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This study addresses an axis-manoeuvring problem using two-axis rotational kinematics. The goal of two-axis rotational kinematics is to find a policy of rotating an arbitrary axis towards another arbitrary direction using only one or two rotations of coordinate axes. The axis-manoeuvring policy is determined on the basis of geometrical attitude configuration. This study establishes a formula to find the rotational sequence as well as rotational angles for underactuated control systems.