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	<title>nklein software &#187; conformal maps</title>
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		<title>Complex Numbers for Rotating, Translating, and Scaling the Plane</title>
		<link>http://nklein.com/2009/06/complex-numbers-for-rotating-translating-and-scaling-the-plane/</link>
		<comments>http://nklein.com/2009/06/complex-numbers-for-rotating-translating-and-scaling-the-plane/#comments</comments>
		<pubDate>Sun, 07 Jun 2009 06:13:59 +0000</pubDate>
		<dc:creator>pat</dc:creator>
				<category><![CDATA[Articles]]></category>
		<category><![CDATA[Clifford Algebras]]></category>
		<category><![CDATA[Math]]></category>
		<category><![CDATA[conformal maps]]></category>
		<category><![CDATA[geometry]]></category>
		<category><![CDATA[polynomials]]></category>

		<guid isPermaLink="false">http://nklein.com/?p=511</guid>
		<description><![CDATA[A good friend of mine recently discovered some of the fun things you can do with complex numbers if you&#8217;re using them to represent points in the plane.  Yesterday, I re-read a passage by Tony Smith about why one should be interested in Clifford algebras.  Tony Smith&#8217;s passage included all of the fun [...]]]></description>
			<content:encoded><![CDATA[<p>A good friend of mine recently discovered some of the fun things you can do with complex numbers if you&#8217;re using them to represent points in the plane.  Yesterday, I re-read a passage by <a href="http://www.valdostamuseum.org/hamsmith/TShome.html">Tony Smith</a> about <a href="http://www.valdostamuseum.org/hamsmith/clfpq.html">why one should be interested in Clifford algebras</a>.  Tony Smith&#8217;s passage included all of the fun one can have with the complex plane and extends it to three, four, five, and more dimensions.  I thought, <q>I should segue from the complex numbers in the plane to Clifford algebras to quaternions in 3-space to Clifford algebras again in a series of posts here.</q></p>
<h3>What are Complex Numbers</h3>
<p>Say you&#8217;re playing around with polynomials.  You start playing with the equation <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_9fea09dd66c480fa713ecad13ed68053.png" title="z^2 - 1 = 0" style="vertical-align:-20%;" class="tex" alt="z^2 - 1 = 0" />.  WIth a little fiddling, you find this is equivalent to <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_3c8a1654ed4783532049c5df7fbc9449.png" title="z^2 = 1" style="vertical-align:-20%;" class="tex" alt="z^2 = 1" />.  Then, you take the square root of both sides to find that <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_bc13dda0bc6007242071d129b4d7b97e.png" title="z = \pm \sqrt{1} = \pm 1" style="vertical-align:-20%;" class="tex" alt="z = \pm \sqrt{1} = \pm 1" />.  We started with a polynomial equation in one variable in which the highest exponent was two and we found two answers.</p>
<p>Pounding your chest and sounding your barbaric yawp, you move on to <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_f365da03ebf58d14298115ccb3707800.png" title="z^2 + 1 = 0" style="vertical-align:-20%;" class="tex" alt="z^2 + 1 = 0" />.  This should be easy, right?  With the same fiddling, we find <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_c89984c5f0a8af60d1a7db39dd7a6594.png" title="z^2 = -1" style="vertical-align:-20%;" class="tex" alt="z^2 = -1" /> and then <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_73ccce548583ffab9beb7e11198019e5.png" title="z = \pm \sqrt{-1}" style="vertical-align:-20%;" class="tex" alt="z = \pm \sqrt{-1}" />.</p>
<p>Uh-oh.  What do we do now?  We can&#8217;t think of any number that when multiplied by itself gives us a negative number.  If we start with zero, we end with zero.  If we multiply a positive number by itself, we get a positive number.  If we multiply a negative number by itself, we get a <em>positive</em> number.  Again!</p>
<p><span id="more-511"></span></p>
