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Solve the following problem using Python, implementing the functions described below, one line at a time
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Description:
 def rodrigues_axis_angle_rotate(x, vec, theta):
 """ Rotated the input vector or set of vectors `x` around the axis `vec` by the angle `theta`. Parameters x : array_like The vector or array of vectors to transform. Must have shape """

    x = np.array(x).T
    vec = np.array(vec).T
    theta = np.array(theta).T[...,None]

    out = np.cos(theta)*x + np.sin(theta)*np.cross(vec, x) + \
        (1 - np.cos(theta)) * (vec * x).sum(axis=-1)[...,None] * vec

    return out.T