It is the distance from the center of the orbit to the center f the orbiting body.
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Rotational motion is rotation of a body about its center of mass.
G is a measure of linear acceleration. For rotational motion it is necessary to multiply the degrees by the distance from the centre of rotation (radius of rotation).
angular momentum
Well, motion and range of motion in physics.
They need to convert rotational motion to motion of some other form - usually linear motion. That can only be accomplished through the use of specific irregular shapes.