Right-hand ruleIn mathematics and physics, the right-hand rule is a common mnemonic for understanding the orientation of axes in three-dimensional space. It is also a convenient method for quickly finding the direction of the cross product of two vectors. Rather than a mathematical fact, it is a convention, closely related to the convention that rotation around a vertical axis is positive if it is counterclockwise and negative if it is clockwise. Most left-hand and right-hand rules arise from the fact that the three axes of three-dimensional space have two possible orientations.
Arc lengthArc length is the distance between two points along a section of a curve. Determining the length of an irregular arc segment by approximating the arc segment as connected (straight) line segments is also called curve rectification. A rectifiable curve has a finite number of segments in its rectification (so the curve has a finite length). If a curve can be parameterized as an injective and continuously differentiable function (i.e., the derivative is a continuous function) , then the curve is rectifiable (i.
Osculating circleIn differential geometry of curves, the osculating circle of a sufficiently smooth plane curve at a given point p on the curve has been traditionally defined as the circle passing through p and a pair of additional points on the curve infinitesimally close to p. Its center lies on the inner normal line, and its curvature defines the curvature of the given curve at that point. This circle, which is the one among all tangent circles at the given point that approaches the curve most tightly, was named circulus osculans (Latin for "kissing circle") by Leibniz.
CircleA circle is a shape consisting of all points in a plane that are at a given distance from a given point, the centre. The distance between any point of the circle and the centre is called the radius. Usually, the radius is required to be a positive number. A circle with (a single point) is a degenerate case. This article is about circles in Euclidean geometry, and, in particular, the Euclidean plane, except where otherwise noted. Specifically, a circle is a simple closed curve that divides the plane into two regions: an interior and an exterior.
Plane of rotationIn geometry, a plane of rotation is an abstract object used to describe or visualize rotations in space. The main use for planes of rotation is in describing more complex rotations in four-dimensional space and higher dimensions, where they can be used to break down the rotations into simpler parts. This can be done using geometric algebra, with the planes of rotations associated with simple bivectors in the algebra.
Great circleIn mathematics, a great circle or orthodrome is the circular intersection of a sphere and a plane passing through the sphere's center point. Any arc of a great circle is a geodesic of the sphere, so that great circles in spherical geometry are the natural analog of straight lines in Euclidean space. For any pair of distinct non-antipodal points on the sphere, there is a unique great circle passing through both. (Every great circle through any point also passes through its antipodal point, so there are infinitely many great circles through two antipodal points.
Involutory matrixIn mathematics, an involutory matrix is a square matrix that is its own inverse. That is, multiplication by the matrix A is an involution if and only if A2 = I, where I is the n × n identity matrix. Involutory matrices are all square roots of the identity matrix. This is simply a consequence of the fact that any invertible matrix multiplied by its inverse is the identity. The 2 × 2 real matrix is involutory provided that The Pauli matrices in M(2, C) are involutory: One of the three classes of elementary matrix is involutory, namely the row-interchange elementary matrix.
Euler's rotation theoremIn geometry, Euler's rotation theorem states that, in three-dimensional space, any displacement of a rigid body such that a point on the rigid body remains fixed, is equivalent to a single rotation about some axis that runs through the fixed point. It also means that the composition of two rotations is also a rotation. Therefore the set of rotations has a group structure, known as a rotation group. The theorem is named after Leonhard Euler, who proved it in 1775 by means of spherical geometry.
Logarithm of a matrixIn mathematics, a logarithm of a matrix is another matrix such that the matrix exponential of the latter matrix equals the original matrix. It is thus a generalization of the scalar logarithm and in some sense an inverse function of the matrix exponential. Not all matrices have a logarithm and those matrices that do have a logarithm may have more than one logarithm. The study of logarithms of matrices leads to Lie theory since when a matrix has a logarithm then it is in an element of a Lie group and the logarithm is the corresponding element of the vector space of the Lie algebra.
3D rotation groupIn 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. By definition, a rotation about the origin is a transformation that preserves the origin, Euclidean distance (so it is an isometry), and orientation (i.e., handedness of space). Composing two rotations results in another rotation, every rotation has a unique inverse rotation, and the identity map satisfies the definition of a rotation.
Definite matrixIn mathematics, a symmetric matrix with real entries is positive-definite if the real number is positive for every nonzero real column vector where is the transpose of . More generally, a Hermitian matrix (that is, a complex matrix equal to its conjugate transpose) is positive-definite if the real number is positive for every nonzero complex column vector where denotes the conjugate transpose of Positive semi-definite matrices are defined similarly, except that the scalars and are required to be positive or zero (that is, nonnegative).
CurvatureIn mathematics, curvature is any of several strongly related concepts in geometry. Intuitively, the curvature is the amount by which a curve deviates from being a straight line, or a surface deviates from being a plane. For curves, the canonical example is that of a circle, which has a curvature equal to the reciprocal of its radius. Smaller circles bend more sharply, and hence have higher curvature. The curvature at a point of a differentiable curve is the curvature of its osculating circle, that is the circle that best approximates the curve near this point.
