A laundry system can include a rotational motion chamber configured to be actuated rotationally and an agitation chamber configured to receive one or more washable articles. The agitation chamber can be disposed within the rotational motion chamber. The agitation chamber can be configured to be actuated linearly within the rotational motion chamber independent of the rotational motion chamber in a first state, and can be configured to be engaged to and rotated by the rotational motion chamber in a second state.