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AnIntroductiontoGeometricAlgebraoverR^2
GeometricAlgebraisfascinating,andIbelievesolvesalargenumberofproblemsthatarisefromamore
traditionalapproachtovectors,butI'vebeenverydisappointedwiththequalityofbooksandexplanations
I'vefound,mostofthemzoomingoffintoabstractrealmstooquickly,orspendinganinordinateamountof
timebuildingupageneralizedtheorybeforefinallygettingtosomethinguseful.
BelowisanexplanationofGeometricAlgebrathatwillstartwithasimpletwodimensionalvectorspace,i.e.
2.Thiswillbeaconciseintroductionto2,theGeometricAlgebraover2,andthenquicklypivotto
applicationsin2.ThisintroductionwillnotcoverthefascinatinghistoryofGA,CliffordAlgebras,or
HermannGrassman.
I'llpresumeafamialaritywithLinearAlgebra,andthenwe'llintroducethegeometricproductonthatand
we'llhavetheGeometricAlegebraovertwodimensions:2.
LinearAlgebra
Linearalgebraisthebranchofmathematicsconcerningvectorspacesandlinearmappings
betweensuchspaces.Itincludesthestudyoflines,planes,andsubspaces,butisalsoconcerned
withpropertiescommontoallvectorspaces.Wikipedia
YoushouldbefamiliarwiththefollowingaxiomsanddefinitionsfromLinearAlgebra:
Associative (1)
Commutative (2)
Identity (3)
Inverse (4)
ScalarDistributive (5)
MultiplicativeIdentity (6)
Dot/InnerProduct (7)
Dot/InnerProduct(Alternate) (8)
Inparticular,for2wehaveanorthonormalbasis:
where:
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Weknowhowtodovectoradditionandscalarmultiplicationofvectors,andthatanyvectorcanbe
representedasalinearcombinationofbasiselements.
Thingstorememberaboutthedotproduct,orinnerproduct,isthatitis0fororthogonalvectors:
Andthatavectordotwithitselfgivesthesquareofthenormofthevector,since :
OneimportantthingtonoticeaboutLinearAlgebraishowoftenyouhavetostepoutsideof2togetwork
done.Thatis,operationsfrequentlyhavetotakeplaceoutside2orthoseoperationsgiveyouresultsoutside
of2.Forexample,thedotproductoftwovectorreturnsascalar,whichisnotamemberof2.
Similarly,torotatevectorsyouhavetocreatematrices,whichdon'texistin2,andapplythemtovectors
throughmatrixmultiplication.
Onefinalexampleisthecrossproduct,whichtakestwovectorsandoperatesonthemtoproduceavector
thatisorthogonaltotheoriginaltwovectors,butifyouarein2itdoesn'texist,youhavetothenviewthat
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crossproductvectorasexistingin3,whichtheoriginal2isembeddedin.
Allofthisstandsinstarkcontrastto2,wheretheseoperationstakeplacein2,infact,manyofthe
constructsweuseinLinearAlgebra,suchasrotations,existaselementsof2,andapplyingthoseoperations
isjustamatteroftakingthegeometricproductofthoseobjects.Notonlyis2closedundermanyofthese
operations,buttheoperationsexistaselementsin2.
GeometricAlgebra
TheGeometricAlgebraof2buildsupon2,extendingitbyaddingmultiplication,i.e.ageometric
product.Beforewegettothegeometricproductweneedtofirstquicklylearnabouttheexteriorproduct.
ExteriorProduct
Theexteriorproductoperatesontwovectorsandiswrittenas:
Theexteriorproductrepresentstheorientedareadefinedbythetwovectors,ormorepreciselyisrepresents
anorientedareaintheplanedefinedbythosevectors,alsoknownasabivector.Therearetwoimportant
aspectsofthis,thefirstisthattheexactshapedoesn'tmatter.Forexample,thebivectorsrepresentedbelow
areequalbecausetheyhavethesameorientation(counterclockwise)andthesamearea(3).
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Thesecondimportantfactoristhattheexteriorproductisanticommutative,thatis,ifyoureversetheorderof
thevectorsinvolvedthenthesignoftheexteriorproductchanges.
Usingtwoofthevectorsabove,notethattheorderthattheyareusedintheexteriorproductwillmakethe
bivectorseitherclockwiseorcounterclockwise.
Thepropertiesoftheexteriorproductare:
Associative (1)
ScalarAssociativity (2)
LeftDistributive (3)
RightDistributive (4)
Antisymmetric (5)
ZeroforParallelVectors. (6)
Inwhatisgoingtobecomearecurringtheme,let'slookatwhatthismeansintermsofbasisvectors.Since
anyvectorcanbewrittenasalinearcombinationofbasisvectorsweget:
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Ifwetaketheirexteriorproductweget:
Sotheexteriorproductofanytwovectorscanexpressedasjustascalarmulitpleofe1^e2
GeometricProduct
Nowthatweknowabouttheexteriorproduct,wecandefinethegeometricproduct,whichisjustthesumof
theinnerproductandtheexteriorproduct:
Usingjusttheabovedefinitionyoucanshowthatthegeometricproducthasthefollowingproperties:
Associative (1)
ScalarAssociativity (2)
LeftDistributive (3)
RightDistributive (4)
Norm (5)
NonCommutative,exceptinsomecases. (6)
VectorInverses (7)
Orthogonalvectormultiplication. (8)
Withthegeometricproductasdefinedabove,andvectoraddition,ourGeometricAlgebra2formsaunital
associativealgebrawithanorthonormalbasis:
Wecanworkoutamultiplicationtableforthebasiselements,withtheobservationthatiftwoelementsare
orthogonalthentheirdotproductiszero,sothatimpliesthatthegeometricproductreducestotheexterior
productbetweenorthogonalvectors,whichisantisymmetric.Sothatimpliesforeachofourbasisvectors:
Andthatimplies,bytheantisymmetryoftheexteriorproduct:
Andthegeometricproductofanybasiselementwithitself,becausetheyareparallelmeanstheexterior
productiszero,so:
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Notethatwe'llendupwritingalotofequationswithbasisvectorsmultipliedtogether,soit'susefultohavea
shorthand,i.e.e12willbeusedasashorthandfore1e2.
