Abstract: Techniques are provided for measuring angles of rotation of a rotatable body, and, in particular, for measuring angles of rotation of a rotating member that can rotate greater than 360 degrees. One example of these techniques is multi-turn angular position sensor that includes a main gear configured to couple to and rotate, in response to rotation of a rotation member, over a main gear rotation range, a first sensor gear engaged with the main gear and configured to experience more angular rotation than the main gear in response to rotation of the main gear, and a second sensor gear engaged with the main gear and configured to experience more angular rotation than the main gear and less angular rotation than the first sensor gear in response to rotation of the main gear.