<p>So, how do we get around this?  We pull an ace out of our sleeve.  We just run with the idea that there is such a number and see where it takes us.  We say, <q>There is a number <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_5477186a84cc2c889974ca6fd01ca96f.png" title="i" style="vertical-align:-20%;" class="tex" alt="i" /> such that <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_2effb75364932f653b3033ef36028f13.png" title="i^2 = -1" style="vertical-align:-20%;" class="tex" alt="i^2 = -1" />.  Everything else is going to stay the same.</q></p>
<p>Where does this take us?  It turns out, it takes us very, very far.  For starters, our equation <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_f365da03ebf58d14298115ccb3707800.png" title="z^2 + 1 = 0" style="vertical-align:-20%;" class="tex" alt="z^2 + 1 = 0" />, a polynomial equation in one variable where the highest exponent is two, now has two answers:  <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_de7bc04d341c737b5b97606a2dfe0981.png" title="z = \pm i" style="vertical-align:-20%;" class="tex" alt="z = \pm i" />.</p>
<p>What about <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_547b84259e1f91c9db9e937123e40aa2.png" title="z^2 + 4 = 0" style="vertical-align:-20%;" class="tex" alt="z^2 + 4 = 0" />?  It is a polynomial equation in one variable where the highest exponent is two.  It&#8217;d be pretty spiffy if there were two answers.  With the same manipulation as before, we find that <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_65f4411c3858e22f845bea4e9d5f340f.png" title="z = \pm \sqrt{-4}" style="vertical-align:-20%;" class="tex" alt="z = \pm \sqrt{-4}" />.</p>
<p>Now, we need to remember that if <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_3cad95c81df4676e1b14e93cbb0b18ae.png" title="a" style="vertical-align:-20%;" class="tex" alt="a" /> and <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_97f4a1ba736119e3cd4de6fca35efd6b.png" title="b" style="vertical-align:-20%;" class="tex" alt="b" /> are positive numbers, then <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_53519ada3075742e0a2ef81d7308daa0.png" title="\sqrt{a\cdot{b}} = \sqrt{a}\cdot\sqrt{b}" style="vertical-align:-20%;" class="tex" alt="\sqrt{a\cdot{b}} = \sqrt{a}\cdot\sqrt{b}" />.  Let&#8217;s see what happens if we extend this to allow our new number <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_5477186a84cc2c889974ca6fd01ca96f.png" title="i" style="vertical-align:-20%;" class="tex" alt="i" />.  If we said that <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_f5334506113f757d6e22338e56e99ab7.png" title="\sqrt{-4} = \sqrt{4}\cdot\sqrt{-1}" style="vertical-align:-20%;" class="tex" alt="\sqrt{-4} = \sqrt{4}\cdot\sqrt{-1}" />, then <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_b6464f3e24b21942e1d9926cbce23386.png" title="\sqrt{-4} = 2i" style="vertical-align:-20%;" class="tex" alt="\sqrt{-4} = 2i" />.  What happens if we multiply <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_06532e1cb171ae73340f6b0a07a3e9c2.png" title="2i\cdot2i" style="vertical-align:-20%;" class="tex" alt="2i\cdot2i" />?  When we multiply real number <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_3cad95c81df4676e1b14e93cbb0b18ae.png" title="a" style="vertical-align:-20%;" class="tex" alt="a" />, <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_97f4a1ba736119e3cd4de6fca35efd6b.png" title="b" style="vertical-align:-20%;" class="tex" alt="b" />, and <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_08c1898a88651cdd0a9fdb2d6ce6e8a1.png" title="c" style="vertical-align:-20%;" class="tex" alt="c" />, we can do it in any order.  We could do <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_22670214cc8aaea09f2552ba682a7958.png" title="a\cdot b\cdot c" style="vertical-align:-20%;" class="tex" alt="a\cdot b\cdot c" /> or <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_918f8f3d65feca981cbef93e84060ba6.png" title="a \cdot c \cdot b" style="vertical-align:-20%;" class="tex" alt="a \cdot c \cdot b" /> or <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_a2c2637af76fe91ad2a8df47a2c9bdec.png" title="c \cdot a \cdot b" style="vertical-align:-20%;" class="tex" alt="c \cdot a \cdot b" /> (or three other orders).  