A derivation is given for the matrix representation of an arbitrary boost, i.e., a Lorentz transformation without rotation. The derivation utilizes standard vector and matrix techniques along with the well-known form for a special Lorentz transformation. However, it is done in such a way as to avoid a possible confusion over the meaning of parallel axes. Consequently it is believed to be suitable for students with modest backgrounds in mathematics and relativity.
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Charles P. Frahm (1979) studied this question.
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