Dual, counter-rotating, coaxial rotor system for a rotary wing aircraft comprising: an upper rotor control system comprising: a control rod which is rotationally fixed; a collective servo assembly mounted to said control rod to axially displace said control rod along a rotor shaft axis of rotation; an X-Y positioner assembly displaced from said collective servo assembly, said X-Y positioner assembly mounted about said control rod to tilt said control rod relative said rotor shaft axis of rotation; a pitch beam mounted to said control rod for rotation relative to said control rod; a duplex bearing control rod linkage that includes a uniball linkage between said control rod and a pitch beam to accommodate tilting of said pitch beam relative said control rod and a rotational bearing between said control rod and said pitch beam to accommodate said rotation between said control rod and said pitch beam; wherein said rotor shaft axis of rotation is defined by an upper rotor shaft of the dual, counter-rotating, coaxial rotor system, said control rod is mounted within said upper rotor shaft which defines said rotor shaft axis of rotation; wherein said X-Y positioner assembly comprises a bearing assembly and a support sleeve mounted within the upper rotor shaft upon the bearing assembly; an outer race mounted within said support sleeve, said outer race axially movable along said rotor shaft axis of rotation relative said support sleeve; and a spherical inner race mounted within said outer race, said control rod mounted through said spherical inner race. an upper rotor control system comprising: a control rod which is rotationally fixed; a collective servo assembly mounted to said control rod to axially displace said control rod along a rotor shaft axis of rotation; an X-Y positioner assembly displaced from said collective servo assembly, said X-Y positioner assembly mounted about said control rod to tilt said control rod relative said rotor shaft axis of rotation; a pitch beam mounted to said control rod for rotation relative to said control rod; a duplex bearing control rod linkage that includes a uniball linkage between said control rod and a pitch beam to accommodate tilting of said pitch beam relative said control rod and a rotational bearing between said control rod and said pitch beam to accommodate said rotation between said control rod and said pitch beam; wherein said rotor shaft axis of rotation is defined by an upper rotor shaft of the dual, counter-rotating, coaxial rotor system, said control rod is mounted within said upper rotor shaft which defines said rotor shaft axis of rotation; wherein said X-Y positioner assembly comprises a bearing assembly and a support sleeve mounted within the upper rotor shaft upon the bearing assembly; an outer race mounted within said support sleeve, said outer race axially movable along said rotor shaft axis of rotation relative said support sleeve; and a spherical inner race mounted within said outer race, said control rod mounted through said spherical inner race. a control rod which is rotationally fixed; a collective servo assembly mounted to said control rod to axially displace said control rod along a rotor shaft axis of rotation; an X-Y positioner assembly displaced from said collective servo assembly, said X-Y positioner assembly mounted about said control rod to tilt said control rod relative said rotor shaft axis of rotation; a pitch beam mounted to said control rod for rotation relative to said control rod; a duplex bearing control rod linkage that includes a uniball linkage between said control rod and a pitch beam to accommodate tilting of said pitch beam relative said control rod and a rotational bearing between said control rod and said pitch beam to accommodate said rotation between said control rod and said pitch beam; wherein said rotor shaft axis of rotation is defined by an upper rotor shaft of the dual, counter-rotating, coaxial rotor system, said control rod is mounted within said upper rotor shaft which defines said rotor shaft axis of rotation; wherein said X-Y positioner assembly comprises a bearing assembly and a support sleeve mounted within the upper rotor shaft upon the bearing assembly; an outer race mounted within said support sleeve, said outer race axially movable along said rotor shaft axis of rotation relative said support sleeve; and a spherical inner race mounted within said outer race, said control rod mounted through said spherical inner race.