In described examples, a beam steering device (16) includes a housing (20) and a transceiver (60) that emits and receives light beams through at least one opening (40) in the housing (20). A rotator (100) includes a cylindrical body (110) rotatably mounted within the housing (20) axially between the transceiver (60) and the at least one opening (40). A wedge-shaped prism (180) is secured within the body (110) and includes a first surface extending perpendicular to an axis (112) and a second surface (184) extending transverse to the axis (112). An encoder member (140) and a drive member (130) are provided on an outer surface of the body (110). Sensors (170) are mounted to the housing (20) to sense the encoder member (140) and provide an encoder signal indicative of a rotational position ofthe prism (180) about the axis (112). At least one drive element (104) is mounted to the housing (20) and applies force to the drive member (130) to rotate the body (110) and prism (180) about the axis (112) for steering light beams propagating through the prism (180).