Transform > Rotate
Rotates picked items in the scene around a pivot point.
The default local axes for an object are the same as the global axes. To change the orientation of an object’s local axes, use Transform > Local > Set Local Axes 
.
To permanently display the local axes of all picked objects, choose WindowDisplay > Toggles > Pivots 
and turn on Local Axes Display.
Access this tool from the Transform tool palette by doing either of the following:
- Clicking this icon:
- Right-clicking Transform and selecting Place Tool
Rotate Options
Global
Rotate objects by incrementing their Euler rotation angles.
This means that the rotation is done first to Z, then Y, then X. Consequently, the X rotational axis depends on the Y and Z rotations already done.
Rotations done on DAG nodes above the current node also affect the rotational axis.
Local
Rotate each picked object around its local X, Y, and Z axes (displayed at each object’s pivot point).
Universe
Rotate objects around the world X, Y, and Z axes.
Vector
Rotate objects around a vector, which you create by clicking in the view where you want the vector to start or typing the start position in the prompt line, adjusting the manipulator to position the vector, and then clicking Accept.
Mouse buttons in Local and Universe modes
- Drag
to rotate around the X axis. - Drag
to rotate around the Y axis. - Drag
to rotate around the Z axis.