Any way to cycle thru windows of same app?

On a windows computer, Alt-Tab cycles through all of your open windows, regardless of what program it is.

On Mac OS, Alt-Tab cycles between apps only. Is there a way to cycle through all windows regardless of app? Basically so... when I have 3 Safari windows open, is there a keyboard shortcut to cycle between the 3 different windows of the same program?

 

Thanks. Can't believe I've been using OS X for 9 years and not known that shortcut...