This transformation moves points of an object to a new specified position. Translation is defined by a vector of the shift p = (X1X2, Y1Y2), where (X1, Y1) are coordinates of the object in its first position and (X2, Y2) are its coordinates in the second position.
Translation matrix is :
 1 0 0  A =  0 1 0   tx ty 0 
Rotation can be described as circular motion about some axis, in this case the axis is one of the object's local axes. Transformation of an object around a static point on a circular trajectory is called rotation. It is defined by a rotation angle and rotation centre.
After a rotation of point P[x, y] around the centre of coordinates system O=[0, 0] by angle alfa we will get a new point P' with coordinates
x'= x*cos(alfa)  y*sin(alfa) y'= x*sin(alfa) + y*cos(alfa)
Matrix transformation for rotation is
 cos(alfa) sin(alfa) 0  Ao = sin(alfa) cos(alfa) 0   0 0 1 
A change of scale also causes a change of object's size in the directions of the coordinates axes. If the coefficient of proportion of the new length to the old one is higher than 1 in a direction of one of the axes then the object will be prolonged, if the coefficient is lower than 1, then the object will be shortened.
The formule for the change of scale for the point P [x, y] is
x' = Sx * x
y' = Sy * y
The scaling equations are represented in matrix form as
 Sx 0 0  As =  0 Sy 0   0 0 1 
Symetry can be a special case of scale change, where coefficients Sx and Sy get values 1 or 1.
Sx 


symetry along the x axis 


symetry along the y axis 


symetry along the center 


Twodimensional sheare transformations are of two kinds: a shear along the x axis and a shear along the y axis.
A transformations matrix on the form
 1 Sy 0  Asxy =  Sx 1 0   0 0 1 
When composing transformations, it is important not to change the right order of transformations. A transformations originated by composing of other ones, can be expressed by one matrix by gradual multiplication of matrix representing original partial transformations.