I am writing a little code that should make an object revolve around a tilted axis. Here is what I have: -The center coordonates -A normal array (3 numbers between 0 and 1); -position of the object. Is there a way to do this? I think: http://en.wikipedia.org/wiki/Rodrigues'_rotation_formula Should be it , but I can't work out how to use it. Does the formula return an array?