I have a 3XN matrix representing a list of 3D coordinates,something like
3XN
33 33 33 33 34 34 34 34 34 35 35 17 18
Use repmat:
repmat
M = randn(3, N); % your 3 x N matrix v = randn(3, 1); % your vector r = M + repmat(v, [1 N]); % add v to every column of M