A matrix [M] is derived for a system of plane first-surface mirrors which transforms a point or the direction cosines of a ray in the image space to the object space. If the general displacement of the mirror system is represented by the screw matrix [S], then the new position of a point image is given by the transformation [S][M][S]-l. This method facilitates designing the mirror supporting structure for minimum image shift due to structural deflections.
JOSEPH STILES BEGGS, "Mirror-Image Kinematics," J. Opt. Soc. Am. 50, 388-393 (1960)