To answer a few questions and raise some more...
The arm is relatively short, and only rotates about one axis. The ball is contained by the arm as it moves, so the ball falling out isn't a concern.
Now, according to the chart here:
http://content.vexrobotics.com/vexpr...e-20151221.pdf (page 25, miniCIM simple load ratings) a miniCIM is not recommended for a versaplanetary at a reduction of 100:1. How should I interpret this?
Thanks for the help so far, everyone.