For one stress-free planar roll mode, thermal-time rescaling reduces the linear dynamics to , , . Its characteristic polynomial is . For and , steady marginality is . Oscillatory marginality is , with . A genuine Hopf bifurcation onset requires ; a formal imaginary-root formula with negative frequency squared is not an oscillation. The Routh-Hurwitz stability criterion selects the first crossing, while nonlinear coefficients determine criticality.
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