If we want to describe the motion of the aircraft, we need to discuss 2 kinds of motions: translational and rotational. We are familiar to translational motion. Here, we will look at 3 axes describing the rotation of the aircraft and 3 types of rotational motion. The 3 axes introduced are the lateral axis, the longitudinal axis, and the vertical axis, and these 3 axes intersect at the center of gravity (CG) of the aircraft

The rotational motion round 3 axes correspondingly are pitch, roll, and yaw.

Pitch (rotation around the lateral axis )

Roll (rotation around the longitudinal axis )

Yaw (rotation around the vertical axis )

An Aircraft can simultaneously have linear velocity and angular velocity, since the aircraft can both do translational and rotational motion