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An innovative rotary engine uses a rotor that executes pendulum-like oscillatory rotation. This is converted into uniform rotation of the drive shaft by a simple mechanism. The engine also employs parameter resonance. The new design is compact and lightweight. Economy of fuel and lubricants, reduced air pollution, simpler and cheaper fabrication, lower levels of noise, easier maintenance are among its advantages over the Wankel rotary engine and the Otto piston engine.