A variable valve actuation system in one form includes a rocker coupled with a valve stem at one end and a cam follower at the other end. The rocker is operable to rotate about a fixed axis and the cam follower includes a set of lower rollers operable to follow one cam lobe and an upper roller operable to follow another cam lobe. A leaf spring can be used to couple the cam follower with the rocker. A cam shaft can have a nested configuration that includes an inner shaft, an intermediate tube, and an outer tube. Cam lobes can be fastened to the cam shaft by fastening through each of the inner shaft, intermediate tube, and outer tube. The cam lobes can be attached by at least two devices inserted from either side of the cam shaft and that are not inserted at least through the inner shaft.