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Check a youtube video for a better explanation
If you want the in-game reason why ships have terrible yaw, it's because thrusters are always mounted flush to the ship's hull, and very, very few ships have vertical external walls. The T7 and Orca both have vertical walls with thrusters mounted on them, and, by no coincidence, they are also the best ships in the game for yaw control.
But it is very similar in theory as to how bearings work. Most velocity bearings are designed to roll one direction. They are not designed to handle a lot of sideways force. In fact they can handle tons of forward and reverse forces but very little sideways forces before they break. Spacecraft are designed to go forward and backward quickly with lateral thrusters used primarily for orientation adjustments not major velocity changes.
If you have Kerbal Space Program you can test this by trying to design a rocket that can handle a lot of yaw forces. You will find that most objects in the game can't handle this b/c yaw tends to then product a shearing force so if you have modules connected by ports they will rip apart and your spacecraft is dead.
We have talked about this before on this forum. Excessive yaw puts undue strain on the ship, the pilot and components.
Yaw produces torque.
https://study.com/academy/lesson/what-is-torque-definition-equation-calculation.html#:~:text=Torque%20is%20the%20twisting%20force,has%20units%20of%20Newton-meters.
Also FA off does not product faster turns or 180s. You cannot flip over 180 and then FA on and regain velocity faster than you could just pull up and over 180. It changes facing quicker but not velocity vector.