The invention includes an angular momentum control device (AMCD) having a rim and several magnetic bearing stations. The AMCD is in a strapped down position on a spacecraft. Each magnetic bearing station comprises means, including an axial position sensor, for controlling the position of the rim in the axial direction; and means, including a radial position sensor, for controlling the position of the rim in the radial direction. A first computer receives the signals from all the axial position sensors and computes the angular rates about first and second mutually perpendicular axes in the plane of the rim and computes the linear acceleration along a third axis perpendicular to the first and second axes. A second computer receives the signals from all the radial position sensors and computes the linear accelerations along the first and second axes
