This is a system of interacting elements. It 's structure and behavior are patterned on the dynamic relationship the earth's solid inner core has with its molten outer core.
Pulse-width modulation (PWM) is used to control the inner core speeds/stepping motor speeds, it is critical.
The system is driven by a central rotating Neodymium-Iron-Boron ball magnet. The central ball and the outer cage rotate at different speeds. At specific ball speeds, elements around the central ball magnet begin to dynamically harmonize, each impacting the behavior of the others. There are sweet speeds and corresponding behaviors that cause things to move as one. The inner ball is not mechanically linked to the outer cage. When the outer arms flagellate in harmony, there is sufficient magnetic drag to cause the outer cage to sympathetically rotate. I’m not sure why these behaviors emerge but the speeds are specific.
This system was devised after looking at the way the rotation of the earth’s magnetic inner core influences the outer core. The resulting mechanism exhibits behavior that is similar to a swimming microorganism.