An articulated rotor system with a servo-flap rotor control system locates the focal point of a blade retention spherical elastomeric bearing inboard of a joint in the servo-flap pitch control tube which separates the flap hinge and supports the servo-flap pitch control tube on a single pivot bearing within a blade retention spindle. Rotor blade flapping produces relative movements between the servo-flap pitch control tube and the blade retention spindle which is converted through a servo-flap drive linkage into servo-flap pitch motions to provide flap/pitch coupling which reduces steady and transient blade flapping.