Abstract: A device for altering the angular relationship between input and output components of a device includes an outer housing, an inner housing disposed within the outer housing for coaxial rotation therein, a rotational energy input component engaging the inner housing through the outer housing, a rotational energy output engaging the inner housing through the outer housing at an angular position relative to the rotational energy input, the inner housing including first and second planetary gear sets in a gear carrier for transferring energy from the first set of planetary gears to the second set of planetary gears, the first set of gears being connected to the input, the second set of gears being connected to the output, a braking device for controlling the rotation of the inner housing relative to the outer housing to permit the adjustment of the rotational energy input component relative to the rotational energy output component, and a mechanism for adjusting the relative angular position of the input componen