A stage driving apparatus linearly and rotationally moves a stage on a plane. A movable unit movable in first and second directions is rotatable on a movable-plane, and is parallel to the first and second directions. A fixed unit supports the movable unit as the movable unit is moved in the first and second directions and is rotated on the movable-plane. A first driving unit supplies a driving force in the second direction, a second driving unit supplies a second driving force in the first direction, and a third driving unit supplies a third driving force in the first direction.