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Concept

Rotation

A motion of the plane or of space that fixes a point or a line and preserves every distance and orientation. Composing two gives another, so the rotations leaving an object where it was form a group, whose size measures how symmetric the object is.

Named by 5 essays across 4 fields — each of them below, with the objects they name alongside it.

The quaternion multiplication table, from i² = j² = k² = ijk = −1. A four-by-four multiplication table of the quaternion units, with the row giving the left factor, every entry computed from Hamilton's rule, and the pair that differs between the two orders marked.

A multiplication that remembers the order

Four characters — i² = j² = k² = ijk = −1 — define a multiplication in which ab and ba are different numbers. Everything follows from them, including the fact that a rotation of a solid body has two names, and that two full turns are needed to get one of them home.

algebra · Quaternions The flow of a linear equation, and the matrix that runs it for one unit of time. Paths of points moving so that their velocity is [0.25, −1.2, 1.2, 0.25] applied to their position, with the position after time 1 marked on each; the matrix taking start to finish is e^A.

The exponential of a square

The series for e makes perfect sense with a matrix in it. What comes out solves a system of equations the way the ordinary exponential solves one, and a skew matrix exponentiates into a rotation with no trigonometry anywhere.

analysis · The exponential Every turn that leaves a cube where it was. A cube in wireframe beside a table of its rotation axes: 3 of order 4, 4 of order 3, 6 of order 2, totalling 24 turns including the one that does nothing.

The five solids as three groups

There are five regular solids and only three groups of rotations between them, because a solid and its dual share their symmetries exactly. The largest of the three is the smallest group with no way of coming apart, which is why the general equation of the fifth degree has no formula.

geometry · Regular polyhedra A rotation of four-space, and the two angles it turns through. The four by four matrix of the map sending x to p x conjugate q, beside two dials showing the angle it turns through in each of its two invariant planes.

A rotation of four-space takes two of them

One unit quaternion, conjugating, turns three-space about an axis. Two of them, multiplying from the left and the right, turn four-space — and a rotation of four-space has no axis at all, but two independent angles and two planes it spins in.

algebra · Quaternions A turn of the sphere, seen from the plane. A square grid in the plane and its image under the map obtained by lifting to the sphere, rotating by 62° about a tilted axis, and coming back down. The lines become arcs of circles and the crossings stay at right angles.

The sphere that complex numbers live on

Add one point to the complex plane and it becomes a sphere. The rotations of that sphere are exactly the maps written as one linear expression divided by another, so a fact about turning a ball is a fact about dividing polynomials.

topology · Stereographic projection

Named alongside it

The objects these essays reach for when they reach for this one.

Complex numbersDimensionGroupQuaternionSymmetry groupAlternating groupAssociativityConformalConjugacy classConjugateDeterminantDifferential equation

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