A tripod constant velocity joint, comprising: a housing connected to a first shaft extending along a first axis, the housing having a guide channel that includes a first sidewall, a second sidewall disposed opposite the first sidewall, and a top wall extending between the first sidewall and the second sidewall; a spider member, received within the housing and connected to a second shaft extending along a second axis, the spider member including a trunnion having a functional outer surface with a convex profile defined by a first principal radius of curvature and a second principal radius of curvature orthogonal to the first principal radius of curvature, the first principal radius of curvature is different from the second principal radius of curvature; and a ball set disposed on the functional outer surface of the trunnion including: a first ball member having a first inner surface and a first outer surface disposed opposite the first inner surface, the first inner surface having a piecewise concave continuous profile that engages the functional outer surface of the trunnion, a second ball member having a second inner surface and a second outer surface disposed opposite the second inner surface and defined by a non-symmetric piecewise continuous profile, the non-symmetric piecewise continuous profile defined by a substantially straight portion and a convex portion adjacent to the substantially straight portion, the second outer surface engages the first sidewall, and a plurality of rolling elements disposed between the first outer surface and the second inner surface, characterized in that the first principal radius of curvature progressively decreases along a first line segment in a direction that extends away from an equatorial plane towards a trunnion end surface, wherein the equatorial plane is disposed perpendicular to a trunnion axis. a housing connected to a first shaft extending along a first axis, the housing having a guide channel that includes a first sidewall, a second sidewall disposed opposite the first sidewall, and a top wall extending between the first sidewall and the second sidewall; a spider member, received within the housing and connected to a second shaft extending along a second axis, the spider member including a trunnion having a functional outer surface with a convex profile defined by a first principal radius of curvature and a second principal radius of curvature orthogonal to the first principal radius of curvature, the first principal radius of curvature is different from the second principal radius of curvature; and a ball set disposed on the functional outer surface of the trunnion including: a first ball member having a first inner surface and a first outer surface disposed opposite the first inner surface, the first inner surface having a piecewise concave continuous profile that engages the functional outer surface of the trunnion, a second ball member having a second inner surface and a second outer surface disposed opposite the second inner surface and defined by a non-symmetric piecewise continuous profile, the non-symmetric piecewise continuous profile defined by a substantially straight portion and a convex portion adjacent to the substantially straight portion, the second outer surface engages the first sidewall, and a plurality of rolling elements disposed between the first outer surface and the second inner surface, characterized in that the first principal radius of curvature progressively decreases along a first line segment in a direction that extends away from an equatorial plane towards a trunnion end surface, wherein the equatorial plane is disposed perpendicular to a trunnion axis. a first ball member having a first inner surface and a first outer surface disposed opposite the first inner surface, the first inner surface having a piecewise concave continuous profile that engages the functional outer surface of the trunnion, a second ball member having a second inner surface and a second outer surface disposed opposite the second inner surface and defined by a non-symmetric piecewise continuous profile, the non-symmetric piecewise continuous profile defined by a substantially straight portion and a convex portion adjacent to the substantially straight portion, the second outer surface engages the first sidewall, and a plurality of rolling elements disposed between the first outer surface and the second inner surface, characterized in that the first principal radius of curvature progressively decreases along a first line segment in a direction that extends away from an equatorial plane towards a trunnion end surface, wherein the equatorial plane is disposed perpendicular to a trunnion axis.