apparatus and a method for delivering a rod in a cylinder including propagating a rod in a cylinder along the interior of the cylinder , and introducing a motion in an orientation orthogonal to a length of the rod , wherein the motion comprises multiple motion sources along the length of the rod , and wherein the multiple motion sources comprise a control system that controls at least one of the motion sources . an apparatus and method for delivering a rod in a cylinder including a cylinder comprising a deviated portion , a rod comprising a length within the cylinder , multiple motion sources positioned along the length of the rod , and a control system in communication with at least one of the motion sources , wherein the control system controls the location of frictional contact between the rod and cylinder over time .