Abstract: A system for sequential circumferential deposition of thermoplastic composite prepreg material to layer plies of prepreg tape, allowing the continuous processing of tubular shapes and rods, comprising a floating mandrel; a first heatable folding shoe configured to heat and wrap a first prepreg tape onto the floating mandrel; a first forming tube configured to heat and pultrude the first prepreg tape so as to form a first layer ply of prepreg tape on the floating mandrel; a second heatable folding shoe configured to heat and wrap a second prepreg tape onto the first layer ply of prepreg tape on the floating mandrel; a second forming tube configured to heat and pultrude the second prepreg tape so as to form a second layer ply of prepreg tape over the first layer ply of prepreg tape on the floating mandrel.