Multiple embodiments of a manual tool, for ergonomic, controlled and variable application of rotary motion, torque, and or axial force to an object. One embodiment is comprised of three elongated members connected at their ends in a chain by two pivoted joints. The two outboard members each have an outboard end shaped for connecting to an object to be rotated and a rotatable handle. One way to use the tool is to grasp each handle with a hand; one hand holds the tool in axial alignment and engaged with the object to be rotated and the other hand orbits about the other handle. The three members can be fluidly positioned in a nearly straight Z, crank, L or in-line shape, so as to vary and control the speed, torque, and force. Either end of the tool may be used to rotate an object by swapping the tool end for end.