How can I get the translation vector components and rotation matrix values so I can apply the same coordinate transformation to an arbitrary vector (or point)?

For example, I may have the velocity of a certain atom (vx,vy,vz) which I want to transform in the same way as the COOR ORIE did to the original coordinate set. In other words, how can I get the ROTATION matrix and TRANSLATION vector values within a CHARMM script?

Thanks.