It does indeed work! I've been meaning to instrument a food stimulant mass to determine how the chaos is effected my mass offset vs speed. I think due to the under-actuated nature of the system you're stuck with a balance between cg-offset, gravity and input rotation on the first axis
It's always nice to see a detailed write up, a lot of cnc mill repairs end up replacing the existing control hardware but this write up was a curious take on maintaining the existing electronics, which takes more talent than replacing.