A rotary steerable tool has an inner mandrel having a longitudinal axis and an outer housing positioned along the inner mandrel. The outer housing rotates independently of the inner mandrel. The outer housing has an engagement member that moves axially relative to the outer housing and the inner mandrel between an extended position and a retracted position, and a transition surface having a slope relative to an outer surface of the outer housing. The engagement member moves along the transition surface between the extended position and the retracted position. In the engaged position, the engagement member extends outward from the outer housing to engage an inner surface of a well being drilled. An actuator selectively moves the engagement member along the transition surface from the retracted position to the extended position.