A magnetic angular sensing system has a magnet magnetized radially and a magnetic angular sensor for sensing the angular position of the magnet. The magnetic angular sensor is mounted in parallel to the axis of the magnet and is non-coplanar with the magnet. The magnetic angular sensor senses an angular position of the magnet based on a detected axial magnetic field component and a tangential magnetic field component of the magnetic field vector where the sensor mounted. This invention provides a flexible sensing system.