A variable camshaft timing (VCT) system includes an independent camshaft phaser, receiving input from a crankshaft of an internal combustion engine, having an output coupled to one of an inner concentric camshaft or an outer concentric camshaft; and a dependent camshaft phaser, coupled to the other of the inner concentric camshaft or the outer concentric camshaft, comprising a half-Oldham link configured to permit radial movement of the inner concentric camshaft relative to the outer concentric camshaft in one radial direction and at least one pivotable arm configured to permit radial movement of the inner concentric camshaft relative to the outer concentric camshaft in another, different radial direction.