Consider the matrix E with a1 and a2 as real positive numbers.
a) Find the eigenvalues of E.
b) Find the eigenvectors of E.
c) Normalize the eigenvectors such that their norm is equal to 1 and write down the matrix A that will allow you to transform E into its diagonal equivalent E'.
d) In order for this transformation to be a rotation, A needs to be orthogonal, which means A^T * A = I. What is the condition on a1 and a2 for this to be true?
e) In this case, rotate the matrix E and verify that E' is diagonal.
f) If a1 = a2; what is the angle of the rotation?