A connecting system for connecting a tensioning member to a free-space shaft may comprise an inner element having an element spherical outer surface truncated at opposite truncated ends and may include an element bore extending through the inner element and coaxial with the element spherical outer surface. The element bore may have a bore axis and a bore cross section sized and configured complementary to a shaft cross section of the free-space shaft. A retaining collar may include a collar spherical inner surface complementary to and configured to receive the element spherical outer surface, and may have opposing collar ends. The collar spherical inner surface may define a collar axis. The retaining collar may allow universal motion of the bore axis relative to the collar axis. The retaining collar may include an arching portion for connecting the tensioning member to the shaft.