An aerial vehicle control surface actuation system comprises a rotary actuator having opposing output shaft ends that are coupled to first and second torque tubes via actuator universal joints. The first and second torque tubes extend angularly from the rotary actuator. The system further comprises first and second pivot joints that are coupled to a hinged end of a control surface. The first and second pivot joints are coupled to the first and second torque tubes, respectively, via control surface universal joints. In this configuration, rotation of the first and second torque tubes causes rotation of the control surface relative to a hinge axis.