A shoulder exercising apparatus has a motion assembly defined by a stacked arrangement of first, second and third stages. The first stage is coupled to the second stage to permit relative one-dimensional straightline motion therebetween. The third stage is coupled to the second stage to permit relative in-plane rotational motion therebetween. The motion assembly further includes means for selectively limiting the relative one-dimensional straightline motion and the relative in-plane rotational motion. A handle coupled to the third stage is grasped by a user. A base assembly is coupled to the first stage of the motion assembly for positioning the motion assembly at a selected vertical height, a selected pitch position, and a selected yaw position.