To address the limitations of conventional quadrotors, such as underactuation, structural complexity, and insufficient endurance, a novel vectored-rotor unmanned aerial vehicle (UAV) based on a swashplate-less mechanism and passive hinges was designed. Complex cyclic pitch variations and thrust-vectoring control solely were achieved through cyclic speed regulation signals, eliminating the need for additional pitch actuators and resulting in a simple and compact system architecture. Based on the Newton-Euler formulation, a dynamic model was established to quantify the relationship between external forces and motion parameters, comprising 12 inputs and 12 outputs. Finally, dynamic simulations were conducted using MATLAB/Simulink for validation. The results demonstrate that in the motion and attitude decoupling experiment, the position fluctuation in the X-direction does not exceed 5 m, while the attitude angles remain at 0 rad. In the hovering experiment, position fluctuations along the X, Y, and Z axes are all confined within 5 m. The research outcomes provide technical support for the dynamic design and control of micro aerial vehicles, holding significant engineering value.