An elliptical exercise device has a frame and guide link pivotally attached thereto. A foot support link is pivotally connected to a lower attachment point of each guide link so that when the guide links pivot relative to the frame, foot receiving areas of the foot support links move in a path of travel having a horizontal component of motion. A cam drive has cams supported for rotation about an axis of rotation and pivoting arms each engaging one of the cams such that rotation of the cams causes movement of the pivoting arms. Flexible elements couple the foot support links to the pivoting arms such that rotation of the cams moves the foot receiving areas of the respective foot support links in a path of travel having a vertical component of motion.