Wecannowcompleteamultiplicationtableforthegeometricproductofallthebasiselements:
Nowthatweknowwhatelementsof2looklikeandhowtomanipulatethem,it'snowtimetoputthemto
work.
ApplyingGeometricAlgebra
MultiplyingVectors
Let'sstartbymultiplyingtwovectors:
Underthegeometricproductweget:
Wecanseethatfromtheproductoftwovectorswegetascalarandabivector.
Whatifwetakeascalarandabivectorandmultiplyitbyavector?Notethatbelowweareusingacapital
letterforourscalarplusbivector.
Thatproductgivesusbackavector,soBisanelementof2thatoperatesonvectorsthroughthegeometric
producttogiveusanothervector.
Rotors
AspecialcaseofBiscalledaRotor.ThisRotorisanelementof2thatisjustarestatementofEuler's
formulain2.
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12/22/2016 An Introduction to Geometric Algebra over R^2 | BitWorking
First,forreasonsthatwillbecomeclearerlater,wewillbegintoabbreviatee12asI.OurRotoristhen
definedas:
IfyoumultiplyanyvectorbythisRotorontherightitwillrotatethatvectordegreesinthedirectionfrom
e1toe2.IfyoumultiplythatsamevectorontheleftbythisRotoritwillberotateddegreesintheopposite
direction.
Forexample,hereisadynamicillustrationoftheRotorinaction,Inthiscase,wearemultiplyinge1byetI,
wheretistime,andistherate,inradianspersecond,thatthevectorundergoesrotation.Inthisexamplewe
set=1,sothevectorshouldcompleteafullcircleevery2seconds.
Start/Stop
Caveat:Rotorsonlyworklikethisin2,in3andabovetheformulationchanges,sobeawareofthat.
Usinggeometricalgebramakesiteasytoreadoffthisformulaanddeterminewhatisgoingtohappen,i.e.
thee1vectorisgoingtobeoperatedonviageometricproductandtheresultwillbeanothervectorthatis
rotatedtradiansinacounterclockwisedirection.
SinceourRotatorisamemberof2itcanbecombinedwithotheroperations.Forexample,wecouldstart
withavectorpataninitialpositionandthenperturbitbyaddingittoanothervectorthatismultipliedbyour
Rotor.Inthiscaseweset=2.
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Start/Stop
Wecantakethatonestepfurtherandrotatethewholethingaroundtheorigin,whereweset1=2.9and2
=1.
Start/Stop
Thatmightbeeasiertofollowifinsteadofdrawingthevectorwedrawthetrailofpointswherethevector
hasbeen.
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Start/Stop
DoubleAngleFormula
SomeofthepowerofGeometricAlgebracomesfrombeingabletogobackandforthbetweenlookingata
problemgeometricallyandlookingatitalgrebraically.Forexample,itiseasytoreasonthatrotatingavector
degreestwiceisthesameasrotatingthatsamevector2degrees.Wecanwritethatoutasanalgrebraic
expression:
Ifweexpandbothsidesoftheequationsaboveusingthedefinitionofeweget:
Comparingthecoefficientsonthelefthandsideoftheequationtothatontherighthandsidewefindwe
havederivedtheDoubleAngleFormulas:
Youcouldstartwiththesamegeometricreasoningaboutanytwoangles,and,andusethesame
derivationtogetthegeneralAnglesumidentities.Thepowerhereistheabilitytomovebackandforth
betweenalgebraicandgeometricreasoningquicklyandeasily.
ComplexNumbers
FromourdefinitionofourRotator,ifwesetto90degreesthensincesinbecomes0weareleftwithonlyI,
whichisa90degreeRotator.Butifweapplya90degreeRotatortwiceweshouldgeta180degreeRotator:
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And1isexactlywhatwewouldexpect,sincethat'swhatyoumultiplyavectorbytorotateit180degrees.
Butwhatwealsohaveisaquantityin2thatwhensquaredisequalto1.Thisshouldremindyouofiinthe
complexnumbers,butwithouttheneedtotakethesquarerootofanegativenumber,orinvokeanything
imaginary.Infactthesubsetofalllinearcombinationsof{1,I}isclosedunderthegeometricproductandis
isomorphicto.
FurtherReading
ThereareotherintroductionstoGAaroundtheweb,someoftheonesI'vefoundhelpfulare:
GeometricAlgebraPrimer
GeometricAlgebra:AnIntroductionwithApplicationsinEuclideanandConformalGeometry
20161221
200216JoeGregorio
Hostedon:WebFaction
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