Apparatus for translating movement of a rotating shaft to rotational movement in two dimensions of a lever arm

An apparatus for translating movement of a rotating shaft to rotational movement in two dimensions of a lever arm, comprising:

• a first frame having an adjustable length;
• a second frame rotatably connected to said first frame;
• a first shaft rotatably connected to said first frame and arranged for rotation about a first axis of rotation;
• a heim joint fixedly secured to a distal end of said first shaft;
• an adjustable-length lever having a fulcrum, said lever having a first end and a second end, where a distance between said fulcrum and said first end is less than a distance between said fulcrum and said second end, said first end of said lever rotatably connected to said heim joint;
• wherein said fulcrum is arranged within said second frame and arranged for pivoting about a second axis of rotation, wherein said second axis of rotation is co-planar with said first axis of rotation,
• wherein said second frame arranged for rotation with respect to said first frame about a third axis of rotation, wherein said third axis of rotation is arranged perpendicularly and spaced apart from said first axis of rotation,
• wherein said first, second, and third axes have single point of intersection.