Changing the transformation matrix manually is pretty clumsy. If you want to setup some constant animation then you can apply physics to a scene node. To do this you create a new instance of the class twodee.Physics and apply it to the scene node (or multiple nodes) by passing the physics object to the setPhysics() method of the scene node:
var physics = new twodee.Physics(); node.setPhysics(physics);
Now you can call various methods to change the physics of the node (or nodes). Here is a list of the most important methods (See API doc for a full list of methods):
This small example shows an asteroid with an applied spin: