Hi Henrik Schachner,

Thank you very much. It does the trick.

N.B.: I noticed another wonderful example, helpful to understand the RotationTransform function in Mathematica

Manipulate[
  Module[{w={1,0,0},p={-2,2}},
    Graphics3D[
    {
       {Opacity->.4,GeometricTransformation[
         {Cuboid[{0,0,0}]},RotationTransform[angle,w,{a,b,c}]]
        },

       {Blue,PointSize[0.05],Point[{a,b,c}]},
       {Red,Thick,Line[{{a,b,c},{a,b,c}+w}]}
    },

    ImageSize->300,
    ImagePadding->2,AxesOrigin->{0,0,0},
    ImageMargins->2,ViewAngle->All,
    Axes->True,
    Ticks->None,
    PlotRange->{p,p,p}
    ]
  ],

  {angle,0,2 \[Pi],ImageSize->Tiny},
  {{a,0,"a"},0,1,.1,Appearance->"Labeled",ImageSize->Tiny},
  {{b,0,"b"},0,1,.1,Appearance->"Labeled",ImageSize->Tiny},
  {{c,0,"c"},0,1,.1,Appearance->"Labeled",ImageSize->Tiny},

   ControlPlacement->Left
]

Best, Zhao