Abstract: A gyroscope for detecting rotation about a gyro input axis, having a support structure, at least one mass flexibly coupled to the support structure such that it is capable of motion in two directions along a drive axis, the mass offset from the gyro output axis, one or more drives for oscillating the flexibly-coupled masses along the drive axis, one or more mass motion sensors that sense motion of the flexibly-coupled masses along their drive axes, and one or more gyro output sensors that detect rotation of the support structure about the output axis.