Unsure of how rotations work? then read this page and it will give you all the information you need to get going!
In rotation 1, we drop the front row outside hitter (OH1) back to pass with the Libero and second outside hitter (OH2). This will force our players to hit out of position in serve receive (right side hitter hits on the left side and the left side hitter hits from the right side on the first play).
In rotation 2, the front row outside hitter (OH2) will drop back and pass, while the setter pushes up behind the right side hitter. Typically, the middle hitter (MH2) and the right side will switch spots as the serve is in the air so that all three players are attacking from their preferred spots in the offense.
Rotation 2 provides the most common overlap in the 5-1 serve receive formations. While the right side hitter (RSH) is encouraged to shift to the right to try to get out of the way, and closer to the right side to attack, it is imperative that the setter remains between the libero and back row outside (OH1). The setter tends to drift right with the right side and ends up overlapped with the back row outside hitter (OH1). Stress to the setter that they merely have to remain behind the right side hitter (RSH) and do no need to move left or right with them.
In rotation 3, the front row outside hitter (OH2) will drop back into left back to pass. The setter will push up behind the front row middle (MH1). One thing to stress to the setter is that they can move all the way over be just to the left of the back row outside hitter (OH1), but emphasize that they still have to remain behind the front row middle hitter.
In rotation 4, the traditional move is to stack everyone over to the left side. This allows the middle hitter (MH1) and outside hitter (OH2) to both hit from their preferred positions in the front row. The right side hitter drops out of serve receive in this rotation.
In each of the next three rotations (rotations 4-6), the front row outside hitter can be pushed up to the three meter line and the right side hitter can act as a third primary passers. A lot of teams will also substitute a defensive specialist (DS) who can serve receive for the right side hitter (RSH). This allows the front row outside hitter to be able to stay up in the front row on serve receive.
In rotation 5, it is just a matter of dropping the front row outside hitter (OH1) back into the serve receive formation. The middle hitter (MH1) will have options to attack behind the setter or slide around in front as the serve is in the air.
In the final rotation, the front row outside (OH1) drops back into left back from middle front in order to pass. The front row middle hitter (MH2) must start to the left of the front row outside hitter (OH1).
With thanks to https://howtheyplay.com/team-sports/Volleyball-Serve-Receive-Patterns-in-a-5-1-Offense for the information and pictures found on this page.