var('t') # Declare a variable
var('x0') # Declare variable
var('y0') # Declare variable
A=matrix(3,3,[1, 0, x0, 0, 1, y0, 0, 0, 1]);
B=matrix(3,3,[cos(t), -sin(t), 0, sin(t), cos(t), 0, 0, 0, 1]);
C=matrix(3,3,[1, 0, -x0, 0, 1, -y0, 0, 0, 1]);
D=A*B*C # R(theta)
var('x')
var('y')
E=matrix(3,1,[x, y, 1]);
F=D*E
print F
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[x*cos(t) - x0*cos(t) - y*sin(t) + y0*sin(t) + x0]
[x*sin(t) - x0*sin(t) + y*cos(t) - y0*cos(t) + y0]
[ 1]
[x*cos(t) - x0*cos(t) - y*sin(t) + y0*sin(t) + x0]
[x*sin(t) - x0*sin(t) + y*cos(t) - y0*cos(t) + y0]
[ 1]
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