Range of motion during operation: during normal operation, the rocking motor will drive the rotation of the sleep surface through a clutch. A cam connected to the motor drivetrain and directly interfacing with the clutch shall rotate such that the sleep surface rotates 2.0° ± 0.3° in either direction (a total of 4.0° ± 0.6°) during normal operation in which the clutch does not slip/flex.