Four-quadrant plane capacitive sensors with electrodes made by thick metal plates were used in a novel configuration of a bridge-based circuit for measurement of both displacement and small angles over two axes. Their design, fabrication and testing by means of a differential set-up specifically designed is presented and discussed in terms of the measurement model, considering signal recovering, linearity, resolution and noise. Numerical calculations of the capacitors, including corrective terms for fringe effects and tilt between electrodes in a differential configuration, are developed to simulate the overall measuring system. Tests of the model were then performed that validated it by comparison with the results of displacement and small angle rotation runs traced by an interferometer and an autocollimator. Sensitivities of about 0,11 V/µm with a 110 -3 relative standard deviation, and of 0,13 V/mrad with a 310 -3 relative standard deviation, were determined with displacements up to ± 50 µm and yaw rotations up to ± 10 mrad.