Suppose I have a center at $(x_0, y_0, z_0)$, a vector $V$ goes from $(x_b, y_b, z_b)$ to $(x_e, y_e, z_e)$, and the translation vector is $(x_t, y_t, z_t)$.
I want to find the rotation matrix to rotate $30$ degrees around the vector $V$.
How can I calculate it?
Please give me a reference for further study.