diff --git a/include/puara/descriptors/simple_tilt_roll.h b/include/puara/descriptors/simple_tilt_roll.h
new file mode 100644
index 0000000..3189014
--- /dev/null
+++ b/include/puara/descriptors/simple_tilt_roll.h
@@ -0,0 +1,120 @@
+//********************************************************************************//
+// Puara Gestures - Simple Tilt / Roll (.h)                                       //
+// https://github.com/Puara/puara-gestures                                        //
+// Société des Arts Technologiques (SAT) - https://sat.qc.ca                      //
+// Input Devices and Music Interaction Laboratory (IDMIL) - https://www.idmil.org //
+// Edu Meneses (2025) - https://www.edumeneses.com                                //
+//********************************************************************************//
+#pragma once
+
+#include <puara/structs.h>
+#include <puara/utils.h>
+
+namespace puara_gestures
+{
+
+/**
+ * @brief This class creates a simpler tilt and roll extractor for IMUs that don't have
+ * magnetometers.
+ * 
+ * It expects 6DoF IMU data: accelerometer X, Y, Z, and gytoscope X, Y, Z (all type double).
+ *
+ * This class can use `tied_data`, which is an external variable that users update on their own.
+ * Users can then call update() without any argumments to extract the features from the `tied_data`.
+* The usage should be:
+* setup:
+*   - user creates variable, e.g. sensor_data
+* user instantiates the class, e.g. puara::Tilt_Roll my_tilt_roll(sensor_data)
+* loop/task:
+*   - user saves sensor value into sensor_data
+*   - user/task calls my_tilt_roll.update()
+*   - user accesses values with my_tilt_roll.current_tilt_value() or my_tilt_roll.current_roll_value()
+ */
+class Tilt_Roll
+{
+public:
+  Tilt_Roll() noexcept
+      : tied_x(nullptr)
+      , tied_y(nullptr)
+      , tied_z(nullptr)
+  {
+  }
+
+  Tilt_Roll(const Tilt_Roll&) noexcept = default;
+  Tilt_Roll(Tilt_Roll&&) noexcept = default;
+  Tilt_Roll& operator=(const Tilt_Roll&) noexcept = default;
+  Tilt_Roll& operator=(Tilt_Roll&&) noexcept = default;
+
+  explicit Tilt_Roll(Coord3D* tied)
+    : tied_x(&(tied->x))
+    , tied_y(&(tied->y))
+    , tied_z(&(tied->z))
+  {
+  }
+
+  int update(double accelx, double accely, double accelz)
+  {
+    // calculate polar representation of accelerometer data
+    roll = atan2(accelz, accely);
+    magnitude = sqrt(pow(accelz, 2) + pow(accely, 2));
+    tilt = atan2(accelx, magnitude);
+    magnitude = sqrt(pow(accelx, 2) + pow(magnitude, 2));
+    magnitude *= 0.00390625;
+
+    return 1;
+  }
+
+  int update(Coord3D imu_data)
+  {
+    update(imu_data.x, imu_data.y, imu_data.z);
+    return 1;
+  }
+
+  int update()
+  {
+    if(tied_x != nullptr || tied_y != nullptr || tied_z != nullptr)
+    {
+      update(*tied_x, *tied_y, *tied_z);
+      return 1;
+    }
+    else
+    {
+      // should we assert here, it seems like an error to call update() without a tied_value?
+      return 0;
+    }
+  }
+
+  Simple_Orientation current_value() const
+  {
+    return Simple_Orientation{roll, tilt, magnitude};
+  }
+
+  double current_roll_value() const
+  {
+    return roll;
+  }
+
+  double current_tilt_value() const
+  {
+    return tilt;
+  }
+
+  int tie(Coord3D* new_tie)
+  {
+    tied_x = &(new_tie->x);
+    tied_y = &(new_tie->y);
+    tied_z = &(new_tie->z);
+    
+    return 1;
+  }
+
+private:
+  const double* tied_x;
+  const double* tied_y;
+  const double* tied_z;
+  double roll = 0;
+  double tilt = 0;
+  double magnitude = 0;
+};
+
+} // namespace puara_gestures
diff --git a/include/puara/gestures.h b/include/puara/gestures.h
index a10fb95..bcf9790 100644
--- a/include/puara/gestures.h
+++ b/include/puara/gestures.h
@@ -14,4 +14,5 @@
 #include <puara/descriptors/roll.h>
 #include <puara/descriptors/shake.h>
 #include <puara/descriptors/tilt.h>
+#include <puara/descriptors/simple_tilt_roll.h>
 #include <puara/descriptors/touchArrayGestureDetector.h>
diff --git a/include/puara/structs.h b/include/puara/structs.h
index 3eb4821..25d2588 100644
--- a/include/puara/structs.h
+++ b/include/puara/structs.h
@@ -20,6 +20,11 @@ struct Coord3D
   double x, y, z;
 };
 
+struct Simple_Orientation
+{
+  double roll, tilt, magnitude;
+};
+
 struct Spherical
 {
   double azimuth;