This document provides orthopedic and dental devices and methods for their use. For example, novel bone drills and dental drills are described. The bone and dental drills have at least some centers of mass that are offset from the drills' axis of rotation. Accordingly, the bone and dental drills may rotate and cut using a precessional pattern of motion. The design facilitates bone cutting, chip formation and hauling capacity, irrigation and bone harvesting. In some embodiments, the bone chips are collected in a removable apparatus fixed to the distal portion of the drill, and the collected bone chips can be used for bone grafting.