A rotary steerable drilling system may include a substantially non-rotating tool body, a rotatable shaft including at least one pivotable feature, where the rotatable shaft is at least partially disposed within the tool body, and a bias unit that alters the position of the rotatable shaft within the tool body. The rotary steerable drilling system may also include at least one force application member that alters the position of the tool body in the borehole. A downhole steering motor may include a rotor shaft with at least one pivotable joint, a steering motor housing, a bias unit that alters the position of the rotor shaft inside the steering motor housing, and at least one force application member that alters the position of the steering motor housing in a borehole.