Symmetry and Transformations I

Transformations of the graph of a function $y=f(x)$:

The transformations we consider include reflection, horizontal shifting, vertical shifting, stretching and shrinking. Here we discuss reflection and related symmetries. In the following notes, we will discuss the rest of transformations.

Reflection about the $x$-axis:

Example. Consider $y=\sqrt{x}$. If you plug in $-y$ for $y$, we obtain $-y=\sqrt{x}$ or $y=-\sqrt{x}$. Let us plot them all togather.


If you fold the two plots along the $x$-axis, the graphs of $y=\sqrt{x}$ and $y=-\sqrt{x}$ would overlap. So we can say that $y=-\sqrt{x}$ is the reflection of $y=\sqrt{x}$ with respect to $x$-axis, and vice versa.

In general, the graph of $y=-f(x)$ is the reflection of the graph of $y=f(x)$ with respect to the $x$-axis.

Reflection about the $y$-axis:

Example: Now this time we consider the function $y=2x+1$. If you plug in $-x$ for $x$, we obtain $y=-2x+1$. Let us plot them both again.

You can clearly see that if you fold the two plots along teh $y$-axis, they would overlap. So we can say that the graph of $y=-2x+1$ is the reflection of the graph of $y=2x+1$.

In general, the graph of $y=f(-x)$ is the reflection of the graph of $y=f(x)$ with respect to the $y$-axis.

Symmetry about the $y$-axis:

Example. Consider the function $f(x)=x^2-1$. If you plug in $-x$ for $x$, $f(-x)=(-x)^2-1=x^2-1=f(x)$. So the function is unchanged by the reflection with respect to the $y$-axis.

In general, if the function $y=f(x)$ satisfies the property $$f(-x)=f(x),$$ we say that the graph of $f(x)$ is symmetric about the $y$-axis.

Symmetry about the $x$-axis:

Example: Consider $x=y^2$. This is a function of the form $x=f(y)$. If you plug in $-y$ for $y$, $(-y)^2=y^2=x$. So the function still does not change.

In general, if the function $x=f(y)$ satisfies the property $$f(-y)=f(y),$$ we say that the graph of $x=f(y)$ is symmetric about the $x$-axis.

Symmetry about the origin:

Example: Consider the function $y=x^3$. If you plug in $-x$ for $x$ and $-y$ for $y$, the equation does not change.

The effect of $x\mapsto -x$ and $y\mapsto -y$ in the equation $y=f(x)$ amounts to rotating the graph of $y=f(x)$ about the origin by $180^\circ$. If the graph of $y=f(x)$ does not change after the rotation of the graph about the origin by $180^\circ$ (or equivalently $-y=f(-x)$ is the same as the equation $y=f(x)$), then we say that the graph is symmetric about the origin.

Even Functions and Odd Functions:

Definition. A function $y=f(x)$ is a called an even function if it satisfies $f(-x)=f(x)$. The reason such function is called even is that one of the simplest examples of even functions is of the form $x^{\mbox{even integer}}$, for instance, $x^2$, $x^4$, $x^6$, etc.

Definition. A function $y=f(x)$ is a called an odd function if it satisfies $f(-x)=-f(x)$. The reason such function is called odd is that one of the simplest examples of odd functions is of the form $x^{\mbox{odd integer}}$, for instance, $x$, $x^3$, $x^5$, etc.

From the equations we can easily see that the graph of an even functions is symmetric about the $y$-axis, while the graph of an odd function is symmetric about the origin.

Example. $f(x)=5x^7-6x^3-2x$ is an odd function because \begin{align*}f(-x)&=5(-x)^7-6(-x)^3-2(-x)\\&=-5x^7+6x^3+2x\\&=-f(x).\end{align*}

Remark. Note that a constant multiple of an odd function is an odd function and the sum of an odd functions is an odd function. Since each term $x^7$, $x^3$, $x$ are odd functions, we can also see that $f(x)$ is an odd function.

