diff --git a/docs/sphinx/source/whatsnew/v0.16.2.rst b/docs/sphinx/source/whatsnew/v0.16.2.rst
index f704525a12..b43e21ac47 100644
--- a/docs/sphinx/source/whatsnew/v0.16.2.rst
+++ b/docs/sphinx/source/whatsnew/v0.16.2.rst
@@ -22,6 +22,9 @@ Enhancements
 
 Documentation
 ~~~~~~~~~~~~~
+* Clarified in :py:func:`pvlib.tracking.singleaxis` that the tracker
+  rotation minimizes the angle of incidence (AOI) to maximize the use of
+  direct normal irradiance (DNI). (:issue:`2314`, :pull:`2869`)
 
 
 Testing
@@ -43,3 +46,4 @@ Maintenance
 Contributors
 ~~~~~~~~~~~~
 
+* Chen Yi (:ghuser:`chenyi6758-source`)
diff --git a/pvlib/tracking.py b/pvlib/tracking.py
index e234887cd0..5c8922144c 100644
--- a/pvlib/tracking.py
+++ b/pvlib/tracking.py
@@ -18,8 +18,13 @@ def singleaxis(apparent_zenith, solar_azimuth,
     Determine the rotation angle of a single-axis tracker when given particular
     solar zenith and azimuth angles.
 
-    See [1]_ and [2]_ for details about the equations. Backtracking may be
-    specified, in which case a ground coverage ratio is required.
+    The rotation angle is chosen to minimize the angle of incidence (AOI) of
+    the sun's beam onto the panel, thereby maximizing the use of direct
+    normal irradiance (DNI). Backtracking may be specified, in which case
+    a ground coverage ratio is required. When backtracking, the rotation is
+    adjusted away from the AOI-minimizing angle to avoid row-to-row shading.
+
+   See [1]_ and [2]_ for details about the equations.
 
     Rotation angle is determined in a right-handed coordinate system. The
     tracker ``axis_azimuth`` defines the positive y-axis, the positive x-axis