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