A rotation is a circular movement of an object around a center of rotation. A three-dimensional object can always be rotated around an infinite number of imaginary lines called rotation axes. If the axis passes through the body's center of mass, the body is said to rotate upon itself, or spin. A rotation about an external point, e.g. the Earth about the Sun, is called a revolution or orbital revolution when it is produced by gravity. The axis is called a pole. Mathematically, a rotation is a rigid body movement which, unlike a translation, keeps a point fixed; this definition applies to rotations within both two and three dimensions All rigid body movements are rotations, translations, or combinations of the two. A rotation is a progressive radial orientation to a common point; that common point lies within the axis of that motion. The axis is 90 degrees perpendicular to the plane of the motion. If the axis of the rotation lies external of the body in question the body is said to orbit. There is no fundamental difference between a “rotation” and an “orbit” and or "spin".
The key distinction is where the axis of the rotation lies, either within or outside of a body in question. This distinction can be demonstrated for "non rigid" bodies. If a rotation around a point or axis is followed by a second rotation around the same point/axis, a third rotation results; the reverse of a rotation is a rotation. Thus, the rotations around a point/axis form a group. However, a rotation around a point or axis and a rotation around a different point/axis may result in something other than a rotation, e.g. a translation. Rotations around the x, y and z axes are called principal rotations. Rotation around any axis can be performed by taking a rotation around the x axis, followed by a rotation around the y axis, followed by a rotation around the z axis; that is to say, any spatial rotation can be decomposed into a combination of principal rotations. In flight dynamics, the principal rotations are known as yaw and roll; this terminology is used in computer graphics. In astronomy, rotation is a observed phenomenon.
Stars and similar bodies all spin around on their axes. The rotation rate of planets in the solar system was first measured by tracking visual features. Stellar rotation is measured by tracking active surface features; this rotation induces a centrifugal acceleration in the reference frame of the Earth which counteracts the effect of gravity the closer one is to the equator. One effect is that an object weighs less at the equator. Another is that the Earth is deformed into an oblate spheroid. Another consequence of the rotation of a planet is the phenomenon of precession. Like a gyroscope, the overall effect is a slight "wobble" in the movement of the axis of a planet; the tilt of the Earth's axis to its orbital plane is 23.44 degrees, but this angle changes slowly. While revolution is used as a synonym for rotation, in many fields astronomy and related fields, revolution referred to as orbital revolution for clarity, is used when one body moves around another while rotation is used to mean the movement around an axis.
Moons revolve around their planet, planets revolve about their star. The motion of the components of galaxies is complex, but it includes a rotation component. Most planets in our solar system, including Earth, spin in the same direction; the exceptions are Uranus. Uranus rotates nearly on its side relative to its orbit. Current speculation is that Uranus started off with a typical prograde orientation and was knocked on its side by a large impact early in its history. Venus may be thought of as rotating backwards; the dwarf planet Pluto is anomalous in other ways. The speed of rotation is given by period; the time-rate of change of angular frequency is angular acceleration, caused by torque. The ratio of the two is given by the moment of inertia; the angular velocity vector describes the direction of the axis of rotation. The torque is an axial vector; the physics of the rotation around a fixed axis is mathematically described with the axis–angle representation of rotations. According to the right-hand rule, the direction away from the observer is associated with clockwise rotation and the direction towards the observer with counterclockwise rotation, like a screw.
