Upon {HEAD ~ rotation} of {TAIL ~ the substrate} about any spatial axis, the masses are subjected to deflections caused by Corolis forces that are detected by sensor elements 
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Upon { HEAD ~ rotation } of { TAIL ~ the substrate } about any spatial axis , the masses are subjected to deflections caused by Corolis forces that are detected by sensor elements
OTH HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH