ENH: simplify coordinate rotation specification (#2505)

- can specify rotations that are not "axes" in a compact form:

      transform
      {
          origin  (0 0 0);
          rotation none;
      }

      transform
      {
          origin  (0 0 0);
          rotation axisAngle;
          axis    (0 0 1);
          angle   45;
      }

   An expanded dictionary form also remains possible:

      transform
      {
          origin  (0 0 0);
          rotation
          {
              type  axisAngle;
              axis  (0 0 1);
              angle 45;
          }
      }

STYLE: verbose deprecation for "coordinateRotation" keyword

- the "coordinateRotation" keyword was replaced by the "rotation"
  keyword (OpenFOAM-v1812 and later) but was handled silently.
  Now elevated to non-silent.

STYLE: alias lookups "axesRotation", "EulerRotation", "STARCDRotation"

- these warn and report the equivalent short form, which aids in
  upgrading. Previously had silent lookups.