diff --git a/src/rigidBodyState/rigidBodyState/rigidBodyState.C b/src/rigidBodyState/rigidBodyState/rigidBodyState.C
index 017ed813e4..b4381bcede 100644
--- a/src/rigidBodyState/rigidBodyState/rigidBodyState.C
+++ b/src/rigidBodyState/rigidBodyState/rigidBodyState.C
@@ -88,7 +88,11 @@ bool Foam::functionObjects::rigidBodyState::read(const dictionary& dict)
 {
     fvMeshFunctionObject::read(dict);
 
-    angleUnits_ = dict.lookupOrDefault<word>("angleUnits", "radians");
+    angleUnits_ = dict.lookupOrDefaultBackwardsCompatible<word>
+    (
+        {"angleUnits", "angleFormat"},
+        "radians"
+    );
 
     resetNames(names_);
 
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/axialAngularSpring/axialAngularSpring.C b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/axialAngularSpring/axialAngularSpring.C
index 8466d9d9b1..d3dd90d8e5 100644
--- a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/axialAngularSpring/axialAngularSpring.C
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/axialAngularSpring/axialAngularSpring.C
@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     | Website:  https://openfoam.org
-    \\  /    A nd           | Copyright (C) 2011-2020 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2011-2022 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -177,20 +177,26 @@ bool Foam::sixDoFRigidBodyMotionRestraints::axialAngularSpring::read
 
     moment_ = Function1<scalar>::New("moment", sDoFRBMRCoeffs_);
 
-    const word angleFormat = sDoFRBMRCoeffs_.lookup("angleFormat");
+    const word angleUnits
+    (
+        sDoFRBMRCoeffs_.lookupBackwardsCompatible
+        (
+            {"angleUnits", "angleFormat"}
+        )
+    );
 
-    if (angleFormat == "degrees" || angleFormat == "degree")
+    if (angleUnits == "degrees" || angleUnits == "degree")
     {
         convertToDegrees_ = true;
     }
-    else if (angleFormat == "radians" || angleFormat == "radian")
+    else if (angleUnits == "radians" || angleUnits == "radian")
     {
         convertToDegrees_ = false;
     }
     else
     {
         FatalErrorInFunction
-            << "angleFormat must be degree, degrees, radian or radians"
+            << "angleUnits must be degree, degrees, radian or radians"
             << abort(FatalError);
     }
 
@@ -211,7 +217,7 @@ void Foam::sixDoFRigidBodyMotionRestraints::axialAngularSpring::write
 
     moment_->write(os);
 
-    writeKeyword(os, "angleFormat");
+    writeKeyword(os, "angleUnits");
 
     if (convertToDegrees_)
     {
diff --git a/src/sixDoFRigidBodyState/sixDoFRigidBodyControl/sixDoFRigidBodyControl.H b/src/sixDoFRigidBodyState/sixDoFRigidBodyControl/sixDoFRigidBodyControl.H
index e44029c78a..811a876ea1 100644
--- a/src/sixDoFRigidBodyState/sixDoFRigidBodyControl/sixDoFRigidBodyControl.H
+++ b/src/sixDoFRigidBodyState/sixDoFRigidBodyControl/sixDoFRigidBodyControl.H
@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     | Website:  https://openfoam.org
-    \\  /    A nd           | Copyright (C) 2018-2019 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2018-2022 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -38,7 +38,7 @@ Description
         type           sixDoFRigidBodyControl;
         libs           ("libsixDoFRigidBodyState.so");
 
-        angleFormat    degrees;
+        angleUnits     degrees;
 
         window                      1;
         convergedVelocity           (1e-2 1e-2 1e-2);
@@ -47,13 +47,13 @@ Description
     \endverbatim
 
     Note the units of the \c convergedAngularVelocity are specified by the \c
-    angleFormat entry.
+    angleUnits entry.
 
 Usage
     \table
     Property     | Description                       | Required | Default value
     type         | Type name: sixDoFRigidBodyControl | yes      |
-    angleFormat  | Degrees or radians                | no       | radian
+    angleUnits  | Degrees or radians                | no       | radian
     window       | Averaging window                  | yes      |
     convergedVelocity | Linear velocity convergence criterion         | yes |
     convergedAngularVelocity | Angular velocity convergence criterion | yes |
diff --git a/src/sixDoFRigidBodyState/sixDoFRigidBodyState/sixDoFRigidBodyState.C b/src/sixDoFRigidBodyState/sixDoFRigidBodyState/sixDoFRigidBodyState.C
index 66c97eeb89..6c70d94006 100644
--- a/src/sixDoFRigidBodyState/sixDoFRigidBodyState/sixDoFRigidBodyState.C
+++ b/src/sixDoFRigidBodyState/sixDoFRigidBodyState/sixDoFRigidBodyState.C
@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     | Website:  https://openfoam.org
-    \\  /    A nd           | Copyright (C) 2017-2021 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2017-2022 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -77,7 +77,11 @@ bool Foam::functionObjects::sixDoFRigidBodyState::read(const dictionary& dict)
 {
     fvMeshFunctionObject::read(dict);
 
-    angleFormat_ = dict.lookupOrDefault<word>("angleFormat", "radians");
+    angleUnits_ = dict.lookupOrDefaultBackwardsCompatible<word>
+    (
+        {"angleUnits", "angleFormat"},
+        "radians"
+    );
 
     resetName(typeName);
 
