A pipe splitting assembly includes a pipe splitter, for instance, a cutter with one or more blades. An expander is flexibly coupled with the pipe splitter and allows the pipe splitter to rotate out of alignment with the longitudinal axis of the expander. In one example, the pipe splitter includes a cylindrical base portion and a frusto-conical base portion proximal to the cyclindrical base portion, and an exterior surface of the frusto-conical base portion is flush with an exterior surface of the expander. In another example, the expander has a larger outer perimeter than the cutter. Optionally, the pipe splitting assembly further includes a puller shoulder sized and shaped to couple with the expander, and a puller sleeve adapted to receive and hold a replacement pipe.