A method for cold working pipe elements use two or more cams, each having a gear which meshes with a pinion to turn all of the cams. Each cam has a cam surface with a region of increasing radius and may also have a region of constant radius extending around a cam body. Each cam may also have a traction surface extending around a cam body. The method includes contacting the pipe element with a plurality of cam surfaces simultaneously at a plurality of locations on the pipe element and rotating the pipe element, thereby simultaneously rotating the cam surfaces. Each cam surface engages the pipe element with an increasing radius and a region of constant radius if present to deform the pipe element and form the groove.