An articulating surgical instrument (1000) is disclosed, and includes an end effector (400) and a drive assembly (100) operably coupled with the end effector (400). The end effector (400) includes a first drive shaft (220) defining a first axis (A), and a second drive shaft (380) operably engaged with and extending away from the first drive shaft (220). The second drive shaft (380) is operably coupled with the end effector (400) and defines a second axis (B), the second axis different from the first axis (A). The first drive shaft and the second drive shaft are pivotably arranged such that the first drive shaft and the second drive shaft are configured to transition between a first, substantially straight arrangement and a second, substantially perpendicular arrangement.
