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I had a load of challenges with my pirate ship and it's moving parts (cannon and wheel). In the end I used a bolt and an advanced rotator but I only have one axis of rotation. As described already I would create a two tier mechanism - a block and bolt for one axis, connected with a bolt which rotates along the other axis. Add look at rotators to each section which only deal with the single axis. The other key question is how is your Heli moving? My ship has animation and movers, which unleashes all hell if things aren't grouped and nested properly - if you are using both animation and movers let me know and I can describe how I have nested everything!