Six degrees of freedom
Specifically , the body is free to change position as forward/backward ( surge ) , up/down ( heave ) , left/right ( sway ) translation in three perpendicular axes , combined with changes in orientation through rotation about three perpendicular axes , often termed yaw ( normal axis ) , pitch ( transverse axis ) , and roll ( longitudinal axis ) . 
<triplet> position <subj> axes <obj> facet of