The blue base is fixed to a rocket.
The burner-nozzle (brass) are fixed to the yellow disk.
Two pairs of bearings (blue) and a crosstree (pink) which functions as gimbal to connect the burner-nozzel to the base.
Two electromechanical actuators (beige) that are responsible for generating movement (rotation of the yellow disk in two vertical planes perpendicular to each other). They are connected to other parts by spherical joints.
The gas flow creates a torque around the center of mass of the rocket, thus causing the rocket to change direction of motion.
The final scene of the video shows the direction of motion (blue arrow) of the blue rocket relative to the direction of gas flow (red arrow).
This video is made based on an article:
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