Etymology
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yaw (v.)

"to fall away from the line of a course," 1580s (as a noun 1540s), perhaps ultimately from Old Norse jaga, Old Danish jæge "to drive, chase," from Middle Low German jagen (see yacht).

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Definitions of yaw
1
yaw (v.)
be wide open;
Synonyms: gape / yawn
yaw (v.)
deviate erratically from a set course;
the yawing motion of the ship
yaw (v.)
swerve off course momentarily;
the ship yawed when the huge waves hit it
2
yaw (n.)
an erratic deflection from an intended course;
Synonyms: swerve
From wordnet.princeton.edu