Sure? With the same al-be-ga, these two operations are not equivalent, except for several special cases. Rotations regarding to the old axes should work, but Euler's way makes the in total process more efficient?
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> On Feb 23, 2016, at 2:02 AM, Ian Tickle <[log in to unmask]> wrote:
>
> So rotating the rigid body through gamma about the world z axis, then beta about the *old* (world, unrotated) y axis, then alpha about the *old* z axis gives exactly the same result as rotating the rigid body through alpha about the world z axis, then beta about the *new* (i.e. rotated with the body) y axis, then gamma about the *new* z axis, and IMO it's so much easier to visualise.
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