The blue and fixed popcorn gears and the orange carrier create a satellite drive. Tooth numbers of the gears are 25 and 50.

The green bar has revolution joint with the blue gear.

The red gear has revolution joint with the popcorn fixed gear and prismatic joint with the green bar.

While the orange carrier rotate regularly, the red gear rotates irregularly.

Beside geometric dimensions of the links, its motion also depends on

the position between the pins of the blue gear and the popcorn gear when assembling.