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If I have vectors $a = (1,0,0)$, $b = (0,1,0)$, and $c=(0,0,1)$ and I want to rotate them counterclockwise at rate $r$ rad/sec around vector (1,1,1). What are the formulas for $a, b, c$?

share|cite|improve this question – user12205 Sep 23 '11 at 20:54
^lol both of their links are broken: – anon Sep 23 '11 at 21:58
@anon Oops, I think I pasted the broken link by mistake :) – Srivatsan Sep 23 '11 at 22:10
weird, I just copy pasted it – user12205 Sep 23 '11 at 22:28
@SuperGuy If you want to rotate around some vector and not the origin, you should translate to the origin, do the rotation and retranslate. Try this reference, it gives a clear and full explanation: Rotation About an Arbitrary Axis in 3 Dimensions, – user12205 Sep 23 '11 at 23:12

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