A look at how scaling, rotation, and translation (SRT) are stored in a transformation matrix.
I’m not trying to steal anyone’s thunder, just wanted to post something of my own on the subject.
Hat tip to David Wigforss for publishing his series of kinematic tuts.
eX-SI 
Might be nice perhaps to mention whose thunder you’re specifically not trying to steal… 😉
Agree. I was going to link to the si-community page with David’s videos, but then I just hit Publish because I had to move on to something else.