Question: Prove that every proper affine plane isometry F[x] = Qx + b of R2, where det Q = 1, is either (a) A translation, or

Prove that every proper affine plane isometry F[x] = Qx + b of R2, where det Q = 1, is either
(a) A translation, or
(b) A rotation (7.40) centered at some point c ∈ R2.

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