6
Rotation about Arbitrary Axis
Px´
Py´
Pz´
1
r11   r12   r13     0
r21   r22   r23      0
r31   r32   r33      0
0     0          0       1
Px
Py
Pz
1
=
T
R1
R2
One translation and two rotations to line it up with a
major axis. Now rotate it about that axis.  Then apply
the reverse transformations (R2, R1, T) to move it back.