A sailboat is disclosed wherein the sailboat includes a three degree-of-freedom pivot assembly, sail-mounted ballast, and sail control system. These three features increase sailing efficiency and reduce both hydrodynamic and aerodynamic drag on the sailboat. This sailboat incorporates a rigid sail with sail-mounted ballast to balance the rolling moment and pitching moment produced on the sail by the wind. The rigid self-supported sail increases sailing efficiency by eliminating the need for supporting wires and structures and by taking advantage of the superior aerodynamic characteristics of rigid sails over flexible sails. Finally, the sail control system controls the sail's orientation by rotating the components of the three degree-of-freedom pivot assembly to maximize the sail's aerodynamic efficiency.