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In analytic geometry, the direction cosines (or directional cosines) of a vector are the cosines of the angles between the vector and the three positive coordinate axes. Equivalently, they are the contributions of each component of the basis to a unit vector in that direction.
If v is a Euclidean vector in three-dimensional Euclidean space, R3,
where ex, ey, ez are the standard basis in Cartesian notation, then the direction cosines are
It follows that by squaring each equation and adding the results
Here α, β and γ are the direction cosines and the Cartesian coordinates of the unit vector v/|v|, and a, b and c are the direction angles of the vector v.
The direction angles a, b and c are acute or obtuse angles, i.e., 0 ≤ a ≤ π, 0 ≤ b ≤ π and 0 ≤ c ≤ π, and they denote the angles formed between v and the unit basis vectors, ex, ey and ez.
More generally, direction cosine refers to the cosine of the angle between any two vectors. They are useful for forming direction cosine matrices that express one set of orthonormal basis vectors in terms of another set, or for expressing a known vector in a different basis.
In physics, the Lorentz transformations are a six-parameter family of linear transformations from a coordinate frame in spacetime to another frame that moves at a constant velocity relative to the former. The respective inverse transformation is then parameterized by the negative of this velocity. The transformations are named after the Dutch physicist Hendrik Lorentz.
In mathematical physics and mathematics, the Pauli matrices are a set of three 2 × 2 complex matrices which are Hermitian, involutory and unitary. Usually indicated by the Greek letter sigma, they are occasionally denoted by tau when used in connection with isospin symmetries.
A triangle is a polygon with three edges and three vertices. It is one of the basic shapes in geometry. A triangle with vertices A, B, and C is denoted .
In mathematics, an n-sphere or a hypersphere is a topological space that is homeomorphic to a standardn-sphere, which is the set of points in (n + 1)-dimensional Euclidean space that are situated at a constant distance r from a fixed point, called the center. It is the generalization of an ordinary sphere in the ordinary three-dimensional space. The "radius" of a sphere is the constant distance of its points to the center. When the sphere has unit radius, it is usual to call it the unit n-sphere or simply the n-sphere for brevity. In terms of the standard norm, the n-sphere is defined as
In trigonometry, the law of sines, sine law, sine formula, or sine rule is an equation relating the lengths of the sides of any triangle to the sines of its angles. According to the law,
In mathematics, the dot product or scalar product is an algebraic operation that takes two equal-length sequences of numbers, and returns a single number. In Euclidean geometry, the dot product of the Cartesian coordinates of two vectors is widely used. It is often called the inner product of Euclidean space, even though it is not the only inner product that can be defined on Euclidean space.
In mathematics, a unit vector in a normed vector space is a vector of length 1. A unit vector is often denoted by a lowercase letter with a circumflex, or "hat", as in .
In mechanics and geometry, the 3D rotation group, often denoted SO(3), is the group of all rotations about the origin of three-dimensional Euclidean space under the operation of composition.
Unit quaternions, known as versors, provide a convenient mathematical notation for representing spatial orientations and rotations of elements in three dimensional space. Specifically, they encode information about an axis-angle rotation about an arbitrary axis. Rotation and orientation quaternions have applications in computer graphics, computer vision, robotics, navigation, molecular dynamics, flight dynamics, orbital mechanics of satellites, and crystallographic texture analysis.
In linear algebra, two vectors in an inner product space are orthonormal if they are orthogonal unit vectors. A set of vectors form an orthonormal set if all vectors in the set are mutually orthogonal and all of unit length. An orthonormal set which forms a basis is called an orthonormal basis.
A dihedral angle is the angle between two intersecting planes or half-planes. In chemistry, it is the clockwise angle between half-planes through two sets of three atoms, having two atoms in common. In solid geometry, it is defined as the union of a line and two half-planes that have this line as a common edge. In higher dimensions, a dihedral angle represents the angle between two hyperplanes. The planes of a flying machine are said to be at positive dihedral angle when both starboard and port main planes are upwardly inclined to the lateral axis. When downwardly inclined they are said to be at a negative dihedral angle.
In physics, a wave vector is a vector used in describing a wave, with a typical unit being cycle per metre. It has a magnitude and direction. Its magnitude is the wavenumber of the wave, and its direction is perpendicular to the wavefront. In isotropic media, this is also the direction of wave propagation.
In geometry, curvilinear coordinates are a coordinate system for Euclidean space in which the coordinate lines may be curved. These coordinates may be derived from a set of Cartesian coordinates by using a transformation that is locally invertible at each point. This means that one can convert a point given in a Cartesian coordinate system to its curvilinear coordinates and back. The name curvilinear coordinates, coined by the French mathematician Lamé, derives from the fact that the coordinate surfaces of the curvilinear systems are curved.
In relativistic physics, a velocity-addition formula is a three-dimensional equation that relates the velocities of objects in different reference frames. Such formulas apply to successive Lorentz transformations, so they also relate different frames. Accompanying velocity addition is a kinematic effect known as Thomas precession, whereby successive non-collinear Lorentz boosts become equivalent to the composition of a rotation of the coordinate system and a boost.
A theoretical motivation for general relativity, including the motivation for the geodesic equation and the Einstein field equation, can be obtained from special relativity by examining the dynamics of particles in circular orbits about the earth. A key advantage in examining circular orbits is that it is possible to know the solution of the Einstein Field Equation a priori. This provides a means to inform and verify the formalism.
In geometry, various formalisms exist to express a rotation in three dimensions as a mathematical transformation. In physics, this concept is applied to classical mechanics where rotational kinematics is the science of quantitative description of a purely rotational motion. The orientation of an object at a given instant is described with the same tools, as it is defined as an imaginary rotation from a reference placement in space, rather than an actually observed rotation from a previous placement in space.
In trigonometry, the law of cosines relates the lengths of the sides of a triangle to the cosine of one of its angles. Using notation as in Fig. 1, the law of cosines states
The direct-quadrature-zerotransformation or zero-direct-quadraturetransformation is a tensor that rotates the reference frame of a three-element vector or a three-by-three element matrix in an effort to simplify analysis. The DQZ transform is the product of the Clarke transform and the Park transform, first proposed in 1929 by Robert H. Park.
The following are important identities in vector algebra. Identities that involve the magnitude of a vector , or the dot product of two vectors A·B, apply to vectors in any dimension. Identities that use the cross product A×B are defined only in three dimensions.
