A scanning ranging sensor comprises first and second independently rotatable mirrors about respective axes. The first axis is at a first angle relative to a source's incident radiation beam axis and at a third angle relative to the second axis. The first mirror redirects the energy at a second angle to the first axis as it is rotated. The second mirror further redirects the redirected energy at a fourth angle to the second axis as it is rotated, in a direction within the FOV, receives returned energy from a target and redirects it to the first mirror to be further redirected toward an energy-redirecting element interposed between the source and the first mirror that allows unimpeded passage of the energy from the source, and redirects the returned energy to a detector. Correlating data from the detector with corresponding data from the source may determine the target range.
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