  We present an interferometric inertial sensor that utilizes two
counter-propagating atomic beams with transverse two-dimensional cooling. By
employing three parallel and spatially aligned Raman laser beams for
Doppler-sensitive Raman transitions, we successfully generate inertia-sensitive
Mach-Zehnder interference fringes with an interrogation length of
$2L=54\,\rm{cm}$. The measured rotation and acceleration sensitivities are
$0.25\,(\mu\rm{rad/s})/\sqrt{Hz}$ and $0.12\,\rm{m}\textit{g}/\rm{\sqrt{Hz}}$,
respectively. The sensor's capability to measure rotation and acceleration
simultaneously in dynamic environments is validated through comparative
analysis with classical sensors under force oscillation in different
directions. Additionally, we conduct experiments on a turntable to calibrate
the gyroscope's scaling factor and address nonlinearity.
