A power-assisted steering system comprising: a control shaft arranged along a control shaft axis and coupled to a vehicle structure for rotation about the control shaft axis; an assist drive shaft arranged in a plane that is substantially transverse to the control shaft axis, the assist drive shaft being supported relative to the vehicle structure in a steering-assist drive housing by a first bearing assembly and a second bearing assembly and defining a drive shaft axis; a worm disposed about the assist drive shaft; and a worm gear coupled to the control shaft, the worm gear and control shaft being configured for rotation about the control shaft axis; wherein the worm gear is configured for engaging the worm such that rotation of the worm and the assist drive shaft about the drive shaft axis causes rotation of the worm gear and the control shaft about the control shaft axis; wherein the first bearing assembly is configured as an eccentric bearing assembly and comprises a first bearing housing that has an eccentric ring with a radially outward surface that is round and that defines a ring center and is rotatable about an assist drive shaft axis defined by the assist drive shaft; and wherein the first bearing housing defines a circular bearing receptacle having a center positioned apart from the ring center of the eccentric ring, with the drive shaft axis disposed at the center of the circular bearing receptacle, and an external mounting surface for fixing a position of the first bearing housing relative to the vehicle structure, characterized by a snap ring configured to retain the first bearing assembly within the steering-assist drive housing; a hexagonal drive retainer configured to rotate the eccentric ring about the assist drive shaft axis; a clamp configured to fix the position of the of the eccentric ring and the assist drive shaft axis relative to the control shaft axis; and a bolt configured to interact with a series of teeth arranged around the circumference of the eccentric ring. a control shaft arranged along a control shaft axis and coupled to a vehicle structure for rotation about the control shaft axis; an assist drive shaft arranged in a plane that is substantially transverse to the control shaft axis, the assist drive shaft being supported relative to the vehicle structure in a steering-assist drive housing by a first bearing assembly and a second bearing assembly and defining a drive shaft axis; a worm disposed about the assist drive shaft; and a worm gear coupled to the control shaft, the worm gear and control shaft being configured for rotation about the control shaft axis; wherein the worm gear is configured for engaging the worm such that rotation of the worm and the assist drive shaft about the drive shaft axis causes rotation of the worm gear and the control shaft about the control shaft axis; wherein the first bearing assembly is configured as an eccentric bearing assembly and comprises a first bearing housing that has an eccentric ring with a radially outward surface that is round and that defines a ring center and is rotatable about an assist drive shaft axis defined by the assist drive shaft; and wherein the first bearing housing defines a circular bearing receptacle having a center positioned apart from the ring center of the eccentric ring, with the drive shaft axis disposed at the center of the circular bearing receptacle, and an external mounting surface for fixing a position of the first bearing housing relative to the vehicle structure, characterized by a snap ring configured to retain the first bearing assembly within the steering-assist drive housing; a hexagonal drive retainer configured to rotate the eccentric ring about the assist drive shaft axis; a clamp configured to fix the position of the of the eccentric ring and the assist drive shaft axis relative to the control shaft axis; and a bolt configured to interact with a series of teeth arranged around the circumference of the eccentric ring.