An aerial refueling boom may include a refueling boom assembly and a pivot assembly for attaching the aerial refueling boom to a tanker aircraft. The refueling boom assembly may include a main boom section and a hollow telescoping boom section. The hollow telescoping boom section is adapted to be moved between a retracted position within the main boom section and an extended position extending from the main boom section for in-flight refueling of an aircraft. The pivot assembly may include an aircraft attachment plate to attach the pivot assembly to the tanker aircraft and a refueling boom attachment plate to attach the refueling boom assembly to the pivot assembly. The pivot assembly may also include a plurality of actuators pivotably coupling the aircraft attachment plate to the refueling boom attachment plate.