You'll get more responses in the audio section. Do a search for antenna and Hirschmann. Lordnikon's advice will work if the motor is OK, and you might just have a mechanical issue with the mast or gears. These are easy to fix for the avg DIY'er, but removing it from the car is step 1 in most cases.

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1986 560SL
2002 Toyota Camry
1993 Lexus