A two-axis rate gyro has two articulation elements arranged sequentially. The first articulation element is connected with a drive shaft of the rate gyro and the second articulation element is connected with a gyro rotor. The two articulation elements are connected together by two narrow ribs located laterally with respect to a central bore and perpendicularly or radially with respect to the central axis of the articulation elements. Spring elements are provided in one of the articulation elements which act on pretensioned force-measuring elements and are tensioned with respect to one another. The spring elements deform elastically and symmetrically around the ribs under the influence of a sinusoidally alternating torque, so that the force-measuring elements are loaded and unloaded alternately and generate measurement signals proportional to the forces acting on them.