Well, let&#8217;s assume for now that when we multiply <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_5477186a84cc2c889974ca6fd01ca96f.png" title="i" style="vertical-align:-20%;" class="tex" alt="i" /> by a real number, we can do it in either order.  Then <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_a149d9a9bffb0ecf34821aab72924727.png" title="2i\cdot2i = 2\cdot2\cdot i\cdot i = 4 \cdot -1 = -4" style="vertical-align:-20%;" class="tex" alt="2i\cdot2i = 2\cdot2\cdot i\cdot i = 4 \cdot -1 = -4" />.  That&#8217;s exactly what we were hoping it would be.</p>
<p>Good.  Our equation <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_547b84259e1f91c9db9e937123e40aa2.png" title="z^2 + 4 = 0" style="vertical-align:-20%;" class="tex" alt="z^2 + 4 = 0" /> is a polynomial equation in one variable where the highest exponent is two and it has two solutions <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_4df9c813ea8509c221548a60da21d681.png" title="z = \pm 2i" style="vertical-align:-20%;" class="tex" alt="z = \pm 2i" />.</p>
<p>As it turns out, by adding in <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_5477186a84cc2c889974ca6fd01ca96f.png" title="i" style="vertical-align:-20%;" class="tex" alt="i" /> (and real number multiples of <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_5477186a84cc2c889974ca6fd01ca96f.png" title="i" style="vertical-align:-20%;" class="tex" alt="i" />) to our real numbers, we have the complex numbers.  These complex numbers are an algebraic completion of the real numbers.  That&#8217;s just a fancy way of saying that if you make a polynomial equation in one variable where all of the coefficients are real numbers and the highest exponent is <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_18a633fc025e2f1a862f7c8de3b31d6c.png" title="n" style="vertical-align:-20%;" class="tex" alt="n" />, then there will be <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_18a633fc025e2f1a862f7c8de3b31d6c.png" title="n" style="vertical-align:-20%;" class="tex" alt="n" /> solutions to the equation all in the complex numbers.</p>
<p>[It turns out that the complex numbers are algebraically complete themselves.  If you make a polynomial equation in one variable where all of the coefficients are complex numbers and the highest exponent is <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_18a633fc025e2f1a862f7c8de3b31d6c.png" title="n" style="vertical-align:-20%;" class="tex" alt="n" />, then there will be <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_18a633fc025e2f1a862f7c8de3b31d6c.png" title="n" style="vertical-align:-20%;" class="tex" alt="n" /> solutions to the equation in the complex numbers.]</p>
<h3>A Quick Review of Complex Arithmetic</h3>
<p>Above, we decided to say that <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_3cc652a30b982461e9f38a041117c43a.png" title="\sqrt{-1}" style="vertical-align:-20%;" class="tex" alt="\sqrt{-1}" /> is <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_5477186a84cc2c889974ca6fd01ca96f.png" title="i" style="vertical-align:-20%;" class="tex" alt="i" /> and go from there.  We also used the idea that <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_717a284e85ef0210c35106ec3b2e54f2.png" title="\sqrt{a\cdot b} = \sqrt{a}\cdot\sqrt{b}" style="vertical-align:-20%;" class="tex" alt="\sqrt{a\cdot b} = \sqrt{a}\cdot\sqrt{b}" /> to find square roots of all negative numbers.  And, we already played around a little bit with multiplying some numbers together.  Let&#8217;s take a step back for a moment though and just add.</p>
