A transmission comprising: an input for receiving rotational motion from a source; an output for transmitting rotational motion to a wheel or the like; and a continuously variable transmission mechanism comprising: a swashplate assembly comprising, a swashplate, rotatably mounted on a swashplate bearing about a first axis of rotation, the swashplate being rotatably coupled to the input for rotation about the swashplate bearing such that rotational movement of the swashplate is transferred to the output; control means which varies the angle of the swashplate assembly with respect to the first axis of rotation in a continuous manner; a coupling comprising: a reciprocating member which moves along the direction of the first axis of rotation in response to reciprocal movement of the rotatable swashplate in said direction, the reciprocal movement being caused by the swashplate being at an acute angle relative to the axis of rotation, and a rotatable coupling which converts the reciprocating motion to rotational motion at the output via a gear mechanism (13, 15), wherein the angle of the swashplate assembly with respect to the first axis of rotation determines the proportion of the input which is transmitted to the output via the coupling and therefore the gear ratio of the gear in use; characterised in that the swashplate comprises a plurality of connection points connected to respective reciprocating members, the connection points being equiangularly separated around the circumference of the swashplate. an input for receiving rotational motion from a source; an output for transmitting rotational motion to a wheel or the like; and a continuously variable transmission mechanism comprising: a swashplate assembly comprising, a swashplate, rotatably mounted on a swashplate bearing about a first axis of rotation, the swashplate being rotatably coupled to the input for rotation about the swashplate bearing such that rotational movement of the swashplate is transferred to the output; control means which varies the angle of the swashplate assembly with respect to the first axis of rotation in a continuous manner; a coupling comprising: a reciprocating member which moves along the direction of the first axis of rotation in response to reciprocal movement of the rotatable swashplate in said direction, the reciprocal movement being caused by the swashplate being at an acute angle relative to the axis of rotation, and a rotatable coupling which converts the reciprocating motion to rotational motion at the output via a gear mechanism (13, 15), wherein the angle of the swashplate assembly with respect to the first axis of rotation determines the proportion of the input which is transmitted to the output via the coupling and therefore the gear ratio of the gear in use; characterised in that the swashplate comprises a plurality of connection points connected to respective reciprocating members, the connection points being equiangularly separated around the circumference of the swashplate. a swashplate assembly comprising, a swashplate, rotatably mounted on a swashplate bearing about a first axis of rotation, the swashplate being rotatably coupled to the input for rotation about the swashplate bearing such that rotational movement of the swashplate is transferred to the output; control means which varies the angle of the swashplate assembly with respect to the first axis of rotation in a continuous manner; a coupling comprising: a reciprocating member which moves along the direction of the first axis of rotation in response to reciprocal movement of the rotatable swashplate in said direction, the reciprocal movement being caused by the swashplate being at an acute angle relative to the axis of rotation, and a rotatable coupling which converts the reciprocating motion to rotational motion at the output via a gear mechanism (13, 15), a reciprocating member which moves along the direction of the first axis of rotation in response to reciprocal movement of the rotatable swashplate in said direction, the reciprocal movement being caused by the swashplate being at an acute angle relative to the axis of rotation, and a rotatable coupling which converts the reciprocating motion to rotational motion at the output via a gear mechanism (13, 15), wherein the angle of the swashplate assembly with respect to the first axis of rotation determines the proportion of the input which is transmitted to the output via the coupling and therefore the gear ratio of the gear in use; characterised in that the swashplate comprises a plurality of connection points connected to respective reciprocating members, the connection points being equiangularly separated around the circumference of the swashplate.