Rotation and Movement around a center prim

ok, I'm awful at quantrans, what I want to do, is rotate and move a child prim around the parent prim. Think of a double door with the parent prim in the exact center of the set, and the doors swing open and out away from the parent prim. I have done this before using trig, but there must be a way to do it without trig, and using quantrans.

I don't need to be pointed to a door script or anything, this is for my own knowledge for later on. Thank you in advance.

To move the child prim:
http://wiki.secondlife.com/wiki/LlSetPos

To rotate the child prim:
http://wiki.secondlife.com/wiki/Rotation


Those should get you started. You need to consider both moving and rotating in regard to doors which have the centers NOT at the hinge.

Not working right, it offsets wrong at the end on the return. Need a guru who understands this quantran stuff, I really don't want to go back to trig

rotation rot6x;
vector offset = <0.4, 0, 0>;
vector rotatedOffset;
vector newPos;
rotation newRot;

default
{
    state_entry()
    {
        rot6x = llEuler2Rot(<0, 0, 15> * DEG_TO_RAD);
        rotatedOffset = offset * rot6x;
    }

    touch_start(integer total_number)
    {
        integer step;
        for(step = 0; step < 6; step++)
        {
            newPos = llGetLocalPos() + (offset - rotatedOffset * rot6x) * llGetLocalRot();
            newRot = rot6x * llGetLocalRot();
            llSetPrimitiveParams( [PRIM_POSITION, newPos,
                           PRIM_ROTATION, newRot] );
                    }
        llSleep(3.0);
        rot6x = llEuler2Rot(<0, 0, -15> * DEG_TO_RAD);
        rotatedOffset = offset * rot6x;
        for(step = 0; step < 6; step++)
        {
            newPos = llGetLocalPos() + (offset - rotatedOffset * rot6x) * llGetLocalRot();
            newRot = rot6x * llGetLocalRot();
            llSetPrimitiveParams( [PRIM_POSITION, newPos,
                           PRIM_ROTATION, newRot] );
                    }

            
    }
}