[Tex/LaTex] How to ignore left margin and move centered math equation to the left

indentationlistsmarginsmath-mode

I have a following equation enter image description here

I need to move it a little bit to the left because it is way to close to the right side and may get clamped while printing.

Those equations are using $$ R=... $$ syntax. How can I move it to the left ?

EDIT

After changing to \[ ... \] syntax: 

\begin{description}
\item[Model matrix] \hfill \\
...
\begin{itemize}
\item Rotation matrix - used to rotate vertex (vertices) by a specifed angle $\alpha$ around specified axis, where each from 3 axes has its own rotation matrix
\[
R_x = \begin{bmatrix} 1 & 0 & 0 & 0 \\ 0 & \cos(\alpha) & -\sin(\alpha) & 0 \\ 0 & \sin(\alpha) & \cos(\alpha) & 0 \\ 0 & 0 & 0 & 1 \end{bmatrix},
\newline
R_y = \begin{bmatrix} \cos(\alpha) & 0 & \sin(\alpha) & 0 \\ 0 & 1 & 0 & 0 \\ -\sin(\alpha) & 0 & \cos(\alpha) & 0 \\ 0 & 0 & 0 & 1 \end{bmatrix},
\newline
R_z = \begin{bmatrix} \cos(\alpha) & -\sin(\alpha) & 0 & 0 \\ \sin(\alpha) & \cos(\alpha) & 0 & 0 \\ 0 & 0 & 1 & 0 \\ 0 & 0 & 0 & 1 \end{bmatrix}
\]
\end{itemize}

Best Answer

Adjust for the cumulative indentation of your list by inserting a negative space equivalent to \@totalleftmargin:

enter image description here

\documentclass{article}
\usepackage[margin=1in,showframe]{geometry}% Just for this example
\usepackage{amsmath}
\begin{document}
\begin{description}
  \item[Model matrix] \hfill \\
    \ldots

    \begin{itemize}
      \item Rotation matrix - used to rotate vertex (vertices) by a specifed angle $\alpha$ around specified axis, where each from 3 axes has its own rotation matrix
      \[
        \makeatletter
        \hspace*{-\@totalleftmargin}
        \makeatother
        R_x = \begin{bmatrix} 1 & 0 & 0 & 0 \\ 0 & \cos(\alpha) & -\sin(\alpha) & 0 \\ 0 & \sin(\alpha) & \cos(\alpha) & 0 \\ 0 & 0 & 0 & 1 \end{bmatrix},
        \quad
        R_y = \begin{bmatrix} \cos(\alpha) & 0 & \sin(\alpha) & 0 \\ 0 & 1 & 0 & 0 \\ -\sin(\alpha) & 0 & \cos(\alpha) & 0 \\ 0 & 0 & 0 & 1 \end{bmatrix},
        \quad
        R_z = \begin{bmatrix} \cos(\alpha) & -\sin(\alpha) & 0 & 0 \\ \sin(\alpha) & \cos(\alpha) & 0 & 0 \\ 0 & 0 & 1 & 0 \\ 0 & 0 & 0 & 1 \end{bmatrix}
      \]
    \end{itemize}
\end{description}

\[
  R_x = \begin{bmatrix} 1 & 0 & 0 & 0 \\ 0 & \cos(\alpha) & -\sin(\alpha) & 0 \\ 0 & \sin(\alpha) & \cos(\alpha) & 0 \\ 0 & 0 & 0 & 1 \end{bmatrix},
  \quad
  R_y = \begin{bmatrix} \cos(\alpha) & 0 & \sin(\alpha) & 0 \\ 0 & 1 & 0 & 0 \\ -\sin(\alpha) & 0 & \cos(\alpha) & 0 \\ 0 & 0 & 0 & 1 \end{bmatrix},
  \quad
  R_z = \begin{bmatrix} \cos(\alpha) & -\sin(\alpha) & 0 & 0 \\ \sin(\alpha) & \cos(\alpha) & 0 & 0 \\ 0 & 0 & 1 & 0 \\ 0 & 0 & 0 & 1 \end{bmatrix}
\]

\end{document}

Alternatively, move the equation left as much or little as you want. For example, -\leftmargin would just remove the deepest indentation.

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