"Not enough cranking amps?" Yessir first guess on that problem.
A sulphated battery has a large internal resistance to go along with the possible problems the other guys mentioned, and a possible low charge to boot.
Take your battery to Wallmart or some place that can load check it for you. Have the tech crank up the amps to 200. You should have 11v at the battery terminals (the tester monitors the terminal voltage) with a good condition, fully charged battery. It takes 10v (for a number) at the starter terminal to case while cranking with plugs installed to spin the shaft fast enough to engage the Bendix.
If you have that and still sloppy service out of the Bendix the shaft could be dirty needing some cleaning (spray automotive breake cleaner works great) and lube.....graphite powder is a great product...stays put and doesn't attract dust and dirt, your starter brushes are in need of replacement, or a winding is shorted....seldom occurrence. On a Tower that they quit making the latter days of the 1980's, worn out brushes could very well be your smoking gun. That's a long time on one set of brushes.