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Notation for marine vessels as given by SNAME (1950).
| Degree of freedom | Forces and moments | Velocities | Positions |
|---|---|---|---|
| 1 Translation in the x direction (surge) | T | u | x |
| 2 Translation in the y direction (sway) | Y | v | y |
| 3 Translation in the z direction (heave) | Z | w | z |
| 4 Rotation about x axis (roll) | K | q | ϕ |
| 5 Rotation about y axis (pitch) | M | p | θ |
| 6 Rotation about z axis (yaw) | N | r | ψ |