The laws of physics are believed to be invariant under any fixed rotation. In modern physical cosmology, the cosmological principle is the notion that the distribution of matter in the universe is homogeneous and isotropic when viewed on a large enough scale, since the forces are expected to act uniformly throughout the universe and have no preferred direction, should, produce no observable irregularities in the large scale structuring over the course of evolution of the matter field, laid down by the Big Bang. In particular, for a system which behaves the same regardless of how it is oriented in space, its Lagrangian is rotationally invariant. According to Noether's theorem, if the action (the integral over ti
William Paul Thurston was an American mathematician. He was a pioneer in the field of low-dimensional topology. In 1982, he was awarded the Fields Medal for his contributions to the study of 3-manifolds. From 2003 until his death he was a professor of mathematics and computer science at Cornell University, his early work, in the early 1970s, was in foliation theory, where he had a dramatic impact. His more significant results include: The proof that every Haefliger structure on a manifold can be integrated to a foliation; the construction of a continuous family of smooth, codimension-one foliations on the three-sphere whose Godbillon–Vey invariant takes every real value. With John N. Mather, he gave a proof that the cohomology of the group of homeomorphisms of a manifold is the same whether the group is considered with its discrete topology or its compact-open topology. In fact, Thurston resolved so many outstanding problems in foliation theory in such a short period of time that it led to a kind of exodus from the field, where advisors counselled students against going into foliation theory.
Because Thurston was "cleaning out the subject" His work, starting around the mid-1970s, revealed that hyperbolic geometry played a far more important role in the general theory of 3-manifolds than was realised. Prior to Thurston, there were only a handful of known examples of hyperbolic 3-manifolds of finite volume, such as the Seifert–Weber space; the independent and distinct approaches of Robert Riley and Troels Jørgensen in the mid-to-late 1970s showed that such examples were less atypical than believed. This was the first example of a hyperbolic knot. Inspired by their work, Thurston took a different, more explicit means of exhibiting the hyperbolic structure of the figure-eight knot complement, he showed that the figure-eight knot complement could be decomposed as the union of two regular ideal hyperbolic tetrahedra whose hyperbolic structures matched up and gave the hyperbolic structure on the figure-eight knot complement. By utilizing Haken's normal surface techniques, he classified the incompressible surfaces in the knot complement.
Together with his analysis of deformations of hyperbolic structures, he concluded that all but 10 Dehn surgeries on the figure-eight knot resulted in irreducible, non-Haken non-Seifert-fibered 3-manifolds. These were the first such examples; these examples were hyperbolic and motivated his next revolutionary theorem. Thurston proved that in fact most Dehn fillings on a cusped hyperbolic 3-manifold resulted in hyperbolic 3-manifolds; this is his celebrated hyperbolic Dehn surgery theorem. To complete the picture, Thurston proved a hyperbolization theorem for Haken manifolds. A important corollary is that many knots and links are in fact hyperbolic. Together with his hyperbolic Dehn surgery theorem, this showed that closed hyperbolic 3-manifolds existed in great abundance; the geometrization theorem has been called Thurston's Monster Theorem, due to the length and difficulty of the proof. Complete proofs were not written up until 20 years later; the proof involves a number of deep and original insights which have linked many disparate fields to 3-manifolds.
Thurston was next led to formulate his geometrization conjecture. This gave a conjectural picture of 3-manifolds which indicated that all 3-manifolds admitted a certain kind of geometric decomposition involving eight geometries, now called Thurston model geometries. Hyperbolic geometry is the most prevalent geometry in this picture and the most complicated; the conjecture was proved by Grigori Perelman in 2002–2003. In his work on hyperbolic Dehn surgery, Thurston realized that orbifold structures arose; such structures had been studied prior to Thurston, but his work the next theorem, would bring them to prominence. In 1981, he announced the orbifold theorem, an extension of his geometrization theorem to the setting of 3-orbifolds. Two teams of mathematicians around 2000 finished their efforts to write down a complete proof, based on Thurston's lectures given in the early 1980s in Princeton, his original proof relied on Richard S. Hamilton's work on the Ricci flow. Thurston was born in Washington, D.
C. to a homemaker and an aeronautical engineer. He received his bachelor's degree from New College in 1967. For his undergraduate thesis he developed an intuitionist foundation for topology. Following this, he earned a doctorate in mathematics from the University of California, Berkeley, in 1972, his Ph. D. advisor was Morris Hirsch and his dissertation was on Foliations of Three-Manifolds which are Circle Bundles. After completing his Ph. D. he spent a year at the Institute for Advanced Study another year at MIT as Assistant Professor. In 1974, he was appointed Professor of Mathematics at Princeton University, he and his first wife, née Rachel Findley, had three children: Dylan and Emily. In 1991, he returned to UC-Berkeley as Professor of Mathematics and in 1993 became Director of the Mathematical Sciences Research Institute. In 1996, his wife Julian, who had earlier been his Ph. D. student at Princeton University, made a career switch to veterinary medicine, began her studies at the UC Davis School of Veterinary Medicine.
