I have 4 points with X, Y, Z coordinates that are off of the origin. I would like to rotate them about a 5th point which is in the center of these 4. I want to rotate them in the XY plane, XZ plane and the YZ plane.

I haven't been able to find a good tutorial or anything online. Could someone tell me how to do an off-origin coordinate rotation or point me too a good website, please?