The correctability of the primary mirror spherical error in the Wide Field/Planetary Camera (WF/PC) is sensitive to the precise alignment of the incoming aberrated beam onto the corrective elements. Articulating fold mirrors that provide +/- 1 milliradian of tilt in 2 axes are required to allow for alignment corrections in orbit as part of the fix for the Hubble space telescope. An engineering study was made by Itek Optical Systems and the Jet Propulsion Laboratory (JPL) to investigate replacement of fixed fold mirrors within the existing WF/PC optical bench with articulating mirrors. The study contract developed the base line requirements, established the suitability of lead magnesium niobate (PMN) actuators and evaluated several tilt mechanism concepts. Two engineering model articulating mirrors were produced to demonstrate the function of the tilt mechanism to provide +/- 1 milliradian of tilt, packaging within the space constraints and manufacturing techniques including the machining of the invar tilt mechanism and lightweight glass mirrors. The success of the engineering models led to the follow on design and fabrication of 3 flight mirrors that have been incorporated into the WF/PC to be placed into the Hubble Space Telescope as part of the servicing mission scheduled for late 1993.