Mental rotations are among the most difficult of all spatial tasks to perform, and even those with high levels of spatial ability can struggle to visualize the result of compound rotations. This pilot study investigates the use of the virtual reality-based Rotation Tool, created using the Virtual Reality Modeling Language (VRML) together with MATLAB and the Simulink 3D Animation Toolbox, to assist engineering students in the visualization of compound rotations made about both fixed and mobile reference frames. This tool allows students to verify the non-commutative nature of compound rotations, as well as the relationship between fixed and mobile frame rotations. The effectiveness of the Rotation Tool is evidenced by the improved ability of students to work through questions pertaining to compound rotations, as well as their increased confidence when doing so.