The cuboids' footprint is a washer.
Let r be the distance from the center of the circle to the midpoint of each cuboid's nearest side.
Then, r is the inner radius of the washer.
Let R be the outer radius of the washer. From Pythagorean Theorem, we get:
R = sqrt(2.5^2 + (r + 1)^2)
I have assumed the length of the gates' walls to be 5 cm, also.
I used 0.1 cm for clearance.
The outer gate walls would be positioned R+0.1 cm from the center of the circle.
The inner gate walls would be positioned 0.1 cm less than the distance from the center of the circle to a 5cm chord (on the inner arc).
Let S = the segment height
S = r - sqrt(r^2 - 2.5^2)
Hence, the inner gate walls would be positioned r - S - 0.1 cm from the center of the circle.
Here's a concrete example (all measurements rounded): Pick 15 cm for the cuboid's distance from the center of the circle.
r = 15 cm
R = 16.19 cm
S = 0.21 cm
R + 0.1 = 16.29 cm
r - S - 0.1 = 14.69 cm
In other words, if the inner edge of each cuboid is placed 15 cm from the circle's center (measured to the midpoint of the 5 cm side), then the footprint traced out by the spinning cuboids has the shape of a washer, where the inner radius is 15 cm and the outer radius is 16.19 cm.
The inner gates' outer edge could be positioned 14.69 cm from the circle's center, and the outer gates' inner edge could be positioned 16.29 cm from the circle's center.
If the inner gates' length were shortened (i.e., made less than 5 cm), then each inner gate could move closer to the inner arc of the washer.