A hydraulic motor includes an elongated output member which is supported for rotational movement about a central axis thereof. The output member is driven by a gerotor gearset which includes an outer member having internal teeth which mesh with external teeth on an inner member. The inner member is fixed against movement and the teeth on the inner and outer members define a series of expansible and contractable fluid pockets. The outer member orbits and rotates as a result of fluid being directed into certain of the fluid pockets to expand same and fluid is directed from contracting pockets. A tubular member drivingly connects the outer member and output member and transmits driving torque to the output member. The tubular member is connected in a 1:1 rotational driving relationship with the outer member and output member. The driving connection of the tubular member to the outer member and output member is such that the tubular member can rock relative to these members so that its motion describes a cone as it follows the orbital motion of the outer member and transmits rotary motion to the output member.