A shaft coupling has an input element adapted to be rotationally driven about an axis, an output element rotatable about the axis adjacent and limitedly relative to the input element, and an intermediate element rotatable about the axis adjacent and limitedly relative to both the input element and the output element. A first coupling assembly with progressive resistance to torque is fixed between one of the input and output elements and the intermediate element. A second coupling assembly with linear resistance to torque is fixed between the other of the input and output elements and the intermediate element such that torque is transmitted between the input and output elements through the coupling elements in series with each other in a single stage.