Matrix inside a matrix column

Question

I'm typing a numeric way to solve the Jacobian Inverse for Denavit-Hartenberg method. I need to write the vectors z_i and t_i inside the matrix but I couldn't find a way to do it with standard LaTeX packages (I'm doing a Google Docs presentation and the extensions only recognize standard packages). Here is a picture (made in MSPaint) of what I'am talking about:

Edit: for now, I only have this piece of the code:

^0A_i = 
\begin{pmatrix}
\cdots & \cdots & z_i & t_i\\
\cdots & \cdots & z_i & t_i\\
\cdots & \cdots & z_i & t_i\\
0 & 0 & 0 & 1
\end{pmatrix}

Answer 1

It's perfectly possible to nest matrices

\documentclass{article}

\usepackage{amsmath}

\begin{document}

\[
{}^0A_i = 
\begin{bmatrix}
\cdots & \cdots & & \\
\cdots & \cdots & \smash{\begin{bmatrix}{}\\z_i\\{}\end{bmatrix}} & \smash{\begin{bmatrix}{}\\t_i\\{}\end{bmatrix}} \\
\cdots & \cdots &  & \\
0 & 0 & 0 & 1
\end{bmatrix}
\]

\end{document}