An exercise apparatus may provide a novel linkage assembly suitable for linking circular motion to relatively more complex, generally elliptical motion. Left and right rocker links may be rotatably mounted on a frame rotatable about a first axis. Left and right rocker linkages may be mounted on the frame rotatable about a second axis. Left and right force receiving members may be movably connected between respective rocker links and rocker linkages in such a manner that the force receiving members move through paths of motion which are fixed, adjustable or variable.