What is the actual definition of rotational motion?

Ok so I roughly know what rotational motion is (e.g. the spinning of a DVD) but I wish to know the text book definition for it. I tried Googling it but to no avail. The first link on Google gives this:

Quote:

Rotation around a fixed axis is a special case of rotational motion

http://en.wikipedia.org/wiki/Rotatio...d_a_fixed_axis



But as mentioned above, that is a special case only, so what is a general case of rotational motion? IE is there a definition for it?



Thanks