[creata]

I'm not sure what you mean. Let Ax mean rotating x by A (which is a rotation matrix, quaternion, rotor, whatever). Then, the composition of Ax + b and Cx + d is

    C(Ax + b) + d = (CA)x + (Cb + d).

[hohohmm]

yes but what about non-uniform scaling. Is it possible to handle it in this case?

[creata]

Not with just a rotor (quaternion) and an offset, or with motors (dual quaternions). If you want nonuniform scaling, rotation and translation, then matrices are probably the nicest way to do that.