An Oldham coupling connects two parallel shafts that are spaced apart by using two flanges with perpendicular slots keyed to each shaft. A circular disc with two perpendicular rectangular projections is placed between the flanges so that the projections fit into the slots, allowing for torque transmission while accommodating axial and radial misalignment between the shafts. Oldham couplings and flexible couplings both transmit torque smoothly while permitting some axial, radial, or angular misalignment between connected shafts.