Simple and mixed Presentation
p> There are two basic ways you approach the guitar neck - Simple and Mixed Presentations.
For more complex chord shapes, where you can see two axes, place one axis first, then rotate the arm until you can place the other. During this the fingers remain quite passive. With attentive practice this process will become very quick.
Chords, and how to change chords quickly using simple and mixed presentation is explored thoroughly in my book:
Bach's Guitar: Master Chords and Unlock Your Right Hand