Today, mechanical tracking systems have been downsized to allow them to be used in the field of airborne laser communications and in the military domain. Risley systems are used for this purpose, which work by directing a beam of light to a given target point, this procedure is commonly known as the inverse problem. In this paper, an analytical method, the geometric method, has been designed and developed to determine the beam steering in a Risley system and solve the inverse problem. The method focuses on different geometric shapes, like circumference or ellipse, that are described when the beam passes through the second prism. The accuracy and efficiency of the geometric method has been analysed and found to be faster than the two-step method. Furthermore, the geometric method has been implemented in an iterative process and an accuracy of up to 1 pm has been achieved. This high accuracy would allow the geometric method to be applied in fields such as lithography, stereolithography or 3D printers.