The present disclosure is an all gear infinitely variable transmission that is non-dependent on friction. It can be used in high torque applications, offering a steady and uniform output for a steady and uniform input. Since it allows a co-axial input and output, by using a planetary gear system the output can be made continuous from forward to reverse. It uses a “scotch-yoke” mechanism to convert rotational motion to a linear reciprocating motion. The linear distance of this reciprocating motion—“stroke” is changed by altering the crankpin location of the scotch-yoke mechanism. This reciprocating motion is converted to a rocking motion by using a “rack and pinion” and later converted to a unidirectional motion via a One-Way-Bearing. A set of non-circular gears are used to achieve a steady and uniform output. It employs a very simple mechanism to change the ratio between the input and output of the transmission.