--> R
ans =
    0.8660   -0.5000         0
    0.5000    0.8660         0
         0         0    1.0000
--> T
ans =
    1.0000         0    0.5000
         0    1.0000         0
         0         0    1.0000
--> R*T
ans =
    0.8660   -0.5000    0.4330
    0.5000    0.8660    0.2500
         0         0    1.0000
--> transpose(T)*transpose(R)
ans =
    0.8660    0.5000         0
   -0.5000    0.8660         0
    0.4330    0.2500    1.0000