http://www.perlmonks.org?node_id=978519


in reply to Polar Co-Ordinates: Rotating a 3D cartesian point around a fixed axis?

Math::Vector::Real provides the method rotate_3d that already does what you want: 
use Math::Vector::Real;

$offset = V($x, $y, $z);
$p_rotated_1deg = $axis->rotate_3d(1*$pi/180, $p - $offset) + $offset;

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