Add to ORKGIn this thesis a method for testing the dynamic accuracy of micro-electro-mechanical systems (MEMS) magnetic, angular rate, and gravity (MARG) sensors was developed. Many tests exist to check the static accuracy of MARG and inertial sensors or their individual components, but very few tests exist that adequately examine the dynamic accuracy of the final sensor package with sufficient precision and test repeatability. Based on a previous work that developed an inertial sensor test bench, a new test apparatus designed to model the motions of a human arm or leg was built using a rigid pendulum with MEMS MARG sensors attached on the end. Building materials were chosen to give minimal magnetic interference, and an optical encoder was used to acc...