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Rotation about an Arbitrary Axis

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I am a newcomer here in the forum, but start with a question that is taking my sleep ... I am making an application to rotate structures. I realized that the best way was to make arbitrary rotation of axes. I studied a bit of linear algebra, Matrix Operations , quaternions ... and other things related. Until I found a code called Arcball, easy to find at google. Well, could implement the code without difficulty, because he considers the object as a ball and the movement of the mouse is calm rotate the object. After testing one realized, however ... He based that the object is centered in the origin of the axes, as if applying a translation can not rotate more correctly the structure ... Someone has some advice to help me? Thank you for your attention

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