I am a noobie and I am not really sure this is the right forum to post to, so please excuse me if I am posting in the wrong place. I had considered General Physics and Classical Physics, but I hope I have made my best choice and I don't think it is acceptable to post in more than one forum. The problem to be remedied: Shake, Rattle and Roll in my front loader Rock and Roller. I am really fascinated by how really complex the physics and mechanics governing the operation of a seemingly simple appliance like a washing machine can be. Out of hobby interest and a love of science and also finding some joy in hacking home appliances, I have hacked my own store-bought washing machine, tore out the existing computer controller, added my own MCU and now I can control almost all necessary washing functions. That is, except out of balance conditions. These events have shown to create an excessive vibration sufficient to be a self-destructive event or cause the machine to wander from its placement or else create so much vibration as to upset me, my girlfriend or my neighbors in this apt. building. To attempt to try to remedy this problem, I have bought a GY-521 MP6050 accelerometer module that can detect F.S. accelerations of +-2g, +-4g, +-8g or +-16g and delivers 250/500/1000/2000 deg/Sec gyro readings in all XYZ directions. This accelerometer/gyro can deliver up to 1000 readings/sec of all measurements. What I know so far: If the washing machine drum/motor unbalanced moves up >1.5-in or to the left >1-in or to the right >2-in there is a great destructive banging to be heard. I have to detect an imbalance that is trending towards an out of balance limit before the limit is reached. By the time the unbalance is detected, the drum Asm has already gained momentum and will continue to travel in its trajectory, even after all power is cut from the motor. Movement is restrained in some directions by shock absorbers.. I even added two more to the concrete blocks at the top in an attempt to quench excessive vibration. However the mechanics of the suspension develops cyclic paths of vibration that align with the least restrained directions of movement. With some calculations I can quantify pitch, yaw and roll of my wannabe flying washing machine. I know how to create a moving averages of each of the XYZ accelerations as data to make a decision for the MCU to interrupt motor power when an out of balance condition is detected. What I think what I am trying to do, at least in part, is to detect absolute displacement or a dangerous accelerating trend away from dead center from the acceleration/gyro readings. The rotating drum/motor + wash clothes +water sloshing around has a mass of 40 to 60kg. And while the total rotating mass has a total of 40 to 60 kg, the only out of balance portion of this mass is the wash and water in the drum/tub itself. I also have observed that the out of balance mass often forms itself more or less into a flattened ball-like shape inside the drum/tub. But every out of balance event is different and so it creates it's own cyclic pattern of vibration depending on speed, washload and the organization of the washload and water in the tub. I have also observed that the rotation of the tub creates a spooling effect that creates the clumping that causes the imbalance and wonder how to prevent this by manipulation of the direction/acceleration of the tub from stopped position. I know that acceleration is the rate of change of speed and that one g = 9.81 meters/Sec. From that I think I know that if the drum Asm. is accelerating at 9.81 meters/Sec in any or all directions, that it will have reached 9.81 meters/sec of speed and the displacement from dead center resting position in one second would be 1/2 x 9.81 meters?. So I need to know how to combine the various readings of acceleration and gyros to detect an out of balance condition. But how do I attempt to combine this information into a remedy? It have taken a physics and calculus course at the university, but I didn't too very well in my one and only general physics course. I do know I could use a cut and try approach to achieve some amateur sloppy solution, but I hope to do better if I can get some good advice from you experts! I think I need some help with the physics and math at this point. Please help.