Expand[Transpose[c * {{-9.7434}, {-4.5811}, {-1.5811}, {1}}] . {{2, -1, 0, 0}, {-1, 2, 0, 0}, {0, 0, 2, -1}, {0, 0, -1, 2}} . (c * {{-9.7434}, {-4.5811}, {-1.5811}, {1}})]