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The aircraft roll axis is the longitudinal body axis through the centre of mass, conventionally directed toward the nose. Positive rotation around that forward axis lowers the right wing in the right-handed system with $y$ right and $z$ down. An aileron changes the aerodynamic loading of a wing; unequal loads on opposite sides can generate a rolling torque.^[ref]

The roll component of $\mathbf{\tau }=\mathbf{r}\times \mathbf{F}$ isAn original pure-couple example places an upward incremental force of $50\mathrm{N}$ at $y=+3\mathrm{m}$ and a downward incremental force of the same magnitude at $y=-3\mathrm{m}$. With both application points at $z=0$, their total incremental force vanishes butThe negative sign means right-wing-up rotation. For an initially pure roll about a principal axis with moment of inertia $I_x=600\mathrm{kg}{\mathrm{m}}^2$, the instantaneous angular acceleration is $\dot{p}=-0.50rad/{\mathrm{s}}^2$. This is a stipulated force couple, not an aileron-performance prediction.

The aircraft roll rate $p$ describes rotation, while bank angle describes attitude relative to a local horizontal reference. A vehicle held at a constant bank angle can have zero change of that angle while its flight direction turns. Conversely, a rolling aircraft need not already have the steady centripetal force required by the fixed-wing aircraft turning model. Attitude, angular velocity and trajectory are separate measured quantities.