We have many more options for setting the rotation instead of a simple "set rotation" node.
There is no set rotation node as of this moment, you can use vector rotate and set position together as StefLAncien commented.
However, I think what you want to achieve, according to your diagram, is this:
Where the cylinders are replaced with cones, because they are more directional. If we want them to follow the normals of the faces, we can use this setup.
First, get the normals of the faces using Capture Attribute
Instance on the faces (rather than the points), using Mesh to Points.
Set the rotation by passing on the normal through Align Euler to Vector to the rotation socket of instance on points.
Translate the instances from their inital position using Translate Instances.
This is the answer as to how it can be done.
Note:
I agree that Blender could be well-served to have one user-friendly node that sets the rotation. AFAIK there isn't one.
I find I often set it this specific way, by face and normal, so you can create a group, a tool or mark it as an asset.
4.1+
If you can't find 'Align Euler to Vector' it is deprecated, and becomes 'Align Rotation to Vector' (version 4.1+). Also it has moved to 'utilities', along with many new rotation nodes.
If a candle is on top of a shelf that comes out from a wall, the shelf can be defined in relation to the wall, and the candle to the shelf.
'Rotation to Euler' (version 4.0+) sets the degree rotation of an object.This diagram shows the cones rotating from the vertice of a mesh line as a pivot point.
Set Position
node as a first guess. $\endgroup$