Refactored util/transforms.py translate, scale and rotate to just return

Refactored translate, scale and return to just return a matrix to be multiplied instead of the matrix multiplication being done in the method

Adapted scenen linear transforms as appropriate

Adapted examples as appropriate (except for ipython notebooks, cannot test those)
I'd rather have one function that works in two ways. Luke's proposal sounds good, but I'd actually prefer degrees to be first. I find it more natural / convenient, even as (primarily) a scientist / engineer. But I won't be crushed either way.