A VTOL (vertical take-off and landing) aerial flying vehicle comprising an inner frame, a gimbal system and an outer frame, the inner frame comprising a propulsion system and a control system, the propulsion system being able to generate a lift force. The VTOL also includes a decoupling mechanism having either a linear or non-linear beam having provisions for providing at least two rotation degrees of freedom of the inner frame with respect to the outer frame. The beam may optionally include sliders at ends thereof that provide an additional rotation freedom to the inner frame.