Spherical R Mechanism 25 August 2017, 22:00 Sorry, your browser doesn't support embedded videos, but don't worry, you can download it and watch it with your favorite video player! Axles of revolution joints must be concurrent. Input: Green shaft, constant speed. Output: Blue shaft, variable speed. « previous mechanism Internal Spherical Turning next mechanism » Planar Motion Control load comments Please enable JavaScript to view the comments.