Bill and Julian moved to Davi
In mathematics, a group is a set equipped with a binary operation which combines any two elements to form a third element in such a way that four conditions called group axioms are satisfied, namely closure, associativity and invertibility. One of the most familiar examples of a group is the set of integers together with the addition operation, but groups are encountered in numerous areas within and outside mathematics, help focusing on essential structural aspects, by detaching them from the concrete nature of the subject of the study. Groups share a fundamental kinship with the notion of symmetry. For example, a symmetry group encodes symmetry features of a geometrical object: the group consists of the set of transformations that leave the object unchanged and the operation of combining two such transformations by performing one after the other. Lie groups are the symmetry groups used in the Standard Model of particle physics; the concept of a group arose from the study of polynomial equations, starting with Évariste Galois in the 1830s.
After contributions from other fields such as number theory and geometry, the group notion was generalized and established around 1870. Modern group theory—an active mathematical discipline—studies groups in their own right. To explore groups, mathematicians have devised various notions to break groups into smaller, better-understandable pieces, such as subgroups, quotient groups and simple groups. In addition to their abstract properties, group theorists study the different ways in which a group can be expressed concretely, both from a point of view of representation theory and of computational group theory. A theory has been developed for finite groups, which culminated with the classification of finite simple groups, completed in 2004. Since the mid-1980s, geometric group theory, which studies finitely generated groups as geometric objects, has become an active area in group theory; the modern concept of an abstract group developed out of several fields of mathematics. The original motivation for group theory was the quest for solutions of polynomial equations of degree higher than 4.
The 19th-century French mathematician Évariste Galois, extending prior work of Paolo Ruffini and Joseph-Louis Lagrange, gave a criterion for the solvability of a particular polynomial equation in terms of the symmetry group of its roots. The elements of such a Galois group correspond to certain permutations of the roots. At first, Galois' ideas were rejected by his contemporaries, published only posthumously. More general permutation groups were investigated in particular by Augustin Louis Cauchy. Arthur Cayley's On the theory of groups, as depending on the symbolic equation θn = 1 gives the first abstract definition of a finite group. Geometry was a second field in which groups were used systematically symmetry groups as part of Felix Klein's 1872 Erlangen program. After novel geometries such as hyperbolic and projective geometry had emerged, Klein used group theory to organize them in a more coherent way. Further advancing these ideas, Sophus Lie founded the study of Lie groups in 1884; the third field contributing to group theory was number theory.
Certain abelian group structures had been used implicitly in Carl Friedrich Gauss' number-theoretical work Disquisitiones Arithmeticae, more explicitly by Leopold Kronecker. In 1847, Ernst Kummer made early attempts to prove Fermat's Last Theorem by developing groups describing factorization into prime numbers; the convergence of these various sources into a uniform theory of groups started with Camille Jordan's Traité des substitutions et des équations algébriques. Walther von Dyck introduced the idea of specifying a group by means of generators and relations, was the first to give an axiomatic definition of an "abstract group", in the terminology of the time; as of the 20th century, groups gained wide recognition by the pioneering work of Ferdinand Georg Frobenius and William Burnside, who worked on representation theory of finite groups, Richard Brauer's modular representation theory and Issai Schur's papers. The theory of Lie groups, more locally compact groups was studied by Hermann Weyl, Élie Cartan and many others.
