Many constant velocity (CV) couplings have been invented in the last decade. First they are summarized including the classic double Cardan mechanism. A newly developed spherical CV coupling mechanism is then discussed and analyzed structurally and dynamically by using computer aided structural analysis and mechanism solution programs. Joint reaction forces, torques, speeds, and power consumptions are also checked. Algebraic equations of this new spherical CV coupling mechanism are derived. This mechanism has the advantage of a very compact structure and uses only standard radial bearings. It may be used wherever misaligned shafts are required.