General Pivot Point Rotation

A transformation sequence for rotating an object about a specified pivot point using the rotation matrix

	Original Position of Object and Pivot Point
	Translation of Object so that Pivot Point is at Origin
	Rotation about Origin
	Translation of Object so that Pivot Point is Returned to original Position

P' = T(x_r, y_r) ^. R([theta]) ^. T(-x_r, -y_r) ^. P