@@ -90,7 +94,7 @@ void Foam::functionObjects::sixDoFRigidBodyState::writeFileHeader(const label)
     OFstream& file = this->file();
 
     writeHeader(file, "Motion State");
-    writeHeaderValue(file, "Angle Units", angleFormat_);
+    writeHeaderValue(file, "Angle Units", angleUnits_);
     writeCommented(file, "Time");
 
     file<< tab
@@ -130,7 +134,7 @@ Foam::functionObjects::sixDoFRigidBodyState::angularVelocity() const
 {
     vector angularVelocity(motion().omega());
 
-    if (angleFormat_ == "degrees")
+    if (angleUnits_ == "degrees")
     {
         angularVelocity.x() = radToDeg(angularVelocity.x());
         angularVelocity.y() = radToDeg(angularVelocity.y());
@@ -156,7 +160,7 @@ bool Foam::functionObjects::sixDoFRigidBodyState::write()
 
         vector angularVelocity(motion.omega());
 
-        if (angleFormat_ == "degrees")
+        if (angleUnits_ == "degrees")
         {
             rotationAngle.x() = radToDeg(rotationAngle.x());
             rotationAngle.y() = radToDeg(rotationAngle.y());
diff --git a/src/sixDoFRigidBodyState/sixDoFRigidBodyState/sixDoFRigidBodyState.H b/src/sixDoFRigidBodyState/sixDoFRigidBodyState/sixDoFRigidBodyState.H
index 7cbd2bc209..e720f33b48 100644
--- a/src/sixDoFRigidBodyState/sixDoFRigidBodyState/sixDoFRigidBodyState.H
+++ b/src/sixDoFRigidBodyState/sixDoFRigidBodyState/sixDoFRigidBodyState.H
@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     | Website:  https://openfoam.org
-    \\  /    A nd           | Copyright (C) 2017-2021 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2017-2022 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -33,7 +33,7 @@ Description
     {
         type           sixDoFRigidBodyState;
         libs           ("libsixDoFRigidBodyState.so");
-        angleFormat    degrees;
+        angleUnits     degrees;
     }
     \endverbatim
 
@@ -41,7 +41,7 @@ Usage
     \table
         Property     | Description                  | Required | Default value
         type         | type name: sixDoFRigidBodyState    | yes |
-        angleFormat  | degrees or radians           | no       | radian
+        angleUnits  | degrees or radians           | no       | radian
     \endtable
 
 See also
@@ -80,7 +80,7 @@ class sixDoFRigidBodyState
 {
     // Private Data
 
-        word angleFormat_;
+        word angleUnits_;
 
 
     // Private Member Functions
diff --git a/tutorials/modules/incompressibleFluid/wingMotion/wingMotion2D_transient/system/controlDict b/tutorials/modules/incompressibleFluid/wingMotion/wingMotion2D_transient/system/controlDict
index 66413db8ea..e5fe700fdc 100644
--- a/tutorials/modules/incompressibleFluid/wingMotion/wingMotion2D_transient/system/controlDict
+++ b/tutorials/modules/incompressibleFluid/wingMotion/wingMotion2D_transient/system/controlDict
@@ -56,7 +56,7 @@ functions
     {
         type           sixDoFRigidBodyState;
         libs           ("libsixDoFRigidBodyState.so");
-        angleFormat    degrees;
+        angleUnits     degrees;
     }
 }
 
diff --git a/tutorials/multiphase/interFoam/RAS/floatingObject/system/controlDict b/tutorials/multiphase/interFoam/RAS/floatingObject/system/controlDict
index 68e0e68c3c..1458f420f0 100644
--- a/tutorials/multiphase/interFoam/RAS/floatingObject/system/controlDict
+++ b/tutorials/multiphase/interFoam/RAS/floatingObject/system/controlDict
@@ -56,7 +56,7 @@ functions
     {
         type           rigidBodyState;
         libs           ("librigidBodyState.so");
-        angleFormat    degrees;
+        angleUnits     degrees;
     }
 }
 
diff --git a/tutorials/multiphase/interFoam/RAS/floatingObject/system/controlDict.sixDoF b/tutorials/multiphase/interFoam/RAS/floatingObject/system/controlDict.sixDoF
index 69a5f5ac45..c015baca8f 100644
--- a/tutorials/multiphase/interFoam/RAS/floatingObject/system/controlDict.sixDoF
+++ b/tutorials/multiphase/interFoam/RAS/floatingObject/system/controlDict.sixDoF
@@ -56,7 +56,7 @@ functions
     {
         type           sixDoFRigidBodyState;
         libs           ("libsixDoFRigidBodyState.so");
-        angleFormat    degrees;
+        angleUnits     degrees;
     }
 }
 
diff --git a/tutorials/multiphase/interFoam/RAS/planingHullW3/system/controlDict b/tutorials/multiphase/interFoam/RAS/planingHullW3/system/controlDict
index ba0a8f82dd..a7fb4f78db 100644
--- a/tutorials/multiphase/interFoam/RAS/planingHullW3/system/controlDict
+++ b/tutorials/multiphase/interFoam/RAS/planingHullW3/system/controlDict
@@ -67,7 +67,7 @@ functions
     {
         type           rigidBodyState;
         libs           ("librigidBodyState.so");
-        angleFormat    degrees;
+        angleUnits     degrees;
     }
 
     #includeFunc surfaces