A cyclical skating motion exercise machine has a base frame assembly. A first pedal arm mounted on a first pedal axle, wherein the first pedal axle is substantially vertical. A first link assembly mounted to the first pedal arm at a first pedal joint. The first pedal joint provides motion between the first link assembly and the first pedal arm. A first pedal mounted to the first pedal arm for supporting a user's foot. A second pedal arm is mounted on a second pedal axle, wherein the second pedal axle is substantially vertical. A crank assembly has a first link assembly is mounted to the a crank assembly, and the crank assembly has rotational inertia is substantially orthogonally to the first pedal axle.