I have a 3d cartesian coordinates system and now I want to rotate a point $p(x_0, y_0, z_0)$ arround a specified axis $v(v_x, v_y, v_z)$ like $(1,1,1)$,and the angle is $\theta$,finally I want to get the new location of $p$. Can somebody solve it by using the acknowledge of linear algebra?
Can you give me any hints?