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The vane tips radially contact the cam ring elliptic surface and cause a significant friction as the rotor and vanes turn.
en.wikipedia.org Since the rotor is driven directly by the electro-magnetic forces, no shaft and no gearbox is needed.
en.wikipedia.org The most obvious difference is the use of resonance to amplify the vibration of the stator in contact with the rotor in ultrasonic motors.
en.wikipedia.org The wheel diameters were increased to 16 in and brake rotors were both changed to ventilated disks.
en.wikipedia.org It was also equipped with small wings, which carried control surfaces, rather than using the rotor for flight control.
en.wikipedia.org