Contents / Geometry / Transformations & Symmetry
Chapter 5
Transformations & Symmetry
Isometries, translations, rotations, reflections, symmetry groups, and congruence transformations.
Introduction
Isometries, translations, rotations, reflections, symmetry groups, and congruence transformations.
An isometry is a transformation of the plane (or space) that preserves distances between points. It is a 'rigid motion' — no stretching, shrinking, or bending.
The isometries of the plane are translations, rotations, reflections, and glide reflections.
5.1Definition and Preservation Properties
Definition 5.1 (Isometry). An isometry is a map of the plane to itself with
where is the usual Euclidean distance.
That single condition — distances between any two points are preserved — is the whole definition; everything else is a consequence.
Proposition 5.2 (What an isometry preserves). Isometries preserve lengths of segments, measures of angles (up to sign for orientation-reversing ones), and congruence of figures. They map lines to lines and circles to circles of the same radius.
Intuition. Isometries are the ways you can move a shape without distorting it: slide, turn, flip. "Iso" = same, "metry" = measure — same measurements before and after.
After the move, any two points are still exactly as far apart as before, like moving a rigid metal cutout across a table.
Example 5.3. Show that translation by the vector is an isometry. This translation sends every point to .
Solution. pick two arbitrary points and . Their images are and . Step 2 — the distance between the images is
5.2Classification of Plane Isometries
Theorem 5.4 (Classification of plane isometries). Every isometry of the plane is one of four kinds:
- Translation: slide by a vector (no fixed points unless the vector is zero).
- Rotation: turn around a fixed point by an angle.
- Reflection: flip over a line (a mirror).
- Glide reflection: reflect over a line, then translate parallel to that line.
Orientation-preserving: translations and rotations. Orientation-reversing: reflections and glides.
Intuition. Slide or spin = keeps 'handedness' (left and right stay left and right).
Flip or glide-flip = reverses handedness (your left hand becomes a right-hand image).
Example 5.5. Classify the map and confirm its type.
Solution. recognize it. This is rotation by counterclockwise about the origin: the standard rotation formula with gives , , so . Step 2 — check it is orientation-preserving. The matrix is , whose determinant is . A positive determinant means handedness is kept, so this is a proper (orientation-preserving) isometry — a rotation, as claimed, not a reflection. Sanity check: test the point . It maps to , which is indeed turned a quarter-turn counterclockwise. And both are distance from the origin. □
5.3Isometries and Congruence
Theorem 5.6 (Congruence means an isometry exists). Two figures are congruent if and only if there is an isometry mapping one onto the other.
The triangle congruence criteria (SSS and the rest) are shortcuts that guarantee such an isometry exists.
Intuition. Congruent means you can rigidly move one to exactly cover the other.
The criteria (SSS, SAS...) are the 'tests' that tell you without actually moving whether such a rigid motion exists.
Example 5.7. Suppose and satisfy SSS: , , and . Show congruence means an isometry carries one onto the other.
Solution. align the first side. Since , there is an isometry (a translation followed by a rotation) sending and . Isometries acting on the plane are exactly determined once we say where two points go, plus a choice of side, so such a exists. Step 2 — locate the third vertex. Under , vertex lands at a point with and . So is a point at distance from and distance from . Step 3 — resolve the two candidates. Two circles (one centered at of radius , one centered at of radius ) meet in at most two points, symmetric across line . Point is one of them. If we are done; if is the mirror point, compose with the reflection over line , which fixes and and swaps the two candidates, sending to . Conclusion: an isometry (direct, or direct-then-reflected) maps exactly onto . That is precisely what "congruent" means. This is why SSS is a valid congruence test — it is a guarantee that the required rigid motion exists, not a computation of area.□
- Including scaling or shear as isometries: Those change distances; they are similarities or affine maps.
- Forgetting glide reflections: In the full classification of plane isometries, glides are the fourth type.
- Assuming isometries always have fixed points: Translations (non-zero) have none.
- Confusing 'preserve distance' with 'preserve the figure': The transformation preserves distances between any points; the figure is mapped to a congruent copy.
A translation is an isometry that slides every point of the plane the same distance in the same direction.
It is determined by a single vector : every point maps to .
5.4Definition and Properties
Definition 5.8 (Translation). Translation by a vector is the map
It preserves orientation and all distances and angles. It has no fixed points unless , because forces , i.e. .
Proposition 5.9 (Translations compose by adding vectors).
