%% 
%%  Der Mathematiksatz mit LaTeX, 1. Auflage 2009
%% 
%%  Example 10-4-6 on page 218.
%% 
%%  Copyright (C) 2009 Herbert Voss
%% 
%%  It may be distributed and/or modified under the conditions
%%  of the LaTeX Project Public License, either version 1.3
%%  of this license or (at your option) any later version.
%% 
%%  See http://www.latex-project.org/lppl.txt for details.
%% 

\documentclass[]{ttctminimal}
\pagestyle{empty}
\setcounter{page}{6}
\setlength\textwidth{355.65944pt}
\AtBeginDocument{\setlength\parindent{0pt}}
\setcounter{equation}{4}
\renewcommand\theequation{10.\arabic{equation}}
\StartShownPreambleCommands
\usepackage{amsmath}
\StopShownPreambleCommands
\begin{document}
\begin{equation}
  \binom{x_R}{y_R} = \underbrace{r\vphantom{\binom{A}{B}}}_{\text{Scaling}}\cdot%
    \underbrace{\begin{pmatrix}
                  \sin\gamma & -\cos\gamma \\ \cos\gamma & \sin\gamma \\
                \end{pmatrix}}_{\text{Rotation}}
  \binom{x_K}{y_K} + \underbrace{\binom{t_x}{t_y}}_{\text{Translation}}
\end{equation}
\end{document}