Rotating a vector about another vector?

I'm working with some gyrometer data, and I'd like to understand rotation operations about other vectors, and not the X,Y and Z axes.

[Jim Riggs]

I can provide a set of equations for rotating a set of coordinates around a "rotation vector". But to really understand the equations you need to spend some time with the mathematics of coordinate frame transformations.

My favorite reference on this subject is "Strapdown Analytics", by Paul G. Savage. His notation style is excellent and helps the reader follow the derivation.