An unmanned aerial vehicle includes a central body and a plurality of arms extendable from the central body. Each of the plurality of arms is configured to support one or more propulsion units. Each of the plurality of arms is configured to transform between (1) a flight configuration in which the arm is extending away from the central body and (2) a compact configuration in which the arm is folded against the central body. At least one of the plurality of arms is configured to rotate about a first rotational axis and at least a portion of the at least one of the plurality of arms is configured to rotate about a second rotational axis not parallel to the first rotational axis.