a permanent magnet two degree of freedom gyroscope utilizing a single rotor having a trapezoidal shaped pattern formed thereon . the trapezoidal pattern consists of a reflective segment and a non reflective segment . two optical sensors fixed with respect to the stator , obtain angular displacement information about the two axes perpendicular to the spin axis , rotor pole location information , which is used for commutation , and , rotor speed information . the present invention deals with an apparatus and method for starting , running and torquing the two degree of freedom permanent magnet gyro motor based on position and displacement information obtained from the two optical detectors . the angular displacement information is obtained by sensing differences in the optical pattern as the rotor spins and is displaced about cross - axes , perpendicular to the spin axis .