<p>We still want the rest of our algebra to work.  Because of that, we don&#8217;t have much choice for how imaginary numbers add together.  If we take any number <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_645f43d7c6169f257cafd2dc973d2421.png" title="z" style="vertical-align:-20%;" class="tex" alt="z" /> and add it to itself, we get <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_a6d66ac4d067413ca6c058d650c05924.png" title="z + z = (1 + 1) z = 2z" style="vertical-align:-20%;" class="tex" alt="z + z = (1 + 1) z = 2z" />.  We still want that to be true when <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_f8be652f4325571a12f2fee7e1bd26e1.png" title="z = i" style="vertical-align:-20%;" class="tex" alt="z = i" /> or <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_01d34053141c3fd4aa259aff5cdc1ddd.png" title="z = 5i" style="vertical-align:-20%;" class="tex" alt="z = 5i" />.  In general, then, we will need <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_3fbe3cd4cbb4b299a185390b21fd0134.png" title="az + bz = (a + b)z" style="vertical-align:-20%;" class="tex" alt="az + bz = (a + b)z" /> for any numbers <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_3cad95c81df4676e1b14e93cbb0b18ae.png" title="a" style="vertical-align:-20%;" class="tex" alt="a" />, <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_97f4a1ba736119e3cd4de6fca35efd6b.png" title="b" style="vertical-align:-20%;" class="tex" alt="b" />, and <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_645f43d7c6169f257cafd2dc973d2421.png" title="z" style="vertical-align:-20%;" class="tex" alt="z" />.</p>
<p>Earlier, we multiplied <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_06532e1cb171ae73340f6b0a07a3e9c2.png" title="2i\cdot2i" style="vertical-align:-20%;" class="tex" alt="2i\cdot2i" />.  What if we add one to <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_5477186a84cc2c889974ca6fd01ca96f.png" title="i" style="vertical-align:-20%;" class="tex" alt="i" />?  Well, we can definitely write this as <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_7a08e143cc76d57c8c288d77d726e9a6.png" title="1 + i" style="vertical-align:-20%;" class="tex" alt="1 + i" /> just like we can add one to two by just writing <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_c58688802f846bfc1980bba12853b24e.png" title="1 + 2" style="vertical-align:-20%;" class="tex" alt="1 + 2" />.  In the latter case, we already have a name for <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_c58688802f846bfc1980bba12853b24e.png" title="1 + 2" style="vertical-align:-20%;" class="tex" alt="1 + 2" />.  We could instead write <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_1b73081e7f571e9a816296b5a78040a1.png" title="3" style="vertical-align:-20%;" class="tex" alt="3" />.</p>
<p>We don&#8217;t already have a name for <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_7a08e143cc76d57c8c288d77d726e9a6.png" title="1 + i" style="vertical-align:-20%;" class="tex" alt="1 + i" />.  How do we know?  Well, let us assume that <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_7a08e143cc76d57c8c288d77d726e9a6.png" title="1 + i" style="vertical-align:-20%;" class="tex" alt="1 + i" /> is some real number or some real number times <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_5477186a84cc2c889974ca6fd01ca96f.png" title="i" style="vertical-align:-20%;" class="tex" alt="i" />.  If it is some real number, we should get a positive real number when we square it.  If it is a real number times <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_5477186a84cc2c889974ca6fd01ca96f.png" title="i" style="vertical-align:-20%;" class="tex" alt="i" />, we should get a negative real number when we square it.  But, if we multiply <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_2ac514bbaf1dc57d3298033a3518a4f7.png" title="(1 + i) \cdot (1 + i)" style="vertical-align:-20%;" class="tex" alt="(1 + i) \cdot (1 + i)" /> (using the old <a href="http://www.mathwarehouse.com/algebra/polynomial/foil-method-binomials.php"><q><b>F</b>irsts, <b>O</b>uters, <b>I</b>nners, <b>L</b>asts</q> method</a>), we get <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_c75a8f6adbb4b3af2519723da888b12e.png" title="1 + i + i + i^2 = 1 + 2i -1 = 2i" style="vertical-align:-20%;" class="tex" alt="1 + i + i + i^2 = 1 + 2i -1 = 2i" /> which is not a positive real number or a negative real number.</p>
