Take the crossproduct of the unit vector cosA,cosB,cosC,(A,B,C the direction angles) with the vector x-x1,y-y1,z-z1. ;then take the self dot product and set it equal to R^2.
For the crossproduct, I get [cosB(z-z1)-cosC(y-y1)],[cosC(x-x1)-cosA(z-z1)],[cosA(y-y1)-cosB(x-x1)]
This vector is in the direction parallel to the plane of the circle and has a magnitude of R. Taking the self dot product equal to R^2 should yield the equation, namely
[[cosB(z-z1)-cosC(y-y1)]^2+[cosC(x-x1)-cosA(z-z1)]^2+[cosA(y-y1)-cosB(x-x1)]^2=R^2