A directional drilling system that includes a drill bit capable of drilling a bore through rock. A shaft couples to the drill bit. The shaft transfers rotational power from a motor to the drill bit. A steering system controls a drilling direction of the drill bit. The steering system includes a sleeve coupled to the shaft. A steering pad couples to the sleeve. The steering pad forms a steering angle with the drill bit. Axial movement of the steering pad with respect to the drill bit changes the drilling direction by changing the steering angle.