Determine the transformation:
Determine the transformation that rotates an object point P (x, y), θo around a fix centre of rotation (l, m).
Solution
The transformations RQ, P may be found in the following three steps :
1. translation of point p to centre,
2. rotation of θo about the origin, and
3. Translation of point P back to position l, m.
The rotation around point P is get by concatenating the individual transformations.
Rθ, 0 = T- l , - m . Rθ. Tl. m
