Piezoelectric deformation of crystal lattice of relaxor-PT single crystals with various engineered domain configurations and ψ angles in different modes: (a) k33-mode, ‘4R’; (b) k33-mode, ‘4O’; (c) k33-mode, ‘3T’; (d) k33-mode, ‘2R’; (e) k36-mode, ‘2R’. The solid blue and dash red arrows denote polarizations of crystals before and after applying the electric fields, respectively, and the solid yellow arrows represent related polarization rotation processes. From the typical properties as shown in (a)–(e), one can see that large ψ angle facilitates polarization rotation process, resulting in the higher piezoelectric activity and increased energy dissipation.