A multi-turn angular position sensor includes a fixed magnet non-rotationally coupled to a fixed structure. A shaft is configured to rotate multiple complete rotations from a reference position, where each complete rotation front the reference position in a rotational direction defines a unique rotation zone of the shaft. Rotatable magnets surround the shaft and are disposed between the shaft magnet and the fixed magnet and are configured to rotate a different number of angular degrees than the shaft magnet. One of the rotatable magnets is a zone sensor magnet that rotates no more than one complete rotation from the reference position. A rotational zone sensor supplies a zone sensor output signal that indicates the unique rotation zone of the shaft. A shaft rotation sensor supplies a shaft rotation output signal representative of a number of angular degrees that the shaft rotates within each unique rotation zone.