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An accelerometer is a device that measures proper acceleration; proper acceleration is not the same as coordinate acceleration (rate of change of velocity).
Inertial navigation systems contain IMUs which have angular and linear accelerometers (for changes in position); some IMUs include a gyroscopic element (for maintaining an absolute angular reference). Angular accelerometers measure how the vehicle is rotating in space. Generally, there is at least one sensor for each of the three axes: pitch (nose up and down), yaw (nose left and right) and roll (clockwise or counter-clockwise from the cockpit).