Example. $g(x)=5x^6-3x^2-7$ is an even function because \begin{align*}
g(-x)&=5(-x)^6-3(-x)^2-7\\&=5x^6-3x^2-7\\&=g(x).
\end{align*}

Remark. Note that a constant function (number) is an even function, a constant multiple of an even function is an even function and the sum of an even functions is an even function. Since each term $x^6$, $x^2$, $-7$ are even functions, we can also see that $g(x)$ is an even function.

Modeling a Vibrating Drumhead I

A vibrating drumhead can be modeled by wave equation in polar coordinates and appropriate boundary and initial conditions. The modeling problem can be set up as follows. We assume that our drumhead is a round disk with unit radius ($r=1$).

PDE: $u_{tt}=c^2\left(u_{rr}+\frac{1}{r}u_r+\frac{1}{r^2}u_{\theta\theta}\right),\ 0<r<1$

BC: $u=0$ when $r=1$, $0<t<\infty$

ICs: \begin{align*}u(r,\theta,0)&=f(r,\theta),\\u_t(r,\theta,0)&=g(r,\theta)
\end{align*}
Note that the expression inside () is the Laplacian $\nabla^2 u$ in polar coordinates, i.e. $$\nabla^2u=u_{rr}+\frac{1}{r}u_r+\frac{1}{r^2}u_{\theta\theta}.$$
Let $u(r,\theta,t)=U(r,\theta)T(t)$. $U(r,\theta)$ is the shape of the drumhead while $T(t)$ is the oscillatory factor. Then the PDE can be broken into two differential equtions, one PDE and one ODE:
\begin{align*}
\nabla^2U+\lambda^2U&=0\ (\mbox{Helmholtz equation})\\\ddot{T}+\lambda^2c^2T&=0\ (\mbox{Simple harmonic motion})
\end{align*}
With the boundary condition, we have the Helmholtz eigenvalue problem:
\begin{align*}
\nabla^2U+\lambda^2U&=0\\
U(1,\theta)&=0.
\end{align*}
To solve this Helmholtz eigenvalue problem, we assume that $U(r,\theta)=R(r)\Theta(\theta)$. Then the Helmholtz equation is broken into two ODEs with BCs:
\begin{align*}
r^2R^{\prime\prime}+rR’+(\lambda^2r^2-n^2)R&=0\ (\mbox{Bessel’s equation}),\\
R(1)&=0
\end{align*}
and
\begin{align*}
\Theta^{\prime\prime}+n^2\Theta&=0,\\
\Theta(0)&=\Theta(2\pi).
\end{align*}
The boundary condition for $\Theta(\theta)$ is imposed because we want $\Theta$ to be periodic with period $2\pi$. We also impose an additional condition for $R(r)$:
$$R(0)<\infty\ (\mbox{physical condition}).$$

Let us discuss the solutions of the Bessel’s equation. The Bessel’s equation has two independent solutions
$J_n(\lambda r)$ and $Y_n(\lambda r)$, where $$J_n(x)=\sum_{k=0}^\infty\frac{(-1)^kx^{2k+n}}{2^{2k+n}k!(n+k)!}$$ and $$Y_n(x)=\frac{2}{\pi}J_n(x)\left[\ln\left(\frac{x}{2}\right)+\gamma\right]+\frac{2^n}{\pi x^n}\sum_{k=0}^\infty\frac{\beta_{mk}}{2^{2k}k!}x^{2k}.$$
Here, $\gamma$ is called the Euler-Macheroni constant and is given by
$$\gamma=\lim_{n\to\infty}\left[\left(\sum_{k=1}^n\frac{1}{k}\right)-\ln n\right]$$
and $\beta_{mk}$ is defined by
$$\beta_{mk}=\left\{\begin{array}{ccc}
-(n-1-k)! & \rm{if} & k\leq n-1,\\(-1)^{k-n-1}\frac{h_{k-n}+h_k}{(k-n)!} & \rm{if} & k>m-1,
\end{array}\right.$$ where $h_p=\sum_{i=1}^p\frac{1}{i}$.
$J_n(x)$ is called Bessel function of the first kind and $Y_n(x)$ is Bessel function of the second kind. $Y_n(x)$ is also called Neumann function. The general solution $R(r)$ of the Bessel’s equation is then written as
$$R(r)=AJ_n(\lambda r)+BY_n(\lambda r).$$ Since $Y_n(\lambda r)$ is not defined at $r=0$, due to the boundary condition $R(0)<\infty$, we require that $B=0$. So we consider only Bessel function of the first kind $J_n(x)$ here. Let us plot Bessel function of the first kind using Maxima. In Maxima, Bessel function of the first kind of order $n$ and argument $x$, $J_n(x)$ is denoted by bessel_j(n,x). To plot $J_1(x)$, $0\leq x\leq 10$, type the command