Its algebraic counterpart, the theory of algebraic groups, was first shaped by Claude Chevalley and by the work of Armand Borel and Jacques Tits. The University of Chicago's 1960–61 Group Theory Year brought together group theorists such as Daniel Gorenstein, John G. Thompson and Walter Feit, laying the foundation of a collaboration that, with input from numerous other mathematicians, led to the classification of finite simple groups, with the final step taken by Aschbacher and Smith in 2004; this project exceeded previous mathematical endeavours by its sheer size, in both length of proof and number of researchers. Research is ongoing to simplify the proof of this classification; these days, group theory is still a active mathematical branch, impacting many other fields. One of the most familiar groups is the set of integers Z which consists of the numbers... − 4, − 3, − − 1, 0, 1, 2, 3, 4... together with addition. The following properties of integer addition serve as a model for the group axioms given in the definition below.
For any two integers a and b, the sum a + b is an integer. That is, addition of integers always yields an integer; this property is known as closure under addition. For all integers a, b and c, + c = a +. Expressed in words
A snowflake is a single ice crystal that has achieved a sufficient size, may have amalgamated with others falls through the Earth's atmosphere as snow. Each flake nucleates around a dust particle in supersaturated air masses by attracting supercooled cloud water droplets, which freeze and accrete in crystal form. Complex shapes emerge as the flake moves through differing temperature and humidity zones in the atmosphere, such that individual snowflakes differ in detail from one another, but may be categorized in eight broad classifications and at least 80 individual variants; the main constituent shapes for ice crystals, from which combinations may occur, are needle, column and rime. Snow appears white in color despite being made of clear ice; this is due to diffuse reflection of the whole spectrum of light by the small crystal facets of the snowflakes. Snowflakes nucleate around mineral or organic particles in moisture-saturated, subfreezing air masses, they grow by net accretion to the incipient crystals in hexagonal formations.
The cohesive forces are electrostatic. In warmer clouds, an aerosol particle or "ice nucleus" must be present in the droplet to act as a nucleus; the particles that make ice nuclei are rare compared to nuclei upon which liquid cloud droplets form. Clays, desert dust, biological particles may be effective, although to what extent is unclear. Artificial nuclei include particles of silver iodide and dry ice, these are used to stimulate precipitation in cloud seeding. Experiments show that "homogeneous" nucleation of cloud droplets only occurs at temperatures lower than −35 °C. Once a droplet has frozen, it grows in the supersaturated environment, one where air is saturated with respect to ice when the temperature is below the freezing point; the droplet grows by deposition of water molecules in the air onto the ice crystal surface where they are collected. Because water droplets are so much more numerous than the ice crystals due to their sheer abundance, the crystals are able to grow to hundreds of micrometers or millimeters in size at the expense of the water droplets.
This process is known as the Wegener–Bergeron–Findeisen process. The corresponding depletion of water vapor causes the droplets to evaporate, meaning that the ice crystals grow at the droplets' expense; these large crystals are an efficient source of precipitation, since they fall through the atmosphere due to their mass, may collide and stick together in clusters, or aggregates. These aggregates are the type of ice particle that falls to the ground. Guinness World Records lists the world's largest snowflakes as those of January 1887 at Fort Keogh, Montana. Although this report by a farmer is doubtful, aggregates of three or four inches width have been observed. Single crystals the size of a dime have been observed. Snowflakes encapsulated in rime form balls known as graupel. Although ice by itself is clear, snow appears white in color due to diffuse reflection of the whole spectrum of light by the scattering of light by the small crystal facets of the snowflakes of which it is comprised; the shape of the snowflake is determined broadly by the temperature and humidity at which it is formed.
At a temperature of around −2 °C, snowflakes can form in threefold symmetry — triangular snowflakes. The most common snow particles are visibly irregular, although near-perfect snowflakes may be more common in pictures because they are more visually appealing, it is unlikely that any two snowflakes are alike due to the estimated 1019 water molecules which make up a typical snowflake, which grow at different rates and in different patterns depending on the changing temperature and humidity within the atmosphere that the snowflake falls through on its way to the ground. Snowflakes that look identical, but may vary at the molecular level, have been grown under controlled conditions. Although snowflakes are never symmetrical, a non-aggregated snowflake grows so as to exhibit an approximation of six-fold radial symmetry; the symmetry gets started due to the hexagonal crystalline structure of ice. At that stage, the snowflake has the shape of a minute hexagon; the six "arms" of the snowflake, or dendrites grow independently from each of the corners of the hexagon, while either side of each arm grows independently.
