- Roll
- is when the vessel rotates about the longitudinal (front/back) Axis
- Pitch
- is when the vessel rotates about the transverse (side-to-side) axis
- Yaw
- is when the vessel rotates about the vertical (up-down) axis
References
Society of Naval Architects and Marine Engineers (SNAME), "Principles of Naval Architecture", 1989, Vol. III, Pg.41, Section 3 - Ship Responses to Regular Waves
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Naval Architecture