Really its a case of pick the library that suits your needs, and then you will figure a way. As BigBadaboom says, if you do a search, there are lots of solutions.
To try and combine your questions, as sometimes the tricky bit is using an existing DOM object, I've included an example in Snap.svg. You can often do something similar in most libraries.
jsfiddle here Fiddle using your existing html.
s = Snap("#mySVGContainer1"); // create a canvas from existing svg
var triangle1 = s.select("#myShape1").transform("r90"); //select&transform existing object
p = Snap("#mySVGContainer2");
var triangle2 = p.select("#myShape2");
var bbox = triangle2.getBBox(); //bounding box, centre cx/cy
//rotate and scale with transform string (raphael/snap format)
triangle2.animate({ transform: "r180," + bbox.cx + ',' + bbox.cy + "s3,3," + bbox.cx + "," + bbox.cy }, 2000);