An electric drive system comprising: a rotary motor system comprising a hub assembly (616,818), a magnetic rotor assembly (608,812), a first coil stator assembly (606, 814), and a second coil stator assembly (606, 814), wherein the hub assembly defines a rotational axis and wherein each of the magnetic rotor assembly, the first coil stator assembly, and the second coil stator assembly is coaxially aligned with the rotational axis and is capable of rotational movement about the rotational axis independent of each other; a multi-bar linkage mechanism connected to each of the first and second coil stator assemblies and connected to the hub assembly, said multi-bar linkage mechanism constraining movement of the hub assembly so that the rotational axis of the hub assembly moves along a defined path that is in a transverse direction relative to the rotational axis and wherein the multi-bar linkage mechanism causes the rotational axis of the hub assembly to translate along the defined path in response to relative rotation of the first coil stator assembly and second coil stator assembly with respect to each other, the multi-bar linkage mechanism comprising: a support structure, a crankshaft assembly, a first swing arm, and a second swing arm, the first swing arm having a first end rotatably connected to the crankshaft assembly and a second end rotatably connected to the support structure at a first location on the support structure and the second swing arm having a first end rotatably connected to the crankshaft assembly and a second end rotatably connected to the support structure at a second location on the support structure that is different from the first location on the support structure, and the crankshaft assembly includes a crankshaft (535c,603a,803a), a first crank arm extending in a first radial direction away from the crankshaft, and a second crank arm extending in a second radial direction away from the crankshaft; and a first torque link connecting the first coil stator assembly to the first swing arm and a second torque link connecting the second coil stator assembly to the second swing arm, the first and second torque links preventing the first and second coil stator assemblies from freely rotating without limit. a rotary motor system comprising a hub assembly (616,818), a magnetic rotor assembly (608,812), a first coil stator assembly (606, 814), and a second coil stator assembly (606, 814), wherein the hub assembly defines a rotational axis and wherein each of the magnetic rotor assembly, the first coil stator assembly, and the second coil stator assembly is coaxially aligned with the rotational axis and is capable of rotational movement about the rotational axis independent of each other; a multi-bar linkage mechanism connected to each of the first and second coil stator assemblies and connected to the hub assembly, said multi-bar linkage mechanism constraining movement of the hub assembly so that the rotational axis of the hub assembly moves along a defined path that is in a transverse direction relative to the rotational axis and wherein the multi-bar linkage mechanism causes the rotational axis of the hub assembly to translate along the defined path in response to relative rotation of the first coil stator assembly and second coil stator assembly with respect to each other, the multi-bar linkage mechanism comprising: a support structure, a crankshaft assembly, a first swing arm, and a second swing arm, the first swing arm having a first end rotatably connected to the crankshaft assembly and a second end rotatably connected to the support structure at a first location on the support structure and the second swing arm having a first end rotatably connected to the crankshaft assembly and a second end rotatably connected to the support structure at a second location on the support structure that is different from the first location on the support structure, and the crankshaft assembly includes a crankshaft (535c,603a,803a), a first crank arm extending in a first radial direction away from the crankshaft, and a second crank arm extending in a second radial direction away from the crankshaft; and a first torque link connecting the first coil stator assembly to the first swing arm and a second torque link connecting the second coil stator assembly to the second swing arm, the first and second torque links preventing the first and second coil stator assemblies from freely rotating without limit. a support structure, a crankshaft assembly, a first swing arm, and a second swing arm, the first swing arm having a first end rotatably connected to the crankshaft assembly and a second end rotatably connected to the support structure at a first location on the support structure and the second swing arm having a first end rotatably connected to the crankshaft assembly and a second end rotatably connected to the support structure at a second location on the support structure that is different from the first location on the support structure, and the crankshaft assembly includes a crankshaft (535c,603a,803a), a first crank arm extending in a first radial direction away from the crankshaft, and a second crank arm extending in a second radial direction away from the crankshaft; and a first torque link connecting the first coil stator assembly to the first swing arm and a second torque link connecting the second coil stator assembly to the second swing arm, the first and second torque links preventing the first and second coil stator assemblies from freely rotating without limit.