My last series of questions have been to do with animations. Have had some really good help. I am using a rotation type matrix so I can't readilly use the rotate command. That means painfully breaking up the body into its individual components to apply the matrix to. The matrix is derived from some very nolinear functions. I have just included a general Euler rotation matrix here. Have looked inside the rotate command but don't have enough experience to develop my own. Now I know this sort of command would not be limited to rotating the body as a general 3x3 matrix would transform the body. That would not be a problem, could be useful for other things.
In Mathematica there is a command "GeometricTransformation" that does this.