 This paper introduces a modification to the eigenmode operation of resonant gyroscopes, which improves cross-mode isolation due to electrode misalignments and imperfections. This modification uses a multi-coefficient eigenmode architecture to reduce the effects of these issues, resulting in a nearly 60 dB cross-mode isolation for a 1,400 micrometers ALN on a silicon BAW resonator operating at 2.98 MHz. Additionally, the paper demonstrates a piezoelectric ALN BAW gyroscope with a large open-loop bandwidth of 150 Hz and a high-scale factor of 9.5 NA degree S. The paper also shows that the device has a noise performance comparable to its capacitive counterpart while having the unique advantage of a large open-loop bandwidth and not requiring large DC polarization voltages. This article was authored by Zhunming Liu, How and When, and Faro Koyazi.