Tait–Bryan rotations are a special case in which the first and third axes are perpendicular among them. Assuming a reference frame ⟨x, y, z⟩ with a convention as in image 2, and a plane with ⟨yaw, pitch, roll⟩ axes like in the image 1[data unknown/missing], lying horizontal on the plane ⟨x, y⟩ in the beginning, after performing intrinsic rotations Y, P and R in the yaw, pitch and roll axes (in this order) we obtain something similar to image 3[data unknown/missing].