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You can use the Composition it self for positioning, but then you have to connect other layers to it so they move together. With camera used, you will have to just turn all layers to 3D layers without connecting them to any composition. So both ways work fine :)
Create a circular mask then copy its Path and paste it on the Position of the foot bone to make it rotate in a perfect circle. Create another 2-point straight path then using Create Nulls from Paths script choose Points Follow Nulls, attach one Null to the foot and keep the other Null in the center so now you have a rotating pedal bar. Do the same for the other pedal and offset the layers in time.
