Symbolic Math Example

syms theta
f = sin(theta)

f =

$\sin \left(\theta \right)$

df = diff(f,theta)

df =

$\cos \left(\theta \right)$

fplot(f)
hold on
fplot(df)
hold off

a = [cos(theta), -sin(theta),0,0
    sin(theta),cos(theta),0,0
    0,0,1,0
    0,0,0,1]

a =

$\left(\begin{array}{cccc} \cos \left(\theta \right) & -\sin \left(\theta \right) & 0 & 0\\ \sin \left(\theta \right) & \cos \left(\theta \right) & 0 & 0\\ 0 & 0 & 1 & 0\\ 0 & 0 & 0 & 1 \end{array}\right)$

b = [1,0,0,0
    0,0,-1,0
    0,1,0,0
    0,0,0,1]

b = 4x4    
     1     0     0     0
     0     0    -1     0
     0     1     0     0
     0     0     0     1

a*b

ans =

$\left(\begin{array}{cccc} \cos \left(\theta \right) & 0 & \sin \left(\theta \right) & 0\\ \sin \left(\theta \right) & 0 & -\cos \left(\theta \right) & 0\\ 0 & 1 & 0 & 0\\ 0 & 0 & 0 & 1 \end{array}\right)$