%% 
%%  Der Mathematiksatz mit LaTeX, 1. Auflage 2009
%% 
%%  Example 10-1-3 on page 210.
%% 
%%  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{146.59192pt}
\AtBeginDocument{\setlength\parindent{0pt}}
\StartShownPreambleCommands
\usepackage{rotating,amsmath}
\newcommand*\rb[1]{\rotatebox{90}{$\xleftarrow{#1}$}}
\StopShownPreambleCommands
\begin{document}
\begin{tabular}{c}
$\begin{matrix}
  \rb{text1}&\rb{text1}&\rb{text1}&\rb{text1}\\
  \end{matrix}$\\
$\begin{bmatrix}
 X_x & Y_x & Z_x & T_x\\ X_y & Y_y & Z_y & T_y \\
 X_z & Y_z & Z_z & T_z\\ 0   & 0   & 0   & 1
\end{bmatrix}$
\end{tabular}
\end{document}