This article deals with the rotational motions of the boat at the three main axes in any vessel, called longitudinal X, lateral or transverse Y and vertical Z axes (Fig.1). The rotational movements around them are known as roll, pitch and yaw: · Roll is when the boat rotates about the longitudinal X (front/back) axis. · Pitch is when the boat rotates about the lateral or transverse Y (side-to-side) axis. · Yaw is when the boat rotates about the vertical Z (up-down) axis.
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