[Ginger Power]

There are a number of ways to articulate the shooter, and a number if those are covered in this thread, and in the white paper. The way I would recommend would be to get a gearbox with a very high gear ratio >100:1 and use that to drive a chain and sprocket setup which is connected to your arm. Two gearboxes I would recommend are the Versa Planetary from Vexpro, and the Gem 500 from AndyMark. Both can give you enough reduction.

You could also use a dart linear actuator to pivot the shooter. There are tons of possibilities!