plot2d(bessel_j(1,x),[x,0,10]);

and press enter as you see in the following screenshot.

Then you will see the plot.

If you want to plot $J_2(x)$, type the command

plot2d(bessel_j(2,x),[x,0,10]);

and press enter.

If you want to plot multiple Bessel functions, for example,  $J_1(x)$, $J_2(x)$, $J_3(x)$, $J_4(x)$,  type the command

plot2d([bessel_j(1,x),bessel_j(2,x),bessel_j(3,x),bessel_j(4,x)],[x,0,10]);

and press enter.

The Product and Quotient Rules

Product Rule: Let $u=f(x)$ and $v=g(x)$ be differentiable functions. Then $$(fg)'(x)=f(x)g'(x)+f'(x)g(x)$$ or $$\frac{d(uv)}{dx}=u\frac{dv}{dx}+\frac{du}{dx}v.$$

Proof. \begin{eqnarray*}(fg)'(x)&=&\lim_{\Delta x\to 0}\frac{fg(x+\Delta x)-fg(x)}{\Delta x}\\&=&\lim_{\Delta x\to 0}\frac{f(x+\Delta x)g(x+\Delta x)-f(x)g(x)}{\Delta x}\\&=&\lim_{\Delta x\to 0}\frac{f(x+\Delta x)g(x+\Delta x)-f(x)g(x+\Delta x)+f(x)g(x+\Delta x)-f(x)g(x)}{\Delta x}\\&=&\lim_{\Delta x\to 0}\frac{f(x+\Delta x)-f(x)}{\Delta x}g(x+\Delta x)+f(x)\lim_{\Delta x\to 0}\frac{g(x+\Delta x)-g(x)}{\Delta x}\\&=&f'(x)g(x)+f(x)g'(x).\end{eqnarray*} Note that $\displaystyle\lim_{\Delta x\to 0}g(x+\Delta x)=g(x)$ because $g(x)$ is continuous.

Example. Using the product rule, differentiate $(x^2+2x-1)(x^3-4x^2)$.

Solution. \begin{eqnarray*}\frac{d}{dx}[(x^2+2x-1)(x^3-4x^2)]&=&\frac{d(x^2+2x-1)}{dx}(x^3-4x^2)+(x^2+2x-1)\\&&\frac{d(x^3-4x^2)}{dx}\\&=&(2x+2)(x^3-4x^2)+(x^2+2x-1)(3x^2-8x)\\&=&(2x^4-6x^3-8x^2)+(3x^4-2x^3-19x^2+8x)\\&=&5x^4-8x^3-27x^2+8x.\end{eqnarray*} Multiplyng first, \begin{eqnarray*}(x^2+2x-1)(x^3-4x^2)&=&x^5-4x^4+2x^4-8x^3-x^3+4x^2\\&=&x^5-2x^4-9x^3+4x^2.\end{eqnarray*} The derivative of this is $5x^4-8x^3-27x^2+8x$ by the power rule and differentiation formulas we discussed here.

