In the 'Rotate' part of the 'View' menu (also present in the right mouse button menu) there are the options to rotate the view of the model.
A user friendly way of rotating is to move the mouse while its left button and the 'Shift' key are pressed.
The corresponding icon for rotating the model is the following one: 
Change views of the model>Rotate>Set center of rotation
An interesting option for rotating the view of the model is to set the center of rotation. To change it:
- . Select View->Rotate->Center from top menu or Rotate->Center from right button mouse menu. Then, the cursor changes into the selection mode.
- . Select an existing point of the model.
- . Now rotate the model and check that the center of the rotation is the one selected.