    2
    B


    xB
    1
    B,xB
    1
    B


    xB
    3
    B

    xB
    2
    B


    xB
    3
    B

    60
    60
    3
    (
    (
    (

    =
    (
    (
    (


    (
    (
    (

    = =
    2 / 1 4 / 6 4 / 6
    2 / 3 4 / 2 4 / 2
    0 2 / 2 2 / 2
    1 0 0
    0 2 / 2 2 / 2
    0 2 / 2 2 / 2
    2 / 1 2 / 3 0
    2 / 3 2 / 1 0
    0 0 1
    1 2
    R R R

    2. (3+1+1 points) The requested rotation is represented graphically in the figure below,
    where the x
    1
    ,x
    2
    , x
    3
    ( ) represents the original coordinate system and ' x
    1
    , ' x
    2
    , ' x
    3
    ( ) is the
    rotated coordinate system.

    The component of vector A

    in the deformed (prime) coordinate system is obtained from the


    following expression

    ' A
    i
    = o
    ij
    A
    j
    (1.2)
    where
    ij
    o is the rotation matrix. You should notice that the first index, i, of the rotation matrix
    represents both the rotated coordinate system and the rows of the rotation matrix, while the
    second index, j, represents the initial coordinate system and the columns of the rotation matrix.
    Then, an easy way of determining the rotation matrix is using the following table,


    1
    x
    2
    x
    3
    x


    1
    e


    2
    e


    3
    e


    4
    ' x
    1

    ' e
    1
    cos ' e
    1
    ,e
    1
    ( ) cos ' e
    1
    ,e
    2
    ( ) cos ' e
    1
    , e
    3
    ( )
    ' x
    2

    ' e
    2
    cos ' e
    2
    ,e
    1
    ( ) cos ' e
    2
    ,e
    2
    ( ) cos ' e
    2
    ,e
    3
    ( )
    ' x
    3

    ' e
    3
    cos ' e
    3
    , e
    1
    ( ) cos ' e
    3
    ,e
    2
    ( ) cos ' e
    3
    , e
    3
    ( )

    From the above table, we have


    1
    x
    2
    x
    3
    x


    1
    e


    2
    e


    3
    e


    ' x
    1
    ' e
    1

    cos 45 ( ) =
    2
    2
    cos 90 ( ) = 0
    cos 135 ( ) =
    2
    2

    ' x
    2
    ' e
    2
    cos 90 ( ) = 0
    ( )
    1 0 cos = cos 90 ( ) = 0
    ' x
    3
    ' e
    3

    cos 45 ( ) =
    2
    2
    ( ) 0 90 cos = cos 45 ( ) =
    2
    2


    Therefore the rotation matrix is given by
    o
    ij
    =
    2
    2
    0
    2
    2
    0 1 0
    2
    2
    0
    2
    2







    (

    (
    (
    (
    (
    (

    Substituting into Equation (1.2),
    ' A
    | |
    =
    2
    2
    0
    2
    2
    0 1 0
    2
    2
    0
    2
    2







    (

    (
    (
    (
    (
    (
    2
    4
    2





    (

    (
    (
    (
    =
    0
    4
    2 2





    (

    (
    (
    (

    Therefore vector A

    in the rotated system is given as follows


    A = 4 ' e
    2
    + 2 2 ' e
    3

    The magnitude of a vector in an arbitrary rectangular coordinate system is given by
    5
    A = x
    1
    2
    + x
    2
    2
    + x
    3
    2
    (1.3)
    Using Equation (1.3) the magnitude of A

    and ' A

    are
    ( )
    2
    2 2 2 2
    2 4 2 2 6, 4 2 2 2 6 A A' = + + = = + =

    3.1 (2 points) a b b a V = = V = V V where , 0 0

    ( )
    k j k j a
    a
    a
    a b a
    b b
    kj ijk
    jk ikj
    jk ijk
    k k kj ijk
    j k ijk i
    =
    =
    =
    = =
    = V
    ,
    of property
    partials mixed of e equivalenc
    ,
    ,
    ,
    , ,
    ,
    c
    c c
    c
    c
    c

    Equating the second line and the last line above: 0
    , , ,
    = =
    kj ijk kj ijk kj ijk
    a a a c c c .
    3.2 (1 points)
    i i
    a b a b a
    ,
    or b where , = V = - V = V - V a a b b
    ii i i
    2
    , ,
    V = = = - V
    3.3 (3 points) ( )
    j k ijk i
    u v u v v u
    ,
    or where , c = V = V = V V

    ( ) | | ( )
    ( )
    ( )
    ( )
    ( )
    ( ) | | u u
    u u
    u u
    u u
    u
    u
    u
    u u
    u
    v
    v u
    i
    jj i
    i
    j j
    jj i ij j
    pj r jp ir pj r jr ip
    pj r jp ir jr ip
    pj r kpr kij
    j kpr pj r kpr ijk
    pj r kpr p r j kpr ijk
    j
    p r kpr ijk
    j k ijk
    i i
    2
    , ,
    , ,
    , ,
    ,
    ,
    , ,
    , , ,
    ,
    ,
    ,
    0
    V - V V =
    =
    =
    =
    =
    =
    = =
    + =
    =
    =
    V = V V
    o o o o
    o o o o
    c c
    c c c
    c c c
    c c
    c

    3.4 (2 points) ( ) u a b b u a = - V = - V where ,
    6

    ( )
    ( )
    ( )
    ( )
    ( ) a u u a
    u a u a
    au u a
    au
    b
    b u a
    i i
    i i i i
    i i
    i i
    V - + - V =
    - V + V =
    + =
    =
    =
    - V = - V
    rule product
    , ,
    ,

    3.5 (3 points) ( ) | | ( ) W C C W
    T T
    V = = - V = V - V where , 0

    ,
    ,
    ij ipq qj p
    T T
    ij ji jpq qi p
    C W C W
    C C C W
    c
    c
    = V =
    = =


    ( ) ( )
    ,
    ,
    ,
    ,
    ,
    ,
    property of
    ,
    T T
    i ij j
    ji j
    jpq qi pj
    pjq qi pj
    jpq qi jp
    jpq qi pj
    C C
    C
    W
    W
    W p j j p
    W
    c
    c c
    c
    c
    V- =
    =
    =
    =
    =
    =

    Equating the third line and the last line above,

    , , ,
    0
    jpq qi pj jpq qi pj jpq qi pj
    W W W c c c = =

    4. (5 points) Look at the first two equations:
    ( )
    11 11 22 33
    1
    E
    c o u o o = + (


    12 12
    1
    E
    u
    c o
    +
    =
    Re-expressing the first equation:
    ( )
    11 11 11 22 33 11
    1
    E
    c o u o o o uo = + + + (


    Where the extra
    11
    uo is required to balance the term added within the parentheses. Now, to
    switch to indicial notation, looking at the second equation we note that it is
    12
    c ; therefore, we
    need both i and j. Our expanded equation can be rewritten as:
    7
    ( ) ( )
    11 22 33
    1
    1
    ij ij
    E
    c o u u o o o ( = + + +


    So, the first term within the brackets is identical to our
    12
    c expression. The second term involves
    a sum which can be rewritten with double indices:
    ( ) ( )
    1
    1
    ij ij ij kk
    E
    c o u uo o ( = +

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