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2017 Paper 3 Q2
D: 1700.0 B: 1500.1
complex numbers rotation transformation composition of transformations geometric proof exponential form commutativity

The transformation \(R\) in the complex plane is a rotation (anticlockwise) by an angle \(\theta\) about the point represented by the complex number \(a\). The transformation \(S\) in the complex plane is a rotation (anticlockwise) by an angle \(\phi\) about the point represented by the complex number \(b\).

  1. The point \(P\) is represented by the complex number~\(z\). Show that the image of \(P\) under \(R\) is represented by \[ \e^{{\mathrm i} \theta}z + a(1-\e^{{\rm i} \theta})\,. \]
  2. Show that the transformation \(SR\) (equivalent to \(R\) followed by \(S\)) is a rotation about the point represented by \(c\), where \[ %\textstyle c\,\sin \tfrac12 (\theta+\phi) = a\,\e^{ {\mathrm i}\phi/2}\sin \tfrac12\theta + b\,\e^{-{\mathrm i} \theta/2}\sin \tfrac12 \phi \,, \] provided \(\theta+\phi \ne 2n\pi\) for any integer \(n\). What is the transformation \(SR\) if \(\theta +\phi = 2\pi\)?
  3. Under what circumstances is \(RS =SR\)?

Solution:

  1. We can map \(a \mapsto 0\), rotate the whole plane, then shift the plane back to \(a\), so \(z \mapsto (z-a) \mapsto e^{i \theta}(z-a) \mapsto a + e^{i \theta}(z-a) = e^{i \theta}z + a(1 - e^{i\theta})\)
  2. \(z \mapsto e^{i \theta}z + a(1 - e^{i\theta}) \mapsto e^{i \phi} \l e^{i \theta}z + a(1 - e^{i\theta}) \r + b(1 - e^{i \phi})\) \begin{align*} e^{i \phi} \l e^{i \theta}z + a(1 - e^{i\theta}) \r + b(1 - e^{i \phi}) &= e^{i(\phi + \theta)}z + ae^{i\phi} - ae^{i (\theta + \phi)} + b(1 - e^{i \phi}) \\ \end{align*} Therefore this is rotation by angle \(\phi + \theta\) and about \begin{align*} \frac{ae^{i\phi} - ae^{i (\theta + \phi)} + b(1 - e^{i \phi})}{1 - e^{i(\phi + \theta)}} &= \frac{e^{-i\frac{(\phi + \theta)}{2}} \l ae^{i\phi} - ae^{i (\theta + \phi)} + b(1 - e^{i \phi}) \r}{e^{-i\frac{(\phi + \theta)}{2}} - e^{i\frac{(\phi + \theta)}2}} \\ &= \frac{\l ae^{i\frac{\phi-\theta}{2}} - ae^{i \frac{(\theta + \phi)}{2}} + b(e^{-i\frac{(\phi + \theta)}{2}} -e^{i\frac{(\phi - \theta)}{2}}) \r}{e^{-i\frac{(\phi + \theta)}{2}} - e^{i\frac{(\phi + \theta)}2}} \\ &= \frac{ae^{i\frac{\phi}{2}} 2i\sin(\frac{\theta}{2}) + be^{-i\frac{\theta}{2}}2i\sin\frac{\phi}{2} }{2i \sin(\frac{\phi + \theta}2)} \\ \end{align*} as required. If \(\phi + \theta = 2\pi\), then \(z \mapsto z + (b-a)(1 - e^{i\phi})\) which is a translation.
  3. If \(\phi + \theta \neq 2 \pi\) then \(RS = ST\) if \begin{align*} && a\,\e^{ {\mathrm i}\phi/2}\sin \tfrac12\theta + b\,\e^{-{\mathrm i} \theta/2}\sin \tfrac12 \phi &= b\,\e^{ {\mathrm i}\theta/2}\sin \tfrac12\phi + a\,\e^{-{\mathrm i} \phi/2}\sin \tfrac12 \theta \\ && a\,(\e^{ {\mathrm i}\phi/2}-\e^{-{\mathrm i}\phi/2})\sin \tfrac12\theta + b\,(\e^{-{\mathrm i} \theta/2}-\e^{+{\mathrm i} \theta/2})\sin \tfrac12 \phi &= 0 \\ && a \sin \frac{\phi}{2} \sin \frac{\theta}{2}-b \sin \frac{\theta}{2} \sin \frac{\phi}{2} &= 0 \\ \Leftrightarrow && a = b \text{ or } \sin \frac{\theta}{2} = 0 \text{ or } \sin \frac{\phi}{2} = 0 \\ \Leftrightarrow && a = b \text{ or } \theta = 0 \text{ or } \phi = 0 \\ \end{align*} If \(\phi + \theta \neq 2 \pi\) then \(RS = ST\) if \(b = a\) or \(e^{i\phi} = e^{i \theta}\) ie rotation through the same angle.

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1994 Paper 3 Q6
D: 1700.0 B: 1501.5
complex numbers rotation Argand diagram geometric transformation composition of transformations unit circle necessary and sufficient condition

The four points \(A,B,C,D\) in the Argand diagram (complex plane) correspond to the complex numbers \(a,b,c,d\) respectively. The point \(P_{1}\) is mapped to \(P_{2}\) by rotating about \(A\) through \(\pi/2\) radians. Then \(P_{2}\) is mapped to \(P_{3}\) by rotating about \(B\) through \(\pi/2\) radians, \(P_{3}\) is mapped to \(P_{4}\) by rotating about \(C\) through \(\pi/2\) radians and \(P_{4}\) is mapped to \(P_{5}\) by rotating about \(D\) through \(\pi/2\) radians, each rotation being in the positive sense. If \(z_{i}\) is the complex number corresponding to \(P_{i},\) find \(z_{5}\) in terms of \(a,b,c,d\) and \(z_{1}.\) Show that \(P_{5}\) will coincide with \(P_{1},\) irrespective of the choice of the latter if, and only if \[a-c=\mathrm{i}(b-d)\] and interpret this condition geometrically. The points \(A,B\) and \(C\) are now chosen to be distinct points on the unit circle and the angle of rotation is changed to \(\theta,\) where \(\theta\neq0,\) on each occasion. Find the necessary and sufficient condition on \(\theta\) and the points \(A,B\) and \(C\) for \(P_{4}\) always to coincide with \(P_{1}.\)

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