Green gear is fixed.
Pink gear is idly mounted on yellow crank.
Pink gear axis is not perpendicular to rotary axis of the yellow crank.
Vy = Vb.Zb/(Zb+Zg)
Vp = Vy(Zg/Zp)
Vb, Vy: velocities of blue gear and yellow crank.
Vp: velocity of pink gear around yellow crank.
Zg, Zb, Zp: tooth numbers of green, blue and pink gears respectively.
It is not easy to choose tooth numbers to meet assembly condition for this drive, especially in case of several satellite pink gears arranged symmetrically around the yellow crank.