Compliant mechanism is used as a motion guide in small displacement applications, eliminating friction caused by using bearings. The removal of friction and addition of elastic stiffness allow the output shaft to have sub-micrometer resolution. Several multiple degrees-of-freedoms actuators have been developed utilizing piezoelectric actuators, voice coil motors, and electromagnetic actuators. Electromagnetic actuators are the preferred choice due to the good combination of long stroke and high force density. However, the number of devices consisting of electromagnetic actuators and compliant mechanisms has been limited. In this project, an actuator capable of providing translational and rotational motion, utilizing compliant mechanism was developed. The novel structural design combines two actuators (linear and rotary) with compliant mechanism as the motion guide and support. Even though friction forces exist in the prototype, the compliant mechanism helps to retract the system back to the original position. The prototype can achieve good repeatability and a large workspace of more than 3 mm and 3° for translation and rotation respectively.