A three dimensional scanning beam and imaging system (800) enable economical and efficient three dimensional scans of an environment. The system (800) includes a ranging apparatus (805), and a reactive linkage mechanism (810) having a first end (815) and a second end (820). The first end (815) is connected to the ranging apparatus (805) and the second end (820) is connected to an object (825) that moves the system (800) through an environment. Additionally, an imaging apparatus (840) is operatively coupled to either the first end (815) or the second end (820) of the reactive linkage mechanism (810). In use acceleration of the object (825) with respect to the environment is converted by the reactive linkage mechanism (810) to motion of the ranging apparatus (805) with respect to the object (825), which increases the field of view of the ranging apparatus (805) with respect to the environment.