I always like to remember the original usage for airplanes (OK, it was
1. Pitch is how far up or down the plane/boat's nose is pointed.
2. Roll is how much the plane is tilted to the left or right (tipping
the plane/ship left and right).
3. Yaw is the other one. :-)
Pitch and roll have essentially the obvious meaning from their usual usage.
It's yaw that isn't used outside this context.
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