An orthopedic device and method of use are provided that incorporate complex, non-spherical articulating surfaces to allow a greater available range of motion compared with existing artificial shoulder joint and artificial hip joints. According to some embodiments, complex, non-spherical articulating surfaces can be incorporated on a humeral head and/or glenoid of a shoulder prosthesis. In other embodiments, complex, non-spherical articulating surfaces can be incorporated on the acetabulum and/or femoral head of a hip prosthesis. These non-spherical surfaces can be used to adjust constraint, joint thickness, soft tissue tension, moment and arc of motion, and in doing so, influence motion.