This is incorrect. The pedal top also travels in a circle if the orientation of the pedal (in space) is constant.

Another good example of this is a Ferris wheel. The cars of a Ferris wheel have a fixed orientation in space (because gravity causes them to hang directly below their mounting points located on the main wheel) and they trace a circular path through space as the Ferris wheel rotates. The circular path of the cars is not centered on the hub of the main wheel, but on a point that "hangs" several feet beneath the hub of the main wheel. The fact that the cars don't remain at a constant distance from the hub of the main wheel isn't relevant -- the path of the cars is still circular.