In accordance with embodiments of the present disclosure, a hybrid drive for use within a rotary steerable drilling tool is provided. The hybrid drive may enable improved directional drilling performance of the rotary steerable drilling tool. The hybrid drive may include a prime mover for rotating a drilling component (e.g., cam used to counter-rotate a steering head) relative to a fully rotating outer housing of the rotary steerable tool. In addition, the hybrid drive may include an electrical motor/generator for adjusting the rotational speed of the cam in response to high frequency changes in rotational speed of the tool housing. The hybrid drive may also include a transmission coupled to the prime mover and the electrical motor/generator for providing mechanical energy from one or both of the prime mover and the motor/generator to rotate the cam (or other drilling component) within the rotary steerable tool.