Kinesin is a homodimeric motor with two catalytic heads joined to a stalk via short neck linkers (NLs). We measured the torsional properties of single recombinant molecules by tracking the thermal angular motions of fluorescently labeled beads bound to the C terminus of the stalk. When kinesin heads were immobilized on microtubules (MTs) under varied nucleotide conditions, we observed bounded or unbounded angular diffusion, depending on whether one or both heads were attached to the MT. Free rotation implies that NLs act as swivels. From data on constrained diffusion, we conclude that the coiled-coil stalk domains are Ϸ30-fold stiffer than its flexible ''hinge'' regions. Surprisingly, while tracking processive kinesin motion at low ATP concentrations, we observed occasional abrupt reversals in the directional orientations of the stalk. Our results impose constraints on kinesin walking models and suggest a role for rotational freedom in cargo transport.microtubule ͉ molecular motor ͉ rotation ͉ single molecule ͉ yaw with one degree accuracy C onventional kinesin (kinesin-1) is a motor protein that transports cargo along microtubules (MTs) in cells, converting the chemical energy of nucleotide hydrolysis into mechanical work (1). The structure of kinesin consists of twin catalytic motor domains (heads) that bind to the MT substrate with nucleotidedependent affinity, joined by neck linkers (NLs) to the N terminus of an extended, ␣-helical coiled-coil (CC) stalk (Fig. 1A). Considerable recent progress has been made in understanding the mechanochemistry of the kinesin motor domains, which enable individual molecules to move processively, undertaking hundreds of successive 8-nm steps while hydrolyzing one ATP molecule per step (2-4). However, little is known about the structure of the stalk or its role in the currently favored model for kinesin movement, the so-called ''asymmetric hand-overhand'' stepping mechanism (5-7). In this mechanism, the heads of kinesin advance in strict alternation, exchanging leading, and trailing roles at each step, analogous to a person walking (1). An asymmetric mechanism requires that the ''left'' and ''right'' steps be slightly different; however, in contrast with a symmetric hand-over-hand walk, it does not require continuous rotation of the kinesin stalk. Consistent with this model, a landmark experiment by the Gelles group (8) that tracked the angular motions of MTs driven by single kinesin motors affixed to a surface did not find evidence for large-scale rotations.Although no net rotations of the kinesin stalk are expected during asymmetric hand-over-hand motion, significant momentary angular changes are nevertheless possible. If kinesin were a nearly rigid molecule, Ϯ180°reorientations of the stalk would be anticipated whenever the two heads exchanged positions during stepping (1, 9). It has been speculated that flexible elements within the kinesin structure may relieve any such momentary torsional strain, facilitating forward motion. Although previous single-molecule studies foun...