Anybody else come from an Aerospace background? In aerospace, the vector is stationary and the frame is rotated, for the most part, whereas here, the frame is stationary and the vector is rotated. Opposite rotations. It would be nice to have one document which discusses all of the reference frames with cartoons showing the axes. The Ferry Building example helped me a great deal when I looked at a map of the Ferry Building area and realized that the cardinal axis that location anchors are pretended is South (along the z axis). Makes sense. That's why it needed to be rotated by -51.4 degrees.
