A hydraulic motor includes a rotor and a stator, wherein the rotor and the stator define a plurality of motor pockets for receiving a flow of hydraulic fluid, and the rotor rotates relative to the stator based on a pressure differential between the motor pockets. A commutator having porting controls the flow of hydraulic fluid into the motor pockets. The rotor rotates about a first axis and the stator orbits about a second axis, and the stator is configured to orbit such that the second axis orbits about the first axis. The commutator is eccentrically piloted about the first axis and the second axis so that the commutator both rotates and orbits to control the flow of hydraulic fluid into the motor pockets. With such configuration, an output shaft is driven by rotation of the rotor about the first axis without orbiting, obviating the need for a drive link.