diff --git a/tests/test_transforms.scad b/tests/test_transforms.scad
index 717c4679..b19d50b2 100644
--- a/tests/test_transforms.scad
+++ b/tests/test_transforms.scad
@@ -304,7 +304,7 @@ module test_rot() {
             for (a = angs) {
                 assert_equal(
                     rot(from=vec1, to=vec2, a=a),
-                    affine3d_rot_from_to(vec1,vec2) * affine3d_zrot(a),
+                    affine3d_rot_from_to(vec1,vec2) * affine3d_rot_by_axis(vec1,a),
                     info=str(
                         "from = ", vec1, ", ",
                         "to = ", vec2, ", ",
@@ -314,7 +314,7 @@ module test_rot() {
                 assert_equal(
                     rot(from=vec1, to=vec2, a=a, p=pts3d),
                     apply(
-                        affine3d_rot_from_to(vec1,vec2) * affine3d_zrot(a),
+                        affine3d_rot_from_to(vec1,vec2) * affine3d_rot_by_axis(vec1,a),
                         pts3d
                     ),
                     info=str(
diff --git a/transforms.scad b/transforms.scad
index 0fa9374a..21dbd9d9 100644
--- a/transforms.scad
+++ b/transforms.scad
@@ -425,7 +425,7 @@ function rot(a=0, v, cp, from, to, reverse=false, planar=false, p, _m) =
             cp = is_undef(cp)? undef : point3d(cp),
             m1 = !is_undef(from)? (
                     assert(is_num(a))
-                    affine3d_rot_from_to(from,to) * affine3d_zrot(a)
+                    affine3d_rot_from_to(from,to) * affine3d_rot_by_axis(from,a)
                 ) :
                 !is_undef(v)? assert(is_num(a)) affine3d_rot_by_axis(v,a) :
                 is_num(a)? affine3d_zrot(a) :