As a new type of internal combustion engine, opposed rotary piston (ORP) engine has the advantages of simple structure and high working frequency, and can achieve high power density. Consequently, it stands as an ideal power source for hybrid power systems and unmanned aerial vehicles. The ORP engine has different power output modes, corresponding to different piston rotation and volume evolutions of combustion chamber. However, the effect of power output modes on kinetics characteristics and in-cylinder combustion of ORP engines are still uncovered. In this paper, the kinematic model of an ORP engine is established for scenarios involving power output by different shafts (Shaft 1 and Shaft 3). Meanwhile, the piston rotation patterns and cylinder volume variations are investigated correspondingly. Further, three-dimensional numerical model of the ORP engine is established, enabling analysis of in-cylinder combustion characteristics, engine performance, as well as nitrogen oxides (NOx) emissions. The results indicate that the volume variations of all cylinders follow a consistent pattern under the power output by Shaft 3. A pair of opposed cylinders features longer durations of intake and expansion strokes, and shorter durations of compression and exhaust strokes, the other pair of combustion chambers is the opposite under the power output by Shaft 1. The engine demonstrates a charging efficiency of 95.36 %, with corresponding indicated thermal efficiency and indicated power output of 38.08 % and 40.9 kW, respectively. The two adjacent cylinders present significantly different operation processes in the case of the power output by Shaft 1, achieving charging efficiencies of 94.29 % and 89.11 %, respectively, with the indicated thermal efficiency of 34.49 % and 31.60 %. The corresponding minimum indicated specific fuel consumption under the two power output modes are 211.7 g/kW∙h and 243.7 g/kW∙h, respectively, accompanied by NOx emission factors of 25.3 g/kW∙h and 17.6 g/kW∙h. With the given range of ignition timing, a trade-off relationship exists between the engine performance and NOx emissions. The power density of the case of power output by Shaft 3 is superior to that of Shaft 1.