A novel method and system to determine angular accelerations, angular velocities, and angular positions of the thigh and calf has been developed. Measurements are taken during stationary bicycle exercise. The approach considers only two dimensional motion (sagital plain). The kinematic parameters are obtained based on acceleration measurements from two two-dimmensional accelerometers fixed to each member (calf and thigh). The method is unique in that it does not perform integration to arrive to angular positions, thus avoiding buildup of errors associated with integration. Tests were performed using simulated data. An error analysis was performed. The system's expected maximum error is approximately 2° in the calf position for a bicycling speed of one cycle per second.