Rotate a point across a origin in 3d env

Hello,

I am trying to rotate a point in a 3d environment translated by an origin point. In particular, I have 3 origin coordinate and a specific z distance which indicates the target point

cord = [x,y,z]
target = cord
target(:,3) = target(:,3)+myZ

Moreover, I have a quaternion rotation that should be applied to the "system" in which the target will "orbit" around the origin. Are there a smart matlab solution?