10/2/16 12:03 AM MATLAB Command Window 1 of 1

>> syms t
>> syms l1
>> gab0=[1 0 0 0;0 1 0 l1;0 0 1 0;0 0 0 1];
>> est=[cos(t) -sin(t) 0 l1*sin(t);sin(t) cos(t) 0 l1-l1*cos(t);0 0 1 0;0 0 0 1];
>> gabt=est*gab0

gabt =

[ cos(t), -sin(t), 0, 0]
[ sin(t), cos(t), 0, l1]
[ 0, 0, 1, 0]
[ 0, 0, 0, 1]

>>