llSetPrimitiveParams() is the call of choice when you're both moving and rotating someting.
For child prims, know that the rotate is equivalent to llSetRot(), not llSetLocalRot().
One of my friends is getting fascinated with quaternions and with his help I'm starting to grok them around the edges. The ability to generate reflections with them is trippy. I never went past calc in math, and while I breezed thru statistics I never did get much exposure to matrices and similar beasts. If you hear of a "Math for 3D Applications" online class, please let me know!
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