A truck and a skateboard assembly comprised of two trucks and a deck. The truck of the present invention has three rigid bodies and two degrees of freedom. The three rigid bodies comprise: (1) the deck and baseplate assembly for the skateboard assembly, or the baseplate assembly for the truck; (2) the hanger assembly; and (3) the floating kingpin assembly. The three rigid bodies are joined together by three spherical joints and elastomerically coupled and constrained by elastomeric components. The truck of the present invention provides the combined functionality of deep deck lean, improved steering control over a wider range of speed, improved speed stability, and improved suspension compared to existing skateboard trucks.