Hi Reuben,
You're almost there.
The basic idea is to subtract the rotation point value from the target point, so that you ARE rotating about the origin. Then do the rotation, and add the offset back.
target_x = 27.000;
target_y = 16.000;
start_x = 24.000;
start_y = 16.000;
p = [target_x target_y]';
rotPt = [start_x start_y]';
theta = pi/4 ;
R = [cos(theta) -sin(theta); sin(theta) cos(theta)];
pTmp = p - rotPt;
pRotTmp = R * pTmp;
pRot = pRotTmp + rotPt;
With this you get
Best Answer