[aerohead]

One option would have to do with my brother's 50-foot, self-erecting, HAMM radio antenna, which uses cable/pulleys for both functions.
On a boat-tail application, the cable would pass from the winch, to a caged pulley at the 'rear' of the 1st 'drawer' ( like a sideways gin-pole ), then pass back forwards, to the 'inner' face of the 2nd drawer.
As the cable is clutched, and tensioned, it forces the second drawer out of it's nesting position, until fully extended ( like an elevator car cabled from below ).
If counter-rotating spools share the same shaft location, the 'retraction' cable is paid out during 'erection,' then for 'collapsing', clutching operations reverse, with the winch now 'reeling the tail back in.'