An ion discharge gyroscope measures rotational motion and linear acceleration by generating symmetrical ion jet streams and measuring respective amounts of the jet streams impinging on detectors located so as to intercept the ion jet streams. The ion jet streams will be diverted by operation of the Coriolis effect and the differences in the amount of each ion jet stream impinging on the detectors is an indication of rotational motion and linear acceleration. In one embodiment, the ion jet streams are heated and the respective temperatures of the detectors are measured. In another embodiment, the amounts of current flowing through each detector, as contributed by the ion jet streams, are measured and used to determine rotation and acceleration.