A beam steerer comprising a mirror, a joint, and two linear actuators. The joint, which is attached to a periphery of the mirror is rotatable about two perpendicular axes. The linear actuators control rotational movement of the mirror about the two axes. A laser beam or other signal is reflected off of the mirror and redirected to define a field of regard and a focal point in front of the mirror. The beam steerer may be mounted behind a window of an object such that a plane of the window and the focal point coincides and a foot print of the field of regard of the beam through the window is smaller compared to a corresponding foot print when the beam directed onto the mirror is aligned with the joint and the alignment is maintained throughout the rotation of the mirror about the joint.