A power tool has a housing, an output member coupled to the housing, and a motor, rotational motion sensor, timer, and control circuit in the housing. The timer is initiated, and the rotational motion sensor monitors rotational motion of the housing about an axis. The control circuit determines the direction of the rotational motion of the housing, whether the direction is different from a previous direction of rotational motion of the housing, and whether a value for the timer exceeds a predetermined threshold. If the direction is different from the previous direction and the timer value is less than the predetermined threshold, the control circuit initiates a protective action for the power tool. The control circuit also drives the motor to cause the output member to rotate in a direction that corresponds to the detected rotational motion of the housing.