A variable motion rocking bed is provided that includes a first support structure having a first set of pins, a second support structure having a second set of pins, 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, a second pair of linkage assemblies secured between the second support structure and the frame and at least one adjusting mechanism coupled to each of the first pair of linkage assemblies and to each of the second pair of linkage assemblies. The at least one adjusting mechanism is operatively configured to allow the position of said first pair of linkage assemblies to vary about the width of said first support structure and engage the first set of pins and configured to allow the position of said second pair of linkage assemblies to vary about the width of said second support structure and engage the second set of pins to modify the shape of the rocking motion of said frame relative to said first support structure and said second support structure.