Rotation about the x axis:
x' = x
y' = y cos ø - z sin ø
z' = y sin ø + z cos ø 
Rotation about the y axis:
x' = z sin ø + x cos ø
y' = y
z' = z cos ø - x sin ø 
Rotation about the z axis:
x' = x cos ø - y sin ø
y' = x sin ø + y cos ø
z' = z