Intuition. Imagine the whole plane is a sheet of paper; you slide it without rotating or flipping. Every dot moves exactly the same way.
Nothing stays in place (unless the slide is zero); the whole figure just relocates.
Example 5.10. Translate the segment from to by the vector , and verify the length is unchanged.
Solution. move each endpoint: and . Step 2 — original length: . Step 3 — image length: . Sanity check: , so the segment moved rigidly. There are no fixed points here since . □
5.5Vector and Coordinate Form
Notation (Coordinate and vector form). In coordinates a translation by is ; in vector form it is .
The inverse is translation by , since .
Intuition. Just add the same numbers to every x and every y.
To undo, subtract the same numbers.
Example 5.11. Translate the point by , then undo it.
Solution. apply: . Step 2 — undo by translating by the inverse vector : . Sanity check: we returned to the original point , confirming is the inverse of . □
5.6Translations in Congruence and Symmetry
Translations are used to prove SSS and other criteria by superposition.
In wallpaper groups and frieze patterns, translations generate periodic symmetry.
Intuition. To show two triangles are congruent by SSS, you can slide one so that one side coincides with the corresponding side of the other; the rest follows.
Repeating a translation creates an infinite row of identical copies (like a picket fence pattern).
Example 5.12. A concrete superposition step. Let have , and suppose we want to slide it so that lands on as the first move of an SSS proof.
Solution. choose the translation vector as . Step 2 — apply to every vertex. Then , and move by the same , so the whole triangle keeps its exact shape and size (translation is an isometry). Step 3 — after this slide, side points in the same direction as before but now starts at . A rotation about (and, if needed, a reflection across line ) then swings onto ; because , endpoint lands exactly on , and the equal remaining sides force onto . Takeaway: the translation does the "get one vertex in place" part of superposition; rotation/reflection finish the alignment. This is exactly the machinery behind SSS.□
- Thinking translations have a 'center': Unlike rotations, translations have no fixed point (unless trivial).
- Confusing with rotation or glide: Translation has no turning and no flip.
- Forgetting that composition of translations adds vectors: .
- Assuming the image of a line under translation is the same line: The image is a parallel line (or the same if v parallel to the line and the line is invariant, but generally parallel).
A rotation is an isometry that turns the plane around a fixed point (the center) by a fixed angle.
It is orientation-preserving and has exactly one fixed point (the center) unless the angle is a multiple of , in which case it is the identity and every point is fixed.
5.7Definition and Coordinate Formula
Definition 5.13 (Rotation about the origin). Rotation by an angle counterclockwise around the origin sends
A positive is counterclockwise, by the standard math convention.
Proposition 5.14 (Rotation about an arbitrary center). Rotating about means translating the center to the origin, rotating, then translating back:
Intuition. Pick a center pin; spin the plane rigidly around that pin by the angle.
Every point moves along a circle centered at the pin; the angle is the same for all.
Example 5.15. Rotate the point by counterclockwise about the origin, then check the distance.
Solution. plug into the formula with , so and :
5.8Angle, Direction, and Order
Positive angles are usually counterclockwise. Rotation by (for any integer ) is the same map as rotation by , since a full turn returns every point to itself.
Proposition 5.16 (Rotations about a common center add). Rotating by and then by about the same center equals rotating by about .
Around different centers this need not hold — see Common Mistakes.
Definition 5.17 (Central symmetry). Rotation by is central symmetry, also called a point reflection: each point and its image lie on opposite sides of the center, equidistant from it.
Intuition. Counterclockwise is the 'standard' positive direction (math convention).
Spinning 370° is the same as spinning 10° the same way.
Example 5.18. Derive the rotation about and apply it to .
Solution. use the arbitrary-center formula with , so , . The terms vanish and each coordinate becomes . Thus . Step 2 — apply to : . Sanity check: the midpoint of and is . The center is the midpoint of every point and its image, exactly as central symmetry requires. □
5.9Rotations and Symmetry
Theorem 5.19 (Rotational symmetries of a regular polygon). The rotational symmetries of a regular -gon are the rotations by
about its center — rotations in all, including the identity at .
A bounded figure can have rotational symmetry of any order .
Theorem 5.20 (Crystallographic restriction). The only rotation orders compatible with a repeating 2D lattice are .
Orders like and can occur for a single bounded shape but cannot be a symmetry of a wallpaper pattern.
