Abstract: A boot for a joint includes a shaft-gripping portion, a joint-connecting portion, and a sleeve portion connecting the joint-connecting portion with the shaft-gripping portion. The boot is adapted to dynamically roll about the sleeve portion to a roll position (A, B, C) to form a roll surface having a roll width, wroll, wherein the roll width, wroll, remains generally constant independent of the roll position (A, B, C). The boot can be used to connect a shaft to a joint portion of the joint and is adapted to allow shaft translation.