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Quadratic Forms
Examples:
- quadratic curves (circles, ellipses, hyperbolae, parabolae) and surfaces
(spheres, spheroids, ellipsoids, cones, cylinders, ...);
- kinetic energy of solid bodies;
- potential energy near equilibria;
- ...
Matrix form:

An orthonormal transformation leaves the quadratic form unchanged

but can simplify the coefficients. On principal axes

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