Very nice prototype, I'm taking a very close look at it as I want to make a few cranes and monster machines myself and never made a mod. If I understand it right the rotation issue is in the beams of the top rotor. Using Ctrl b you can see the beams and when you turn the bottom square is connected to the top square 4 times. Turning it stretches the beams but eventually they reach a limit and resist rotating by not stretching anymore. To get the rotor to spin, it will need only a single connector node in-between the two. This makes a little issue with stability so I see why it's square and braced, but the square is the restriction on rotation. Excellent modeling I like the way it's done
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