Rotation animation of multiple objects

I am trying to make a Rubic’s Cube Simulator in blender 2.57b + python 3

What I need to be able to do is pointed out below:

  1. Select multiple objects when a key is pressed
  2. Rotate selected objects around a single pivot/center point
  3. Rotation must be an animation, not an instant one.

So, If you have any idea about how can i fulfill those criteria , please share.