Continuously variable mechanical transmission

A continuously variable mechanical transmission comprised of two wheels, either friction or toothed, of which one or both are in the shape of hemispheres. A hemisphere wheel is mounted through a bearing on a mounting with two pivots attached to the outer race of the bearing, allowing the wheel to rotate around two perpendicular accesses. The center of the wheel is attached to the shaft through a single or double universal joint or a flexible shaft. The other wheel can be a regular narrow wheel fixed to the second shaft. By rotating the hemisphere wheel around the mounting pivots the diameter of the wheel engaged with the second wheel is increased or decreased allowing the transmission rate to vary.