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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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    http://en.wikipedia.org/wiki/Rotation_operator_(vector_space)2011-09-23
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    ^lol *both* of their links are broken: [http://en.wikipedia.org/wiki/Rotation_operator_(vector_space)](http://en.wikipedia.org/wiki/Rotation_operator_(vector_space))2011-09-23
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    @anon Oops, I think I pasted the broken link by mistake :)2011-09-23
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    weird, I just copy pasted it2011-09-23
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    @Jeroen: I'm still not sure how to apply info from this page to the problem. I found the "general case" quite hard to understand.2011-09-23
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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, http://inside.mines.edu/~gmurray/ArbitraryAxisRotation/2011-09-23

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