# Three Parametrizations of Rotations

Three Parametrizations of Rotations

A rotation can be parameterized in several ways. This Demonstration compares three popular parametrizations:

• Euler angles about the axes

ZYZ

• the angle of rotation about an arbitrary axis

• the roll, pitch and yaw about the world axes

XYZ

The progress slider rotates a teapot shape through these rotations, from an initial orientation in green to a final orientation in red. The intermediate configurations of the teapot depend on the parametrization chosen, but the final configuration is always the same.