I see now he's asking about pitch roll and yaw velocity rather than x,y and z velocity. The simple case of pitch and roll tilt is detectable with a 3 axis accelerometer. Can't do yaw. That's what the magnetometer is for. So if you can get pitch and roll 20 times a sec (atan2(y,z) and atan2(x,z)), you can get pitch and roll rate 20 times a sec. So now we know the phone pitching at 90 degrees per second. What do we do with that?
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