[bret]

Yes, you can run it with the arms going backwards. The final goal is to connect the rearend housing to the frame with a"flexible" torsion bar that will still allow some give when turning. I've seen swaybars mounted on both the frame or the rearend housing with articulating links connecting to the opposite.
There have been engineers who have developed mathematical models for determining the exact diameter, length, and geometry for such things. Those models are great, but I typically play with a few different combinations until the vehicle is fast and comfortable. At that point I dont care so much what the math says.