How can I prevent gimbal locking on this?

I have had a difficult time understanding the concepts that have been presented while searching for the answer to this, such as using quaternions. I have no idea how to apply them. Any help would be highly appreciated.

This is ripped in its entirety from the Roblox wiki article "Springs", just edited to be used with rotation.

local rs = game:GetService("RunService")
local cc = workspace.CurrentCamera

local spring = {}

function spring.new(current, velocity, target)
    local self = setmetatable({}, {__index = spring})

    self.current = current
    self.velocity = velocity
    self.target = target
    self.k = 1
    self.d = 1

    return self
end

function spring:update()
    local x = self.target - self.current
    local f = x * self.k
    self.velocity = (self.velocity * (1 - self.d)) + f
    self.current = self.current + self.velocity
end

local part0 = Instance.new("Part", workspace)
part0.Anchored = true
part0.CanCollide = false

local part1 = Instance.new("Part", workspace)
part1.Anchored = true
part1.CanCollide = false

local new = spring.new(part0.Orientation, Vector3.new(), part1.Orientation)
new.k = 0.5
new.d = 0.5

rs.RenderStepped:connect(function()
    new.target = part0.Orientation
    new:update()
    part0.CFrame = cc.CFrame
    part1.CFrame = part0.CFrame * CFrame.new(-2, -2, -5)
    part1.Orientation = new.current
end)