A transmission comprising a reactor and an activator is disclosed. The reactor is a differential system, used to transmit power between two drive shafts. The disclosed reactor comprises three gearsets comprising non-intersecting and non-parallel gears arranged so that they can be coupled together. The gear ratios and the dimensions of the three gearsets are selected such that the two drive shafts can rotate at any speed ratio. The activator controls the strength and direction of the torques applied to the two drive shafts and enables the transfer of a series of torques through all the gearsets. The strengths and directions of the torques applied on the two drive shafts are controlled through the pressure control unit and the switching valve.