OT: Rotation Math.

Question, say i have 3 points. P1, P2, P3. All in 3D space.

I want to rotate point P1, around all three axis of p3, then around all three axis of p2.

The way i would normaly do this is, P1 - P3, To move it so P3 was the origin, rotate P1, then add P3 back to P1. Then do the same thing for P2. But this seems like alot of unneeded steps.

What i want to know is this, is there a way to find a point that I could rotate around that would yeild the same result as rotating around each point seperatly?? Then simply rotate around that point instead?