# In a Twist message, how should angular velocity be interpreted?

Is the angular velocity instead a vector whose magnitude is the speed of rotation (in rad/s), and whose direction is the axis of rotation? Or is it something different, like Euler angular velocity (unless those are equivalent)?

I tried to look at https://en.wikipedia.org/wiki/Screw_t... which was linked elsewhere, but it sounds like it describes something different, where rotation can only happen around the axis along which it moves.