The microenvironment in which the snowflake grows changes dynamically as the snowflake falls through the cloud and tiny changes in temperature and humidity affect the way in which water molecules attach to the snowflake. Since the micro-environment are nearly identical around the snowflake, each arm tends to grow in nearly the same way. However, being in the same micro-environment does not guarantee that each arm grow the same. Empirical studies suggest less than 0.1% of snowflakes exhibit the ideal six-fold symmetric shape. Twelve branched snowflakes are observed. Snowflakes form in a wide variety of intricate shapes, leading to the notion that "no two are alike". Although nearly-identical snowflakes have been made in laboratory, they are unlikely to be found in nature. Initial attempts to find identical snowflakes by photographing thousands of them with a microscope from 1885 onward by Wilson Alwyn Bentley found the wide variety of snowflakes we know about today. Ukichiro Nakaya developed a crystal morphology diagram, relating crystal shape to the temperature and moisture
In set theory, a Cartesian product is a mathematical operation that returns a set from multiple sets. That is, for sets A and B, the Cartesian product A × B is the set of all ordered pairs where a ∈ A and b ∈ B. Products can be specified using e.g.. A × B =. A table can be created by taking the Cartesian product of a set of columns. If the Cartesian product rows × columns is taken, the cells of the table contain ordered pairs of the form. More a Cartesian product of n sets known as an n-fold Cartesian product, can be represented by an array of n dimensions, where each element is an n-tuple. An ordered pair is a couple; the Cartesian product is named after René Descartes, whose formulation of analytic geometry gave rise to the concept, further generalized in terms of direct product. An illustrative example is the standard 52-card deck; the standard playing card ranks form a 13-element set. The card suits form a four-element set; the Cartesian product of these sets returns a 52-element set consisting of 52 ordered pairs, which correspond to all 52 possible playing cards.
Ranks × Suits returns a set of the form. Suits × Ranks returns a set of the form. Both sets are distinct disjoint; the main historical example is the Cartesian plane in analytic geometry. In order to represent geometrical shapes in a numerical way and extract numerical information from shapes' numerical representations, René Descartes assigned to each point in the plane a pair of real numbers, called its coordinates; such a pair's first and second components are called its x and y coordinates, respectively. The set of all such pairs is thus assigned to the set of all points in the plane. A formal definition of the Cartesian product from set-theoretical principles follows from a definition of ordered pair; the most common definition of ordered pairs, the Kuratowski definition, is =. Under this definition, is an element of P, X × Y is a subset of that set, where P represents the power set operator. Therefore, the existence of the Cartesian product of any two sets in ZFC follows from the axioms of pairing, power set, specification.
Since functions are defined as a special case of relations, relations are defined as subsets of the Cartesian product, the definition of the two-set Cartesian product is prior to most other definitions. Let A, B, C, D be sets; the Cartesian product A × B is not commutative, A × B ≠ B × A, because the ordered pairs are reversed unless at least one of the following conditions is satisfied: A is equal to B, or A or B is the empty set. For example: A =. × C ≠ A × If for example A = × A = ≠ = A ×. The Cartesian product behaves nicely with respect to intersections. × = ∩. × ≠ ∪ In fact, we have that: ∪ = ∪ ∪ [ ( B
John Horton Conway
John Horton Conway is an English mathematician active in the theory of finite groups, knot theory, number theory, combinatorial game theory and coding theory. He has contributed to many branches of recreational mathematics, notably the invention of the cellular automaton called the Game of Life. Conway spent the first half of his long career at the University of Cambridge, in England, the second half at Princeton University in New Jersey, where he now holds the title Professor Emeritus. Conway was born in the son of Cyril Horton Conway and Agnes Boyce, he became interested in mathematics at a early age. By the age of eleven his ambition was to become a mathematician. After leaving sixth form, Conway entered Caius College, Cambridge to study mathematics. Conway, a "terribly introverted adolescent" in school, interpreted his admission to Cambridge as an opportunity to transform himself into a new person: an "extrovert", he was awarded his Bachelor of Arts degree in 1959 and began to undertake research in number theory supervised by Harold Davenport.
