After analysis of general properties of horizontal motion in primitive equations and introduction of principal parameters, the key notion of geostrophic equilibrium is introduced. Quasi-geostrophic reductions of one- and two-layer rotating shallow-water models are obtained by a direct filtering of fast inertia–gravity waves through a choice of the time scale of motions of interest, and by asymptotic expansions in Rossby number. Properties of quasi-geostrophic models are established. It is shown that in the beta-plane approximations the models describe Rossby waves. The first idea of the classical baroclinic instability is given, and its relation to Rossby waves is explained. Modifications of quasi-geostrophic dynamics in the presence of coastal, topographic, and equatorial wave-guides are analysed. Emission of mountain Rossby waves by a flow over topography is demonstrated. The phenomena of Kelvin wave breaking, and of soliton formation by long equatorial and topographic Rossby waves due to nonlinear effects are explained.
