There are two step to get any reaction force. First, calculate the forces which apples each end effector of the unit from reaction force. Second, calculate the motor torque of each motor from the forces.
The force which is generate by Motor 1 is as
The force which is generate by Motor 2 is as
The force which is generate by Motor 0 is as
Torque to force transform matrix is as
Force to torque transform matrix is as