A header for an agricultural harvester comprising a frame and an epicyclical drive operatively connected to the frame. The epicyclical drive includes a first rotatable wheel having a first central rotational axis and a first flange. The first flange includes a first eccentric axis rotatable about the first central rotational axis, and a first output shaft spaced from the first eccentric axis. The epicyclical drive further includes a second rotatable wheel having a second central rotational axis and a second flange. The second flange includes a second eccentric axis rotatable about the second central rotational axis, and a second output shaft spaced from the second eccentric axis. The header further includes a first cutter bar directly connected to the first output shaft and a second cutter bar directly connected to the second output shaft. Operation of the epicyclical drive results in substantially linear oscillating motion of the cutter bars.