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Factoring a Matrix into Scale and Rotation Component

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HI i was looking for the best way to decompose a matrix into the following expression S*R where S is a diagonal matrix and R(Scale) is an orthonormal matrix (Rotation). We can assume that there is no skews or projections... (only Rotation and Scale in the initial matrix). I am currently using QR Decomposition to decompose the transformation into an orthonormal matrix and a upper triangular matrix. This does appear to correctly give me a Scale and Rotation matrix, but i''m not sure if it is correct for all cases. Now Does this process sound correct or is there a better decomposition method? Thanks for any help.

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