<p>As it happens, all of our complex numbers will have the form:  <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_d21097041b32be657b9b67a074ca1685.png" title="a + bi" style="vertical-align:-20%;" class="tex" alt="a + bi" /> for some real numbers <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_3cad95c81df4676e1b14e93cbb0b18ae.png" title="a" style="vertical-align:-20%;" class="tex" alt="a" /> and <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_97f4a1ba736119e3cd4de6fca35efd6b.png" title="b" style="vertical-align:-20%;" class="tex" alt="b" />.  When we go to add two numbers together, we just add the corresponding pieces:  <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_52c57cd71ce73cc7fe190068f21a2740.png" title="(a + bi) + (c + di) = (a + c) + (b + d)i" style="vertical-align:-20%;" class="tex" alt="(a + bi) + (c + di) = (a + c) + (b + d)i" />.</p>
<p>For a complex number <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_d21097041b32be657b9b67a074ca1685.png" title="a + bi" style="vertical-align:-20%;" class="tex" alt="a + bi" />, we call <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_3cad95c81df4676e1b14e93cbb0b18ae.png" title="a" style="vertical-align:-20%;" class="tex" alt="a" /> the <q>real part</q> and <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_97f4a1ba736119e3cd4de6fca35efd6b.png" title="b" style="vertical-align:-20%;" class="tex" alt="b" /> the <q>imaginary part</q>.  When we add two complex numbers, we add the real parts together and we add the imaginary parts together.  Subtraction, likewise, goes by part.  If we want <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_76f1d667d4ef8ce89e277ccf434c5405.png" title="(a + bi) - (c + di)" style="vertical-align:-20%;" class="tex" alt="(a + bi) - (c + di)" />, we subtract the real parts and subtract the imaginary parts to obtain <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_39a47965ed260d8c5e3b752f99c23845.png" title="(a - c) + (b - d)i" style="vertical-align:-20%;" class="tex" alt="(a - c) + (b - d)i" />.</p>
<p>When we multiply two numbers together, we do it like we did with <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_cc088c202a9485ae8918eb220e951297.png" title="(1 + i)^2" style="vertical-align:-20%;" class="tex" alt="(1 + i)^2" /> above with the <abbr title="Firsts Outers Inners Lasts">FOIL</a> method.  <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_eb648edb4c17d7a96893f4aadccf60b2.png" title="(a + bi) \cdot (c + di) = ac + adi + bic + bidi" style="vertical-align:-20%;" class="tex" alt="(a + bi) \cdot (c + di) = ac + adi + bic + bidi" />.  We rearrange the orders of some of the bits as we did with <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_06532e1cb171ae73340f6b0a07a3e9c2.png" title="2i\cdot2i" style="vertical-align:-20%;" class="tex" alt="2i\cdot2i" /> above to get: <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_53a022afc07da91c056863a3e4497444.png" title="ac + adi + bci + bdi^2" style="vertical-align:-20%;" class="tex" alt="ac + adi + bci + bdi^2" />.  And since <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_2effb75364932f653b3033ef36028f13.png" title="i^2 = -1" style="vertical-align:-20%;" class="tex" alt="i^2 = -1" />, we have:<br />
<center><img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_2f2599c74e26e719f7903916da0d8c11.png" title="ac + adi + bci - bd = (ac - bd) + (ad + bc)i" style="vertical-align:-20%;" class="tex" alt="ac + adi + bci - bd = (ac - bd) + (ad + bc)i" /></center></p>
<h3>Transforming the Plane</h3>
