A pinned gear assembly that includes a toothed ring gear having a plurality of inner gear teeth alternating with a plurality of inner grooves on an inner circumference and a plurality of outer gear teeth located on an outer circumference. A spline gear having an outer circumference comprising a plurality of spline teeth alternating with a plurality of spline grooves is included. The spline teeth are configured to fit in the inner grooves of the toothed ring gear when the spline gear is assembled to the toothed ring gear, wherein the spline gear has a central opening configured to receive a shaft. Each of the plurality of inner grooves and each of the plurality of spline grooves has trapezoidal walls. A curved-faces pin assembly includes a cylindrical pin having semicircular ends and a pattern of an elastomeric material which conforms to a shape of the spline grooves and the inner grooves, the cylindrical pin of the curved faces pin assembly is centrally located between the trapezoidal walls and parallel to the shaft.