As the boundaries between the digital and physical worlds are blurring, actuated systems are becoming increasingly relevant for interaction design. These systems need to be able to execute diverse and complex tasks that involve assisting and collaborating with people. Elements like motion and haptics are key in this regard, as they possess the ability to deliver expressive, informative, and functional feedback, contributing to more intuitive and pleasant interactions between humans and actuated systems. This course aims to empower students to learn mechanical design for both rigid and compliant systems that enables them to design with haptics and motion in actuated systems.