diff --git a/src/experimental/usd/mjcPhysics/actuatorAPI.cpp b/src/experimental/usd/mjcPhysics/actuatorAPI.cpp
index fb43eee7..1ba5dae1 100644
--- a/src/experimental/usd/mjcPhysics/actuatorAPI.cpp
+++ b/src/experimental/usd/mjcPhysics/actuatorAPI.cpp
@@ -325,15 +325,6 @@ UsdRelationship MjcPhysicsActuatorAPI::CreateMjcRefSiteRel() const {
                                       /* custom = */ false);
 }
 
-UsdRelationship MjcPhysicsActuatorAPI::GetMjcCrankSiteRel() const {
-  return GetPrim().GetRelationship(MjcPhysicsTokens->mjcCrankSite);
-}
-
-UsdRelationship MjcPhysicsActuatorAPI::CreateMjcCrankSiteRel() const {
-  return GetPrim().CreateRelationship(MjcPhysicsTokens->mjcCrankSite,
-                                      /* custom = */ false);
-}
-
 UsdRelationship MjcPhysicsActuatorAPI::GetMjcSliderSiteRel() const {
   return GetPrim().GetRelationship(MjcPhysicsTokens->mjcSliderSite);
 }
diff --git a/src/experimental/usd/mjcPhysics/actuatorAPI.h b/src/experimental/usd/mjcPhysics/actuatorAPI.h
index 49e6721a..c914ef77 100644
--- a/src/experimental/usd/mjcPhysics/actuatorAPI.h
+++ b/src/experimental/usd/mjcPhysics/actuatorAPI.h
@@ -775,23 +775,6 @@ class MjcPhysicsActuatorAPI : public UsdAPISchemaBase {
   MJCPHYSICS_API
   UsdRelationship CreateMjcRefSiteRel() const;
 
- public:
-  // --------------------------------------------------------------------- //
-  // MJCCRANKSITE
-  // --------------------------------------------------------------------- //
-  /// If specified, the actuator acts on a slider-crank mechanism which is
-  /// implicitly determined by the actuator (i.e., it is not a separate model
-  /// element). The target site corresponds to the pin joining the crank and the
-  /// connecting rod.
-  ///
-  MJCPHYSICS_API
-  UsdRelationship GetMjcCrankSiteRel() const;
-
-  /// See GetMjcCrankSiteRel(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create
-  MJCPHYSICS_API
-  UsdRelationship CreateMjcCrankSiteRel() const;
-
  public:
   // --------------------------------------------------------------------- //
   // MJCSLIDERSITE
diff --git a/src/experimental/usd/mjcPhysics/generatedSchema.usda b/src/experimental/usd/mjcPhysics/generatedSchema.usda
index b911cf59..91b0f7fd 100644
--- a/src/experimental/usd/mjcPhysics/generatedSchema.usda
+++ b/src/experimental/usd/mjcPhysics/generatedSchema.usda
@@ -277,9 +277,6 @@ class "PhysicsActuatorAPI" (
     uniform double mjc:crankLength = 0 (
         doc = "Used only for the slider-crank transmission type. Specifies the length of the connecting rod. The compiler expects this value to be positive when a slider-crank transmission is present."
     )
-    rel mjc:crankSite (
-        doc = "If specified, the actuator acts on a slider-crank mechanism which is implicitly determined by the actuator (i.e., it is not a separate model element). The target site corresponds to the pin joining the crank and the connecting rod."
-    )
     uniform token mjc:ctrlLimited = "auto" (
         allowedTokens = ["false", "true", "auto"]
         doc = "If true, the control input to this actuator is automatically clamped to ctrlrange at runtime. If false, control input clamping is disabled. If 'auto' and autolimits is set in compiler, control clamping will automatically be set to true if ctrlrange is defined without explicitly setting this attribute to 'true'. Note that control input clamping can also be globally disabled with the clampctrl attribute of option/flag."
diff --git a/src/experimental/usd/mjcPhysics/tokens.cpp b/src/experimental/usd/mjcPhysics/tokens.cpp
index 2f33d763..dcbfc393 100644
--- a/src/experimental/usd/mjcPhysics/tokens.cpp
+++ b/src/experimental/usd/mjcPhysics/tokens.cpp
@@ -41,7 +41,6 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
       mjcBiasPrm("mjc:biasPrm", TfToken::Immortal),
       mjcBiasType("mjc:biasType", TfToken::Immortal),
       mjcCrankLength("mjc:crankLength", TfToken::Immortal),
-      mjcCrankSite("mjc:crankSite", TfToken::Immortal),
       mjcCtrlLimited("mjc:ctrlLimited", TfToken::Immortal),
       mjcCtrlRangeMax("mjc:ctrlRange:max", TfToken::Immortal),
       mjcCtrlRangeMin("mjc:ctrlRange:min", TfToken::Immortal),
@@ -151,7 +150,6 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
                  mjcBiasPrm,
                  mjcBiasType,
                  mjcCrankLength,
-                 mjcCrankSite,
                  mjcCtrlLimited,
                  mjcCtrlRangeMax,
                  mjcCtrlRangeMin,
diff --git a/src/experimental/usd/mjcPhysics/tokens.h b/src/experimental/usd/mjcPhysics/tokens.h
index 862d2ef8..999f6015 100644
--- a/src/experimental/usd/mjcPhysics/tokens.h
+++ b/src/experimental/usd/mjcPhysics/tokens.h
@@ -162,10 +162,6 @@ struct MjcPhysicsTokensType {
   ///
   /// MjcPhysicsActuatorAPI
   const TfToken mjcCrankLength;
-  /// \brief "mjc:crankSite"
-  ///
-  /// MjcPhysicsActuatorAPI
-  const TfToken mjcCrankSite;
   /// \brief "mjc:ctrlLimited"
   ///
   /// MjcPhysicsActuatorAPI