A novel design of compliant slider crank mechanism is introduced and utilized as an impact force generator and contact force generator. This class of compliant slider mechanisms incorporates an elastic coupler which is an initially straight flexible beam and buckles when it hits the stopper. The elastic pin-pin coupler (a buckling beam) behaves as a rigid body prior to the impact pushing the rigid slider. At a certain crank angle the slider hits a stopper generating an impact force. Impact force can be changed by changing the angular velocity of the crank, therefore; achieving a desired velocity of the slider. Moreover, after the impact when the vibrations die out the maximum contact force can also be predetermined by designing the coupler dimensions (length, width, thickness and the amount of compression). Contact duration (crank angle) can also be changed and adjusted in this mechanism by changing the adjustable location of the impacted object.