A braking system includes a brake booster with a power piston assembly structure defining a guide bore which possesses an open end, the guide bore defining a bore axis. A pivot structure is positioned in the guide bore and including (i) a body having an interior surface that defines a cavity, and (ii) a plurality of extensions protruding inwardly from the interior surface. A pedal rod includes (i) a ball-shaped distal end portion is retained in the cavity by the plurality of extension members, and (ii) a shaft extending from the ball-shaped distal end portion. A retainer is secured to the power piston assembly structure so as to prevent advancement of the pivot structure through the open end of the power piston assembly structure. The retainer defines a frusto-conical passageway through which the shaft extends enabling the shaft to pivot.