The SVG syntax is among some of the most cryptic there is (it's nearly as bad as regex). I happen to do well with it because I have a back ground in G-code for CNC Machines. Anyway, it isn't linked in the other post, but I use the Pocket Guide to Writing SVG as a primary resource. It's very well done.
Often when the SVG's get more complex then using groups and applying transforms to the entire group can make things significantly easier.
This is another example that is a bit more complex but the animation is actually not that complicated.