So let say I have a rocket projectile shooting from point A to point B relative to time in 3D.

Knowing the angular velocity rotation coordinates, how would I apply time into it, so that it can curve straight into point B?  

Is your rocket under constant acceleration, other than gravity? Like, does the rocket keep firing after the rocket has launched at t = 0?

@nau Just align the rocket with the forward vector.

BTW, your title and your post seem to describe 2 different issues.

I think it depends you use case. If your useing a physics engine which has gravity then just turn up the speed and make it lighter for this effect. This way the physics engine will take care of the velocity curve for you. Alternatively construct a timer for this so after the timer is finished it will descend. I am a Gamedev, so i am unsure of your use case. Like is this a programming thing?