A rotary velocity sensor includes a stator having a coil and a rotor having a permanent magnet. The rotor is substantially coaxially aligned with the central longitudinal axis of the stator, surrounds the coil, and is rotatable with respect to the stator about the axis. A rotary position and velocity sensor includes a non-magnetic stator having a magnetosensitive device and having at least one coil and includes a non-magnetic rotor having at least one permanent magnet. The magnetosensitive device has a sensing surface with a normal axis aligned substantially perpendicular to the stator axis. The at-least-one coil has a central coil axis aligned substantially perpendicular to the stator axis. The rotor is substantially coaxially aligned with the central longitudinal axis of the stator, surrounds the at-least-one coil, and is rotatable with respect to the stator about the stator axis.