What is riged body transformation matrix? Show that the composition lf two rotation is additive by concatenating the matrix representation of r (theta₂) = R (theta1 + theta₂) to obtain.

A general rigid body transformation matrix involving only translation and rotations can be expressed as: Where the four elements are the multiplicative rotation terms and elements and are the translational terms. A rigid body change in coordinate position is also sometimes referred to as a rigid motion transformation. All angles and distances between coordinate positions are unchanged by the transformation.