An endoscopic medical device system includes an elongated shaft assembly, a cam assembly and an articulating distal end assembly. The elongated shaft assembly extends along a main axis and includes first and second actuator rods arranged parallel to each other and the first actuator rod is longer than the second actuator rod. The cam assembly includes a cam, and the proximal ends of the first and second actuator rods are configured to be slidably attached to first and second locations of the cam, respectively, and the distal ends of the first and second actuator rods are positioned at the same distance from the cam center. The articulating distal end assembly extends along the main axis and is pivotally connected to the distal ends of the first and second actuator rods. Rotation of the cam around an axis perpendicular to the main axis provides angular displacement of the distal end assembly relative to the main axis.