Systems and methods for directionally drilling a borehole are provided. One system includes a biasing subsystem that is configured to control a tendency of a bottom hole assembly during drilling of the borehole. The system also includes a continuously variable transmission. An output shaft of the continuously variable transmission is coupled to the biasing subsystem such that the continuously variable transmission is configured to control relative rotation of one or more components of the biasing subsystem during the drilling. One method includes controlling a tendency of a bottom hole assembly during drilling of the borehole using a biasing subsystem. The method also includes controlling relative rotation of one or more components of the biasing subsystem using a continuously variable transmission during the drilling. The one or more components are coupled to an output shaft of the continuously variable transmission.