Intuition. A square looks the same after 90°, 180°, 270°, 360° spins around center.
You cannot have a wallpaper pattern with 5-fold rotational symmetry that repeats in a lattice (crystallographic restriction).
Example 5.21. Find all rotational symmetries of an equilateral triangle.
Solution. the center of rotation is the centroid (which for an equilateral triangle coincides with the circumcenter). Set , so the symmetry angles are multiples of . Step 2 — list for : that is (the identity), , and . So the rotation group has order . Step 3 — check closure: , and . Every composition lands back in the set, confirming it is a group (the cyclic group ). Sanity check: a turn sends each vertex to the next vertex, so the triangle looks identical afterward. □
- Using degrees vs radians inconsistently in formulas: cos and sin in math formulas expect radians in most software; geometry texts often use degrees.
- Forgetting the center when composing rotations around different points: Composition of rotations around different centers is generally a translation or another rotation around a third point.
- Thinking 360° rotation moves points: It is the identity; every point returns to itself.
- Confusing rotation with reflection: Rotation preserves orientation; reflection reverses it.
A reflection is an isometry that flips the plane over a fixed line (the mirror line).
It is orientation-reversing and every point on the mirror line is fixed.
5.10Definition and Coordinate Formulas
Definition 5.22 (Reflections in the axes and in the line y = x).
Over an arbitrary line: translate and rotate so the line becomes the -axis, reflect, then undo the rigid motion.
Proposition 5.23 (Reflection in a line through the origin). For a line through the origin at angle to the -axis, the reflection has matrix
Intuition. The mirror line is the 'fold line'; each point and its image are symmetric with respect to the line (the line is the perpendicular bisector of the segment joining a point to its image).
Flipping reverses left and right (or clockwise and counterclockwise).
Example 5.24. Reflect the point over the line , and verify the line is the perpendicular bisector of the point and its image.
Solution. apply : the image is . Step 2 — check the midpoint lies on . Midpoint of and is , and , so it is on the line. Step 3 — check the segment is perpendicular to the line. The segment from to has slope ; the line has slope ; and , so they are perpendicular. Conclusion: the mirror line is the perpendicular bisector of the segment joining a point to its image — the defining property of a reflection. (For a slanted line like , use the matrix formula above with instead.)□
5.11Properties
Proposition 5.25 (A reflection is an involution). Doing a reflection twice returns every point to the original: if is a reflection then
Theorem 5.26 (Composing two reflections). The composition of two reflections over lines that intersect at angle is a rotation by about the intersection point. The composition of two reflections over parallel lines a distance apart is a translation, by twice the perpendicular vector from the first line to the second, of magnitude .
Order matters for the sign: reversing the two intersecting reflections rotates by .
Intuition. Flip twice over the same mirror and you are back (like closing a book and opening it again).
Two mirrors at an angle create a 'double flip' that is a spin by twice the angle (like in a corner mirror you see yourself rotated).
Example 5.27. Compose reflection over the -axis with reflection over the -axis, and identify the result.
Solution. reflect over the -axis: . Step 2 — reflect that over the -axis: . Step 3 — the net map is , which is rotation by about the origin. Sanity check via the angle rule: the two mirrors (the axes) intersect at , and , matching the rotation we found. Two orientation reversals compose to an orientation-preserving map, consistent with getting a rotation rather than a reflection. □
5.12Reflection and Symmetry; Generating Groups
Definition 5.28 (Line of symmetry). A figure has a reflection symmetry over a line when flipping it across that line leaves it looking exactly the same; the line is then a line of symmetry.
Theorem 5.29 (Reflections generate the dihedral group). The dihedral group — the full symmetry group of a regular -gon, of order — is generated by reflections, or equivalently by one rotation together with one reflection.
Intuition. A rectangle has two reflection symmetries (over its long and short midlines) plus 180° rotation.
An isosceles triangle has one reflection symmetry (over the altitude to the base).
Example 5.30. Count all the symmetries of a regular hexagon.
Solution. rotations: for , giving rotations (including the identity). Step 2 — reflections: a regular hexagon has lines of symmetry — through pairs of opposite vertices and through midpoints of opposite sides. That is reflections. Step 3 — total: symmetries, which is the dihedral group of order . Note on parity: for a regular -gon, when is even the mirror lines split into two kinds (vertex-to-vertex and edge-to-edge); when is odd every mirror line runs from a vertex to the midpoint of the opposite side.□
- Assuming reflection always reverses the figure: Only if the figure is not symmetric across that line.
