For counterclockwise rotation: 

                          Ú                              ¿
                          ³  cos (theta)  sin (theta)  0 ³
[ x' y' 1 ] = [ x y 1 ] * ³ -sin (theta)  cos (theta)  0 ³
                          ³   0            0           1 ³
                          À                              Ù

For clockwise rotation: 

                          Ú                              ¿
                          ³  cos (theta) -sin (theta)  0 ³
[ x' y' 1 ] = [ x y 1 ] * ³  sin (theta)  cos (theta)  0 ³
                          ³   0            0           1 ³
                          À                              Ù

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