<p>You&#8217;ll notice above that a complex number is made up of two real numbers (and, of course, <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_5477186a84cc2c889974ca6fd01ca96f.png" title="i" style="vertical-align:-20%;" class="tex" alt="i" />).  Every point in the plane has two real numbers as coordinates.  We can co-opt the real numbers in the complex number to use as coordinates for points in the plane.  If our points are: <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_df6a991ade7cc9ad3cd908b4e2ef9946.png" title="(x_1,y_1)" style="vertical-align:-20%;" class="tex" alt="(x_1,y_1)" />, <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_c1e27f0abd9ad9572f3887ef067770ab.png" title="(x_2,y_2)" style="vertical-align:-20%;" class="tex" alt="(x_2,y_2)" />, <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_4b30e31f5d5a5dbe4dcd2e370ee5d1ae.png" title="\ldots" style="vertical-align:-20%;" class="tex" alt="\ldots" />, <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_dd0bee170fcdd06706728b42cc47c899.png" title="(x_k,y_k)" style="vertical-align:-20%;" class="tex" alt="(x_k,y_k)" />, then we can represent them as complex numbers with <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_28ae3644980623b0f7a77c898670cdc3.png" title="z_1 = x_1 + y_1i" style="vertical-align:-20%;" class="tex" alt="z_1 = x_1 + y_1i" />, <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_08b436a2e08cd8bc08583466ab138831.png" title="z_2 = x_2 + y_2i" style="vertical-align:-20%;" class="tex" alt="z_2 = x_2 + y_2i" />, <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_4b30e31f5d5a5dbe4dcd2e370ee5d1ae.png" title="\ldots" style="vertical-align:-20%;" class="tex" alt="\ldots" />, <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_6d26aa7ee074b77157e823923c9236f0.png" title="z_k = x_k + y_ki" style="vertical-align:-20%;" class="tex" alt="z_k = x_k + y_ki" />.</p>
<p>We can plot these just as we would their normal coordinates if we put the real part on the x-axis and the imaginary part on the y-axis.  This is called an <a href="http://mathworld.wolfram.com/ArgandDiagram.html">Argand Diagram</a>.</p>
<p>Suppose now we want to translate all of our points by five units along the x-axis and negative two units along the y-axis.  We can simply let <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_d25d3e8d44f6c1eb6ada047a85f37ee6.png" title="t = 5 - 2i" style="vertical-align:-20%;" class="tex" alt="t = 5 - 2i" /> and then add this to each of our points so that <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_483aad77b980aa545aa0a1a03969b86d.png" title="z_j^\prime = z_j + t" style="vertical-align:-20%;" class="tex" alt="z_j^\prime = z_j + t" />.</p>
<p>Imagine instead that we want to scale the plane radially out from the origin by a factor of three.  We can simply multiply each of our points by <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_1d0af52a3cdde2fdbc455453f3812e5d.png" title="s = 3 + 0i" style="vertical-align:-20%;" class="tex" alt="s = 3 + 0i" /> so that <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_9a1111f05648bd17c3c50048d78f3abd.png" title="z_j^\prime = s \cdot z_j" style="vertical-align:-20%;" class="tex" alt="z_j^\prime = s \cdot z_j" />.  If we want to scale outward from <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_56cf2f11c08438ff33e442080a1ca952.png" title="(5,2)" style="vertical-align:-20%;" class="tex" alt="(5,2)" /> instead, we could translate by <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_873cb8d5053bdc96c2a08d726284ec4e.png" title="-t" style="vertical-align:-20%;" class="tex" alt="-t" />, scale by <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_5a4f530002151e61f4239aee0d82ad4a.png" title="s" style="vertical-align:-20%;" class="tex" alt="s" />, and then translate <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_4e156c4dfd6f5bd0adffc493c64bc7ca.png" title="t" style="vertical-align:-20%;" class="tex" alt="t" /> back.<br />
<center><img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_66656e80e1d57fbc78e0522339f0cdf8.png" title="z_j^\prime = s \cdot \left( z_j - t \right) + t = s \cdot z_j + (1 - s) \cdot t" style="vertical-align:-20%;" class="tex" alt="z_j^\prime = s \cdot \left( z_j - t \right) + t = s \cdot z_j + (1 - s) \cdot t" /></center></p>
