An expandable tool can be lowered in a contracted state into a subterranean well. The expandable tool includes a tool frame that is movable between a frame contracted position and a frame extended position, and a plurality of tool segments. The plurality of tool segments include a plurality of moveable tool segments and a plurality of stationary tool segments. An outer diameter of the expandable tool can be increased by moving each of the tool segments radially outward. The expandable tool can be rotated so that the plurality of moveable tool segments rotate relative to the tool frame and the plurality of stationary tool segments remain fixed relative to the tool frame. Applying axial force to the expandable tool will move moveable tool segments axially relative to the tool frame, and an axial length of the expandable tool is reduced until the expandable tool is in a final state.