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A pitch control system for blades on a rotor of an aircraft has a gimballing rotor hub (31) and a plurality of step-over arms (61) connected to the hub and capable of pivoting relative to the hub about a pivot axis. Each of a plurality of pitch links (55) connects one of the step-over arms (61) to a

A pitch control system for blades on a rotor of an aircraft has a gimballing rotor hub (31) and a plurality of step-over arms (61) connected to the hub and capable of pivoting relative to the hub about a pivot axis. Each of a plurality of pitch links (55) connects one of the step-over arms (61) to a flight control system for pivoting the connected step-over arm (61) about the pivot axis and relative to the hub in response to inputs from the control system. Each of a plurality of step-over links (69) connects one of the step-over arms (61) to one of the blades for rotating the associated blade about the pitch axis in response to pivoting of the associated step-over arm.

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1. A blade-pitch control system for an aircraft, the control system controlling motion of each of a plurality of rotor blades about an associated pitch axis, the control system comprising: a rotor hub adapted for rotation with a mast and for gimballing relative to the mast;a plurality of step-over a

1. A blade-pitch control system for an aircraft, the control system controlling motion of each of a plurality of rotor blades about an associated pitch axis, the control system comprising: a rotor hub adapted for rotation with a mast and for gimballing relative to the mast;a plurality of step-over arms, each step-over arm being connected to the hub and capable of pivoting relative to the hub about a pivot axis that is in a fixed orientation relative to the hub and moves with the hub during gimballing of the hub;a plurality of pitch links, each pitch link being adapted for connecting one of the step-over arms to a flight control system for pivoting the connected step-over arm relative to the hub in response to inputs from the flight control system; anda plurality of step-over links, each step-over link being adapted for connecting one of the step-over arms to one of the blades for rotating the associated blade about the corresponding pitch axis in response to pivoting of the associated step-over arm;wherein each step-over arm is an elongated arm, one end of the step-over arm being pivotally connected to the hub and an opposite end being free to rotate about the pivot axis, the associated pitch link and step-over link being connected to the step-over arm at a location toward the free end of the step-over arm. 2. The control system according to claim 1, wherein each pivot axis is oriented at a selected angle relative to the hub. 3. The control system according to claim 1, wherein the flight control system comprises a swashplate, and the pitch links are adapted to connect the step-over arms to a rotatable portion of the swashplate. 4. A rotor hub assembly, comprising: a coupling adapted for rotation with a mast, at least a portion of the coupling being configured for gimballing relative to the mast;a yoke connected to the coupling and adapted to carry a plurality of blades, each blade being pivotable about a pitch axis, the yoke being configured to move with the coupling during gimballing of the coupling;a plurality of step-over arms, each step-over arm being connected to the coupling and capable of pivoting relative to the coupling about a pivot axis that is in a fixed orientation relative to the coupling and moves with the coupling during gimballing of the coupling;a plurality of pitch links, each pitch link being adapted for connecting one of the step-over arms to a flight control system for pivoting the connected step-over arm relative to the coupling in response to inputs from the flight control system; anda plurality of step-over links, each step-over link being adapted for connecting one of the step-over arms to one of the blades for rotating the associated blade about the corresponding pitch axis in response to pivoting of the associated step-over arm;wherein each step-over arm is an elongated arm, one end of the step-over arm being pivotally connected to the coupling and an opposite end being free to rotate about the pivot axis, the associated pitch link and step-over link being connected to the step-over arm at a location toward the free end of the step-over arm. 5. The control system according to claim 4, wherein each pivot axis is oriented at a selected angle relative to the coupling. 6. The control system according to claim 4 wherein the flight control system comprises a swashplate, and the pitch links are adapted to connect the step-over arms to a rotatable portion of the swashplate. 7. A rotary-wing aircraft, comprising: a mast;a coupling configured for rotation with the mast, at least a portion of the coupling being configured for gimballing relative to the mast;a yoke connected to the coupling; the yoke being configured to gimbal with the coupling;a plurality of blades carried by the yoke, each blade being pivotable about a pitch axis:a plurality of step-over arms, each step-over arm being connected to the coupling and capable of pivoting relative to the coupling about a pivot axis that is in a fixed orientation relative to the coupling and gimbals with the coupling;a plurality of pitch links, each pitch link being adapted for connecting one of the step-over arms to a flight control system for pivoting the connected step-over arm relative to the coupling in response to inputs from the flight control system; anda plurality of step-over links, each step-over link being adapted for connecting one of the step-over arms to one of the blades for rotating the associated blade about the corresponding pitch axis in response to pivoting of the associated step-over arm;wherein each step-over arm is an elongated arm, one end of the step-over arm being pivotally connected to the coupling and an opposite end being free to rotate about the pivot axis, the associated pitch link and step-over link being connected to the step-over arm at a location toward the free end of the step-over arm. 8. The control system according to claim 7, wherein each pivot axis is oriented at a selected angle relative to the coupling. 9. The control system according to claim 7, wherein the flight control system comprises a swashplate, and the pitch links are adapted to connect the step-over arms to a rotatable portion of the swashplate.