A scanning device comprising: a first scan mirror; a second scan mirror; a third scan mirror; a first relay lens; a second relay lens; and a mirror; wherein the rotational axis of the second scan mirror is tilted with a first angle with respect to a reference plane, the optical axis of the first relay lens is tilted with the first angle with respect to the reference plane, the optical axis of the second relay lens is parallel to the reference plane and is orthogonal to that of the first relay lens, and the rotational axis of the first scan mirror is parallel to the reference frame; and the first and second scan mirrors, first and second relay lenses are arranged such that the respective axes of the first and second scan mirrors, and first and second relay lenses lie on a plane that is tilted at the first angle with respect to the reference plane; wherein the first scan mirror is configured to scan an input light beam to the first relay lens, the first relay lens is configured to relay the light beam to the mirror; the mirror, being tilted by the first angle with respect to a normal to the reference frame, is configured to reflect the light beam to the second relay lens; and the second relay lens is configured to relay the light beam to the second scan mirror; and the second and third scan mirrors (440, 460) are configured to scan the light beam in orthogonal directions; and the scanning of the first scan mirror and the scanning of the second scan mirror both result in an output light beam scanned in the same direction; wherein the first scan mirror is a resonant scan mirror and the second and third scan mirrors are galvanometer scan mirrors. a first scan mirror; a second scan mirror; a third scan mirror; a first relay lens; a second relay lens; and a mirror; wherein the rotational axis of the second scan mirror is tilted with a first angle with respect to a reference plane, the optical axis of the first relay lens is tilted with the first angle with respect to the reference plane, the optical axis of the second relay lens is parallel to the reference plane and is orthogonal to that of the first relay lens, and the rotational axis of the first scan mirror is parallel to the reference frame; and the first and second scan mirrors, first and second relay lenses are arranged such that the respective axes of the first and second scan mirrors, and first and second relay lenses lie on a plane that is tilted at the first angle with respect to the reference plane; wherein the first scan mirror is configured to scan an input light beam to the first relay lens, the first relay lens is configured to relay the light beam to the mirror; the mirror, being tilted by the first angle with respect to a normal to the reference frame, is configured to reflect the light beam to the second relay lens; and the second relay lens is configured to relay the light beam to the second scan mirror; and the second and third scan mirrors (440, 460) are configured to scan the light beam in orthogonal directions; and the scanning of the first scan mirror and the scanning of the second scan mirror both result in an output light beam scanned in the same direction; wherein the first scan mirror is a resonant scan mirror and the second and third scan mirrors are galvanometer scan mirrors.