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Joint between actuators and structure in thrust vector control systems

I've been wondering how exactly it is that actuators are joined to the structure of a thrust vector control system. The reason I'm confused may be illustrated by the following image of a Vernier ...
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What kind of forces and response times/accelerations are needed to gimbal a mid-sized nine-engine rocket's engines?

This answer explains that the gimbaling actuators on each of the nine Rutherford engines on the Electron rocket are in fact electrically powered DC brushless motors. Currently it's not known if they ...
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