A bearing assembly includes: an axial rotatable structure including a cylindrical rotor assembly (including a motor rotor and a plurality of magnetic bearing rotors); a cylindrical stationary shaft; rotating element bearings mechanically coupling the rotatable structure and the stationary shaft; and a cylindrical stator assembly including a motor stator and a plurality of magnetic bearing stators. The magnetic bearing stators and the magnetic bearing rotors forming magnetic bearings magnetically coupling the rotor and stator assemblies. Command feedforward of electrical current can be provided to at least some of the bearings to achieve appropriate radial forces for respective operating trajectories.