Having solved the open problem posed by Davenport on writing numbers as the sums of fifth powers, Conway began to become interested in infinite ordinals. It appears that his interest in games began during his years studying the Cambridge Mathematical Tripos, where he became an avid backgammon player, spending hours playing the game in the common room, he was awarded his doctorate in 1964 and was appointed as College Fellow and Lecturer in Mathematics at the University of Cambridge. After leaving Cambridge in 1986, he took up the appointment to the John von Neumann Chair of Mathematics at Princeton University. Conway is known for the invention of the Game of Life, one of the early examples of a cellular automaton, his initial experiments in that field were done with pen and paper, long before personal computers existed. Since the game was introduced by Martin Gardner in Scientific American in 1970, it has spawned hundreds of computer programs, web sites, articles, it is a staple of recreational mathematics.
There is an extensive wiki devoted to cataloging the various aspects of the game. From the earliest days it has been a favorite in computer labs, both for its theoretical interest and as a practical exercise in programming and data display. At times Conway has said he hates the Game of Life–largely because it has come to overshadow some of the other deeper and more important things he has done; the game did help launch a new branch of mathematics, the field of cellular automata. The Game of Life is now known to be Turing complete. Conway's career is intertwined with mathematics popularizer and Scientific American columnist Martin Gardner; when Gardner featured Conway's Game of Life in his Mathematical Games column in October 1970, it became the most read of all his columns and made Conway an instant celebrity. Gardner and Conway had first corresponded in the late 1950s, over the years Gardner had written about recreational aspects of Conway's work. For instance, he discussed Conway's game of Sprouts and his angel and devil problem.
In the September 1976 column he reviewed Conway's book On Numbers and Games and introduced the public to Conway's surreal numbers. Conferences called Gathering 4 Gardner are held every two years to celebrate the legacy of Martin Gardner, Conway himself has been a featured speaker at these events, discussing various aspects of recreational mathematics. Conway is known for his contributions to combinatorial game theory, a theory of partisan games; this he developed with Elwyn Berlekamp and Richard Guy, with them co-authored the book Winning Ways for your Mathematical Plays. He wrote the book On Numbers and Games which lays out the mathematical foundations of CGT, he is one of the inventors of sprouts, as well as philosopher's football. He developed detailed analyses of many other games and puzzles, such as the Soma cube, peg solitaire, Conway's soldiers, he came up with the angel problem, solved in 2006. He invented a new system of numbers, the surreal numbers, which are related to certain games and have been the subject of a mathematical novel by Donald Knuth.
He invented a nomenclature for exceedingly large numbers, the Conway chained arrow notation. Much of this is discussed in the 0th part of ONAG. In the mid-1960s with Michael Guy, son of Richard Guy, Conway established that there are sixty-four convex uniform polychora excluding two infinite sets of prismatic forms, they discovered the grand antiprism in the only non-Wythoffian uniform polychoron. Conway has suggested a system of notation dedicated to describing polyhedra called Conway polyhedron notation. In the theory of tessellations, he devised the Conway criterion which describes rules for deciding if a prototile will tile the plane, he investigated lattices in higher dimensions, was the first to determine the symmetry group of the Leech lattice. In knot theory, Conway formulated a new variation of the Alexander polynomial and produced a new invariant now called the Conway polynomial. After lying dormant for more than a decade, this concept became central to work in the 1980s on the novel knot polynomials.
