This is one of my stuff which I build when I was bored.
As you see, there is a circle and another circle half of its size spinning on it and it goes on and on..
In this scene, all of the motors are spinning at 1.57 rad/s @ 100Nm
You might think that all of the circles are spinning at the exactly same angular velocity. But actually, the circles aren't spinning at the same angular velocity
The smaller circles are spinning on "top" of a spinning circle making its angular velocity to be multiplied.
Let's say:
Circle A is spinning at 1.57 rad/s by a motor, and Circle B is spinning at 1.57 rad/s also by a motor, because Circle B's axle was attached to Circle A, Circle B's angular velocity has been multiplied.
So,
Circle A's angular velocity + Circle B motor's angular velocity = Circle B's true angular velocity.
Because Circle A's angular velocity is 1.57 rad/s and Circle B motor's angular velocity is also 1.57 rad/s, Circle B's true angular velocity is 3.14 rad/s
Sorry for writing this long description, it's just this thing which comes out of my head
