Using group policy to add a security group of users in AD to the local admin group of a list of computers in a security group of computers in AD

Want to know if there is way to use Group policy to add a security group of users in AD to security group of computers and put them in the local admin group? These machines are spread throughout different OUs and not located in just one OU. The goal is to grant access to a specific group local admin rights to these machines.

One thought was to add them via the security tab of security group of computers and grant full access.  I selected 'this object and all descendant objects' objects and ensured all boxed are checked. The other options in that list was 'descendent computer objects' also. Just haven't tested it out to see what works. Thanks in advance!