The terms "pitch" and "yaw" usually describe movements of airplanes, but biologists also use them to describe basic movements of body parts such as the jaw.
Pitch rotation results in basic up and down movement, and yaw rotation results in side-to-side, crosswise motion like a a cow munching away on grass.
Almost all modern mammals, including placental mammals, like humans and deer, and marsupials, like kangaroos and opossums, share similarities in their jaw structures and musculature that allow for both pitch and yaw movements.
"If you have a very specialised diet you're more likely to perish during a mass extinction because you're only eating one thing," said David Grossnickle, graduate student at the University of Chicago in the US.
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"But if you can eat just about anything and 90 per cent of your food goes away, you can still live on scraps," he said.
Using 2D images of early mammal fossils from previous publications and 3D data collected from modern specimens at the Field Museum, Grossnickle analysed the structure of teeth, jaw bones, and how the muscles that control them were attached to the skull.
This way the animal could grind its food between the molars like a mortar and pestle, as opposed to cutting it with simple up and down pitch movements.