Kinematic considerations for inertial measurement units

Inertial measurement units (IMUs) are often used for research purposes in a variety of fields. The aim of this work is to show how these sensors function in line with the basics of rigid body kinematics. Preliminary results of two sensors on the same body demonstrate the sensitivity of acceleration to IMU placement, and confirm they measure the same angular velocity. Further work will highlight the relationship between accelerations at different points on the body.