Example 2.9

TAAp = DX[1] . DY[2] . DZ[3] ; TAAp // Nice

( 1 0 0 1 ) 0 1 0 2 0 0 1 3 0 0 0 1

TApBp = RToT[RK[30 Degree, {1, 1, 0}/Sqrt[2]]] // Simplify ; TApBp // Nice

( 1 1 1 ) ... ] 2 0 0 0 0 1

TBpB = DX[-1] . DY[-2] . DZ[-3] ; TBpB // Nice

( 1 0 0 -1 ) 0 1 0 -2 0 0 1 -3 0 0 0 1

TAB = TAAp . TApBp . TBpB // Simplify ; TAB // Nice TAB // N // Nice

( 1 1 1 ... 0 0 0 1

( 0.9330127018922193` 0.0669872981077807` 0.35355339059327373` -1.127647469 ... 8053410035` 0.` 0.` 0.` 1.`

Created by Mathematica  (September 7, 2003)