According to one embodiment, a constant velocity (CV) joint includes a first yoke, a second yoke, and three bearings. 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 first bearing is disposed about the first axis adjacent to the first yoke, the second bearing is disposed about the second axis adjacent to the first yoke or the second yoke, and the third bearing disposed about the third axis adjacent to the second yoke. The first and third bearings torsionally constrain movement the first yoke and the second yoke so as to achieve a substantially CV characteristic between the input device and the output device.