Abstract: A system for transforming rotating motion into linear motion may include an output gear and an output link coupled to the output gear. A shared link may be coupled to the output link and coupled to a rod. An arm may be coupled to the shared link and to a rotating drive. An idle gear may be coupled to the output gear and to a stationary gear. Once rotation has started with the rotating drive, the output gear and idle gear may rotate around the stationary gear while the output link pivots and translates through space with the output gear. The shared link may drive the rod in a linear direction while receiving stabilizing supporting forces from the output link. The intermediate link may be coupled to the output link with a pin. The pin may also couple the intermediate link to the arm.