▁fluid ▁and ▁rest ra ining ▁the ▁resid ual ▁mass ▁by ▁j ew el ▁bear ings ▁or ▁elect romagnet ic ▁means . ▁ ▁Although ▁this ▁later ▁method ▁still ▁has ▁the ▁vis c ous ▁fr iction ▁of ▁the ▁fluid ▁this ▁is ▁linear ▁and ▁has ▁no ▁threshold ▁and ▁has ▁the ▁advantage ▁of ▁having ▁minimal ▁static ▁fr iction . ▁ ▁Another ▁aspect ▁is ▁the ▁accurate ▁control ▁of ▁the ▁gy ros cope ' s ▁rot ational ▁rate . ▁ ▁Miss iles ▁using ▁P IG As ▁were ▁the ▁Pol aris , ▁T itan , ▁Red stone , ▁Jup iter , ▁Sat urn ▁Series ▁and ▁M X ▁Peace keeper . ▁ ▁History ▁The ▁P IG A ▁was ▁based ▁on ▁an ▁acceler ometer ▁developed ▁by ▁Dr . ▁Fritz ▁Mu eller , ▁then ▁of ▁the ▁Kreis el ger a ete ▁Company , ▁for ▁the ▁LE V - 3 ▁and ▁experimental ▁S G - 6 6 ▁guidance ▁system ▁of ▁the ▁Naz i ▁era ▁German ▁V 2 ▁( EM W ▁A 4 ) ▁ball istic ▁miss ile ▁and ▁was ▁known ▁among ▁the ▁German ▁ro cket ▁scient ists ▁as ▁the ▁M MI A ▁" M u eller ▁Mechan ical ▁Integr ating ▁Acc eler ometer ". ▁ ▁This ▁system ▁used ▁precision ▁elect rical ▁contacts ▁to ▁actu ate ▁the ▁tor que ▁motor ▁and ▁achieved ▁an ▁accuracy ▁of ▁ 1 ▁part ▁in ▁ 1 0 0 0 ▁to ▁ 1 ▁part ▁per ▁ 1 0 0 0 0 ▁known ▁in ▁technical ▁parl ance ▁as ▁a ▁scale ▁error ▁of ▁ 1 0 0 0 ▁to ▁ 1 0 0