You can use
(x y z)_C = (x y z)_B + R_{BA} (x y z)_A
R_C = R_{CB} R_{BA}
where R_{BA} is the rotation of model A in the coordinates of B and (x y z)_B is the internal translation within B.
Tim
(x y z)_C = (x y z)_B + R_{BA} (x y z)_A
R_C = R_{CB} R_{BA}
where R_{BA} is the rotation of model A in the coordinates of B and (x y z)_B is the internal translation within B.
Tim