Construct a rotation matrix out of another rotation matrix

[TravelGirl]

The following is my problem: I have a rotation and rotation matrix, based on rotations around coordinate A(x1,y1,z1). But actually, the rotation found place around coordinate B(x2,y2,z2).

How can I adjust my rotation and translation matrix, so that it is adjusted for the rotations around coordinate B?

 

[tiny-tim]

Hi TravelGirl!

A rotation along AB is the same for both representations.

For rotations about axes AK and BK' perpendicular to AB, use σ_k'σ_k = … ?

 

[TravelGirl]

Maybe I explained my problem incorrectly, I am sorry for that.

Based on the rotations around point A, I received landmarks of the object I rotated and also got a rotation and translation matrix.
Though, actually I should rotate around B, and correct the positions of my landmarks for this.

So how do I correct my matrices for rotating around B in stead of A.
(and what does 'K' mean in your explanation? )