The disclosed invention concept utilizes a homodyne/heterodyne interferometer technique in a modified lidar in such a manner as to sense the rotational velocity magnitude and sense of a rotating (or “spinning”) object. Sensing is accomplished in assessing either the Doppler bandwidth of a single axis system or in sensing the frequency separation of Doppler spectrums in a “two” axis system. The technique is unique in that the Doppler bandwidth is linearly proportional to rotational velocity and independent of intercept position in the rotation plane. The technique as disclosed is based on optical fiber lidar techniques, but can be implemented in free-space optics as well. The disclosed invention therefore comprises both a technique for utilization of an optical fiber lidar and a new arrangement of lidar elements. Compact and cost effective, standoff rotation velocity sensors and systems can be fabricated with this technique.