A surgical instrument, comprising: a handle assembly configured to simultaneously and independently electrically generate at least two discrete rotary control motions; and an elongate shaft assembly operably interfacing with the handle assembly for independently and simultaneously receiving and transmitting the at least two discrete rotary control motions to an end effector operably coupled to the elongate shaft assembly; wherein the elongate shaft assembly further comprises an articulation joint comprising: a proximal clevis operably coupled to the elongate shaft assembly; and a distal clevis pivotally coupled to the proximal clevis for selective pivotal travel relative to the proximal clevis; and wherein the articulation joint further comprises a nested gear assembly located within a gear area between the distal clevis and the proximal clevis: a first gear train operably interfacing with a proximal firing shaft that is operably coupled to the handle assembly and a distal firing shaft that operably interfaces with the end effector for transmitting a rotary firing motion from the proximal firing shaft to the end effector while facilitating articulation of the distal clevis relative to the proximal clevis; and a second gear train operably interfacing with a proximal rotation shaft that is operably coupled to the handle assembly for transmitting a distal rotational control motion to the end effector to cause the end effector to rotate relative to the elongate shaft assembly while facilitating articulation of the distal clevis relative to the proximal clevis characterized in that the first gear train is nested with the second gear train such that no portion of the first gear train extends radially outward beyond any portion of the second gear train. a handle assembly configured to simultaneously and independently electrically generate at least two discrete rotary control motions; and an elongate shaft assembly operably interfacing with the handle assembly for independently and simultaneously receiving and transmitting the at least two discrete rotary control motions to an end effector operably coupled to the elongate shaft assembly; wherein the elongate shaft assembly further comprises an articulation joint comprising: a proximal clevis operably coupled to the elongate shaft assembly; and a distal clevis pivotally coupled to the proximal clevis for selective pivotal travel relative to the proximal clevis; and wherein the articulation joint further comprises a nested gear assembly located within a gear area between the distal clevis and the proximal clevis: a first gear train operably interfacing with a proximal firing shaft that is operably coupled to the handle assembly and a distal firing shaft that operably interfaces with the end effector for transmitting a rotary firing motion from the proximal firing shaft to the end effector while facilitating articulation of the distal clevis relative to the proximal clevis; and a second gear train operably interfacing with a proximal rotation shaft that is operably coupled to the handle assembly for transmitting a distal rotational control motion to the end effector to cause the end effector to rotate relative to the elongate shaft assembly while facilitating articulation of the distal clevis relative to the proximal clevis characterized in that the first gear train is nested with the second gear train such that no portion of the first gear train extends radially outward beyond any portion of the second gear train. a proximal clevis operably coupled to the elongate shaft assembly; and a distal clevis pivotally coupled to the proximal clevis for selective pivotal travel relative to the proximal clevis; and wherein the articulation joint further comprises a nested gear assembly located within a gear area between the distal clevis and the proximal clevis: a first gear train operably interfacing with a proximal firing shaft that is operably coupled to the handle assembly and a distal firing shaft that operably interfaces with the end effector for transmitting a rotary firing motion from the proximal firing shaft to the end effector while facilitating articulation of the distal clevis relative to the proximal clevis; and a second gear train operably interfacing with a proximal rotation shaft that is operably coupled to the handle assembly for transmitting a distal rotational control motion to the end effector to cause the end effector to rotate relative to the elongate shaft assembly while facilitating articulation of the distal clevis relative to the proximal clevis characterized in that the first gear train is nested with the second gear train such that no portion of the first gear train extends radially outward beyond any portion of the second gear train. a first gear train operably interfacing with a proximal firing shaft that is operably coupled to the handle assembly and a distal firing shaft that operably interfaces with the end effector for transmitting a rotary firing motion from the proximal firing shaft to the end effector while facilitating articulation of the distal clevis relative to the proximal clevis; and a second gear train operably interfacing with a proximal rotation shaft that is operably coupled to the handle assembly for transmitting a distal rotational control motion to the end effector to cause the end effector to rotate relative to the elongate shaft assembly while facilitating articulation of the distal clevis relative to the proximal clevis characterized in that the first gear train is nested with the second gear train such that no portion of the first gear train extends radially outward beyond any portion of the second gear train.