diff --git a/src/geometry/rotation_specialization.rs b/src/geometry/rotation_specialization.rs
index bba92512..1ea5cd92 100644
--- a/src/geometry/rotation_specialization.rs
+++ b/src/geometry/rotation_specialization.rs
@@ -956,13 +956,15 @@ impl<T: SimdRealField> Rotation3<T> {
     {
         // Implementation informed by "Computing Euler angles from a rotation matrix", by Gregory G. Slabaugh
         //  https://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.371.6578
+        //  where roll, pitch, yaw angles are referred to as ψ, θ, ϕ,
         if self[(2, 0)].clone().abs() < T::one() {
-            let yaw = -self[(2, 0)].clone().asin();
-            let roll = (self[(2, 1)].clone() / yaw.clone().cos())
-                .atan2(self[(2, 2)].clone() / yaw.clone().cos());
-            let pitch = (self[(1, 0)].clone() / yaw.clone().cos())
-                .atan2(self[(0, 0)].clone() / yaw.clone().cos());
-            (roll, yaw, pitch)
+            let pitch = -self[(2, 0)].clone().asin();
+            let theta_cos = pitch.clone().cos();
+            let roll = (self[(2, 1)].clone() / theta_cos.clone())
+                .atan2(self[(2, 2)].clone() / theta_cos.clone());
+            let yaw =
+                (self[(1, 0)].clone() / theta_cos.clone()).atan2(self[(0, 0)].clone() / theta_cos);
+            (roll, pitch, yaw)
         } else if self[(2, 0)].clone() <= -T::one() {
             (
                 self[(0, 1)].clone().atan2(self[(0, 2)].clone()),