olemus
(1a) õõtsumine ümber püst- või kaldtelje
Wiktionary:
3. (nautical) a vessel's motion rotating about the vertical axis, so the bow yaws from side to side; a characteristic of unsteadiness

(1b) liikumine ümber püsttelje
https://www.researchgate.net/profile/Igor_Dotlic/publication/322408155/figure/fig7/AS:583100226256896@1516033335275/Pitch-roll-and-yaw-of-the-tag.png
Wiktionary:
1. the rotation of an aircraft, ship, or missile about its vertical axis so as to cause the longitudinal axis of the aircraft, ship, or missile to deviate from the flight line or heading in its horizontal plane