 Cartesian basis under rotation

Rotate the standard basis through $30^{\circ }$ using the rotation matrix whose columns are the new basis vectors:Here $u\cdot v=0$ and $u\cdot u=v\cdot v=1$, so $Q$ is an orthogonal matrix with $Q^{T}Q=I$, where $T$ denotes transpose and $I$ is the identity matrix. For the same vector $p=(2,1{)}^T$, its coordinate vector in this Cartesian basis isThus $\alpha \approx 2.232$ and $\beta \approx -0.134$: travel forwards along $u$ and a little backwards along $v$ to reconstruct $p=\alpha u+\beta v$. The orthogonal projections onto the two axes give these signed coordinates because the measuring vectors are both perpendicular and of unit length.

The squared norm remainsThis is useful when choosing axes aligned with a geometric feature: the coordinates change but distances and dot products retain the same sum-of-products formula. The two directions of the change of basis must be kept straight: $Q$ reconstructs the vector in old coordinates, $p=Q[p{]}_{\mathcal{U}}$, and $Q^T$ extracts its new coordinates. Applying $Q$ to the old coordinate vector $p$ instead would actively rotate the vector.

A short proof explains both formulas. If $p=Qc$, multiplication by $Q^T$ gives $c=Q^{T}p$. Then $\Vert p{\Vert }^2=c^T{Q}^{T}Qc=c^{T}c$. Perpendicular unit-length columns make the matrix inverse equal the transpose; this is the computational convenience supplied by a Cartesian basis.