A micro-fabricated chip having a stationary structure and a movable structure with a gimbal structure allows pitch and roll motion of the movable structure with respect to the stationary structure. One embodiment of the gimbal structure includes a dimple surface making a rolling-type contact with the stationary structure, and a center bar and a plurality of bar members. An alternative embodiment of the gimbal structure includes a plurality of torsion bar members. Another alternative embodiment of the gimbal structure includes a plurality of flexible members. The micro-fabricated chip can be a passive chip structure or, alternatively, a microactuator having a movable structure that moves in a rotational direction or a translational direction with respect to the stationary structure.