A constant velocity joint, comprising: an outer element having an outer element axis, a plurality of outer tracks formed therein, and an inner surface, the plurality of outer tracks parallel to the outer element axis; an inner element having an inner element axis, a spherical outer surface, and a plurality of inner tracks, the plurality of inner tracks parallel to the inner element axis, the spherical outer surface having a center different from a joint pivot point; an annular element having a first spherical outer surface, a second spherical outer surface, a spherical inner surface, and a plurality of perforations formed through the annular element, the first spherical outer surface and the spherical inner surface having a center common with the spherical outer surface of the inner element, the second spherical outer surface having a center different from a joint pivot point and the center of the first spherical outer surface, the second spherical outer surface having a diameter complementary to a diameter of the inner surface of the outer element, the annular element disposed between the inner element and the outer element; and a retaining element disposed against the outer element in contact with the second spherical outer surface of the annular element a plurality of torque transferring elements disposed in the perforations formed through the annular element, each of the torque transferring elements contacting one of the outer tracks and one of the inner tracks, wherein the plurality of torque transferring elements cooperate with the plurality of outer tracks and the plurality of inner tracks to position the annular element in a plane bisecting an angle formed by the outer element axis and the inner element axis. an outer element having an outer element axis, a plurality of outer tracks formed therein, and an inner surface, the plurality of outer tracks parallel to the outer element axis; an inner element having an inner element axis, a spherical outer surface, and a plurality of inner tracks, the plurality of inner tracks parallel to the inner element axis, the spherical outer surface having a center different from a joint pivot point; an annular element having a first spherical outer surface, a second spherical outer surface, a spherical inner surface, and a plurality of perforations formed through the annular element, the first spherical outer surface and the spherical inner surface having a center common with the spherical outer surface of the inner element, the second spherical outer surface having a center different from a joint pivot point and the center of the first spherical outer surface, the second spherical outer surface having a diameter complementary to a diameter of the inner surface of the outer element, the annular element disposed between the inner element and the outer element; and a retaining element disposed against the outer element in contact with the second spherical outer surface of the annular element a plurality of torque transferring elements disposed in the perforations formed through the annular element, each of the torque transferring elements contacting one of the outer tracks and one of the inner tracks, wherein the plurality of torque transferring elements cooperate with the plurality of outer tracks and the plurality of inner tracks to position the annular element in a plane bisecting an angle formed by the outer element axis and the inner element axis.