An expansion tool includes a housing and a collar rotatably coupled to the housing. The collar includes a plurality of slots. The expansion tool further includes a plurality of jaws, each jaw having a projection received in a corresponding one of the plurality of slots such that the jaws are coupled for co-rotation with the collar. The expansion tool also includes a mandrel movable relative to the housing between a retracted position and an extended position, the mandrel engageable with the jaws to expand the jaws in response to movement of the mandrel to the extended position, and a drive mechanism including a rotatable cam. Rotation of the cam moves the mandrel between the retracted position and the extended position. The expansion tool further includes a rotation mechanism configured to incrementally rotate the collar.