Kerry Wong did a teardown of an old analog piezoelectric vibrating gyroscope:
Gyroscopes nowadays are based on micro-electro-mechanical systems (MEMS) technology. They are low cost and extremely miniaturized. A device combing both a three-axis gyroscope and a three-axis accelerometers (sometimes these devices are referred to as 6DOF devices) such as the MPU-6500 for example can be had in a QFN package as small as 3 mm x 3 mm and under 1 mm in height. Before these MEMS devices gained mainstream popularity however, larger piezoelectric vibrating gyroscopes were used in many consumer electronics devices.
See the full post on his blog.
Check out the video after the break.