Imagining the orientations as a series of rotations along individual, orthonormal basis axes, you may run into the problem of gimbal lock. Try visualising the desired final result as an orientation represented by a quaternion.
The insight that linearly interpolating spherical coordinates does not necessarily result in smooth motion was one of these key experiences that made me trust my intuition in new areas much less.
Imagining the orientations as a series of rotations along individual, orthonormal basis axes, you may run into the problem of gimbal lock. Try visualising the desired final result as an orientation represented by a quaternion.
The insight that linearly interpolating spherical coordinates does not necessarily result in smooth motion was one of these key experiences that made me trust my intuition in new areas much less.