Both axes of the gimbal have a combination of auxiliary generator and {HEAD ~ motor} with {TAIL ~ a locking mechanism} 
with
Both axes of the gimbal have a combination of auxiliary generator and { HEAD ~ motor } with { TAIL ~ a locking mechanism }
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL TAIL TAIL