Some Rotations in 3D
Mathematica's built-in function Rotate gives a straightforward way of implementing 3D rotations of vectors, points, or other graphics. The angle is measured around the axis with and the angle is measured around the axis with . These can be varied to change the axis of rotation about which a rotation can be visualized using the bottom control.
 B. O'Neill, Elementary Differential Geometry, 2nd ed., San Diego: Academic Press, 1997 p. 136.