In an illustrative embodiment of the invention, an exercise device comprises a support structure comprising a support member and a support arm having an upper support arm portion and a lower support arm portion. The support arm is mounted to the support member by a pivot assembly comprising a longitudinal pivot control mechanism and a lateral pivot control mechanism. The longitudinal pivot control mechanism is configured to allow the support arm to be selectively positioned at a first angular orientation in a longitudinal plane and the lateral pivot control mechanism is configured to allow the support arm to be selectively positioned at a second angular orientation in a lateral plane orthogonal to the longitudinal plane. The exercise device further comprises a yoke pivotably attached to the upper support arm by a yoke attachment member for rotation about a yoke rotation axis. The yoke is configured for engagement by a user in an exercise orientation and for selective rotation about the yoke rotation axis by the user.