A drive system for a motor vehicle according to this invention includes a first housing that includes a first mounting surface for securing the first housing to one of an IRS housing and a beam housing. Extrusion can be conducted either vertically or horizontally. The CMP apparatus comprises a platen; a carrier holding a wafer against the platen; a guide ring disposed at the rim of the carrier to mount the wafer on the carrier; and a heater disposed in the guide ring, in the carrier, or used to heat the slurry.