Abstract: Embodiments provided herein include rotatable magnets (e.g., spherical dipole magnets) disposed within sets of coils that can be used to operate the magnets as reaction/momentum “spheres” and/or as control moment gyroscopes. The coils are able to exert three-dimensional torques onto the magnet in order to effect attitude control of a satellite or other system. The coils can also optionally exert translational forces onto the magnet in order to maintain the magnet in position and avoid contact with static components. Diamagnetic materials can also be included to provide stabilizing repulsive magnetic forces to maintain the magnet in position and/or to reduce the necessary performance of the coils with respect to applying stabilizing translational forces.