- Confusing the mirror line with the perpendicular bisector in proofs: The mirror is the perp bisector of segments from points to images.
- Forgetting that composition of two reflections is a rotation or translation: This is the key way to generate all isometries from reflections.
- Thinking reflection is the same as 'taking absolute value' in coordinates: That only works for the coordinate axes.
The symmetry group of a geometric object is the set of all isometries that map the object onto itself.
It forms a group under composition: closed, associative, identity, and inverses.
5.13Definition and Group Structure
Definition 5.31 (Symmetry and symmetry group). A symmetry of a set is an isometry with : the set is mapped onto itself as a whole, though individual points may move. The set of all such is the symmetry group , with composition as the operation.
Theorem 5.32 (The symmetries form a group). satisfies the group axioms under composition.
Proof. It is closed, since a composition of two symmetries is a symmetry; associative, since composition always is; it contains the identity, which fixes ; and every symmetry has an inverse, which is again a symmetry.∎
Intuition. The symmetries are all the ways you can move or flip the object so it looks exactly the same afterward.
They form a 'club' with rules: doing two symmetries in a row is again a symmetry, there is a 'do nothing' symmetry, and every move has an 'undo' move.
Example 5.33. List the symmetry group of an equilateral triangle and confirm it is a group.
Solution. rotations about the center: (identity), , — three elements. Step 2 — reflections over the three altitudes (each through a vertex and the midpoint of the opposite side) — three elements. Step 3 — total elements. This is , of order , and it equals because every permutation of the three vertices is realizable by a symmetry. Group check: composing a rotation with a reflection gives another reflection (still in the set); the identity is present; each reflection is its own inverse and the two nontrivial rotations are inverses of each other. Closed, with identity and inverses — a genuine group. □
5.14Finite and Infinite Symmetry Groups
Finite: dihedral groups (order ) for regular -gons; cyclic groups (order ) for figures with rotational symmetry only (no mirror lines).
Infinite discrete: frieze groups, for strip patterns repeating in one direction, and wallpaper groups, for patterns repeating in two independent directions.
Continuous: the full isometry group of the plane, or the orthogonal group of isometries fixing the origin (all rotations about the origin plus all reflections through the origin).
Theorem 5.34 (Frieze and wallpaper groups). There are exactly frieze groups and exactly wallpaper groups.
Intuition. A square has only 8 symmetries (finite).
A repeating brick wall pattern has infinitely many symmetries (you can slide by multiples of the brick spacing).
A perfect blank plane has every possible rigid motion as a symmetry (continuous infinity).
Example 5.35. Describe the symmetry group of the integer lattice (all points with integer coordinates) and classify it.
Solution. translations: shifting by any vector with integers maps the lattice onto itself. These already give infinitely many symmetries, so the group is infinite and discrete (a wallpaper group). Step 2 — rotations: a rotation about any lattice point permutes the lattice onto itself (e.g. about the origin, , all lattice points). So the point group includes order- rotations — allowed by the crystallographic restriction. Step 3 — reflections: mirroring over the horizontal, vertical, and both diagonal lines through lattice points preserves the lattice. Conclusion: translations -fold rotations mirrors identify this as the wallpaper group . □
5.15Generators and Relations
Definition 5.36 (Generators and relations). A group is presented by generators — basic moves from which every element is built by composition — together with relations that say how those moves interact.
Proposition 5.37 (Presentation of the dihedral group). For the generators are a rotation by and a reflection , subject to
the last being equivalent to .
Here denotes the identity, and means applying times.
Intuition. You can describe the whole club by saying "here are the basic moves and the rules for how they combine" — like describing a Rubik's cube by its face-turns rather than listing every scramble.
For the square: rotation, one reflection; then (four quarter-turns is a full turn), (flip twice and you're back), and (flipping reverses the sense of the rotation).
Example 5.38. Show that (the symmetries of a square) has exactly elements, all expressible in and .
Solution. the presentation is , with a rotation and a reflection. Step 2 — the rotations are (i.e. ); that is elements. Step 3 — the relation lets us push every to the right, so any word reduces to the form or with . The four are the four reflections. Step 4 — total elements, matching . Sanity check on the twist relation: . Geometrically, reflecting, rotating a quarter-turn, then reflecting back looks like a quarter-turn the other way — consistent. □
- Including transformations that move the object to a different-looking position: Only those that make it coincide with itself count.
