Arbitrary rotation of a qubit can be performed with a three-pulse sequence, for example, ZYZ rotations. However, this requires precise control of the relative phase and timing between the pulses, making it technically challenging in optical implementation in a short time scale. Here we show any ZYZ rotations can be implemented with a single laser pulse, that is, a chirped pulse with a temporal hole. The hole of this shaped pulse induces a nonadiabatic interaction in the middle of the adiabatic evolution of the chirped pulse, converting the central part of an otherwise simple Z rotation to a Y rotation, constructing ZYZ rotations. The result of our experiment performed with shaped femtosecond laser pulses and cold rubidium atoms shows strong agreement with the theory.