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The teeth of the wheel are holding on to it, and it looks like there are always two teeth inside the top.

Oh I see what you mean. The teeth slide through the curved channel, and are notched such that the channel is held in place. That is a clever design.

It's clever as long as you operate in a zero-friction environment :)

I'm wondering if the effects of friction could be mitigated by having ball bearings within the channel that the teeth pass through.

That's what I thought also. Wouldn't the amount of force pulling on the cable lead to some jamming as soon as the little spokes stopped spinning so freely?

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