\documentclass[11pt]{article}

\begin{document}

\[
\left(
\begin{array}{cccc}
X_A&Y_A&Z_A&O_A\\
X_B&Y_B&Z_B&O_B\\
X_C&Y_C&Z_C&O_C\\
0&0&0&1\\
\end{array}
\right)
\left(
\begin{array}{cccc}
S_X&0&0&0\\
0&S_Y&0&0\\
0&0&S_Z&0\\
0&0&0&1\\
\end{array}
\right)
\left(
\begin{array}{c}
x\\
y\\
z\\
1
\end{array}
\right)
=
\left(
\begin{array}{c}
a\\
b\\
c\\
1
\end{array}
\right)
\]

\end{document}
