Yaw is the motion around the normal (vertical) axis of the aircraft. Use this tag to denote a question where a yaw rotation is a key element of the problem.
Yaw is the motion around the normal (vertical) axis of the aircraft and forms, with pitch and roll, the set of principal rotations.
Yaw is created with a yaw moment (torque) around the yaw axis. The yaw rate, which is the angular velocity around the yaw axis, can be measured with a gyroscopic device.