The cranks confine the motion of each of {HEAD ~ the transmission rings} to {TAIL ~ a non rotary}, planetary motion 
to
The cranks confine the motion of each of { HEAD ~ the transmission rings } to { TAIL ~ a non rotary } , planetary motion
OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH