The second pulley and the tool lie on the same rotation axis, so that when the head is in {HEAD ~ a position} rotated at {TAIL ~ an angle} of 90° to the longitudinal axis of the instrument, both pulleys lie in the same plane 
rotated at
The second pulley and the tool lie on the same rotation axis , so that when the head is in { HEAD ~ a position } rotated at { TAIL ~ an angle } of 90 ° to the longitudinal axis of the instrument , both pulleys lie in the same plane
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD REL REL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH