Described is a transmission, having a hollow cylindrical base body, which has an internal toothing and a rotational axis, with end sides in which are rotatably mounted a driven input element and an output element, wherein the output element comprises two rotary bodies which can be or are connected to one another in a non-rotatable fashion and which have a circular cross section transversely with respect to the rotational axis and between which are arranged at least one gearwheel and means for converting planetary movements of the gearwheel into rotational movements of the output element. In the transmission, the forces which hold the output element together and the bearing forces which act between the output element and the base body are independent of one another.