A differential stroke reciprocating internal combustion engine having an engine shaft and a piston configured to reciprocate within a cylinder chamber includes an inner piston part, a piston stem coupled at a first end to said inner piston part, an outer piston part which serves as a carrier for said inner piston part and is connected to said engine shaft, wherein said inner piston part is configured to operate on a cycle different from that of said outer piston part, and a control and linkage assembly coupled to said engine at an anchor point, and said control and linkage assembly pivotally coupled at a second end of said piston stem defining a copy point, wherein said control and linkage assembly guides and defines the movement of said copy point to be substantially aligned with an axis of said cylinder chamber.