Steering assemblies including a housing having an actuator positioned therein and operable to rotate a drive shaft. A planetary gearbox is positioned in the housing and includes a ring gear operatively coupled to the housing, a sun gear coupled to the drive shaft, and a planet carrier. A mechanical coupling operatively couples the ring gear to the housing such that rotation of the housing rotates the ring gear. The mechanical coupling is selected based on an ability of one or more mechanical parameters of the mechanical coupling to mitigate the stick-slip disturbance transmitted between the housing and the ring gear. An offset mandrel coupled to one of the sun gear and the planet carrier such that rotation of the one of the sun gear and the planet carrier causes the offset mandrel to correspondingly rotate, wherein the offset mandrel is independently rotatable with respect to the housing.