There is provided by the present invention a speed changing apparatus having a housing mounting a plurality of inwardly directed, circumferentially disposed teeth, preferably in the form of a ring gear. The housing has a hub that rotatably receives at least a first shaft that in turn eccentrically mounts a plurality of elongate follower arms. Each follower ann is mounted at one end to the shaft with the other end having at least one tooth configured to engage the circumferentially disposed teeth. The housing further includes a base plate that is rigidly attached to the second shaft. Rotary motion is transferred between the first shaft and a second rotatable member by apparatus that includes a base pin that is rigidly attached to the base plate, an arm pin rigidly attached to a follower ann and a linking ann pivotally attached at opposite ends to the base pin and the arm pin. The second rotatable member may be a second shaft, the housing, or the base plate.