I wrote

> Otherwise it should be possible mirroring transforms
> in two different coordinate systems

Things shouldn't be so complicate. Let's suppose the big
cube is centered on the world and the small one is apart,
in any position. According to your description, the big
cube does in respect to the world what the small cube does
in respect with itself.
So, at a first glance, all what you need is just the code
posted by Colin, provided that you change it so to have 
the same rotation values passed to the arguments of the
rotation functions and you add a #self as the last argument
of the rotation function you choose for the small cube, and
a #world as the last argument of the rotation function you
choose for the big one.

Franco
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