A transmission for a vehicle includes a first rotating member for rotation about an axis and a second rotating member for rotation about the axis. The first rotating member and the second rotating member are connectable to each other such that the first rotating member and the second rotating member are rotationally locked relative to each other for transferring torque between the first rotating member and the second rotating member. The transmission comprises a sensor arrangement for measuring a relative angular position of the first rotating member and the second rotating member while at least one of the first rotating member and the second rotating member is rotating.