Systems and methods for drilling a wellbore with a portion having a short radius of curvature. A drill assembly having a motor and a tubular housing. An actuator is at least partially disposed within the tubular housing and couples the motor to the tubular housing. The actuator is configured to selectively articulate the drill assembly between a straight configuration and a bent configuration. At least one torque anchor is fluidly-coupled to a trailing end of the drill assembly.