title: Rotation of 3D vector?
body: <p>I have two vectors as Python lists and an angle. E.g.:</p>
  
  <pre><code>v = [3,5,0]
  axis = [4,4,1]
  theta = 1.2 #radian
  </code></pre>
  
  <p>What is the best/easiest way to get the resulting vector when rotating the v vector around the axis?</p>
  
  <p>The rotation should appear to be counter clockwise for an observer to whom the axis vector is pointing. This is called the <a href="http://en.wikipedia.org/wiki/Right_hand_rule" rel="noreferrer">right hand rule</a></p>