A spherical piston rotates in combination with a spherical housing, whereby the rotational axes alone incline towards each other slightly, not unlike a cardan joint. In the process, “strokes” are created within the rotational system, which are employed to produce periodic volumetric change in working chambers. Two such symmetrical working chambers arise in diametrically opposing sides of the spherical piston, in sections cut out of the sphere like wedges removed from an orange, one on each side of a smooth dividing wall that extends into these areas and which is firmly anchored to the casing (external cylinder) that also rotates as part of the system.
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