Systems and methods for rotating X-ray devices are disclosed. The systems and methods use X-ray devices with an X-ray imaging arm orbitally rotating about pivot joints that are physically attached to the X-ray imaging arm. The pivot joint coincides with the center of gravity for the X-ray imaging arm. The X-ray device has an X-ray imaging arm with an X-ray source and detector respectively disposed at nearly opposing locations of the imaging arm. The pivot joint can serve as an axis of orbital rotation around which the imaging arm pivots. The pivot joint can be pivotally attached to a first end of an X-ray imaging arm fork, which has a second end attached to an X-ray imaging arm support structure. The imaging arm fork can include a lateral pivot joint that provides a lateral axis of rotation for the imaging arm. The fork can contain one or two arms.