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10. ROTATIONS (I)

I Main Topics
A Uses of rota?on in geology (and engineering)
B Concepts behind rota?on
C Appendix
(Geometry on a Sphere for Plate Tectonics)

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10. ROTATIONS (I)

II Uses of rota?on in geology (and engineering) I
A Representa?on of quan??es in an easier to understand form
B Plate tectonics
C Evalua?ng stresses and strains
D Examina?on of features in ?lted bedding
1 Pre-?l?ng orienta?on of sedimentary structures (e.g. ripples)
2 Pre-?l?ng orienta?on of beds below angular unconformi?es
3 Pre-?l?ng orienta?on of paleomagne?c orienta?ons
E To determine in-situ orienta?ons of features from drill cores
F Need to consider whether object is rotated and coordinate axes
are xed or whether the object is xed and coordinate axes are
rotated. This aects the sign(s) and sequence of the angle(s) of
rota?on.
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10. ROTATIONS (I)

III Concepts behind rota?on
A Any orthogonal coordinate system with axes x,y,z can be
rotated to coincide with another orthogonal coordinate
system x, y, z by using the direc?on cosines rela?ng the
axes of the two systems.

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10. ROTATIONS (I)

III Concepts behind rota?on (cont.)
A direc?on cosines (cont.)
Dir. cosines x axis

y axis

z axis

x axis

axx' = axx

axy' = ayx

axz' = azx

y axis

ayx' = axy

ayy' = ayy

ayz' = azy

z axis

azx' = axz

azy' = ayz

azz' = azz

Note: axz' is not equal to axz because xz' is not equal to xz

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10. ROTATIONS (I)

III Concepts behind rota?on (cont.)
A Any orthogonal coordinate system with axes x,y,z can be
rotated to coincide with another orthogonal coordinate
system x, y, z by using the direc?on cosines rela?ng the
axes of the two systems.
x axx

y = ayx
z azx

axy
ayy
azy

axz x

ayz y

azz z

x ax x

and y = ay x

z az x

ax y
a y y
az y

ax z x

ay z y

az z z

Note: axz' axz because xz' xz; x x, and z z

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10. ROTATIONS (I)

III Concepts behind rota?on (cont.)
B Any orthogonal coordinate system can be rotated to
coincide with another orthogonal coordinate system by
three consecu?ve rota?ons (Cayley):

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Right-hand rule: If right thumb is along rota?on axis,

then ngers curl in posi?ve direc?on
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10. ROTATIONS (I)

Convert to xyz

B three consecu?ve rota?ons (Cayley) (cont.)

1 Rotate the x1,x2,x3 system about the x-axis by angle 1
x ax x

y = ay x
z az x

ax y
a y y
az y

ax z x 1
0
0

ay z y = 0 cos1 sin 1

az z z 0 sin 1 cos1

y
z

2 Rotate the x,x2,x3' system about the y-axis by angle 2

x ax x

y = ay x
z az x

ax y
ay y
az y

ax z x cos
2

ay z y = 0

az z z sin 2

0 sin 2 x

1
0
y
0 cos 2 z

3 Rotate the x",y",z" system about the z-axis by angle 3

x ax x

y = ay x
z az x

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ax y
ay y
az y

ax z x cos
3

ay z y = sin 3

az z z
0

sin 3
cos 3
0

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0 x

0 y

1 z
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10. ROTATIONS (I)

III Concepts behind rota?on (cont.)
C Any orthogonal coordinate system can be rotated to coincide
with another orthogonal coordinate system by one rota?on
about a specially chosen axis (Euler's theorem).

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10. ROTATIONS (I)

III Concepts behind rota?on (cont.)
C rota?on about a specially chosen axis (cont.)
ax z ax x ax y ax z ax x ax y ax z


ay y ay z ay x ay y ay z ay x ay y ay z


az y az z az x az y az z az x az y az z


ThirdRotationSecondRotationFirst Rotation
x ax x

y = ay x
z az x

ax y

x ax x

y = ay x
z az x

ax y

x
y

ax z x

ay y ay z y

az y az z z

SingleRotation

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10. ROTATIONS (I)

III Concepts behind rota?on (cont.)
C rota?on about a specially chosen axis (cont.)
Direc?on cosines in terms of three rota?ons (1, 2, 3)
about axes x, y, and z, respec?vely
axx = cos3 cos2

axy = sin3 cos2

axz = -sin2

ayx = -sin3 cos1

+ cos3 sin2 sin1

ayy = cos3 cos1

+ sin3 sin2 sin1

ayz = cos2 sin1

azx = sin3 sin1 +

cos3 sin2 sin1

azy = -cos3 sin1

+ sin3 sin2 cos1

azz = cos2 cos1

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10. ROTATIONS (I)

III Concepts behind rota?on (cont.)
C rota?on about a specially chosen axis (cont.)
Direc?on cosines in terms of one rota?on angle ()
about axis with direc?on cosines 1, 2, 3
axx = 11(1-cos)
+ cos

axy = 12(1-cos) axz = 13(1-cos)

+ 3sin
+ cos

ayx = 21(1-cos) ayy = 22(1-cos) ayz = 23(1-cos)

- 3sin
+ cos
+ 1sin
azx = 31(1-cos)
+ 2sin
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azy = 32 (1-cos) azz = 33(1-cos)

- 1sin
+ cos
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10. ROTATIONS (I)

IV Appendix (Geometry on a Sphere for Plate Tectonics)

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