RE: servo torque requirements
Actually Sherman your thinking of the fulcrum is backwards on this. I've thought about it and it does make sense.
Think of it this way. If you put weight on the end of a yard stick it will bend if you hold up the opposite end; put that same amount of weight closer to where you hold it and the stick won't bend as much or not at all. The same as if you want to push something heavy; you put your hand close to your body to push, not fully extended.