This paper describes a method for estimation of heart rate (HR) and heart rate variability (HRV) with accelerometers and gyroscopes. We denote this joint seismocardiography (SCG) and gyrocardiography (GCG) approach as SCG/GCG. In principle, SCG which is a well known method measures the linear mechanical movements of the heart and GCG is a new technique which measures angular motion due to the chest micro-vibrations caused by myocardial rotation. As electrocardiography (ECG), they can also be performed in non-invasive manner using a device in contact to subjects skin, for example. Our method extracts HRV parameters based on single-axis and multi-axes autocorrelation analysis (1-AC and 6-AC) of all simultaneously captured SCG/GCG axes. The results of each axes are combined to maintain reliable HR- and HRV. We validate our results with a comparison study between simultaneous ECG and SCG/GCG recordings using a study group of 29 healthy male volunteers. The study provides a promising approach for HRV estimation with modern wearable devices.