PURPOSE: To attain to simplify constitution and to enhance measuring accuracy, by detecting angular velocity by applying signal processing to the nutural frequency of a cylindrical member rotating around the center axis thereof.

CONSTITUTION: One end of a metal thin walled cylindrical member 1 having a center axis Z, to which angular velocity ω to be measured is applied, is opened and the other end thereof is fixed to the attachment flange 3 through an exciting means attaching part 2. The exciting means attaching part 2 forms a square pole shape and a first exciting piezoelectric element 4a and a detecting piezoelectric element 5a forming a pair and a second exciting piezoelectric element 4b and a detecting piezoelectric element 5b forming the other pair are respectively provided to the opposed surfaces thereof. Vibration detected by the detecting piezoelectric elements is converted to an electric signal which is positively fed back to the exciting piezoelectric elements through an amplifier and continuous vibration energy is imparted to the cylindrical member 1. When natural frequency is set to f0 when fω,ω=0, angular velocity ω is calculated by formula shown by the drawing.