A multi-axis articulating and rotary spray system , comprising: a mast assembly , the mast assembly comprising: a mast shaft having a longitudinal axis which forms a center of rotation for the mast shaft, the mast shaft having a mast main port formed in the mast shaft and comprising: a nozzle union trunnion coupled with the shaft and having a fluid inlet and a fluid outlet , the fluid inlet fluidicly coupled to the mast main port; an articulating nozzle union having a nozzle and rotatably coupled to the nozzle union trunnion, the articulating nozzle union comprising a gear circumferentially disposed around the nozzle union trunnion; and a longitudinal rod opening formed in the mast shaft radially offset from a longitudinal axis of the mast shaft, where the rod opening is configured to rotate with the mast shaft and orbit around the longitudinal axis; a pitch drive rod extending at least partially into the longitudinal rod opening and rotatably coupled to the gear on the nozzle union; a pitch drive coupled to the pitch drive rod and configured to move the pitch drive rod to change a pitch of the nozzle union through the gear; and a heading drive coupled to the mast shaft and configured to rotate the mast shaft to change a heading of the mast shaft, the pitch drive being selectively synchronized to move the pitch drive rod relative to the rotation of the mast shaft as the pitch drive rod orbits about the longitudinal axis to maintain a pitch angle or to change a pitch angle of the nozzle. a mast assembly , the mast assembly comprising: a mast shaft having a longitudinal axis which forms a center of rotation for the mast shaft, the mast shaft having a mast main port formed in the mast shaft and comprising: a nozzle union trunnion coupled with the shaft and having a fluid inlet and a fluid outlet , the fluid inlet fluidicly coupled to the mast main port; an articulating nozzle union having a nozzle and rotatably coupled to the nozzle union trunnion, the articulating nozzle union comprising a gear circumferentially disposed around the nozzle union trunnion; and a longitudinal rod opening formed in the mast shaft radially offset from a longitudinal axis of the mast shaft, where the rod opening is configured to rotate with the mast shaft and orbit around the longitudinal axis; a mast shaft having a longitudinal axis which forms a center of rotation for the mast shaft, the mast shaft having a mast main port formed in the mast shaft and comprising: a nozzle union trunnion coupled with the shaft and having a fluid inlet and a fluid outlet , the fluid inlet fluidicly coupled to the mast main port; an articulating nozzle union having a nozzle and rotatably coupled to the nozzle union trunnion, the articulating nozzle union comprising a gear circumferentially disposed around the nozzle union trunnion; and a longitudinal rod opening formed in the mast shaft radially offset from a longitudinal axis of the mast shaft, where the rod opening is configured to rotate with the mast shaft and orbit around the longitudinal axis; a pitch drive rod extending at least partially into the longitudinal rod opening and rotatably coupled to the gear on the nozzle union; a pitch drive coupled to the pitch drive rod and configured to move the pitch drive rod to change a pitch of the nozzle union through the gear; and a heading drive coupled to the mast shaft and configured to rotate the mast shaft to change a heading of the mast shaft, the pitch drive being selectively synchronized to move the pitch drive rod relative to the rotation of the mast shaft as the pitch drive rod orbits about the longitudinal axis to maintain a pitch angle or to change a pitch angle of the nozzle. <EOS>