diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation3d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation3d.java
index 952cd5c38c..171902f248 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation3d.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation3d.java
@@ -278,13 +278,14 @@ public class Rotation3d implements Interpolatable<Rotation3d> {
   }
 
   /**
-   * Adds the new rotation to the current rotation. The other rotation is applied intrinsically,
-   * which means that it rotates around the axes after applying this rotation. For example, {@code
-   * new Rotation3d(Units.degreesToRadians(90), 0, 0).rotateBy(new Rotation3d(0,
-   * Units.degreesToRadians(90), 0))} rotates by 90 degrees around the +X axis and then by 90
-   * degrees around the new +Y axis (which has been moved to the +Z axis).
+   * Adds the new rotation to the current rotation. The other rotation is applied extrinsically,
+   * which means that it rotates around the global axes. For example, {@code new
+   * Rotation3d(Units.degreesToRadians(90), 0, 0).rotateBy(new Rotation3d(0,
+   * Units.degreesToRadians(45), 0))} rotates by 90 degrees around the +X axis and then by 45
+   * degrees around the global +Y axis. (This is equivalent to {@code new
+   * Rotation3d(Units.degreesToRadians(90), Units.degreesToRadians(45), 0)})
    *
-   * @param other The intrinsic rotation to rotate by.
+   * @param other The extrinsic rotation to rotate by.
    * @return The new rotated Rotation3d.
    */
   public Rotation3d rotateBy(Rotation3d other) {
diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/Transform2d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Transform2d.java
index c7a5c3e689..ecead7405d 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/geometry/Transform2d.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Transform2d.java
@@ -67,7 +67,8 @@ public class Transform2d {
   }
 
   /**
-   * Composes two transformations.
+   * Composes two transformations. The second transform is applied relative to the orientation of
+   * the first.
    *
    * @param other The transform to compose with this one.
    * @return The composition of the two transformations.
diff --git a/wpimath/src/main/native/include/frc/geometry/Rotation3d.h b/wpimath/src/main/native/include/frc/geometry/Rotation3d.h
index 31f67e0cf8..e49787073a 100644
--- a/wpimath/src/main/native/include/frc/geometry/Rotation3d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Rotation3d.h
@@ -139,12 +139,12 @@ class WPILIB_DLLEXPORT Rotation3d {
 
   /**
    * Adds the new rotation to the current rotation. The other rotation is
-   * applied intrinsically, which means that it rotates around the axes after
-   * applying this rotation. For example, Rotation3d{90_deg, 0, 0}.RotateBy(
-   * Rotation3d{0, 90_deg, 0}) rotates by 90 degrees around the +X axis and then
-   * by 90 degrees around the new +Y axis (which has been moved to the +Z axis).
+   * applied extrinsically, which means that it rotates around the global axes.
+   * For example, Rotation3d{90_deg, 0, 0}.RotateBy(Rotation3d{0, 45_deg, 0})
+   * rotates by 90 degrees around the +X axis and then by 45 degrees around the
+   * global +Y axis. (This is equivalent to Rotation3d{90_deg, 45_deg, 0})
    *
-   * @param other The rotation to rotate by.
+   * @param other The extrinsic rotation to rotate by.
    *
    * @return The new rotated Rotation3d.
    */
diff --git a/wpimath/src/main/native/include/frc/geometry/Transform2d.h b/wpimath/src/main/native/include/frc/geometry/Transform2d.h
index 8f6eba2879..6e8ec1a8fd 100644
--- a/wpimath/src/main/native/include/frc/geometry/Transform2d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Transform2d.h
@@ -94,7 +94,8 @@ class WPILIB_DLLEXPORT Transform2d {
   }
 
   /**
-   * Composes two transformations.
+   * Composes two transformations. The second transform is applied relative to
+   * the orientation of the first.
    *
    * @param other The transform to compose with this one.
    * @return The composition of the two transformations.
diff --git a/wpimath/src/main/native/include/frc/geometry/Transform3d.h b/wpimath/src/main/native/include/frc/geometry/Transform3d.h
index cf00ecc002..e9a5b2375f 100644
--- a/wpimath/src/main/native/include/frc/geometry/Transform3d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Transform3d.h
@@ -99,7 +99,8 @@ class WPILIB_DLLEXPORT Transform3d {
   Transform3d operator/(double scalar) const { return *this * (1.0 / scalar); }
 
   /**
-   * Composes two transformations.
+   * Composes two transformations. The second transform is applied relative to
+   * the orientation of the first.
    *
    * @param other The transform to compose with this one.
    * @return The composition of the two transformations.