diff --git a/src/encoders/index.ts b/src/encoders/index.ts
index e174b89..bde4ce3 100644
--- a/src/encoders/index.ts
+++ b/src/encoders/index.ts
@@ -1,8 +1,10 @@
+import CentroidAccelVelocity from './motion/centroid-accel-velocity';
 import CentroidPosition from './motion/centroid-position';
 import OrientationEuler from './motion/orientation-euler';
 import OrientationQuaternion from './motion/orientation-quaternion';
 import RTTrPM from './motion/rttrpm';
 import Trackable from './motion/trackable';
+import TrackedPointAccelVelocity from './motion/tracked-point-accel-velocity';
 import TrackedPointPosition from './motion/tracked-point-position';
 import RTTrPHeader from './rttrp-header';
 
@@ -14,4 +16,6 @@ export const Encoders = {
   OrientationQuaternion,
   OrientationEuler,
   TrackedPointPosition,
+  CentroidAccelVelocity,
+  TrackedPointAccelVelocity,
 };
diff --git a/src/encoders/motion/centroid-accel-velocity.ts b/src/encoders/motion/centroid-accel-velocity.ts
new file mode 100644
index 0000000..c98cfa4
--- /dev/null
+++ b/src/encoders/motion/centroid-accel-velocity.ts
@@ -0,0 +1,43 @@
+export default (
+  x: number,
+  y: number,
+  z: number,
+  accelX: number,
+  accelY: number,
+  accelZ: number,
+  velocityX: number,
+  velocityY: number,
+  velocityZ: number,
+  isLittleEndian: boolean = false
+): Uint8Array => {
+  const bytes = new Uint8Array(51);
+  const view = new DataView(bytes.buffer, bytes.byteOffset, bytes.byteLength);
+
+  let dataOffset = 0;
+  view.setUint8(dataOffset, 0x02);
+  dataOffset += 1;
+  view.setUint16(dataOffset, bytes.byteLength, isLittleEndian);
+  dataOffset += 2;
+
+  view.setFloat64(dataOffset, x, isLittleEndian);
+  dataOffset += 8;
+  view.setFloat64(dataOffset, y, isLittleEndian);
+  dataOffset += 8;
+  view.setFloat64(dataOffset, z, isLittleEndian);
+  dataOffset += 8;
+
+  view.setFloat32(dataOffset, accelX, isLittleEndian);
+  dataOffset += 4;
+  view.setFloat32(dataOffset, accelY, isLittleEndian);
+  dataOffset += 4;
+  view.setFloat32(dataOffset, accelZ, isLittleEndian);
+  dataOffset += 4;
+
+  view.setFloat32(dataOffset, velocityX, isLittleEndian);
+  dataOffset += 4;
+  view.setFloat32(dataOffset, velocityY, isLittleEndian);
+  dataOffset += 4;
+  view.setFloat32(dataOffset, velocityZ, isLittleEndian);
+
+  return bytes;
+};
diff --git a/src/encoders/motion/tracked-point-accel-velocity.ts b/src/encoders/motion/tracked-point-accel-velocity.ts
new file mode 100644
index 0000000..815c802
--- /dev/null
+++ b/src/encoders/motion/tracked-point-accel-velocity.ts
@@ -0,0 +1,46 @@
+export default (
+  x: number,
+  y: number,
+  z: number,
+  accelX: number,
+  accelY: number,
+  accelZ: number,
+  velocityX: number,
+  velocityY: number,
+  velocityZ: number,
+  index: number,
+  isLittleEndian: boolean = false
+): Uint8Array => {
+  const bytes = new Uint8Array(52);
+  const view = new DataView(bytes.buffer, bytes.byteOffset, bytes.byteLength);
+
+  let dataOffset = 0;
+  view.setUint8(dataOffset, 0x02);
+  dataOffset += 1;
+  view.setUint16(dataOffset, bytes.byteLength, isLittleEndian);
+  dataOffset += 2;
+
+  view.setFloat64(dataOffset, x, isLittleEndian);
+  dataOffset += 8;
+  view.setFloat64(dataOffset, y, isLittleEndian);
+  dataOffset += 8;
+  view.setFloat64(dataOffset, z, isLittleEndian);
+  dataOffset += 8;
+
+  view.setFloat32(dataOffset, accelX, isLittleEndian);
+  dataOffset += 4;
+  view.setFloat32(dataOffset, accelY, isLittleEndian);
+  dataOffset += 4;
+  view.setFloat32(dataOffset, accelZ, isLittleEndian);
+  dataOffset += 4;
+
+  view.setFloat32(dataOffset, velocityX, isLittleEndian);
+  dataOffset += 4;
+  view.setFloat32(dataOffset, velocityY, isLittleEndian);
+  dataOffset += 4;
+  view.setFloat32(dataOffset, velocityZ, isLittleEndian);
+  dataOffset += 4;
+  view.setUint8(dataOffset, index);
+
+  return bytes;
+};