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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 $a, b, c$?

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en.wikipedia.org/wiki/Rotation_operator_(vector_space) –  user12205 Sep 23 '11 at 20:54
    
^lol both of their links are broken: http://en.wikipedia.org/wiki/Rotation_operator_(vector_space) –  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
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@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, inside.mines.edu/~gmurray/ArbitraryAxisRotation –  user12205 Sep 23 '11 at 23:12
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