It's been about two weeks since I started working on this and I haven't been able to figure it out. Here's how a real-life pyraminx side is supposed to move: and here's how far I've gotten mine to move: https://media.giphy.com/media/4vslNT3Y9rRFed6OZU/giphy.gif So my basic ideas around this were to rotate the sides along the axes of the pieces at the tips. I managed to get the normal vectors of the faces along the pieces located at the tips and used one of those vectors as my rotation axis. Here's a look at the normal vectors: https://media.giphy.com/media/uN2LCAHZEbDOExE3Df/giphy.gif I also managed to get a tip rotating in the right direction, except the rotation was slightly off. Here's the tip piece rotating: https://media.giphy.com/media/sZU7kBwcJrhHzKREFe/giphy.gif If you look closely you can see the rotation is a bit wobbly as if the object isn't rotating around its center. Here's another video of a real life Pyraminx and the type of rotation I am trying to achieve: Thanks in advance.