The pin closest to the label (x, y, z, rate and temp) is the signal pin, the next is +5v and the last is ground.
Accel
x y z label
o o o signal pins
o o o +5v pins
o o o ground pins
Gyro, label abbreviated
r t labels
o o signal
o o +5v
o o ground
You can cut a pwm cable and wire it so white/yellow is signal, red is +5v, and black is ground. Then connect the PWM cables to the Analog inputs on the
analog breakout.
You can find more details about them in the
2009 Sensor Manual.