A nested permanent magnet drive system comprising: a central element (47; 106) comprising: a cylindrical stator body comprising: a central bore; a first armature portion (47A, 48); and a second armature portion (47B, 49); a first radially outward facing magnetic drive element (50; 116) connected to the first armature portion to form a first stator; and a first radially inward facing magnetic drive element (58; 112) connected to the second armature portion to form a second stator; a first rotor (52; 104) comprising: a cylindrical body (78; 124) concentrically surrounding the cylindrical stator body; and a second radially inward facing magnetic drive element (54; 110) connected to an inner surface of the cylindrical rotor body and for electromagnetically interacting with the first radially outward facing magnetic drive element; and a second rotor (60; 102) comprising: a shaft extending through the central bore; and a second radially outward facing magnetic drive element (62; 108) connected to an outer surface of the shaft and for electromagnetically interacting with the first radially inward facing magnetic drive element; characterised in that the cylindrical stator body includes a jog (70; 138) such that the first radially outward facing magnetic drive element axially aligns with the second armature portion, and the first radially inward facing magnetic drive element axially aligns with the first armature portion; wherein: the second radially outward facing magnetic drive element is connected to the outer surface of the shaft with a first actuator such that the second radially outward facing magnetic drive element is axially displaceable; and the second radially inward facing magnetic drive element is connected to the inner surface of the cylindrical body with a second actuator such that the second radially inward facing magnetic drive element is axially displaceable. a central element (47; 106) comprising: a cylindrical stator body comprising: a central bore; a first armature portion (47A, 48); and a second armature portion (47B, 49); a first radially outward facing magnetic drive element (50; 116) connected to the first armature portion to form a first stator; and a first radially inward facing magnetic drive element (58; 112) connected to the second armature portion to form a second stator; a cylindrical stator body comprising: a central bore; a first armature portion (47A, 48); and a second armature portion (47B, 49); a central bore; a first armature portion (47A, 48); and a second armature portion (47B, 49); a first radially outward facing magnetic drive element (50; 116) connected to the first armature portion to form a first stator; and a first radially inward facing magnetic drive element (58; 112) connected to the second armature portion to form a second stator; a first rotor (52; 104) comprising: a cylindrical body (78; 124) concentrically surrounding the cylindrical stator body; and a second radially inward facing magnetic drive element (54; 110) connected to an inner surface of the cylindrical rotor body and for electromagnetically interacting with the first radially outward facing magnetic drive element; and a cylindrical body (78; 124) concentrically surrounding the cylindrical stator body; and a second radially inward facing magnetic drive element (54; 110) connected to an inner surface of the cylindrical rotor body and for electromagnetically interacting with the first radially outward facing magnetic drive element; and a second rotor (60; 102) comprising: a shaft extending through the central bore; and a second radially outward facing magnetic drive element (62; 108) connected to an outer surface of the shaft and for electromagnetically interacting with the first radially inward facing magnetic drive element; a shaft extending through the central bore; and a second radially outward facing magnetic drive element (62; 108) connected to an outer surface of the shaft and for electromagnetically interacting with the first radially inward facing magnetic drive element; characterised in that the cylindrical stator body includes a jog (70; 138) such that the first radially outward facing magnetic drive element axially aligns with the second armature portion, and the first radially inward facing magnetic drive element axially aligns with the first armature portion; wherein: the second radially outward facing magnetic drive element is connected to the outer surface of the shaft with a first actuator such that the second radially outward facing magnetic drive element is axially displaceable; and the second radially inward facing magnetic drive element is connected to the inner surface of the cylindrical body with a second actuator such that the second radially inward facing magnetic drive element is axially displaceable. the second radially outward facing magnetic drive element is connected to the outer surface of the shaft with a first actuator such that the second radially outward facing magnetic drive element is axially displaceable; and the second radially inward facing magnetic drive element is connected to the inner surface of the cylindrical body with a second actuator such that the second radially inward facing magnetic drive element is axially displaceable.