See here for information on rotations about an arbitrary axis.
Can someone help me on the following question:
A rigid body rotates with angular speed of 7 radians per second through an axis in direction i+j+3k, which passes through the point (2,3,6). All coordinates are in meteres, The linear velocity (in m/sec) of the point (1,-,4) on the body is given by.
How would you start this question?