A wobble plate drive system, comprising: a stator having a central axis, an upper surface perpendicular to the central axis, an inner diameter, an outer diameter, and a plurality of stator teeth disposed on the upper surface in between the inner diameter and the outer diameter; wherein each tooth of the plurality of stator teeth has a tooth height and the tooth height has a maximum value between the inner diameter and the outer diameter and a minimum value at one of the inner diameter or the outer diameter; wherein the stator tooth height vary between the inner and outer diameters along a path defined by shape of a semicircle, an ellipse or a parabola; and a wobble plate having a wobble axis disposed at a non-zero angle relative to the central axis, a lower wobble surface perpendicular to the wobble axis, an upper wobble surface perpendicular to the wobble axis, an inner diameter, an outer diameter, a plurality of lower wobble teeth disposed on the lower wobble surface, and a plurality of upper wobble teeth disposed on the upper wobble surface; wherein the upper and lower wobble teeth (32 and 30) are disposed between the inner wobble diameter and the outer wobble diameter; wherein each tooth of the plurality of lower wobble teeth has a tooth depth that has a maximum value between the inner and outer wobble diameters (D3 and D4) and a minimum value at one of the inner or outer wobble diameters (D3 or D4); wherein the lower wobble tooth depth vary from the inner output diameter to the outer output diameter along a path defined by a semicircle, an ellipse or a parabola; wherein each tooth of plurality of upper wobble teeth has a tooth height that has a maximum value between the inner and outer wobble diameters (D3 and D4) and the tooth height have a minimum value at one of the inner or outer wobble diameters (D3 or D4); wherein the upper wobble tooth height H3 vary from the inner output diameter to the outer output diameter along a path defined by a semicircle, an ellipse or a parabola; and an output gear having an inner output diameter D5, an outer output diameter, output axis substantially aligned with the central axis, a lower surface perpendicular to the output axis, and a plurality of output teeth disposed on the lower surface between the inner output diameter and the outer output diameter of the output gear; wherein each tooth of plurality of output teeth has a tooth depth that has a maximum value between the inner and outer output diameters (D5 and D6) and the output depth has a minimum value at one of the inner or outer output diameters (D5 or D6); wherein output tooth depth vary from the inner output diameter to the outer output diameter along a path defined by a semicircle, an ellipse or a parabola; and wherein the wobble plate is configured to rotate as it nutates around the stator. a stator having a central axis, an upper surface perpendicular to the central axis, an inner diameter, an outer diameter, and a plurality of stator teeth disposed on the upper surface in between the inner diameter and the outer diameter; wherein each tooth of the plurality of stator teeth has a tooth height and the tooth height has a maximum value between the inner diameter and the outer diameter and a minimum value at one of the inner diameter or the outer diameter; wherein the stator tooth height vary between the inner and outer diameters along a path defined by shape of a semicircle, an ellipse or a parabola; and a wobble plate having a wobble axis disposed at a non-zero angle relative to the central axis, a lower wobble surface perpendicular to the wobble axis, an upper wobble surface perpendicular to the wobble axis, an inner diameter, an outer diameter, a plurality of lower wobble teeth disposed on the lower wobble surface, and a plurality of upper wobble teeth disposed on the upper wobble surface; wherein the upper and lower wobble teeth (32 and 30) are disposed between the inner wobble diameter and the outer wobble diameter; wherein each tooth of the plurality of lower wobble teeth has a tooth depth that has a maximum value between the inner and outer wobble diameters (D3 and D4) and a minimum value at one of the inner or outer wobble diameters (D3 or D4); wherein the lower wobble tooth depth vary from the inner output diameter to the outer output diameter along a path defined by a semicircle, an ellipse or a parabola; wherein each tooth of plurality of upper wobble teeth has a tooth height that has a maximum value between the inner and outer wobble diameters (D3 and D4) and the tooth height have a minimum value at one of the inner or outer wobble diameters (D3 or D4); wherein the upper wobble tooth height H3 vary from the inner output diameter to the outer output diameter along a path defined by a semicircle, an ellipse or a parabola; and an output gear having an inner output diameter D5, an outer output diameter, output axis substantially aligned with the central axis, a lower surface perpendicular to the output axis, and a plurality of output teeth disposed on the lower surface between the inner output diameter and the outer output diameter of the output gear; wherein each tooth of plurality of output teeth has a tooth depth that has a maximum value between the inner and outer output diameters (D5 and D6) and the output depth has a minimum value at one of the inner or outer output diameters (D5 or D6); wherein output tooth depth vary from the inner output diameter to the outer output diameter along a path defined by a semicircle, an ellipse or a parabola; and wherein the wobble plate is configured to rotate as it nutates around the stator.