Abstract: A method of determining the acceleration of a rotating body by counting the number of teeth on a rotating gear member for one or more revolutions. The method minimizes the measurement lag using an overlapping method and calculating acceleration on each control loop that a new revolution count is available. The method determines the new tooth count based on the tooth count estimated for the next update. The old tooth count is discarded and the new tooth count is adjusted to match the old tooth count within the system constraints to provide less interrupts and faster acceleration updates. The number of gear revolutions to be counted are increased at higher gear speeds.