The invention relates to cooperative shape memory alloy torque tubes for a continuous-action turning motor. An engine turning 'clock work' motor including two shape memory alloy (SMA) torque tube actuators, ratcheting mechanisms, and gearing. The gearing communicates the SMA torque tube actuators with a common gear that applies torque to a shaft, so that while one torque tube is heated and applying torque, the other torque tube is relaxed (using a cooling mechanism). The ratchet prevents the relaxing torque tube from applying torque in the incorrect direction.