u1 = [0 0 0]';
p10 = [0 1 0]';
w1 = [0 0 1]';
w1daszek = [0, -1, 0; ...
            1, 0, 0; ...
            0, 0, 0];
okno = figure(1)
wykres = plot(0,0,'-o')
axis([-4 4 -4 4])
for theta1 = 0:pi/60:2*pi
    p = expm(w1daszek*theta1)*p10;
    grid on
    wykres.XData = [0 p(1)];
    wykres.YData = [0 p(2)];
    pause(0.1)
end