How to find the translations and rotations in a new Coordinate system?

Hi All

How can I find the relateive translations and rotations of a point in a new Coordinate system when I know its translations and rotations in global CS ?

[darova]

Return to original/old system and modificate your data. Go to the new system

[farzad]

I don't understand your answer !

I have a set of movements based on the old CS . x,y,z,Rx,Ry,Rz

and want to know what they will be in a new CS that is rotated by 3 angles and translated by 3 moves with respect to the global CS