It is the Italian word meaning 'robbed'. It's an important element of a lot of music that is easy to hear, but more difficult to do well. Rubato means that there is a fluctuation in speed in the performance, some notes or phrases being played more quickly, and other notes or phrases less quickly. One way of thinking of it is that using rubato in a piece of music will give a performance of close to the same length as if the piece were played with a strict metronomic attack. The 'gives and takes' in a rubato performance balance out in the end.
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The term 'Tempo rubato' means that for some time, until it says 'a tempo', you can expressively quicken or slacken a bit. I think it means mostly to slow down , because I thought rubato was to slow just like ritardando and all that. No. It was 'rebato' I think. Never mind it then. It just means you can quicken or slacken for a bit. Just don't be too lazy.
It describes how a piece of music is to be played. Andante means at walking pace and rubato means that the tempo may be varied for purposes of expression.
Rubato
Rubato
a tempo/at tempo/Tempo 1
Tempo.
The tempo marking, usually located near the top of the music composition, determines how many beats pre minute the pace of the song should be played at. You should use a metronome to determine this.