An approach to designing multiconfiguration afocal telescopes is developed and demonstrated. Freeform surfaces are used to maximize the achievable diffraction-limited zoom ratio while staying in a compact volume for a two-position multiconfiguration afocal optical system. The limitations of these systems with three-mirror beam paths are discussed and subsequently overcome by introducing an additional degree of freedom. In a four-mirror beam path system, the goal of a 5x zoom ratio is achieved with a compensated exit pupil and diffraction-limited performance. A significant benefit in optical performance when using freeform surfaces is shown compared to more conventional surface types.