So, you can say surge, sway you got linear, along x b, y b, z b and roll pitch, and yaw is angular motion about same three axis, x b, y b, z b. So, there are three, now we we we are using right handed coordinate system, remember that angular motion means when I say about x b that is clock wise direction; that is you know this way if you axis is there, this this axis is there means going like clockwise direction. You have to remember that because otherwise, in the calculation we have make mistakes you know that axis.