A microelectromechanical systems, MEMS, device, comprising: at least one frame gyroscope (1004, 1006, 1012, 1014, 1008, 1010, 1016, 1018) configured to sense a first component of angular velocity associated with the MEMS device around a first axis; at least two drive shuttles (1020, 1022, 1024, 1026) comprising respective guided masses and coupled to the at least one frame gyroscope; and at least two proof masses (1028, 1030, 1032, 1034) coupled with respective ones of the at least two drive shuttles and configured to sense a second component of angular velocity associated with the MEMS device around a second axis that is orthogonal to the first axis, wherein the at least two drive shuttles are constrained to not respond to angular velocity associated with the MEMS device around the first axis and the second axis; at least one paddle gyroscope (1040, 1042) coupled to respective ones of the at least one frame gyroscope and configured to sense a third component of angular velocity associated with the MEMS device around a third axis that is orthogonal to the first axis and the second axis; and wherein the at least one frame gyroscope comprises two frame gyroscopes, wherein the at least two drive shuttles comprise four drive shuttles comprising at least the respective guided masses and coupled to associated ones of the two frame gyroscopes, and wherein the at least two proof masses comprise four proof masses coupled with respective ones of the four drive shuttles: characterized in that the two frame gyroscopes are further configured to couple two paddle gyroscopes of the at least one paddle gyroscope to the four drive shuttles. at least one frame gyroscope (1004, 1006, 1012, 1014, 1008, 1010, 1016, 1018) configured to sense a first component of angular velocity associated with the MEMS device around a first axis; at least two drive shuttles (1020, 1022, 1024, 1026) comprising respective guided masses and coupled to the at least one frame gyroscope; and at least two proof masses (1028, 1030, 1032, 1034) coupled with respective ones of the at least two drive shuttles and configured to sense a second component of angular velocity associated with the MEMS device around a second axis that is orthogonal to the first axis, wherein the at least two drive shuttles are constrained to not respond to angular velocity associated with the MEMS device around the first axis and the second axis; at least one paddle gyroscope (1040, 1042) coupled to respective ones of the at least one frame gyroscope and configured to sense a third component of angular velocity associated with the MEMS device around a third axis that is orthogonal to the first axis and the second axis; and wherein the at least one frame gyroscope comprises two frame gyroscopes, wherein the at least two drive shuttles comprise four drive shuttles comprising at least the respective guided masses and coupled to associated ones of the two frame gyroscopes, and wherein the at least two proof masses comprise four proof masses coupled with respective ones of the four drive shuttles: characterized in that the two frame gyroscopes are further configured to couple two paddle gyroscopes of the at least one paddle gyroscope to the four drive shuttles.