No need to disentangle it. You would be integrating the linear motion with the accelerometer they are developing and use it with a gyroscope that measures the r

No need to disentangle it. You would be integrating the linear motion with the accelerometer they are developing and use it with a gyroscope that measures the rotational motion. Then the full 6 degrees of freedom are measured. We already have very good gyroscopes that measure rotational motion (such as Fiber-optic gyros [0]) with really high stability. [0] https://en.wikipedia.org/wiki/Fibre-optic_gyroscope https://en.wikipedia.org/wiki/Fibre-optic_gyroscope