A wobble drive mechanism for coupling a rotary motion to a reciprocating motion comprising a diagonal plate coupled to a rotary motion axis driving a wobble carrier having a flat side in sliding contact with the diagonal plate and a spherical side in contact with a spherical bearing recess. The wobble carrier has a bore containing at least one reciprocating drive shoe. The reciprocating drive shoe may be coupled to a piston operating within a cylinder. The reciprocating drive shoe may be free to move in the bore linearly and/or rotationally. In various embodiments, the reciprocating drive shoe comprises two or more components. In various embodiments the piston is coupled to the shoe via a fixed rod section and the fixed rod section terminates in, for example, a double cylindrical bearing T section or a spherical bearing. The reciprocating drive may operate various devices, for example, pump or motor devices.