%  Coordinate Transformations

%  Here is a transformation matrix, which corresponds to
%  a rotation in the xy plane of angle theta.

theta = 30*pi/180;

Q = [  cos(theta)  -sin(theta)   0
       sin(theta)   cos(theta)   0
                0            0   1 ]
            

% Investigate its effect on a unit vector
% in the primed system.

uv1p = [1 0 0]'


uv1 = Q * uv1p