An exercise device including a frame with a first crank assembly rotatably coupled to the frame about a first axis and a second crank assembly rotatably coupled to the frame about a second axis. A control system may be used in communication with the first crank assembly and the second crank assembly, which may provide a synchronous movement of the first crank assembly relative to the second crank assembly. A pedal arm may be provided with a first end pivotally coupled to the first crank assembly and a pedal positioned on a second end. A crank link may be used with one end coupled to the second crank assembly and a second end coupled to the pedal arm. The crank link may be movable on the pedal arm which may provide varying paths of motion of the pedals.