An intuitive algorithm for rotation about an arbitrary axis

Transformations are integral part of graphics programs for visualization. Rotation transformations allow viewing objects from different angles. Rotations about the principal axes are straightforward whereas the rotation about an arbitrary axis is complex. We present a new algorithm simpler than the existing techniques for creating arbitrary rotation matrix. It builds upon the change of basis instead of a sequence of rotations based on the angles it makes with the principal axes/planes. We compare it with the existing proofs. Finally, we give an example by creating an axis interactively and 3D object created by rotation a mouse drive polygonal curve. The application developers and practitioners will find this intuitive and simpler algorithm useful.