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Group position vs World position


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I am trying to wrap my head around this issue for some time but I keep failing. I probably miss something very important so any help would be appreciated.


I have a group and in it sprites. The group and the sprites rotate. At some point I need to create another sprite at some world coordinates based on the position of a sprite within the group. How do I calculate these coordinates.


To make my question clear I made this example:



You have a two jointed robot (move with cursor keys). When the user presses Space I would like to create a circle at the tip of the blue joint (joint2). 


How do I get the world coordinates of the tip of joint2? 

If possible, please add the solution to this fiddle.




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