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I know that the impact angle is known with the "traveling vector" k in respect of the normal vector, let's say z or (0, 0, 1).

Doing the math i know it is 45ยบ, but why the reflected wave has the same angle? The EM wave impacts a plane.

Another question, what if, instead of a plane, the EM wave impacts a cylinder? will this condition of (Incident Angle = Reflected Angle) work?

Jonalca
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The Law of Reflection (i.e. "the angle of incidence is equal to the angle of reflection") can be derived using Fermat's principle of Least Time. The argument is detailed here: http://www.ysagade.nl/2015/05/22/sicm-fermat-optics/

The Law of Reflection is true for any type of surface, even rough ones.