An aircraft is equipped with hingeless rotors on tilting nacelles, and the tilt angles of the nacelles are controlled using either or both of an actuator and a mast moment generated by a hingeless rotor. An aircraft with two or more rotors on tilting nacelles can achieve control of yaw orientation by differential tilt of its nacelles or masts. Hingeless rotors can be manipulated to control a tilt angle of a mast by changing the rotor blade pitch to produce a mast moment. The rotor and nacelle tilt of a tiltrotor rotorcraft can be controlled and effected in order to manipulate the yaw orientation and flight mode of a rotorcraft such as a tiltrotor. The use of mast moment to control nacelle tilt angle can reduce tilt actuator loads and allows for the control of nacelle tilt even in the event of an actuator failure.