A rotary steerable drilling system includes a collar, a drill bit, and a bit shaft connecting the drill bit to the collar. The bit shaft is coupled to the collar through a joint capable of transmitting a torque from the collar to the bit shaft and is swingable with respect to the collar around the joint. The system, further includes first eccentric wheel and second eccentric wheel coupled to the bit shaft and rotatable to swing the bit shaft with respect to the collar around the joint to change a drilling direction, a controller for controlling the first eccentric wheel and second eccentric wheel to harmoniously rotate such that the swing of the bit shaft substantially compensates rotation of the bit shaft, and an active stabilizer mounted on the bit shaft and capable of pushing the bit shaft to deviate to cause a lateral displacement and a tilt angle of the drill bit.