Cross-axis sensitivity is generally undesirable, and lower values are required for the accurate performance of a thermal accelerometer. In this study, errors in devices are utilized to simultaneously measure two physical quantities of an unmanned aerial vehicle (UAV) in the X-, Y-, and Z-directions, i.e., where three accelerations and three rotations can also be simultaneously measured using a single motion sensor. The 3D structures of thermal accelerometers were designed and simulated in a FEM simulator using commercially available FLUENT 18.2 software Obtained temperature responses were correlated with input physical quantities, and a graphical relationship was created between peak temperature values and input accelerations and rotations. Using this graphical representation, any values of acceleration from 1gto 4gand rotational speed from 200 to 1000°/s can be simultaneously measured in all three directions.