rise
 
In an ideal B-DNA, atoms in the nucleic acid base form a plane, which are stacked regularly, with ideal positions of atomic planes relative to the helical axis as well as to each other. In a real DNA, the distnce between two successive bases is not equal to the ideal distance required by an ideal helix. This difference between the ideal value of distance between stacking planes of DNA and the actual observed value between successive bases is called the rise for that pair of nucleotide bases. Thus rise is a translation along the helical or z-axis of the DNA.

Shift
Shift is the translation of nucleotide perpendicular to its helical axis and towards the major groove.
 

slide
Slide is the translation of nucleotide perpendicular to its helical axis and also perpendicular the direction pointing to the major groove.
 

roll
Roll is the rotation of nucleotide plane such that an additional cleft is opened on the minor groove. (Negative roll means narrowing of minor groove).
 

twist
Twist is the rotation of nucleotide plane about the helical axis. Thus a positive twist deccreaes the helical pitch (increasing the number of turns).
 

tilt
Tilt is the rotation of base plane about the axis normal to the other two axes about which roll and twist take place. This axis narrows the gap between two consecutive bases but widens the gaps on its complementary bases.