[JAVA3D] how to set rotate about a indicted axis?

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dear all:
 i want to ask how to set in java 3d in order to set the shape will rotate about a 
indicted axis??
for eg..
if i want to  a square rotate about indicte axis [(5,5) , (5,0))..how to set ?

(5,0)  _________(5,5)_
       |                  |
       |                  |
       |                  |
       |                  |
(0,0) --------------(5,0)

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