Rotation about an Arbitrary Axis

Rk(q) =

kxkxversq+cosq kxkyversq-kzsinq kxkzversq+kysinq 0

0 kykxversq+kzsinq kykyversq+cosq kykzversq+kxsinq kzkxversq-kysinq kykzversq+kxsinq kzkzversq+cosq 0

0 0 0 1

where

k = (kx, ky, kz)

versq = 1 - cosq

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