We can start by considering the original cylinder and the solid generated by rotating the bottom surface around a diameter as shown in the figure below.
Let $O$ be the center of the base circle and $A$ be a point on the circumference of the base circle. Let $B$ be the point on the axis of the cylinder directly above $A$, and let $C$ be the corresponding point on the solid. Note that $ABC$ is a right triangle with right angle at $B$, and $OC$ is perpendicular to the plane $OAB$. Therefore, $OC$ is the altitude of the triangle $OAB$ from the vertex $O$, and has length $r$.
Now consider the cross section of the solid perpendicular to the axis, as shown in the figure below.
This is a rectangle with base $BC$ (which is equal to the circumference of the base circle) and height $OC=r$. Therefore, the area of this cross section is $A=BC\cdot OC=2\pi r^2$. Integrating this area over the height $H$ of the solid, we obtain the volume:
\begin{align*}
V &= \int_0^H A , dx \\
&= \int_0^H 2\pi r^2 , dx \\
&= 2\pi r^2 \int_0^H dx \\
&= 2\pi r^2 \cdot H \\
&= \boxed{2\pi r^2 H}.
\end{align*}