A phasing system is provided. A phase angle between the gear hub and the cradle rotor can be driven by a planetary actuator. In some non-limiting examples, an input shaft rotationally coupled between a rotary actuator for rotation therewith. Rotation of the input shaft can unlock relative rotation between the cradle rotor and the gear hub. In some non-limiting examples, the phasing system can include a gear hub and a cradle rotor, and a torsion spring arrange therebetween. The torsion spring can be configured to apply an internal torque load between the gear hub and the cradle rotor to offset an external torque load applied to the gear hub or the cradle rotor.