A door system having a linkage assembly with a drive arm and an attendant arm coupled at the ends through a gear joint. The gear joint has drive teeth on an end of the drive arm and attendant teeth on an end of the attendant arm. The drive arm is coupled to a motor in the door system that is coupled to a door, or a door frame or a wall. The attendant arm is coupled to the opposite of the door, or the door frame or the wall to which the door system is coupled. When the door system is installed on the push side or the pull side of the door the drive arm and the attendant arm are parallel with the door and the upper door frame. During operation the motor transfers the torque from the motor through the gear joint to open the door.