Reciprocal Rule (Baby Quotient Rule): Let $v=g(x)$ be a differentiable function with $g(x)\ne 0$. Then $$\left(\frac{1}{g}\right)'(x)=\frac{-g'(x)}{[g(x)]^2}$$ or $$\frac{d}{dx}\left(\frac{1}{v}\right)=-\frac{1}{v^2}\frac{dv}{dx}.$$

Proof. \begin{eqnarray*}\left(\frac{1}{g}\right)'(x)&=&\lim_{\Delta x\to 0}\frac{\frac{1}{g(x+\Delta x)}-\frac{1}{g(x)}}{\Delta x}\\&=&\lim_{\Delta x\to 0}\frac{\frac{g(x)-g(x+\Delta x)}{g(x+\Delta x)g(x)}}{\Delta x}\\&=&-\lim_{\Delta x\to 0}\frac{\frac{g(x+\Delta x)-g(x)}{\Delta x}}{g(x+\Delta x)g(x)}\\&=&-\frac{g'(x)}{[g(x)]^2}.\end{eqnarray*}

Example. Differentiate $\frac{1}{\sqrt{x}+2}$.

Solution. \begin{eqnarray*}\frac{d}{dx}\frac{1}{\sqrt{x}+2}&=&-\frac{d(\sqrt{x}+2)/dx}{(\sqrt{x}+2)^2}\\&=&-\frac{1}{2\sqrt{x}(\sqrt{x}+2)^2}.\end{eqnarray*}

Using the product rule and the reciprocal rule, we can prove

Quotient Rule: Let $u=f(x)$ and $v=g(x)$ be differentiable functions and assume that $g(x)\ne 0$. Then $$\left(\frac{f}{g}\right)'(x)=\frac{f'(x)g(x)-f(x)g'(x)}{[g(x)]^2}$$ or $$\frac{d}{dx}\left(\frac{u}{v}\right)=\frac{\frac{du}{dx}v-u\frac{dv}{dx}}{v^2}.$$

Proof. \begin{eqnarray*}\left(\frac{f}{g}\right)'(x)&=&\left(f\frac{1}{g}\right)'(x)\\&=&f'(x)\frac{1}{g(x)}+f(x)\left(\frac{1}{g}\right)'(x)\ (\mbox{the product rule is applied})\\&=&\frac{f'(x)}{g(x)}-f(x)\frac{g'(x)}{[g(x)]^2}\ (\mbox{the reciprocal rule is applied})\\&=&\frac{f'(x)g(x)-f(x)g'(x)}{[g(x)]^2}.\end{eqnarray*}

Example. Find the derivative of $h(x)=\frac{2x+1}{x^2-2}$.

Solution. \begin{eqnarray*}h'(x)&=&\frac{(2x+1)'(x^2-2)-(2x+1)(x^2-2)’}{(x^2-2)^2}\\&=&\frac{2(x^2-2)-(2x+1)2x}{(x^2-2)^2}\\&=&\frac{2x^2-4-4x^2-2x}{(x^2-2)^2}\\&=&-\frac{2x^2+2x+4}{(x^2-2)^2}.\end{eqnarray*}

Example. Differentiate $\frac{x^2+2}{x^8}$.

Solution. Since the function is a rational function, you may hastily try to use the quotient rule to differentiate it. There is nothing wrong with that except there may be a simpler way to differentiate the function. In fact the function can be written as $$\frac{x^2+2}{x^8}=\frac{x^2}{x^8}+\frac{2}{x^8}=\frac{1}{x^6}+2x^{-8}=x^{-6}+2x^{-8}.$$ Thus the derivative is $$-6x^{-7}-16x^{-9}=-\frac{6}{x^7}-\frac{16}{x^9}.$$

Continuity versus Differentiability

There is a close relatioship between continuity and differentiability, namely

Theorem 18. If $f'(x_0)$ exists then $f(x)$ is continuous at $x_0$; i.e. $\displaystyle\lim_{x\to x_0}f(x)=f(x_0)$. However the converse need not be true.

Proof. \begin{eqnarray*}\lim_{x\to x_0}[f(x)-f(x_0)]&=&\lim_{x\to x_0}\frac{f(x)-f(x_0)}{x-x_0}\cdot(x-x_0)\\&=&f'(x)\cdot 0\\&=&0.\end{eqnarray*}

Example. [A Counterexample for the Converse] The function $f(x)=|x|$ is continuous at $x=0$ but has no derivative at $x=0$.

