A single point mooring includes a yoke-shaped articulated arm assembly, which is affixed to the seabed by a fixed foundation or mooring base assembly, and a mooring support structure, which is retrofitted to a vessel. The articulated arm is connected to the base by a triaxial articulation joint for accommodating yaw, pitch and roll. To moor the vessel, the arm is connected to the mooring support structure with weighted pendants on port and starboard sides. The pendants are suspended at an adjustable elevation with respect to the mooring support structure, thus allowing the mooring system to be used at varying water depths. A combined connection bracket hosts both pendant linkages and umbilicals or hoses for speeding the process of connecting and disconnecting a vessel from the mooring system. A removable anchor, such as a suction pile, fixes the mooring system to the seabed, allows the system to be easily redeployed to another location.