<p>Suppose now that we&#8217;d like to rotate the plane by some angle <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_0004c76178a1d078888badee6891a8bd.png" title="\theta" style="vertical-align:-20%;" class="tex" alt="\theta" /> around the origin.  For that rotation, a point <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_1a4d392f8222c83b05eab4d12436f9ee.png" title="(x,y)" style="vertical-align:-20%;" class="tex" alt="(x,y)" /> should get rotated to the point <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_96e28a31d467902868cea0d38c9c319c.png" title="(x\cos\theta - y\sin\theta, x\sin\theta + y\cos\theta)" style="vertical-align:-20%;" class="tex" alt="(x\cos\theta - y\sin\theta, x\sin\theta + y\cos\theta)" />.  That is to say: the complex number <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_8b2a793cf0347bb25643542086c7fb58.png" title="x + yi" style="vertical-align:-20%;" class="tex" alt="x + yi" /> should get rotated to the complex number <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_54eb3f207cded71246b555ea4e6c09f3.png" title="(x\cos\theta - y\sin\theta) + (x\sin\theta + y\cos\theta)i" style="vertical-align:-20%;" class="tex" alt="(x\cos\theta - y\sin\theta) + (x\sin\theta + y\cos\theta)i" />.</p>
<p>Let&#8217;s look back to our equation for multiplying two complex numbers:<br />
<center><img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_b18d23815ab4cfee8f573603f73ef3c4.png" title="(a + bi) \cdot (c + di) = (ac - bd) + (ad + bc)i" style="vertical-align:-20%;" class="tex" alt="(a + bi) \cdot (c + di) = (ac - bd) + (ad + bc)i" /></center></p>
<p>We can see the similarity to the rotation.  If we take <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_5dd2cebbfc1f4ad422c9a3950cf267f8.png" title="(x + yi) \cdot (\cos\theta + i \sin\theta)" style="vertical-align:-20%;" class="tex" alt="(x + yi) \cdot (\cos\theta + i \sin\theta)" />, then we get precisely: <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_54eb3f207cded71246b555ea4e6c09f3.png" title="(x\cos\theta - y\sin\theta) + (x\sin\theta + y\cos\theta)i" style="vertical-align:-20%;" class="tex" alt="(x\cos\theta - y\sin\theta) + (x\sin\theta + y\cos\theta)i" />.</p>
<p>The points <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_ab5edd64e6aa0048b9551f1c5f4bf0e6.png" title="(\cos\theta,\sin\theta)" style="vertical-align:-20%;" class="tex" alt="(\cos\theta,\sin\theta)" /> are the points on the unit circle centered at the origin.  So, if we want to rotate all of our points by an angle <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_0004c76178a1d078888badee6891a8bd.png" title="\theta" style="vertical-align:-20%;" class="tex" alt="\theta" /> around the origin, we simply have to multiply them by the point on the unit circle that is at angle <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_0004c76178a1d078888badee6891a8bd.png" title="\theta" style="vertical-align:-20%;" class="tex" alt="\theta" /> around the origin from the x-axis:  <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_70c534a01e04cbae9705581c1eeb099a.png" title="r = \cos\theta + i \sin\theta" style="vertical-align:-20%;" class="tex" alt="r = \cos\theta + i \sin\theta" /> so that <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_b4cc18a857ea59ba3fafcec520137551.png" title="z_j^\prime = z_j \cdot r" style="vertical-align:-20%;" class="tex" alt="z_j^\prime = z_j \cdot r" />.  Again, if we want to rotate around the point <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_4e156c4dfd6f5bd0adffc493c64bc7ca.png" title="t" style="vertical-align:-20%;" class="tex" alt="t" />, we simply translate by <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_873cb8d5053bdc96c2a08d726284ec4e.png" title="-t" style="vertical-align:-20%;" class="tex" alt="-t" />, rotate by <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_de3adc820dbc4655c45b5555765fe84b.png" title="r" style="vertical-align:-20%;" class="tex" alt="r" />, and translate <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_4e156c4dfd6f5bd0adffc493c64bc7ca.png" title="t" style="vertical-align:-20%;" class="tex" alt="t" /> back again.<br />
<center><img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_5b30fcc567f5db71079946447fe4b680.png" title="z_j^\prime = r \cdot \left( z_j - t \right) + t = r \cdot z_j + (1 - r) \cdot t" style="vertical-align:-20%;" class="tex" alt="z_j^\prime = r \cdot \left( z_j - t \right) + t = r \cdot z_j + (1 - r) \cdot t" /></center></p>
