Rotational observation is essential for a comprehensive description of the ground motion, and can provide additional wave-field information. With respect to the three typical layered models in shallow engineering geology, under the assumption of linear small deformation, we simulate the 2-dimensional radial, vertical, and rotational components of the wave fields and analyze the different characteristics of Rayleigh wave dispersion recorded for the rotational and translational components. Then, we compare the results of single-component inversion with the results of multi-component joint inversion. It is found that the rotational component has wider spectral bands and more higher modes than the translational components, especially at high frequencies; the rotational component has better anti-interference performance in the noisy data test, and it can improve the inversion accuracy of the shallow shear-wave velocity. The field examples also show the significant advantages of the joint utility of the translational and rotational components, especially when a low-velocity layer exists. Rotational observation shall be beneficial for shallow surface-wave exploration.