vorticey,
The side-by-side and intermeshing configurations tilt the disks forward and back (opposed longitudinal cyclic) for yaw control. This method is excellent for the side-by-side. It is less effective for the intermeshing configuration, and is therefore usually supplemented with differential collective.
Opposed longitudinal cyclic should also work for absolutely rigid rotors on the intermeshing configuration. This is because the rotors have a lateral component to their thrust. The web page
Rotor - Disk - Yaw - Method Similar to Side by Side shows 147 ft-lb. of yaw torque for a 700 lb. GW craft. Also, the addition of a 3-degree pre-cone should even improve this yaw torque slightly.