We consider the resource-constrained scheduling of loops with inter-iteration dependencies. A loop is modeled as a data flow graph (DFG), where edges are labeled with the number of iterations between dependencies. We design a novel and flexible technique, called rotation scheduling, for scheduling cyclic DFGs using loop pipelining. The rotation technique repeatedly transforms a schedule to a more compact schedule. We provide a theoretical basis of the operations based on retiming. We propose two heuristics to perform rotation scheduling, and give experimental results showing that they have very good performance.