In 3 experiments, the authors investigated changes in hand orientation during a 3-D reaching task that imposed specific position and orientation requirements on the hand's initial and final postures. Instantaneous hand orientation was described using 3-element rotation vectors representing current orientation as a rotation from a fixed reference orientation. The direction of these 3-vectors gives the rotation axis, and the length of the axis gives the rotation magnitude. Hand translation parameters (relative timing of velocity components, trajectory linearity) varied systematically with position and orientation of the target, arm load, and movement velocity. Hand orientation, however, remained constrained to 2-D planar motions in the 3-D space of all possible rotation vectors. Implications of this functional constraint for theories of trajectory formation are discussed.