On every render use glPushMatrix glRotatef draw the cylinder and finish your drawing with glPopMatrix.
Ex.: glRotatef(yRotationAngle, 0.0f, 1.0f, 0.0f); // Rotate your object around the y axis on yRotationAngle radians
Ex.: OnRender() function example
void OnRender() {
  glClearColor(1.0f, 0.0f, 0.0f, 1.0f); // Clear the background
  glClear(GL_COLOR_BUFFER_BIT); //Clear the colour buffer
  glLoadIdentity(); // Load the Identity Matrix to reset our drawing locations
  glRotatef(yRotationAngle, 0.0f, 1.0f, 0.0f); // Rotate our object around the y axis on yRotationAngle radians
  // here *render* your cylinder (create and delete it in the other place. Not while rendering)
  gluCylinder(quadratic,0.1f,0.1f,3.0f,32,32);
  glFlush(); // Flush the OpenGL buffers to the window  
}