Abstract: In a universal joint, a connector member with jacket connects joint halves, each having a ball joint with first connection to the connector member; shaft with eccentric arm; and inner piece with first and second orthogonal axes. A second connection, rotary around the first axis, connects eccentric arm and inner piece. Shaft axis and first axis extend orthogonally. The ball joint has third connection to the shaft rotary around the shaft axis. Fourth connection, rotary around the second axis, connects inner piece and connector member. The first connection is rotary around an axis orthogonal to the second axis and in a common plane with the first axis. A pivot point of the ball joint is offset to the rotary axis of the first connection and the shaft axis. The inner piece extends through first or a second opening of the jacket. The fourth connection is placed within the jacket.