vector desired_axis = <148.89938, 139.48409, 0.0>;

default
{
    state_entry()
    {
        rotation vRotArc       = llEuler2Rot( <0.0, 0.0, 180.0> * DEG_TO_RAD );
         //-- creates a rotation constant, 30 degrees around the X axis

         // Saya - Calculating offset based on the difference between the prims position and the desired axis
        vector currentPos = llGetPos();
        // I don't want to rotate around Z at all, so I remove the Z component of the prim position
        currentPos = <currentPos.x, currentPos.y, 0>;

        vector   vPosOffset     = currentPos - desired_axis;

        // Produces expected results:
        llSay(DEBUG_CHANNEL, (string)vPosOffset);

         //-- creates an offset one meter in the positive Y direction

        vector   vPosRotOffset  = vPosOffset * vRotArc;
         //-- rotates the offset to get the motion caused by the rotation

        vector   vPosOffsetDiff = vPosOffset - vPosRotOffset;
         //-- gets the local difference between the current offset and the rotated one

        vector   vPosRotDiff    = vPosOffsetDiff * llGetRot();
         //-- rotates the difference in the offsets to be relative to the global rotation.

        vector   vPosNew        = llGetPos() + vPosRotDiff;
         //-- finds the prims new position by adding the rotated offset difference

        rotation vRotNew        = vRotArc * llGetRot();
         //-- finds rot to continue facing offset point

         llSetPrimitiveParams([PRIM_POSITION, vPosNew,PRIM_ROTATION, vRotNew]);

         llRemoveInventory(llGetScriptName());
    }

    touch_start(integer total_number)
    {
        llSay(0, "Touched.");
    }
}