- Forgetting that the full group includes all compositions: Sometimes only the 'obvious' reflections are listed; the group is larger.
- Confusing the symmetry group of the figure with the isometry group of the ambient space: The ambient has all isometries; the figure only those that preserve it.
- Assuming all symmetry groups are finite: Most interesting patterns in the plane have infinite symmetry groups.
A congruence transformation (or congruence mapping) is an isometry of the plane: a transformation that maps any figure to a congruent copy.
The four types (translation, rotation, reflection, glide reflection) generate all congruences.
5.16Congruence Transformations as Isometries
Definition 5.39 (Congruence transformation). A transformation is a congruence if it preserves distances — that is, if it is an isometry.
The triangle congruence criteria guarantee that certain correspondences can be realized by a congruence transformation.
Intuition. A congruence transformation is any 'rigid motion' (including flips) that moves a shape onto a perfect copy of itself (same size and shape).
The tests like SSS tell you 'yes, there exists a rigid motion that makes them coincide' without having to exhibit the motion.
Example 5.40. Given two segments of equal length, exhibit a congruence transformation mapping one onto the other. Take segment with , (length ) and segment with , (length ).
Solution. both have length : and . Equal, so a congruence should exist. Step 2 — translate to by . Then and . Step 3 — rotate about by to swing the (now horizontal) image onto the vertical segment . The point is at offset from ; rotating that offset counterclockwise gives , so it lands at . Conclusion: the composition (translate by , then rotate about ) is a direct congruence taking exactly onto . Equal length was the only thing we needed. □
5.17Using Congruence Transformations in Proofs
Method 5.41 (Proving by congruence transformation).
- Assume a correspondence of parts between the two figures.
- Construct the congruence transformation that realizes it, or prove one exists.
- Read off that the other corresponding parts must coincide, since isometries preserve them.
This is the modern rigorous version of Euclid's superposition method.
Intuition. Instead of 'laying one triangle on the other,' we say 'there exists an isometry doing the laying,' and then use the preservation properties.
It avoids the philosophical worry about physically moving figures.
Example 5.42. Proof of SSS via isometries. Given , , and , show a congruence maps onto .
Solution. align a side. Because , choose the isometry that sends and (translate to , then rotate about until the image of meets ; the equal lengths guarantee it reaches ). Step 2 — track the third vertex. Let be the image of . Isometries preserve distance, so and . Step 3 — pin it down. The point satisfies and ; the set of points at distance from and distance from is the intersection of two circles — at most two points, mirror-images across line . So is either or its reflection . Step 4 — if , done (a direct congruence). If , follow up with the reflection over line : it fixes and and swaps with , so the composite carries to . Conclusion: in either case an isometry maps onto , so the triangles are congruent. This is the modern, physics-free version of Euclid's superposition. □
5.18Direct vs Opposite Congruences
Definition 5.43 (Direct and opposite congruences). Direct (orientation-preserving) congruences are the translations and rotations; opposite (orientation-reversing) ones are the reflections and glide reflections.
In some contexts — when figures are "one-sided" or chiral — only direct congruences are allowed.
Proposition 5.44 (Determinant test). Write a plane isometry as with orthogonal. It is direct exactly when and opposite exactly when .
Intuition. Direct: you can slide or spin the shape into place without flipping it over.
Opposite: you need to flip it (like turning a left glove into a right glove by turning it inside out in 3D, but in 2D the flip is in the plane).
Example 5.45. Decide whether with , , and with , , are related by a direct or opposite congruence.
Solution. check orientation of . Going turns counterclockwise (from pointing along the direction to the direction): positive orientation. Step 2 — check orientation of . Going goes from the direction to the direction: that is clockwise, the opposite sense. Step 3 — since the two labelings have opposite orientation, no direct (orientation-preserving) congruence can match them; you need an opposite one. Indeed the reflection over the line sends , , — exactly , , . Conclusion: they are congruent, but only via an opposite congruence (a reflection). Mirror-image labelings force a flip. □
- Including similarities that change size: Congruence requires size-preserving (isometry), not just shape-preserving.
- Forgetting glide reflections: They are proper congruences (distance-preserving) even though they have no fixed points.
- Assuming every pair of congruent figures can be superimposed without flip: Depends on whether opposite congruences are allowed in the context.
- Confusing the transformation with the correspondence: The transformation realizes a particular vertex matching.