An exercise apparatus includes a rigid connector link having a first portion rotatably connected to a respective crank, a second portion constrained to move in reciprocating fashion, and a third portion connected to a foot support. The resulting assembly links rotation of the crank to movement of the foot support through a generally elliptical path. The connection points may be moved relative to one another and/or a supporting frame to adjust the size, shape, and/or orientation of the path.