Notations (us)
Standard rotation :
U=Up,D=Down,F=Front,B=Back,L=Left,R=Right
Slice rotation :
u=up-inner, r=right-inner, f=front-inner
Block Rotation :
U*=Up-block, R*=Right-block, F*=Front-block, ...
Cube rotation :
tU=move the cube in U direction, ...
Ex :
R r R' tR R* R2