As the gripper approaches the knife, the drag may be placed on {HEAD ~ the gripper} thereby compensating for {TAIL ~ pull} of the blade 
As the gripper approaches the knife , the drag may be placed on { HEAD ~ the gripper } thereby compensating for { TAIL ~ pull } of the blade
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD OTH REL REL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH