We present kinematic interaction factors for the rotational response of rigid shallow foundations subjected to Rayleigh waves. Results are presented for 2D mat foundations with or without embedment. We consider a linear and homogenous soil profile and perfect contact at the soil-foundation interface. The foundations are subjected to pure Rayleigh waves that propagate along the ground surface. It is shown that the rotational response of a rigid and massless foundation depends on the characteristic wave length of the Rayleigh wave, the embedment ratio and the characteristic dimension of the foundation. Globally, kinematic interaction attenuates the imposed rotation that is induced by the incidence of the Rayleigh wave and this attenuation effect becomes more pronounced for larger foundations and for foundations with larger embedment. The analyses are performed in the frequency domain using the Thin Layer Method and are validated with complementary calculations performed in the time domain using the Domain Reduction Method. The basic conclusions of the study are: a) the presence of a rotational response component even for superficial foundations because of the incidence of Rayleigh waves and b) the favorable effect of kinematic interaction that tends to attenuate the imposed rotation.