Physics help.

So there is a physics problem I can probably solve but almost certainly need help with. I cannot put my Gyro/Accelerometer(IMU) at the center of rotation of the ball robot, If i could the accelerometer would be useless and the gyro would need no translation. What I need is the matrix transform for if the IMU assuming it is not at the center of the ball. How do I translate normalized gyro measurements into robot rotation? How do I translate normalized accelerometer measurements into robot rotation? Is the derivitive of one the other? I am looking to make a PD or PID controller.