A flexible composite scissor assembly is disclosed which utilizes one or more composite straps disposed either in a radial or non-radial relationship between a hub attached to a rotor and an inner or outer ring of a helicopter swashplate. The composite material has sufficient edge-wise stiffness to allow effective torque transmission between the rotor shaft and the swashplate yet has sufficient flexibility to allow for a vertical and angular displacement of the swashplate relative to the rotor shaft. Utilizing a flexible composite scissor assembly eliminates the need for mechanical linkages having pins and bearings which are a frequent source for wear, increasing the reliability of the rotor assembly, while reducing weight.