A rotary engine includes a housing having a working cavity, a shaft, the shaft having an eccentric portion, a rotor having a first axial face, and a second axial face opposite the first axial face, the rotor disposed on the eccentric portion and within the working cavity, the rotor comprising a first cam on the first axial face, the first came having an eccentricity corresponding to the eccentricity of the eccentric portion of the shaft, and a cover integral with, or fixedly attached to, the housing, the cover comprising a plurality or rollers, each roller engaged with the cam, wherein the cam guides the rotation of the rotor as the rotor rotates within the working cavity and orbits around the shaft.