1. An apparatus for estimating at least one of a dynamic motion of a portion of interest of a drill string and a static parameter associated with the portion of interest, the apparatus comprising: a plurality of sensors operatively associated with the drill string at at least one location other than the portion of interest; and a processing system coupled to the plurality of sensors, the processing system configured to estimate at least one of the dynamic motion and the static parameter using a measurement from the plurality of sensors as input.