The reciprocating engine which is particularly useful as an internal combustion engine, comprises a housing (1) with, mounted to rotate about a first axis of rotation (7), a cylinder rotor (5) having three pairs of cylinders (15) which are angularly offset in respect of one another by 120.degree. about the first axis of rotation (7). Disposed in the cylinders (15) are pistons (17) which are rigidly connected to one another in pairs by piston rods (19). Also mounted in the housing is a crank shaft (23) which is rotatable about a second axis of rotation (25) which is axially parallel with and offset by a predetermined eccentricity (e) in relation to the first axis of rotation (7). The piston rods (19) of the pairs of pistons are guided on the crank shaft (23) by means of eccentric bearings (27, 31). The eccentric bearings (27, 31) define in relation to the crank shaft (23) fixed axes of rotation (33) which, are angularly offset by 120.degree. in respect of one another. The cylinder rotor (25) is torsionally rigidly coupled to the crank shaft (23) solely via the piston rods (19) and their eccentric bearings (27, 31) which are fixed in relation to the crank shaft. The fresh air compressed by a waste gas supercharger (37, 39) is fed to the internal combustion engine via a heat exchanger (45) in order to increase the efficiency.