A wide angle scanning system includes a plurality of rotationally symmetrical transmissive optical elements each having a non-refracting surface and a refracting surface; and a mechanical beam steering system including micro-mechanical steering elements, each being coupled to a respective one of the plurality of rotationally symmetrical transmissive optical elements for rotating a respective rotationally symmetrical transmissive optical element about a center of rotation that coincides with a center of the non-refracting surface.