An infinitely variable transmission (IVT) is a system that allows for a continuous (non-discrete) variation (including zero) in transmission ratio between two rotating elements. In this paper, a novel ratcheting-type IVT mechanism is presented and its geometrical design and kinematic analysis are studied in details. The proposed system contains two identical units. Each unit includes a cam with a follower, oscillatory slotted links pivoted at a shaft that can be moved vertically by a hydraulic ram (alterable transmission ratio), and a grooved wheel with an actuating rod. The input rotational motion is converted through each unit to an oscillatory angular motion of controlled amplitude. This resulting motion is rectified using a ratchet to get a unidirectional output rotational motion. Therefore, the system output motion will have a different velocity and acceleration than those of the system input. The kinematic analysis revealed that the transmission ratio can be varied continuously in a range from zero to infinity. The analysis also showed that, for particular transmission ratios, the system gives uniform output (angular velocity and acceleration) for a corresponding uniform input.