Systems and methods for determining gravity toolface and inclination are described herein. An example may comprise a downhole tool (300) and a sensor assembly (330, 340, 350) disposed in a radially offset location within the downhole tool. The sensor assembly may comprise three accelerometers and an angular rate sensing device. A processor (402a) may be in communication with the sensor assembly and may be coupled to at least one memory device (402b). The memory device may contain a set of instruction that, when executed by the processor, cause the processor to receive an output from the sensor assembly; determine at least one of a centripetal acceleration (r) and a tangential acceleration (a) of the downhole tool based, at least in part, on the output; and determine at least one of a gravity toolface and inclination of the downhole tool using at least one of the centripetal acceleration and the tangential acceleration.