<p>So, now we can translate points in the plane with complex addition (or subtraction).  We can scale points in the plane by multiplying by a real number.  We can rotate the plane by multiplying by a complex number.</p>
<h3>Conformal maps</h3>
<p>There are some other transformations that naturally arise from complex arithmetic.  A <a href="http://en.wikipedia.org/wiki/Conformal_map">conformal transform</a> is one that keeps angles constant.  All of the transformations we&#8217;ve done above are conformal.  If you translate the whole plane, the angles between lines are unchanged.  If you scale the whole plane, the angles between lines are unchanged.  If you rotate the whole plane, the angles between lines are unchanged.</p>
<p>As it happens, a transformation of the complex plane is a conformal map if and only if the transformation has a (complex) derivative everywhere and that derivative is non-zero everywhere.  Without getting into complex derivatives here, suffice it to say, they&#8217;re pretty much just like real derivatives for simple polynomials.  Let&#8217;s look at our cases above.  The derivative of translating by <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_4e156c4dfd6f5bd0adffc493c64bc7ca.png" title="t" style="vertical-align:-20%;" class="tex" alt="t" /> is <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_e04a0c4d52e7f8537abf80bb9beb4a8a.png" title="1" style="vertical-align:-20%;" class="tex" alt="1" /> which exists everywhere and is non-zero everywhere.  The derivative of multiplying by <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_5a4f530002151e61f4239aee0d82ad4a.png" title="s" style="vertical-align:-20%;" class="tex" alt="s" /> (or <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_de3adc820dbc4655c45b5555765fe84b.png" title="r" style="vertical-align:-20%;" class="tex" alt="r" />) is <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_5a4f530002151e61f4239aee0d82ad4a.png" title="s" style="vertical-align:-20%;" class="tex" alt="s" /> (or <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_de3adc820dbc4655c45b5555765fe84b.png" title="r" style="vertical-align:-20%;" class="tex" alt="r" />).  This exists everywhere and is non-zero everywhere (if anywhere).</p>
<p>Another conformal transformation of the complex plane is the <a href="http://en.wikipedia.org/wiki/Möbius_transformation">Möbius transformation</a>.  The Möbius transformations preserve angles where lines meet, but they generally turn lines into curves.  The Möbius transformations are of the form:  <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_7ff1d71a337997aab0ae6bd075f53992.png" title="z_j^\prime = \frac{a z_j + b}{c z_j + d}" style="vertical-align:-20%;" class="tex" alt="z_j^\prime = \frac{a z_j + b}{c z_j + d}" /> for complex numbers <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_3cad95c81df4676e1b14e93cbb0b18ae.png" title="a" style="vertical-align:-20%;" class="tex" alt="a" />, <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_97f4a1ba736119e3cd4de6fca35efd6b.png" title="b" style="vertical-align:-20%;" class="tex" alt="b" />, <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_08c1898a88651cdd0a9fdb2d6ce6e8a1.png" title="c" style="vertical-align:-20%;" class="tex" alt="c" />, and <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_fa25a1c273232af978e96f1ea4331d79.png" title="d" style="vertical-align:-20%;" class="tex" alt="d" /> (so long as <img src="http://nklein.com/wp-content/plugins/easy-latex/cache/tex_35360b379fbc4947d129676e9be98d6b.png" title="ad - bc \neq 0" style="vertical-align:-20%;" class="tex" alt="ad - bc \neq 0" />).  You can see the <a href="http://www.youtube.com/watch?v=JX3VmDgiFnY">Möbius transform in action</a> on YouTube.</p>
<h3>What&#8217;s next</h3>
<p>Next, we&#8217;re going to see how Clifford algebras can represent all we have done here.  But, that is for another day.</p>
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