Conway further developed tangle theory and invented a system of notation for tabulating knots, nowadays known as Conway notation, while correcting a number of errors in the 19th century knot tables and extending them to include all but four of the non-alternating primes with 11 crossings. See Topology Proceedings 7 118, he was the primary author of the ATLAS of Finite Groups giving prope
Point groups in three dimensions
In geometry, a point group in three dimensions is an isometry group in three dimensions that leaves the origin fixed, or correspondingly, an isometry group of a sphere. It is a subgroup of the orthogonal group O, the group of all isometries that leave the origin fixed, or correspondingly, the group of orthogonal matrices. O itself is a subgroup of the Euclidean group E of all isometries. Symmetry groups of objects are isometry groups. Accordingly, analysis of isometry groups is analysis of possible symmetries. All isometries of a bounded 3D object have one or more common fixed points. We choose the origin as one of them; the symmetry group of an object is sometimes called full symmetry group, as opposed to its rotation group or proper symmetry group, the intersection of its full symmetry group and the rotation group SO of the 3D space itself. The rotation group of an object is equal to its full symmetry group if and only if the object is chiral; the point groups in three dimensions are used in chemistry to describe the symmetries of a molecule and of molecular orbitals forming covalent bonds, in this context they are called molecular point groups.
Finite Coxeter groups are a special set of point groups generated purely by a set of reflectional mirrors passing through the same point. A rank n Coxeter group is represented by a Coxeter -- Dynkin diagram. Coxeter notation offers a bracketed notation equivalent to the Coxeter diagram, with markup symbols for rotational and other subsymmetry point groups. SO is a subgroup of E +, which consists of i.e. isometries preserving orientation. O is the direct product of SO and the group generated by inversion: O = SO × Thus there is a 1-to-1 correspondence between all direct isometries and all indirect isometries, through inversion. There is a 1-to-1 correspondence between all groups of direct isometries H in O and all groups K of isometries in O that contain inversion: K = H × H = K ∩ SOFor instance, if H is C2 K is C2h, or if H is C3 K is S6. If a group of direct isometries H has a subgroup L of index 2 apart from the corresponding group containing inversion there is a corresponding group that contains indirect isometries but no inversion: M = L ∪ where isometry is identified with A.
An example would be C4 for H and S4 for M. Thus M is obtained from H by inverting the isometries in H ∖ L; this group M is as abstract group isomorphic with H. Conversely, for all isometry groups that contain indirect isometries but no inversion we can obtain a rotation group by inverting the indirect isometries; this is clarifying when see below. In 2D the cyclic group of k-fold rotations Ck is for every positive integer k a normal subgroup of O and SO. Accordingly, in 3D, for every axis the cyclic group of k-fold rotations about that axis is a normal subgroup of the group of all rotations about that axis. Since any subgroup of index two is normal, the group of rotations is normal both in the group obtained by adding reflections in planes through the axis and in the group obtained by adding a reflection plane perpendicular to the axis; the isometries of R3 that leave the origin fixed, forming the group O, can be categorized as follows: SO: identity rotation about an axis through the origin by an angle not equal to 180° rotation about an axis through the origin by an angle of 180° the same with inversion, i.e. respectively: inversion rotation about an axis by an angle not equal to 180°, combined with reflection in the plane through the origin perpendicular to the axis reflection in a plane through the originThe 4th and 5th in particular, in a wider sense the 6th are called improper rotations.
See the similar overview including translations. When comparing the symmetry type of two objects, the origin is chosen for each separately, i.e. they need not have the same center. Moreover, two objects are considered to be of the same symmetry type if their symmetry groups are conjugate subgroups of O. For example, two 3D objects have the same symmetry type: if both have mirror symmetry, but with respect to a different mirror plane if both have 3-fold rotational symmetry, but with respect to a different axis. In the case of multiple mirror planes and/or axes of rotation, two symmetry groups are of the same symmetry type if and only if there is a rotation mapping the whole structure of the first symmetry group to that of the second; the conjugacy definition would allow a mirror image of the structure, but this is not needed, the structure itself is achiral. For example, if a symmetry group contains a 3-fold axis of rotation, it contains rotations in two opposite directions. There are many infinite isometry groups.
We may create non-cyclical abelian groups by adding more rotations around the same axis. There are non-abelian groups generated by rotations around different axes; these are free groups. They will be infinite. All the infinite groups mentioned so far are not closed as topological subgroups of O. We now discuss