My rule of thumb is that if you can find a fairly straightforward connection between a piece of rock music and 50s rock music, then it's rock and roll. Otherwise it's just rock music (or another derivation thereof).
So yes, Led Zeppelin's "Rock and Roll" is absolutely rock and roll. Most Velvet Underground is rock and roll. "21st Century Schizoid Man" isn't rock and roll by a long shot; most of its more frenzied aspects are owed to John Coltrane more than anything.
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