A variable motion rocking bed is provided that includes a first support structure including a first threaded rod having a first section threaded in a first direction and a second section threaded in a second direction, a second support structure including a second threaded rod having a first section threaded in a first direction and a second section threaded in a second direction, and a frame, the frame capable of being in a rocking motion with respect to the first support structure and the second support structure. The rocking bed further includes a first pair of linkage assemblies secured between the first support structure and the frame, and a second pair of linkage assemblies secured between the second support structure and the frame. The position of the first pair of linkage assemblies may be adjusted with respect to the first support structure and the position of the second pair of linkage assemblies may be adjusted with respect to the second support structure to change the shape of the rocking motion of the frame relative to the first support structure and the second support structure.