Abstract: A sensor for measuring rotation rate with respect to three axes and linear acceleration with respect to two axes. Electromagnets comprising cores of high magnetic permeability and windings are fixed to structures that protrude inwardly from outer frames of upper and lower rotor assemblies. An element of high magnetic permeability is fixed to the facing surface of a rotor arm to create electromagnetic drives for counteroscillation of upper and lower sets of rotor arms. Accelerometers are horizontally aligned and fixed to the top surfaces of preselected rotor arms of the upper rotor assembly and to the bottom surfaces of aligned rotor arms of the lower set of rotor arms for measuring rotation rate with respect the x and y axes and linear acceleration with respect to the z axis. The two sets of rotor arms are connected by a torsion bar.