Move a joint specifying angle and linear direction and distance

Hi everyone, I didn't find the answer to my question in the forum, but if it's somewhere I'll delete the post and sorry if it's a banal question
So, I would like to move a joint both linearly and rotating. I basically want it to make a helicoidal movement, but without inserting the target point. I know only the direction, distance and angle of the future position with respect to the present one. I guess I have to use MoveJ but I don't know what I have to put as command in MoveJ.
Each movement will be +/-360° and it will have to be repeated numerous times with a FOR loop. 
Thank you very much in advance!!