Compact scanning techniques that can scan a large degree optical solid angle are disclosed. One particular embodiment is a processor controlled scanner that is capable of a large degree optical solid scan angle. Dual axis scan capability can be provided with a single compact package. A pivoting ball joint on which a mirror assembly is attached is employed. The mirror assembly is operatively coupled to an actuator assembly (e.g., electro-magnets or piezoelectric based actuators). When control voltage is applied to the actuator assembly, the ball joint to moves thereby moving the integrally attached mirror assembly.