Proof. \begin{eqnarray*}\lim_{x\to 0+}\frac{f(x)-f(0)}{x-0}&=&\lim_{x\to 0+}\frac{|x|}{x}\\&=&\lim_{x\to 0+}\frac{x}{x}\\&=&1,\end{eqnarray*} while \begin{eqnarray*}\lim_{x\to 0-}\frac{f(x)-f(0)}{x-0}&=&\lim_{x\to 0-}\frac{|x|}{x}\\&=&\lim_{x\to 0-}\frac{-x}{x}\\&=&-1.\end{eqnarray*} Hence, $f'(0)=\displaystyle\lim_{x\to 0}\frac{f(x)-f(0)}{x-0}$ does not exist.

Basic Differentiation Formulas

Let us recall the definition of the derivative $$f'(x)=\lim_{h\to 0}\frac{f(x+h)-f(x)}{h}.$$ Replace $h$ by $\Delta x$. Then $f'(x)$ is rewritten as $$f'(x)=\lim_{\Delta x\to 0}\frac{f(x+\Delta x)-f(x)}{\Delta x}.$$ In mathematics, $\Delta$ often means an increment. So $\Delta x$ means an increment of $x$. Note that $\Delta x$ could be positive or negative. Denote by $\Delta y$ the difference $f(x+\Delta x)-f(x)$. $\Delta y$ is called an increment of $y$. Hence, the average rate of change of $y$ with respect to $x$ in the interval $[x,x+\Delta x]$ is the difference quotient $$\frac{\Delta y}{\Delta x}=\frac{f(x+\Delta x)-f(x)}{\Delta x}.$$  In the view of Gottfried Leibniz, one could think of $\Delta x$ as becoming infinitesimal. The resulting quantity is denoted by $dx$. When $\Delta x$ becomes the infinitesimal $dx$, $\Delta y$ simultaneously becomes the infinitesimal $dy$. The infinitesimals $dx$ and $dy$ are called differentials. Hence the ratio $\frac{\Delta y}{\Delta x}$ becomes $\frac{dy}{dx}$ accordingly, and it is exactly equal to $f'(x)$. The quantity $\frac{dy}{dx}$ can be viewed as the ratio of differentials or as s synonym for $f'(x)$.

Leibniz Notation: If $y=f(x)$, the derivative $f'(x)$ can be written $$\frac{dy}{dx},\frac{df(x)}{dx},\ \mbox{or}\ \frac{d}{dx}f(x).$$ This is just a notation and does not represent a division. Using Leibniz notaion, the value $f'(a)$ of $f'(x)$ at a specific point $x=a$ can be written $$\left.\frac{dy}{dx}\right|_{x=a}\ \mbox{or}\ \left.\frac{df(x)}{dx}\right|_{x=a}.$$

Calculating derivatives using the limit defintion can be really laborious. In actual practice, special rules and formulas are derived for differentiating certain types of functions. The following are such rules and they can be proved striaghtforwardly by the definition of the derivative.

Theorem 15. Let $c$ be a constant, and $f(x)$ and $g(x)$ be two differentiable functions of $x$.

  1. $\displaystyle\frac{dc}{dx}=0$
  2. $\displaystyle\frac{d(cf(x))}{dx}=c\frac{df(x)}{dx}$
  3. $\displaystyle\frac{d[f(x)+g(x)]}{dx}=\frac{df(x)}{dx}+\frac{dg(x)}{dx}$

The converse of the first rule is also true, namely if $f'(x)=0$ for all $x$ in the domain then $f(x)$ is a constant function. This will be proved later.

