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The matrix defining the transformation is C4 1 2 1 R3 1 2 1 2 1 21 1 2 1 1 2 T x x

The matrix defining the transformation is C4 1 2 1 R3 1 2 1 2 1 21 1 2 1 1 2 T x x y 2x y x 2y

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