A two-degree-of-freedom rotation control device includes a rotary body having a friction spherical surface, wherein a load mounting platform is provided on a top of the rotating body or inside the rotating body; a fixing and supporting structure configured to hold the rotating body, to allow the rotating body to have only a rotational degree of freedom; and a driving motor, wherein, a driving end of the driving motor is in direct contact with the friction spherical surface of the rotating body, to form a friction transmission pair tangent to the friction spherical surface. An application system has the two-degree-of-freedom rotation control device and a working unit on the two-degree-of-freedom rotation control device.