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Oh, and important important note, since you mentioned ascending to the heavens on a golden throne of clang,
Locking catch blocks, never ever edit a design while any locking catch blocks on it are locked!
That one simple rule has removed like 80% of my hardcore physics glitches.
It's really worth getting past the dozen or so failures (I personally lost count of mine) in order to eventually get things that work. I mean, look at my most recent WIP creation as an example:
https://psteamcommunity.yuanyoumao.com/sharedfiles/filedetails/?id=1518981714
Yes, that's a wind powered gantry crane for my soon to be drydock. Don't let yourself get intimidated, one success is built on a hundred failures. I think I read that in a loading screen somewhere.
You also don't need anything too fancy. A one stage reduction gear and a 90 degree union is plenty.
Here's an example from my own experimentations:
https://psteamcommunity.yuanyoumao.com/sharedfiles/filedetails/?id=1517640687
I used a rope belt to connect the helm to an axel that runs along just below the deck, that connects to the gear between the two big ones on the stern, it's also a far smaller gear than the two on the rear so it doubles as a reduction gear. The planks on top are just direction indicators, and that second helm is for giving it a kick if it ever jams and for adjusting rudder trim while I'm in the aft reeling in the nets.