Abstract: Electrical machine including a base member, a rotor and a stator. The base member has a first magnetically permeable body with a first winding arrangement. The rotor has a second magnetically permeable body and is rotatable relative to the base member around first and second axes. The stator is adjacent to the base member, surrounds the rotor and has a stator core and second and third winding arrangements. The stator core is wound with the second winding arrangement held inward near the rotor, and wound with the third winding arrangement exterior to the stator core. The second winding arrangement is energizable to rotate the rotor around the first axis, and the first and third winding arrangements are jointly energizable to rotate the rotor around the second axis. Other electrical machines are also described.