Methods, systems, and articles of manufacture consistent with the present invention provide for aligning a removable device relative to a vehicle using an angle sensor device and a computer system operatively connected to the angle sensor device. The angle sensor device has a first local axis and a second local axis orthogonal to the first local axis and a plurality of accelerometers. The first pair of the accelerometers is mounted along the first local axis, spaced apart a first predetermined distance, and oriented such that each of the first pair of accelerometers is operatively configured to sense a respective acceleration when the angle sensor device is rotated about the second local axis. The computer system is operatively configured to derive a first angular displacement based on the respective acceleration sensed by each of the first pair of accelerometers when the angle sensor device is rotated about the second local axis.