Device for transmitting force from one shaft to another wherein the latter is displaceable in radial and axial direction relative to the one shaft, includes a coupler having a first pair of guide rods, one end of the guide rods of said first guide rod pair being articulatingly connected with the one shaft, the other end of the guide rods being articulatingly connected to a respective end of the guide rods of a second guide rod pair, a middle guide rod articulatingly connected at both ends thereof to the respective other end of the guide rods of the second guide rod pair, a torque output joint for the other shaft articulatingly engaging the respective guide rods of the second guide rod pair between the respective articulating connection of the middle guide rod with the guide rods of the second guide rod pair and the respective articulating connection of the respective guide rods of the first guide rod pair with the guide rods of the second guide rod pair, the middle guide rod having a longitudinal axis extending at an inclination to a line extending through the central axis of the other shaft and disposed parallel to the respective longitudinal axis of the guide rods of the second guide rod pair in nondeflected condition of the coupler, the torque output joint, respectively, being located beyond the middle of a connecting line extending between the articulating connection of the respective guide rod of the second guide rod pair and the respective guide rod of the first guide rod pair and the articulating connection of the middle guide rod and the respective guide rod of the second guide rod pair, the guide rods of the first guide rod pair having thereon a respective torque input joint for the one shaft and having a respective elongated portion thereof extending beyond the respective torque input joint so as to be statically balanced by the mass of the elongated portion.