The torque acting at any given time is compensated by {HEAD ~ an elastic compensating element} that exerts {TAIL ~ a force} opposite to the linear displacement of the displacement unit 
exerts
The torque acting at any given time is compensated by { HEAD ~ an elastic compensating element } that exerts { TAIL ~ a force } opposite to the linear displacement of the displacement unit
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD OTH REL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH