Systems and methods are described herein for mounting a thruster onto a vehicle. A thruster mounting structure may comprise a first, second, and third rotational joint, a boom, and thruster pallet, and a thruster attached to the thruster pallet. The first rotational joint may be attached to the vehicle and configured to rotate in a first axis. The first rotational joint may be connected to the boom and configured to pivot the boom about the first axis. The boom may be connected to the second rotational joint, which is connected to the third rotational joint and configured to rotate the third rotational joint in the first axis. The third rotational joint may be connected to the thruster pallet and configured to pivot the thruster pallet in a second axis that is perpendicular to the first axis.