A rudder pedal assembly exhibits sufficient ergonomic feel for a pilot, and is relatively small in overall size. The rudder pedal assembly includes a plurality of rails disposed non-parallel to each other within a common plane, and a rudder pedal. The rudder pedal is movably coupled to the plurality of rails and is configured to receive an input force in at least a first direction and a second direction. The rudder pedal is further configured, in response to the input force, to move along a path constrained by the plurality of rails in at least the first direction and the second direction, respectively, and within the common plane.