diff --git a/include/ignition/rendering/base/BaseCamera.hh b/include/ignition/rendering/base/BaseCamera.hh
index e48fe887e..9c57bfcd9 100644
--- a/include/ignition/rendering/base/BaseCamera.hh
+++ b/include/ignition/rendering/base/BaseCamera.hh
@@ -351,7 +351,7 @@ namespace ignition
         {
           math::Pose3d targetCamPose = math::Pose3d(this->followOffset,
               this->WorldRotation());
-          targetCamPose += this->followNode->WorldPose();
+          targetCamPose = this->followNode->WorldPose() * targetCamPose;
 
           math::Vector3d pos = this->WorldPosition() +
               (targetCamPose.Pos() - this->WorldPosition()) * this->followPGain;
@@ -371,7 +371,7 @@ namespace ignition
         }
         else
         {
-          targetPose += this->trackNode->WorldPose();
+          targetPose = this->trackNode->WorldPose() * targetPose;
         }
 
         math::Pose3d p =
diff --git a/include/ignition/rendering/base/BaseJointVisual.hh b/include/ignition/rendering/base/BaseJointVisual.hh
index 07f688371..08f587e66 100644
--- a/include/ignition/rendering/base/BaseJointVisual.hh
+++ b/include/ignition/rendering/base/BaseJointVisual.hh
@@ -406,7 +406,7 @@ namespace ignition
 
         // get rotation of joint visual in model frame
         ignition::math::Quaterniond quatFromModel =
-            (this->LocalPose() + parentInitPose).Rot();
+            (parentInitPose * this->LocalPose()).Rot();
 
         // rotate arrow visual so that the axis vector applies to the model
         // frame.
diff --git a/include/ignition/rendering/base/BaseNode.hh b/include/ignition/rendering/base/BaseNode.hh
index 479ca351a..549023d25 100644
--- a/include/ignition/rendering/base/BaseNode.hh
+++ b/include/ignition/rendering/base/BaseNode.hh
@@ -428,7 +428,7 @@ namespace ignition
         return pose;
       }
 
-      return pose + parent->WorldPose();
+      return parent->WorldPose() * pose;
     }
 
     //////////////////////////////////////////////////