This article investigates a new type of axial cycloidal magnetic gear (CMG) that can minimize the unbalanced radial force within the CMG structure. The unbalanced radial force is decomposed into an eccentric coupling force and an eccentric quadrature force. These two force components are studied separately for both the radial and axial CMG typologies. The studies show that only the axial CMG can cancel out the eccentric coupling force. An example design of a parallel connected dual-rotor axial CMG that minimizes the unbalanced radial force is presented. The design has a gear ratio of 96:1 and a calculated active region volumetric torque density of 251 $\text{N}\cdot \text{m}$ /L.