I always like to remember the original usage for airplanes (OK, it was 
really ships):

   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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