According to one embodiment, a constant velocity (CV) joint includes a first yoke, a second yoke, and a control mechanism. The first yoke is configured to be rotatably coupled to an input device about a first axis and configured to receive the input device through a first opening. The second yoke is rotatably coupled to the first yoke about a second axis and rotatably coupled to an output device about a third axis. The control mechanism is adapted to constrain the first yoke and the second yoke so as to achieve a substantially CV characteristic between the input device and the output device.