In the linear approximation, the first time derivative of rotational displacement. Angular velocity and rotational velocity are acceptable synonyms for rotation rate. In the nonlinear theory, it is defined via the rotation tensor
Peter Bormann, Keiiti Aki, William H. K. Lee, and Johannes Schweitzer (Compilers and Amenders), Glossary of Terms Interest to Earthquake and Engineering Seismologists (Version 1), Publication records from external use of GFZ scientific infrastructure, Germany 2011. http://gfzpublic.gfz-potsdam.de/pubman/item/escido c:56137:3/component/escidoc:56143/Glossary_rev1.pd f, (ND/ Erthq - Amer) {980}