Energy-autonomous wireless sensor systems have the potential to enable condition monitoring without the need for a wired electrical infrastructure or capacity-limited batteries. In this paper, a robust and low-cost energy-autonomous wireless rotational speed sensor is presented, which harvests energy from the rotary motion of its host using the variable reluctance principle. A microelectromechanical system (MEMS) gyroscope is utilized for angular velocity measurements, and a Bluetooth Low Energy System-on-Chip (SoC) transmits the acquired samples wirelessly. An analysis on the individual subsystems is performed, investigating the output of the energy transducer, the required energy by the load, and energy losses in the whole system. The results of simulations and experimental measurements on a prototype implementation show that the system achieves energy-autonomous operation with sample rates between 1 to 50 Hz already at 10 to 40 rotations per minute. Detailed investigations of the system modules identify the power management having the largest potential for further improvements.