A crankshaft for an internal combustion engine comprises at least four main journals aligned on a crankshaft axis of rotation and at least three crankpins, each crankpin being disposed about a respective crankpin axis and positioned between the main journals. Each of the respective crankpin axes is oriented parallel to, and spaced radially from, the crankshaft axis of rotation. Each of the crankpins is joined to a pair of crank arms for force transmission between the crankpin and the pair of crank arms. Each pair of crank arms is joined to a respective main journal for transmitting torque between the pair of crank arms and the main journal. At least two of the crankpins are spaced radially a first semi-stroke distance from the crankshaft axis of rotation, and a third crankpin is spaced radially a second semi-stroke distance from the crankshaft axis of rotation.