diff --git a/Aliases/gz-cmake6 b/Aliases/gz-cmake6
new file mode 120000
index 000000000..3920fd878
--- /dev/null
+++ b/Aliases/gz-cmake6
@@ -0,0 +1 @@
+../Formula/gz-rotary-cmake.rb
\ No newline at end of file
diff --git a/Aliases/gz-utils5 b/Aliases/gz-utils5
new file mode 120000
index 000000000..c0172a46d
--- /dev/null
+++ b/Aliases/gz-utils5
@@ -0,0 +1 @@
+../Formula/gz-rotary-utils.rb
\ No newline at end of file
diff --git a/Formula/gz-cmake5.rb b/Formula/gz-cmake5.rb
index 377892f5f..07d7d2f33 100644
--- a/Formula/gz-cmake5.rb
+++ b/Formula/gz-cmake5.rb
@@ -17,6 +17,8 @@ class GzCmake5 < Formula
   depends_on "cmake"
   depends_on "pkgconf"
 
+  conflicts_with "gz-rotary-cmake", because: "both install gz-cmake"
+
   def install
     cmake_args = std_cmake_args
     cmake_args << "-DBUILD_TESTING=OFF"
diff --git a/Formula/gz-rotary-cmake.rb b/Formula/gz-rotary-cmake.rb
new file mode 100644
index 000000000..3b076ce6c
--- /dev/null
+++ b/Formula/gz-rotary-cmake.rb
@@ -0,0 +1,50 @@
+class GzRotaryCmake < Formula
+  desc "CMake helper functions for building robotic applications"
+  homepage "https://gazebosim.org"
+  license "Apache-2.0"
+
+  head "https://github.com/gazebosim/gz-cmake.git", branch: "main"
+
+  depends_on "cmake"
+  depends_on "pkgconf"
+
+  conflicts_with "gz-jetty-cmake", because: "both install gz-cmake"
+
+  def install
+    cmake_args = std_cmake_args
+    cmake_args << "-DBUILD_TESTING=OFF"
+
+    # Use a build folder
+    mkdir "build" do
+      system "cmake", "..", *cmake_args
+      system "make", "install"
+    end
+  end
+
+  def caveats
+    <<~EOS
+      This is an unstable, development version of Gazebo built from source.
+    EOS
+  end
+
+  test do
+    (testpath/"CMakeLists.txt").write <<-EOS
+      cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
+      project(gz-test VERSION 0.1.0)
+      find_package(gz-cmake REQUIRED)
+      gz_configure_project()
+      gz_configure_build(QUIT_IF_BUILD_ERRORS)
+    EOS
+    %w[doc include src test].each do |dir|
+      mkdir dir do
+        touch "CMakeLists.txt"
+      end
+    end
+    mkdir "build" do
+      system "cmake", ".."
+    end
+    # check for Xcode frameworks in bottle
+    cmd_not_grep_xcode = "! grep -rnI 'Applications[/]Xcode' #{prefix}"
+    system cmd_not_grep_xcode
+  end
+end
diff --git a/Formula/gz-rotary-utils.rb b/Formula/gz-rotary-utils.rb
new file mode 100644
index 000000000..d0c881b56
--- /dev/null
+++ b/Formula/gz-rotary-utils.rb
@@ -0,0 +1,75 @@
+class GzRotaryUtils < Formula
+  desc "General purpose classes and functions designed for robotic applications"
+  homepage "https://github.com/gazebosim/gz-utils"
+  license "Apache-2.0"
+
+  head "https://github.com/gazebosim/gz-utils.git", branch: "main"
+
+  depends_on "cmake" => [:build, :test]
+  depends_on "pkgconf" => [:build, :test]
+  depends_on "cli11"
+  depends_on "fmt"
+  depends_on "gz-rotary-cmake"
+  depends_on "spdlog"
+
+  conflicts_with "gz-jetty-utils", because: "both install gz-utils"
+
+  def install
+    cmake_args = std_cmake_args
+    cmake_args << "-DBUILD_TESTING=OFF"
+    cmake_args << "-DCMAKE_INSTALL_RPATH=#{rpath}"
+
+    # Use a build folder
+    mkdir "build" do
+      system "cmake", "..", *cmake_args
+      system "make", "install"
+    end
+  end
+
+  def caveats
+    <<~EOS
+      This is an unstable, development version of Gazebo built from source.
+    EOS
+  end
+
+  test do
+    (testpath/"test.cpp").write <<-EOS
+      #include <gz/utils/ImplPtr.hh>
+      class SomeClassPrivate
+      {
+      };
+      class SomeClass
+      {
+        private: gz::utils::ImplPtr<SomeClassPrivate> dataPtr =
+            gz::utils::MakeImpl<SomeClassPrivate>();
+      };
+      int main() {
+        SomeClass object;
+        return 0;
+      }
+    EOS
+    (testpath/"CMakeLists.txt").write <<-EOS
+      cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
+      find_package(gz-utils QUIET REQUIRED)
+      add_executable(test_cmake test.cpp)
+      target_link_libraries(test_cmake gz-utils::gz-utils)
+    EOS
+    system "pkg-config", "gz-utils"
+    cflags = `pkg-config --cflags gz-utils`.split
+    ldflags = `pkg-config --libs gz-utils`.split
+    system ENV.cxx, "test.cpp",
+                    *cflags,
+                    *ldflags,
+                    "-o", "test"
+    system "./test"
+    # test building with cmake
+    mkdir "build" do
+      system "cmake", ".."
+      system "make"
+      system "./test_cmake"
+    end
+    # check for Xcode frameworks in bottle
+    cmd_not_grep_xcode = "! grep -rnI 'Applications[/]Xcode' #{prefix}"
+    system cmd_not_grep_xcode
+  end
+end
diff --git a/Formula/gz-utils4.rb b/Formula/gz-utils4.rb
index 345e3204c..61d3abbb4 100644
--- a/Formula/gz-utils4.rb
+++ b/Formula/gz-utils4.rb
@@ -20,6 +20,8 @@ class GzUtils4 < Formula
   depends_on "gz-cmake5"
   depends_on "spdlog"
 
+  conflicts_with "gz-rotary-utils", because: "both install gz-utils"
+
   def install
     cmake_args = std_cmake_args
     cmake_args << "-DBUILD_TESTING=OFF"