This routine will allow a 3-D unit vector to be rotated around a 3-D axis defined by the user. This is performed by first rotating the unit vector around it's own cartesian axis (in this case we will rotate the vector around the z-axis, [0 0 1]) corresponding to each rotation angle specified by the user. This rotated vector is then transformed around the user defined axis of rotation.
To see a demonstration, simply run the following command in your MATLAB command prompt:
>> rotVecAroundArbAxis();