A core dielectric cylindrical rod wrapped in a dielectric circular pipe whose outer surface is enclosed by a helical conducting strip grating that is skewed along the axial direction is herein analyzed using the asymptotic strip boundary conditions along with classical vector potential analysis. Targeted for use as a cylindrical holographic antenna, the resultant field solutions facilitate the aperture integration of the equivalent cylindrical surface currents to obtain the radiated far fields. As each rod section of a certain skew angle exhibits a distinct modal attribute; this topology allows for the distribution of the cylindrical surface impedance via the effective refractive index to be modulated, as in gradient-index (GRIN) materials. Beam steering can also be achieved by altering the skew angle via mechanical sliding motion while leaving the cylindrical structure itself unchanged, as opposed to impractically reconfiguring the geometrical and material parameters of the latter to attain each new beam direction. The results computed by the program code based on the proposed technique in terms of the modal dispersion and radiation patterns are compared with simulations by a software solver. Manufactured prototypes are measured, and experimentally acquired dispersion diagrams and radiation patterns are favorably compared with theoretical predictions.