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 $a, b, c$?
rotate vector around another vector
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euclidean-geometry
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0http://en.wikipedia.org/wiki/Rotation_operator_(vector_space) – 2011-09-23
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0^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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0@anon Oops, I think I pasted the broken link by mistake :) – 2011-09-23
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0weird, I just copy pasted it – 2011-09-23
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0@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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1@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