Nope. Guy's got it right. 'Perpendicular' (or 'orthogonal' if you prefer), meaning that the concerns are on separate axes, and thus independent of each other.

SOAP is a bit weird because it's both an envelope/delivery mechanism as well as a discovery/interface negotiation methodology.

REST is just straight up a set of interface design principles. It doesn't care what you're delivering, it doesn't care about the channel you deliver it through.