A rotary steerable system (RSS) including an upper stabilizer connected to a collar of a drill string, an articulated section connected by a flexible joint to the collar, a drill bit connected to the articulated section opposite from the flexible joint, a lower stabilizer located proximate to the flexible joint and an actuator located with the articulated section and selectively operable to tilt an axis of the drill bit and the articulated section relative to the collar. A method includes drilling with the RSS a bias phase of a drilling cycle on a demand tool face and drilling a neutral phase of the drilling cycle on a 180 degree offset tool face from the demand tool face.