Making Kiwi drive move while rotating

First off: I am not having issues with a Kiwi drive, nor am I anticipating problems.

Because I’m really not an experienced engineer, I have not found a true answer to exactly how a Kiwi drive moves in a way that I can understand. I have only found resources on how it rotates from a stationary position.

2 things i’m asking here.
1: Is there a layman’s explanation of how the drive moves?
2: Is there something similar for rotating while moving?

Try this page (got to page down) but there is how it works.

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