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MATH 211
Wize Linear
Algebra
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Linear Transformations
01 Linear Transformations
Linear Transformations
Transformations are functions that map one vector to another vector.

T : Rn → Rm is a linear transformation if for all scalars c, d ∈ R and for all vectors x1 ,  x2 ∈

Rn , then

T (cx1 + dx2 ) = c T (x1 ) + d T (x2 )

If T : Rn → Rm is a linear transformation, then there exists a matrix A that is said to induce T :

T (x) = Ax

WIZ E CO NCEPT

This is an important fact: every linear transformation is equivalent to multiplying by

some matrix!

WIZ E T IP

You can quickly check whether or not a transformation is linear:

● Make sure all components consist of only multiples of variables being added or

subtracted.

● Not allowed in linear transformations:

○ multiplying variables together

○ applying non-linear functions (trig functions, exponentials, raising to a power

other than 1, etc.)

● If T (0) 
= 0 , then T is not linear.

○ adding a number on its own (no variable) ⟹ not linear

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Finding the Matrix Associated with a Linear Transformation

The matrix A that induces T is given by applying T to every column of the identity matrix.

Denoting the ith column of In as ei , we get:

A = [T (e )1 T (e2 ) ⋯ T (en ) ]
⎡ ⎡ 1⎤ ⎡ 0⎤ ⎡ 0⎤ ⎤
0 1 0
= T T ⋯ T
⋮ ⋮ ⋮
⎣ ⎣ 0⎦ ⎣ 0⎦ ⎣ 1⎦ ⎦

Example

⎛⎡ x ⎤ ⎞ x+y
Suppose T : R → R is given by T
3 2
=[ ]. Find the matrix that induces T .
⎝⎣ z ⎦ ⎠
y
z

Example Problem

Example: Linear Transformations

Find the matrix that induces the linear transformation T : R3 → R3 defined by:

⎛ ⎡x ⎤⎞ ⎡ x − y ⎤
= 3y
⎝ ⎣ z ⎦⎠ ⎣ 3x + 2z ⎦
T y .

Example Problem

Example: Proving a Transformation is Linear

Suppose a transformation T : R3 → R2 is defined as:

⎛ ⎡x ⎤⎞ x + 2z
=[ ]
⎝ ⎣ z ⎦⎠
T y
−y

Prove that T is a linear transformation.

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Practice Questions
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02 Composition and Inverse

Composition and Inverse
Composition of Transformations

Suppose we have linear transformations T : Rk → Rn and S : Rn → Rm .

The composition of S and T is another linear transformation denoted S ∘ T : Rk → Rm . It is

defined as:

(S ∘ T ) (x) = S(T (x))

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WIZ E T IP

To determine the right order in which to apply transformations, read the composition
from right to left!
E.g. (U ∘ V )(x) means find V (x) first, then use that result to find U ( V (x) ).

If A is the matrix inducing T , and B is the matrix inducing S , then BA is the matrix inducing S ∘ T
:

(S ∘ T ) (x) = S(T (x))

= B(Ax)
= (BA)x

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Inverse of a Linear Transformation

Suppose T : Rn → Rn and S : Rn → Rn are linear transformations.

We say that S and T are inverses of one another if, for every x ∈ Rn :

(S ∘ T )(x) = x and (T ∘  S)(x) = x

WIZ E T IP

Geometrically, the inverse transformation "undoes" the original transformation.

E.g. The inverse of a rotation by 20° is a rotation by −20° .

Matrix Form of the Inverse Transformation

If A is the matrix inducing T , then T has an inverse transformation if and only if A is invertible.

The inverse is unique and denoted by T −1 : Rn → Rn , and is induced by the matrix A−1 .

Example Problem

Example: Composition of Linear Transformations

−2 0
Suppose T and S are linear transformations induced by the matrices A = [ ] ,  B =
2 4
1 0
[ ], respectively.
−2 1

Part 1)

1
If x = [ ], find (S ∘ T )(x).
5

Part 2)

Find the matrix inducing T ∘ S −1 .

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Practice Questions
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03 Special Linear Transformations in R2

Special Linear Transformations in R2

Rotation

We define rotation in R2 to be the linear transformation that rotates vectors by an angle θ

counter-clockwise.

The rotation matrix that induces this transformation is:

cos θ − sin θ
Rθ = [ ]
sin θ cos θ

Example

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1
[ ] counter-clockwise by  rad?
π
What is the result of rotating the vector
1 3

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Reflection

About Line y = mx

First, we will look at the linear transformation that reflects vectors in R2 across the line y = mx.

The reflection matrix that induces this transformation is:

1 − m2
[ ]
1 2m
Qm =
1 + m2 2m m2 − 1

About Line at Angle θ

We can also write this as a reflection in R2 about the line set at an angle θ counter-clockwise from
the positive x-axis.

This linear transformation is induced by the matrix:

Refθ = [ ]
cos 2θ sin 2θ
sin 2θ − cos 2θ

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Composition of Rotations and Reflections

The composition of two reflections or two rotations is a rotation.

two rotations: Rθ ∘ Rϕ = Rθ + ϕ

two reflections: Refθ ∘ Refϕ = R2(θ − ϕ)

The composition of a reflection and a rotation is a reflection.

\begin{array}{lrcl}
\text{reflection, then rotation:}
&R_{\small\theta} \circ \text{Ref}_\colorTwo{\small\phi}
&=& \boxed{\text{Ref}_{\small \colorTwo\phi + \theta/2}} \\[1em]

\text{rotation, then reflection:}

&\text{Ref}_\colorTwo{\small\phi} \circ \text{R}_{\small\theta}
&=& \boxed{\text{Ref}_{\small \colorTwo\phi - \theta/2}}
\end{array}

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Projection

2
We define projection in R to be the linear transformation that projects a vector onto the line set at
an θ counter-clockwise from the positive x-axis.

This linear transformation is induced by the matrix:

[ ]
1 1 + cos 2θ sin 2θ
Projθ =
2 sin 2θ 1 − cos 2θ

Example Problem

Example: Special Linear Transformations

Suppose T : R2 → R2 is a linear transformation that reflects a vector across the line y = 2x, then
rotates the resulting vector through an angle of 60° counter-clockwise.

Find the matrix that induces T .

Practice Questions
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