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![The [4x4] rigid homogeneous transformation matrices a, a, ay](/images/search?view=detailV2&id=4C8BC3B13814DCA12E9A5A83C9489ACC98294D68&thid=OIP.FrvO6TqSVHVY0E1v_36zkwHaD0&mediaurl=https%3a%2f%2ffigures.academia-assets.com%2f106396738%2ffigure_002.jpg%3fresponse-content-disposition%3dattachment%253B%2bfilename%253Dtable-1-the-rigid-homogeneous-transformation-matrices-ay-ay&exph=519&expw=1005&q=rigid+transformation+matrices&simid=608011287087373104&ck=B070E957E88179C4FFBE8F2667082918&itb=0&FORM=IVCLIG)
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