One night at dinner in the spring of 2009, my wife Marty jokingly proposed "way" ("yaw" backwards) as the 4D equivalent of pitch, roll, and yaw. On the way to work the next morning, I thought about this, and realized that although yaw is rotation in the XY plane, and I liked the proposal of "way" as 4D rotation, there are in fact three new 4D rotations, in the WX, WY, and WZ planes. I therefore propose they be named wax, way, and waz, respectively.

Each new dimension adds as many new rotations as the previous number of dimensions: