Editing Euler angles (section)

===As chained rotations===
[[File:Roll_pitch_yaw_mnemonic.svg|thumb|Mnemonics to remember angle names]]
For an aircraft, they can be obtained with three rotations around its [[aircraft principal axes|principal axes]] if done in the proper order and starting from a frame coincident with the reference frame. 

* A [[Yaw (rotation)|yaw]] will obtain the bearing, 
* a [[Pitching moment|pitch]] will yield the elevation, and
* a roll gives the bank angle. 

Therefore, in aerospace they are sometimes called '''yaw, pitch, and roll'''. Notice that this will not work if the rotations are applied in any other order or if the airplane axes start in any position non-equivalent to the reference frame.

Tait–Bryan angles, following ''z''-''y''′-''x''″ (intrinsic rotations) convention, are also known as '''nautical angles''', because they can be used to describe the orientation of a ship or aircraft, or '''Cardan angles''', after the Italian mathematician and physicist [[Gerolamo Cardano]], who first described in detail the [[Cardan suspension]] and the [[Cardan joint]].