Note that the pitch and yaw velocity moment responses differ by (1) an algebraic sign and (2) lying in orthogonal planes (M^ in the XY plane; Ma in the YZ plane). No wonder the sensory cells at the base of an haltere have complex morphology.
Note that if a haltere were mounted so that it vibrated in the animal's XY plane, then it would appear to be responsive to angular acceleration and angular velocity due to roll and pitch. If a haltere were to vibrate in a plane at 45° to the ZY plane, the neural sensors at its base may possibly extract information simultaneously about pitch, roll, and yaw acceleration and velocity.
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