A gyroscope comprising: a substrate; a guided mass system, the guided mass system comprising at least one first proof mass, at least one second proof-mass, at least one center proof-mass, and at least one guiding arm, wherein the at least one first proof-mass, the at least one second proof-mass, the at least one center proof-mass, and the at least one guiding arm are disposed in a plane parallel to the substrate, the at least one first proof mass is coupled to the at least one guiding arm through at least one first spring and the at least one second proof-mass is coupled to the at least one guiding arm through at least one second spring; the at least one center proof-mass is coupled to the at least one first proof-mass through at least one third spring and the at least one center proof-mass is coupled to the at least one second proof-mass through at least one fourth spring; the at least one guiding arm is coupled to the substrate through at least one fifth spring (108a, 108b); wherein the at least one guiding arm is configured to allow anti-phase motion of the at least one first proof-mass and the at least one second proof-mass in a first direction in the plane; an actuator (109a, 109b, 109c, 109d) configured to cause the at least one first proof-mass and the at least one second proof-mass to vibrate anti-phase in the first direction, and to cause the at least one center proof mass and at least one guiding arm to rotate in the plane; and at least one transducer (112a, 112b) for sensing motion of a portion of the guided mass system out of the plane in response to angular velocity about a first input axis that is in the plane, the gyroscope further comprising at least a second transducer (660a, 660b), wherein the second transducer senses motion of the at least one center proof mass out of the plane in response to angular velocity about an input axis that is parallel to the first direction, wherein the second transducer comprises two electrodes (660a, 660b) disposed on the substrate on opposite sides along the first direction under the at least one center proof mass and the two electrodes (660a, 660b) are capacitive transducers for detecting rotation of the at least one center proof-mass about a second axis that is perpendicular to the first direction in the plane parallel to the substrate, characterized in that the at least one center proof-mass is coupled to the substrate by at least one anchor through at least one sixth spring, such that the at least one center proof-mass is configured to follow motion of the substrate due to connection through the at least one anchor and the at least one sixth spring. a substrate; a guided mass system, the guided mass system comprising at least one first proof mass, at least one second proof-mass, at least one center proof-mass, and at least one guiding arm, wherein the at least one first proof-mass, the at least one second proof-mass, the at least one center proof-mass, and the at least one guiding arm are disposed in a plane parallel to the substrate, the at least one first proof mass is coupled to the at least one guiding arm through at least one first spring and the at least one second proof-mass is coupled to the at least one guiding arm through at least one second spring; the at least one center proof-mass is coupled to the at least one first proof-mass through at least one third spring and the at least one center proof-mass is coupled to the at least one second proof-mass through at least one fourth spring; the at least one guiding arm is coupled to the substrate through at least one fifth spring (108a, 108b); wherein the at least one guiding arm is configured to allow anti-phase motion of the at least one first proof-mass and the at least one second proof-mass in a first direction in the plane; an actuator (109a, 109b, 109c, 109d) configured to cause the at least one first proof-mass and the at least one second proof-mass to vibrate anti-phase in the first direction, and to cause the at least one center proof mass and at least one guiding arm to rotate in the plane; and at least one transducer (112a, 112b) for sensing motion of a portion of the guided mass system out of the plane in response to angular velocity about a first input axis that is in the plane, the gyroscope further comprising at least a second transducer (660a, 660b), wherein the second transducer senses motion of the at least one center proof mass out of the plane in response to angular velocity about an input axis that is parallel to the first direction, wherein the second transducer comprises two electrodes (660a, 660b) disposed on the substrate on opposite sides along the first direction under the at least one center proof mass and the two electrodes (660a, 660b) are capacitive transducers for detecting rotation of the at least one center proof-mass about a second axis that is perpendicular to the first direction in the plane parallel to the substrate, characterized in that the at least one center proof-mass is coupled to the substrate by at least one anchor through at least one sixth spring, such that the at least one center proof-mass is configured to follow motion of the substrate due to connection through the at least one anchor and the at least one sixth spring.