Abstract: A structure that positions rotating shafts and allows continuing transmission of rotary motion between shafts or shaft segments that are not aligned with one another or that may from time to time become misaligned. The invention reduces the undesirable effect of torque or torsional transients on rotary positioning and continued transmission of rotary motion, as well as reducing vibration resulting from linear or other angular displacement on either side of the joint. The structure comprises opposing outer and inner plates, each engaging a corresponding shaft or shaft segment. The plates define a plurality of holes that support flexible members. The flexible members extend through the plates on adjacent shafts or shaft segments around the shaft ends. Torque may be transmitted from one shaft to another by the flexible members.