Axis
An axis is a line that we use to find points and other lines. If we want to talk about more than one axis, we say "axes."
In the plane, we use two axes called the x-axis and the y-axis. Here is a picture:

The x-axis has equation y = 0, and the y-axis has equation x = 0.
Undefined
In math, we call something undefined when we can't think of a description that makes sense. For example, 6/2 is a number that you can multiply by two to get six:
This means 6/0 ought to be a number that you can multiply by zero to get six. But zero multiplied by anything is zero, not six. We can't pick a good number for 6/0, so we say that it is undefined. (For more, see Dividing by Zero from the Ask Dr. Math FAQ.)
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