A slack adjuster for rotating an input shaft of a braking system includes a housing having an aperture defining a first axis. The slack adjuster also includes an output member positioned within the aperture. The output member is engageable with the input shaft for rotation therewith about a second axis parallel with and offset from the first axis. The slack adjuster also includes an incremental adjustment mechanism operable to impart cycloidal motion to the output member relative to the housing.