| βx 0 0 0| | 0 βy 0 0| | 0 0 βz 0| | 0 0 0 1|
| 1 0 0 v.x| | 0 1 0 v.y| | 0 0 1 v.z| | 0 0 1 1 |
x' = ρ [cos(θ)sin(φ) - sin(θ)cos(φ)] = ρsin(φ)cos(θ) - ρcos(φ)sin(θ) = x cos(θ) - y sin(θ)
| cos(θ) -sin(θ) 0 0| | sin(θ) cos(θ) 0 0| | 0 0 1 0| | 0 0 0 1|