 Canonical form of a quadric

The equation of a quadric surface after orthogonal diagonalization of its symmetric matrix and appropriate translation. The spectral theorem for real symmetric matrices removes mixed quadratic terms, and completing squares removes linear terms in directions with nonzero eigenvalues. Linear terms in zero-eigenvalue directions can remain and generate elliptic paraboloids or hyperbolic paraboloids. The signs, zero coefficients and constant distinguish ordinary surfaces, degenerate conics in plane sections, and empty real loci.