An apparatus for use in a wellbore, comprising: a drill string configured to drill the wellbore; a non-rotating section disposed along the drill string, the non-rotating section having a bore and at least one biasing element engaging a wall of the wellbore; a rotating section disposed in the bore of the non-rotating section; at least one relative rotation sensor configured to generate signals representative of a rotation of the rotating section relative to the non-rotating section; at least one orientation sensor within the non-rotating section configured to generate signals representative of an orientation of the non-rotating section relative to a selected frame of reference; and a controller (88, 2012) in signal communication with the at least one relative rotation sensor and the at least one orientation sensor, characterised in that: the controller (88, 2012) is configured to adjust at least one of: (i) a force applied by the at least one biasing element; and (ii) a position of the at least one biasing element, wherein the adjusting is in response to the generated signals representative of a rotation of the rotating section relative to the non-rotating section from the at least one relative rotation sensor and the generated signals representative of an orientation of the non-rotating section relative to a selected frame of reference from the at least one orientation sensor; and in that the non-rotating section is configured to receive energy from the rotation of the rotating section. a drill string configured to drill the wellbore; a non-rotating section disposed along the drill string, the non-rotating section having a bore and at least one biasing element engaging a wall of the wellbore; a rotating section disposed in the bore of the non-rotating section; at least one relative rotation sensor configured to generate signals representative of a rotation of the rotating section relative to the non-rotating section; at least one orientation sensor within the non-rotating section configured to generate signals representative of an orientation of the non-rotating section relative to a selected frame of reference; and a controller (88, 2012) in signal communication with the at least one relative rotation sensor and the at least one orientation sensor, characterised in that: the controller (88, 2012) is configured to adjust at least one of: (i) a force applied by the at least one biasing element; and (ii) a position of the at least one biasing element, wherein the adjusting is in response to the generated signals representative of a rotation of the rotating section relative to the non-rotating section from the at least one relative rotation sensor and the generated signals representative of an orientation of the non-rotating section relative to a selected frame of reference from the at least one orientation sensor; and in that the non-rotating section is configured to receive energy from the rotation of the rotating section. the controller (88, 2012) is configured to adjust at least one of: (i) a force applied by the at least one biasing element; and (ii) a position of the at least one biasing element, (i) a force applied by the at least one biasing element; and (ii) a position of the at least one biasing element, wherein the adjusting is in response to the generated signals representative of a rotation of the rotating section relative to the non-rotating section from the at least one relative rotation sensor and the generated signals representative of an orientation of the non-rotating section relative to a selected frame of reference from the at least one orientation sensor; and in that the non-rotating section is configured to receive energy from the rotation of the rotating section.