In one embodiment, a transmission includes: a wobbler having an outer periphery tiltable with respect to a wobble axis of rotation; a set of freewheeling gears disposed in a fixed relationship with respect to one another, each gear having a gear axis of rotation about which the gear may rotate different from the gear axis of rotation of each of the other gears; one or both of the wobbler and the set of gears rotatable with respect to one another about the wobble axis of rotation; and each gear operatively connected to the wobbler simultaneously with the other gears at a place on the periphery of the wobbler different from the place at which each of the other gears is operatively connected to the wobbler such that each gear rotates on its axis of rotation as the wobbler wobbles or as the wobbler induces a wobble in another part.