Lemma 16. [Binomial Theorem] \begin{eqnarray*}(a+b)^n&=&\begin{pmatrix}n\\0\end{pmatrix}a^nb^0+ \begin{pmatrix}n\\1\end{pmatrix}a^{n-1}b+\begin{pmatrix}n\\2\end{pmatrix}a^{n-2}b^2+\cdots+\begin{pmatrix}n\\k\end{pmatrix}a^{n-k}b^k+\\&&\cdots+\begin{pmatrix}n\\n-1\end{pmatrix}ab^{n-1}+\begin{pmatrix}n\\n\end{pmatrix}a^0b^n\\&=&a^n+\begin{pmatrix}n\\1\end{pmatrix}a^{n-1}b+\begin{pmatrix}n\\2\end{pmatrix}a^{n-2}b^2+\cdots+\begin{pmatrix}n\\k\end{pmatrix}a^{n-k}b^k+\\&&\cdots+\begin{pmatrix}n\\n-1\end{pmatrix}ab^{n-1}+b^n,\end{eqnarray*} where $$\begin{pmatrix}n\\k\end{pmatrix}=\frac{n!}{k!(n-k)!}.$$ $\begin{pmatrix}n\\k\end{pmatrix}$ is also denoted by $n{\mathrm C}k$. The binomial coefficients $\begin{pmatrix}n\\k\end{pmatrix}$ can be also easily obtained by Pascal’s triangle. For details see here and here.

Theorem 17. [Power Rule] $\displaystyle\frac{dx^n}{dx}=nx^{n-1}$

Proof. Let $y=x^n$. Then by the Binomial Theorem \begin{eqnarray*}\frac{dx^n}{dx}&=&\lim_{\Delta x\to 0}\frac{\Delta y}{\Delta x}\\&=&\lim_{\Delta x\to 0}\frac{(x+\Delta x)^n-x^n}{\Delta x}\\&=&\lim_{\Delta x\to 0}\frac{\left[x^n+nx^{n-1}\Delta x+\frac{n(n-1)}{2!}x^{n-2}(\Delta x)^2+\cdots+(\Delta x)^n\right]-x^n}{\Delta x}\\&=&\lim_{\Delta x\to 0}\left[nx^{n-1}+\frac{n(n-1)}{2!}x^{n-2}\Delta x+\cdots+(\Delta x)^{n-1}\right]\\&=&nx^{n-1}.\end{eqnarray*}

Example. If $y=3x^5$, then by Property 2 of Theorem 15 and Power Rule (Theorem 17), we have \begin{eqnarray*}\frac{dy}{dx}&=&3\frac{dx^5}{dx}\\&=&3(5)x^{5-1}\\&=&15x^4.\end{eqnarray*}

Remark. In Theorem 17 Power Rule is established only for the case when $n$ is a positive integer. The formula is indeed valid for all real $n$’s.

Example. If $y=8x^{-\frac{3}{4}}$, then we have $$\frac{dy}{dx}=8\left(-\frac{3}{4}\right)x^{-\frac{3}{4}-1}=-6x^{-\frac{7}{4}}.$$

Using Theorems 15 and 17, we can now find the derivative of any polynomial function.

Example. If $y=2x^4-x^3-2x+7$, then \begin{eqnarray*}\frac{dy}{dx}&=&\frac{d(2x^4)}{dx}-\frac{d(x^3)}{dx}-2\frac{dx}{dx}+\frac{d(7)}{dx}\\&=&8x^3-3x^2-2.\end{eqnarray*}

Example. The function $f(x)=\displaystyle\frac{3x^3-4}{x^2}$ does not appear to be a power function, but it actually can be written as a power function. $$f(x)=\frac{3x^3-4}{x^2}=\frac{3x^3}{x^2}-\frac{4}{x^2}=3x-4x^{-2}.$$ Hence we have $$f'(x)=\frac{d(3x)}{dx}-\frac{d(4x^{-2})}{dx}=3+8x^{-3}.$$

Example. The function $y=\root 3\of{x^2}-3\root 3\of{x}-5$ can be also written as a power function. \begin{eqnarray*}y&=&\root 3\of{x^2}-3\root 3\of{x}-5\\&=&(x^2)^{\frac{1}{3}}-3x^{\frac{1}{3}}-5\\&=&x^{\frac{2}{3}}-3x^{\frac{1}{3}}-5.\end{eqnarray*} Hence, $$\frac{dy}{dx}=\frac{2}{3}x^{-\frac{1}{3}}-x^{-\frac{2}{3}}.$$